IAI America SSPA User Manual

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IS Series Actuator

Operating Manual

Seventh Edition

ISB, ISPB IS Cast SSPA

IAI America, Inc.

Please Read Before Use

Thank you for purchasing our product.

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

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

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

[Important]

x This Operating Manual is original. x The product cannot be operated in any way unless expressly specified in this Operating Manual. IAI shall

assume no responsibility for the outcome of any operation not specified herein.

x Information contained in this Operating Manual is subject to change without notice for the purpose of product

improvement.

x If you have any question or comment regarding the content of this manual, please contact the IAI sales office

near you.

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

registered trademarks.

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

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

Names of the Parts .................................................................................................................. 9

1. Checking the Product ...................................................................................................... 11

1.1 Components ........................................................................................................................................ 11

1.2 Related Operation Manuals for Each Controller Supported by This Product......................................11

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

1.4 How to Read the Model Numbe ..........................................................................................................13

2. Specification .................................................................................................................... 14

2.1 Maximum Speed ..................................................................................................................................14

2.2 Acceleration/Deceleration, Payload Capacity and Rated Thrust.........................................................17

2.3 Driving System/Position Detector........................................................................................................20

2.4 Positioning Precision ...........................................................................................................................21

2.5 Allowable Load Moment of the Actuator..............................................................................................21

3. Life................................................................................................................................... 24

4. Installation and Storage/Preservation Environment ......................................................... 25

4.1 Installation Environment ......................................................................................................................25

4.2 Storage/Preservation Environment......................................................................................................25

5. Transportation ................................................................................................................. 26

5.1 Handling a Single Axis .........................................................................................................................26

5.1.1 Handling the Packed Unit ....................................................................................................26

5.1.2 Handling an Actuator after Unpacking .................................................................................26

5.2 Handling an Cartesian Robot (ICS).....................................................................................................27

5.2.1 Handling a Package.............................................................................................................27

5.2.2 Handling an Actuator after Unpacking .................................................................................27

5.3 Handling an Actuator Assembled to a Mechanical System .................................................................28

6. Installation ....................................................................................................................... 29

6.1 Installation Orientations .......................................................................................................................29

6.2 Installing the Actuator ..........................................................................................................................31

6.2.1 Installation Method...............................................................................................................31

6.2.2 Precision of the Installation Surface ....................................................................................35

6.3 Installing the Load on the Slider ..........................................................................................................37

6.4 Using T-slots ........................................................................................................................................41

7. Connecting the Controller................................................................................................ 42

7.1 Wiring...................................................................................................................................................42

8. Operating Conditions....................................................................................................... 45

8.1 Duty Ratio during Continuous Operation.............................................................................................45

9. Setting the Home Position ............................................................................................... 46

9.1 Home Return .......................................................................................................................................46

9.2 Factory-set Home Position ..................................................................................................................46

9.3 Changing the Home Direction .............................................................................................................46

9.4 How to Use the Homing Mark Stickers................................................................................................47

9.5 Fine-tuning the Home Position ............................................................................................................48

9.5.1 X-SEL and SSEL Controllers...............................................................................................48

9.5.2 ECON and SCON Controllers..............................................................................................51

9.6 Absolute Reset Method (Absolute Specification) ................................................................................54

10. Options ............................................................................................................................ 55

10.1 Brake....................................................................................................................................................55

10.2 Creep Sensor.......................................................................................................................................55

10.3 Limit Switch..........................................................................................................................................56

10.4 Reversed-home Specification..............................................................................................................57

10.5 Cable Exit Direction .............................................................................................................................57

10.6 Guide with Ball Retention Mechanism.................................................................................................57

10.7 Master Axis/Slave Axis Specification for Synchronized Operation......................................................58

10.8 High-Precision Straightness Specification...........................................................................................59

10.9 Rust prevention film processing ..........................................................................................................61

11. Motor/Encoder Cables..................................................................................................... 62

11.1 Standard...............................................................................................................................................62

12. Maintenance/Inspection................................................................................................... 64

12.1 Inspection Items and Intervals.............................................................................................................64

12.2 Visual Inspection of the Machine Exterior ...........................................................................................64

12.3 External Cleaning ................................................................................................................................64

12.4 Interior Check ......................................................................................................................................65

12.5 Adding Grease.....................................................................................................................................67

12.5.1 Applicable Grease ...............................................................................................................67

12.5.2 Grease Application Method..................................................................................................67

13. Replacing Intermediate Support ...................................................................................... 70

14. Motor Replacement Procedures ...................................................................................... 71

14.1 Removing the Motor Unit.....................................................................................................................72

14.2 Installing a New Motor .........................................................................................................................76

14.3 Correcting for Position Deviation.........................................................................................................89

14.4 Operation Check after Replacing the Motor ........................................................................................89

15. Appendix ......................................................................................................................... 90

15.1 External Dimensions............................................................................................................................90

15.1.1 ISB, ISPB-SXM....................................................................................................................90

15.1.2 ISB, ISPB-SXL.....................................................................................................................91

15.1.3 ISB, ISPB-MXM ...................................................................................................................92

15.1.4 ISB, ISPB-MXL ....................................................................................................................93

15.1.5 ISB, ISPB-MXMX.................................................................................................................94

15.1.6 ISB, ISPB-LXM ....................................................................................................................95

15.1.7 ISB, ISPB-LXL .....................................................................................................................96

15.1.8 ISB, ISPB-LXMX..................................................................................................................97

15.1.9 ISB, ISPB-LXUWX...............................................................................................................98

15.1.10 SSPA-SXM...........................................................................................................................99

15.1.11 SSPA-MXM ........................................................................................................................100

15.1.12 SSPA-LXM .........................................................................................................................101

16. Warranty........................................................................................................................ 102

16.1 Warranty Period.................................................................................................................................102

16.2 Scope of Warranty.............................................................................................................................102

16.3 Honoring the Warranty.......................................................................................................................102

16.4 Limited Liability ..................................................................................................................................103

16.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications............103

16.6 Other Items Excluded from Warranty ................................................................................................103

Change History .................................................................................................................... 104

Safety Guide

“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.

No.

1 Model Selection Ɣ This product has not been planned and designed for the application where high

Operation

Description

level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications.

1) Medical equipment used to maintain, control or otherwise affect human life or physical health.

2) Mechanisms and machinery designed for the purpose of moving or transporting people (For vehicle, railway facility or air navigation facility)

3) Important safety parts of machinery (Safety device, etc.)

Ɣ Do not use the product outside the specifications. Failure to do so may

considerably shorten the life of the product.

Ɣ Do not use it in any of the following environments.

1) Location where there is any inflammable gas, inflammable object or explosive

2) Place with potential exposure to radiation

3) Location with the ambient temperature or relative humidity exceeding the specification range

4) Location where radiant heat is added from direct sunlight or other large heat source

5) Location where condensation occurs due to abrupt temperature changes

6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid)

7) Location exposed to significant amount of dust, salt or iron powder

8) Location subject to direct vibration or impact

Ɣ For an actuator used in vertical orientation, select a model which is equipped with

a brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.

Description

No.

Operation

Description

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

equipment such as crane.

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

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

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

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

Ɣ Transport it using an appropriate transportation measure.

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

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

qualifications for crane operation and sling work.

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

weighs more than the equipment’s capability limit.

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

such factors as shear strength.

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

3 Storage and

Preservation

Ɣ The storage and preservation environment conforms to the installation

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

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

of God such as earthquake.

4 Installation and

Start

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

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

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

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

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

shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

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

No.

Operation

Description

4 Installation and

Start

Description

(2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and

controller, and for the teaching tool.

Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it

around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.

Ɣ Perform the wiring for the product, after turning OFF the power to the unit, so that

there is no wiring error.

Ɣ When the direct current power (+24V) is connected, take the great care of the

directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.

Ɣ Connect the cable connector securely so that there is no disconnection or

looseness. Failure to do so may cause a fire, electric shock or malfunction of the product.

Ɣ Never cut and/or reconnect the cables supplied with the product for the purpose of

extending or shortening the cable length. Failure to do so may cause the product

to malfunction or cause fire. (3) Grounding Ɣ The grounding operation should be performed to prevent an electric shock or

electrostatic charge, enhance the noise-resistance ability and control the

unnecessary electromagnetic radiation. Ɣ For the ground terminal on the AC power cable of the controller and the grounding

plate in the control panel, make sure to use a twisted pair cable with wire thickness

0.5mm

(AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).

Ɣ Perform Class D Grounding (former Class 3 Grounding with ground resistance

100: or below).

No.

Operation

Description

4 Installation and

Start

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

Description

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

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

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

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

immediately in an emergency during the unit operation.

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

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

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

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

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

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

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

emergency stop.

Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure safety. Ɣ Do not insert a finger or object in the openings in the product. Failure to do so may

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

Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not

to pinch your hand or damage the work parts with the actuator dropped by gravity.

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

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

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

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

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

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

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

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

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not

to pinch your hand or damage the work parts with the actuator dropped by gravity.

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

movable range should be indicated.

No.

Operation

Description

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

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

Ɣ After the teaching or programming operation, perform the check operation one

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

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

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

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

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

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

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

7 Automatic

Operation

Ɣ Check before starting the automatic operation or rebooting after operation stop

that there is nobody in the safety protection fence.

Ɣ Before starting automatic operation, make sure that all peripheral equipment is in

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

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

protection fence.

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

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

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

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

No.

Operation

Description

8 Maintenance

and Inspection

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

leader and who to be the follower(s) and communicate well with each other to

Description

ensure the safety of the workers.

Ɣ Perform the work out of the safety protection fence, if possible. In the case that the

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

Ɣ When the work is to be performed inside the safety protection fence, basically turn

OFF the power switch.

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

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

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

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ For the grease for the guide or ball screw, use appropriate grease according to the

Operation Manual for each model.

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

to the product.

Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not

to pinch your hand or damage the work parts with the actuator dropped by gravity.

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

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

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

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

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

movable range should be indicated.

9 Modification and

Dismantle

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

based at your own discretion.

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

as an industrial waste.

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

when detaching screws.

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

The product may burst or generate toxic gases.

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

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

Ɣ See Overseas Specifications Compliance Manual to check whether complies if

necessary.

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

manual of each unit to ensure the safety.

Alert Indication

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

Level Degree of Danger and Damage Symbol

Danger

Warning

Caution

Notice

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

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

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

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

Danger

Warning

Caution

Notice

Caution in Handling

1. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings.

If the actuator is operated at a speed or acceleration/deceleration exceeding the allowable value, abnormal noise or vibration, failure, or shorter life may result. In the case of interpolated operation of combined axes, the speed and acceleration/deceleration settings should correspond to the minimum values among all combined axes.

2. Keep the load moment within the allowable value.

If the actuator is operated under a load equal to or greater than the allowable load moment, abnormal noise or vibration, failure, or shorter life may result. In an extreme case, flaking may occur.

3. Keep the overhang length to within the allowable value.

If the overhang length is equal to or greater than the allowable value, vibration or abnormal noise may occur.

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

If the actuator is moved back and forth continuously over a short distance of 30 mm or less, grease film may run out. As a guide, move the actuator back and forth repeatedly for around 5 cycles over a distance of 50 mm or more after every 5,000 to 10,000 cycles.

5. Make sure to attach the actuator properly by following this operation manual.

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

Names of the Parts

1. ISB/ISPB

In this operating manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actuator placed horizontally, as shown in the figure below.

Counter-motor side

Front cover

Base

Right side

Left side

Slider

Screw cover

Motor side

Coupling cover

Grease nipple

Motor cover

Rear cover

Actuator cable

2. SSPA

In this operating manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actuator placed horizontally, as shown in the figure below.

Screw cover

Right side

Counter-motor side

Front cover

Base

Motor side

Left side

Grease nipple

Motor cover

Slider

Rear cover

Actuator cable

1. Checking the Product

If based on a standard configuration, this product consists of the items listed below.

Caution: Check the packed items against the packing specification. Should you find a wrong model or any

missing item, please contact your IAI dealer or IAI.

1.1 Components

No. Name Model number Remarks

1 Actuator

Accessories

2 Motor/encoder cables 3 Home making seals 4 Quick Step Guide 5 Operation Manual (CD/DVD) 6 Safety Guide

*1 The motor/encoder cables supplied vary depending on the controller used. [Refer to 11, "Motor/Encoder

Cables."]

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

1.2 Related Operation Manuals for Each Controller Supported by This Product

1. Checking the Product

The table below lists the related operation manuals for each controller supported by this product, which are included in the Operation Manual CD/DVD.

(1) XSEL-J/K controllers

No. Name Control No.

1 Operation Manual for XSEL-J/K Controller ME0116 2 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154 3 Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183 4 Operation Manual for Teaching Pendant IA-T-X/XD ME0160 5 Operation Manual for DeviceNet ME0124 6 Operation Manual for CC-Link ME0123 7 Operation Manual for PROFIBUS ME0153 8 Operation Manual for X-SEL Ethernet ME0140 9 Operation Manual for Multi-point I/O Board ME0138

10 Operation Manual for Dedicated Multi-point I/O Board Terminal Block ME0139

(2) XSEL-P/Q controllers

No. Name Control No.

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

1. Checking the Product

(3) SSEL controllers

No. Name Control No.

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

(4) SCON controllers

No. Name Control No.

1 Operation Manual for SCON Controller ME0161 2 Operation Manual for SCON-CA Controller ME0243 3 Operation Manual for PC Software RCM-101-MW/RCM-101-USB ME0155 4 Operation Manual for Teaching Pendant CON-T/TG ME0178 5 Operation Manual for Touch Panel Teaching Pendant CON-PT/PD/PG ME0227 6 Operation Manual for Simple Teaching Pendant RCM-E ME0174 7 Operation Manual for Data Setter RCM-P ME0175 8 Operation Manual for Touch Panel Display RCM-PM-01 ME0182 9 Operation Manual for DeviceNet ME0124

10 Operation Manual for CC-Link ME0123

11 Operation Manual for PROFIBUS ME0153

1.3 How to Read the Model Nameplate

Model

Serial numbe

1.4 How to Read the Model Numbe

ISB - SXM - I - 60 - 4 - 500 - T1 - S - B - **

Standard aluminum-based

ISB

Aluminum-based, high-precision

ISPB

Iron-based, high-precision

SSPA

<Type>

Small standard slider

SXM

Small long slider

SXL

Medium standard slider

MXM

Medium long slider

MXL

Medium standard slider with intermediate support

MXMX

Large standard slider

LXM

Large long slider

LXL

Large standard slider with intermediate support

LXLM

Large standard slider Intermediate support double sliders

LXUWX

A : Absolute I : Incremental

60 : 60 W 100 : 100 W 200 : 200 W 400 : 400 W 750 : 750 W

*1 This maybe displayed for the manufacturing reason.

(This is not to indicate the manufacturing model code.)

Identification for IAI use only

AQ : AQ seal (Standard equipment) B : Brake C : Creep sensor CL : Creep sensor, opposite side L : Limit switch LL : Limit switch, opposite side LLM : Synchronized specification, sensor

on opposite side

LM : Synchronized specification, master

axis NM : Reversed-home specification RT : Guide with ball retention

mechanism S : Synchronized specification, slave

axis A1S : Cable exit from the left A1E : Cable exit from the back on the left A3S : Cable exit from the right A3E : Cable exit from the back on the

right ST : High-precision straightness

specification

(Note) Option limited to the

high-precision specification (ISPB and SSPA)

MD : Rust prevention film processing

(Note) Option limited to the SSPA

N : None S : 3 m M : 5 m X: Length specification

T1 : XSEL-J/K T2 : SCON

SSEL XSEL-P/Q

<Lead>

4 : 4 mm 5 : 5 mm 8 : 8 mm 10 : 10 mm 16 : 16 mm 20 : 20 mm 25 : 25 mm 30 : 30 mm 40 : 40 mm 50 : 50 mm

1. Checking the Product

2. Specification

2.1 Maximum Speed

The maximum speed of the actuator is limited to prevent resonance of the ball screw shaft by the motor speed limit. Be sure to observe the applicable maximum speed shown in the table below.

(1) ISB, ISPB

2. Specication

Size

Motor

capacity [W]

Motor

capacity [W]

Motor

capacity [W]

Motor

capacity [W]

Lead [mm]

Lead [mm)

Lead [mm]

Strokes and maximum speed limits (Unit: mm/s)

Stroke [mm]

Size

Motor

capacity [W]

Lead [mm]

Stroke [mm]

Size

Motor

capacity [W]

Lead [mm]

Stroke [mm)

2. Specication

Size

Motor

capacity (W))

Motor

capacity (W))

Lead (mm)

Stroke (mm)

Caution: (1) Do not set speeds and accelerations/decelerations equal to or greater than the respective

ratings. Doing so may result in vibration, failure or shorter life.

(2) In the case of interpolated operation of two or more orthogonal axes, make sure the command

values (settings) of speed and acceleration/deceleration do not exceed the smallest values of all speeds and accelerations/decelerations of the applicable axes. Even if any speed or acceleration/deceleration is set that exceeds the smallest speed or acceleration/deceleration among all applicable axes, the actual speed or acceleration/deceleration will be clamped to the smallest speed or acceleration/deceleration.

(3) If any acceleration/deceleration equal to or greater than the rated acceleration/deceleration is

set, a creep phenomenon or slipped coupling may occur.

(2) SSPA

Motor

Size

capacity

[W]

SXM 200

MXM 400

750 25

LXM

2. Specication

750 50

Caution: (1) Do not set speeds and accelerations/decelerations equal to or greater than the respective

Stroke and maximum speed (or speed to reach) limits (Unit: mm/s)

Lead [mm]

100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 1400 1450 1500

10 600 560 490 440 390 350 320 290 260 240 220 - - - - - - - 20 1200 1120 990 880 780 710 640 580 530 480 440 - - - - - - - 30 1800 1680 1480 1320 1180 1060 960 870 790 730 670 - - - - - - - 10 600 530 480 430 390 360 330 300 280 250 240 220 200 - - - 20 1200 1070 960 870 790 720 660 600 560 510 480 440 410 - - - 40 2400 2150 1930 1740 1580 1440 1320 1210 1120 1030 960 890 830 - - - -

1080 1250 1160 970 830 720 620 550

620 880 1080 1250 1160 970 830 720 620 550

1080 1530 1870 2160 2420 2500 2320 1950 1660 1440 1250 1100

620 880 1080 1250 1400 1530 1650 1770 1870 1970 1950 1660 1440 1250 1100

Stroke [mm]

ratings. Doing so may result in vibration, failure or shorter life.

(2) In the case of interpolated operation of two or more orthogonal axes, make sure the command

(3) If any acceleration/deceleration equal to or greater than the rated acceleration/deceleration is

set, a creep phenomenon or slipped coupling may occur.

2.2 Acceleration/Deceleration, Payload Capacity and Rated Thrust

If the payload capacity is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level.

(1) ISB, ISPB

Motor

Type Size

Guide with ball retention mechanism (RT) not used

capacity

[W]

SXM

SXL

100

MXL

MXM

200

MXL

MXMX 200

LXM

200

LXL

LXM

400

LXL

LXMX 200 20

LXMX 400

LXUWX

200 20

LXUWX

400

Lead

acceleration/deceleration

[mm]

Rated

[G]

0.2 0.5 Horizontal 55 50 38 30 - - - - - - -

0.2 0.4 Vertical 14 13 12 - - - - - - - -

0.4 0.7 Horizontal 27 27 27 20 15 12 - - - - -

0.4 0.6 Vertical 7 7 7 6 5 - - - - - -

0.4 1.2 Horizontal 13 13 13 10.5 8.5 7 6 5.5 4.5 4 3.5

0.4 0.8 Vertical 3.5 3.5 3.5 3.0 2.6 2.3 2 - - - -

0.2 0.5 Horizontal 85 80 60 45 - - - - - - -

0.2 0.4 Vertical 20 17 15 - - - - - - - -

0.4 0.7 Horizontal 45 45 45 30 23 20 - - - - -

0.4 0.6 Vertical 10 10 10 8 7 - - - - - -

0.4 1.2 Horizontal 23 23 23 18 15 13 11 9 8 7 6

0.4 1 Vertical 5 5 5 4.5 4 3.5 3 2.8 2.5 - -

0.4 1.2 Horizontal 15 15 15 11 9 7 6 5 4 3.5 3

0.4 1.2 Vertical 2.5 2.5 2.5 2.2 1.9 1.7 1.5 1.4 1.2 1.1 1

0.2 0.5 Horizontal 110 100 90 80 - - - - - - -

0.2 0.4 Vertical 40 34 30 - - - - - - - -

0.4 0.7 Horizontal 90 90 90 66 51 40 - - - - -

0.4 0.6 Vertical 20 20 20 17 15 - - - - - -

0.4 1.2 Horizontal 45 45 45 35 28 23 20 17 15 13 12

0.4 1 Vertical 10 10 10 8.5 7.5 7 6 5.5 5 - -

0.4 1.2 Horizontal 30 30 30 24 20 17 15 13 12 10 9

0.4 1.2 Vertical 6 6 6 5.5 5 4.5 4 3.5 3 2.5 2

0.4 0.4 Horizontal 45 45 45 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.4 Horizontal 30 30 30 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.7 Horizontal 90 90 90 66 51 40 - - - - -

0.4 0.6 Vertical 20 20 20 16 14 - - - - - -

0.4 1.2 Horizontal 45 45 45 35 28 23 20 17 15 13 12

0.4 1 Vertical 10 10 10 8.5 7.5 7 6 5.5 5 - -

0.4 1.2 Horizontal 15 15 15 12 10.5 9 8 7.5 7 6.5 6

0.4

0.4 0.7 Horizontal 120 120 120 92 73 60 - - - - -

0.4 0.6 Vertical 40 40 40 34 30 - - - - - -

0.4 1.2 Horizontal 90 90 90 70 57 47 40 35 30 27 24

0.4 1 Vertical 20 20 20 17 15 14 12 11 10 - -

0.4 1.2 Horizontal 40 40 40 32 27 23 21 19 17 16 15

0.4 1.2 Vertical 10 10 10 8.5 7.5 7 6 5.5 5 4.5 4

0.4 0.4 Horizontal 45 45 45 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.4 Horizontal 90 90 90 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.4 Horizontal 40 40 40 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.4 Horizontal 45 45 45 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.4 Horizontal 90 90 90 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.4 Horizontal 40 40 40 - - - - - - - -

- - Vertical - - - - - - - - - - -

Maximum acceleration/ deceleration

Horizontal/

[G]

1.2 Vertical 4 4 4 3.5 3.1 2.8 2.5 2.2 2.0 1.8 1.6

Vertical

0.2G 0.3G 0.4G 0.5G 0.6G 0.7G 0.8G 0.9G 1.0G 1.1G 1.2G

Payload capacity by acceleration/deceleration [kg]

2. Specication

Rated thrust

[N]

212.3

106.1

53.1

339.7

169.8

84.9

56.6

683.6

341.8

170.9

113.9

170.9

113.9

341.8

170.9

85.5

678.3

339.1

169.6

170.9

339.1

169.6

170.1

339.1

169.6

Caution: Even when the acceleration/deceleration is less than the rated acceleration/deceleration,

the payload capacity will not exceed the specified payload capacity at the rated acceleration/deceleration.

Type Size

SXM

SXL

MXL

2. Specication

MXM

MXL

MXMX 200

LXM

LXL

Guide with ball retention mechanism (RT) used

LXM

LXL

LXMX 200 20

LXMX 400

LXUWX

Motor

capacity

[W]

100

200

400

200 20

400

Lead

acceleration/deceleration

[mm]

Rated

[G]

Maximum acceleration/ deceleration

[G]

Horizontal/

Vertical

0.2G 0.3G 0.4G 0.5G 0.6G 0.7G 0.8G 0.9G 1.0G 1.1G 1.2G

Payload capacity by acceleration/deceleration [kg]

0.2 0.5 Horizontal 55 - 38 30 - - - - - - -

0.2 0.4 Vertical 13.5 - 11.5 - - - - - - - -

0.4 0.7 Horizontal 27 - 27 20 15 12 - - - - -

0.4 0.6 Vertical 6.5 3.5 6.5 5.5 4.5 - - - - - -

0.4 1.2 Horizontal 13 - 13 10.5 8.5 7 6 5.5 4.5 4 3.5

0.4 0.8 Vertical 3.0 - 3.0 2.5 2.1 1.8 1.5 - - - -

0.2 0.5 Horizontal 85 - 60 45 - - - - - - -

0.2 0.4 Vertical 19.5 - 14.5 - - - - - - - -

0.4 0.7 Horizontal 45 - 45 30 23 20 - - - - -

0.4 0.6 Vertical 9.5 6 9.5 7.5 6.5 - - - - - -

0.4 1.2 Horizontal 23 - 23 18 15 13 11 9 8 7 6

0.4 1 Vertical 4.5 3 4.5 4.0 3.5 3.0 2.5 2.3 2.0 - -

0.4 1.2 Horizontal 15 0.5 15 11 9 7 6 5 4 3.5 3

0.4 1.2 Vertical 2.0 - 2.0 1.7 1.4 1.2 1.0 0.9 0.7 0.6 0.5

0.2 0.5 Horizontal 110 - 90 80 - - - - - - -

0.2 0.4 Vertical 40 - 30 - - - - - - - -

0.4 0.7 Horizontal 90 - 90 66 51 40 - - - - -

0.4 0.6 Vertical 20 12 20 17 15 - - - - - -

0.4 1.2 Horizontal 45 - 45 35 28 23 20 17 15 13 12

0.4 1 Vertical 10 9 10 8.5 7.5 7 6 5.5 5 - -

0.4 1.2 Horizontal 30 2 30 24 20 17 15 13 12 10 9

0.4 1.2 Vertical 6 - 6 5.5 5 4.5 4 3.5 3 2.5 2

0.4 0.4 Horizontal 45 - 45 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.4 Horizontal 30 - 30 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.7 Horizontal 90 - 90 66 51 40 - - - - -

0.4 0.6 Vertical 19 12 19 15 13 - - - - - -

0.4 1.2 Horizontal 45 - 45 35 28 23 20 17 15 13 12

0.4 1 Vertical 9 6 9 7.5 6.5 6 5 4.5 4 - -

0.4 1.2 Horizontal 15 0.6 15 12 10.5 9 8 7.5 7 6.5 6

0.4

1.2 Vertical 3 - 3 2.5 2.1 1.8 1.5 1.2 1.0 0.8 0.6

0.4 0.7 Horizontal 120 - 120 92 73 60 - - - - -

0.4 0.6 Vertical 40 24 40 34 30 - - - - - -

0.4 1.2 Horizontal 90 - 90 70 57 47 40 35 30 27 24

0.4 1 Vertical 20 15 20 17 15 14 12 11 10 - -

0.4 1.2 Horizontal 40 4 40 32 27 23 21 19 17 16 15

0.4 1.2 Vertical 10 - 10 8.5 7.5 7 6 5.5 5 4.5 4

0.4 0.4 Horizontal 45 - 45 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.4 Horizontal 90 - 90 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.4 Horizontal 40 - 40 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.4 Horizontal 45 - 45 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.4 Horizontal 90 - 90 - - - - - - - -

- - Vertical - - - - - - - - - - -

0.4 0.4 Horizontal 40 - 40 - - - - - - - -

- - Vertical - - - - - - - - - - -

Rated

thrust

[N]

212.3

106.1

53.1

339.7

169.8

84.9

56.6

683.6

341.8

170.9

113.9

170.9

113.9

341.8

170.9

85.5

678.3

339.1

169.6

170.9

339.1

169.6

170.1

339.1

169.6

Caution: Even when the acceleration/deceleration is less than the rated acceleration/deceleration,

the payload capacity will not exceed the specified payload capacity at the rated acceleration/deceleration.

(2) SSPA

Motor

Size Type

capacity

[W]

SXM - 200

MXM - 400

Guide with

LXM

ball retention

mechanism

(RT) not used

Guide with

ball retention

mechanism

750

(RT) used

Lead [mm]

Rated

acceleration/

deceleration [G]

0.4 0.7 Horizontal 90 90 90 72 60 50 - - - - -

0.4 0.6 Vertical 12 12 12 10 8 - - - - - -

0.4 1.2 Horizontal 45 45 45 36 30 26 22.5 19.5 17 - -

0.4 1.2 Vertical 6 6 6 4.8 4 3.4 3 2.7 2.4 - -

0.4 1.2 Horizontal 30 30 30 24 20 17 15 13 12 11 10

0.4 1.2 Vertical 4 4 4 3.2 2.7 2.3 2 1.7 1.4 1.2 1

0.4 0.7 Horizontal 120 120 120 96 80 70 - - - - -

0.4 0.6 Vertical 25 25 25 20 16.5 - - - - - -

0.4 1.2 Horizontal 90 90 90 72 60 51 45 39 34 - -

0.4 1.2 Vertical 12 12 12 9.6 8 6.9 6 5.3 4.8 - -

0.4 1.2 Horizontal 45 45 45 36 30 25.5 22.5 19.5 17 15 13.5

0.4 1.2 Vertical 6 6 6 4.8 4 3.4 3 2.7 2.4 2.2 2

Maximum

acceleration/

deceleration [G]

25 0.4 1.2

50 0.4 1.2

25 0.4 1.2

50 0.4 1.2

Horizontal/

Vertical

0.2G 0.3G 0.4G 0.5G 0.6G 0.7G 0.8G 0.9G 1.0G 1.1G 1.2G

Horizontal 120 120 120 96 80 69 60 53 48 44 40

Vertical 25 25 25 20 17 14 13 11 10 9 8

Horizontal 60 60 60 48 40 34 30 27 24 22 20

Vertical 12 12 12 10 8 7 6 5 5 4 4

Horizontal 120 120 120 96 80 69 60 53 48 44 40

Vertical 23 23 23 18 15 12 11 9 8 7 6

Horizontal 60 60 60 48 40 34 30 27 24 22 20

Vertical 10 10 10 8 6 5 4 3 3 2 2

Payload capacity by acceleration/deceleration [kg]

Caution: Even when the acceleration/deceleration is less than the rated acceleration/deceleration,

the payload capacity will not exceed the specified payload capacity at the rated acceleration/deceleration.

Rated

thrust

[N]

341.8

170.9

113.9

678.3

339.1

169.6

510

255

510

255

2. Specication

2.3 Driving System/Position Detector

The actuator is driven by the AC servo control method.

(1) ISB, ISPB

Size

SXM

SXL

2. Specication

MXM

MXL

MXM

MXL

MXMX 200

LXM

LXL

LXM

LXL

LXMX 200 20 Rolled

LXMX 400

LXUWX 200 20 Rolled

LXUWX 400

*1 Number of pulses input to the controller.

Motor capacity

[W]

100

200

400

Lead [mm]

4 8

5 10 20 30

5 10 20 30 20 30 10 20 40 10 20 40

20 40

Encoder

pulses

16384

Ball screw specification

Type Diameter ISB series ISPB series

Rolled

12 mm

16 mm

20 mm

C10

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

(2) SSPA

The actuator is driven by the AC servo control method.

Size

Motor capacity

[W]

Lead [mm]

Encoder

pulses

SXM 200

20 30

MXM 400

10 20

16384

LXM 750

25 50

*1 This is a number of pulses entered in the controller.

Ball screw

Type Diameter

Rolled

16 mm

20 mm

25 mm

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

2.4 Positioning Precision

Item

Positioning repeatability

r0.01 mm r0.005 mm r0.005 mm

ISB ISPB SSPA

Functions

Backlash*1 0.05 mm or less 0.02 mm or less 0.02 mm or less

*1 Initial value

2.5 Allowable Load Moment of the Actuator

(1) ISB, ISPB

Size

SXM 143.8 205.4 336.0 28.4 40.2 65.7

SXL 216.0 308.5 415.1 39.7 56.7 76.3

MXM 341.5 487.0 796.5 69.6 99.0 161.7

MXL 560.3 800.2 1030.8 105.3 150.4 193.7

MXMX 341.5 487.0 796.5 69.6 99.0 161.7

LXM 560.2 800.1 1325.3 104.9 149.9 248.9

LXL 774.6 1106.4 1566.3 137.8 196.8 278.5

LXMX 560.2 800.1 1325.3 104.9 149.9 248.9

LXUWX 746.7 1066.4 1086.7 179.3 254.8 247.0

Allowable load moment [Nxm] Allowable load moment [Nxm]

Ma Ma Mb Mc Mb Mc

2. Specication

Allowable overhang load [L]

Ma direction: 450

Mb or Mc direction: 450

Ma direction: 550

Mb or Mc direction: 550

Ma direction: 600

Mb or Mc direction: 600

Ma direction: 600

Mb or Mc direction: 600

Ma direction: 600

Mb or Mc direction: 600

Ma direction: 750

Mb or Mc direction: 750

Ma direction: 900

Mb or Mc direction: 900

Ma direction: 750

Mb or Mc direction: 750

Ma direction: 1250

Mb or Mc direction: 1250

Mc direction

Mb direction

Ma direction

Direction of moment

Ma direction

Mb or Mc direction

Direction of allowable overhang

Reference position

2. Specication

Caution: Make sure the load installed on the actuator is not longer than the allowable overhang load length

Reference position for moment calculation

(L). If the load is longer than L, vibration may occur or the settling time may increase depending on the position of center of gravity position or weight of the work part. If a load moment exceeding the allowable load moment is applied, not only the life of the guide will become shorter but vibration or longer settling time may also result.

SXM 30 SXL

MXM 37.5 MXL

MXMX 37.5 LXM 44.5 LXL 44.5 LXMX 44.5 LXUWX 44.5

L [mm]

37.5

(2) SSPA

Size

Static allowable load moment [Nxm]

Dynamic allowable load moment

[Nxm]

Ma Mb Mc Ma Mb Mc

SXM 190 190 530 36 36 98

MXM 470 470 1210 90 90 230

LXM 750 750 1850 138.8 138.8 334.5

Mb direction

Mb or Mc direction

Mc direction

Ma direction

Direction of moment

Direction of allowable overhang

Ma direction

Allowable overhang

load [L]

Ma direction: 450

Mb or Mc direction: 450

Ma direction: 600

Mb or Mc direction: 600

Ma direction: 750

Mb or Mc direction: 750

2. Specication

Reference position for moment calculation

L Reference position

Caution: Make sure the load installed on the actuator is not longer than the allowable overhang load length

L [mm] SXM 45.0 MXM 48.5 LXM 50.5

3. Life

The mechanical life of the actuator is represented by that of the guide receiving the greatest moment load. The “rated load” is one factor that relates to the traveling life. There are two types of “rated load,” namely “static rated load” and “dynamic rated load.” x “Static rated load”: Load which, when applied to a stationary actuator, leaves a minor pressure mark on

the contract surface.

x “Dynamic rated load”: Load which applies after a specified traveling distance under a load based on a

specific probability of survival at which the guide does not break

Guide manufacturers indicate the life of a guide using a dynamic rated load when the provability of survival after 50 km of traveling is 90%. In the case of general industrial machinery, however, you should understand the specific life also for the purpose of maintenance. Also, the life of a guide has a sufficient allowance relative to a radial load, and receives the greatest impact by a moment load offset from the center of the guide. With the IS series, the life is designed to ensure a traveling life of 10,000 km under a load corresponding to the allowable load moment and at a load coefficient of 1.2 (safety factor). [For the dynamic allowable load moment, refer to 2, “Specification”] The calculation formula for allowable load moment at a traveling life of 10,000 km is shown below:

: Allowable load moment

: Load coefficient (= 1.2)

M50: Dynamic rated moment when the probability of survival after 50

km of traveling is 50%

The life at the actual moment is calculated by the formula below:

L: Traveling live (probability of survival: 90%) C

: Allowable dynamic moment

P: Actual moment

4. Installation and Storage/Preservation Environment

4.1 Installation Environment

The actuator should be installed in a location other than those specified below. In general, the installation environment should be one in which an operator can work without protective gear. Also provide sufficient work space required for maintenance inspection.

x Where the actuator receives radiant heat from strong heat sources such as heat treatment furnaces x Where the ambient temperature exceeds the range of 0 to 40qC x Where the temperature changes rapidly and condensation occurs x Where the relative humidity exceeds 85% RH x Where the actuator receives direct sunlight x Where the actuator is exposed to corrosive or combustible gases x Where the ambient air contains a large amount of powder dust, salt or iron (at level exceeding what is normally

expected in an assembly plant)

x Where the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or chemical solutions x Where the actuator receives impact or vibration

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

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

4. Installation and Storage/Preservation Environment

4.2 Storage/Preservation Environment

The storage/preservation environment should be similar to the installation environment. In addition, make sure condensation will not occur when the actuator is to be stored or preserved for a long period of time. Unless specified, we do not include drying agents when shipping the actuator. If you are storing the actuator in an environment where condensation might occur, you must treat the entire shipping box, or treat the actuator itself after unpacking, to prevent condensation. The unit can withstand temperatures up to 60ºC during a short storage/preservation period, but only up to 50ºC if the storage/preservation period is longer than one month.

The actuator should be lying flat during storage/preservation. If the actuator is to be stored in a packed state, follow the specified actuator position if indicated.

5. Transportation

5.1 Handling a Single Axis

5.1.1 Handling the Packed Unit

Unless otherwise instructed, each actuator axis is packed individually and shipped. x Do not bump or drop the package. The package is not specially designed to withstand the impact of dropping

or bumping.

x The operator should not carry heavy shipping boxes by himself. Transport the package using an appropriate

transport means.

x If the shipping box is to be left standing or transported, it should be in a horizontal position. If the packing

specification is instructed, follow the instruction.

x Do not climb on top of the shipping box. x Do not place heavy objects, or objects having a section where loads concentrate, on top of the shipping box.

5.1.2 Handling an Actuator after Unpacking

5. Transportation

(1) ISB, ISPB

x Do not transport the actuator by holding the cables or move it by pulling the cables. x When transporting the actuator, do so by holding the base. x Be careful not to bump the actuator during transport. x Do not exert an excessive force on any part of the actuator. x In the case of the high-precision straightness specification type, be careful not to make a damage and the

traces of hitting at the base bottom. There is a possibility that the running accuracy changes.

(2) SSPA x Four eye bolts are installed, so use these eye bolts to transport the actuator. The SSPA, when unpacked, looks

like the condition shown in the figure below.

Motor cover

M8 eye bolt

x Do not hold the motor cover when transporting the SSPA. Doing so may damage the cover due to the weight

of the actuator or the main unit may fall.

x Do not transport the actuator by holding the cable, or move it by pulling the cable. x Be careful not to bump the actuator against anything when transporting it. x Do not apply excessive force on any of the actuator parts. x In the case of the high-precision straightness specification type, be careful not to make a damage and the

traces of hitting at the base bottom. There is a possibility that the running accuracy changes.

5.2 Handling an Cartesian Robot (ICS)

Take note of the following points when transporting a set of axes that have been combined.

5.2.1 Handling a Package

Before shipment, combined axes are packed in an outer frame nailed to the base made of square lumbers. Each slider is secured to prevent accidental movement during transport. Each actuator end is also secured to prevent oscillating due to external vibration.

x Do not bump or drop the package. The package is not designed to withstand the impact of dropping or

bumping.

x An operator must not attempt to carry a heavy package alone. Transport the package using an appropriate

transport means.

x When hoisting the package using ropes, etc., support the square lumber base at the reinforcements at the

bottom. Similarly when lifting the package with a forklift, insert the forks at the bottom of the square lumber base.

x When setting down the package, be careful not to let the package receive shock or bounce. x Do not step onto the package. x Do not put any article on the package which may deform or damage the package.

5.2.2 Handling an Actuator after Unpacking

x Secure the sliders to prevent sudden movement during transport. x If any end of the actuator is overhanging, secure it properly to avoid significant movement due to external

vibration.

x If the actuator assembly is transported without the ends being secured, do not apply an impact of 0.3 G or

more.

x When hoisting the actuator using ropes, etc., use appropriate cushioning materials to protect the actuator

against strain or distortion. Also keep a stable, horizontal posture. If necessary, use the tapped mounting holes provided on the bottom face of the base to install hoisting jigs.

x Be careful not to apply a load on any of the actuator brackets or covers or on the connector box. Also, do not

allow the cable to be pinched or deformed excessively.

5. Transportation

5.3 Handling an Actuator Assembled to a Mechanical System

When transporting an actuator that has been assembled to a mechanical system, as the whole system, take note of the following points:

x Secure the sliders to prevent sudden movement during transport. x If any end of the actuator is overhanging, secure it properly to avoid significant movement due to external

vibration.

x If the actuator assembly is transported without the ends being secured, do not apply an impact of 0.3 G or

more.

x When hoisting the mechanical system using ropes, etc., prevent the actuator, connector box, etc., from

receiving a load. Also make sure the cables are not pinched or deformed unnaturally.

5. Transportation

6. Installation

6.1 Installation Orientations

Actuators are subject to certain limitations regarding their installation orientations. If an actuator is installed in an orientation not allowed for that actuator, the stainless sheet may break or other problems may occur.

{: Installable U: Unavailable to mount less than 1300mm for stroke x: Not Installable

Type Horizontal installation Vertical installation Sideway installation

ISB, ISPB

SXM/SXL/MXM/

MXL/LXM/LXL

ISB, ISPB

MXMX/LXMX/

LXUWX

SSPA

Installation orientations

Horizontal Vertical Sideway Ceiling mount

{ { { {

{

{ { { {

X X

Ceiling mount

installation

6. Installation

1. When installing the actuator vertically, make sure the motor comes to the top. When the actuator is installed with the motor at the bottom, there shouldn’t be any problems during normal operations. If the actuator is not operated for an extended period of time, however, depending on the ambient environment (especially at high temperature) grease may separate and base oil may flow into the motor unit, causing problems on rare occasions. In the case of Sideway installation, base oil may flow out from the aperture on the side of the actuator, causing problems on rare occasions.

2. If the actuator is installed in horizontally oriented wall mount, it is easy for a foreign object to get inside the actuator from the opening on the side of the actuator.

3. In the Ceiling mount installation, the screw cover may bend, and it will be likely to interfere with the work part. ISB, when it exceeds the stroke 600mm, SSPA, when it exceeds the stroke 800mm, separate the work etc from slider seating surface and install.

ISPB

6. Installation

SSPA

Caution:

Type Stroke Distance

ISB

600mm or more less than 1000mm

1000mm or more less than 1300mm

800mm or more less than 1500mm

5mm or more

10mm or more

5mm or more

Work seating surface

6.2 Installing the Actuator

6.2.1 Installation Method

x Use the threaded holes on the back of the base to install the actuator. Actuators of intermediate support type

(MXMX/LXMX/LXUWX) don’t have threaded holes. Actuators have through holes, in addition to the aforementioned threaded holes, so that the actuator can be installed using hexagonal socket-head bolts that are guided through from the actuator side. If the throw holes are used, remove the screw cover and install them from the top surface.

x Actuators of intermediate support type (MXMX/LXMX/LXUWX) are installed in the same way as the

corresponding actuators without intermediate support. However, be careful not to remove or get caught by the wire rope for the intermediate support during installation.

x When positioning pins are used, use pins with an engagement tolerance of h7 or equivalent. x Positioning can be performed by pushing the reference surface on the side of the base. [Refer to 6.2.2,

"Precision of the Installation Surface."]

x Use high-tension bolts conforming to ISO 10.9 or higher. x When the threaded holes are used, determine the required thread length as specified below:

x ISB, ISPB

Depth of threaded hole > Thread engagement length > Nominal thread size x 1.8

x SSPA

Depth of threaded hole > Thread engagement length > Nominal thread size

x If the through holes are used for installation, provide the following effective engagement length, whichever is

applicable, for the female thread:

x If the female thread is made of steel, same as the nominal diameter x If the female thread is made of aluminum, 1.8 times of nominal diameter

x If the bolt seating surface is aluminum, or the through holes are used, also use high-tension bolts with

dedicated washers. Failure to do so may cause the seating surface to buckle.

6. Installation

Dedicated washer for high-tension bolt (supplied)

z ISB, ISPB: Small type SXM/SXL

[Through hole]

Installation bolt Tightening torque

[Threaded hole]

6. Installation

Installation bolt

The installation method is shown by a section view.

Base: Aluminum alloy (A6063SS-T6 or

Through hole

Threaded hole M6 depth 16

M6 5.4 Nxm

Tightening torque

Bolt seating surface is steel Bolt seating surface is aluminum

M6 12.3 Nxm 5.4 Nxm

equivalent), with alumite treatment

Bolt seating surface

Bolt

Seating surface Seating surface

Warning: The threaded holes are not through, so exercise caution when selecting the bolt length.

Use of inappropriate bolts may damage the threaded holes or result in insufficient mounting strength of the actuator, leading to a lower precision or unexpected accident.

z ISB, ISPB: Medium type MXM/MXL/MXMX, Large type LXM/LXL/LXMX/LXUWX

The installation method is shown by a section view.

Base: Aluminum alloy

(A6063SS-T6 or equivalent), with alumite treatment

Threaded hole, M8 depth 20 (*)

Through hole

Threaded hole, M8 depth 20 (*)

Through hole

120

(Note) Threaded hole indicated with (*) in the figure above is not provided on the intermediate support type

(MXMX/LXMX/LXUWX).

[Through hole]

Installation bolt Tightening torque

M8 11.5 Nxm

[Threaded hole]

Installation bolt

Bolt seating surface is steel Bolt seating surface is aluminum

Tightening torque

M8 30.0 Nxm 11.5 Nxm

6. Installation

Bolt seating surface

Bolt

Seating surface Seating surface

Warning: The threaded holes are not through, so exercise caution when selecting the bolt length.

Use of inappropriate bolts may damage the threaded holes or result in insufficient mounting strength of the actuator, leading to a lower precision or unexpected accident.

z SSPA

SXM 6 MXM 8 LXM 10

[Through hole]

Installation bolt Tightening torque

6. Installation

The installation method is shown by a section view.

L [mm]

φ9

φ15

M6 5.4 Nxm

M8 11.5 Nxm

Base: Cast iron, coated

Through hole, SXM M6 length below neck * 13.5 mm min. for iron (Female screw depth of 9 mm min.)

16.5 mm min. for aluminum (Female screw depth of 12 mm min.) MXM M6 length below neck * 17.5 mm min. for iron (Female screw depth of 12 mm min.)

21.5 mm min. for aluminum (Female screw depth of 16 mm min.) LXM M8 length below neck * 22 mm min. for iron (Female screw depth of 12 mm min.) 26 mm min. for aluminum (Female screw depth of 16 mm min.)

Threaded hole, SXM M6 screw-in length 6 mm min. and less than 9 mm MXM M8 screw-in length 8 mm min. and less than 12 mm LXM M8 screw-in length 12 mm min. and less than 16 mm

[Threaded hole]

Installation bolt

Bolt seating surface is steel Bolt seating surface is aluminum

Tightening torque

M6 12.3 Nxm 5.4 Nxm

M8 30.0 Nxm 11.5 Nxm

Bolt seating surface

Bolt

Seating surface Seating surface

Warning: The threaded holes are not through, so exercise caution when selecting the bolt length.

Use of inappropriate bolts may damage the threaded holes or result in insufficient mounting strength of the actuator, leading to a lower precision or unexpected accident.

6.2.2 Precision of the Installation Surface

x The frame on which the actuator is installed shall have sufficient structural rigidity to remain free from vibration,

etc.

x The basis of measurement of the running accuracy of the slider is from the lower side and motor side to right

side. If accuracy for its run is required, use these surfaces as a datum of the installation. In view of the motor side, the parallelism of the quasi-reference surface of left side to the reference surface is

0.1mm or less.

x The surface where the actuator, excluding the high-precision straightness specification (model number: ST

(optional)), will be mounted should be machined or be equally level, and the flatness between the actuator and the frame should be within 0.05 mm/m. If the installation surface is rough, abnormal noise or other problems may occur due to poor contact of the actuator.

x Install the actuator, excluding the high-precision straightness specification (model number: ST (optional)), after

removing any dirt on the base surface on a flat surface with a precision of the flatness of 0.02 mm/m. [For the high-precision straightness specification (model number: ST (optional)), refer to 10.8, “High-Precision Straightness Specification.”]

x Provide enough space around the actuator so that maintenance work can be carried out.

z ISB, ISPB: Small type SXM/SXL, Medium type MXM/MXL/MXMX, Large type LXM/LXL/LXMX/LXUWX

Motor side

Slider reference surface (side)

Slider reference surface (top)

6. Installation

Quasi-reference surface

Reference surface (side)

Reference surface (bottom)

View from the front side

Reference surface

Quasi-reference surface

View from the upper side

x When using the base or slider reference surface (side), provide a contact surface of the following dimension.

Dimension of the contact surface to the reference surface

Size Reference Surface Dimension A

Slider reference surface (side) 2 to 9 Base reference surface (side) 3 to 5 Slider reference surface (side) 2 to 9 Base reference surface (side) 3 to 7.5 Slider reference surface (side) 2 to 9 Base reference surface (side) 3 to 8

z SSPA

Unless it is the optional rust-proof model (model code: MD), there is no rust-proof treatment (plating or paint coating) conducted on the base datum surface (bottom surface and datum side surface) nor slider datum surface (top surface and datum side surface). Before installing the actuator and the work part, remove any dirt or oil from the reference surface with a waste cloth soaked with alcohol and grease, wipe it off again with a dry waste cloth, and brush paint it with anti-corrosion oil. (JIS K 2246 NP-3-1 or equivalent anti-corrosion oil is applied when shipped from IAI.)

Motor side

6. Installation

Slider reference surface (side) On the right facing from the motor

Reference surface (side) On the right facing from the motor

Reference surface (bottom)

Slider reference surface (side) 2 to 9 Base reference surface (side) 3 to 8

Slider reference surface (top)

Reference surface

Quasi-reference surface

Shoulder dimensions to the base and slider reference surfaces (side)

Type A

Quasi-reference surface

View from the upper side

6.3 Installing the Load on the Slider

x The slider has threaded holes, so affix the load using these holes. The affixing method shall conform to the

method for installing the actuator.

x Similarly when the slider is affixed and actuator is moved, install the slider using these threaded holes on the

slider.

x The slider has two reamed holes. If repeatability is required after removal/re-installation, use positioning pins.

If squareness is required, use one positioning pin and make installation adjustment.

x After removal/re-installation, repeatability can also be ensured by pushing the reference surface on the side of

the base.

x Use high-tension bolts conforming to ISO 10.9 or higher. x When the threaded holes are used, determine the required thread length as specified below:

x ISB, ISPB

Depth of threaded hole > Thread engagement length > Nominal thread size x 1.8

x SSPA

Depth of threaded hole > Thread engagement length > Nominal thread size

z ISB, ISPB: Small type SXM/SXL

6. Installation

2-6H7, depth 10

4-M6 depth 18

2-6H7, de

8-M6 depth 18

th 10

SXM slider SXL slider

Installation bolt

Bolt seating surface is steel Bolt seating surface is aluminum

Tightening torque

M6 12.3 Nxm 5.4 Nxm

(Note) When using positioning holes, use pins with an engagement tolerance of h7 or equivalent.

z ISB, ISPB: Medium type MXM/MXL/MXMX



6. Installation

(Note) When using positioning holes, use pins with an engagement tolerance of h7 or equivalent.

z ISB, ISPB: Large type LXM/LXL/LXMX/LXUWX

2-8H7, depth 10

Installation bolt

M6 12.3 Nxm 5.4 Nxm

M8 30.0 Nxm 11.5 Nxm

2-8H7, depth 10

4-M6, depth 18

4-M8, depth 18

8H7, depth 10

MXM/MXMX slider MXL slider

Tightening torque

Bolt seating surface is steel Bolt seating surface is aluminum

150

1512015

309030

8-M8, depth 20

2-8H7, depth 10

180

1016010

459045

8-M8, depth 20

4-M8, depth 18

051

20.0

051

20.0

051

LXM/LXMX/LXUWX slider LXL slider

Installation bolt

Bolt seating surface is steel Bolt seating surface is aluminum

Tightening torque

M8 30.0 Nxm 11.5 Nxm

(Note) When using positioning holes, use pins with an engagement tolerance of h7 or equivalent.

z SSPA: Small type SXM

Installation bolt

M6 12.3 Nxm 5.4 Nxm

z SSPA: Medium type MXM

Slider reference surface

2-φ6H7 depth 8

Slider reference surface

6-M6 depth 9

6.5

17.5

±0.02

6.5

17.5

±0.02

7.537.537.57.5

Tightening torque

Bolt seating surface is steel Bolt seating surface is aluminum

2-φ8H7 depth 10

128

110

120

±0.02

2570

±0.02

6. Installation

Installation bolt

6-M8 depth 12

Bolt seating surface is steel Bolt seating surface is aluminum

10505010

Tightening torque

M8 30.0 Nxm 11.5 Nxm

z SSPA: Large type LXM

6. Installation

(Note) When using two positioning holes, use a pin with a hole of h7 or equivalent and another with a hole of g6.

Installation bolt

+0.015

depth 12

2- Ø 8 H7 0

Slider reference surface

6-M8, depth 16

9531

351

10 10

Bolt seating surface is steel Bolt seating surface is aluminum

150

100

25 25

0.02

20.0

65 65

110

Tightening torque

M8 30.0 Nxm 11.5 Nxm

Seating surface

Seating surface Seating surface

Bolt Bolt

Seating surface

Bolt seating surface

6.4 Using T-slots

M4 T-slots for installing the connector box, etc. are provided on the side face of the base of ISB or ISPB, when configuring the orthogonal axes. (See the figure below.) You can also use these T-slots freely for installing sensors, securing wires or for other purposes as necessary.

Bolt

4.3

Distance

7.3

from bolt end

1.5

4.5

Square nut (or hexagonal nut)

Installed part

6. Installation

Caution: Square nuts are recommended for use with T-slots, but general hexagonal nuts can also be used.

When installing blots in T-slots, pay attention to the length of each bolt to prevent the bolt end from contacting the bottom of the T-slot.

7. Connecting the Controller

7.1 Wiring

The actuator and controller are connected via the motor cable and encoder cable (genuine parts) using connectors.

Motor cable

Controller

2) %1&'

$-

2)

$-

/1&'

*156

Actuator

219'4

(75'

Encoder cable

/ /

.5 .5

7. Connecting the Controller

[For details on extension cables, refer to 11, “Motor/Encoder Cables.”]

Example of connection with XSEL Controller

When designing an application system, incorrect wiring or connection of each cable may cause unexpected problems such as a disconnected cable or poor contact. The following explains examples of prohibited handling of cables.

x Do not cut and reconnect the cable to extend or shorten the cable. x Use a robot cable for any section where the cable will flex. [For the bending radius, refer to 11, “Motor/Encoder

Cable.”]

x Provide a sufficient bending radius and prevent the cable from bending at the same point.

Steel band (piano wire)

Bundle loosely.

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

7. Connecting the Controller

x Do not pull the cable with a strong force

x Do not let the cable receive a turning force at a single point.

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

x When fixing the cable, provide a moderate slack and do not tension it too tight.

x Separate the I/O and communication lines from the power and drive lines. Do not wire them together in the

same duct.

Follow the instructions below when using a cable track. x If there is an indication to the cable for the space factor in a cable track, refer to the wiring instruction given by

the supplier when storing the cable in the cable track.

x Avoid the cables to get twined or twisted in the cable track, and also to have the cables move freely and do not

tie them up. (Avoid tension being applied when the cables are bent.)

7. Connecting the Controller

Do not pile up cables. It may cause faster abrasion of the sheaths or cable breakage.

Do not use a spiral tube where the cable flexes frequently.

Power line

Duct

I/O lines (flat cable)

Warning:

z Always turn off the controller power before connecting/disconnecting cables. If cables are connected/

disconnected while the power is still supplied, the actuator may malfunction and serious injury or equipment damage may occur.

z Loose connectors may cause the actuator to malfunction and create a dangerous situation.

Be sure to confirm that all connectors are securely connected.

8. Operating Conditions

8.1 Duty Ratio during Continuous Operation

Operate at duty ratios equal to or less than the allowable value. “Duty ratio” refers to a utilization ratio indicating the percentage of the time during which the actuator is operating in one cycle.

Caution: If an overload error occurs, increase the standstill time to lower the duty or decrease

the acceleration/deceleration.

[How to Calculate Duty]

Calculate the load factor and acceleration/deceleration time ratio and find an applicable duty ratio on a graph of calculated values. If the load factor is less than 50%, the actuator can be operated at a duty ratio of 100% (continuous operation). [1] Load factor LF The maximum payload capacity at rated acceleration, and rated acceleration/deceleration, are specified in 2, “Specifications.”

[When commanded acceleration speed is lower than the

rated acceleration speed]

[When commanded acceleration speed is higher than the

rated acceleration speed]

8. Operating Conditions

Load factor : LF = M ×

Maximum payload capacity at rated acceleration : Mr [kg]

Rated acceleration/deceleration : Dr [G]

Transfer weight during operation : M [kg]

Acceleration/deceleration during operation :

D / Mr × Dr [%]

D [G]

[2] Calculate the acceleration/deceleration time ratio t

Acceleration/deceleration time ratio t

Load factor : LF = M ×

Transportable weight in commanded acceleration : Md[kg]

Transfer weight during operation : M [kg]

Acceleration/deceleration during operation :

using the calculation formula below:

D / M

× D = M / Md[%]

D [G]

Acceleration time during operation + Deceleration time during operation / Operating time (%)

Acceleration time = Operating speed [mm/s] / Acceleration during operation [mm/s

Acceleration (mm/s2) = Acceleration (G) x 9,800 mm/s

Deceleration time = Operating speed [mm/s] / Deceleration during operation [mm/s2] (sec.)

Deceleration (mm/s2) = Deceleration (G) x 9,800 mm/s

] (sec.)

[3] Find the applicable duty ratio on the graph based on each load factor LF for which the duty ratio has been

calculated, and the acceleration/deceleration time ratio tod. Example) If the load factor LF is 80% and acceleration/deceleration time ratio t

is 80%, a reference duty is

approx. 75%.

100

Approx. 75%

Reference duty (%)

= Less than 50%

= 60%

= 70%

= 80%

= 90%

= 100%

Load factor (%)

0 20 40 60 80 100

Acceleration/deceleration time ratio tod (%)

9. Setting the Home Position

9.1 Home Return

Home return involves the operation explained below: [1] When a home return command is issued, the actuator moves (in the direction set by the applicable

parameter).

[2] The software detects the mechanical end in the return operation. If option L (home limit switch) is installed,

the mechanical end is detected by a sensor.

[3] The slider reverses its direction when the mechanical end or home limit switch is detected, after which the

Z-phase signal is detected and the position where this signal has been detected becomes the reference point.

[4] The slider travels further by the offset amount set by the parameter, and this position becomes home.

9.2 Factory-set Home Position

How much the motor would turn after the mechanical end or home limit switch is detected until the Z-phase signal is generated has been adjusted prior to shipment. The standard distance travelled by each slider after it reverses its direction upon detection of the mechanical end or home limit switch, until stopping at the home position, is shown in the table below.

Home position from mechanical stopper

Model name

ISB, ISPB Small type SXM/SXL Medium type MXM/MXL/MXMX

Large type LXM/LXL/LXMX/LXUMX

SSPA Small type SXM

Medium type MXM

SSPA Large type LXM 10 mm

or home sensor

(approx. in mm)

5 mm

9. Setting the Home Position

9.3 Changing the Home Direction

If the home direction is changed after the actuator has been delivered, the moving direction parameter must be changed, and the encoder’s Z-phase may also need to be adjusted on some models. Contact IAI.

9.4 How to Use the Homing Mark Stickers

 The following stickers are supplied with the actuator. Use these stickers, as necessary, to mark the home

position of the actuator, etc.

Sticker details

Homing mark stickers

x 1 sheet

Graduation mark sticker x 4

(The graduations are provided for 10 mm at a 1-mm pitch.)

• Remove each sticker from the backing paper when use. Notes 1. The back side is adhesive.

2. Remove dirt and oil from the attaching surface beforehand.

3. Avoid attaching the stickers over the caution labels.

Examples of use

[1] For marking the home position of the actuator

Mark sticker x 4

9. Setting the Home Position

Attach to the slider.

Motor

Attach on the home side of the base.

Attach to the slider.

Attach two stickers when the actuator is stopped at its home.

[2] As positioning marks

These marks can be used to check for position deviation, etc.

Attach to the base.

Attach to the slider.

Motor

Attach at desired moving positions.

9.5 Fine-tuning the Home Position

Correct the position deviation by changing the parameter for home preset in the case of an X-SEL or SSEL controller, or by changing the parameter for home return offset in the case of a SCON parameter. How to set these parameters is explained below.

9.5.1 X-SEL and SSEL Controllers

(1) Open the position edit screen.

On the PC software screen, click , select a desired position number, and then click OK to display the following screen.

Click this button to open the position edit screen.

Click the home return button to perform home return.

Home return button

(2) Turn OFF the servo and move the slider to the home position by hand.

If the slider cannot be moved by hand, move the slider in the jog or inching mode. Check the current value being displayed, and record the position deviation.

9. Setting the Home Position

The current value is displayed.

(3) Open the parameter screen.

Click this button to open the parameter edit screen.

(4) Select the axis-specific parameter tab.

Select Specific Axis.

(5) In the axis-specific parameter tab, select No. 12, “Preset Home.”

9. Setting the Home Position

Select No. 12, “Preset Home.”

(6) Change the setting of axis-specific parameter No. 12 (Preset Home).

Add or subtract the value measured in (2) to/from the value currently input. The setting unit is 0.001 mm. Example: When subtracting 1 mm Current preset value = Current setting – 1000

(7) Write the new data.

Click the SEL button to write the data to the controller.

(8) Transfer the data to the controller.

(9) Click OK.

(10) Write the data to the flash ROM.

9. Setting the Home Position

(11) Restart the controller.

Select the Parameters check box.

Select Yes.

9.5.2 ECON and SCON Controllers

(1) Open the position edit screen.

On the PC software screen, click , select a desired position number, and then click OK to display the following screen.

Click this button to select the position edit screen.

Click the home return button to perform home return.

Home return button

The current value is displayed.

9. Setting the Home Position

(2) Turn OFF the servo and move the slider to the home position by hand.

If the slider cannot be moved by hand, move the slider in the jog or inching mode. Check the current value being displayed, and record the position deviation.

(3) Open the parameter screen.

Click this button to select the parameter screen.

(4) The user parameter screen appears.

9. Setting the Home Position

(5) Change user parameter No. 22 (home offset).

* The setting unit is mm. Add or subtract the value measured in (2) to/from the value currently input. Example: When subtracting 0.5 mm Home offset = Current setting – 0.5 mm

(6) Write the new data.

Click the controller transfer button, and then click OK. * After the data has been written, turn off the controller power.

Click the controller transfer button.

Click OK.

9. Setting the Home Position

9.6 Absolute Reset Method (Absolute Specification)

If the battery has been replaced or encoder cable unplugged following an absolute encoder battery voltage error, etc., absolute reset must be performed. For the method to perform absolute reset, check 1.2, “Related Operation Manuals for Each Controller Supported by This Product” in the operation manual of your controller.

9. Setting the Home Position

10. Options

10.1 Brake

The brake is a mechanism to retain the slider of a vertically installed actuator so that the slider will not drop when the power is cut off or servo turns off. If any axis is used vertically, an optional brake is required.

10.2 Creep Sensor

This sensor is used to perform home return at high speed. Normally home return is implemented with the slider contacting the stopper at the stroke end on the motor side and then reversing its direction. To support this “stopper method,” the home return speed is kept to a range of 10 to 20 mm/s. This means that sliders of long strokes require a longer time to complete the home return. The creep sensor is a proximity sensor that allows the slider to move at high speed until halfway and then reduce its speed to the normal home return speed before the home, in order to shorten the time required for home return. The standard installation position of this sensor is on the right side of the actuator as viewed from the motor, represented by the option model number “C.” A cover similar to the one used for limit switches is provided on the outside of the sensor. If both the creep sensor and limit switches are installed, the same cover is used for each. If you want to have the creep sensor on the left side, specify the option model number “CL.” Check the figure of cover installation in 10.3, “Limit Switch.”

High speed

Home return of an axis with a long stroke requires a longer time for the axis to move to the mechanical end.

sensor is provided before the mechanical end and once this sensor actuates, the speed is reduced to perform normal home return operation.

Speed

With creep sensor

Without creep sensor

Creep sensor

Creep

sensor

10. Options

Distance

Mechanical

end

10.3 Limit Switch

Normal home return operation uses the “stopper method” wherein the slider contacts the stopper and reverses, after which the Z-phase is detected and defined as the home. The home limit switch (L) is an option which is designed to perform this reversing operation using a proximity sensor, not a stopper. Use the home limit switch if you want to increase the reliability of home return by, for example, preventing a false detection of mechanical end due to contact with other device, etc. If this option is selected, three proximity sensors are installed, including the home detection sensor (HOME), overtravel sensor on front side (+OT) and overtravel sensor on motor side (-OT). (HOME and -OT are integrated as twin sensors.) Take note that moving the home sensor significantly may shorten the stroke. The standard installation position of the home limit switch and cover is on the right side of the actuator as viewed from the motor, represented by the option model number “L.” If you want to have the limit switch on the right side, specify the option model number “LL.”

Limit switch cover

10. Options

Limit switch cover

10.4 Reversed-home Specification

In the reversed-home specification, the home is located on the front side. This is indicated by “NM” in the model number. If you wish to change the home direction after the delivery, consult IAI because the moving direction parameter must be adjusted, as well as the encoder’s Z-phase on certain models.

10.5 Cable Exit Direction

The cable should exit in one of the following four

Cable

Cable exit from

(Option model number: A1S)

Cable

the left

Cable exit from

the back on the left

(Option model number: A1E)

Cable exit from

(Option model number: A3S)

(Option model number: A3E)

the right

Cable exit from

the back on the right

Cable

10.6 Guide with Ball Retention Mechanism

A spacer (retainer) is inserted between adjacent balls (steel balls) in the guide to reduce noise and achieve smooth operation. This specification is indicated by “RT” in the model number.

Ball

There is no longer metal noise generated by colliding balls and thus noise is reduced. Since balls are aligned by retainers, annoying noise decreases. Wear caused by friction between balls decreases, oil no longer runs out due to contact, and lubricating oil collects at the retainers. Accordingly, operation becomes smooth.

Ball

Spacer (retainer)

10. Options

10.7 Master Axis/Slave Axis Specification for Synchronized Operation

If the “synchronized operation function” is used, where two actuator axes are operated with the XSEL controller or SSEL controller, one axis is designated as the master axis, while the other axis is designated as the slave axis. The actuators serving as the master axis and slave axis must be of the same specification. The master axis comes with the home limit switch, represented by the option model number “LM.” The standard installation position of the home limit switch and cover is on the right side of the actuator as viewed from the motor. If you want to have the limit switch on the right side, specify the option model number “LLM.”

Controller

Y-axis

X-axis

Slave axis (S)

Master axis (LM)

10. Options

10.8 High-Precision Straightness Specification

The high-precision straightness specification type is a precision actuator with high-level settings of parallelism and straightness, which is the base and slider travel accuracies. The models are expressed with ST.

x Aluminum-based ISB/ISPB

Parallelism Straightness

With no High-precision straightness specification

With High-precision straightness specification

x Iron-based SSPA

Parallelism Straightness

With no High-precision straightness specification

With High-precision straightness specification

0.05 mm/m Max. (However, the stroke less 500mm is 0.025mm uniformed.)

0.03 mm/m Max. (However, the stroke less 500mm is 0.015mm uniformed.)

0.05 mm/m Max. (However, the stroke less 500mm is 0.025mm uniformed.)

0.03 mm/m Max. (However, the stroke less 500mm is 0.015mm uniformed.)

0.05 mm/m Max. (However, the stroke less 500mm is 0.025mm uniformed.)

0.02 mm/m Max. (However, the stroke less 500mm is 0.015mm uniformed.)

0.05 mm/m Max. (However, the stroke less 500mm is 0.025mm uniformed.)

0.015 mm/m Max. (However, the stroke less 500mm is 0.008mm uniformed.)

10. Options

x The values for the high-precision straightness specification are based on measurement at a temperature of 20

r 3qC using a precision stone surface plate of grade 00 and 6.5 Pm in flatness.

x The values for the standard specification and high-precision specification are based on measurement at a

temperature of 20 r 3qC using a surface plate of 0.05 mm or less in flatness.

x The parallelism and the straightness of the chart are the standard value of 1m.

Standard value (mm/m) × stroke (m) will be straightness or flatness of the all stroke.

(Reference)

[Measurement Method] [1] Parallelism (horizontal) between the base reference surface and the slider (reference surface)

Affix the base on the surface plate and, with the indicator on the slider contacting a surface running parallel with the two points at both edges of the base reference surface, move the slider over its entire stroke to perform measurement.

Parallel plane: A plane parallel to the base reference surface (reference point of both ends)

[2] Parallelism (vertical) between the base mounting surface and the slider (work part mounting surface)

[Parallelism and Straightness]

10. Options

Reference point

With the base affixed on the surface plate and indicator on the slider also contacting the surface plate, move the slider over its entire stroke to perform measurement.

Parallelism is represented by the maximum value on a graph of indicator changes measured by moving the slider over its entire stroke. Straightness, or degree of being straight, is represented by the maximum value among all measured results of parallelism expressed by intervals between two straight lines.

Deviation

Representative line

Measured value

Straightness

Parallelism

Slider travel distance

10.9 Rust prevention film processing

The rust prevention film processing is the one that the rust prevention processing (electrolysis rust prevention black film processing) was given to the base reference surface (bottom and the side reference surface) and the slider reference surface (top and the side reference surface). Used to suppress rusts and dusts. Option of SSPA. It is used to suppress the environment. The models are expressed with MD.

10. Options

11. Motor/Encoder Cables

11.1 Standard

The same cables are used regardless of the actuator model number. The applicable cables vary depending on the combined controller.

Correspondence table of controllers and motor/encoder cables

Controller XSEL-J/K XSEL-P/Q SSEL SCON

LS Without LS With LS Without LS With LS Without LS With LS Without LS With LS

Applicable

cables

[1] Motor cable CB-X-MA***

(Front view)

Controller end

[1], [2] [1], [2], [3] [1], [4] [1], [5] [1], [4] [1], [5] [1], [4] [1], [5]

* *** indicates the cable length (L). Up to 30 m can be

specified. Example) 080 = 8 m [Minimum bending radius] Movable: 51 mm

Actuator end

(Front view)

Fixed: 34 mm

Wiring Color Signal Signal Color Wiring

Green

Red

White

Black

No. No.

Green

Red

White

Black

[2] Encoder cable CB-X-PA***

(Front view)

Controller end

11. Motor/Encoder Cables

Actuator end

(Front view)

* *** indicates the cable length (L). Up to 30 m can be

specified. Example) 080 = 8 m [Minimum bending radius] Movable: 44 mm Fixed: 29 mm

Wiring Color Signal

Blue

0.15 sq

(crimped)

Orange

Black Yellow Green Brown

Gray

Red

The shield is clamped to the hood.

Ground wire and braided shield wires

Signal Color Wiring

Black

Yellow

Blue

Orange

Green Brown

Ground

Gray

Red

0.15 sq

(crimped)

[3] Limit switch cable CB-X-LC***

㧔 㧕

㧔 㧕

㧕㧔

(Front view)





㧕Ǿ㧔

Controller end

[4] Encoder cable CB-X1-PA***

(Front view)

Controller end

Plug housing: XMP-09V (JST) Socket contact: BXA—001T-P0.6 (JST) x 9 Retainer: XMS-09V (JST) Note 6: Use the crimper recommended by the connector manufacturer.

㧕㧔

㧔 㧕





Actuator end

㧔 㧕

* *** indicates the cable length (L). Up to 30 m can be

specified.

Example) 080 = 8 m

㧕㧔

[Minimum bending radius] Movable: 33 mm

(Front view)

Fixed: 22 mm

Wiring Color Signal Signal Color Wiring

Note) 1B indicates one black dot mark.

* *** indicates the cable length (L). Up to 30 m can be

specified. Example) 080 = 8 m [Minimum bending radius] Movable: 44 mm Fixed: 29 mm

(Front view)

Wiring

Skyblue

Pink

Light green

Orange

Gray

1B/

skyblue

Color Signal

Skyblue

Pink

Light green

Orange

Gray

skyblue

1B/

Actuator end

AWG26

(soldered)

Orange

Green

Purple

Gray Red

Black

Blue

Yellow

The shield is clamped to the hood.

Ground wire and braided shield wires

Signal Color W iring

Black

Yellow

Blue

Orange

AWG26

(crimped)

Green Brown

Ground

Gray

Red

11. Motor/Encoder Cables

[5] Encoder cable with LS CB-X1-PLA***

41 14

Controller end

LS end

Actuator end

Wiring

Color Signal

White/blue

White/yellow

White/red White/black White/purple

White/gray

AWG26

(soldered)

Orange Green Purple

Gray Red Black Blue

Yellow

The shield is clamped to the hood.

(Front view)

E24V

0V LS

CLEEP

RSV

A+ A B+ B Z+ Z

SRD+

SRD

BKR BKR+

* *** indicates the cable length (L). Up to 30 m can be

specified.

8152

Example) 080 = 8 m [Minimum bending radius] Movable: 54 mm Fixed: 36 mm

No.

10 11 12 13 26 25 24 23

9 18 19

8 14 15 16 17 20 21 22

Ground wire and braided shield wires

No.

1 2 3 4 5 6

No.

1 2 3 4 5 6 7 8 9

(As for wire color, “White/blue” indicates tha

Signal

Color

White/blue

White/yellow

White/red

White/black

White/purple

White/gray

Color Wiring

Purple

Gray

Orange

Green

Red Black

Ground

Blue

Yellow

Wiring

AWG26

(crimped)

AWG26

(crimped)

E24V

CLEEP

OT RSV

Signal

0V LS

the band is white and insulator is blue.)

12. Maintenance/Inspection

12.1 Inspection Items and Intervals

Perform maintenance/inspection according to the following timetable. The operating time is assumed to be 8 hours a day. If the actuator is used continuously for 24 hours or the utilization rate is otherwise high, shorten the inspection intervals accordingly.

Visual inspection of

machine exterior At start of operation After 1 month of operation After 6 months of operation After 1 year of operation Every 6 months thereafter Every year thereafter

(Note 1) If the interior check found deteriorated grease, add grease.

Caution: When the actuator is moved back and forth continuously over a distance of 30 mm or less, grease film may

disappear. As a guide, move the actuator back and forth over a distance of 50 mm or more for five cycles or so after every 5,000 to 10,000 back-and-forth operations over a short distance. This will restore the oil film.

{ { { { { { { { { { {

Interior check Lubrication

(Note 1)

{

12.2 Visual Inspection of the Machine Exterior

Check the following items visually.

Main body and work part Loose mounting bolts, etc. Cables Damage to cables, connection of connectors General Noise, vibration

12.3 External Cleaning

x Clean the exterior surfaces from time to time. x Wipe off dirt with a soft cloth.

12. Maintenance/Inspection

x Depending on the situation, base oil of grease may ooze out to the actuator surface. If oil has oozed out, wipe

it off using a soft cloth, etc.

x To prevent dust from entering the actuator through gaps and openings, do not clean the actuator by blowing

highly compressed air onto it.

x Do not use petroleum-based solvents as they damage plastic parts and painted surfaces. x If the unit gets badly soiled, moisten a soft cloth with a neutral detergent or alcohol and wipe the soiled area

gently.

12.4 Interior Check

Turn off the power, remove the screw cover and visually inspect the interior.

For the interior inspection, check the following items.

Actuator

Guide Lubrication condition, soiling, wear, flaking

Ball screw Lubrication condition, soiling

Joint Lubrication condition, soiling

Visually check the condition of the interior. Specifically, see if there is any dust or foreign object inside the actuator and also check the condition of lubrication. Even if the grease has turned brown, lubrication is fine as long as the traveling surface appears shiny. If the grease becomes dirty and dull due to dust, or if the grease has worn away due to an extended operating time, lubricate the parts after cleaning them.

[The procedure for checking the interior is explained below.] [1] Remove the screw cover using an Allen wrench of 2.5 mm across flats for ISB and ISPB-SXM,

or 3 mm across flats for all other models. [2] Check the interior. [3] When the inspection is complete, tighten the mounting screws for the screw cover.

[Cleaning the interior]

x Wipe off dirt with a soft cloth. x If constituents of grease have separated and base oil has accumulated on both ends of the guide rail, wipe off

the oil using a soft cloth, etc. If the accumulated oil is not wiped off, it may seep out to the exterior of the actuator.

x To prevent dust from entering the actuator through gaps and openings, do not clean the actuator by blowing

highly compressed air onto it.

x Do not use petroleum-based solvents, neutral detergents or alcohol.

Loosening of actuator mounting bolts, intrusion of dust and

other foreign matters

12. Maintenance/Inspection

Caution: If grease contains a large amount of foreign matter, be sure to wipe off the dirty grease before

adding new grease.

Warning: y Do not disassemble the front cover because the ball screw is supported by the front cover. If a

proper adjustment of the front cover is lost, the shaft center may become offset and the traveling resistance may increase or life of each part may become shorter, or abnormal noises may generate.

y An encoder is built into the encoder cover. The encoder not only detects the rotation angle and

home signal, but it also performs a critical function in the AC control and the encoder and motor phases have been adjusted precisely. Never touch the encoder.

Caution: Do not forcibly bend or damage the stainless sheet when checking the interior.

Any changes to the installation condition cause the sheet to be placed disproportionately on one side and affect the life of the product. In such a case, please contact the IAI Sales Engineering Section. In addition, be sure to wear gloves, etc. when working because the edges of the stainless sheet may cause an injury.

12. Maintenance/Inspection

12.5 Adding Grease

12.5.1 Applicable Grease

The following blends of grease are charged before shipment from IAI.

Type Parts Factor-set grease ISB, ISPB

SXM/SXL

MXM/MXL/MXMX

LXM/LXL/LXMX/LXUWX SSPA Guide, ball screw Daphne Eponex Grease No. 2 ISB, ISPB

LXM/LXMX/LXUWX

Warning: Never use fluorine grease. Fluorine grease will chemically react with lithium grease and

damage the machine.

12.5.2 Grease Application Method

(1) Adding grease to the guide and ball screw

A grease nipple is provided on the side of the slider. Add grease to the guide and ball screw through here.

The grease nipple on the right facing from the motor is to add grease to the guide and ball screw on the right

side.

The grease nipple on the left facing from the motor is to add grease to the guide and ball screw on the left.

(Grease can be added to the ball screw from either side of the grease nipples.)

[1] Apply grease from the left or right grease nipple three to four times using a grease gun.

[2] Move the slider several times by hand.

[3] Wipe off any excess grease.

Guide, ball screw Daphne Eponex Grease No. 2

Intermediate support Multemp LRL No. 3

12. Maintenance/Inspection

Caution: y Charging too much grease may increase the agitation resistance and cause the ball

screw to generate heat easily or allow excess grease on the ball screw to scatter around and dirty the surroundings as the screw turns. Be sure to wipe off excess grease.

y It is difficult to move actuators of short leads by hand. With these actuators, do not try to

move the actuator by force, but connect a controller and move the actuator by jog operation.

Standard grease application opening LXUWX grease application opening

12. Maintenance/Inspection

Grease nipple (Also on the opposite side)

pply grease to the guide

and ball screw

Grease nipple (left side)

Model Nipple diameter (mm) ISB, ISPB-S ISB, ISPB-M

ISB, ISPB-L

SSPA-S

SSPA-M

SSPA-L

I3.5 I6.0 I6.0 I3.5 I6.0 I6.0

Grease nipple

pply grease to the guide

and ball screw

Grease nipple (for the guide only)

Caution: In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

(2) Adding grease to the intermediate support

Applicable models: ISB, ISPB MXMX/LXMX/LXUWX

[Connecting rods] After cleaning the two connecting rods at the intermediate support, apply grease to the rods using a finger. Thereafter, move the slider back and forth to let the grease spread evenly.

Connecting rod

[Support bushes] After cleaning the support bushes at both ends of the intermediate support, apply grease to the areas around the bushes using a finger while turning each support bush. Thereafter, move the slider back and forth to let the grease spread evenly.

Support bush

[Top of slider and intermediate support] After cleaning the top of the slider and top of the intermediate support at both ends, apply grease to these areas using a finger. This is to protect the top of the slider and intermediate support against contact with the screw cover.

Top of slider Top of intermediate support

Caution: In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

12. Maintenance/Inspection

13. Replacing Intermediate Support

If the intermmediate support needs to be replaced, please contact IAI because it cannot be replaced by a customer.

13. Replacing Intermediate Support

14. Motor Replacement Procedures

The following explains the procedure to replace the motor in the event of coil breakage, etc. Prepare a storage box, etc., and keep in this box, etc., all screws and other parts you have removed to replace the motor, because they will be needed during the reassembly.

Caution: When replacing the motor, you must turn on/off the power and servo to perform the following

tasks: [1] Position the coupling on the motor alone [2] Install the motor [3] Operate the brake Exercise due caution when carrying out each task with the power being supplied.

The purpose of [1] and [2] is to correlate the motor/encoder and actuator positions. If these tasks are not performed, home return may not be implemented normally. [3] is performed because the brake, which is a non-excitation brake, cannot be released (the slider cannot be moved) without excitation.

14. Motor Replacement Procedures

14.1 Removing the Motor Unit

(1) Removing the coupling cover

Turn off the power supply to the controller, and then disconnect the motor cable and encoder cable. Remove the two screws used to secure the cover on the motor side using an Allen wrench of 2.5 mm across flats for ISB and ISPB-SXM/SXL, or 3 mm across flats for all other models. The coupling will be visible.

Cover

Coupling

Move the slider to a position where the coupling bolt can be loosened. If the actuator is equipped with a brake, connect the encoder cable and apply power to the controller to release the brake. Then move the slider so that the coupling bolts on the ball screw side can be removed. After moving the slider, deactivate the brake release, turn off the power to the controller and disconnect the encoder cable.

Caution: x When the actuator is vertically installed, exercise due caution so that the slider does not fall

when the brake is released. Be sure to support the slider externally to prevent it (work part) from falling.

x If you attempt to move the slider with the motor cable connected, the slider movement will

become heavy due to regenerative braking. Disconnect the motor cable before moving the slider.

Ball screw

14. Motor Replacement Procedures

Coupling on the ball screw side

Motor unit

Coupling on the motor side

(2) Removing the rear cover

[1] Remove the screws used to secure the cable mounting cover using an Allen wrench of 2 mm across flats.

Rear cover

Cable mounting cover

[2] Remove the four bolts used to secure the rear cover using an Allen wrench of 2.5 mm across flats for ISB

and ISPB-SXM/SXL, or 3 mm across flats for all other models.

Rear cover

[3] Slide the cable affixing cover to remove it from the rear cover.

Rear cover

Cable affixing cover

14. Motor Replacement Procedures

(3) Removing the cable mounting cover

Remove the three bolts used to secure the cable mounting cover to the cable using an Allen wrench of 2.5 mm across flats.

(Note) After the motor is replaced, the motor cables must be installed on the cable affixing cover. Before

removing the affixing cover, mark the cables so that their installation positions can be checked later on.

Cable mounting cover

(4) Removing the motor cover

Remove the two bolts used to secure the motor cover using an Allen wrench of 2.5 mm across flats for ISB and ISPB-SXM/SXL, or 3 mm across flats for all other models Two of these bolts are found below the motor at locations further back in the motor cover.

Motor

The unit will look like below after the motor cover is removed.

14. Motor Replacement Procedures

Motor cover Bolts affixing the motor cove

(5) Removing the motor unit

[1] Loosen the coupling tightening bolt.

Caution: If the actuator is installed vertically, exercise due

caution not to let the slider drop. Hold the slider (work part) from the outside to prevent it from dropping, and then loosen the coupling bolt.

Remove the bolts used to secure the motor using an Allen wrench of 4 mm across flats, and pull out the

motor unit and coupling from the motor housing.

Motor affixing bolt Motor affixing bolt

Motor affixing bolt

Motor

14. Motor Replacement Procedures

Motor affixing bolt

Body

Motor

14.2 Installing a New Motor

(1) New motor unit

The new motor will be supplied together with the coupling installed as shown below.

Slit

Home mark

Caution: The motor actuator cable exit direction varies depending on the actuator cable exit direction.

The cable exit direction must be the same for the motor to be removed and new motor to be installed. If the cable exit direction is different on the installed motor, deviation of the home position will occur.

Caution: Align the home mark on the motor with the slit position on the coupling, and then install

the motor/coupling into the actuator. Never loosen the coupling on the motor side. The slit in the coupling is provided to help correlate the actuator and encoder positions. If the coupling is loosened, home return may not achieve a normal home position.

(2) Aligning the slider position

[1] Use extension cables (motor/encoder cables) to connect the motor cable and the encoder cable of the motor

unit to the controller.

14. Motor Replacement Procedures

[2] Action to be taken upon error

x With XSEL or SSEL controller, if the 7-segment display on the front face of the controller does not show

“rdy” or “Ardy” but indicates an alarm after turning on the power, reset the alarm by checking the operation manual. If the problem cannot be resolved, contact IAI.

The 7-segment display shows “Erg”: Cancel the emergency stop. The 7-segment display shows “ECA1”: Perform absolute reset.

7-segment display

x With the SCON controller, if the PWR LED indicator on the front panel of the controller does not come on,

but the ALM indicator comes on instead, after turning on the power, connect the PC or teaching pendant to check the nature of the alarm. Reset the alarm by checking the operation manual. If the problem cannot be resolved, contact IAI.

Alarm code “0EE”: Perform absolute reset.

LED display

[3] Adjusting the slider position

Place a spacer (jig or block gauge) having a specified thickness between the mechanical end of the home position and the slider, and then press them firmly against one another so as not to allow for gaps. If the actuator is equipped with a brake, apply power to the controller to release the brake before moving the slider. After moving the slider, deactivate the brake release, turn off the power to the controller and disconnect the brake lead line connector. The thickness of the spacer will differ according to the home offset distance, the SE (stroke end) to ME (mechanical end) distance and the actuator type. (See Attachment 1 on Page 77.) If the actuator is of reversed home specification, see Attachment 2 on Page 78.

14. Motor Replacement Procedures

 Standard home specification

[When the slider jigs, etc., can be removed] Remove the screw cover.

See Attachment 1 on Page 77 for the distance.

[If a slider jig, etc. cannot be removed]

(Note) Apply this method for SSPA since the spacer cannot be put.

Spacer

14. Motor Replacement Procedures

Set this part based on Attachment 2 on Page 78. The use of a block gauge is recommended also in this case.

 Reversed home specification

[When the jigs on the slider can be removed] Remove the screw cover.

[If a slider jig, etc. cannot be removed]

(Note) Apply this method for SSPA since the spacer cannot be put.

Spacer

Set this part based on Attachment 2 on Page 78. The use of a block gauge is recommended also in this case.

14. Motor Replacement Procedures

(Table 1) Spacer Thickness by Model

~ Thickness of Spacer Used When Installing the Motor ~

The thickness of the spacer differs according to the actuator type and ball screw lead. Prepare a spacer (hexagonal wrench) by referring to the charts below. To determine the actuator type and ball screw lead length, check the model number indicated on the label affixed to the actuator.

[How to Read the Model Number and Select a Spacer]

If the model number includes the LXM type and 20 mm lead, a spacer of 4.0 mm in thickness should be used.

Type Lead

ISB, ISPB SXM/SXL

ISB, ISPB MXM/MXL

ISB, ISPB MXMX ISB, ISPB LXM/LXL ISB, ISPB LXMX ISB, ISPB LXUWM

4 2 4

8  16 4 4

5 2 4

10  20  30 4 4

20  30 4 4

10  20  40 4 4

20  40 4 4

Standard Equipped with a limit switch =

Equipped with a home sensor

(Note) The above charts also apply to the models in which the home position is set on

the opposite side of the motor.

14. Motor Replacement Procedures

(Table 2) Dimension Table by Model

Standard home specification

Type Lead

4 35 37 ISB, ISPB

SXM/SXL

8 x 16 37 37

5 49 51 ISB, ISPB MXM/MXL ISB, ISPB MXMX ISB, ISPB LXM/LXL ISB, ISPB LXMX ISB, ISPB LXUWM SSPA SXM SSPA MXM SSPA LXM

10 x 20 x 30 51 51

20 x 30 99 99

10 x 20 x 40 54 54

20 x 40 106 106

10 x 20 x 30 24 24

10 x 20 x 40 28 28

25 x 50 32 32

Adjust dimension to: [mm]

Standard Equipped with a limit switch =

Equipped with a home sensor

Reversed home specification

Type Lead

SXM

MXM ISB, ISPB MXMX ISB, ISPB LXM ISB, ISPB

LXMX ISB, ISPB LXUWM SSPA SXM SSPA MXM SSPA LXM

8 x 16 22 22

10 x 20 x 30 31 31

20 x 30 79 79

10 x 20 x 40 32 32

20 x 40 78 78

10 x 20 x 30 24 24

10 x 20 x 40 28 28

25 x 50 32 32

Adjust dimension to: [mm]

Standard Equipped with a limit switch =

Equipped with a home sensor

4 20 22 ISB, ISPB

5 29 31 ISB, ISPB

14. Motor Replacement Procedures

(3) Aligning the motor position

Apply power to the controller, and then run the motor with the jog control using the PC software or teaching pendant to align the home mark on the motor with the slit position on the coupling. (Jog at 1 mm per second (minimum speed).)

* In certain situations such as when the controller is away from the motor, you can turn on the servo after

aligning the coupling and slit positions by hand.

Slit position

Home mark

Caution: Align the home mark on the motor with the slit position on the coupling, and then install

Slit

14. Motor Replacement Procedures

(4) Installing the motor temporarily

[1] With the motor servo turned on, fit the motor unit’s coupling in the end of the ball screw shaft and fasten the

motor housing and motor unit temporarily. (Tighten manually for this temporary purpose.) When fastening the motor and motor housing temporarily, be sure to place them next to each other with no gaps or play. If the cable exits from the right, install the motor as shown in the photograph below so that the motor cable is positioned on the left side. If the cable exits from the left, install the motor in the position opposite of the photograph.

Caution: The cable exit direction must be the same for the motor to be removed and new motor to be

installed. If the cable exit direction is different on the installed motor, deviation of the home position will occur.

Type Bolt used ISB, ISPB SXM/SXL ISB, ISPB MXM/MXL/ MXMX LXM/LXL/LXMX/ LXUWM SSPA SXM SSPA MXM SSPA LXM

M4 x 12

M5 x 15

M6 x 20

14. Motor Replacement Procedures

Four bolts used to secure the motor

[2] With the motor fastened temporarily, tighten the coupling bolts on the ball screw side.

[3] Turn off the power to the controller, disconnect all connectors (including the motor cable and encoder cable

connectors), but this time tighten the bolts in place to the specified torque.

Type Tightening torque ISB, ISPB SXM/SXL

2.0 Nxm

ISB, ISPB MXM/MXL/

2.0 Nxm MXMX ISB, ISPB LXM/LXL/LXMX/

4.0 Nxm LXUWM

SSPA SXM 2.0 Nxm

SSPA MXM 4.0 Nxm

SSPA LXM 7.0 Nxm

14. Motor Replacement Procedures

(5) Centering and securing the motor unit

Loosen the motor affixing screws you have tightened only loosely in an earlier step, move the slider back and forth by hand for three to four cycles (over as long an operation stroke as possible) and eventually move the slider to near the mechanical end on the motor side and find a position at which the motor vibration becomes the smallest. Affix the motor unit in the motor housing at this position.

Type Bolt used Tightening torque

ISB, ISPB SXM/SXL

M4 x 12 176 Nxm

ISB, ISPB MXM/MXL/ MXMX

M5 x 15 342 Nxm LXM/LXL/LXMX/ LXUWM

SSPA SXM M5 x 15 342 Nxm

SSPA MXM M5 x 15 342 Nxm

SSPA LXM M6 x 20 536 Nxm

(Note) If the actuator is equipped with a brake, connect the encoder cable of the motor unit to the controller

using the extension cables (motor and encoder cables), and apply power to the controller. Then release the brake and move the slider. For safety reasons, after securing the motor unit, deactivate the brake release, turn off the power to the controller and disconnect the cable connectors from the motor unit.

14. Motor Replacement Procedures

(6) Installing the motor cover

Tighten the two bolts to install the motor cover using an Allen wrench of 2.5 mm across flats for ISB and ISPB-SXM/SXL, or 3 mm across flats for all other models. Two of these bolts are found below the motor at locations further back in the motor cover.

Motor

Motor cover

Bolts affixing the motor cove

(7) Installing the cable mounting cover

Tighten the three bolts using an Allen wrench of 2.5 mm across flats to install the cable mounting cover to the cable. Install the cable mounting cover in roughly the same position as the area marked on the motor that has been removed. The cable mounting cover is imprinted with M and PG. Clamp the motor cable to the M side, and the encoder cable to the PG side. (Note) After the motor is replaced, install the cable mounting cover in roughly the same position as the

replaced motor. Mark the cable for the motor to be replaced so that the installation position can be identified.

14. Motor Replacement Procedures

Cable mounting cove

(8) Installing the rear cover

[1] Slide the rear cover and insert it into the cable mounting cover.

Cable mounting

cover

Rear cove

[2] Tighten the four bolts to install the rear cover using an Allen wrench of 2.5 mm across flats for ISB and

ISPB-SXM/SXL, or 3 mm across flats for all other models.

Cable mounting cove

Rear cove

[3] Tighten the screws with an Allen wrench of 2 mm across flats to attach the screws for the cable mounting

cover.

Cable mounting cove

Rear cove

14. Motor Replacement Procedures

(9) Installing the coupling cover

Tighten the two screws to install the cover on the motor side using an Allen wrench of 2.5 mm across flats for ISB and ISPB-SXM/SXL, or 3 mm across flats for all other models.

Coupling

Coupling cover

14. Motor Replacement Procedures

14.3 Correcting for Position Deviation

(1) Connect the motor cable and encoder cable and turn on the controller power.

(2) Use the PC software or teaching pendant to perform homing and check the home position.

Repeat homing several times to confirm that the actuator returns to the same position. (If the actuator is of absolute specification, perform an absolute reset.)

(3) Check the amount of position deviation.

The position may have changed slightly from where it was before the motor was replaced. Accordingly, select a desired position number that allows you to check the amount of deviation before and after the replacement, and then perform positioning to that position and measure the amount of deviation.

(4) Reflect the deviation in the home preset parameter in the case of an X-SEL/SSEL controller, or in the home

return offset parameter in the case of an SCON controller. [For the setting method, refer to 9.5, “Fine-tuning the Home Position.”]

* If the two positions differ significantly (one ball screw revolution or more = lead or more) or if the actuator does

not return to the same position when homing is repeated, install the motor unit again by following the procedure described in this manual. When the motor unit was installed, a wrong spacer size may have been used or the slider may have moved instead of remaining stationary at the mechanical end.

14.4 Operation Check after Replacing the Motor

After replacing the motor, perform continuous operation to confirm absence of vibration or abnormal noise.

14. Motor Replacement Procedures

15. Appendix

(

)

15.1 External Dimensions

15.1.1 ISB, ISPB-SXM

1.5 4.5

3.4

3.7

Base mounting holes and T slot details

Slider reference surface

T slot

Base reference surface

Ø11

Ø7

100

84 90

Base reference surface

71 05

7 07

90 70

SEME

Grease application nipple (Same on the opposite side)

K5020

210.0

Oblong, depth 10

104 (standard + 35)

2-M3 depth 6

(Same on the opposite side)

Hx200 pitch

7 (from the reference surface)

Cx200 pitch

E- 7 hole, 11 counterbore

(from the opposite side)

2- 6 H7, depth 10

6 H7, depth 10

4-M6, depth 18

389010

14 69

ME 5

3590

P-M6, depth 16

2- 6 H7, depth 10

Cable exit from the right

Cable exit from the left

Washer assembled screw M3

For FG at two locations

95 21

Cable exit from the back on the right

20.0

Home

20.0

15. Appendix

Specification with a brake

Stroke

Standard With brakeStandard

With brake

A B C D E F G H J K P

100 344 379 100 251 0 151 4 151 131 0 56 0 8 150 394 429 150 301 0 201 4 201 131 0 56 50 10 200 444 479 200 351 0 251 4 251 181 0 106 50 10 250 494 529 250 401 1 101 6 301 231 0 156 50 10 300 544 579 300 451 1 151 6 351 281 0 206 50 10 350 594 629 350 501 1 201 6 401 331 0 256 50 10 400 644 679 400 551 1 251 6 451 381 1 106 50 12 450 694 729 450 601 2 101 8 501 431 1 156 50 12 500 744 779 500 651 2 151 8 551 481 1 206 50 12 550 794 829 550 701 2 201 8 601 531 1 256 50 12 600 844 879 600 751 2 251 8 651 581 2 106 50 14 650 894 929 650 801 3 101 10 701 631 2 156 50 14 700 944 979 700 851 3 151 10 751 681 2 206 50 14 750 994 1029 750 901 3 201 10 801 731 2 256 50 14 800 1044 1079 800 951 3 251 10 851 781 3 106 50 16 850 1094 1129 850 1001 4 101 12 901 831 3 156 50 16 900 1144 1179 900 1051 4 151 12 951 881 3 206 50 16

Weight [kg]

3.0

3.4

3.8

4.2

4.5

4.9

5.2

5.6

5.9

6.3

6.6

7.0

7.3

7.7

8.0

8.4

8.7

3.3

3.7

4.1

4.5

4.8

5.2

5.5

5.9

6.2

6.6

6.9

7.3

7.6

8.0

8.3

8.7

9.0

15.1.2 ISB, ISPB-SXL

(

)

1.5 4.5

3.7

3.4

Base mounting holes and T slot details

Slider reference surface

T slot

2 6

Base reference surface

110

Ø11

Ø7

2-M3 depth 6

Hx200 pitch

7 (from the reference surface)

Cx200 pitch

E- 7 hole, 11 counterbore

from the opposite side

(Same on the opposite side)

104 (standard + 35)

100

84 90

71 05

7 07

Grease application nipple (Same on the opposite side)

505020

2 1

0.0

Oblong, depth 10

20.0

2 0 .0

0 7

51005

70 2020

2- 6 H7, depth 10 8-M6, depth 18

Cable exit from the righ

Home

2814

6 H7, depth 10

3811010

3590

14 69

P-M6, depth 16

6 H7, depth 10

Cable exit from the lef

Washer assembled screw M3

(For FG at two locations)

95 21

Cable exit from the back on the right

Specification with a brake

Stroke

Standard With brake Standard

With brake

A B C D E F G H J P

130 394 429 130 301 0 201 4 201 131 0 56 10 180 444 479 180 351 0 251 4 251 181 0 106 10 230 494 529 230 401 1 101 6 301 231 0 156 10 280 544 579 280 451 1 151 6 351 281 0 206 10 330 594 629 330 501 1 201 6 401 331 0 256 10 380 644 679 380 551 1 251 6 451 381 1 106 12 430 694 729 430 601 2 101 8 501 431 1 156 12 480 744 779 480 651 2 151 8 551 481 1 206 12 530 794 829 530 701 2 201 8 601 531 1 256 12 580 844 879 580 751 2 251 8 651 581 2 106 14 630 894 929 630 801 3 101 10 701 631 2 156 14 680 944 979 680 851 3 151 10 751 681 2 206 14 730 994 1029 730 901 3 201 10 801 731 2 256 14 780 1044 1079 780 951 3 251 10 851 781 3 106 16 830 1094 1129 830 1001 4 101 12 901 831 3 156 16 880 1144 1179 880 1051 4 151 12 951 881 3 206 16

Weight [kg]

3.1

3.5

3.9

4.3

4.6

5.0

5.3

5.7

6.0

6.4

6.7

7.1

7.4

7.8

8.1

8.5

3.4

3.8

4.2

4.6

4.9

5.3

5.6

6.0

6.3

6.7

7.0

7.4

7.7

8.1

8.4

8.8

15. Appendix

15.1.3 ISB, ISPB-MXM

(

)

(

)

1.5 4.5 Ø16

3.43.7

Base mounting holes and T slot details

Slider reference surface

T slot

0 8

2 2

Base reference surface

Ø9

134 106

110

120

011

SEME

Oblong, depth 10

120

902515

2- 8 H7, depth 10

A32

Grease application nipple (Same on the opposite side)

510.0+

D50

100W: 87 (standard + 24)

200W: 113 (standard + 35)

Hx200 pitch

10 (from the reference surface)

Cx200 pitch

0 21

2-M3 depth 6 (Same on the opposite side)

E- 9 hole, 16 counterbore

from the opposite side

4-M6, depth 18

20.0

0 21

8 H7, depth 10

40120J505020

100W 63

Specification without brake

K-M8, depth 20

2- 8 H7, depth 10

120 5212 14 200W 78

Home

100

20.0

Cable exit from the righ

Cable exit from the lef

Washer assembled screw M3

For FG at two locations

102

1 77

Cable exit from the back on the right

15. Appendix

Specification with a brake

Stroke

Standard

100W

With brake

200W

Standard

With brake

A B C D E F G H J K

100 393 417 408 443 100 304 0 204 4 204 134 0 24 10 15

443 467 458 493 150 354 0 254 4 254 184 0 74 10 200 493 517 508 543 200 404 1 104 6 304 234 0 124 10 250 543 567 558 593 250 454 1 154 6 354 284 0 174 10 300 593 617 608 643 300 504 1 204 6 404 334 0 224 10 350 643 667 658 693 350 554 1 254 6 454 384 0 274 10 400 693 717 708 743 400 604 2 104 8 504 434 1 124 12 450 743 767 758 798 450 654 2 154 8 554 484 1 174 12 500 793 817 808 843 500 704 2 204 8 604 534 1 224 12 550 843 867 858 893 550 754 2 254 8 654 584 1 274 12 600 893 917 908 943 600 804 3 104 10 704 634 2 124 14 650 943 967 958 993 650 854 3 154 10 754 684 2 174 14 700 993 1017 1008 1043 700 904 3 204 10 804 734 2 224 14 750 1043 1067 1058 1093 750 954 3 254 10 854 784 2 274 14 800 1093 1117 1108 1143 800 1004 4 104 12 904 834 3 124 16 850 1143 1167 1158 1193 850 1054 4 154 12 954 884 3 174 16 900 1193 1217 1208 1243 900 1104 4 204 12 1004 934 3 224 16 950 1243 1267 1258 1293 950 1154 4 254 12 1054 984 3 274 16

1000 1293 1317 1308 1343 1000 1204 5 104 14 1104 1034 4 124 18 1050 1343 1367 1358 1393 1050 1254 5 154 14 1154 1084 4 174 18 1100 1393 1417 1408 1443 1100 1304 5 204 14 1204 1134 4 224 18

Weight [kg]

100W 200W

With brake

Standard

6.5

6.0

7.1

6.6

7.7

7.2

8.4

7.9

9.0

8.5

9.7

9.2

10.3

9.8

10.9

10.4

11.5

11.0

12.2

11.7

12.8

12.3

13.5

13.0

14.1

13.6

14.7

14.2

15.3

14.8

16.0

15.5

16.6

16.1

17.3

16.8

17.9

17.4

18.6

18.1

19.2

18.7

Standard

6.4

7.1

7.7

8.4

9.0

9.6

10.2

10.9

11.5

12.2

12.8

13.4

14.0

14.7

15.3

16.0

16.6

17.3

17.9

18.5

19.1

With brake

7.0

7.7

8.3

9.0

9.6

10.2

10.8

11.5

12.1

12.8

13.4

14.0

14.6

15.3

15.9

16.6

17.2

17.9

18.5

19.1

19.7

IAI America SSPA User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of Contents

Safety Guide

Caution in Handling

Names of the Parts

1.1 Components

1.2 Related Operation Manuals for Each Controller Supported by This Product

1. Checking the Product

1.3 How to Read the Model Nameplate

1.4 How to Read the Model Numbe

2. Specification

2.1 Maximum Speed

2.2 Acceleration/Deceleration, Payload Capacity and Rated Thrust

2.3 Driving System/Position Detector

2.4 Positioning Precision

2.5 Allowable Load Moment of the Actuator

3. Life

4.1 Installation Environment

4. Installation and Storage/Preservation Environment

4.2 Storage/Preservation Environment

5.1 Handling a Single Axis

5. Transportation

5.2 Handling an Cartesian Robot (ICS)

5.3 Handling an Actuator Assembled to a Mechanical System

6.1 Installation Orientations

6. Installation

6.2 Installing the Actuator

6.3 Installing the Load on the Slider

6.4 Using T-slots

7.1 Wiring

7. Connecting the Controller

8.1 Duty Ratio during Continuous Operation

8. Operating Conditions

9.1 Home Return

9.2 Factory-set Home Position

9. Setting the Home Position

9.3 Changing the Home Direction

9.4 How to Use the Homing Mark Stickers

9.5 Fine-tuning the Home Position

9.6 Absolute Reset Method (Absolute Specification)

10. Options

10.1 Brake

10.2 Creep Sensor

10.3 Limit Switch

10.4 Reversed-home Specification

10.5 Cable Exit Direction

10.6 Guide with Ball Retention Mechanism

10.7 Master Axis/Slave Axis Specification for Synchronized Operation

10.8 High-Precision Straightness Specification

10.9 Rust prevention film processing

11. Motor/Encoder Cables

11.1 Standard

12. Maintenance/Inspection

12.1 Inspection Items and Intervals

12.2 Visual Inspection of the Machine Exterior

12.3 External Cleaning

12.4 Interior Check

12.5 Adding Grease

13. Replacing Intermediate Support

14. Motor Replacement Procedures

14.1 Removing the Motor Unit

14.2 Installing a New Motor

14.3 Correcting for Position Deviation

14.4 Operation Check after Replacing the Motor

15. Appendix

15.1 External Dimensions