Linear Servo Actuator LSA Series
Operating Manual
Third Edition
Small Type: H8SS, H8SM, H8HS, H8HM Flat Type: L15SS, S15SM
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 DVD that comes with the product contains Operating manuals for IAI products. When using the product, refer to the necessary portions of the applicable instruction 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] • This Operating Manual is original. • This product is not to be used for any other purpose from what is noted in this Operating Manual. IAI shall not be liable whatsoever for any loss or damage arising from the result of using the product for any other purpose from what is noted in the manual. • The information contained in this Operating Manual is subject to change without notice for the purpose of production improvement. • If you have any question or finding regarding the information contained in this Operating Manual, contact our customer center or our sales office near you. • Using or copying all or a part of this Operating Manual without permission is prohibited. • The company names, names of products and trademarks of each company shown in the sentences are registered trademarks.
Table of Contents Safety Guide...... 1 Caution in Handling ...... 8 International Standards Compliances...... 9 Names of the Parts...... 10 1. Small Type H8SS, H8SM, H8HS, H8HM ...... 10 2. Flat Type L15SS, L15SM...... 10
1. Specifications Check ...... 11 1.1 Checking the Product...... 11 1.1.1 Parts...... 11 1.1.2 Operating Manuals for the Controllers Related to this Product ...... 11 1.1.3 How to Read the Model Nameplate...... 12 1.1.4 How to Read the Model Number...... 13 1.2 Specification ...... 14 1.2.1 Speed...... 14 1.2.2 Maximum acceleration/deceleration, Maximum load capacity and Rated thrust. 15 1.2.3 No. of Encoder Pulses ...... 16 1.2.4 Positioning Precision...... 16 1.2.5 Allowable Load Moments of the Actuator ...... 17 1.2.6 Duty Ratio in Continuous Operation ...... 17 1.3 Operating conditions ...... 18 1.3.1 Available Conditions for Operation ...... 18 1.3.2 Availability Judgment for each Operational Condition ...... 19 1.3.3 Example for Judging Operation Availability by Operational Conditions...... 21 1.4 Option...... 23 1.4.1 Cable Track Attachment Orientations 2 to 6 (Model: CT2 to CT6) ...... 23 1.4.2 Cable Track for User S Type Attachment Orientations 1 to 6 (Model: US1 to US6)...... 24 1.4.3 Cable Track for User M Type Attachment Orientations 1 to 6 (Model: UM1 to UM6)...... 25 1.5 Motor • Encoder Cables ...... 26 1.5.1 Motor • Encoder Cables for Linear Servo Actuator...... 26 1.5.2 Cable in the bearer ...... 28 2. Installation ...... 29 2.1 Transportation ...... 29 2.2 Installation and Storage • Preservation Environment...... 31 2.3 How to Install...... 32 2.3.1 Installation ...... 32 2.3.2 Installation of Main Unit...... 33 2.3.3 Attachment of Transported Object ...... 36 2.3.4 Installation Surface...... 38 2.3.5 Mount of Connector Box and Others ...... 39 3. Connecting with the Controller ...... 40 4. Operation...... 44 4.1 Home Return...... 44 4.1.1 Principle of Home-Return Operation...... 44 4.1.2 Fine-tuning the Home Position...... 44 4.1.3 Changing the Home Direction...... 44 5. Troubleshooting...... 45 5.1 Encoder Open Error (Error Code: D12) ...... 45 5.2 Driver Overload Error (Error Code: D0A)...... 46 5.3 Deviation Overflow Error (Error Code: C6B)...... 47
6. Maintenance and Inspection...... 48 6.1 Inspection Items and Schedule...... 48 6.2 External Visual Inspection...... 48 6.3 Cleaning ...... 48 6.4 Interior Inspection...... 49 6.4.1 Small Type H8SS, H8SM, H8HS, H8HM...... 49 6.4.2 Flat Type L15SS, L15SM ...... 49 6.5 Procedures for Replacement and Adjustment of Stainless Steel Sheet ...... 50 6.5.1 Replacement Procedure for Stainless Steel Sheet...... 51 6.5.2 Adjusting the Stainless Steel Sheet Tension...... 52 6.5.3 Operation Check ...... 54 7. Life...... 55 8. External Dimensions...... 56 8.1 Small Type H8SS ...... 56 8.2 Small Type H8SM...... 57 8.3 Small Type H8HS...... 58 8.4 Small Type H8HM ...... 59 8.5 Flat Type L15SS...... 60 8.6 Flat Type L15SM ...... 61 9. Warranty...... 62 9.1 Warranty Period ...... 62 9.2 Scope of the Warranty...... 62 9.3 Honoring the Warranty ...... 62 9.4 Limited Liability...... 62 9.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ...... 63 9.6 Other Items Excluded from Warranty...... 63 Change History...... 64
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 1before 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.
Operation No. Description Description 1 Model ● This product has not been planned and designed for the application Selection where high 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.) ● Do not use the product outside the specifications. Failure to do so may considerably shorten the life of the product. ● 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 ● 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.
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Operation No. Description Description 2 Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● 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. ● 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. ● 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 Operating manual for each model. ● Do not step or sit on the package. ● Do not put any heavy thing that can deform the package, on it. ● When using a crane capable of 1t or more of weight, have an operator who has qualifications for crane operation and sling work. ● When using a crane or equivalent equipments, make sure not to hang a load that weighs more than the equipment’s capability limit. ● Use a hook that is suitable for the load. Consider the safety factor of the hook in such factors as shear strength. ● Do not get on the load that is hung on a crane. ● Do not leave a load hung up with a crane. ● Do not stand under the load that is hung up with a crane. 3 Storage and ● The storage and preservation environment conforms to the installation Preservation environment. However, especially give consideration to the prevention of condensation. ● Store the products with a consideration not to fall them over or drop due to an act of God such as earthquake. 4 Installation (1) Installation of Robot Main Body and Controller, etc. and Start ● 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. ● 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. ● 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
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Operation No. Description Description 4 Installation (2) Cable Wiring and Start ● Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● 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. ● Perform the wiring for the product, after turning OFF the power to the unit, so that there is no wiring error. ● 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. ● 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. ● 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 ● 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. ● 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 0.5mm2 (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). ● Perform Class D Grounding (former Class 3 Grounding with ground resistance 100Ω or below).
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Operation No. Description Description 4 Installation (4) Safety Measures and Start ● 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. ● 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. ● Make sure to install the emergency stop circuit so that the unit can be stopped immediately in an emergency during the unit operation. ● 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. ● 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. ● 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. ● Take the measure so that the work part is not dropped in power failure or emergency stop. ● Wear protection gloves, goggle or safety shoes, as necessary, to secure safety. ● 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. ● 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 ● 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. ● 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. ● 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. ● 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. ● Place a sign “Under Operation” at the position easy to see. ● 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.
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Operation No. Description Description 6 Trial Operation ● 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. ● After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation. ● 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. ● 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. ● 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 ● Check before starting the automatic operation or rebooting after Operation operation stop that there is nobody in the safety protection fence. ● Before starting automatic operation, make sure that all peripheral equipment is in an automatic-operation-ready state and there is no alarm indication. ● Make sure to operate automatic operation start from outside of the safety protection fence. ● 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. ● 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.
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Operation No. Description Description 8 Maintenance ● When the work is carried out with 2 or more persons, make it clear who is and Inspection to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. ● 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. ● When the work is to be performed inside the safety protection fence, basically turn OFF the power switch. ● 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. ● 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. ● Place a sign “Under Operation” at the position easy to see. ● For the grease for the guide or ball screw, use appropriate grease according to the Operating Manual for each model. ● Do not perform the dielectric strength test. Failure to do so may result in a damage to the product. ● 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. ● 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. ● 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 ● Do not modify, disassemble, assemble or use of maintenance parts not and Dismantle specified based at your own discretion. 10 Disposal ● When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste. ● When removing the actuator for disposal, pay attention to drop of components when detaching screws. ● Do not put the product in a fire when disposing of it. The product may burst or generate toxic gases. 11 Other ● 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. ● See Overseas Specifications Compliance Manual to check whether complies if necessary. ● For the handling of actuators and controllers, follow the dedicated Operating manual of each unit to ensure the safety.
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Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operating Manual for each model.
Level Degree of Danger and Damage Symbol
This indicates an imminently hazardous situation which, if the product Danger Danger is not handled correctly, will result in death or serious injury.
This indicates a potentially hazardous situation which, if the product is Warning Warning not handled correctly, could result in death or serious injury.
This indicates a potentially hazardous situation which, if the product is Caution Caution not handled correctly, may result in minor injury or property damage.
This indicates lower possibility for the injury, but should be kept to use Notice Notice this product properly.
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Caution in Handling
1. Make sure to follow the usage condition, environment and specification range of the product. Operaton out of the guarantee could cause a drop in performance or malfunction of the product.
2. Back and forth operation in a short distance may cause wear of grease. If the actuators are moved back and forth continuously over a short distance of 30 mm or less, grease film may run out. As a guide, move the actuators back and forth repeatedly for around 5 cycles over a distance of 50 mm or more after every 5,000 to 10,000 cycles. Keep using the actuators with the grease worn out may cause malfunction.
3. Make sure to attach the actuator properly by following this operating manual. Using the product with the actuator not being certainly retained or affixed may cause abnormal noise, vibration, malfunction or shorten the product life.
Warning: Do not get closer than 30cm if you are a person who needs a support of a medical device such as a pacemaker. This actuator uses high-performance rare-earth permanent magnets. Therefore an unexpected operation may be caused to a medical device especially when using such a device such as a pacemaker.
Caution: • Do not attempt to get a magnetic card close to the product. Having a magnetic storage medium close to the product may disable the medium by destroying data. • Do not attempt to get a precision instrument such as an electric watch close to the product. Doing so may cause a trouble to the instrument
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International Standards Compliances
This actuator complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
RoHS Directive CE Marking c ¯
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Names of the Parts
In this manual, the right-left directions of the actuator are indicated by viewing the actuator from its top and also from its home side, with the actuator placed horizontally. “Front” refers to the side opposite to one on which the actuator home is located.
1. Small Type H8SS, H8SM (Note 1), H8HS, H8HM (Note 1) Note 1 Multi-slider type: There are two sliders mounted.
Cable in the bearer Cable track Side cover Right
Home side
Stainless Slider steel sheet Left Slider cover
End cover
2. Flat Type L15SS, L15SM (Note 1) Note 1 Multi-slider type: There are two sliders mounted.
Right
Cable track Cable in the bearer
Home side
Linear guide Slider Left
End cover End cover
(Reference) In the above figure, the cables are facing up or the top side, while the home is located on the right side. The actuator is shipped with its home adjusted to the side specified by the customer. Accordingly, the home position on your actuator may be different from the direction shown in the figure.
10 1. Specifications Check
11 ME0154 ME0154 ME0148 ME0188 ME0160 ME0124 ME0153 ME0124 ME0153 ME0183 ME0183 ME0160 ME0123 ME0123 ME0157 Control No. Control No. Control 1 1 1 1 1set Quantity Remarks rollers Related to this Product this to Related rollers Model number Model number Name Name IA-101-X-MW/IA-101-X-USBMW IA-101-X-MW/IA-101-X-USBMW IA-101-X-MW/IA-101-X-USBMW IA-101-X-MW/IA-101-X-USBMW PX/QX RC Gateway Function Gateway RC PX/QX
Refer to “How to Read the Model to Read Refer to “How “How to Read and Nameplate” the Model Number.”
(Note1) Motor • encoder cables cables encoder • Motor (2) controllers SSEL to Related Manuals (1) controllers XSEL-P/Q to Related Manuals 4 IA-T-X/XD Pendant Teaching for Manual Operating 5 DeviceNet for Manual Operating 6 CC-Link for Manual Operating 7 PROFIBUS-DP for Manual Operating 1 Controller SSEL for Manual Operating 2 for PC Software Operating Manual 3 SEL-T/TD/TG Pendant Teaching for Manual Operating 4 SEL-T/TD/TG Pendant Teaching for Manual Operating 5 IA-T-X/XD Pendant Teaching for Manual Operating 6 DeviceNet for Manual Operating 7 CC-Link for Manual Operating 8 PROFIBUS-DP for Manual Operating 1 Controller XSEL-P/Q/PCT/QCT for OperatingManual 2 XSEL-P/Q/for OperatingManual 3 Software for PC Operating Manual 3 Guide First Step 4 (DVD) Operating Manual 5 Safety Guide 1 Actuator 1 2 No. No. No. Name
1.1.2 Cont Operating Manuals for the Note1 Note1 Cables.”] Encoder • “Motor 1.5, to [Refer Accessories 1.1.1 Parts 1.1.1 Parts 1. Check Specifications 1.1 Checking the Product parts. of the following this product of is comprised configuration The standard missing If or fault any find you components. enclosed the of list for the details See the component local IAI distributor. your contact parts, 1. Specifications Check HowtoReadthe ModelNameplate 1.1.3 12 No. 2 OperatingManual forPROFIBUS-DP 12 OperatingManual forDeviceNet 10 1 OperatingManual forCC-Link 11 OperatingManual for Touch Panel Display RCM-PM-01 9 ME0295 OperatingManual forData Setter RCM-P 8 OperatingManual forSimple Teaching Pendant RCM-E 7 OperatingManual for Touch Panel Teaching Pendant CON-PTA/PDA/PGA 6 OperatingManual for Touch Panel Teaching Pendant CON-PT/PD/PG 5 OperatingManual for Teaching Pendant CON-T/TG 4 OperatingManual forPCSoftware RCM-101-MW/RCM-101-USB 3 OperatingManual forSCON-CA Controller 2 OperatingManual forSCON Controller 1 3 Manuals Related toSCON controllers (3) Serial numbe Model r SERIAL No.600117640 MADE IN JAPAN MODEL LSA-H8SS-I-200-50-T2-P-CT2 Name
Control No. ME0182 ME0178 ME0155 ME0123 ME0243 ME0161 ME0124 ME0174 ME0153 ME0227 ME0175
1. Specifications Check
(Note1) １
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： ： ： : Length Specification Cable Track for User M type for User Track Cable 6 1 to Orientations Attachment Cable Track Track Cable Orientation Attachment Equipment) (Standard Track Cable 6 2 to Orientations Attachment S type for User Track Cable 6 1 to Orientations Attachment □□ N None : P 1m : S 3m : M 5m : X None: CT2 to 6 US1 to 6 UM1 to 6 T2 T2 SCON : : SSEL : XSEL-P/Q
* * － CT2 － P layed for IAI use. It is not a code to show the － T2 － 50 － model type. 200 － I － H8SS － LSA width 80mm Single Slider 80mm width Slider Double 80mm width Single High-Thrust 80mm width Slider widthHigh-Thrust 80mm Double Slider Slider Single 145mm width Slider Double 145mm width 200: 200W 200W 200:
1.1.4 How toRead the Model Number Note 1 : for IAI use only Identification It may be disp I : Incremental Small Type Small Type H8SS: H8SM: H8HS: H8HM: Flat Type L15SS: L15SM: Type> 3 90 0013 2013 1430 1330 730 1230 1030 1130 930 630 830 530 130 230 330430 5 5 5 5 5 5 5 850 750 650 550 450 250 350 150 1230 1130 630 9301030 830 730 530 430 230 330 130 1550 1450 1350 1250 1050 1150 950 850 - 1650 1550 1450 1350 1050 11501250 950 5 90 0015 2015 40- 1450 1350 1250 1050 1150 950 850 1650 1550 1450 1350 1050 11501250 950 0 5 5 5 5 5 5 750 650 550 450 350 150250 50 750 650 550 450 350 150 250 50 850 750 650 550 450 250 350 150 50 Speed limits (Unit:mm/s) Speed limits (Unit:mm/s) Speed limits (Unit:mm/s) Speed limits (Unit:mm/s) Speed limits (Unit:mm/s) Speed limits (Unit:mm/s) Stroke [mm] Stroke [mm] 2500 2500 2500 2500 2500 - Stroke [mm] Stroke [mm] Stroke [mm] 2500 - 2500 2500 2500 2500 2500 Stroke [mm] 2500 1. Specifications Check 15 3G 3G 3G 30N 60N 30N (Note 1) (Note 1) (Note 1) 5kg 8kg 5kg (Note 1) (Note 1) (Note 1) on, Maximum load capacity and Rated on, Maximum load capacity Maximum acceleration/deceleration Maximum acceleration/deceleration Maximum load capacity Maximum acceleration/deceleration Maximum load capacity Maximum acceleration/deceleration Maximum load capacity Rated thrust Rated thrust Rated thrust Rated thrust Type Item Specifications on the operational conditions. conditions. on the operational [Refer to 1.3 “Operating conditions”] thrust H8SS, H8SM H8HM H8HS, L15SS, L15SM Note 1 Note 1 depending may differ capacity and the load acceleration/deceleration The available 1.2.2 Maximum acceleration/decelerati 1. Specifications Check .. PositioningPrecision 1.2.4 No.ofEncoderPulses 1.2.3 16 It doesnotinclude theconsideration oftime-dependent change as it is used. The values shownabove are theaccuracy at the delivery from the factory. L15SS, L15SML15SS, H8HS, H8HM H8SS, H8SM L15SS, L15SM H8HS, H8HM H8SS, H8SM Type Item Specifications ItemSpecifications Type LeadLength [mm] No.ofEncoder Pulses Type Lost Motion Lost Motion Lost Motion Positioning Repeatability Positioning Repeatability Positioning Repeatability 50000 50000 50000 0.02mm orless 0.02mm orless 0.02mm orless ±0.005mm ±0.005mm ±0.005mm 50 50 50 1. Specifications Check 17 (Note 1) Ma direction Ma direction Allowable Overhang Overhang Allowable Load Length (L) Ma direction: 300mm or less or 300mm Ma direction: Ma direction: 525mm or less or 525mm Ma direction: Mb, Mc direction: 300mm or less or 300mm Mb, Mc direction: Mb, Mc direction: 525mm or less or 525mm Mb, Mc direction: Mb or Mc direction Mb or Mc direction [N·m] ents of the Actuator of the ents Ma Mb Mb Ma Mc 8.65 8.65 8.65 8.65 8.65 Allowable Dynamic Load Moment Moment Load Dynamic Allowable not only to generate abnormal noise or vibration, but also to shorten the product life the product but also to shorten vibration, or noise not only to generate abnormal remarkably. Type Type the load is at 1/2 of the overhang length. length. 1/2 of the overhang the load is at H8SS, H8SM H8HS, H8HM H8HM H8HS, Caution: Caution: may cause load length or overhang allowable moment the above the product Using L15SS, L15SM L15SS, L15SM 24.2 24.2 24.2 H8SS, H8SM H8HS, H8HM L15SS, L15SM 1.2.6 Continuous Operation Duty Ratio in weight. and transported acceleration/deceleration on the depending may differ The duty ratio [Refer to 1.3 “Operating conditions”] Note 1: 1: Note of gravity the of center the when those are length load overhang allowable for values The 1.2.5 Load Mom Allowable 1. Specifications Check The thrust duringThe continuousoperation [Condition 2] actuator. Thrust The thrustrequired accelerationThe for [Condition 1] that theselected actuator satisfies thefollowing twoconditions. When selecting linearservo desiredof a actuator model (small type / flat type), you must ensure Available ConditionsforOperation 1.3.1 Operatingconditions 1.3 Speed 18 The above conditions areexplained atrapezoid byusing operation as anexample. represents thrust. The aboveoperation pattern can be expressed differently inagraph where thevertical axis must notexceedthemaximum thrust must not exceedthe rated thrust Time Time td : Deceleration time (sec) (sec) time :Deceleration td : Moving timeatconstant speed(sec) tf : time(sec) Acceleration ta : Operation time percycle (sec) t Fd : Thrust required for deceleration (N) (N) resistance :Traveling Ff Fa : Thrust required foracceleration (N) of the linear servo linear servo the actuator. of ofthelinear servo 1. Specifications Check 19 2 [Slider weight] [Slider weight] Small type H8SS, H8SM Small type H8HS, H8HM : 1.5kg Flat type : 2.0kg L15SS, L15SM : 1.5kg rust ofrust the linear servo actuator (small type / )* *1G = 9.8 m/s 9.8 = )* *1G 2 90 90 180 (Achieved speed is used in a triangle wave operation.) wave operation.) in a triangle is used speed (Achieved Maximum thrust (N) Maximum thrust (N) Ff Traveling : resistance (N) is type / flat the traveling type), (small actuator resistance In the case of a linear servo below. specified as calculated empirically the speed and by determined resistance] [Traveling of each model. resistance the traveling lists below The table Ff = 2V + 10 (m/s) Slider speed V: th than the maximum Fa is smaller If the obtained flat type), condition 1 is satisfied.flat type), condition H8SS, H8SM H8HM H8HS, L15SS, L15SM For the slider to accelerate according to a command, the thrust required for acceleration, or Fa, thea command, acceleration, thrust required for Fa, accelerate according to to or For the slider thrust. than the maximum smaller must be Ft + a • m) + (M = Fa Here, M : Slider weight (kg) m (kg) Slider payload : a (m/s acceleration Commanded : 1.3.2 Operational Condition for each Judgment Availability [1] Condition 1 Acceleration for Necessary Thrust Judgment of 1. Specifications Check 2 Cniin2 JudgmentofThrustfor ContinuousOperation Condition2 [2] 20 Condition 2issatisfiedifthe continuous operational thrust Ftfigured outasdescribed above is (N) resistance :Traveling Ff :Cmadd eeeain (m/s deceleration Commanded : d : Slider payload (kg) m (kg) weight Slider : M Fd = (M +m) • d – Ff Here, Fdindicates thethrust required fordeceleration andcan becalculated as follows: : Operation time percycle (sec) (t =ta +tf +td +0.15) t : Moving timeatconstant speed(sec) tf (N) resistance :Traveling Ff (sec) time :Deceleration td : time(sec) Acceleration ta : Thrust required foracceleration (N) Fa smaller thanthe ratedthrust. It isnecessary thatthecontinuous operational thrust Ftconsidering the loadand dutyis load, acceleration orduty. If eithercondition cannot be satisfied, take appropriate measures such as reducing theslider above. specified The actuator can be usedin anyoperatingconditions thatsatisfybothconditions 1and2 L15SS, L15SM H8HS, H8HM H8SS, H8SM smaller thanthe ratedthrust. F t ＝ F a 2 ･ t a Rated thrust (N) Rated thrust +F f 2 60 30 30 t ･ t f +F 2 ) d 2 ･ t d Flat type L15SS, L15SM : 1.5kg :1.5kg L15SS,L15SM 2.0kg : Flat type :1.5kg H8HS,H8HM type Small H8SS,H8SM Small type [Slider weight] 1. Specifications Check 21 Time 2 t ta tf td 1G = 9.8m/s = 1G Speed . Fa changes. Fa as follows: in this example in this example 2 lability Conditionsby Operational 2 :3kg in this example ) : 19.6m/s 2 (The deceleration is deceleration (The 2 assumed to be the same.) to be the same.) assumed • Travel • Sliderpayload • 1.5m. of stroke a over forth and back moves actuator The : 3kg by illustrated can be pattern The above operation : 1.5m to the right. shown the graph Method.” “Selection to according calculation start let’s Now, maximum thrust. of equation aforementioned to the pattern operation Apply the above Ff + •a +m) (M = Fa Here, • model Applicable : type H8SS/H8SM • Speed • Acceleration : 19.6m/s : 2.5m/s follows: as calculated is Fa above, From ×+19.6 = 103.2N Fa 15) → (4.5 H8SS/H8SM. the of 90N thrust maximum the exceeds value calculated The 14.7m/s to acceleration specified the lower Let’s Fa = (4.5 ×+14.7 = 81.15N. Fa 15) → (4.5 H8SS/H8SM. the of 90N thrust maximum the than smaller is value calculated The M : H8SS/H8SM) the for (1.5kg weight Slider m : Slider(kg)load a : (m/s acceleration Commanded Ff : (N) resistance Traveling example this in 15N : 1) 1. of Condition Figure out the maximum thrust 1.3.3 Avai Example for Judging Operation conditions] [Operating 1. Specifications Check 22 ) Figureoutthecontinuous operat 2) Repeat theabove calculation based on t=2.0s. Let’s lower the dutyandsee whathappens. used intheaforementioned operation pattern. Since thisvalue exceeds theratedthrustof H8SS/H8SM, 30N thisactuator cannot be From theabove, Ftiscalculated as 42.49N. Fa =81.15N, Ff =15N,Fd = 51.15N, ta= td =0.17s, tf =0.43s,t0.92s Here, Accordingly, theactuator canbeused in thisoperation pattern. This time,Ftiscalculated as 28.82N. 14.7m/s Based on the examination maximumth result of Substitute the operation pattern aboveto the continuous operational thrustformula. F t ＝ 2 . F a 2 ･ t Speed a +F f 2 t ･ t ional thrust of Condition 2. Condition2. of thrust ional f +F d 2 ･ t =2.0 t d rust, thespecified acceleration is assumed as Time 1. Specifications Check 23 CT3 × × × × { { Attachment Orientation 6 Orientation Attachment Attachment Orientation 3 Orientation Attachment Oriented Wall Mount) CT6 Mount) CT6 Wall Oriented (Opposite Type Horizontally (OppositeType It is the opposite type in the attachment Attachment to 6 (Standard Orientation Wall Oriented Horizontally Mount). It is the type with the home It is the type with the home side opposite on the position 1 Orientation Attachment from (Standard). { { { { { { ations 2 to 6 (Model: CT2 to CT6) 2 to 6 (Model: ations (Opposite Type) CT2 Type) (Opposite (Standard Horizontally Horizontally (Standard Attachment Orientation 2 Orientation Attachment Attachment Orientation 5 Orientation Attachment Oriented Wall Mount) CT5 Mount) CT5 Wall Oriented It is the opposite type in the attachment Attachment to 1 (Standard). Orientation Single Slider is to be attached toSingle be attached Slider is in the shown in the orientation Multi Slider is to figure below. the orientation in be attached on figure below in the shown sides. left both right and CT4 CT5 CT6 5 Orientation Attachment 6 Orientation Attachment CT2 CT3 CT4 2 Orientation Attachment 3 Orientation Attachment 4 Orientation Attachment (Standard) (Standard) None None 1 Orientation Attachment Option Model Option Model Orientation Attachment Single Slider Slider Double Attachment Orientation 1 Orientation Attachment Attachment Orientation 4 Orientation Attachment It is the opposite type in the It is the opposite and also the to attachment on the home position from side opposite 1 Orientation Attachment (Standard). Single Slider is to be attached toSingle be attached Slider is in the shown in the orientation Multi Slider is to figure below. the orientation in be attached on figure below in the shown sides. left both right and These are the attachment orientation indications with no cable track no (option). with cable for user indications orientation These are the attachment Horizontal Standard in orientations the four is either track of cable orientation The attachment Mount. Wall Oriented Horizontally in or two orientations Mount Orientation Slider. Double of Single Slider and the availability for below Refer to the table Orientation] [Attachment 1.4 Option 1.4 Option 1.4.1 Cable Attachment Track Orient 1. Specifications Check Refer tothetable below for theavailability ofSingleSliderand Double Slider. Orientations 2to6(Model: CT2to CT6)”] Oriented Wall Mount. [Refer to “Attachment Orientation”inthe“1.4.1 Cable Track Attachment the fourorientations inStandard Horizontal Orientation Mountor twoorientations inHorizontally Attachment orientation isalso tobeindicated. The attachment orientation ofcable track is either These aretheindications when attaching S Type UserCable Track tothe standard cabletrack. Cable Track for User S Type 1.4.2 [Dimensional Drawing forS Type User Cable] 24 Attachment Orientations 1 pinMdl tahetOinain igeSie Double Slider SingleSlider Attachment Orientation Option Model S Attachment Orientation 6 Attachment Orientation 5 Attachment Orientation 4 US6 Attachment Orientation 3 US5 Attachment Orientation 2 US4 Attachment Orientation 1 US3 US2 US1 oiotlTp HorizontallyOriented Horizontal Type to 6(Model:US1US6) 60 Cable Trackforuser 15 14 Wall MountType 65 { { { { { { 15 14 91 { { × × × × 1. Specifications Check 25 × × × × { { 91 14 40 88 { { { { { { Wall Mount Type 14 User Cable Track to the standard cable track. track. cable to the standard Track Cable User 40 Cable Track for user 85 to 6 (Model: UM1 to UM6) to 6 (Model: UM1 Horizontal Type Horizontally Oriented UM5 UM6 5 Orientation Attachment 6 Orientation Attachment UM1 UM2 UM3 1 Orientation Attachment UM4 2 Orientation Attachment 3 Orientation Attachment 4 Orientation Attachment Option Model Option Model Orientation Attachment Single Slider Slider Double Attachment Orientations 1 Orientations Attachment Cable] User Type M for Drawing [Dimensional 1.4.3 Type M User for Track Cable Type M attaching when These are the indications either track is of cable orientation attachment The to be indicated. is also orientation Attachment in Horizontally orientations two Mount or Orientation Horizontal in Standard the four orientations Attachment Track Cable the “1.4.1 Orientation” in “Attachment to [Refer Mount. Wall Oriented CT6)”] CT2 to 6 (Model: 2 to Orientations Slider. Double of Single Slider and the availability for below Refer to the table 1. Specifications Check □□□ MotorCable(Model:CB-X-MA□□□) [1] Motor •EncoderCablesforLinearServo Actuator 1.5.1 Motor•Encoder Cables 1.5 26 (Front View) (41) (16) Max. XSEL-P/Q : 30m, SSELandSCON:20m Max. XSEL-P/Q:30m, (0.75mm AWG 19 Width indicates thecablelengt Controller Side 1 4 2 ) Wire Color Electric Green White Black Red Abbreviation Signal PE W U V (φ9) L Eape 8=m, 080=8m), h (L)(Example: No. Pin 4 3 2 1 L When usedinfixedcondition:34mm When usedundermovingcondition:51mm [Bending Radius] No. Pin 4 3 2 1 Abbreviation (21) Signal PE W U V Mechanical Side Wire Color Electric Green White Black Red 4 1 (20) (Solderless) (0.75mm AWG 19 Width (Front View) 2 ) (10) (18) 1. Specifications Check 27 (25) ) 2 (15) AWG26 Width (0.12mm (Front View) (Solderless) 1 9 - (14) Red Blue Gray Black Green Purple Orange Yellow Ground Electric Wire Color White/Red White/Blue White/Gray White/Black White/Green White/Purple White/Yellow White/Orange - + - Z Z B B A A FG SD SD LS- BK- LS+ BK+ VCC BAT GND BAT Signal Mechanical Side Abbreviation 1 2 3 4 5 6 7 8 9 Pin No. 10 11 12 13 14 15 16 17 18 [Bending Radius] When used under moving condition : 58mm When used in fixed condition : 38mm L Ground wire and braided shield wires φ 10) ( 9 1 2 3 4 5 6 7 8 Pin No. 10 11 12 13 26 25 24 23 18 19 14 15 16 17 20 21 22 - + ------Z- A- B- Z+ 0V LS A+ B+ OT RSV VCC BAT GND BAT BKR- SRD- E24V BKR+ SRD+ Signal CREEP Abbreviation ------(41) Red Blue Gray Brack Green Purple Orange Yellow Electric Wire Color White/Red White/Blue White/Gray White/Black White/Green White/Purple White/Yellow Controller Side White/Orange ) 2 1 13 The shield is clamped to the hood Width AWG26 (0.12mm (Soldered) 14 26 (Front View) Max. XSEL-P/Q : 30m,Max. XSEL-P/Q : and SCON : 20m SSEL (13) (37) [2] : CB-X3-PA□□□) Cable (Model Encoder 080=8m), (Example: (L) the cable length indicates □□□ 1. Specifications Check Motorcable [1] Cableinthebearer 1.5.2 2 Encodercable [2] 28 (0.12mm AWG 26 AWG Width 2 (0.5mm ) AWG 20 AWG Width Width Wire Color 1R/Light green 1B/Light green 1R/Light blue 1B/Light blue Electric 1R/Orange 1R/Orange 1B/Orange 1B/Orange 1R/Gray 1B/Gray 1B/Gray 1R/Pink 1R/Pink 1B/Pink 1B/Pink Shield Shield - 2 ) Wire Color Wire Color Electric Electric ht 2 V White re E4 PE Green lc 3 W Black e 1 U Red Abbreviation Signal EN_/B EN_/A EN_/Z EN_/Z EN_A EN_B EN_Z GND /SD FG FG NC SD 5V Abbreviation Abbreviation Signal Signal No. Pin 12 11 10 9 8 7 6 5 4 3 2 1 No. Pin No. Pin No. Pin No. Pin EGreen Black White Red PE W V U 4 3 2 1 Abbreviation Abbreviation Signal Signal No. Pin 18 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Abbreviation Signal EN_/A EN_/B EN_B EN_A EN_/Z EN_Z GND GND NC NC NC NC NC NC NC NC NC FG FG /SD SD SD 5V Wire Color Wire Color Electric Electric Wire Color 1R/Light green 1R/Light 1B/Light green 1R/Light blue 1B/Light blue Electric 1R/Orange 1R/Orange 1B/Orange 1B/Orange 1R/Gray 1B/Gray 1B/Gray 1R/Pink 1R/Pink 1B/Pink 1B/Pink (0.5mm Shield AWG 20 AWG Width Width ------2 ) (0.12mm AWG 26 AWG Width 2 ) 2. Installation 29 Consider an appropriate Consider stainless steel sheet. steel sheet. stainless Do not transportnot Do byactuator holdingthe its Do not transport the actuator by holding its cables. cables. transportnot Do byactuator holdingthe its . Do not apply force especially on the stainless the stainless on especially apply force Do not . re than two operators. formation or breakage of the package. package. of the or breakage formation This actuator uses high-performance rare-earth permanent magnets. Therefore, Therefore, magnets. rare-earth permanent high-performance uses This actuator must not come device any other medical or pacemaker a wearing who are those the actuator. of within 30cm Warning: Do not transport the actuator by holding its slider. slider. transportnot Do byactuator holdingthe its separately. with 1 axis unit packaged is shipped the actuator otherwise specified, Unless cable. cable. steel sheet. to resist an impact caused by a drop or crash. by a drop or caused impact an to resist method for transportation. method for transportation. the instruction if there is any for the packaging condition. condition. for the packaging if there is any the instruction Do not transport the actuator by holding its cable track. cable transportnot Do byactuator holdingthe its pulling the or attempt to move it by its cable or motor unit its by Do not carry the actuator Hold the base part part orbody bracket of the when transporting the actuator body. main transportation. during drop the actuator Do not hit or Do not attempt to force part any of the actuator it enables treatment that with any special not applied is package The or drop. Do not damage mo at least with package a heavy Transport Follow transporting. or ground the on it when placing orientation in a horizontal Keep the unit sit on the package. or Do not step Do not put load any that may cause a de y y y y y y y y y in transportation] [Taboos (2) Unpacking After Actuator Handling the [1] the Actuator Handling of 2. Installation 2. Installation 2.1 Transportation (1) Packed Unit the Handling 2. Installation 2 How toHandle after Unpackaged (2) 1 How toHandle thePackage (1) Handlinginthe AssembledCondition [2] 3 Handlingin Condition of Equipment(System) beingassembled inMachinery [3] 30 y y y y y y y y y y y y y When hanging upwithropes, haveappropriate cushioning toavoid anydeformation ofthe Donotattempt toapplyloadontheactuators or the connector box. Alsopayattention notto Ifthetipofanactuator isoverhanging, have an appropriateshake due waytofixitavoid to Fixtheslider so theywould not accidently moveduring transportation. Donotputanything onthepackage thatcould deformordamage it. step Donot onpackage. the Handle with care whenputting thepackage down toavoid impactor bounce. When hanging upwithropes, support onthere When hanging upthemachineryequipment (system) withropes, donotattempt toapplyload Donotattempt tocarryaheavy package with only one worker. Also,haveanappropriate Ifthetipofanactuator isoverhanging, have an appropriateshake due waytofixitavoid to transportation. during move wouldnot it actuatorso the Fix Donothitor drop thepackage. No special treatmentis conducted on thispackage toendure a attachment holesand thetapped holes actuator body. Alsokeepit in stablehorizontal orientation. Makeafixture utilizing the with 0.3Gormore. Inthe vibration. the external pinch cables andbend or deform them forcefully. deform them forcefully. deform on theactuators or theconnector box.Alsopayattention not to pinchcables and bend or base. supportonthebottomoflumber with forklift, a also package the up bringing When base. method fortransportation. with 0.3Gormore. Inthe vibration. the external drop or impact onit. actuators are also fixedsothetipofitwould notshake duetotheexternalvibration. is nailed onthelumber base. The sliders arefixed so theywouldnot accidently move. The assembled with otheractuators. The combined ax This isthe case whenthe productfrom our isdelivered factory under acondition thatitis machinery equipment (system): These aresome caution notes for when theactuator transporting being assembled inthe transportation without thetipbeingfixed,donotapply anyimpact transportation without thetipbeingfixed,donotapply anyimpact on the actuator body if necessary. necessary. if body actuator the on inforcement frame on the bottom of the lumber lumber the bottom of the frame on inforcement es are delivered in package a delivered es are frame that the 2. Installation C 31 ° ch as heat treatment heat as ch C ° comply with the same standards as thoseas standards same withthe comply ture instruction if any displayed on the displayed if any instruction ture r, oil (including oil mist or cutting fluid) or fluid) cutting or mist oil (including oil r, cations, provide sufficient shielding measures: measures: shielding sufficient provide cations, onditions so that no dew condensation forms. condensation dew no that so onditions om strong heat sources su sources heat strong om pidly and occurs condensation pidly strong electric or magnetic field magnetic or electric strong C or less. C or less. to ultraviolet ray or radiation radiation or ray ultraviolet to ° furnaces for a short time, but in the case of the storage and preservation period of 1 month or more, or month 1 of period preservation and storage the of case the in but time, short a for 50 to temperature the control when the machine is delivered. In the case that the machine is to be stored and preserved in in preserved and stored be to is machine thatthe case the In delivered. is machine the when preventive condensation the take anticipated, is condensation dew where environment an package. the opening after directly or package, entire the of outside from measures for the installation environment. In particular, when the machine is to be stored for a long a for stored be to is machine the when particular, In environment. installation the for time,pay close attention to environmentalc stored in the packaged condition, follow the pos the follow condition, packaged the in stored package. package. exceeding what is normally expected in an assembly plant) assembly an expectedin normally is what exceeding chemical solutions solutions chemical package the in included not is protection absorbency moisture specified, specially Unless 60 to up temperatures withstands machine the temperature, preservation and storage For should environment preservation and storage The 40 to 0 of range the exceeds temperature ambient the Where fr heat radiant receives actuator the Where is it case the In condition. horizontal the in performed be should preservation and Storage ra changes thetemperature Where RH 85% exceeds humidity relative the Where sunlight direct receives actuator the Where gases combustible or corrosive to exposed is actuator the Where level (at iron or salt dust, powder of amount large a contains air ambient the Where wate to splashed subject is the actuator Where etc. electricity, static to due generates noise Where to a subject is the actuator Where subject is the actuator Where vibration or impact receives actuator the Where below. those specified than other in a location be installed should The actuator inspection. maintenance for required space work sufficient provide Also of the following lo If the in any actuator is used y y y y y y y y y y y y y y y y [2] Environment • Preservation Storage 2.2 Environment • Preservation and Storage Installation [1] Environment Installation 2. Installation { Do pay attentiontotheseitems (except withcustom-order models). Follow theinformation below when installing theactuator, as a rule. 2.3.1 Installation installhow to This chapter explains HowtoInstall 2.3 Installation Orientation 32 :Psil :Possible L15SS, L15SML15SS, H8HS, H8HM H8SS, H8SM Warning: Type Horizontal Vertical × within 30 cm oftheactuator. those who are wearing a pacemaker or anyothermedical device must notcome This actuator uses high-performance rare-earthpermanent magnets. Therefore, :Notpossible installation Horizontal { { the actuator onyourmechanical system. Vertical installation × × Horizontally Oriented Wall Mount Mount installation Oriented Wall Horizontally { × Ceiling Mount Ceiling Mount installation × × 2. Installation 33 eet or cause the or sheet to deform, lift Dent move attached dust/powder from the move attached the stainless steel sheet carrying foreign particles, the carrying foreign particles, sheet steel the stainless ensure flexibility. Therefore, the stainless steel sheet is easily dented or easily dented steel sheet is the stainless Therefore, ensure flexibility. scratched. following points: attention to the pay steel sheet, stainless the installing When particles may enter the slider and damage the sh and damage enter the slider may particles problems. other present stainless steel sheet after the operation. the operation. sheet after steel stainless with If the actuator is operated There are magnets attached on the side cover to grip the stainless steel sheet. Handle steel sheet. the stainless cover to grip the side on attached There are magnets dusts. pieces and grip metal not would care so the magnets with special the product re thoroughly generated, has dust/powder If 3. steel sheet. the stainless around powder or iron powder dust Do not generate 1. with hands. directly the sheet Do not press 2. Be careful to not drop a tool the or on a piece sheet work and a make dent mark. Caution: Caution: to in order 0.1 mm) (thickness: is designed very thin steel sheet The stainless 2.3.2 Main Unit of Installation 2. Installation When female screwis on steel Make sure to have the effective length of bolt engagement described below or more for the • It is recommended to use high-tensile • Use a hex socket head cap bolt for theattachment to thebase. • About TighteningScrews There arealso reamed holes for accepting positioning pins. External Dimensions”.) (take notethat thetap size is different depending on the model:Refer tothefigurebelow and“8. This actuator basehas tapped mountingcan holes that beusedtoaffix theactuatorfromits back ◎ Utilize these surfaces when accuracy in theactuator driveisrequired. The side surfaces and bottom surface of the base of the body have good parallelism to the guide. equivalent accuracy and theflatness should be within 0.05mm/m. The surface tomountthe main unitshoulda machined be surface oraplane that possesses an 34 iheigo otadafml ce. screw. female a and of bolt a tightening When female screw is onaluminum Small Type H8SS,H8SM, H8HS,H8HM Tapped ato: Payspecial attention when selecting the boltlength.Incase thatan inappropriate Caution: Hole Size M5 unexpected accident. in attachment strength, which may result inadroptheoperation accuracy or an length ofabolt isapplied,itmaycause damage on the tapped holes or insufficiency Tapped Holes 10mm or less 5mm or more 5mm or more Depth → Thread lengthsame asnominal diameter used forthe bolt seating bolt seating that steel is is steel that In thecase (0.74kgf·m) surface: 7.27N·m → Thread length 1.8 timeslonger themnominal diameter Tightening Torque blswt S-09o oe bolts with ISO-10.9 or more. is used for the that aluminum bolt seating bolt seating In thecase (0.35kgf·m) surface: 3.42N·m 50 [mm] Pitch 50 φ Reamed Hole Hole Reamed 4H7, depth 5 4H7, depth [mm] 2. Installation 35 7 5 115 Widened slit for insertion easy T-nut Widened slit for insertion easy T-nut 20.2 10.2 e bolt length. In case that an inappropriate inappropriate an that case In length. bolt e tion. Also, pay attention so the tip of a bolt attention so Also, pay tion. : SUS : SFB-008 : S10C or equiv. : Unichrome plating : Approx. 14g/pc bolts with ISO-10.9 or more. more. or ISO-10.9 with bolts Thread length 1.8 times longer them nominal diameter diameter them nominal 1.8 times longer length Thread → Maker Model No. Material Surface Treatment Weight [Packaged T-nut] [Packaged Thread length same as nominal diameter diameter as nominal length same Thread → 17 9.8 M5 17 3 9 length of a bolt is applied, it may cause damage on the tapped holes or insufficiency or insufficiency holes tapped the on damage is applied, it may cause length of a bolt an or accuracy a drop in the operation in may result which strength, in attachment accident. unexpected 4H10, depth 6mm φ Reamed Hole [mm] Caution: Caution: th selecting when attention Pay special When female screw is on aluminum on aluminum screw is female When tightening of a bolt and a female screw. tighteninga bolt of and a female screw. Screws About Tightening • the base. to for the attachment bolt cap head socket hex a Use • high-tensile use to recommended is It • the for more or below described engagement bolt of length effective the have to sure Make steel on screw is female When would not touch the bottom of the T-shaped groove. groove. T-shaped of the the bottom not touch would pins. positioning for accepting holes reamed There are also L15SM L15SS, Type ◎Flat T-shaped the Use installation. at the back for grooves T-shaped with base is equipped The actuator installa for nuts enclosed base and the the on grooves 2. Installation ◎ Refer to the following table for the screwed depth and reamed depth. Screwing further than • There are two reamed holes on the top of thesurface slider. Use these reamed holes if • The procedure to affix on the a sliderload shall conform to the actuator installation procedure. • There are tapped holes on the top surface of the slider. • Affix the work part (transported object) Attachment of Transported Object 2.3.3 • About Tightening Screws 36 When female screw is on steel Make sure to have the effective length of bolt engagement described below or more for the • It is recommended to use high-tensile bolts with ISO-10.9 or more. • is required, use one of the reamed holes for the tuning. repeatability of attaching and detaching is required. Also, if small tuning such as perpendicularity here. Use a hex socket head caphead the socket for hex boltattachmea Use tightening of a bolt and a female screw. of a female and a bolt tightening the work part, result in the drop the of accuracy or an unexpected accident. indicated in the table may destroy the tapped hole or lower the reinforcement of the attachment of When female screw is on aluminum Small Type H8SS, H8SM, H8HS, H8HM When attaching a transported object, pay attention not to apply a viscous liquid • Caution: • Pay special attention when selecting the bolt length. In case that an inappropriate Tapped Hole Size M5, depth 10 or damage on the sheet. which could make a dent mark. Doing so may cause an operation error of the slider such as glue or paint on the stainless steel sheet, or not to apply force on a spot, unexpected accident. in attachment strength, which may result in a drop in the operation accuracy or an length of a bolt is applied, it may cause damage on the tapped holes or insufficiency oia otDaee Tightening Torque Nominal Bolt Diameter → Thread length same as nominal diameter 25 → Thread length 1.8 times longer them nominal diameter M5 Mounting Bolt 65±0.02 50 80 nt tothebase. 3.42N·m 3.42N·m (0.35kgf·m) 25 2- 4-M5, depth10 φ 4H7,depth8 REAMED HOLE PITCH ±0.02 φ Reamed Hole 4H7, depth 8 4H7, depth 2. Installation 37 4H7, depth 6 Reamed Hole Hole Reamed φ 20 45 4H7, depth 6 22.5 3.42N·m (0.35kgf·m) φ 2- nt to the base. 8-M5, depth 5 45 175 PITCH ±0.02 PITCH Mounting Bolt REAMED HOLE HOLE REAMED 105 22.5 145 45 M5 Thread length 1.8 times longer them nominal diameter diameter them nominal 1.8 times longer length Thread → Thread length same as nominal diameter diameter as nominal same length Thread → 20 Nominal Bolt DiameterNominal Torque Tightening length of a bolt is applied, it may cause damage on the tapped holes or insufficiency or insufficiency holes tapped the on damage is applied, it may cause length of a bolt an accuracy or in a drop in the operation may result which strength, in attachment accident. unexpected force on a spot, or not to apply sheet, steel on the stainless or paint glue as such slider error of the cause an operation may so mark. Doing make a dent could which the sheet. on or damage M5, depth 5 M5, depth 5 Tapped Hole Size Tapped Caution: • Pay special attention when selecting the bolt length. In case that an inappropriate inappropriate an that case In length. bolt the selecting when attention special Pay • Caution: • liquid viscous a apply to not attention pay object, transported a attaching When tightening of a bolt and a female screw. tighteninga bolt of and a female screw. on aluminum screw is female When Use a hex socket head cap bolt for the attachme bolt for the Use a hex socket head cap • more. or ISO-10.9 with bolts high-tensile use to recommended is It • the for more or below described engagement bolt of length effective the have to sure Make steel on screw is female When Screws About Tightening • Flat Type L15SS, L15SM L15SS, Type ◎Flat 2. Installation For the platform to install the actuator, ensure the structure that• possesses enough stiffness to Installation Surface 2.3.4 machining by following the drawing below. When installing the actuator on the framethe base datum usingsurfaces, provide the necessary 38 The side and bottom surfaces of the actuator base provide datum surfaces used for alignment of • Provide sufficient space to allow for maintenance work. • Install the actuator on a machined surface or other flat surface of equivalent accuracy.• The If you require higher traveling accuracy, install the actuator using • these datum surfaces. to either side surface of the base. slider travel. If you require higher traveling accuracy, therefore, install the actuator with reference As shown above, each side surface of the a basedatum provides surface used for alignment of flatness of the installation surface must be 0.05 mm/m or less. avoid vibration beinggenerated. slider travel. A (Side ofthebase) ml ye 8S 8M 8S 8M FlatTypeL15SS,L15SM Small TypeH8SS,H8SM,H8HS,H8HM surface Datum R0.3 orless Sd ftebs)(Sideofthebase) (Side ofthebase) surface Datum H8SS, H8SS, H8SM, H8HS, H8HM surface Datum L15SS, S15SM ml ye Small Type ltTp Flat Type Model (Side ofthebase) Dimension A (mm) 2 ~ 3.5 or less 2.5 ~ 4 or less surface Datum 2. Installation 39 7.3 4.3 4.5 2 Flat Type L15SS, L15SM M4 M3 ts of an appropriate length so that the tip of the so that length of an appropriate ts T-slot Nut Diameter Nut Diameter T-slot 5.8 3.3 2.7 5.5 1.8 Model Small Type H8SS, H8SM, H8HS, H8HM Small Type H8SS, bolt will not contact the bottom of the T-slot. T-slot. the bottom of the bolt will not contact Flat Type Flat Type L15SS, L15SM Small Type Type Small H8SS, H8HS, H8SM, H8HM 2.3.5 and Others Box of Connector Mount box or other of a connector the actuator for installation side faces of on the are provided T-slots T-slots. these using box a connector kit, install wiring If you a are using external equipment. cables. securing or sensors installing as such purposes, for other be used also can T-slots below. specified are dimensions T-slot The used. be also can nuts hex but • T-slots, in recommended is nuts square of Use bol select • T-slots, using object an installing When T-slot Dimensions Dimensions T-slot 3. Connecting with the Controller require you adifferentkind ofcabl withIAIif Please consult Theactuator cable coming • Donotpullonthededicated connection cable • Donotcutand reconnect thededicated connection fore cable • • If the dedicated connection cable Ifthededicated cannotbesecured,reducetheloadonthe connection cable byallowing it • cableforthe connection ofthe actuator the to Use theIAIdedicatedconnection controller. withtheController Connecting 3. Encoder cable CB-X3-PA□□□ • Motorcable(Robot cable) CB-X-MA□□□ • Dedicated cables 40 not bebentrepeatedly. large radius. to deflectonly bytheweighto Example) 080 =8m 20m atthemaximumcanbeapplied toSSEL andSCON. 30m atthemaximumcanbeapplied toXSEL-P/Q. □□□ indicates the cable length. XSEL-P/Q, SSEL,SCON Dedicated Controller out ofthemotorunitisnot soitwould meant tobebent.Fixthecable f thecable orwire itinaself-standing cable hose, etc., havinga or benditforc (Connects controllerand Actuator cable) Dedicated cable r r e than supplied.one the ibly. r=38mmormore(FixedUse) r=58mmormore(MovableUse) xtension or shorten thecable. 3. Connecting with the Controller 41 Tie them up softly. Steel Strap (Piano Wire) connectors on both ends to extend, shorten shorten to extend, ends both on connectors tor or extreme bend on the cable. Do not Do cable. the on bend extreme or tor operating manual. Contact us if you wish to Contact manual. operating a moving part, make sure to lay out the to lay sure cable a moving part, make ng, prevent an environment that the cable that the environment an ng, prevent uld not hit peripherals during an operation. In operation. an during peripherals hit not uld as the machinery equipment, pay attention to the wiring and connection of each of each connection and the wiring to attention pay equipment, as the machinery a not only may cause Not following them properly. are conducted so they cable error, operation or an failure, connection or breakage cable such as malfunction a fire. may even cause or leakage, electric or shock but also electric case it does, have an appropriate protection such as a cable track. track. cable a as such protection have an appropriate it does, case swings with acceleration velocity. or wind have a change to the specifications of the dedicated cables. cables. of the dedicated specifications to the have a change disconnection. value. the allowable below radius a bending with attempt to use the cable it is extremely risky. error, thus an operation or re-joint it. or re-joint connectors. cable. a dedicated on damage mechanical force to pull the connec any without applying Warning: Warning: system a constructing When below. warnings stated follow the please For wiring, • ceili the on hanging used is cable a When • equipment. storage cable the inside friction much too not is there sure Make • cables. or line power to heat radiated apply not Do • point. one on concentrating bend a avoid and bending, for radius sufficient a Have • or connection cable or line power of process the in off power the turn to sure Make • with cable dedicated a cut to attempt not Do • cause may connection Insufficient properly. plugged are connectors the that certain Make • over Do not thethem.lay cablesruns out machine to where the • wo soit layout thecable to Payattention • and terminals the to applied being force mechanical avoid to cable dedicated the Hold • of possibility a is there when protection appropriate an have to duct or pipe cable a Use • at used be to is cable dedicated a case In • this in indicated IAI of cables dedicated Use 3. Connecting with the Controller 42 When a cable is fastened to affix, make sure to have an appropriate force and do not • Pay attention not to concentrate the twisting force to one point on a cable. • Do not pinch, drop a heavy object onto or cut the cable. • Do not let the cable bend, kink or twist. • Do not pull the cable with a strong force. • tighten too much. frequently. position wherecablesarebent Do notusespiraltubeinany 3. Connecting with the Controller 43 Duct tension being applied when the cables are cables the when applied being tension I/O lines (flat cable) Power Power line other and do not tie them together. Arrange so that such lines are independently routed in in routed independently are so lines such that Arrange together. them tie not do and other duct. the (Avoid up. them tie not do and freely move bent.) breakage. cable or sheaths the of abrasion faster cause may It cables. up pile not Do instruction given by the supplier when storing the cable in the cable track. cable the in cable storingthe when supplier the by given instruction • PIO line, communication line, power and driving lines are to be put separately from each Follow the instructions below when using a cable track. track. cable a using when below instructions the Follow • wiring the to refer track, cable a in factor space the for cable the to indication an is there If • cables the have to also and track, cable the in twisted or twined get to cables the Avoid 4. Operation and reverses, untilitstops at thehomeposition. Home return isperformed in the sequence specified below. Ho of Principle 4.1.1 Return Home 4.1 4. Operation to bechanged andtheencoder readjusted. Please consult IAI. Changing the factory-sethome direction after the delivery requires themoving direction parameter theHomeDirection Changing 4.1.3 procedure below. you tofine-tunethehome position ofyouractuat If thehomereturndirection remains the same,changing theparameter based on thisvalueallows where thereversing distance indicates thedistance signal isoutput pre-adjusted. The table below lists the standard reversing distance for each model, The actuator is shipped with its motortravel after theactuator contacts the stopper untilaZphase Fine-tuning the Home Position 4.1.2 44 ) Theactuator moves further bytheoffsetspecified bytheapplicable parameter and recognizes 4) Theactuator reverses upon contactingmechanical the end, after which it detects a Z phase 3) During home return, themechanical end isdetected via thesoftware. 2) When ahome returncommand isissued, themovingdirection isdetermined from the 1) ) Increasing the offset reduces themoving 3) Thereafter, move theactuator toadesired home.Check thedifference and correct the 2) Performhome returnto check thehome. 1) L15SS, L15SML15SS, Flat type H8SS, H8SM, H8HM H8HS, Small type the achieved position asthe home. signal andrecognizes this position asthe reference point. specified parameter. [Refer to PC [Refer to Software Inst an offset soft the specified adjust also limits. exceeding 1mm, actuator. the of direction (N parameter accordingly. The parameter accepts apositive valuetosetanoffset inthemoving Warning: Model the home. power phases havebeen adjusted precisel important role intheswitching of AC-servo powerphases. Sincethe AC-servo The encoder not onlydetects position and home signals, butitalso playsan me-Return Operation ruction Manual fordetails ofhowto set up theparameters] egative values cannot be set.) Reversing distance frommechanical stopper range by the amount incremented. If you have have you If incremented. amount the rangeby or. this Perform fine-tuning the byfollowing moved bythesliderafter itcontacts the stopper Approx. 15mm Approx. 10mm Approx. y, encoderchange to touchthe never 5. Troubleshooting 45 (The motor and encoder connectors are in the wrong positions.)installed Clean the linear scale using a clothdry and alcohol. Replace the broken cable. Replace the controller. 1) The connector is not properly engaged. 2) The pins are loose. 3) The connected axis numbers are wrong. Yes Yes Yes Yes r the applicable measures have been taken, contact contact taken, have been measures r the applicable No No No No (Error Code: D12) (Error Code: problem? Broken cable? Connectorwiring Faulty controller? Encoder open error Dust on the linear scale? If the problem has not yet been resolved at this point, IAI. contact If you have If you a spare swap it with controller, the current controller and check the operation. 5.1 Encoder Open Error 5. Troubleshooting 5. Troubleshooting deviation overflow error, overload driver error, open encoder an experienced If the actuator has or that the robot concluding before below explained the procedures check error, any other error or afte If the problem persists controller is faulty. IAI with the detailed condition. condition. IAI with the detailed 5. Troubleshooting DriverOverloadError(ErrorCode:D0A) 5.2 46 check the operation. operation. the check and the currentcontroller controller,with it swap aspareIf you have to check. by hand move theslider Turn Off the power and and the power contact IAI. at thispoint, resolved been yet has not If theproblem Slider receiving any external Slider receiving any external High operation duty? operation High Driver overload error Driver overload Actuator mechanism Actuator mechanism Faulty controller? Faulty force or resistance? feels heavy. No No No No Yes Yes Yes Yes Repair theactuator forceorresistance. theexternal Remove conditions”. to 1.3,”Operating by referring conditions operating Review the Replace the controller. the Replace 5. Troubleshooting 47 (The motor and encoder connectors are in the wrong positions.)installed Remove the interference. Replace the controller. Reduce the acceleration/deceleration.ider anycontacting peripheral equipment? Replace the motor cable. 1) The connector is not properly engaged. 2) The pins are loose. 3) The connected axis numbers are wrong. Yes Yes Yes Yes Yes No No No No No load capacity? capacity? load High acceleration/ High Faulty controller? Slider contacting any any contacting Slider peripheral equipment?peripheral Broken motor cable? Deviation overflow error deceleration relativedeceleration the to Connector wiring problem? If the problem has not yet been resolved at this point, IAI. contact If you have If you a spare swap it with controller, the current controller and check the operation. 5.3 C6B) (Error Code: Error Overflow Deviation 6. Maintenance and Inspection If the actuator is operated at a higher utilization,If theactuatorisoperatedatahigher suchaswh This schedule assumes Perform maintenance andinspection attheintervals specifiedbelow. InspectionItemsandSchedule 6.1 Maintenance andInspection 6. To removestubborn stains,• take neutral detergent or into aalcohol soft cloth, etc., and wipe the Donotusepetroleum-based solvent asitdamages resin and co • Donotblow highly compressed • asoft using Wipedirtyareas etc. cloth, • Clean theexterior surface asnecessary. • Cleaning 6.3 Thelifeofthestainless steel sheet should be5000km distance of driving asa reference. • Adjustthetension ofthestainless steel sheet incase itis deviatedorslacked. • An externalvisualinspection should check thefollowing things ExternalVisual Inspection 6.2 48 intervalsaccordingly.day andnight,reducetheinspection Every 1year Every 6monthsthereafter After 1 year of operation After 6 months of operation After 1month of operation Start-up inspection through gaps between parts. [Refer to6.5.2 “Adjusting theStainless Steel Sheet Tension” and 6.5.3 “Operation Check”.] area gently. area The sheet can bereplaced bythe user, but make sure thereisno deviatedor slacked on the use. However, replace the stainless steel sheet whenitisnecessary replacement ifyouhave work or haveourserviceengineer unittous thatyoubring the visityoursitefor recommended is Deviatedor stainless sheet. steel Warning: tils te he Scratches, deviation, slack Overall Stainless steel sheet Cables Actuator such as a pacemaker. closer than 30cm ifyouareaperson who needs a support device ofamedical This actuator uses high-performance rare-earth permanent magnets. Donotget that the actuator is operated eight hours a thattheactuatorisoperatedeighthours day. iuliseto fetro Inspection of interior Visual inspection ofexterior any concern inthework. air ontotheactuator, it ma as slacked onthestainless ste slacked Scratches, connector engagement Noise, vibration Loosening ofactuator mounting bolts, etc. { { { { { { en the machine isused continuously . y cause dust to enter the actuator to entertheactuator dust y cause el maydamage the sheet.It sheet depending on the condition of of depending the on condition ated surfaces. { { { 6. Maintenance and Inspection 49 wrench with a width across flats of 7mm. flats across width with a wrench Loosening of actuator mounting bolts, etc. etc. bolts, mounting actuator Loosening of Loosening of actuator mounting bolts, etc. etc. bolts, mounting actuator Loosening of strong magnetic force of the magnets inside. inside. force of the magnets magnetic strong may get damaged sheet steel the stainless inside, the magnets In case of getting pulled by IAI if is damaged. the sheet more. Contact and may not be used any mountingcondition to may the give alignment an of impact the sheet or the life of it. the sheet. of by the edges prevent cuts to precautions Caution: Caution: • by the be careful not to get pulled in the body sheet, steel stainless the off peeling When • the in Change sheet. the pulling by condition mounting the change to attempt not Do appropriate other • take or gloves wear sheet, steel stainless the with working When Guide condition, soiling, looseness Lubrication Guide condition, soiling, looseness Lubrication Actuator Actuator 3) the interior. check up the sheet and Turn 4) order. in the reverse the same steps by following the parts assemble the check, After 1) home side. the toward Move the slider 2) a hex using the sheet securing screws Remove the Visually check the interior condition. Focus on entry of dust and other foreign matters and the the and foreign matters of dust and other on entry Focus condition. the interior check Visually condition. lubrication glossy. is traveling surface if its properly lubricated the actuator is brown, Even if grease has turned part. guide the on found is if IAI abnormality an Contact 6.4.2 L15SS, L15SM Type Flat the actuator. the following items inside and check the power off, Turn Visually check the interior condition. Focus on entry of dust and other foreign matters and the the and matters foreign of dust and other on entry Focus condition. the interior check Visually condition. lubrication glossy. is traveling surface if its properly lubricated the actuator is brown, Even if grease has turned part. guide the on found is if IAI abnormality an Contact below: is specified interior the to check The procedure 6.4 Inspection Interior 6.4.1 H8SS, H8SM, H8HS, H8HM Type Small the interior. and visually inspect steel sheet turn up the stainless OFF, turned supply With the power the actuator. items inside the following Check 6. Maintenance and Inspection 2 Checking the clearance between stainlessthe steel sheet and theback oftheslider cover (2) Stainless steel sheet tension (1) [Notes] Tension gauge (having two• forked hooks) Oil-based marker • Adhesive tape • Box-end wrench (7mm) • Scale • Replacement stainless steel sheet • [Required Items] taken off parts can bekept init. product back. Itisrecommended toprepare boxinadvance astorage tostarting thework,so Those parts suchas screwstaken off forreplacement workare necessary when assembling the Described below explains andadjust howthestainless toreplace steel sheet. ProceduresforReplacementand 6.5 50 [Name ofeach part] The stainless steelsheet mustbetensioned so that this clearance becomes 1mm. cannot bemeasured or checked directly. Therefore, the clearance between thestainless steel sheet andthe backoftheslider cover The stainless steelsheet isreplaced without removing theslider cover. slider cover. On the other hand, excessive slacks cause the st exceeds 1mm, the stainless steel sheet may undergo fatigue failure. If thestainless steel sheet istootaut and the clearance fromtheslider coverbecomes Improper tension ofthestainless can promotesteel sheet deterioration and wear of thesheet. sheet affixingscrews Stainless steel Sheet Stainless steelsheet Stainless steelsheetretainerplates Slider cover ainless steel sheet to contact the back of the Adjustment ofStainless Steel Slider coveraffixingscrews 6. Maintenance and Inspection 51 New stainless steel sheet ocedures in 6.5.2 and 6.5.3. 6.5.3. ocedures in 6.5.2 and s from 6.5.1 to 6.5.3. to 6.5.1 s from Connect using adhesive tape. for Stainless Steel Sheet Steel for Stainless nless steel sheetnlessthe with steel pr Slowly pull out the sheet. and remove the retainer plates. plates. the retainer and remove 1) or soiling. scratches of rm absence sheet to confi steel stainless a new Check 2) hex wrench, with a 7mm-sized sheet steel stainless the damaged affixing screws the Loosen 3) adhesive tape. sheet steel using and sheet stainless new steel stainless the damaged Connect 4) sheet. steel stainless the damaged Slowly pull out 5) slider. in the installed has been sheet steel stainless new the that Confirm Connect the damaged stainless steel sheet and new stainless steel sheet using adhesive tape, tape, adhesive sheet using steel stainless and new sheet steel stainless the damaged Connect its takes sheet steel that the new so sheet stainless pull out the damaged slowly and then position. Replace the the procedurestainless sheet with steel 6.5.1 Procedure Replacement below. described steps one by following the with a new sheet steel stainless the degraded Replace Adjust the tension of the stai tension of the Adjust the 6. Maintenance and Inspection .. Adjusting theStainless Steel Sheet Tension 6.5.2 52 ) Movetheslider toaposition nearthe stroke center, and unscrew thescrews holding the 2) First,affix thestainless steel sheet uniformly ontheright andleft in a manner free from 1) ) Prepare for tension adjustment ofthestainless steel sheet. 3) As shown below, raise the stainless steel s • With the stainless steel sheet tensioned by a fo • Use an oil-based marker and ruler to draw a • stainless steel sheetwitha 7mm-sized hex on wrench oneside and removetheretainer plate. toward bothends.) peeling itoncefromoneedge. Also adjust thestainless steel sheet fromtheslider center (The stainless steel sheet isgripped on withthemagnets. Detach the sheet inamanner of meandering. (Once attracted to the magnets, the stainless steel sheet will not move.) move.) not will the sheet magnets, steel stainless the to attracted (Once tension gauge. be attracted tothemagnets from the slider toward end theotherend, andthen remove the and hook the gauge attwolocations on thestainless steelsheet.) of thefreeend withaforce of2kg.(Use a tension gauge havingtwoforked hooks atitstips were removed instep2), and thentensionby using a gauge, pullthesheet inthedirection covers and stainless steel sheet. [Refer to thefigurebelow.] Raise thestainlesssteelsheetandpull (to aheightof1to2cmattheend). Remove thestainlesssteelsheetaffixingscrewsonfrontside. Move theslidertoapositionnearstrokecenter. (Use atensiongauge.) heet by1to2cmatt straight check that side over the line crosses rce of 2kg, allow the stainless steel sheet to Draw achecklineusinganoil-basedmarker. he end wherethescrews 6. Maintenance and Inspection 53 DETAIL A Side covers Offset ainless steel sheet by 0.5mm. (Refer to the by 0.5mm. (Refer steel sheet ainless DETAIL A ess Steel Sheet Tension Tension Sheet ess Steel Loosely tighten the fixed screws removed earlier just to hold the stainless steel sheet movement. Stainless steel sheet Adjust the stainless steel sheet in the direction of the arrow until the check lines on the side on the side lines the check arrow until direction of the in the sheet steel stainless Adjust the the st on check line from the offset covers are enlarged view of A.) enlarged view of of in a manner the sheet Detach with the magnets. on is gripped sheet steel stainless (The it once from one edge.) peeling between the top surface of the stainless steel sheet and the back of the at slidercover the of the back steel sheet and the stainless of the top surface between center of the slider cover. cover. of the slider center stainless steel sheet no longer moves. moves. sheet no longer steel stainless 4) Adjusting the Stainl 5) until the earlier removed tighten the fixed screws loosely positioned, been has the sheet After Move the stainless steel sheet in the direction of the arrow to fine-tune the sheet position until the position the sheet of the arrow to fine-tune in the direction sheet steel Move the stainless check lines on the side covers are offset from the check line on the stainless steel sheet by sheet steel stainless on the line from the check offset are covers the side on lines check 0.5mm. achieved been has clearance 1mm an approximately complete, is Once this adjustment 6. Maintenance and Inspection Move the slider to check once again if the st 6.5.3 Operation Check Check Operation 6.5.3 54 ) Securely tightenthethin-head screws that havebeen loosened with a7mm-sized hexwrench 2) Movetheslider tocheck the tension ofthe stainless steel sheet. 1) remove the check lines using alcohol,etc. to affixthe stainless steel sheet inposition. the adjustment. If thestainless steel sheet isnotuniformly positioned ontherightand left oris waving, repeat entire stroke range. positioned uniformly onthe rightandleft presentingwithout meandering or waving overthe Move theslider tocheck the tension. Specifically, check ifthestainless steel sheet is the sheetmaymeanderorliftup. finally tightenthemwiththeeventorque.Iftightnessontwonutsisuneven, Alternately tightenthetwofixedscrewsthathavebeentemporarilytightenedand Tightening torqueforfixedscre ainless steel sheet is tensioned properly. Lastly, s 359N•cm (36.7kgf•cm) ws 7. Life 55 7. Life it runs with that condition the under (reference) 10,000km to be life is assumed The product acceleration/deceleration. and maximum capacity maximum load 8. External Dimensions SmallTypeH8SS 8.1 ExternalDimensions 8. 56 section dimensions(Mtype) section dimensions(Stype) Weight (kg) 21.8 23.024.2 19.420.6 15.8 17.0 18.2 Weight (kg) 11.012.2 13.414.6 9.8 5.0 6.2 7.4 8.6 Effective Effective Cable trackforuser Cable trackforuser 100 :Strokeend :Mechanicalend SE ME toperipherals. Payattentiontointerference inthehome-returnoperation. *The slidergoesuptheME Stroke Stroke 99 1 Cable trackforuser(Stype) 24 15 D 940 1040 11401440 15401640 104012401340 940 D 34 3638 2426283032 C 140240340440540640740840 40 16 182022 101214 8 D 6 C 49 40 E 580 630 680 730 780 830 880930 580630680730780 E 1116 1718 12 131415 B 53 53 A 130180230280 330 380430480530 E 7 234568 9 10 B 53 53 A L 1206 1306 1406 1506 1606 1706 18031906 12061306140615061606 L 806 306406506606706906 1006 1106 L 60 14 14 19 19 140 80 950 1050 11501450 15501650 1050 1250 1350 950 50 150 250 350 450 550 850 150 250 350450650750 50 100 Detail viewofF 97 Cable trackforuser(Mtype) 85 35 31 1.8 5.5 2.7 3.3 165 5.8 80 72 80 23 M3 T-slot surface Datum 86 (max27) (95) (F) (34) ME 48 10 SE 80 E st L(st+256) Cable B×100 D P 75 8 52 8 25 16 65±0.02 160 50 80 75 52 16 80 HOME 25 4-M3, depth5 2- 4-M5, depth10 10 60 21 4- φ (Reamer pitch: ±0.02) 4H7, depth8 16.5 φ 4H7, depth5 15 6 C-M5, depth10 48 A (34) ME 6 50 8. External Dimensions 57 (max22) 50 (34) ME A 48 10 C-M5, depth 10 4H7, depth 5 φ 4- HOME E 80 160 st P D st B×100 L(st+476) 6 15 6 (Min. Distance between sliders) 4H7, depth 8 φ 60 16.5 (Reamer pitch: ±0.02) pitch: (Reamer 4-M5, depth 10 2- 21 60 25 4-M3, depth 5 16 52 75 80 50 160 65±0.02 E 16 80 25 52 8 8 HOME 10 75 48 ME (34) 1 14.3 15.5 16.7 17.9 19.1 20.3 (95) 86 (max22) 5.8 Datum surface 23 3.3 80 2.7 5.5 1.8 165 72 80 Detail view of F 85 31 35 Cable track for user (M type) 97 100 130 230 330 430 530 730 830 130 230 330 430 930 630 1030 1130 1030 1230 1330 1430 1130 80 140 19 19 14 14 60 L 1906 1506 1606 1706 1806 L 606 706 806 906 1006 1106 1206 1306 1406 1306 1206 L 1106 1006 606 706 806 906 40 49 E 630 680 730 780 830 A 53 53 53 53 53 B 15 16 17 18 14 E 180 230 280 330 380 430 480 530 580 A 13 12 53 53 53 53 53 53 53 53 53 11 B 10 7 8 9 5 6 D 1640 1240 1340 1440 1540 C 30 32 34 36 38 C 14 16 18 20 12 22 24 26 28 D 1140 1040 340 440 540 640 740 840 940 15 24 Cable track for user (S type) 99 1 100 Stroke Stroke Stroke Effective Effective Effective Effective *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME SE end : Mechanical : Stroke end Cable track for user Cable track for user Weight (kg) 21.5 22.7 23.9 25.1 26.3 21.5 22.7 (kg) Weight Weight (kg) 10.7 11.9 13. 11.9 10.7 (kg) Weight section dimensions (S type) 8.2 H8SM Small Type section dimensions (M type) 8. External Dimensions section dimensions(Mtype) SmallTypeH8HS 8.3 58 section dimensions(Stype) Weight (kg) 24.5 19.7 20.9 22.123.3 1 10.1 8.9 7.7 6.5 Weight (kg) S :Strokeend :Mechanicalend SE ME toperipherals. Payattentiontointerference inthehome-returnoperation. *The slidergoesuptheME 100 Cable trackforuser Cable trackforuser Effective Effective 99 1 Stroke Stroke Cable trackforuser(Stype) 24 15 49 40 D 1240 1340 1440 1540 1640 1240134014401540 D 38 30323436 C 1040 1140 940 840 740 640 540 28 26 340 440 140240 24 22 20 18 12 1416 10 8 D C E 730 780 830 880 930 730780830880 E 18 14151617 B 53 53 680 A 630 580 530 480 430 380 330 280 230 180 E 53 10 53 11 9 12 8 5 67 34 13 53 53 53 B 53 53 53 A 46566676869610 161206 1306 1406 1106 1006 906 806 606 706 406506 L L 1506 1606 1706 1806 1906 1506160617061806 L 60 14 14 19 19 140 80 11501550 1250 13501450 50 150 250 350 450 550 650 750 850 950 650750 1050 550 450 50 150 250 350 100 97 Cable trackforuser(Mtype) 35 31 85 Detail viewofF 165 80 72 1.8 5.5 2.7 3.3 80 5.8 M3 T-slot 23 surface Datum 86 (F) (95) (34) 98 1.3 12.5 13.7 14.9 16.1 17.3 18.5 16.117.3 14.9 13.7 12.5 1.3 ME 80 10 SE E st Cable B×100 D P L(st+356) 75 8 52 8 25 16 65±0.02 160 50 80 75 52 16 HOME 25 4-M3, depth5 10 60 21 2- 4-M5, depth10 (Reamer pitch: ±0.02) 16.5 φ 80 4H7, depth8 15 6 ME 6 4- 98 φ 4H7, depth5 C-M5, depth10 A (34) 50 8. External Dimensions 59 50 (34) A C-M5, depth 10 4H7, depth 5 98 φ 4- ME 10 80 E HOME 160 st P D B×100 L(st+676) st 6 6 15 160 (Min. Distance between sliders) 4H7, depth 8 (Reamer pitch: ±0.02) pitch: (Reamer 16.5 φ 60 21 4-M5, depth 10 2- 25 4-M3, depth 5 16 52 75 80 50 160 65±0.02 16 E 25 52 8 8 HOME 80 75 10 ME 98 (34) (F) (95) 86 Datum surface 23 M3 T-slot 80 5.8 165 3.3 72 80 2.7 5.5 1.8 85 31 35 Cable track for user (M type) Detail view of F 130 230 330 430 530 730 830 130 230 330 430 930 630 1030 1130 1230 1030 1130 97 100 80 19 19 14 140 14 40 49 60 15 24 L 1706 1806 1906 L 806 906 1006 1206 1306 1406 1506 1606 1106 A 53 53 53 B 17 18 16 E 630 680 730 E 180 230 280 330 380 430 480 530 580 A 53 53 53 53 53 53 53 53 53 B 7 8 9 10 12 13 14 15 11 C 34 36 38 D 1440 1540 1640 C 1340 18 20 22 24 16 26 28 30 32 1240 D 1140 1040 540 640 740 840 940 99 Cable track for user (S type) 1 Stroke Stroke Stroke Stroke Cable track for user Cable track for user 100 Effective Effective Effective Effective section dimensions (S type) section dimensions (M type) Weight (kg) 24.6 25.8 27.0 24.6 (kg) Weight Weight (kg) 13.8 15.0 16.2 21.0 22.2 23.4 17.4 18.6 19.8 (kg) Weight *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME SE : Mechanical end : Stroke end 8.4 H8HM Small Type 8. External Dimensions S :Strokeend :Mechanicalend SE ME toperipherals. Payattentiontointerference inthehome-returnoperation. *The slidergoesuptheME . FlatTypeL15SS 8.5 60 Weight (kg) 24.4 25.827.2 21.723.1 17.5 18.920.3 Weight (kg) 10.6 12.0 13.414.816.2 6.5 7.9 9.3 Effective Effective Stroke Stroke C 24 26 28 30 32 34 3638 2426283032 C 18 20 22 10121416 8 C 595695695795795895879.5929.5 829.5 779.5 729.5 579.5629.5679.5 10111111 1211 911 1311 1411 1511 1611B A 479.5529.5 429.5 379.5 329.5 179.5229.5279.5 B 111211 311 411 511611 711 811 A 11901690 17901890 1290 139014901590 L 890 390490590690790990 1090 L (*1) Thecabletrackmaybulgeand 85(*1) 9 3 17 5 7 950 1050 11501450 15501650 105012501350 950 650 150 250350450550750850 exceed thefollowingdimentionsslightly. Detail: Baseattachment 32 31 M5 Detail viewofD 9.8 17 4.5 C3 uniy Refer totherow Appox.14g/pc S10Corequiv. Quantity: Weight: Surface treatment:Unichromeplating Material: [Packaged T-nut] 2 20.2 10.2 4.3 145 143 115 C3 7.3 on thebottom inthetable “C” M4 T-slot (D) 18.5 surface Datum 44.5 (max50) 45 ME 32.5 15 59.5 SE 80 B 8-M5, depth5Heli-Coilinsert st Cable L(st+240) A 8 20 2- 4- 45 φ 22.5 4H7, depth6 φ 145 4H7, depth6 105 175 175 45 80 22.5 45 HOME 20 59.5 15 32.5 easy T-nutinsertion Widened slitfor 8 easy T-nutinsertion Widened slitfor ME 115 145 8. External Dimensions 61 Widened slit for easy T-nut insertion (max:35) 145 115 Widened slit for easy T-nut insertion ME 8 32.5 15 59.5 20 HOME 45 B 22.5 80 45 175 175 (Reamer pitch: ±0.02) pitch: (Reamer 105 4H7, depth 6 145 4H7, depth 6 φ 22.5 φ 45 4- 2- 20 Cable 8 st A (131) st L (st+440) Cable 8-M5, depth 5 Heli-Coil insert 175 80 B 25 (Min. Distance between sliders) HOME 15 59.5 32.5 ME 8 14.2 15.6 17.0 18.4 19.8 21.2 45 (max:35) 44.5 18.5 (D) M4 T-slot “C” in the table on the bottom 7.3 C3 115 143 145 4.3 10.2 20.2 2 (5 : 1) [Packaged T-nut] Material: Surface treatment: Unichrome plating Weight: Quantity: S10C or equiv. Appox. 14g/pc to the row Refer C3 17 4.5 9.8 Detail: Base attachment Detail view of D exceed the following dimentions slightly. M5 31 50 150 250 350 450 650 750 550 850 32 950 1250 1350 1050 1450 1150 17 3 5 7 (*1) The cable track may bulge and 9 (*1) 85 L 1790 1390 1490 1590 1690 1890 L 490 590 690 750 890 990 1090 1190 1290 L 1190 1090 490 590 690 750 890 990 A 1611 1511 1411 1311 1211 B 1111 629.5 679.5 729.5 779.5 829.5 879.5 A 1011 911 811 711 611 511 411 311 211 B 179.5 229.5 279.5 329.5 379.5 429.5 579.5 479.5 529.5 C 28 30 32 34 36 38 C 18 10 12 14 16 24 26 20 22 Stroke Stroke Stroke Stroke Effective Effective Effective Effective Weight (kg) 22.6 24.0 25.4 26.8 28.3 22.6 29.7 (kg) Weight Weight (kg) 10.0 11.4 12. 11.4 10.0 (kg) Weight 8.6 L15SM Flat Type *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME SE : Mechanical end : Stroke end 9. Warranty . Soeo h arny ScopeoftheWarranty 9.2 y y y One ofthefollowing periods, whichever isshorter: Warranty Period 9.1 9. Warranty We shall not be liableforany program or control method createdby thecustomer to operate (2) We shall assume noliability forany special damage, consequential lossor passive loss such (1) LimitedLiability 9.4 As arule,the product must to bebrought us for repair under warranty. Warranty Honoringthe 9.3 covered bywarrantywillbereplac Our products are coveredby warranty whenallof the following conditions are met. Faultyproducts from abreakdownofour productexcluded is from thescopeofwarranty. our product covers only warranty the that Note Note thatbreakdowns duefollowing toanyofthe reasons are excluded fromthe scope ofwarranty: Thebreakdown ofproblem in question byaspecification was caused defector problem, orby (4) Thebreakdown or problem inquestion occurred while theproduct wasinuse for an (3) The breakdown orproblem inquestion occurredduring thewarranty period. (2) The breakdown orproblem inquestion pertainsto our product as delivered byus or our (1) 62 2,500hours of operation 12months after delivery tothespecified location 18months after shipment from IAI u rdc rfrtersl fsc rga rcnrlmto. our product or fortheresult ofsuchprogram or control method. as aloss ofexpected profit arising from or inconnection withour product. 7 Operationnoise, vibration or other subjective sensation notaffecting functionor [7] Wear, depletion orother expected result ofuse [6] Naturalfading ofpaint orother symptoms ofaging [5] A naturaldisaster, man-made disaster, incident oraccident forwhich wearenot liable [4] Anythingthatcould notbe easily predicted withthelevel ofscience andtechnology [3] Modification orrepair performed byaparty otherthan us(unless we haveapproved such [2] Anythingother thanour product [1] product. our issuewith quality a manual and catalog. appropriate purpose under theconditions andenvironment of use specified in the instruction authorized dealer. maintenance available atthetimeofshipment fromour company orrepair)modification ed or repaired free of charge: as delivered and that anysecondary loss arising 9. Warranty 63 t or any system, device, etc., used by the system, device, etc., used any t or sets, art or other irreplaceable items irreplaceable art or other sets, parate fee will be charged in the following cases cases following in the fee will be charged parate r product is to be used in any condition or any condition in is to be used r product the applicable standards, etc. etc. standards, the applicable a vehicle, railway facility or aviation facility) Standards/Regulations, Etc., and Applications Applications Etc., and Standards/Regulations, [1] of human life or health or management to maintenance pertaining Medical equipment [2] as (such people move or transport to intended equipment or mechanical mechanism A [3] as safety devices) (such equipment of mechanical parts safety Important [4] Equipment used to cultural handle as [1] of test operation witnessing and for installation/adjustment Guidance [2] and inspection Maintenance [3] methods, etc. on operating/wiring education and guidance Technical [4] to programs related items other and on programming education and guidance Technical environment that differs from what is specified in the catalog or instruction manual. manual. instruction or specified catalog in the what is from that differs environment customer, the customer must first check the applicable standards, regulations and/or rules. rules. and/or regulations standards, the first check applicable must customer the customer, product our with combination for confirming that such responsible is also The customer the be liable for not we will case In such a etc. standards, to the applicable conforms with of our product conformance cannot product as a rule our Accordingly, safety. of level high a require which below, specified of these for any product us if you must use our Contact applications. be used in these applications: even during the warranty period: the warranty even during 9.6 from Warranty Items Excluded Other programming, with associated expenses include does not you to delivered of the product The price a se Accordingly, the of engineers, dispatch etc. 9.5 Applicable with Conformance Conditions of (1) produc another with combined is If our product (2) for the applications not intended or designed It is use. industrial general for is Our product (3) if ou opportunity us at the earliest Contact Change History Change History 64 November 2016 November 2016 February 2017 February 2017 February 2013 Revision Date Edition 3D Edition 3C Third edition g 8 Change made inthecaution for note stainless steel shee Pg. 48 g 6 7 0 Noteadded stating cable length is20m atmaximu Pg. 26,27,40 Revised overall external visual inspection SSEL andSCON Description of Revision t m for Manual No.: ME3638-3D (February 2017) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chicago Office: 110 East State Parkway, Schaumburg, IL 60173 TEL (847) 908-1400 FAX (847) 908-1399 Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066 TEL (678) 354-9470 FAX (678) 354-9471 website: www.intelligentactuator.com Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany TEL 06196-88950 FAX 06196-889524 SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China TEL 021-6448-4753 FAX 021-6448-3992 website: www.iai-robot.com Phairoj Kijja Tower 12th Floor, 400 Soi29, Bangna-Trad RD., Bangna, Bangkok 10260, Thailand TEL/+66-2-361-4458 FAX/+66-2-361-4456 The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2017. Feb. IAI Corporation. All rights reserved. 17.02.000