IS Series Actuator Instruction Manual Splash-Proof Type ISWA･ISPWA Fifth 1 Edition IAI America Inc.
Please Read Before Use Thank you for purchasing our product. This Instruction Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products.
CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Table of Contents Safety Guide.................................................................................................................... 1 Precautions in Handling................................................................................................... 8 Names of the Parts........................................................................................................ 12 1. Product Check ...............................................................................................
10. Maintenance/Inspection........................................................................................... 37 10.1 Inspection Items and Intervals .................................................................................................37 10.2 Visual Inspection of the Machine Exterior ................................................................................37 10.3 External Cleaning.......................................................................................................
12. Appendix.................................................................................................................. 67 12.1 External Dimensions ................................................................................................................67 12.1.1 ISWA-S, ISPWA-S ......................................................................................................67 12.1.2 ISWA-M-100, ISPWA-M-100....................................................................................
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description 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.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring 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.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures 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.
No. 6 7 Operation Description Trial Operation Automatic Operation Description 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.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description 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 work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger product is not handled correctly, will result in death or serious injury.
Precautions in Handling 1. Do not establish the speed or acceleration/deceleration settings beyond the rated values. Please do not establish the speed or acceleration/deceleration settings beyond the rated values. It may cause an occurrence of vibration, malfunction, or shorten the product life. When having the actuator run to synchronize the multi axes, adjust the speed setting to the axis with the maximum speed and the acceleration/deceleration to the axis with the minimum acceleration/ deceleration.
5. Moving the actuator back and forth in a short distance may cause wear of grease. Continuous back and forth operation within a distance less than 30mm may cause wear of grease. It is recommended to have 5 rounds of back and forth operation in a distance more than 50mm after every 5,000 to 10,000 rounds of the short distance operation. A layer of the grease will recover. 6. Make sure to attach the actuator properly by following this instruction manual.
7.2 Handling of Multi-Axes Type Exercise precaution to the following when transporting the multi-axes. 7.2.1 Handling the Packed Unit avoid it swinging by external vibration. Do not damage or drop. The package is not supplied with any special treatment that enables it to resist an impact caused by a drop or crash. The operator should not carry heavy shipping boxes by themselves. Consider an appropriate method for transportation.
7.3 Handling of Product Mounted to Mechanical Equipment (System) Exercise precaution to the following when the whole mechanical equipment (system) that the actuator is mounted on needs to be transported. Secure the sliders to prevent sudden movement during transport. external vibration. If the actuator assembly is transported without the tips being secured, do not apply impact of 0.3G or more.
Names of the Parts In this manual, the right and left of the actuator is indicated with the view from the motor side when the actuator is placed horizontally as shown below. Actuator Cable Screw Cover Right Side Opposite Side of the Motor Motor Side Left Side Front Cover Rear Cover Slider Base Datum Surface Bottom Actuator Cable *Refer to [12.1 External Dimensions] for the detail of the datum surface.
1. Product Check 1. Product Check contained model or any missing parts, contact us or our distributor. 1.1 Parts No. 1 Part Name Remarks "How to read the model plate", "How to read the Main Body model No." Accessories 1.2 2 Home Position Marking Sticker 3 First Step Guide 4 Instruction Manual (CD/DVD) 5 Safety Guide Instruction Manuals for Controllers Relevant to This Product (1) XSEL-J/K Controller No.
(2) XSEL-P/Q Controller 1. Product Check No.
(4) SCON Controller Related 1.
1. Product Check 1.4 How to read the model No. '2+'3 4#/& 2'%+3+0/ 03+4+0/+/) ! +)* 2'%+3+0/ 03+4+0/+/) ! 14+0/ '6'23'& 0. ' 81' 5+&' 7+4* #-- '4#+/'2 '%*#/+3. 81' . #-- +9' #$-' '/)4* 0/' . '&+5. +9' #2)' +9' . ":: 1'%+(+'& '/)4* /%0&'2 81' $30-54' /%2'.
6SHFL¿FDWLRQV (1) Maximum Speed limitation of the number of motor rotation. 0DNH VXUH WKDW WKH PD[LPXP VSHHG RI \RXU DFWXDWRU GRHV QRW H[FHHG WKH DSSOLFDEOH OLPLW VSHFL¿HG LQ the table below.
(2) Max. Acceleration Speed and Max. Transportable Weight 2. Specifications Type S Motor Output (W) Lead (mm) 60 100 M 200 L 200 400 16 8 4 10 5 20 10 20 10 20 Maximum Acceleration(G) 0.3 0.3 0.3 0.3 0.3 Max. Transportable Weight (kg) 7 20 45 30 70 30 70 30 70 70 CAUTION: Even if the acceleration setting is less than the rated acceleration, transportable weight cannot be more than that guaranteed for the rated acceleration.
(6) Load on the Actuator Table below shows the allowable load moment and allowable load overhang length for each actuator. Use the actuators within the allowable range. Ma(N•m) Mb(N•m) Mc(N•m) Allowable Load Overhang Length (L) ISWA S 14.2 20.1 32.9 450 ISPWA M 34.8 49.5 80.8 600 L 52.5 75.0 124.5 750 2.
3. Product Life "Rated load" is one element that determines the life to drive the actuator. In the "rated load", there are two types called "static rated load" and "dynamic rated load". 3. Product Life x "Static rated load" : A load that makes a tiny brinelling mark on the interfacing surface when a load is applied while in stopped condition.
4. 4.1 Installation and Environment for Storage and Preservation Installation Environment $Q HQYLURQPHQW WKDW VDWLV¿HV WKH IROORZLQJ FRQGLWLRQV LV UHTXLUHG GXULQJ LQVWDOODWLRQ x Any radiant heat from a large heat source such as a heat treatment furnace should not be directed at the machine main body. x The ambient temperature should be 0 to 40°C. x There should be no condensation in 85% or less relative humidity except for the case when air purge is performed.
5. Installation Stated below tells how to install the actuator to a mechanical equipment. 5.1 Attachment This actuator is recommended for a standard horizontal mount for the posture of installation to fully SHUIRUP LWV GXVW SURRI DQG VSODVK SURRI VSHFL¿FDWLRQV 2WKHU SRVWXUHV RI LQVWDOODWLRQ KRUL]RQWDO ZDOO 5. Installation mount, up-side-down or vertical mount) may allow water to get inside. 5.2 Installing the Main Body There are tapped holes on the back of the actuator base for installation.
CAUTION: Since the tap is a blind hole, please be careful when setting the bolt length. Inadequate bolt usage may cause tap hole breakdown as well as lead to lack of intensity in actuator mounting, thus lowering precision and may cause an accident. Description of the Set Screws For the base male set screw, use a hexagon socket head cap screw. For the bolts to be used, a high-tensile bolt complying with ISO- 10.9 or more is recommended.
5.3 Mounting Load on Slider x 7KHUH DUH WDSSHG KROHV LQ WKH VOLGHU ZKHUH \RX FDQ DI¿[ WKH ORDG To do this, follow the mounting procedure used for the main body. x The slider has two reamed holes that are used to reproduce the correct position when the slider is UHPRYHG DQG UHLQVWDOOHG 8VH RQO\ RQH RI WKHVH KROHV ZKHQ ¿QH WXQLQJ RI SHUSHQGLFXODULW\ HWF LV required. 5.
Slider Tap Hole Diameter and Reamer Diameter (on sides) Machine Type Tap diameter Tap depth D E F Reamer Hole Reamer Depth Small Size M6 12mm 40mm - - 8mm Medium Size M6 13mm 50mm 30mm 35mm 8mm Large Size M6 13mm 40mm 50mm 50mm 8mm 155 5. Installation 115 140 A Detail : A Bolt to be used M6 110 125 Tightening Torque In the case that steel is used for In the case that aluminum is used for the bolt seating surface: the bolt seating surface: 12.3N•m(1.26kg•m) 5.4N•m(0.
5.4 Datum Surface and Mounting Surface x 7KH PRXQWLQJ IUDPH VKRXOG KDYH VXI¿FLHQW ULJLGLW\ WR DYRLG JHQHUDWLRQ RI YLEUDWLRQ x The surface where the actuator will be mounted should be machined or be equally level, and the ÀDWQHVV EHWZHHQ WKH DFWXDWRU DQG WKH IUDPH VKRXOG EH ZLWKLQ PP x Provide enough space around the actuator so that maintenance work can be carried out. x The side and bottom of the actuator base provide reference planes for slider travel. 5.
5.5 Utilization of T-slot There are T-slots (width of slot 4mm) in the base for mounting external devices such as a connector box. When using the wiring kit, mount the connector box using these T-slots. Use the slots as necessary to mount sensors or to anchor cables. 7.3 4.3 4.5 5. Installation Bolt Space between bolt tip 1.5 Square Head Nut (Or Hexagon Nut) Mounting part CAUTION : We recommend a square nut for the T-slot but you can also use a hexagonal nut.
5.6 Air Purge for Splash-Proof Type By supplying dry, compressed air into the actuator, it performs dust proof and splash proof (water and dust) of IP65 *1. Instruction below shows how to perform air purge. Air purge is performed with using the quick joint (O.D. I6) on the rear cover. Supply air from the upper joint. 5. Installation The lower quick joint is used as a drain joint (a hole to withdraw water) in the case that water gets inside the actuator.
6. Connecting the Controller We will explain the controller wiring for a single axis actuator. 6.1 Wiring The actuator and the controller are joined with connectors of motor cable and encoder cable (IAI supplied part). Actuator 6. Connecting the Controller Motor Cable Controller M2 M1 PG1 CODE RB MODE BK1 TP LS2 LS1 PG2 POWER FUSE BK2 HOST Encoder cable Example of connection to XSEL controller [Refer to "9. Supplied Cables" for the details of the relay cable.
When designing an application system using IA actuators and controllers, incorrect wiring or connection of each cable may cause unexpected problems such as a cable breakage or a poor contact. Stated below explains the prohibited handling of cables. Read the information carefully to connect the cables properly. 6. Connecting the Controller • Do not let the cable flex at a single point. Steel band (piano wire) Bundle loosely. • Do not let the cable bend, kink or twist.
Ɣ &DXWLRQV IRU XVH RI D FDEOH WUDFN Ɣ 7KH VXSSOLHG FDEOH LV QRW D URERW FDEOH so never store it in a cable track. Bending radius r Ɣ $OZD\V XVH D URERW UHOD\ FDEOH 6. Connecting the Controller Ɣ 0DNH VXUH WR KDYH D UDGLXV PRUH WKDQ WKH PLQLPXP EHQGLQJ UDGLXV ZKHQ XVLQJ D FDEOH WUDFN [Refer to "9. Motor and Encoder Cables".
7. Setting the Home Position 7.1 Home-Return Operation The actuator operates as shown below in the home-return operation: (1) The moving direction is determined by the parameters set by the homing command. The software senses the mechanical end in the homing operation. (2) The slider reverses direction when this end is reached and the place where the Z-phase signal is detected it becomes the reference point.
7.4 How to Use the Homing Mark Stickers Attach these stickers to the product, as necessary, to indicate the home direction of the actuator, etc. Sticker Sticker details details Homing mark stickers s 1 sheet 7. Setting the Home Position Graduation mark sticker s 4 Mark sticker s 4 (The graduations are provided for 10 mm at a 1mm pitch.) • Remove each sticker from the backing paper when use. Notes 1. The back side is adhesive. 2. Remove dirt and oil from the attaching surface beforehand. 3.
8. Option 5HYHUVHG KRPH 6SHFL¿FDWLRQ For the reversed-home type actuator, the opposite side of the motor is the home position. The model code is indicated with NM. Please contact us if a change in the home direction after delivery is required since it requires adjustment of the movement direction parameter and also the encoder Z-phase adjustment for some models. 8.
9. Motor and Encoder Cables The supplied cables are in common for all models no matter what the actuator model type is. Applicable cable differs depending on the corresponding controller.
(3) Encoder Cable CB-X1-PA***-WC (37) (13) L 14 1 26 13 (Front Side) Controller End *** indicate the cable length (L), Available up to 30m ( 8) (41) Example) 080 = 8m (Minimum Bending Radius) Mechanical End (Front Side) Movable Use : 37.5mm Fixed Use : 37.5mm Encoder Cable CB-XEU1-PA*** Cable Color Signal Color Signal Cable Orange Green (soldering) (soldering) Green purple Red Gray Black Red purple Black Gray Blue Blue 9.
10. Maintenance/Inspection 10.
10.4 Internal Inspection Turn off the power supply, remove the screw cover and have a visual inspection. Please check the following items in the internal inspection. Main body Loose mounting bolts Guide Area Lubricant condition and dirtiness Ball Screw Area Lubricant condition and dirtiness Check the internal condition by visual. Check inside for foreign substance such as dust and the condition of lubricant.
Grease Nipples Wiper Seal Guide Ball Screw 10.5 Cleaning the interior x Wipe off dirt with a soft cloth. x Wipe off the base oil when it is separated from the grease and appeared on the sides of the guide rail. It may come out to the external if it is left without being wiped off. 10. Maintenance/Inspection x Do not spray compressed air on the actuator that might force dust into the crevices. x Do not use petroleum-based solvents, neutral detergents or alcohol.
10.6.2 Grease Supply (1) Lubricating the Guide Supply grease here. (1) Use a 2.5mm hex wrench to remove the screws retaining the screw cover. (2) Inject grease into the grease nipples on the slider with a grease gun. (Refer to the picture below for the positions) (3) Move the slider back and forth several times by hand. move the actuator, and connect the controller to utilize the JOG operation. (4) Repeat the lubrication one more time. 10.
(2) Grease Supply to Ball Screw Perform a grease supply using a hand to apply grease after cleaning the screw then move the slider back and forth to spread the grease evenly on the shaft. Make sure to wipe off the excess grease out move the actuator, and connect the controller to utilize the JOG operation. CAUTION : Excessive supply of grease may increase the stirring resistance and generate heat on the ball screw, or excess grease on the ball screw may splash on the surroundings.
(3) Grease Supply on Wiper Seal the upper surface of the wiper seal as shown on the left after cleaning the wiper seal. Using a tool such as a spatula, apply small amount of grease on the inner side of the wiper seal. Move the slider back and forth to spread the grease evenly 10. Maintenance/Inspection off the excess grease out of the applied area. Wiper Seal Apply grease with a spatula to spread the grease evenly to the whole range of the wiper seal.
11. Procedure for Motor Replacement 11.1 Motor Replacement This manual details the procedure for replacement of an ISWA/ISPWA Series motor. When you need to replace your motor, please follow the steps described below. Because the screws and other components removed during replacement of the motor will be needed for reassembly, prepare a storage box in advance to keep those components so that you don’t lose or misplace them.
11.1.1 Removing the Motor Unit 11.1.1.1 Removing the Screw Cover Turn off the power supply to the controller, and then disconnect the motor cable and encoder cable. Remove the four thin-head screws used for mounting the screw cover, and take out the cover. Motor cable Encoder cable Connector Controller Screw cover 11.
You can now see the ball screw side of the coupling. For an actuator equipped with a brake, connect the encoder cable to the controller and turn on the power supply to the controller. As a next step, release the brake and move the slider to the position far enough to remove the coupling screws on the ball screw side. After moving the slider, deactivate the brake release, turn off the power to the controller and disconnect the encoder cable. The ball screw side of the coupling is visible.
11.1.1.2 Removing the Motor Cover Remove the six bolts that secure the motor cover. Motor Type output Bolt used Location Diameter (W) Top side S 60 100 M Bottom side 200 200 L 400 Nominal Top side Bottom side Top side Bottom side Top side Bottom side Top side Bottom side Top side Bottom side M4 M5 M5 M6 M6 Length Quantity 18 18 20 20 20 20 20 20 20 20 2 4 2 4 2 4 2 4 2 4 * There is a sealing washer applied with the top two screws. 11.1.1.
The photo below shows how the motor looks when the motor cover and all connectors are removed. Encoder signal line Motor power line CAUTION : Exercise caution so as not to pull out the brake lead line. It is connected inside the actuator. If it is forcefully pulled out, the connecter inside may get disconnected. 11.1.1.4 Removing the Motor Unit 11. Procedure for Motor Replacement (1) Move the slider to a position in which the coupling bolts on the ball screw side can be loosened.
(3) Remove the motor mounting bolts, and then pull the motor unit and coupling out of the motor housing. Motor mounting bolts (four or two locations) 11.
11.1.2 Installing a New Motor Unit 11.1.2.1 New Motor Unit The new motor unit will be supplied together with the coupling installed as shown below. Coupling already assembled Attention needs to be paid CAUTION : x Motor is to be mounted on the motor housing with the coupling attached and the 11. Procedure for Motor Replacement slit in the coupling aligned with the home position marked on the motor. Under no circumstances should the coupling on the motor side be loosened. [Refer to 11.1.2.
11.1.2.2 Aligning the Slider Position (1) Connecting Motor Unit Connect the motor cable and encoder cable provided with the motor cover (which has been removed) to the motor unit, and then connect them to the controller using trunk cables (motor cable 11. Procedure for Motor Replacement and encoder cable).
(3) Aligning Slider An adjustment of the slider position is performed by putting a spacer (a jig or a block gauge) with the VSHFL¿HG WKLFNQHVV EHWZHHQ WKH PHFKDQLFDO HQG RQ WKH KRPH VLGH DQG WKH VOLGHU WKHQ SXVKLQJ WKH slider until there is no gap. )RU ,6 3 :$ 6 W\SH SXW D VSDFHU ZLWK WKH VSHFL¿HG WKLFNQHVV DIWHU WKH FRYHU LV UHPRYHG For an actuator equipped with a brake, turn on the power supply to the controller and release the brake to move the slider.
11.1.2.3 Aligning the Motor Position Align the slit in the coupling to the marking line. For the incremental type, turn on the power supply to the controller and turn the motor servo on by using the PC software or the teaching pendant. For the absolute type, proceed until turning the servo on to the absolute reset after turning on the power supply to the controller. 11.1.2.
(3) Turn off the power supply to the controller for the incremental type with this condition, and after complete the absolute reset for the absolute type. 11.1.2.5 Centering and Securing the Motor Unit Loosen the motor mounting screws used for temporary fastening, and then move the slider back and forth three or four strokes (take as large a stroke length as possible). Move the slider home. Torque down the motor mounting screws per the following table.
11.1.2.6 Assembling the Motor Cover (1) Reconnect the motor cable and encoder cable connectors provided with the motor cover to the motor unit. (2) Bolt the ground line to the motor bracket as it was previously secured. (3) Store the motor connector beneath the motor and the encoder connector on the left side of the 11. Procedure for Motor Replacement motor, and put all the wire/cable lines where they were previously. The encoder connector should be stored in a space on the left side of the motor.
(4) Secure the motor cover in place. CAUTION : Be careful not to pinch the cables between the main body and cover. Installing the Screw Cover 11. Procedure for Motor Replacement 11.1.2.7 Install the screw cover in the manner it was previously installed.
11.1.3 Adjustment of Position (1) Connect the motor cable and encoder cable, and apply power to the controller. 3HUIRUP D KRPH UHWXUQ RSHUDWLRQ XVLQJ WKH 3& VRIWZDUH RU WKH WHDFKLQJ SHQGDQW WR FRQ¿UP WKH KRPH position. Perform it several times to make sure it returns to the same position. (Perform an absolute reset for the absolute type.) (3) Check the amount of position difference. It is possible that the position is slightly different from that before the replacement.
x Table 1: Spacer Thickness for Each Model ~ Thickness of Spacer Used When Installing the Motor ~ The thickness of the spacer differs according to the actuator type and ball screw lead. Prepare a spacer by referring to the charts below.
x Table 2: Distance for Each Model 6WDQGDUG +RPH 6SHFL¿FDWLRQ Type S M L Lead Adjust dimension to: (mm) 4 36 8•16 37 5 49 10•20 51 10•20 54 11. Procedure for Motor Replacement Type 58 Lead Adjust dimension to: (mm) S All 37.
11.2 Setting for Home Preset Value and Home-Return Offset Value Change the parameter of the home preset value for X-SEL and SSEL controllers and the home-return offset value for SCON controller to adjust the position. Procedure to set the parameter is described below. 11.2.1 For XSEL and SSEL controllers (1) Open the position edit screen. On the PC software, click ĺ 3RVLWLRQ 1R 6HOHFW ĺ 2. WR RSHQ WKH ZLQGRZ VKRZQ EHORZ Press this button to select the position edit window.
(3) Select a parameter. Press this button to open the parameter edit window. 6HOHFW WKH VSHFL¿F D[LV SDUDPHWHU WDE Select specific axis parameter tab 11. Procedure for Motor Replacement 2SHQ WKH VSHFL¿F D[LV SDUDPHWHU DQG VHOHFW 1R +RPH 3UHVHW 9DOXH Select No. 12 "Home Preset Value" &KDQJH WKH VHWWLQJ RI VSHFL¿F D[LV SDUDPHWHU 1R KRPH SUHVHW YDOXH Add or subtract the value measured in (12) to/from the value currently input. *The setting unit is 0.001mm.
(8) Transfer data to the controller. (9) Click "OK". :ULWH GDWD WR WKH ÀDVK 520 11. Procedure for Motor Replacement Place a tick mark on "Parameter". (11) Reboot the controller. Click "Yes".
11.2.2 For ECON and SCON controllers (1) Open the position edit screen. On the PC software, click ĺ 3RVLWLRQ 1R 6HOHFW ĺ 2. WR RSHQ WKH ZLQGRZ VKRZQ EHORZ Press this button to select the position edit window. The current value is displayed. 11. Procedure for Motor Replacement Position number (2) Compare the current value and the value on the position No. that the actuator is randomly moved to FRQ¿UP WKH DPRXQW RI GLIIHUHQFH (2) Commands a step movement. (1) Select a position.
(3) Select a parameter. Press this button to select the parameter. (4) The user parameter screen appears. 11. Procedure for Motor Replacement (5) Change user parameter No. 22 (home offset). *The setting unit is mm. Add or subtract the value measured in (2) to/from the value currently input. Example: When subtracting 0.5mm Home offset = Current setting value -0.
(6) Write the new data. Click the controller transfer button, and then click OK. * After the data has been written, turn off the controller power. Press the controller transfer button. 11. Procedure for Motor Replacement Select "Yes".
11.2.3 For P-Driver controller (1) Open the jog screen. Click the jog button on the PC software screen. Next, select the pulse mode. JOG Move Button and memorize it. Adjust the position by jogging the actuator or by turning off the servo and moving the actuator manually. Compare against this position. Servo ON/OFF button 65 11.
(3) Open the parameter edit screen. Select the parameter by pressing this button. Press this button to select the parameter. (4) Change the setting of No. 13, "Home offset." *The setting unit is pulse. Add or subtract the value measured in (2) to/from the value currently input. Example: When subtracting 150 pulses 11. Procedure for Motor Replacement Home offset = Current setting value -150 (5) Write the new data. Click the transfer to controller button, click OK, and then click Yes.
12. Appendix 12.1 External Dimensions 12.1.1 ISWA-S, ISPWA-S 10 45 Front Cover 70 45 4-M6, Depth 13 10 (300) Capcon Screw Cover Cable Joint Connector (*1) 110 Slider Rear Cover 78.5 90 C 25 SE 40 25 45 45 Home Position 5 ME (*2) Quick Joint APC6-01 (PISCO) Side Cover 35 5 ME 169.5 4-M6, Depth12 (Same on Other Side) 5 2-I6H7 Depth 8 (Reamer pitch telerance r 0.02mm)(Same on Other Side) 12 Base B 12 Secure at least 100 A 4-I6H7 Depth 10 77 192 70 12.
12.1.2 ISWA-M-100, ISPWA-M-100 15 25 4-M6, Depth18 Front Cover 120 90 70 60 60 15 25 4-M8, Depth 18 Slider (300) Capcon Screw Cover Cable Joint Connector (*1) 140 2- 8H7 Depth 10 (Reamer pitch telerance 0.02mm) Rear Cover 87.5 120 C 5 30 50 30 5 60 60 5 SE 5 ME (*2) Quick Joint APC6-01 (PISCO) 35 5 ME 200.5 8-M6, Depth13 (Same on Other Side) Home Position Side Cover 2- 6H7 Depth 10 (Reamer pitch telerance 0.
12.1.3 ISWA-M-200, ISPWA-M-200 15 4-M6, Depth18 25 Front Cover 120 90 70 60 60 15 25 4-M8, Depth 18 Slider 120 C 5 30 50 30 5 60 60 5 SE Rear Cover 200.5 5 8-M6, Depth13 (Same on Other Side) Side Cover Home Position ME(*2) Quick Joint APC6-01 (PISCO) 35 5 ME Cable Joint Connector (*1) Capcon 2-I8H7 Depth 10 (Reamer pitch telerance r 0.02mm) 140 87.5 (300) Screw Cover 2-I6H7 Depth 10 (Reamer pitch telerance r 0.
12.1.4 ISWA-L-200, ISPWA-L-200 8-M8, Depth 20 15 120 15 30 90 30 Front Cover 75 (300) 75 Slider Screw Cover Capcon Cable Joint Connector (*1) 170 2-I8H7 Depth 10 (Reamer pitch telerance r 0.02mm) 86 150 8-M6, Depth13 (Same on Other Side) 5 5 SE 50 40 50 5 Home Position 5 ME (*2) Side Cover Quick Joint APC6-01 (PISCO) 35 7 ME Rear Cover 240 C 2-I6H7 Depth 8 (Reamer pitch telerance r 0.02mm)(Same on Other Side) 15 Base B A 4-I8H7 Depth 10 277.
12.1.5 ISWA-L-400, ISPWA-L-400 15 150 120 15 30 90 30 Front Cover 75 4-M8, Depth 20 (300) 75 Screw Cover Slider Cable Joint Connector (*1) Capcon 170 2-I8H7 Depth 10 (Reamer pitch telerance r 0.02mm) 86 150 C 5 SE 50 40 50 5 Home Position 5 ME (*2) Side Cover Quick Joint APC6-01 (PISCO) 35 7 ME Rear Cover 240 8-M6, Depth13 (Same on Other Side) 5 2-I6H7 Depth 8 (Reamer pitch telerance r 0.
12.2 Method to Absolute Reset (for absolute type) 12.2.1 For X-SEL Controller The encoder battery error occurs when there is an abnormality on the absolute encoder battery voltage on X-SEL controller and the encoder cable is off the battery, and it is necessary to conduct an absolute reset. [1] Preparation (1) Computer A computer that the PC software dedicated for our X-SEL (X_SEL.exe) is already installed.
(6) A window for X-SEL PC software is displayed. Click OK and the error message will be closed. &RQ¿UP WKH FXUUHQW HUURU FRQGLWLRQ E\ VHOHFWLQJ >0RQLWRU 0 @ o [Error Details (E)] menu. 12. Appendix The window shows as shown below if it is the encoder battery error.
(8) Select the [Controller (C)] o [Absolute Reset (A)] menu. (9) Click OK in [Warning] dialog box. (10) [Absolute Reset] window opens. 12. Appendix Click here to select the axis that the absolute reset is going to be performed. (11) Click Encoder Turns Data Reset 1 , and [Warning] dialog box opens. Click Yes .
(12) "Warning" dialog box opens again. Click [Yes]. (13) When the Encoder Rotation Data Reset 1 process completes, the red arrow moves to the next step. Press the buttons in the following order. (The red arrow shifts to another when one process is complete.) 1. Controller Error Reset 2. Servo ON 3. Home Return 4. Servo OFF (Note) For the PC software Ver. 1.1.0.0 or later, Encoder Turns Data Reset 2 is processed while the servo is on. Thus, the servo OFF process is skipped. 5.
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12.2.2 For SCON Controller (1) Connect the motor cable and encoder cable. &RQQHFW WR WKH KRVW 3/& RQ 3,2 FRQQHFWRU XVLQJ WKH ÀDW FDEOH SDFNDJHG LQ WKH SURGXFW (3) Select the axis address with the axis number setting switch for the link connection of more than 2 axes. (4) Attach the battery connection. 6XSSO\ 9 IRU 3,2 WKURXJK WKH ÀDW FDEOH (6) Turn on the 24V power supply to the brake if the actuator is equipped with a brake. (7) Supply the control power and motor power at the same time.
13. Warranty 13.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from IAI 12 months after delivery to the specified location 2,500 hours of operation 13.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
13.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
14. Change History Revision Date Revision Description 2010.04 First Edition 2010.07 Second Edition Page 9 Precautions in Handling duty more than 50% Page 31 duty that exceeds 50% Section "6.2 Wiring with Dedicated Stand-Alone Cable (CS Series)" deleted Page 32 Statement changed to "Make sure to have a radius more than the minimum bending radius when using a cable track.
Manual No.: ME3688-5A (March 2012) 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.
