Iai-america SSPDACR Manual de usuario

IAI America, Inc.ISDB Series Actuator Operating Manual Seventh EditionISDB, ISDBCR ISPDB, ISPDBCR IS Cast SSPDACR

2No.OperationDescription Description 2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such

15. Appendix925.1.3 ISDB, ISPDB-MX L Weight [kg] 200 W motor 200 W motor Stroke WithoutbrakeWithbrakeB D E F WithoutbrakeWithbrake800 1241 127

15. Appendix9315.1.4 ISDB, ISPDB-L L Weight [kg] 200 W motor 400 W motor 200 W motor 400 W motor Stroke WithoutbrakeWithbrakeWithoutbrakeWithbrak

15. Appendix9415.1.5 ISDB, ISPDB-LX L Weight [kg] 200 W motor 400 W motor 200 W motor 400 W motor Stroke WithoutbrakeWithbrakeWithoutbrakeWithbra

15. Appendix9515.1.6 ISDBCR, ISPDBCR-S L Weight [kg] 50 W motor 50 W motor Stroke WithoutbrakeWithbrakeB D E F WithoutbrakeWithbrake100 382.5

15. Appendix9615.1.7 ISDBCR, ISPDBCR-M L Weight [kg] 100 W motor 200 W motor 100 W motor 200 W motor Stroke WithoutbrakeWithbrakeWithoutbrakeWith

15. Appendix9715.1.8 ISDBCR, ISPDBCR-MX L Weight [kg] 200 W motor 200 W motor Stroke WithoutbrakeWithbrakeB D E F WithoutbrakeWithbrake800 1241

15. Appendix9815.1.9 ISDBCR, ISPDBCR-L L Weight [kg] 200 W motor 400 W motor 200 W motor 400 W motor Stroke WithoutbrakeWithbrakeWithoutbrakeWith

15. Appendix9915.1.10 ISDBCR, ISPDBCR-LX L Weight [kg] 200 W motor 400 W motor 200 W motor 400 W motor Stroke WithoutbrakeWithbrakeWithoutbrakeWi

15. Appendix10015.1.11 SSPDACR-S L Weight [kg] Stroke WithoutbrakeWithbrakeM N P R m n r t WithoutbrakeWithbrake100 457 492 299 140 139 74

15. Appendix10115.1.12 SSPDACR-M L Weight [kg] Stroke WithoutbrakeWithbrakeM N P R m n r t WithoutbrakeWithbrake100 520 555 340 160 160 20

3No.OperationDescription Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for t

15. Appendix10215.1.13 SSPDACR-L L Weight [kg] Stroke WithoutbrakeWithbrakeM N P R m n r t WithoutbrakeWithbrake100 590 627 370 150 220 85

16. Warranty10316. Warranty 16.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our comp

16. Warranty10416.4 Limited Liability (1) We shall assume no liability for any special damage, consequential loss or passive loss such as a loss o

Change History105Change History Revision Date Description of Revision July 2011 October 2011 November 2011 March 2012 March 2012 May 2012 January 201

Manual No.: ME3712-7A (January 2013)The information contained in this document is subject to change without notice for purposes of product improvement

4No.OperationDescription Description 4 Installation and Start(4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear

5No.OperationDescription Description 6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader

6No.OperationDescription Description 8 Maintenance and Inspection Ɣ When the work is carried out with 2 or more persons, make it clear who is to be t

7Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

8Caution in Handling 1. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings.If the actuator is operated

9Names of the Parts In this operating manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actuator

103. SSPDACR Right sideLeft sideFront side Motor sideSliderFront cover Actuator cable Motor cover Rear coverFront cover Base Rear coverMotor cover Gr

1. Checking the Product11 1. Checking the Product If based on a standard configuration, this product consists of the items listed below. Caution: Ch

1. Checking the Product12(2) XSEL-P/Q controllers No. Name Control No. 1 Operation Manual for XSEL-P/Q Controller ME0148 2 Operation Manual for

1. Checking the Product131.4 How to Read the Model Number ISDB - M - A - 200 - 20 - 500 – T2 - M - B - ***1 This maybe displayed for the manufacturi

2. Specication14100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100S 604 240 230 200 170 150 135 120      8

2. Specication15(2) SSPDACR The maximum speed of the actuator is limited to prevent resonance of the ball screw shaft that may occur beyond a certai

2. Specication162.2 Acceleration/Deceleration, Payload Capacity and Rated Thrust If the payload capacity is smaller than as specified, the acceler

2. Specication17Payload capacity by acceleration/deceleration [kg] Type Size Motor capacity [W] Lead [mm] Ratedacceleration/ deceleration [G] Maximu

2. Specication18(2) SSPDACR Payload capacity by acceleration/deceleration [kg] Size Type Motor capacity [W] Lead[mm] Maximum acceleration/ decelera

2. Specication192.3 Driving System/Position Detector The actuator is driven by the AC servo control method. (1) ISDB, ISPDB, ISDBCR, ISPDBCR Ball s

2. Specication202.4 Positioning Preciseness Functions ItemISD ISPD SSPDACR Positioning repeatability r0.01 mm r0.005 mm r0.005 mm Backlash*1 0.

2. Specication21LLMb or Mc directionDirection of momentDirection of allowable overhangMa direction Mb direction Mc direction Ma direction Size[mm]Ref

Please Read Before Use Thank you for purchasing our product. This Operating Manual explains the handling methods, structure and maintenance of this pr

2. Specication22(2) SSPDACR Static allowable load moment [Nxm]Dynamic allowable load moment [Nxm]Size Ma Mb Mc Ma Mb Mc Allowable overhang load

3. Life233. Life The mechanical life of an actuator is represented by the life of its guide that receives the largest moment load. The “rated load” i

4. Installation and Storage/Preservation Environment244. Installation and Storage/Preservation Environment 4.1 Installation Environment The actuator

5. Transport255. Transport 5.1 Handling a Single Axis 5.1.1 Handling a Package Unless otherwise specified, each axis is packed and shipped indi

5. Transport26(2) SSPDACR x Four eye bolts are installed, so use these bolts to transport the actuator. The SSPDACR, when unpacked, looks like the c

5. Transport275.2 Handling an Cartesian Robot (ICS) Take note of the following points when transporting a set of axes that have been combined. 5.2.1

5. Transport285.3 Handling an Actuator Assembled to a Mechanical System When transporting an actuator that has been assembled to a mechanical system,

6. Installation296. Installation 6.1 Installation Orientations Actuators are subject to certain limitations regarding their installation orientati

6. Installation30Caution: (1) When installing the actuator vertically, make sure the motor comes to the top. When the actuator is installed with the

6. Installation316.2 Installing the Actuator 6.2.1 Installation Method x Use the threaded holes on the back of the base to install the actuator. x

CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

6. Installation32Bolt seating surface BoltSeating surface Seating surfaceACBz ISDB, ISPDB, ISDBCR, ISPDBCR The installation method is shown

6. Installation33z SSPDACR The installation method is shown by a section view. Type Thread size Depth of threaded hole S M6 9 mm M M8 12 mm L M

6. Installation34[Threaded hole] Tightening torque Installation bolt Bolt seating surface is steel Bolt seating surface is aluminum M6 12.3 Nxm 5.4

6. Installation356.2.2 Preciseness of the Installation Surface x The frame on which the actuator is installed shall have sufficient structural rig

6. Installation36z SSPDACR Slider reference surface (side) Right side as viewed from the motorSlider reference surface (top)Reference surface (side

6. Installation376.3 Installing the Load on the Slider x The slider has two types of threaded holes, so affix the load using these holes. The affixi

6. Installation38Work Installation Dimensions Thread A Thread B Reamed hole C Type Holedimension P [mm]Thread sizeDepth[mm]Dimension A [mm]Thread si

6. Installation39BoltSeating surface Seating surface BoltSeating surface Seating surface z SSPDACR Bolt seating surface Type Thread size Depth o

6. Installation404.5 1.53.43.76.4 Using T-slots M4 T-slots for installing the connector box, etc. are provided on the side face of the base, when con

6. Installation416.5 Suctioning for Clean Room Application Actuators designed for clean room application can demonstrate performance corresponding to

Table of Contents Safety Guide ...

7. Connecting the Controller424$(75'219'4/ /2)%1&'$-/1&'62*156$-2).5 .57. Connecting the Controller 7.1 Wiring T

7. Connecting the Controller43When designing an application system, incorrect wiring or connection of each cable may cause unexpected problems such as

7. Connecting the Controller44x When fixing the cable, provide a moderate slack and do not tension it too tight. x Separate the I/O and communicatio

8. Operating Conditions458. Operating Conditions 8.1 Duty Ratio during Continuous Operation Operate at duty ratios equal to or greater than the allo

9. Setting the Home Position469. Setting the Home Position 9.1 Home Return Home return involves the operation explained below: [1] When a home ret

9. Setting the Home Position479.4 How to Use the Homing Mark Stickers The following stickers are supplied with the actuator. Use these stickers, as n

9. Setting the Home Position489.5 Fine-tuning the Home Position Correct the position deviation by changing the parameter for home preset in the case

9. Setting the Home Position49(4) Select the axis-specific parameter tab. (5) In the axis-specific parameter tab, select No. 12, “Preset Home.” (6)

9. Setting the Home Position50(8) Transfer the data to the controller. (9) Click OK.(10) Write the data to the flash ROM. (11) Restart the controlle

9. Setting the Home Position519.5.2 ECON and SCON Controllers (1) Open the position edit screen. On the PC software screen, click , select a

9. Setting the Home Position ...469.1 Home Return ...

9. Setting the Home Position52(3) Open the parameter screen. (4) The user parameter screen appears. (5) Change user parameter No. 22 (home offset).

9. Setting the Home Position53(6) Write the new data. Click the controller transfer button, and then click OK.* After the data has been written, turn

9. Setting the Home Position549.6 Absolute Reset Method (Absolute Specification) If the battery has been replaced or encoder cable unplugged followin

10. Options5510 20 mm/s10. Options 10.1 Brake The brake is a mechanism to retain the slider of a vertically installed actuator so that the slider wi

10. Options562110.3 Limit Switch Normal home return operation uses the “stopper method” wherein the slider contacts the stopper and reverses, after w

10. Options5710.4 Reversed-home Specification In the reversed-home specification, the home is located on the front side. This is indicated by “NM” in

10. Options5810.7 Suction Joint on Opposite Side This option is available for the clean room actuators including ISDBCR, ISPDBCR and SSPDACR. On th

10. Options5910.9 High-Precision Straightness Specification The high-precision straightness specification type is a precision actuator with high-leve

10. Options60Deviation Measured value Representative lineStraightnessSlider travel distanceParallelism (Reference) [Measurement Method] [1] Paralleli

11. Motor/Encoder Cables6111. Motor/Encoder Cables 11.1 Standard The same cables are used regardless of the actuator model. The applicable cables va

15. Appendix ...9015.1 External

11. Motor/Encoder Cables62[3] Limit switch cable CB-X-LC*** [4] Encoder cable CB-X1-PA*** [5] Encoder cable with LS CB-X1-PLA*** 41 141373881521314

12. Maintenance/Inspection6312. Maintenance/Inspection 12.1 Inspection Items and Intervals Perform maintenance/inspection according to the following

12. Maintenance/Inspection64Caution: If the actuator stroke is 400 mm or more, check the stainless sheet for slacking and position deviation every mon

12. Maintenance/Inspection6512.4 Interior Check Turn off the power, remove the stainless sheet and visually inspect the interior. For the interior in

12. Maintenance/Inspection66Warning: y Do not disassemble the front cover because the ball screw is supported by the front cover. If a proper adjustm

12. Maintenance/Inspection6712.5 Adding Grease (1) Applicable Grease Our guides use urea grease that offers excellent low-dust-raising property, stab

12. Maintenance/Inspection68[Grease Nipple Positions] z ISDBCR, ISPDBCR Model Nipple diameter [mm] Common to all models 6.0Caution: y Charging

13. Replacement/Adjustment Procedure for Stainless Sheet6913. Replacement/Adjustment Procedure for Stainless Sheet The following explains how to repl

13. Replacement/Adjustment Procedure for Stainless Sheet7013.2 Replacement/Adjustment Procedure (1) Move the slider to the center of the actuator.

13. Replacement/Adjustment Procedure for Stainless Sheet71(6) Adjust the tension of the stainless sheet. [1] Move the stainless sheet back and forth

13. Replacement/Adjustment Procedure for Stainless Sheet72(8) After checking the tension of the stainless sheet and confirming absence of slacking, p

14. Motor Replacement Procedures7314. Motor Replacement Procedures The following explains the procedure to replace the motor in the event of coil bre

14. Motor Replacement Procedures74Cover Coupling Ball screw Coupling on the ball screw side Coupling on the motor sideMotor unit 14.1 Removing the Mo

14. Motor Replacement Procedures75Rear cover Cable mounting cover Rear cover Rear cover Cable affixing cover (2) Removing the rear cover [1] Remove t

14. Motor Replacement Procedures76Cable mounting cover MotorMotor coverBolts affixing the motor cover (3) Removing the cable mounting cover Remove th

14. Motor Replacement Procedures77(5) Removing the motor unit [1] Loosen the coupling tightening bolt. Caution: If the actuator is installed verti

14. Motor Replacement Procedures7814.2 Installing a New Motor (1) New motor unit The new motor will be supplied together with the coupling installed

14. Motor Replacement Procedures79[2] Action to be taken upon error x With XSEL or SSEL controller, if the 7-segment display on the front face of th

14. Motor Replacement Procedures80 Standard home specification [If a slider jig, etc. cannot be removed]  Reversed home specification Set this par

14. Motor Replacement Procedures81(Table 1) Spacer Thickness by Model Standard home specification Adjust dimension to: (mm) Type Lead Standard Equip

1Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read

14. Motor Replacement Procedures82(3) Aligning the motor position Apply power to the controller, and then run the motor with the jog control using th

14. Motor Replacement Procedures83(4) Installing the motor temporarily [1] With the motor servo turned on, fit the motor unit’s coupling in the end

14. Motor Replacement Procedures84Type Bolt used ISDB, ISDBCR, ISPDB,ISPDBCR-SM4 x 12 ISDB, ISDBCR, ISPDB, ISPDBCR, -M, MX, L, LX M5 x 15 SSPDACR-S

14. Motor Replacement Procedures85(5) Centering and securing the motor unit Loosen the motor affixing screws you have tightened only loosely in an ea

14. Motor Replacement Procedures86Cable mounting coverBolts affixing the motor cover (6) Installing the motor cover Tighten the two bolts to install

14. Motor Replacement Procedures87Rear coverCable mounting cover (8) Installing the rear cover [1] Insert the cable affixing cover into the rear cov

14. Motor Replacement Procedures88(9) Installing the coupling cover Tighten the two screws to install the cover on the motor side using an Allen wren

14. Motor Replacement Procedures8914.3 Correcting for Position Deviation (1) Connect the motor cable and encoder cable and turn on the controller po

15. Appendix9051388490365.455.25.4715170905 4Stroke51082.5 50WB22L1541110M.E. S.E.M.E.HOME0620.0±545457010109006868625.5100D×200F1007.507780720.0±75.5

15. Appendix91A4994695.21611011651205.9654225Stroke58 519491100W106 200WLB2211105.55M.E. S.E.M.E.HOME3009015151207025250820.0±0860607107107120D×200F12