X-axis Nut-rotation Type Cartesian Robot Assembly Procedures First Edition

Transcription

1 X-axis Nut-rotation Type Cartesian Robot Assembly Procedures First Edition Thank you for purchasing an IAI product. Assemble your product correctly by referring to this Assembly Procedures. No. NS (nut-rotation type actuator) + ISA configuration unit Number of configured axes Z-axis installation method Model 2 axes 3 axes 3 axes 4 axes 6 axes 6 axes Z-axis base mount Z-axis slider mount Z-axis base mount Z-axis slider mount X-axis Nut-rotation Type Cartesian Robot High-precision 2-axis Specification X-axis Nut-rotation Type Cartesian Robot High-precision 3-axis Specification, Z-axis Base Mount X-axis Nut-rotation Type Cartesian Robot High-precision 3-axis Specification, Z-axis Slider Mount [Model] [Assembled parts] [Model] [Assembled parts] [Model] [Assembled parts] [1] XY configuration directions H: X-axis high-speed type M: X-axis medium-speed type [1] XY configuration direction 1: Stroke 500 to : Stroke 2250 to 3000 direction: 1 direction: 2 (Reverse of 1) [2] Track mounting [4] Cable track [5] Connector box [6] Box cover [1] XY configuration directions H: Z-axis high-speed type M: Z-axis medium-speed type H: X-axis high-speed type M: X-axis medium-speed type [1] XY configuration direction 1: Stroke 500 to : Stroke 2250 to 3000 direction: 1 direction: 2 (Reverse of 1) [1] XY [4] Cable track 1 [2] Track mounting 1 [5] Connector box 1 [3] Guide rail [6] Box cover 1 [12] YZ plate [15] Track mounting 2 [13] Track [14] Track mounting plate support [16] Cable track 2 [17] Connector box [1] XY configuration directions M: Z-axis medium-speed type H: X-axis high-speed type M: X-axis medium-speed type [1] XY configuration direction 1: Stroke 500 to : Stroke 2250 to 3000 direction: 1 direction: 2 (Reverse of 1) [1] XY [4] Cable track 1 [2] Track mounting 1 [5] Connector box 1 [3] Guide rail [6] Box cover 1 [12] YZ [15] Track mounting 2 [13] Track [14] Track mounting plate support [16] Track mounting 3 [17] Cable track 2 [Constituent axes] direction: 3 (Y-axis installed direction: 4 on opposite side) (Reverse of 3) Constituent axis Model X-axis Y-axis * in the above models indicates either A (absolute) or I (incremental). [7] Joint cover [9] Controller-actuator cable with cable fix cap [10] Cable guard [11] Metal cover [Assembly Procedure] : GMM [Constituent axes] direction: 3 (Y-axis installed on opposite side) direction: 4 (Reverse of 3) [7] Joint cover 1 Constituent axis Model X-axis [10] Cable guard Y-axis Z-axis * in the above models indicates either A (absolute) or I (incremental). [8] Grommet with film [11] Metal cover [9] Controlleractuator cable with cable fix cap [18] Box cover 2 [19] Joint cover 2 [Assembly Procedure] : GMM [20] Cable fix cap [Constituent axes] direction: 3 (Y-axis installed on opposite side) direction: 4 (Reverse of 3) Constituent axis Model X-axis Y-axis Z-axis * in the above models indicates either A (absolute) or I (incremental). [7] Joint cover 1 [10] Cable guard [8] Grommet with film [11] Metal cover [9] Controlleractuator cable with cable fix cap [18] Connector box 2 [19] Box cover 2 [Assembly Procedure] : GMM [20] Joint cover 2 X-axis Nut-rotation Type Cartesian Robot High-precision 4-axis Specification X-axis Nut-rotation Type Cartesian Robot High-precision 6-axis Specification, Z-axis Base Mount X-axis Nut-rotation Type Cartesian Robot High-precision 6-axis Specification, Z-axis Slider Mount [Model] [Assembled parts] [Model] [Assembled parts] [Model] [Assembled parts] H: X-axis high-speed type M: X-axis medium-speed type H: Z-axis high-speed type M: Z-axis medium-speed type M: Z-axis medium-speed type [1] XY configuration directions [1] XY configuration direction [2] XY [1] XY configuration directions H: X-axis high-speed type M: X-axis medium-speed type [1] XY configuration direction [1] XY [2] XY [3] Track mounting [12] YZ plate [13] Track [14] Track mounting plate support [1] XY configuration directions H: X-axis high-speed type M: X-axis medium-speed type [1] XY configuration direction [1] XY [2] XY [3] Track mounting [12] YZ [13] Track [14] Track mounting plate support [6] Wiring box [4] Guide rail [5] Cable track [6] Wiring box [15] Track mounting 2 [16] Cable track 2 [17] Connector box 2 [4] Guide rail [5] Cable track [6] Wiring box [15] Track mounting 2 [16] Track mounting 3 [17] Cable track 2 direction: 1 direction: 1 direction: 1 [Constituent axes] Constituent axis X-axis Y1-axis Y2-axis Model * in the above models indicates either A (absolute) or I (incremental). [7] Wiring box cover [9] Controller-actuator cable with cable fix cap [10] Cable guard [11] Metal cover [Assembly Procedure] : GMM [Constituent axes] [7] Wiring box cover Constituent axis Model X-axis Y1-axis Y2-axis [10] Cable guard Z1-axis Z2-axis * in the above models indicates either A (absolute) or I (incremental). [8] Grommet with film [11] Metal cover [9] Controlleractuator cable with cable fix cap [18] Box cover 2 [19] Joint cover 2 [Assembly Procedure] : GMM [Constituent axes] Constituent axis X-axis Y1-axis Y2-axis Z1-axis Z2-axis Model * in the above models indicates either A (absolute) or I (incremental). [7] Wiring box cover [10] Cable guard [8] Grommet with film [11] Metal cover [9] Controlleractuator cable with cable fix cap [18] Connector box 2 [19] Box cover 2 [Assembly Procedure] : GMM [20] Joint cover 2 Catalog No.

2 Caution: Although each part has been chamfered to remove sharp edges, exercise due caution during the assembly to prevent injury. If necessary, wear gloves or other protective gears. Exercise due caution during the assembly to prevent pinching of hands and fingers. X-axis Nut-rotation Type Cartesian Robot High-precision 2-axis Specification ICSPA2-B1N (B2N) H (M) [Tools] Allen wrench, spanner wrench M8x30 (1 pc or 2 pcs) X-axis base, reamed-hole side In the case of configuration direction types 2 to 4, the actuator and directions are different. (2 pcs) Hexagonal bolt M8x40 direction: 2 (Reverse of 1) direction: 3 (Y-axis installed on opposite side) direction: 4 (Reverse of 3) Install the grommet with film [8] onto the Y-axis actuator cable and guide the cable through the hole in the track mounting [2]. M5x10 (2 pcs) [2] Track mounting [4] Cable track M4x10 (2 pcs) M4x10 Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (4 sets) M4x6 [5] Connector box Affixing positions of guide rail [3], cable track [4] and connector box [5] [5] Connector box [4] Cable track Align the guide rail [3] surface with the end face of the base. [Installation of on XY [1]] Hexagonal bolt [Installation of track mounting [2] on XY [1]] [Installation of side of guide rail [3] in T-slot] Flange socket (hexagonal socket head type) Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin. Adjust the angle between the X-axis and Y-axis to the right angle, and then mount the hexagonal bolts. [Installation of on XY [1]] head bolt [Installation of side of connector box [5] in T-slot] [Installation of cable track [4] on track mounting [2]] [Installation of guide rail [3] for cable track [4] in T-slot] [2] Track mounting [5] Connector box Place the X-axis cable and into the cable guard [10] and take them out from the top. Cable connector connection [2] Track mounting [10] Cable guard head bolt M4x6 (2 pcs) [11] Metal cover [6] Box cover [7] Joint cover Caution: The cables for X-axis (axis 1) and Y-axis (axis 2) are placed in tracks. Install each cable correctly. X-axis (axis 1): 1 Y-axis (axis 2): 2 [Installation of box cover [6] on connector box [5]] [Installation of cable guard [10] on XY [1]] Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set) M3x12 (8 pcs) [9] Controller-actuator cable with cable fix cap M3x12 (4 pcs) M3x3 [Installation of metal cover [11] on track mounting [2]] [Installation of tie-mount on track mounting [2]] [Installation of tie-mount on guide rail [3]] head button bolt [5] Connector box cable inside track and controller-actuator cable [Installation of ground terminal on ] NS M cable and Make sure the numbers on the connectors to be connected match. Caution: Secure the wires to prevent the cables and connectors from contacting each axis when the axis is moved over its entire stroke. When manually moving the actuator with brake, connect the controller, supply the power, and then release the brake release switch (by turning the switch to the RLS side). * This assembly procedure applies to configuration direction 1. If other configuration direction such as 2, 3 or 4 is used, the actuator and directions vary. However, you can still use this assembly drawing as a reference.

3 Caution: Although each part has been chamfered to remove sharp edges, exercise due caution during the assembly to prevent injury. If necessary, wear gloves or other protective gears. Exercise due caution during the assembly to prevent pinching of hands and fingers. X-axis Nut-rotation Type Cartesian Robot High-precision 3-axis Specification, Z Base Mount ICSPA3-B1N (B2N) H (M) B3H (M) [Tools] Allen wrench, spanner wrench M8x30 (1 pc or 2 pcs) X-axis base, reamed-hole side In the case of configuration direction types 2 to 4, the actuator and directions are different. (2 pcs) Hexagonal bolt M8x40 direction: 2 (Reverse of 1) direction: 3 (Y-axis installed on opposite side) direction: 4 (Reverse of 3) Install the grommet with film [8] onto the Y-axis actuator cable and guide the cable through the hole in the track mounting [2]. M5x10 (2 pcs) [2] Track mounting 1 [4] Cable track 1 M4x10 (2 pcs) M4x10 Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (4 sets) M4x6 [5] Connector box 1 Affixing positions of guide rail [3], cable track 1 [4] and connector box [5] [5] Connector box 1 [4] Cable track 1 Align the guide rail [3] surface with the end face of the base. [Installation of on XY [1]] Hexagonal bolt [Installation of track mounting 1 [2] on XY [1]] [Installation of side of guide rail [3] in T-slot] Flange socket (hexagonal socket head type) Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin. Adjust the angle between the X-axis and Y-axis to the right angle, and then mount the hexagonal bolts. [Installation of on XY [1]] head bolt [Installation of side of connector box 1 [5] in T-slot] [Installation of cable track 1 [4] on track mounting 1[2]] [Installation of guide rail [3] for cable track 1 [4] in T-slot] (1 pc) M4x16 [13] Track mounting plate M4x8 (2 pcs) M6x15 (2 pcs) M4x5 (2 pcs) [17] Connector box 2 [12] YZ plate (2 pcs) [12] YZ plate Place the M4 hexagonal nut in the T slot beforehand to secure the tie-mount in position. M8x25 + M8 dedicated washer (4 sets) M8x30 + flat washer (4 sets) [Installation of YZ plate [12] on ] head bolt [Installation of track support [14] on XY [1]] [Installation of track mounting 2 [15] on YZ plate [12]] [Installation of on YZ plate [12]] head bolt [Installation of track support metal [14] on track mounting plate [13]] [Installation of connector box 2 [17] on track mounting 2 [15]] * This assembly procedure applies to configuration direction 1. If other configuration direction such as 2, 3 or 4 is used, the actuator and directions vary. However, you can still use this assembly drawing as a reference.

4 X-axis Nut-rotation Type Cartesian Robot High-precision 3-axis Specification, Z Base Mount ICSPA3-B1N (B2N) H (M) B3H (M) Hexagonal socket head bolt M4x12 [16] Cable track 2 M4x8 (2 pcs) M4x12 Z-axis: ISA, etc. [18] Box cover 2 [19] Joint cover 2 [17] Connector box 2 M3x12 (8 pcs) [17] Connector box 2 [Installation of cable track 2 [16] on track support [14]] [Installation of cable track 2 [16] on XY [1]] [Installation of cable track 2 [16] on track mounting 2 [15]] Cable connector connection [2] Track mounting 1 Caution: The cables for X-axis (axis 1), Y-axis (axis 2) and Z-axis (axis 3) are placed in tracks. Install each cable correctly. X-axis (axis 1): 1 Y-axis (axis 2): 2 Z-axis (axis 3): 3 [Installation of box cover 1 [6] on connector box 1 [5]] [4] Cable track 1 [5] Connector box 1 Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set) M3x12 (8 pcs) [10] Cable guard [6] Box cover 1 [7] Joint cover 1 head bolt M4x6 [9] Controller-actuator cable with cable fix cap (2 pcs) [11] Metal cover M3x12 (4 pcs) Place the X-axis cable and into the cable guard [10] and take them out from the top. M3x3 [Installation of metal cover [11] on track mounting 1 [2]] [5] Connector box Cable connector connection [2] Track mounting 1 NS M cable and cable inside track and controller-actuator cable Make sure the numbers on the connectors to be connected match. [Installation of box cover 2 [18] on connector box 2 [17]] [Installation of cable guard [10] on XY [1]] [Installation of tie-mount on track mounting 1 [2]] [Installation of tie-mount in T slot of guide rail [3]] [Installation of ground terminal on ] head button bolt + hexagonal socket head button bolt M4x6 (2 sets) Z-axis cables X-axis, Y-axis cables Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 + hexagonal nut (1 set) Install in the T slot of the Y-axis. [2] Track mounting 1 [Installation of tie-mount in track mounting 2 [15]] [Installation of tie-mount on track support [14]] [Installation of tie-mount in T slot of XY [1]] [Installation of tie-mount on track mounting 1 [2]] head button bolt Caution: Secure the wires to prevent the cables and connectors from contacting each axis when the axis is moved over its entire stroke. When manually moving the actuator with brake, connect the controller, supply the power, and then release the brake release switch (by turning the switch to the RLS side).

5 Caution: Although each part has been chamfered to remove sharp edges, exercise due caution during the assembly to prevent injury. If necessary, wear gloves or other protective gears. Exercise due caution during the assembly to prevent pinching of hands and fingers. X-axis Nut-rotation Type Cartesian Robot High-precision 3-axis Specification, Z Slider Mount ICSPA3-B1N (B2N) H (M) S3H (M) [Tools] Allen wrench, spanner wrench M8x30 (1 pc or 2 pcs) X-axis base, reamed-hole side In the case of configuration direction types 2 to 4, the actuator and directions are different. (2 pcs) Hexagonal bolt M8x40 direction: 2 (Reverse of 1) direction: 3 (Y-axis installed on opposite side) direction: 4 (Reverse of 3) Install the grommet with film [8] onto the Y-axis actuator cable and guide the cable through the hole in the track mounting [2]. M5x10 (2 pcs) [2] Track mounting 1 [4] Cable track 1 M4x10 (2 pcs) M4x10 Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (4 sets) M4x6 [5] Connector box 1 Affixing positions of guide rail [3], cable track 1 [4] and connector box [5] [5] Connector box 1 [4] Cable track 1 Align the guide rail [3] surface with the end face of the base. [Installation of on XY [1]] Hexagonal bolt [Installation of track mounting 1 [2] on XY [1]] [Installation of side of guide rail [3] in T-slot] Flange socket (hexagonal socket head type) Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin. Adjust the angle between the X-axis and Y-axis to the right angle, and then mount the hexagonal bolts. [Installation of on XY [1]] head bolt [Installation of side of connector box 1 [5] in T-slot] [Installation of cable track 1 [4] on track mounting 1 [2]] [Installation of guide rail [3] for cable track 1 [4] in T-slot] M6x12 (2 pcs) M4x8 (2 pcs) (2 pcs) [13] Track mounting plate [12] YZ [16] Track mounting 3 M4x16 Hexagonal bolt M8x35 + flat washer (4 sets) Place the M4 hexagonal nut (1 pc) in the T slot beforehand to secure the tie-mount in position. [12] YZ (2 pcs) M8x40 (4 pcs) [Installation of track support [14] and track mount [13] on ] M8x15 (2 pcs) [Installation of YZ [12] on ] head bolt [Installation of track support [14] on XY [1]] [Installation of on YZ [12]] head bolt [Installation of track mounting 2 [15] on YZ [12]] [Installation of track mounting 3 [16] on ] * This assembly procedure applies to configuration direction 1. If other configuration direction such as 2, 3 or 4 is used, the actuator and directions vary. However, you can still use this assembly drawing as a reference.

6 X-axis Nut-rotation Type Cartesian Robot High-precision 3-axis Specification, Z Slider Mount ICSPA3-B1N (B2N) H (M) S3M M4x8 (2 pcs) M4x12 M4x12 (2 pcs) [4] Cable track 1 [17] Cable track 2 [Installation of cable track 1 [4] on track support [14]] [Installation of cable track 1 [4] on XY [1]] [Installation of cable track 1 [4] on track mounting 2 [15]] [Installation of cable track 2 [17] on track mounting 3 [16]] M4x8 (2 pcs) [16] Track mounting 3 M4x8 (2 pcs) [2] Track mounting 1 Caution: The cables for X-axis (axis 1), Y-axis (axis 2) and Z-axis (axis 3) are placed in tracks. Install each cable correctly. X-axis (axis 1): 1 Y-axis (axis 2): 2 Z-axis (axis 3): 3 [Installation of box cover 1 [6] on connector box 1 [5]] [4] Cable track 1 [5] Connector box 1 Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set) M3x12 (8 pcs) [10] Cable guard [6] Box cover 1 [7] Joint cover 1 head bolt M4x6 [9] Controller-actuator cable with cable fix cap (2 pcs) [11] Metal cover M3x12 (4 pcs) Place the X-axis cable and into the cable guard [10] and take them out from the top. M3x3 [Installation of metal cover [11] on track mounting 1 [2]] [5] Connector box Cable connector connection [2] Track mounting 1 NS M cable and cable inside track and controller-actuator cable Make sure the numbers on the connectors to be connected match. [Installation of cable track 2 [17] on track mounting 2 [15]] [Installation of cable guard [10] on XY [1]] [Installation of tie-mount on track mounting 1 [2]] [Installation of tie-mount in T slot of guide rail [3]] [Installation of ground terminal on ] head button bolt [16] Track mounting 3 KR5G5 tie-mount (by HellermannTyton) + hexagonal socket head button bolt M4x4 (2 sets) M4x6 [19] Box cover 2 M3x12 (8 pcs) [18] Connector box 2 Z-axis cables X-axis, Y-axis cables [Installation of tie-mount on track mounting 3 [16]] head button bolt [20] Joint cover 2 [16] Track mounting 3 + hexagonal socket head button bolt M4x4 (1 set) [Installation of connector box 2 [18] on ] Install in the T slot of the Y-axis. KR5G5 tie-mount (by HellermannTyton) + hexagonal socket head button bolt M4x4 (2 sets) Install on the back side. [Installation of box cover 2 [19] on connector box 2 [18]] [Installation of tie-mount on track support [14]] [Installation of tie-mount on track mounting 2 [15]] [Installation of tie-mount in T slot of ] head button bolt head button bolt Secure the cables using wraps. Secure the cables using wraps. Secure the cables using wraps. Wire the cable in a manner preventing contact with the Z-axis. Secure the cables using wraps. Caution: Secure the wires to prevent the cables and connectors from contacting each axis when the axis is moved over its entire stroke. When manually moving the actuator with brake, connect the controller, supply the power, and then release the brake release switch (by turning the switch to the RLS side).

7 Caution: Although each part has been chamfered to remove sharp edges, exercise due caution during the assembly to prevent injury. If necessary, wear gloves or other protective gears. Exercise due caution during the assembly to prevent pinching of hands and fingers. X-axis Nut-rotation Type Cartesian Robot High-precision 4-axis Specification ICSPA4-B3N1H (M) [Tools] Allen wrench, spanner wrench M8x30 (1 pc or 2 pcs) X-axis base, reamed-hole side (2 pcs) Assembly of Y1-axis side Hexagonal bolt M8x40 + high-tension washer (4 sets) Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin. Adjust the angle between the X-axis and Y-axis to the right angle, and then mount the hexagonal bolts. [Installation of on XY [1]] Hexagonal bolt Install the grommet with film [8] onto the Y-axis actuator cable and guide the cable through the hole in the track [2] Track mounting mounting [2]. head bolt M5x10 (2 pcs) [Installation of on XY [1]] head bolt [Installation of track mounting [2] on XY [1]] X1-axis slider side (base, reamed-hole side) X2-axis slider side (base, slotted-hole side) [2] XY (different direction) * The direction is different on the Y2-axis side. Assemble the parts by referring Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (3 sets) [9] Controller-actuator cable with cable fix cap (for axis 1 or 2) M4x6 [6] Wiring box [9] Controller-actuator cable with cable fix cap (for axis 3 or 4) Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (3 sets) Caution: The cables for Y1-axis side (axes 1 and 2) and Y2-axis side (axes 3 and 4) are placed in tracks. Install each cable correctly. Y1-axis side (axes 1 and 2): 1-M, PG, (LS), 2-M, PG, (LS) Y2-axis side (axes 3 and 4): 3-M, PG, (LS), 4-M, PG, (LS) M4x10 (2 pcs) Affixing positions of guide rail [4], cable track [5] and wiring box [6] M4x10 (2 pcs) Wiring box In this assembly procedure, the controller-actuator cable is taken out from the wiring box in the direction shown above. The cable can also be taken out in the directions shown below. M4x10 M4x10 Affix the wiring box [6] using the holes on the outer side. Align the guide rail [3] surface with the end face of the base. [Installation of wiring box [6] in T slot on side] [Installation of cable track [5] on track mounting [3]] [Installation of guide rail [4] for cable track [5] in T-slot] [Installation of guide rail [4] in T slot on side] Flange socket (hexagonal socket head type)

8 X-axis Nut-rotation Type Cartesian Robot, High-precision 4-axis Specification ICSPA4-B3N1H (M) Cable wiring diagram Installation of metal cover [11] Connector connection of ISPA, NS cable and cable inside track Installation of cable guard [10] NS M cable and Caution: The cables for X-axis slider on Y1-axis side (axis 1), Y1-axis (axis 2), X-axis slider on Y2-axis side (axis 3) and Y2-axis (axis 4) are placed in tracks. Install each cable correctly. X-axis on Y1-axis side (axis 1): 1 Y1-axis (axis 2): 2 X-axis on Y2-axis side (axis 3): 3 Y2-axis (axis 4): 4 Controller-actuator cable [11] Metal cover M3x3 (1 pc) [10] Cable guard [Installation of cable guard [10]] [Installation of metal cover [11] on track mounting [3]] [Installation of ground terminal] Connector connection of cable inside cable track and controller-actuator cable Installation of wiring box cover [7] [7] Wiring box cover M3x4 (6 pcs) Tie-mount KRG5 (by HellermannTyton) + hexagonal socket bolt M4x6 + hexagonal nut (1 set) Controller-actuator cable cable inside track and controller-actuator cable Make sure the numbers on the connectors to be connected match. [Installation of wiring box cover [7] on wiring box [6]] [Installation of tie-mount on track mounting [3]] [Installation of tie-mount on guide rail [4]] head button bolt Caution: Secure the wires to prevent the cables and connectors from contacting each axis when the axis is moved over its entire stroke. When manually moving the actuator with brake, connect the controller, supply the power, and then release the brake release switch (by turning the switch to the RLS side).

9 Caution: Although each part has been chamfered to remove sharp edges, exercise due caution during the assembly to prevent injury. If necessary, wear gloves or other protective gears. Exercise due caution during the assembly to prevent pinching of hands and fingers. X-axis Nut-rotation Type Cartesian Robot High-precision 6-axis Specification, Z Base Mount ICSPA6-B3N1H (M) B3H (M) [Tools] Allen wrench, spanner wrench M8x30 (2 pcs) Assembly of Y1-axis side Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (3 sets) (1 pc or 2 pcs) Hexagonal bolt M8x40 + high-tension washer (4 sets) Install the grommet with film [8] onto the Y-axis actuator cable and guide the cable through the hole in the track mounting [3]. head bolt M5x10 (2 pcs) X1-axis slider side (base, reamed-hole side) X2-axis slider side (base, slotted-hole side) [2] XY (different direction) [9] Controller-actuator cable with cable fix cap (for axis 1, 2 or 3) M4x6 [6] Wiring box X-axis base, reamed-hole side [9] Controller-actuator cable with cable fix cap (for axis 4, 5 or 6) Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin. Adjust the angle between the X-axis and Y-axis to the right angle, and then mount the hexagonal bolts. [Installation of on XY [1]] [Installation of on XY [1]] head bolt [Installation of track mounting [3] on XY [1]] * The direction is different on the Y2-axis side. Assemble the parts by referring Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (3 sets) Hexagonal bolt Caution: The controller-actuator cables for Y1-axis side (axes 1, 2 and 3) and Y2-axis side (axes 4, 5 and 6) are available. Install each cable correctly. Y1-axis side (axes 1, 2 and 3): 1-M, PG, (LS), 2-M, PG, (LS), 3-M, PG, (LS) Y2-axis side (axes 4, 5 and 6): 4-M, PG, (LS), 5-M, PG, (LS), 6-M, PG, (LS) M4x10 (2 pcs) Affixing positions of guide rail [4], cable track [5] and wiring box [6] M4x10 (2 pcs) Wiring box In this assembly procedure, the controller-actuator cable is taken out from the wiring box in the direction shown above. The cable can also be taken out in the directions shown below. M4x10 M4x10 Affix the wiring box [6] using the holes on the outer side. Align the guide rail [3] surface with the end face of the base. [Installation of wiring box [6] in T slot on side] [Installation of cable track [5] on track mounting [3]] [Installation of guide rail [4] for cable track [5] in T-slot] [Installation of guide rail [4] in T slot on side] Flange socket (hexagonal socket head type)

10 X-axis Nut-rotation Type Cartesian Robot High-precision 6-axis Specification, Z Base Mount ICSPA6-B3N1H (M) B3H (M) (1 pc) M4x16 [13] Track mounting plate M4x8 (2 pcs) M6x15 (2 pcs) M4x5 (2 pcs) [17] Connector box 2 [12] YZ plate (2 pcs) [12] YZ plate Place the M4 hexagonal nut in the T slot beforehand to secure the tie-mount in position. M8x25 + M8 dedicated washer (4 sets) M8x30 + flat washer (4 sets) [Installation of YZ plate [12] on ] head bolt [Installation of track support [14] on XY [1]] [Installation of track mounting 2 [15] on YZ plate [12]] [Installation of on YZ plate [12]] head bolt [Installation of track support metal [14] on track mounting plate [13]] [Installation of connector box 2 [17] on track mounting 2 [15]] [16] Cable track 2 M4x8 (2 pcs) Cable connector connection Hexagonal socket head bolt M4x12 Z1-axis: ISA, etc. [17] Connector box 2 [18] Box cover 2 [17] Connector box 2 M4x12 [19] Joint cover 2 M3x12 (8 pcs) [Installation of cable track 2 [16] on track support [14]] [Installation of cable track 2 [16] on XY [1]] [Installation of cable track 2 [16] on track mounting 2 [15]] [Installation of box cover 2 [18] on connector box 2 [17]]

11 X-axis Nut-rotation Type Cartesian Robot High-precision 6-axis Specification, Z Base Mount ICSPA6-B3N1H (M) B3H (M) Cable wiring diagram Installation of metal cover [11] Z1-axis cable Connector connection of ISPA, NS cable and cable inside track Installation of cable guard [10] Controller-actuator cable [11] Metal cover M3x3 (1 pc) [Installation of cable guard [10]] NS M cable and [10] Cable guard Caution: The cables for X-axis slider on Y1-axis side (axis 1), Y1-axis (axis 2), Z1-axis (axis 3), X-axis slider on Y2-axis side (axis 4), Y2-axis (axis 5) and Z2-axis (axis 6) are placed in tracks. Install each cable correctly. X-axis slider on Y1-axis side (axis 1): 1 Y1-axis (axis 2): 2 Z1-axis (axis 3): 3 X-axis slider on Y2-axis side (axis 4): 4 Y2-axis (axis 5): 5 Z2-axis (axis 6): 6 [Installation of metal cover [11] on track mounting [3]] [Installation of ground terminal] Connector connection of cable inside cable track and controller-actuator cable Installation of wiring box cover [7] [7] Wiring box cover M3x4 (6 pcs) Controller-actuator cable cable inside track and controller-actuator cable Make sure the numbers on the connectors to be connected match. [Installation of wiring box cover [7] on wiring box [6]]

12 X-axis Nut-rotation Type Cartesian Robot High-precision 6-axis Specification, Z Base Mount ICSPA6-B3N1H (M) B3H (M) Z1-axis cables X-axis, Y1-axis cables + hexagonal socket head button bolt M4x6 (2 sets) + hexagonal socket head bolt M4x6 (1 set) [14] Track support Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set) Install in the T slot of the Y-axis. + hexagonal socket head bolt M4x6 + hexagonal nut (1 set) [Installation of tie-mount in track mounting 2 [15]] [Installation of tie-mount on track support [14]] [Installation of tie-mount in T slot of ] head button bolt [Installation of tie-mount on track mounting [3]] [Installation of tie-mount in T slot of guide rail [4]] head button bolt Z1-axis cables X-axis, Y1-axis, Z1-axis cables Caution: Secure the wires to prevent the cables and connectors from contacting each axis when the axis is moved over its entire stroke. When manually moving the actuator with brake, connect the controller, supply the power, and then release the brake release switch (by turning the switch to the RLS side).

13 Caution: Although each part has been chamfered to remove sharp edges, exercise due caution during the assembly to prevent injury. If necessary, wear gloves or other protective gears. Exercise due caution during the assembly to prevent pinching of hands and fingers. X-axis Nut-rotation Type Cartesian Robot High-precision 6-axis Specification, Z Slider Mount ICSPA6-B3N1H (M) S3M [Tools] Allen wrench, spanner wrench M8x30 (1 pc or 2 pcs) X-axis base, reamed-hole side (2 pcs) Assembly of Y1-axis side Hexagonal bolt M8x40 + high-tension washer (4 sets) Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin. Adjust the angle between the X-axis and Y-axis to the right angle, and then mount the hexagonal bolts. [Installation of on XY [1]] Hexagonal bolt Install the grommet with film [8] onto the Y-axis actuator cable and guide the cable through the hole in the track mounting [3]. head bolt M5x10 (2 pcs) [Installation of on XY [1]] head bolt [Installation of track mounting [3] on XY [1]] X1-axis slider side (base, reamed-hole side) X2-axis slider side (base, slotted-hole side) [2] XY (different direction) * The direction is different on the Y2-axis side. Assemble the parts by referring Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (3 sets) [9] Controller-actuator cable with cable fix cap (for axis 1, 2 or 3) M4x6 [6] Wiring box [9] Controller-actuator cable with cable fix cap (for axis 4, 5 or 6) Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (3 sets) Caution: The controller-actuator cables for Y1-axis side (axes 1, 2 and 3) and Y2-axis side (axes 4, 5 and 6) are available. Install each cable correctly. Y1-axis side (axes 1, 2 and 3): 1-M, PG, (LS), 2-M, PG, (LS), 3-M, PG, (LS) Y2-axis side (axes 4, 5 and 6): 4-M, PG, (LS), 5-M, PG, (LS), 6-M, PG, (LS) M4x10 (2 pcs) Affixing positions of guide rail [4], cable track [5] and wiring box [6] M4x10 (2 pcs) Wiring box In this assembly procedure, the controller-actuator cable is taken out from the wiring box in the direction shown above. The cable can also be taken out in the directions shown below. M4x10 M4x10 Affix the wiring box [6] using the holes on the outer side. Align the guide rail [3] surface with the end face of the base. [Installation of wiring box [6] in T slot on side] [Installation of cable track [5] on track mounting [3]] [Installation of guide rail [4] for cable track [5] in T-slot] [Installation of guide rail [4] in T slot on side] Flange socket (hexagonal socket head type)

14 X-axis Nut-rotation Type Cartesian Robot High-precision 6-axis Specification, Z Slider Mount ICSPA6-B3N1H (M) S3M M4x8 (2 pcs) M6x12 (2 pcs) (2 pcs) [13] Track mounting plate [12] YZ [16] Track mounting 3 M4x16 Hexagonal bolt M8x35 + flat washer (4 sets) [12] YZ Place the M4 hexagonal nut (1 pc) in the T slot beforehand to secure the tie-mount in position. [Installation of track support [14] and track mount [13] on ] (2 pcs) M8x40 (4 pcs) M8x15 (2 pcs) [Installation of YZ [12] on ] Hexagonal bolt [Installation of track support [14] on XY [1]] [Installation of on YZ [12]] head bolt [Installation of track mounting 2 [15] on YZ [12]] [Installation of track mounting 3 [16] on ] M4x8 (2 pcs) [4] Cable track 1 [17] Cable track 2 M4x8 (2 pcs) M4x12 M4x12 (2 pcs) [16] Track mounting 3 M4x8 (2 pcs) [Installation of cable track 1 [4] on track support [14]] [Installation of cable track 2 [17] on track mounting 3 [16]] [Installation of cable track 1 [4] on XY [1]] [Installation of cable track 2 [17] on track mounting 2 [15]] [Installation of cable track 1 [4] on track mounting 2 [15]]

15 X-axis Nut-rotation Type Cartesian Robot High-precision 6-axis Specification, Z Slider Mount ICSPA6-B3N1H (M) S3H (M) Cable wiring diagram Installation of metal cover [11] Connector connection of ISPA, NS cable and cable inside track Installation of cable guard [10] Controller-actuator cable [11] Metal cover M3x3 (1 pc) [Installation of cable guard [10]] NS M cable and [10] Cable guard Caution: The cables for X-axis slider on Y1-axis side (axis 1), Y1-axis (axis 2), Z1-axis (axis 3), X-axis slider on Y2-axis side (axis 4), Y2-axis (axis 5) and Z2-axis (axis 6) are placed in tracks. Install each cable correctly. X-axis slider on Y1-axis side (axis 1): 1 Y1-axis (axis 2): 2 Z1-axis (axis 3): 3 X-axis slider on Y2-axis side (axis 4): 4 Y2-axis (axis 5): 5 Z2-axis (axis 6): 6 [Installation of metal cover [11] on track mounting [3]] [Installation of ground terminal] Connector connection of cable inside cable track and controller-actuator cable Installation of wiring box cover [7] [7] Wiring box cover M3x4 (6 pcs) Controller-actuator cable cable inside track and controller-actuator cable Make sure the numbers on the connectors to be connected match. [Installation of wiring box cover [7] on wiring box [6]]

16 X-axis Nut-rotation Type Cartesian Robot High-precision 6-axis Specification, Z Slider Mount ICSPA6-B3N1H (M) S3M Z1-axis cables [16] Track mounting 3 KR5G5 tie-mount (by HellermannTyton) + hexagonal socket head button bolt M4x4 (2 sets) [Installation of tie-mount on track mounting 3 [16]] head button bolt (by HellermannTyton) [20] Joint cover 2 M4x6 [19] Box cover 2 M3x12 (8 pcs) [18] Connector box 2 X-axis, Y1-axis cables Tie-mount KRG5 (by HellermannTyton) + hexagonal socket bolt M4x6 + hexagonal nut (1 set) + hexagonal socket head button bolt M4x4 (1 set) [Installation of connector box 2 [18] on ] KR5G5 tie-mount (by HellermannTyton) + hexagonal socket head button bolt M4x4 (2 sets) Install on the back side. [Installation of box cover 2 [19] on connector box 2 [18]] Install in the T slot of the Y-axis. [Installation of tie-mount on track mounting [3]] [Installation of tie-mount in T slot of guide rail [4]] head button bolt [Installation of tie-mount on track mounting 2 [15]] [Installation of tie-mount on track support [14]] [Installation of tie-mount in T slot of ] head button bolt head button bolt Z1-axis cables X-axis, Y1-axis, Z1-axis cables [16] Track mounting 3 Secure the cables using wraps. Wire the cable in a manner preventing contact with the Z-axis. Secure the cables using wraps. Secure the cables using wraps. Secure the cables using wraps. Caution: Secure the wires to prevent the cables and connectors from contacting each axis when the axis is moved over its entire stroke. When manually moving the actuator with brake, connect the controller, supply the power, and then release the brake release switch (by turning the switch to the RLS side).