LSA (Large Size Linear Servo Actuator) + ISA configuration unit
X-axis Linear Servo Type Cartesian Robot
Assembly Procedures
No.
First Edition
Thank you for purchasing an IAI product.
Assemble your product correctly by referring to these Assembly Procedures.
X-axis Linear Servo Type Cartesian Robot – High-precision 2-axis Specification
Number of
Z-axis installation method
configured axes
Model
Drawing No.
ICSPA2-B1L□H
GMM07-067
1
2 axes
2
3 axes
Z-axis base mount ICSPA3-B1L□HB3H (M)
GMM07-068
3
3 axes
Z-axis slider mount ICSPA3-B1L□HS3M
GMM07-069
4
4 axes
5
6 axes
Z-axis base mount ICSPA6-B2L1HB3H (M)
GMM07-071
6
6 axes
Z-axis slider mount ICSPA6-B2L1HS3M
GMM07-072
ICSPA4-B2L1H
GMM07-070
X-axis Linear Servo Type Cartesian Robot – High-precision 3-axis Specification,
Z-axis Base Mount
[Model]
[Model]
ICSPA2-B1L
[Model]
ICSPA3-B1L
[Assembled parts]
H
HB3H (M)
[1] XY configuration direction
[1] XY configuration directions
[1] XY bracket
Configuration
direction: 1
Configuration
direction: 2
(Range of operation)
(Range of operation)
[2] Guide rail
[3] Cable track
Configuration
direction: 3
[5] Connector cover
(Reverse of 3)
(Range of operation)
[8] Grommet with film
[Constituent axes]
[9] Controller-actuator
cable with cable fix cap
Model
X-axis
LSA-W21SS-I-400- (stroke) -T2-L-
Y-axis
ISPA-MYM-I-200-20- (stroke) -T2-AQ
* Either of NT1 (for configurations 1 and 3) or
NT2 (for configurations 2 and 4)
comes to in the model code above.
M: Z-axis medium-speed type
[1] XY configuration direction
[1] XY configuration direction
Configuration
direction: 1
Configuration
direction: 2
(Range of operation)
(Range of operation)
[1] XY
bracket
[2] Guide
rail
[3] Cable
track 1
[11] YZ
plate
[12] Track
[13] Track
mounting plate support bracket
[1] XY configuration directions
Configuration
direction: 1
Configuration
direction: 2
(Range of operation)
(Range of operation)
[10] Metal cover
[Assembly Procedure] Drawing No.: GMM07-067
X-axis Linear Servo Type Cartesian Robot – High-precision 4-axis Specification
[Model]
[15] Cable
track 2
Configuration
direction: 4
Configuration
direction: 3
(Reverse of 3)
(Y-axis installed
on opposite side)
(Reverse of 3)
(Range of operation)
(Range of operation)
[7] Joint
cover 1
[8] Grommet
with film
[9] Controller-actuator
cable
with cable
fix cap
[17] Box
cover 2
[18] Joint
cover 2
Model
X-axis
Y-axis
Z-axis
[10] Metal
cover
ISPA-MXM-I-200-20<10>- (stroke) -T2-AQ-B
[Assembly Procedure] Drawing No.: GMM07-068
X-axis Linear Servo Type Cartesian Robot – High-precision 6-axis Specification,
Z-axis Base Mount
[1] XY configuration direction
[2] XY bracket
[1] XY configuration directions
[5] Connector cover
[16] Cable
track 2
[8] Grommet
with film
[9] Controller-actuator
cable
with cable
fix cap
[17] Connector
box 2
[18] Box
cover 2
[19] Joint
cover 2
ISPA-MYM-I-200-20- (stroke) -T2-AQ
[10] Metal
cover
ISPA-MZM-I-200-10- (stroke) -T2-AQ-B-NM
* Either of NT1 (for configurations 1 and 3) or
NT2 (for configurations 2 and 4)
comes to in the model code above.
[Assembly Procedure] Drawing No.: GMM07-069
X-axis Linear Servo Type Cartesian Robot – High-precision 6-axis Specification,
Z-axis Slider Mount
[Assembled parts]
M: Z-axis medium-speed type
[1] XY
bracket
[2] XY
bracket
[3] Guide
rail
[11] YZ
plate
[12] Track
[13] Track
mounting plate support bracket
[1] XY configuration direction
[1] XY
bracket
[2] XY
bracket
[3] Guide
rail
[11] YZ
bracket
[12] Track
[13] Track
mounting plate support bracket
[1] XY configuration directions
[4] Cable
track 1
[6] Wiring box bracket
[15] Track
mounting bracket 3
ICSPA6-B2L 1 HS3M
[1] XY configuration directions
[4] Cable track
[7] Joint
cover 1
[Model]
[Assembled parts]
[1] XY configuration direction
[3] Guide rail
[14] Track
mounting bracket 2
LSA-W21SS-I-400- (stroke) -T2-L-
H: Z-axis high-speed type
M: Z-axis medium-speed type
[1] XY bracket
[6] Box
cover 1
[12] Track
[13] Track
mounting plate support bracket
Model
Constituent axis
ISPA-MYM-I-200-20- (stroke) -T2-AQ
ICSPA6-B2L 1 HB3H (M)
[11] YZ
bracket
Configuration
direction: 4
[Constituent axes]
LSA-W21SS-I-400- (stroke) -T2-L-
* Either of NT1 (for configurations 1 and 3) or
NT2 (for configurations 2 and 4)
comes to in the model code above.
[3] Cable
track 1
[2] Guide
rail
[4] Connector [5] Connector
box 1
cover
[16] Connector
box 2
(Range of operation)
[Model]
[Assembled parts]
ICSPA4-B2L 1 H
[14] Track
mounting bracket 2
(Range of operation)
[Constituent axes]
X-axis
Y-axis
Z-axis
[6] Box
cover 1
(Y-axis installed
on opposite side)
Constituent axis
[1] XY
bracket
(Reverse of 1)
[4] Connector [5] Connector
box 1
cover
Configuration
direction: 3
[7] Joint cover
Constituent axis
[Assembled parts]
H: Z-axis high-speed type
M: Z-axis medium-speed type
[6] Box cover
Configuration
direction: 4
(Y-axis installed
on opposite side)
HS3M
(Reverse of 1)
[4] Connector box
(Range of operation)
ICSPA3-B1L
[Assembled parts]
[1] XY configuration directions
(Reverse of 1)
X-axis Linear Servo Type Cartesian Robot – High-precision 3-axis Specification,
Z-axis Slider Mount
[5] Connector [6] Wiring
cover
box bracket
[14] Track
mounting bracket 2
[15] Cable
track 2
[4] Cable
track 1
[16] Connector
box
Configuration direction: 1
Configuration direction: 1
(Range of operation)
(Range of operation)
[5] Connector [6] Wiring
cover
box bracket
[14] Track
mounting bracket 2
[15] Track
mounting bracket 3
[16] Cable
track 2
[8] Grommet
with film
[17] Connector
box
[18] Box
cover
[19] Joint
cover
Configuration direction: 1
(Range of operation)
[7] Wiring box cover
[8] Grommet with film
[9] Controller-actuator
cable with cable fix cap
[Constituent axes]
Constituent axis
Constituent axis
X-axis
Model
X-axis
LSA-W21SM-I-400- (stroke) -T2-L-NT1
Y1-axis
ISPA-MYM-I-200-20- (stroke) -T2-AQ
Y2-axis
ISPA-MYM-I-200-20- (stroke) -T2-AQ
[10] Metal cover
[Constituent axes]
[Constituent axes]
Model
LSA-W21SM-I-400- (stroke) -T2-L-NT1
[8] Grommet
with film
[9] Controller-actuator
cable
with cable
fix cap
[17] Box
cover
[18] Joint
cover
Constituent axis
X-axis
Model
Y1-axis
ISPA-MYM-I-200-20- (stroke) -T2-AQ
Y2-axis ISPA-MYM-I-200-20- (stroke) -T2-AQ
Y2-axis
ISPA-MYM-I-200-20- (stroke) -T2-AQ
Z1-axis
ISPA-MZM-I-200-10- (stroke) -T2-AQ-B-NM
Z2-axis
ISPA-MZM-I-200-10- (stroke) -T2-AQ-B-NM
Z2-axis ISPA-MXM-I-200-20<10>- (stroke) -T2-AQ-B
[10] Metal
cover
[Assembly Procedure] Drawing No.: GMM07-071
[7] Wiring
box cover
LSA-W21SM-I-400- (stroke) -T2-L-NT1
Y1-axis ISPA-MYM-I-200-20- (stroke) -T2-AQ
Z1-axis ISPA-MXM-I-200-20<10>- (stroke) -T2-AQ-B
[Assembly Procedure] Drawing No.: GMM07-070
[7] Wiring
box cover
[9] Controller-actuator
cable
with cable
fix cap
[10] Metal
cover
[Assembly Procedure] Drawing No.: GMM07-072
Manual No.: ME0197-1A
Caution:l 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.
l Exercise due caution during the assembly to prevent pinching of hands and fingers.
1
X-axis Linear Servo Type Cartesian Robot – High-precision 2-axis Specification
ICSPA2-BIL□H
Drawing No.
2
[Tools] Allen wrench, spanner wrench
Hexagonal socket head bolt M4s10
In the case of configuration direction types 2 to 4,
the actuator and bracket directions are different.
Track mounting bracket
Configuration
direction: 2
Parallel pin (2 pcs)
Y-axis: ISPA
Hexagonal socket head bolt
M8s30
+ high-tension washer
(4 sets)
* Affix cables using Insulok.
(Reverse of 3)
(Range of
operation)
[2] Guide rail
Flange socket
(hexagonal socket head type) M4s10
+ hexagonal nut (4 sets)
Align the guide rail [2] surface
Hexagonal socket head bolt M4s6
with the end face of the base.
+ hexagonal nut (2 sets)
[4] Connector box
[5] Connector cover
Hexagonal socket head bolt
M3s3 (4 pcs)
[1] XY bracket
Track mounting
bracket
X-axis: LSA
[8] Grommet with film
[4] Connector box
Attach to the upper T-slot.
Make a cross cut.
Track mounting bracket
(Already attached to LSA)
X-axis base, reamed-hole side
[Cable Tie Mount Attachment to Track Mounting Bracket]
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 X-axis: LSA on XY bracket [1]]
M8s40mm
100
[2] Guide rail
Configuration
direction: 4
X-axis: LSA
F6h7s15
[3] Cable track
30
Make a cut in the film on the grommet to put
through the cables, and then attach it to
the track mounting bracket.
[1] XY bracket
Parallel pin (1 pc or 2 pcs)
Parallel pin Hexagonal bolt
Hexagonal socket head bolt M4s10
+ hexagonal nut (2 sets)
Guide the Y-axis actuator [3] Cable track
cables through the hole.
Y-axis actuator cable
X-axis motor and encoder
cables.
Guide the cables to the
other side through the hole
1/1
Affixing positions of guide rail [2],
cable track [3] and connector box [4]
[8] Grommet with film
Cable Tie Mount MB1
(Manufacturer: HellermannTyton)
+ M3 hex socket flat head cap screw
s 5 pcs (1 set)
Configuration
direction: 3
(Y-axis installed
on opposite side)
(Range of
operation)
Hexagonal bolt M8s40
+ high-tension washer
(4 sets)
Track mounting bracket
X axis: Joint of the motor
and encoder cables on
LSA side and the cable
connectors coming out of
the X-axis cable track
(on the back side)
(Reverse of 1)
(Range of
operation)
GMM07-067
[Installation of Y-axis: ISPA on XY bracket [1]]
[Installation of X-axis: LSA side of connector box [4] in the upper T-slot]
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
M3s5mm
15.8kgfvcm/154Nvcm
M4s6mm
18.0kgfvcm/176Nvcm
M4s10mm
36.7kgfvcm/359Nvcm
[[5] Connector cover Attachment to Track Mounting Bracket]
[Installation of X-axis: LSA side of guide rail [2] in the upper T-slot]
Tightening torque
Parallel pin
Hexagonal socket
head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
Flange socket
(hexagonal socket head type)
Tightening torque
306kgfvcm/2997Nvcm
F8h7s18
M8s30mm
306kgfvcm/2997Nvcm
M3s3mm
15.8kgfvcm/154Nvcm
M4s10mm
18.0kgfvcm/176Nvcm
3
4
Cable connector connection
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt (1 set)
[4] Connector box
[Installation of cable track [3] on track mounting bracket]
[Installation of guide rail [2] for cable track [3] in T-slot]
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt
+ hexagonal nut (1 set)
Track mounting bracket
Track mounting
bracket
[2] Guide rail
[8] Grommet with film
Put the X-axis motor and
encoder cables into the
box through the opening.
Connector joint
for Y-axis: ISPA
M cable and
PG cable
(LS cable)
Secure the cables using wraps.
[10] Metal
cover
Hexagonal socket head bolt M3s12 (8 pcs)
[7] Joint cover
Thin-head bolt M3s12 (4 pcs)
[Installation of box cover 1 [6] on connector box [4]]
[6] Box cover
[9] Controller-actuator cable with cable fix cap
[10] Metal cover
[Installation of metal cover [10] on track mounting bracket]
Hexagonal socket head bolt
Tightening torque
Thin-head bolt
Tightening torque
M3s12mm
5.51kgfvcm/54Nvcm
M3s4mm
7.12kgfvcm/69.8Nvcm
[Installation of tie-mount on track mounting bracket]
[Cable Tie Mount Attachment to T-Slot of [2] Guide Rail]
Hexagonal socket head button bolt
Tightening torque
M4s6mm
11.7kgfvcm/114Nvcm
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
Caution: The cables for X-axis (axis 1) and Y-axis (axis 2) are
placed in tracks. Install each cable correctly.
[Cable markings]
v X-axis (axis 1): 1
v Y-axis (axis 2): 2
[4] Connector box
Connector joint for cable inside track
and controller-actuator cable
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 bracket directions vary. However, you can still use this assembly drawing as a reference.
Caution: z 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.
z Exercise due caution during the assembly to prevent pinching of hands and fingers.
1
ICSPA3-B1L□HB3H (M)
Drawing No.
2
[Tools] Allen wrench, spanner wrench
Track mounting bracket
Configuration
direction: 2
Parallel pin (2 pcs)
Y-axis: ISPA
Hexagonal socket head bolt M4s10
+ hexagonal nut (2 sets)
Guide the Y-axis actuator [3] Cable track 1
cables through the hole.
[3] Cable track 1
30
* Affix cables using Insulok.
[2] Guide rail
[4] Connector box 1
Flange socket
(hexagonal socket head type) M4s10
+ hexagonal nut (4 sets)
Align the guide rail [2] surface
Hexagonal socket head bolt M4s6
with the end face of the base.
+ hexagonal nut (2 sets)
[5] Connector cover
Hexagonal socket head bolt
M3s3 (4 pcs)
[1] XY bracket
Track mounting
bracket
Make a cut in the film on the grommet to put
through the cables, and then attach it to
the track mounting bracket.
[1] XY bracket
100
[2] Guide rail
Y-axis actuator cable
X-axis motor and encoder
cables.
Guide the cables to the
other side through the hole
1/2
Affixing positions of guide rail [2],
cable track 1 [3] and connector box 1 [4]
[8] Grommet with film
Cable Tie Mount MB1
(Manufacturer: HellermannTyton)
+ M3 hex socket flat head cap screw
s 5 pcs (1 set)
Configuration
direction: 3
(Y-axis installed
on opposite side)
(Range of
operation)
Hexagonal bolt M8s40
+ high-tension washer
(4 sets)
Track mounting bracket
X axis: Joint of the motor
and encoder cables on
LSA side and the cable
connectors coming out of
the X-axis cable track
(on the back side)
(Reverse of 1)
(Range of
operation)
GMM07-068
Hexagonal socket head bolt M4s10
In the case of configuration direction types 2 to 4,
the actuator and bracket directions are different.
Hexagonal socket head bolt
M8s30
+ high-tension washer
(4 sets)
X-axis Linear Servo Type Cartesian Robot – High-precision 3-axis Specification,
Z Base Mount
X-axis: LSA
[8] Grommet with film
[4] Connector box 1
Attach to the upper T-slot.
Configuration
direction: 4
Parallel pin (1 pc or 2 pcs)
(Reverse of 3)
(Range of
operation)
Make a cross cut.
X-axis: LSA
Track mounting bracket
(Already attached to LSA)
X-axis base, reamed-hole side
[Cable Tie Mount Attachment to Track Mounting Bracket]
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 X-axis: LSA on XY bracket [1]]
Parallel pin Hexagonal bolt
F6h7s15
M8s40mm
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
M3s5mm
15.8kgfvcm/154Nvcm
M4s6mm
18.0kgfvcm/176Nvcm
M4s10mm
36.7kgfvcm/359Nvcm
[[5] Connector cover Attachment to Track Mounting Bracket]
[Installation of Y-axis: ISPA on XY bracket [1]]
[Installation of X-axis: LSA side of guide rail [2] in the upper T-slot]
Tightening torque
Parallel pin
Hexagonal socket
head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
Flange socket
(hexagonal socket head type)
Tightening torque
306kgfvcm/2997Nvcm
F8h7s18
M8s30mm
306kgfvcm/2997Nvcm
M3s3mm
15.8kgfvcm/154Nvcm
M4s10mm
18.0kgfvcm/176Nvcm
3
[Installation of cable track 1 [3] on track mounting bracket]
[Installation of guide rail [2] for cable track 1 [3] in T-slot]
[Installation of X-axis: LSA side of connector box 1 [4] in the upper T-slot]
4
5
Z-axis: ISPA
[1] XY bracket
Hexagonal socket head bolt M6s15 (2 pcs)
[12] Track mounting plate
Y-axis: ISPA
[14] Track mounting bracket 2
Hexagonal socket head bolt M4s8 (2 pcs)
[13] Track support bracket
Hexagonal socket head bolt M4s16
+ hexagonal nut (2 sets)
Z-axis: ISPA
[16] Connector box 2
Hexagonal socket head bolt
M4s5 (2 pcs)
Parallel pin (1 pc)
[11] YZ plate
Place the M4 hexagonal nut in
the T slot beforehand to secure
the tie-mount in position.
Parallel pin (2 pcs)
[11] YZ plate
Hexagonal socket head bolt M8s25
+ M8 dedicated washer (4 sets)
Hexagonal socket head bolt M8s30
+ flat washer (4 sets)
[1] XY bracket
Y-axis: ISPA
Z-axis: ISPA
Y-axis: ISPA
[Installation of YZ plate [11] on Y-axis: ISPA]
[Installation of track support bracket [13] on XY bracket [1]]
Parallel pin
Hexagonal socket
head bolt
Tightening torque
Hexagonal socket head bolt
F8h7s18
M8s30mm
306kgfvcm/2997Nvcm
M4s8mm
[Installation of Z-axis: ISPA on YZ plate [11]]
[Installation of track mounting bracket 2 [14] on YZ plate [11]]
Tightening torque
Hexagonal socket head bolt
Tightening torque
36.7kgfvcm/359Nvcm
M6s15mm
126kgfvcm/1234Nvcm
[Installation of track support metal [13] on track mounting plate [12]]
[Installation of connector box 2 [16] on track mounting bracket 2 [14]]
Parallel pin
Hexagonal socket
head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
F8h7s25
M8s25mm
306kgfvcm/2997Nvcm
M4s16mm
36.7kgfvcm/359Nvcm
M4s5mm
18.0kgfvcm/176Nvcm
* This assembly procedure applies to configuration direction 1. If other configuration direction such as 2, 3 or 4 is used, the actuator and bracket directions vary. However, you can still use this assembly drawing as a reference.
X-axis Linear Servo Type Cartesian Robot – High-precision 3-axis Specification,
Z Base Mount
ICSPA3-B1L□HB3H (M)
Drawing No.
6
7
[15] Cable track 2
Hexagonal socket head bolt M4s8 (2 pcs)
Cable connector connection
[16] Connector box 2
[17] Box cover 2
[8] Grommet with film
[4] Connector box 1
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt
+ hexagonal nut (1 set)
Track mounting bracket
Track mounting
bracket
Z-axis: ISA, etc.
Hexagonal
socket head
bolt M4s12
[16]
Connector
box 2
Hexagonal socket head bolt
M3s12 (8 pcs)
Hexagonal socket head bolt
M4s12
[18] Joint cover 2
+ hexagonal nut (2 sets)
[1] XY bracket
[2] Guide rail
Connector joint for
ISPA M cable and
PG cable (LS cable)
[7] Joint cover 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.
[Cable markings]
v X-axis (axis 1): 1 v Y-axis (axis 2): 2 v Z-axis (axis 3): 3
[6] Box cover 1
Thin-head bolt M3s12 (4 pcs)
[Installation of cable track 2 [15] on track support bracket [13]]
M4s12mm
36.7kgfvcm/359Nvcm
[10] Metal
cover
Hexagonal socket head bolt M3s12 (8 pcs)
[13] Track support bracket
Tightening torque
Put the X-axis motor and
encoder cables into the
box through the opening.
Connector joint
for Y-axis: ISPA
M cable and
PG cable
(LS cable)
[8] Grommet with film
Hexagonal socket head bolt
2/2
Cable connector connection
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt (1 set)
[14] Track mounting bracket 2
GMM07-068
[9] Controller-actuator cable with cable fix cap
[10] Metal cover
[Installation of cable track 2 [15] on XY bracket [1]]
Hexagonal socket head bolt
Tightening torque
M4s12mm
36.7kgfvcm/359Nvcm
[Installation of box cover 1 [6] on connector box 1 [4]]
[Installation of cable track 2 [15] on track mounting bracket 2 [14]]
Hexagonal socket head bolt
Tightening torque
M4s8mm
36.7kgfvcm/359Nvcm
Tightening torque
Thin-head bolt
Tightening torque
M3s12mm
5.51kgfvcm/54Nvcm
M3s4mm
7.12kgfvcm/69.8Nvcm
[Installation of tie-mount on track mounting bracket]
[Cable Tie Mount Attachment to T-Slot of [2] Guide Rail]
[Installation of box cover 2 [17] on connector box 2 [16]]
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head button bolt
M3s12mm
5.51kgfvcm/54Nvcm
M4s6mm
8
[Installation of metal cover [10] on track mounting bracket]
Hexagonal socket head bolt
Tightening torque
11.7kgfvcm/114Nvcm
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
[4] Connector box 1
Connector joint for cable inside track
and controller-actuator cable
Make sure the numbers on the connectors
to be connected match.
9
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt
M4s6 (2 sets)
[14] Track mounting bracket 2
Tie-mount KR5G5
(by HellermannTyton)
+ hexagonal socket head button bolt M4s6
+ hexagonal nut (1 set)
Install in the T slot of the Y-axis.
Z-axis cables
X-axis, Y-axis cables
Secure the cables using wraps.
Secure the cables using wraps.
Y-axis: ISPA
Secure the cables using wraps.
[13] Track support bracket
Secure the cables using wraps.
Track mounting bracket
[1] XY bracket
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt M4s6 (1 set)
[Installation of tie-mount in track mounting bracket 2 [14]]
[Installation of tie-mount on track support bracket [13]]
[Installation of tie-mount in T slot of Y-axis: ISPA
[Installation of tie-mount on track mounting bracket]
Hexagonal socket head button bolt
Tightening torque
M4s6mm
11.7kgfvcm/114Nvcm
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).
X-axis Linear Servo Type Cartesian Robot – High-precision 3-axis Specification,
Z Slider Mount
Caution: z 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.
z Exercise due caution during the assembly to prevent pinching of hands and fingers.
1
[Tools] Allen wrench, spanner wrench
Drawing No.
2
Track mounting bracket
Configuration
direction: 2
Parallel pin (2 pcs)
Y-axis: ISPA
Hexagonal socket head bolt M4s10
+ hexagonal nut (2 sets)
Guide the Y-axis actuator
[3] Cable track 1
cables through the hole.
[3] Cable track 1
30
* Affix cables using Insulok.
[2] Guide rail
[4] Connector box 1
Flange socket
(hexagonal socket head type) M4s10
+ hexagonal nut (4 sets)
Align the guide rail [2] surface
Hexagonal socket head bolt M4s6
with the end face of the base.
+ hexagonal nut (2 sets)
[5] Connector cover
Hexagonal socket head bolt
M3s3 (4 pcs)
[1] XY bracket
Track mounting
bracket
Make a cut in the film on the grommet to put
through the cables, and then attach it to
the track mounting bracket.
[1] XY bracket
100
[2] Guide rail
Y-axis actuator cable
X-axis motor and encoder
cables.
Guide the cables to the
other side through the hole
1/2
Affixing positions of guide rail [2],
cable track 1 [3] and connector box 1 [4]
[8] Grommet with film
Cable Tie Mount MB1
(Manufacturer: HellermannTyton)
+ M3 hex socket flat head cap screw
s 5 pcs (1 set)
Configuration
direction: 3
(Y-axis installed
on opposite side)
(Range of
operation)
Hexagonal bolt M8s40
+ high-tension washer
(4 sets)
Track mounting bracket
X axis: Joint of the motor
and encoder cables on
LSA side and the cable
connectors coming out of
the X-axis cable track
(on the back side)
(Reverse of 1)
(Range of
operation)
GMM07-069
Hexagonal socket head bolt M4s10
In the case of configuration direction types 2 to 4,
the actuator and bracket directions are different.
Hexagonal socket head bolt
M8s30
+ high-tension washer
(4 sets)
ICSPA3-B1L□HS3M
X-axis: LSA
[8] Grommet with film
[4] Connector box 1
Attach to the upper T-slot.
Configuration
direction: 4
Parallel pin (1 pc or 2 pcs)
(Reverse of 3)
(Range of
operation)
Make a cross cut.
X-axis: LSA
Track mounting bracket
(Already attached to LSA)
X-axis base, reamed-hole side
[Cable Tie Mount Attachment to Track Mounting Bracket]
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 X-axis: LSA on XY bracket [1]]
Parallel pin Hexagonal bolt
F6h7s15
M8s40mm
[Installation of Y-axis: ISPA on XY bracket [1]]
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
M3s5mm
15.8kgfvcm/154Nvcm
M4s6mm
18.0kgfvcm/176Nvcm
M4s10mm
36.7kgfvcm/359Nvcm
[[5] Connector cover Attachment to Track Mounting Bracket]
[Installation of X-axis: LSA side of guide rail [2] in the upper T-slot]
Tightening torque
Parallel pin
Hexagonal socket
head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
Flange socket
(hexagonal socket head type)
Tightening torque
306kgfvcm/2997Nvcm
F8h7s18
M8s30mm
306kgfvcm/2997Nvcm
M3s3mm
15.8kgfvcm/154Nvcm
M4s10mm
18.0kgfvcm/176Nvcm
3
4
[Installation of cable track 1 [3] on track mounting bracket]
[Installation of guide rail [2] for cable track 1 [3] in T-slot]
[Installation of X-axis: LSA side of connector box 1 [4] in the upper T-slot]
[14] Track mounting bracket 2
Hexagonal socket head bolt
M6s12 (2 pcs)
5
Hexagonal socket head bolt
M4s8 (2 pcs)
[13] Track support bracket
[1] XY bracket
Y-axis: ISPA
Parallel pin (2 pcs)
Z-axis: ISPA
Y-axis: ISPA
[12] Track mounting plate
[15] Track mounting bracket 3
[11] YZ bracket
Hexagonal socket head bolt M4s16
+ hexagonal nut (2 sets)
Hexagonal bolt M8s35
+ flat washer (4 sets)
Z-axis: ISPA
[1] XY bracket
Place the M4 hexagonal nut (1 pc) in the T slot
beforehand to secure the tie-mount in position.
[11] YZ bracket
Parallel pin (2 pcs) Hexagonal socket head bolt M8s40
(4 pcs)
[Installation of YZ bracket [11] on Y-axis: ISPA]
[Installation of track support bracket [13] and track mounting plate [12] on Y-axis: ISPA]
Hexagonal socket head bolt
Tightening torque
M4s16mm
36.7kgfvcm/359Nvcm
[Installation of track support bracket [13] on XY bracket [1]]
Parallel pin
Hexagonal bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
F8h7s18
M8s35mm
117kgfvcm/1148Nvcm
M4s8mm
36.7kgfvcm/359Nvcm
[Installation of Z-axis: ISPA on YZ bracket [11]]
[Installation of track mounting bracket 2 [14] on YZ bracket [11]]
Hexagonal socket head bolt
M8s15 (2 pcs)
Z-axis: ISPA
[Installation of track mounting bracket 3 [15] on Z-axis: ISPA]
Parallel pin
Hexagonal socket
head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
F8h7s18
M8s40mm
306kgfvcm/2997Nvcm
M6s12mm
126kgfvcm/1234Nvcm
M8s15mm
306kgfvcm/2997Nvcm
* This assembly procedure applies to configuration direction 1. If other configuration direction such as 2, 3 or 4 is used, the actuator and bracket directions vary. However, you can still use this assembly drawing as a reference.
X-axis Linear Servo Type Cartesian Robot – High-precision 3-axis Specification,
Z Slider Mount
ICSPA3-B1L□HS3M
Drawing No.
6
7
Z-axis: ISPA
[3] Cable track 1
[16] Cable track 2
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt (1 set)
Hexagonal socket head bolt M4s8 (2 pcs)
[4] Connector box 1
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt
+ hexagonal nut (1 set)
[15] Track mounting bracket 3
[14] Track mounting bracket 2
[2] Guide rail
[13] Track support bracket
[1] XY bracket
[8] Grommet with film
Tightening torque
M4s12mm
36.7kgfvcm/359Nvcm
Put the X-axis motor and
encoder cables into the
box through the opening.
Connector joint
for Y-axis: ISPA
M cable and
PG cable
(LS cable)
[10] Metal
cover
Hexagonal socket head bolt M3s12 (8 pcs)
[Installation of cable track 1 [3] on track support bracket [13]]
Hexagonal socket head bolt
Track mounting bracket
Track mounting
bracket
Hexagonal socket head bolt M4s8 (2 pcs)
Hexagonal socket head bolt M4s12
(2 pcs)
Y-axis: ISPA
2/2
Cable connector connection
Hexagonal socket head bolt M4s8
(2 pcs)
Hexagonal socket head bolt M4s12
+ hexagonal nut (2 sets)
GMM07-069
[7] Joint cover 1
Thin-head bolt M3s12 (4 pcs)
[Installation of cable track 1 [3] on XY bracket [1]]
Hexagonal socket head bolt
Tightening torque
M4s12mm
36.7kgfvcm/359Nvcm
[6] Box cover 1
[9] Controller-actuator cable with cable fix cap
[10] Metal cover
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.
[Cable markings]
v X-axis (axis 1): 1 v Y-axis (axis 2): 2 v Z-axis (axis 3): 3
[Installation of cable track 1 [3] on track mounting bracket 2 [14]]
Hexagonal socket head bolt
Tightening torque
M4s8mm
36.7kgfvcm/359Nvcm
[Installation of box cover 1 [6] on connector box 1 [4]]
[Installation of cable track 2 [16] on track mounting bracket 3 [15]]
Hexagonal socket head bolt
Tightening torque
M4s8mm
36.7kgfvcm/359Nvcm
Tightening torque
Thin-head bolt
Tightening torque
M3s12mm
5.51kgfvcm/54Nvcm
M3s4mm
7.12kgfvcm/69.8Nvcm
[Installation of tie-mount on track mounting bracket]
[Cable Tie Mount Attachment to T-Slot of [2] Guide Rail]
[Installation of cable track 2 [16] on track mounting bracket 2 [14]]
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head button bolt
M4s8mm
36.7kgfvcm/359Nvcm
M4s6mm
8
Tightening torque
11.7kgfvcm/114Nvcm
Hexagonal socket head bolt M4s6
+ hexagonal nut (2 sets)
KR5G5 tie-mount (by HellermannTyton)
+ hexagonal socket head button bolt M4s4 (2 sets)
Hexagonal socket head button bolt
Tightening torque
M4s4mm
11.7kgfvcm/114Nvcm
Connector joint for cable inside track
and controller-actuator cable
Make sure the numbers on the connectors
to be connected match.
9
Z-axis cables
[8] Grommet with film
[19] Joint cover 2
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt M4s4 (1 set)
Connector joint for
ISPA M cable and
PG cable (LS cable)
[Installation of connector box 2 [17] on Z-axis: ISPA]
Hexagonal socket head bolt
Tightening torque
M4s6mm
18.0kgfvcm/176Nvcm
[14] Track mounting bracket 2
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt M4s6 (1 set)
Install in the T slot of the Y-axis.
[4] Connector box 1
X-axis, Y-axis cables
Z-axis: ISPA
[Installation of tie-mount on track mounting bracket 3 [15]]
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt
M4s6 (1 set)
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
[18] Box cover 2
Hexagonal socket head bolt
M3s12 (8 pcs)
[17] Connector box 2
[15] Track mounting bracket 3
[13] Track support bracket
[Installation of metal cover [10] on track mounting bracket]
Hexagonal socket head bolt
KR5G5 tie-mount
(by HellermannTyton)
+ hexagonal socket head
button bolt M4s4 (2 sets)
Install on the back side.
[Installation of box cover 2 [18] on connector box 2 [17]]
Hexagonal socket head bolt
Tightening torque
M3s12mm
5.51kgfvcm/54Nvcm
Z-axis: ISPA
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.
[14] Track mounting bracket 2
Secure the cables using wraps.
Y-axis: ISPA
[1] XY bracket
[Installation of tie-mount on track mounting bracket 2 [14]]
[15] Track mounting bracket 3
[13] Track support bracket
[Installation of tie-mount on track support bracket [13]]
[Installation of tie-mount in T slot of Y-axis: ISPA]
Hexagonal socket head button bolt
Tightening torque
Hexagonal socket head button bolt
Tightening torque
M4s4mm
11.7kgfvcm/114Nvcm
M4s6mm
11.7kgfvcm/114Nvcm
Secure the cables using wraps.
Y-axis: ISPA
[1] XY bracket
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).
Caution: z 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.
z Exercise due caution during the assembly to prevent pinching of hands and fingers.
1
X-axis Linear Servo Type Cartesian Robot – High-precision 4-axis Specification
ICSPA4-B2L1H
Drawing No.
GMM07-070
1/2
2
[Tools] Allen wrench, spanner wrench
Assembly of Y1-axis side
Parallel pin (2 pcs)
Flange socket
(hexagonal socket head type)
M4s10
+ hexagonal nut (3 sets)
[1] XY bracket
Y1-axis: ISPA
Y1-axis: ISPA
Y1-axis: ISPA
Hexagonal socket head bolt
M8x30
+ high-tension washer
(4 sets)
X-axis: LSA
X-axis: LSA
[8] Grommet with film
[3] Guide rail
Hexagonal bolt M8x40
+ high-tension washer
(4 sets)
[1] XY bracket
Track mounting bracket
(Already attached before delivery)
Parallel pin (1 pc or 2 pcs)
X2-axis slider side
(base, slotted-hole side)
X-axis: LSA
Y2-axis: ISPA
[2] XY bracket
(different direction)
Hexagonal socket head bolt M4s6
+ hexagonal nut (2 sets)
[6] Wiring box bracket
[9] Controller-actuator cable with
cable fix cap (for axis 3 or 4)
Track mounting bracket
(Already attached to LSA)
X-axis base, reamed-hole side
Y2-axis: ISPA
[9] Controller-actuator cable with
cable fix cap (for axis 1 or 2)
X1-axis slider side
(base, reamed-hole side)
[3] Guide rail
Attach to the upper T-slot.
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 X-axis: LSA on XY bracket [1]]
Parallel pin Hexagonal bolt
F6h7s15
M8s40mm
[Installation of Y1-axis: ISPA on XY bracket [1]]
Tightening torque
Parallel pin
306kgfvcm/2997Nvcm
F8h7s18
Hexagonal socket
head bolt
Tightening torque
M8s30mm
306kgfvcm/2997Nvcm
Flange socket (hexagonal socket head type) M4s10
+ hexagonal nut (3 sets)
* The direction is different on the Y2-axis side.
Assemble the parts by referring to
the Y1-axis side.
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.
[Cable markings]
v Y1-axis side (axes 1 and 2): 1-M, PG, (LS), 2-M, PG, (LS)
v Y2-axis side (axes 3 and 4): 3-M, PG, (LS), 4-M, PG, (LS)
3
Hexagonal socket head bolt M4s10 (2 pcs)
Affixing positions of guide rail [3], cable track 1 [4] and wiring box bracket [6]
Y1-axis: ISPA
[6] Wiring box bracket
[4] Cable track
Hexagonal socket head bolt M4s10 (2 pcs)
Track mounting bracket
30
Wiring box
[4] Cable track
30
X-axis: LSA
Y2-axis: ISPA
[3] Guide rail
[4] Cable track
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.
43
[3] Guide rail
Hexagonal socket head bolt M4s10
+ hexagonal nut (2 sets)
Affix the wiring box bracket [6] using the holes
on the inner side, and use the upper T-slot.
[4] Cable track
Hexagonal socket head bolt M4s10
+ hexagonal nut (2 sets)
[3] Guide rail
43
[3] Guide rail
Align the guide rail [3] surface with the end
face of the base. (Same on the other side)
Track mounting bracket
[Installation of wiring box bracket [6] in the upper T slot on X-axis: LSA side]
[Installation of cable track [4] on track mounting bracket]
[Installation of guide rail [3] for cable track [4] in T-slot]
Hexagonal socket head bolt
Hexagonal socket head bolt
M4s6mm
18.0kgfvcm/176Nvcm
[Installation of guide rail [3] in the upper T slot on X-axis: LSA side]
Hexagonal socket head bolt
Tightening torque
Flange socket (hexagonal socket head type)
M4s10mm
36.7kgfvcm/359Nvcm
M4s10mm
Hexagonal socket head bolt
18.0kgfvcm/176Nvcm
X-axis Linear Servo Type Cartesian Robot – High-precision 4-axis Specification
ICSPA4-B2L1H
Drawing No.
4
Installation of metal cover [10]
Cable wiring diagram
GMM07-070
2/2
Detail view of A
Connector connection of ISPA, NS cable and cable inside track
Y1-axis: ISPA
[4] Cable track
Detail view of A
Track mounting bracket
Track mounting bracket
Caution: The cables for X-axis slider on
Y1-axis side (axis 1), Y1-axis (axis 2),
X axis: Joint of the motor
X-axis slider on Y2-axis side (axis 3)
and encoder cables on
and Y2-axis (axis 4) are placed in
LSA side and the cable
tracks.
connectors coming out of
the X-axis cable track
Install each cable correctly.
(on the back side)
[Cable markings]
v X-axis on Y1-axis side (axis 1): 1
Cable Tie Mount MB1
:2
v Y1-axis (axis 2)
(Manufacturer: HellermannTyton)
v X-axis on Y2-axis side (axis 3): 3
+ M3 hex socket flat head cap screw
:4
v Y2-axis (axis 4)
s 5 pcs (1 set)
* Affix cables using Insulok.
Cable inside track
X-axis: LSA
Hexagonal socket head bolt
M3s3 (4 pcs)
Track mounting bracket
[8] Grommet with film
Y-axis actuator cable
X-axis motor and encoder
cables.
Guide the cables to the
other side through the hole
[Installation of tie-mount on track mounting bracket]
[10] Metal cover
Controller-actuator cable
Make a cut in the film on the grommet to put
through the cables, and then attach it to
the track mounting bracket.
[5] Connector
cover
Make a cross cut.
[Installation of connector cover [5] on track mounting bracket]
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
M3s5mm
15.8kgfvcm/154Nvcm
M3s3mm
15.8kgfvcm/154Nvcm
Cable Connector Joints
Track mounting bracket
[Installation of metal cover [10] on track mounting bracket]
Thin-head bolt
Tightening torque
M3s4mm
7.12kgfvcm/69.8Nvcm
Y1-axis:
Connector joint for
ISPA M cable and
PG cable (LS cable)
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
Connector connection of cable inside cable track and controller-actuator cable
Installation of wiring box cover [7]
[8] Grommet with film
[7] Wiring box cover
5
[10] Metal cover
6
Tie-mount KR5G5
(by HellermannTyton)
+ hexagonal socket head bolt
M4s6 (1 set)
Put the X-axis motor and encoder cables
into the box through the opening.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
Secure the cables using wraps.
Cable inside track
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head bolt M4s6
+ hexagonal nut (1 set)
Thin-head bolt M3s4 (6 pcs)
Secure the cables using wraps.
Track mounting bracket
Connector joint for cable inside track
and controller-actuator cable
[6] Wiring box bracket
X-axis: LSA
Make sure the numbers on the
connectors to be connected match.
X-axis: LSA
[3] Guide rail
[Installation of wiring box cover [7] on wiring box bracket [6]]
Thin-head bolt
Tightening torque
M3s4mm
7.12kgfvcm/69.8Nvcm
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
[Installation of tie-mount on track mounting bracket]
[Installation of tie-mount in T slot of guide rail [3]]
Hexagonal socket head button bolt
M4s6mm
Tightening torque
11.7kgfvcm/114Nvcm
* Assemble the Y2-axis side by referring
to the Y1-axis side.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
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).
X-axis Linear Servo Type Cartesian Robot – High-precision 6-axis Specification,
Z Base Mount
Caution: z 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.
z Exercise due caution during the assembly to prevent pinching of hands and fingers.
1
ICSPA6-B2L1HB3H (M)
Drawing No.
GMM07-071
1/4
2
[Tools] Allen wrench, spanner wrench
Assembly of Y1-axis side
Parallel pin (2 pcs)
Flange socket
(hexagonal socket head type)
M4s10
+ hexagonal nut (3 sets)
[1] XY bracket
Y1-axis: ISPA
Y1-axis: ISPA
Y1-axis: ISPA
Hexagonal socket head bolt M8s30
+ high-tension washer (4 sets)
X-axis: LSA
[8] Grommet with film
X-axis: LSA
[3] Guide rail
Hexagonal bolt M8s40
+ high-tension washer
(4 sets)
[1] XY bracket
Track mounting bracket
(Already attached before delivery)
Parallel pin (1 pc or 2 pcs)
X2-axis slider side
(base, slotted-hole side)
X-axis: LSA
Y2-axis: ISPA
[2] XY bracket
(different direction)
Hexagonal socket head bolt M4s6
+ hexagonal nut (2 sets)
[6] Wiring box bracket
[9] Controller-actuator cable with
cable fix cap (for axis 4, 5 or 6)
[3] Guide rail
Track mounting bracket
(Already attached to LSA)
X-axis base, reamed-hole side
Y2-axis: ISPA
[9] Controller-actuator cable with
cable fix cap (for axis 1, 2 or 3)
X1-axis slider side
(base, reamed-hole side)
Attach to the upper T-slot.
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 X-axis: LSA on XY bracket [1]]
Parallel pin Hexagonal bolt
F6h7s15
M8s40mm
[Installation of Y1-axis: ISPA on XY bracket [1]]
Tightening torque
Parallel pin
306kgfvcm/2997Nvcm
F8h7s18
Hexagonal socket
head bolt
Tightening torque
M8s30mm
306kgfvcm/2997Nvcm
Caution: The cables for Y1-axis side (axes 1, 2 and 3) and Y2-axis side
(axes 4, 5 and 6) are placed in tracks. Install each cable correctly.
[Cable markings]
v Y1-axis side (axes 1, 2 and 3): 1-M, PG, (LS), 2-M, PG, (LS),
3-M, PG, (LS)
v Y2-axis side (axes 4, 5 and 6): 4-M, PG, (LS), 5-M, PG, (LS),
6-M, PG, (LS)
3
Hexagonal socket head bolt M4s10 (2 pcs)
Flange socket (hexagonal socket head type) M4s10
+ hexagonal nut (3 sets)
* The direction is different on the Y2-axis side.
Assemble the parts by referring to
the Y1-axis side.
Affixing positions of guide rail [3], cable track 1 [4] and wiring box bracket [6]
Y1-axis: ISPA
[6] Wiring box bracket
[4] Cable track 1
Hexagonal socket head bolt M4s10 (2 pcs)
Track mounting bracket
30
Wiring box
[4] Cable track 1
30
X-axis: LSA
Y2-axis: ISPA
[3] Guide rail
[4] Cable track 1
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.
43
[3] Guide rail
Hexagonal socket head bolt M4s10
+ hexagonal nut (2 sets)
Affix the wiring box bracket [6] using the holes
on the inner side, and use the upper T-slot.
[4] Cable track 1
Hexagonal socket head bolt M4s10
+ hexagonal nut (2 sets)
[3] Guide rail
43
[3] Guide rail
Align the guide rail [3] surface with the end
face of the base. (Same on the other side)
Track mounting bracket
[Installation of wiring box bracket [6] in the upper T slot on X-axis: LSA side]
[Installation of cable track 1 [4] on track mounting bracket]
[Installation of guide rail for cable track 1 [4] in T-slot]
Hexagonal socket head bolt
Hexagonal socket head bolt
M4s6mm
18.0kgfvcm/176Nvcm
[Installation of guide rail [3] in the upper T slot on X-axis: LSA side]
Hexagonal socket head bolt
Tightening torque
Flange socket (hexagonal socket head type)
M4s10mm
36.7kgfvcm/359Nvcm
M4s10mm
Hexagonal socket head bolt
18.0kgfvcm/176Nvcm
X-axis Linear Servo Type Cartesian Robot – High-precision 6-axis Specification,
Z Base Mount
ICSPA6-B2L1HB3H (M)
Drawing No.
4
Z1-axis: ISPA
5
[1] XY bracket
6
[12] Track mounting plate
[13] Track support bracket
Hexagonal socket head bolt M4s16
+ hexagonal nut (2 sets)
2/4
Hexagonal socket head bolt M6s15 (2 pcs)
[14] Track mounting bracket 2
Hexagonal socket head bolt M4s8 (2 pcs)
Y1-axis: ISPA
GMM07-071
Z1-axis: ISPA
[16] Connector box
Hexagonal socket head bolt
M4s5 (2 pcs)
Parallel pin (1 pc)
[11] YZ plate
Place the M4 hexagonal nut in
the T slot beforehand to secure
the tie-mount in position.
Parallel pin (2 pcs)
[11] YZ plate
Hexagonal socket head bolt M8s25
+ M8 dedicated washer (4 sets)
Hexagonal socket head bolt M8s30
+ flat washer (4 sets)
[1] XY bracket
Z1-axis: ISPA
Y1-axis: ISPA
Y1-axis: ISPA
[Installation of YZ plate [11] on Y1-axis: ISPA]
[Installation of track support bracket [13] on XY bracket [1]]
Hexagonal socket
head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
F8h7s18
M8s30mm
306kgfvcm/2997Nvcm
M4s8mm
36.7kgfvcm/359Nvcm
M6s15mm
126kgfvcm/1234Nvcm
[Installation of Z1-axis: ISPA on YZ plate [11]]
[Installation of track support metal [13] on track mounting plate [12]]
[Installation of connector box [16] on track mounting bracket 2 [14]]
Parallel pin
Hexagonal socket
head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
F8h7s25
M8s25mm
306kgfvcm/2997Nvcm
M4s16mm
36.7kgfvcm/359Nvcm
M4s5mm
18.0kgfvcm/176Nvcm
* The direction is different on the Z2-axis side.
Assemble the parts by referring to the Z1-axis side.
7
[Installation of track mounting bracket 2 [14] on YZ plate [11]]
Parallel pin
[15] Cable track 2
Hexagonal socket head bolt M4s8 (2 pcs)
[14] Track mounting bracket 2
* The direction is different on the Z2-axis side.
Assemble the parts by referring to the Z1-axis side.
Cable connector connection
Z1-axis: ISA, etc.
Hexagonal
socket head
bolt M4s12
[16] Connector box
[17] Box cover
[16]
Connector box
[8] Grommet with film
Hexagonal socket head bolt
M3s12 (8 pcs)
Hexagonal socket head bolt
M4s12
+ hexagonal nut (2 sets)
[1] XY bracket
[13] Track support bracket
[18] Joint cover
Connector joint for
ISPA M cable and
PG cable (LS cable)
[Installation of cable track 2 [15] on track support bracket [13]]
Hexagonal socket head bolt
Tightening torque
M4s12mm
36.7kgfvcm/359Nvcm
[Installation of cable track 2 [15] on XY bracket [1]]
Hexagonal socket head bolt
Tightening torque
M4s12mm
36.7kgfvcm/359Nvcm
[Installation of cable track 2 [15] on track mounting bracket 2 [14]]
Hexagonal socket head bolt
Tightening torque
M4s8mm
36.7kgfvcm/359Nvcm
[Installation of box cover [17] on connector box [16]]
Hexagonal socket head bolt
Tightening torque
M3s12mm
5.51kgfvcm/54Nvcm
* The direction is different on the Z2-axis side.
Assemble the parts by referring to the Z1-axis side.
* The direction is different on the Z2-axis side.
Assemble the parts by referring to the Z1-axis side.
X-axis Linear Servo Type Cartesian Robot – High-precision 6-axis Specification,
Z Base Mount
ICSPA6-B2L1HB3H (M)
Drawing No.
8
Installation of metal cover [10]
Cable wiring diagram
GMM07-071
3/4
Detail view of A
Connector connection of ISPA, NS cable and cable inside track
Y1-axis: ISPA
[4] Cable track
Detail view of A
Track mounting bracket
Track mounting bracket
Caution:
The cables for X-axis slider on Y1-axis side
X axis: Joint of the motor
(axis 1), Y1-axis (axis 2), Z1-axis (axis 3),
and encoder cables on
X-axis slider on Y2-axis side (axis 4),
LSA side and the cable
Y2-axis (axis 5) and Z2-axis (axis 6)
connectors coming out of
are placed in tracks.
the X-axis cable track
(on the back side)
Install each cable correctly.
[Cable markings]
Cable Tie Mount MB1
X-axis motor and encoder
v X-axis slider on Y1-axis side (axis 1): 1
(Manufacturer: HellermannTyton)
cables.
:2
v Y1-axis (axis 2)
+ M3 hex socket flat head cap screw
Guide the cables to the
:3
v Z1-axis (axis 3)
s 5 pcs (1 set)
other side through the hole
v X-axis slider on Y2-axis side (axis 4): 4
* Affix cables using Insulok.
:5
v Y2-axis (axis 5)
[Installation of tie-mount on track mounting bracket]
:6
v Z2-axis (axis 6)
Hexagonal socket head bolt
Tightening torque
Cable inside track
X-axis: LSA
[10] Metal cover
Controller-actuator cable
Hexagonal socket head bolt
M3s3 (4 pcs)
Track mounting bracket
M3s5mm
15.8kgfvcm/154Nvcm
[8] Grommet with film
Y-axis actuator cable
Make a cut in the film on the grommet to put
through the cables, and then attach it to
the track mounting bracket.
[5] Connector
cover
Make a cross cut.
[Installation of connector cover [5] on track mounting bracket]
Hexagonal socket head bolt
Tightening torque
M3s3mm
15.8kgfvcm/154Nvcm
Cable Connector Joints
Track mounting bracket
[Installation of metal cover [10] on track mounting bracket]
Thin-head bolt
Tightening torque
M3s4mm
7.12kgfvcm/69.8Nvcm
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
Connector connection of cable inside cable track and controller-actuator cable
Installation of wiring box cover [7]
[8] Grommet with film
[7] Wiring box cover
Cable inside track
Thin-head bolt M3s4 (6 pcs)
Connector joint for cable inside track
and controller-actuator cable
[6] Wiring box bracket
Make sure the numbers on the
connectors to be connected match.
[Installation of wiring box cover [7] on wiring box bracket [6]]
Thin-head bolt
Tightening torque
M3s4mm
7.12kgfvcm/69.8Nvcm
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
Y1-axis:
Connector joint for
ISPA M cable and
PG cable (LS cable)
Put the X-axis motor and encoder cables
into the box through the opening.
[10] Metal cover
* Assemble the Y2-axis side by referring
to the Y1-axis side.
X-axis Linear Servo Type Cartesian Robot – High-precision 6-axis Specification,
Z Base Mount
ICSPA6-B2L1HB3H (M)
Drawing No.
Z1-axis cables
9
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt M4s6 (2 sets)
X-axis, Y1-axis cables
[14] Track mounting bracket 2
Tie-mount KR5G5
(by HellermannTyton)
+ hexagonal socket head bolt
M4s6 (1 set)
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head bolt M4s6
+ hexagonal nut (1 set)
Track mounting bracket
[13] Track support bracket
Tie-mount KR5G5
(by HellermannTyton)
+ hexagonal socket head button bolt
M4s6 (1 set)
Install in the T slot of the Y-axis.
X-axis: LSA
[3] Guide rail
[1] XY bracket
[Installation of tie-mount in track mounting bracket 2 [14]]
[Installation of tie-mount on track support bracket [13]]
[Installation of tie-mount in T slot of Y1-axis: ISPA]
Hexagonal socket head button bolt
M4s6mm
Tightening torque
11.7kgfvcm/114Nvcm
* The direction is different on the Z2-axis side.
Assemble the parts by referring to the Z1-axis side.
10
Z1-axis cables
[Installation of tie-mount on track mounting bracket]
[Installation of tie-mount in T slot of guide rail [3]]
Hexagonal socket head button bolt
M4s6mm
Tightening torque
11.7kgfvcm/114Nvcm
* Assemble the Y2-axis side by referring
to the Y1-axis side.
X-axis, Y1-axis, Z1-axis cables
Secure the cables using wraps.
Secure the cables using wraps.
Secure the cables using wraps.
X-axis: LSA
Secure the cables using wraps.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
* The direction is different on the Z2-axis side.
Assemble the parts by referring to the Z1-axis side.
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).
GMM07-071
4/4
X-axis Linear Servo Type Cartesian Robot – High-precision 6-axis Specification,
Z Slider Mount
Caution: z 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.
z Exercise due caution during the assembly to prevent pinching of hands and fingers.
1
ICSPA6-B2L1HS3M
Drawing No.
[Tools] Allen wrench, spanner wrench
GMM07-072
1/4
2
Assembly of Y1-axis side
Parallel pin (2 pcs)
Flange socket
(hexagonal socket head type)
M4s10
+ hexagonal nut (3 sets)
[1] XY bracket
Y1-axis: ISPA
Y1-axis: ISPA
Y1-axis: ISPA
Hexagonal socket head bolt M8s30
+ high-tension washer (4 sets)
X-axis: LSA
[8] Grommet with film
X-axis: LSA
[3] Guide rail
Hexagonal bolt M8s40
+ high-tension washer
(4 sets)
[1] XY bracket
Track mounting bracket
(Already attached before delivery)
Parallel pin (1 pc or 2 pcs)
X2-axis slider side
(base, slotted-hole side)
X-axis: LSA
Y2-axis: ISPA
[2] XY bracket
(different direction)
Hexagonal socket head bolt M4s6
+ hexagonal nut (2 sets)
[6] Wiring box bracket
[9] Controller-actuator cable with
cable fix cap (for axis 4, 5 or 6)
[3] Guide rail
Track mounting bracket
(Already attached to LSA)
X-axis base, reamed-hole side
Y2-axis: ISPA
[9] Controller-actuator cable with
cable fix cap (for axis 1, 2 or 3)
X1-axis slider side
(base, reamed-hole side)
Attach to the upper T-slot.
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 X-axis: LSA on XY bracket [1]]
Parallel pin Hexagonal bolt
F6h7s15
M8s40mm
[Installation of Y1-axis: ISPA on XY bracket [1]]
Tightening torque
Parallel pin
306kgfvcm/2997Nvcm
F8h7s18
Hexagonal socket
head bolt
Tightening torque
M8s30mm
306kgfvcm/2997Nvcm
Caution: The cables for Y1-axis side (axes 1, 2 and 3) and Y2-axis side
(axes 4, 5 and 6) are placed in tracks. Install each cable correctly.
[Cable markings]
v Y1-axis side (axes 1, 2 and 3): 1-M, PG, (LS), 2-M, PG, (LS),
3-M, PG, (LS)
v Y2-axis side (axes 4, 5 and 6): 4-M, PG, (LS), 5-M, PG, (LS),
6-M, PG, (LS)
3
Hexagonal socket head bolt M4s10 (2 pcs)
Flange socket (hexagonal socket head type) M4s10
+ hexagonal nut (3 sets)
* The direction is different on the Y2-axis side.
Assemble the parts by referring to
the Y1-axis side.
Affixing positions of guide rail [3], cable track 1 [4] and wiring box bracket [6]
Y1-axis: ISPA
[6] Wiring box bracket
[4] Cable track 1
Hexagonal socket head bolt M4s10 (2 pcs)
Track mounting bracket
30
Wiring box
[4] Cable track 1
30
X-axis: LSA
Y2-axis: ISPA
[3] Guide rail
[4] Cable track 1
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.
43
[3] Guide rail
Hexagonal socket head bolt M4s10
+ hexagonal nut (2 sets)
Affix the wiring box bracket [6] using the holes
on the inner side, and use the upper T-slot.
[4] Cable track 1
Hexagonal socket head bolt M4s10
+ hexagonal nut (2 sets)
[3] Guide rail
43
[3] Guide rail
Align the guide rail [3] surface with the end
face of the base. (Same on the other side)
Track mounting bracket
[Installation of wiring box bracket [6] in the upper T slot on X-axis: LSA side]
[Installation of cable track 1 [4] on track mounting bracket]
[Installation of guide rail for cable track 1 [4] in T-slot]
Hexagonal socket head bolt
Hexagonal socket head bolt
M4s6mm
18.0kgfvcm/176Nvcm
[Installation of guide rail [3] in the upper T slot on X-axis: LSA side]
Hexagonal socket head bolt
Tightening torque
Flange socket (hexagonal socket head type)
M4s10mm
36.7kgfvcm/359Nvcm
M4s10mm
Hexagonal socket head bolt
18.0kgfvcm/176Nvcm
X-axis Linear Servo Type Cartesian Robot – High-precision 6-axis Specification,
Z Slider Mount
ICSPA6-B2L1HS3M
Drawing No.
5
4
[14] Track mounting bracket 2
Hexagonal socket head bolt
M6s12 (2 pcs)
Hexagonal socket head bolt
M4s8 (2 pcs)
[13] Track support bracket
[1] XY bracket
GMM07-072
6
Z1-axis: ISPA
Y1-axis: ISPA
Y1-axis: ISPA
Parallel pin (2 pcs)
[15] Track mounting bracket 3
[12] Track mounting plate
[11] YZ bracket
Hexagonal socket head bolt M4s16
+ hexagonal nut (2 sets)
[1] XY bracket
Hexagonal bolt M8s35
+ flat washer (4 sets)
Z1-axis: ISPA
[11] YZ bracket
Place the M4 hexagonal nut (1 pc) in the T slot
beforehand to secure the tie-mount in position.
[Installation of track support bracket [13] and track mounting plate [12] on Y1-axis: ISPA]
Parallel pin (2 pcs) Hexagonal socket head bolt M8s40
(4 pcs)
Hexagonal socket head bolt
Tightening torque
M4s16mm
36.7kgfvcm/359Nvcm
[Installation of YZ bracket [11] on Y1-axis: ISPA]
[Installation of track support bracket [13] on XY bracket [1]]
Parallel pin
Hexagonal bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
F8h7s18
M8s35mm
117kgfvcm/1148Nvcm
M4s8mm
36.7kgfvcm/359Nvcm
[Installation of Z1-axis: ISPA on YZ bracket [11]]
[Installation of track mounting bracket 2 [14] on YZ bracket [11]]
Hexagonal socket head bolt
M8s15 (2 pcs)
Z1-axis: ISPA
[Installation of track mounting bracket 3 [15] on Z1-axis: ISPA]
Parallel pin
Hexagonal socket
head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
F8h7s18
M8s40mm
306kgfvcm/2997Nvcm
M6s12mm
126kgfvcm/1234Nvcm
M8s15mm
306kgfvcm/2997Nvcm
* The direction is different on the Z2-axis side.
Assemble the parts by referring to the Z1-axis side.
* The direction is different on the Z2-axis side.
Assemble the parts by referring to the Z1-axis side.
Z1-axis: ISPA
7
[4] Cable track 1
[16] Cable track 2
Hexagonal socket head bolt M4s8 (2 pcs)
Hexagonal socket head bolt M4s8 (2 pcs)
Hexagonal socket head bolt M4s12
+ hexagonal nut (2 sets)
[15] Track mounting bracket 3
Hexagonal socket head bolt M4s12 (2 pcs)
Y1-axis: ISPA
Hexagonal socket head bolt M4s8 (2 pcs)
[14] Track mounting bracket 2
[13] Track support bracket
[1] XY bracket
[Installation of cable track 1 [4] on track support bracket [13]]
[Installation of cable track 2 [16] on track mounting bracket 3 [15]]
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
M4s12mm
36.7kgfvcm/359Nvcm
M4s8mm
36.7kgfvcm/359Nvcm
[Installation of cable track 1 [4] on XY bracket [1]]
[Installation of cable track 2 [16] on track mounting bracket 2 [14]]
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
Tightening torque
M4s12mm
36.7kgfvcm/359Nvcm
M4s8mm
36.7kgfvcm/359Nvcm
[Installation of cable track 1 [4] on track mounting bracket 2 [14]]
Hexagonal socket head bolt
Tightening torque
M4s8mm
36.7kgfvcm/359Nvcm
* The direction is different on the Z2-axis side.
Assemble the parts by referring to the Z1-axis side.
* The direction is different on the Z2-axis side.
Assemble the parts by referring to the Z1-axis side.
2/4
X-axis Linear Servo Type Cartesian Robot – High-precision 6-axis Specification,
Z Slider Mount
ICSPA6-B2L1HS3M
Drawing No.
8
Installation of metal cover [10]
Cable wiring diagram
GMM07-072
3/4
Detail view of A
Connector connection of ISPA, NS cable and cable inside track
Y1-axis: ISPA
[4] Cable track
Detail view of A
Track mounting bracket
Track mounting bracket
Caution:
The cables for X-axis slider on Y1-axis side X axis: Joint of the motor
and encoder cables on
(axis 1), Y1-axis (axis 2), Z1-axis (axis 3),
LSA side and the cable
X-axis slider on Y2-axis side (axis 4),
connectors coming out of
Y2-axis (axis 5) and Z2-axis (axis 6)
the X-axis cable track
are placed in tracks.
(on the back side)
Install each cable correctly.
Cable Tie Mount MB1
[Cable markings]
X-axis motor and encoder
(Manufacturer: HellermannTyton)
v X-axis slider on Y1-axis side (axis 1): 1
cables.
+ M3 hex socket flat head cap screw
:2
v Y1-axis (axis 2)
Guide the cables to the
s 5 pcs (1 set)
other side through the hole
:3
v Z1-axis (axis 3)
* Affix cables using Insulok.
v X-axis slider on Y2-axis side (axis 4): 4
[Installation of tie-mount on track mounting bracket]
:5
v Y2-axis (axis 5)
:6
v Z2-axis (axis 6)
Hexagonal socket head bolt
Tightening torque
Cable inside track
X-axis: LSA
[10] Metal cover
Controller-actuator cable
Hexagonal socket head bolt
M3s3 (4 pcs)
Track mounting bracket
M3s5mm
15.8kgfvcm/154Nvcm
[8] Grommet with film
Y-axis actuator cable
Make a cut in the film on the grommet to put
through the cables, and then attach it to
the track mounting bracket.
[5] Connector
cover
Make a cross cut.
[Installation of connector cover [5] on track mounting bracket]
Hexagonal socket head bolt
Tightening torque
M3s3mm
15.8kgfvcm/154Nvcm
Cable Connector Joints
Track mounting bracket
[Installation of metal cover [10] on track mounting bracket]
Thin-head bolt
Tightening torque
M3s4mm
7.12kgfvcm/69.8Nvcm
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
Connector connection of cable inside cable track and controller-actuator cable
Installation of wiring box cover [7]
[8] Grommet with film
[7] Wiring box cover
Cable inside track
Thin-head bolt M3s4 (6 pcs)
Connector joint for cable inside track
and controller-actuator cable
[6] Wiring box bracket
Make sure the numbers on the
connectors to be connected match.
[Installation of wiring box cover [7] on wiring box bracket [6]]
Thin-head bolt
Tightening torque
M3s4mm
7.12kgfvcm/69.8Nvcm
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
Y1-axis:
Connector joint for
ISPA M cable and
PG cable (LS cable)
Put the X-axis motor and encoder cables
into the box through the opening.
[10] Metal cover
* Assemble the Y2-axis side by referring
to the Y1-axis side.
X-axis Linear Servo Type Cartesian Robot – High-precision 6-axis Specification,
Z Slider Mount
ICSPA6-B2L1HS3M
Drawing No.
Z1-axis cables
9
Z1-axis: ISPA
(by HellermannTyton)
Hexagonal socket head button bolt
Tightening torque
M4s4mm
11.7kgfvcm/114Nvcm
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt M4s4 (1 set)
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head bolt M4s6
+ hexagonal nut (1 set)
[8] Grommet with film
[Installation of tie-mount on track mounting bracket 3 [15]]
[19] Joint cover
Connector joint for
ISPA M cable and
PG cable (LS cable)
Track mounting bracket
[Installation of connector box [17] on Z1-axis: ISPA]
[14] Track mounting bracket 2
KR5G5 tie-mount
(by HellermannTyton)
+ hexagonal socket head
button bolt M4s4 (2 sets)
Install on the back side.
[13] Track support bracket
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt M4s6 (1 set)
Hexagonal socket head bolt
Tightening torque
M4s6mm
18.0kgfvcm/176Nvcm
X-axis: LSA
[Installation of box cover [18] on connector box [17]]
Hexagonal socket head bolt
Tightening torque
M3s12mm
5.51kgfvcm/54Nvcm
[3] Guide rail
Y1-axis: ISPA
[1] XY bracket
Tie-mount KR5G5 (by HellermannTyton)
+ hexagonal socket head button bolt M4s6 (1 set)
Install in the T slot of the Y-axis.
[Installation of tie-mount on track mounting bracket]
[Installation of tie-mount in T slot of guide rail [3]]
Hexagonal socket head button bolt
[Installation of tie-mount on track support bracket [13]]
[Installation of tie-mount in T slot of Y1-axis: ISPA]
[Installation of tie-mount on track mounting bracket 2 [14]]
Hexagonal socket head button bolt
Tightening torque
Hexagonal socket head button bolt
Tightening torque
M4s4mm
11.7kgfvcm/114Nvcm
M4s6mm
11.7kgfvcm/114Nvcm
10
Tie-mount KR5G5
(by HellermannTyton)
+ hexagonal socket head bolt
M4s6 (1 set)
[18] Box cover
Hexagonal socket head bolt
M3s12 (8 pcs)
[17] Connector box
KR5G5 tie-mount (by HellermannTyton)
+ hexagonal socket head button bolt M4s4 (2 sets)
Z1-axis cables
M4s6mm
* The direction is different on the Z2-axis side.
Assemble the parts by referring to the Z1-axis side.
X-axis, Y1-axis, Z1-axis cables
Secure the cables using wraps.
[15] Track mounting bracket 3
Z1-axis: ISPA
Secure the cables using wraps.
Secure the cables using wraps.
X-axis: LSA
Secure the cables using wraps.
Wire the cable in a manner
preventing contact with the Z-axis.
[14] Track mounting bracket 2
Secure the cables using wraps.
[13] Track support bracket
Secure the cables using wraps.
4/4
X-axis, Y1-axis cables
Hexagonal socket head bolt M4s6
+ hexagonal nut (2 sets)
[15] Track mounting bracket 3
GMM07-072
Y1-axis: ISPA
* Assemble the Y2-axis side by referring
to the Y1-axis side.
[1] XY bracket
Secure the cables using wraps.
* The direction is different on the Z2-axis side.
Assemble the parts by referring to the Z1-axis side.
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).
Tightening torque
11.7kgfvcm/114Nvcm
* Assemble the Y2-axis side by referring
to the Y1-axis side.