IAI ISDB Series User manual

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

Please Read Before Use
Thank you for purchasing our product.
This Operating Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to
ensure safe use of the product.
The CD or DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operating Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
x This Operating Manual is original.
x The product cannot be operated in any way unless expressly specified in this Operating Manual. IAI shall
assume no responsibility for the outcome of any operation not specified herein.
x Information contained in this Operating Manual is subject to change without notice for the purpose of product
improvement.
x If you have any question or comment regarding the content of this manual, please contact the IAI sales office
near you.
x Using or copying all or part of this Operating Manual without permission is prohibited.
x The company names, names of products and trademarks of each company shown in the sentences are
registered trademarks.

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

Table of Contents
Safety Guide .............................................................................................................................1
Caution in Handling ..................................................................................................................8
Names of the Parts ...................................................................................................................9
1. Checking the Product ....................................................................................................... 11
1.1 Components .........................................................................................................................................11
1.2 Related Operation Manuals for Each Controller Supported by This Product.......................................11
1.3 How to Read the Model Nameplate..................................................................................................... 12
1.4 How to Read the Model Number ......................................................................................................... 13
2. Specification .....................................................................................................................14
2.1 Maximum Speed .................................................................................................................................. 14
2.2 Acceleration/Deceleration, Payload Capacity and Rated Thrust......................................................... 16
2.3 Driving System/Position Detector ........................................................................................................ 19
2.4 Positioning Preciseness....................................................................................................................... 20
2.5 Allowable Moment of the Actuator ....................................................................................................... 21
3. Life....................................................................................................................................23
3.1 How to Calculate Operation Life.......................................................................................................... 23
3.2 Operation Life ...................................................................................................................................... 24
4. Installation and Storage/Preservation Environment..........................................................25
4.1 Installation Environment ...................................................................................................................... 25
4.2 Storage/Preservation Environment...................................................................................................... 25
5. Transport ..........................................................................................................................26
5.1 Handling a Single Axis......................................................................................................................... 26
5.1.1 Handling a Package............................................................................................................. 26
5.1.2 Handling an Actuator after Unpacking ................................................................................. 26
5.2 Handling an Cartesian Robot (ICS) ..................................................................................................... 28
5.2.1 Handling a Package............................................................................................................. 28
5.2.2 Handling an Actuator after Unpacking ................................................................................. 28
5.3 Handling an Actuator Assembled to a Mechanical System ................................................................. 29
6. Installation ........................................................................................................................30
6.1 Installation Orientations ....................................................................................................................... 30
6.2 Installing the Actuator .......................................................................................................................... 32
6.2.1 Installation Method............................................................................................................... 32
6.2.2 Preciseness of the Installation Surface ............................................................................... 36
6.3 Installing the Load on the Slider .......................................................................................................... 38
6.4 Using T-slots ........................................................................................................................................ 41
6.5 Suctioning for Clean Room Application ............................................................................................... 42
7. Connecting the Controller.................................................................................................43
7.1 Wiring................................................................................................................................................... 43

8. Operating Conditions........................................................................................................46
8.1 Duty Ratio during Continuous Operation............................................................................................. 46
9. Setting the Home Position ................................................................................................47
9.1 Home Return ....................................................................................................................................... 47
9.2 Factory-set Home Position .................................................................................................................. 47
9.3 Changing the Home Direction ............................................................................................................. 47
9.4 How to Use the Homing Mark Stickers................................................................................................ 48
9.5 Fine-tuning the Home Position ............................................................................................................ 49
9.5.1 X-SEL and SSEL Controllers ............................................................................................... 49
9.5.2 ECON and SCON Controllers.............................................................................................. 52
9.6 Absolute Reset Method (Absolute Specification) ................................................................................ 55
10. Options .............................................................................................................................56
10.1 Brake.................................................................................................................................................... 56
10.2 Creep Sensor....................................................................................................................................... 56
10.3 Limit Switch.......................................................................................................................................... 57
10.4 Reversed-home Specification.............................................................................................................. 58
10.5 Cable Exit Direction ............................................................................................................................. 58
10.6 Guide with Ball Retention Mechanism................................................................................................. 58
10.7 Suction Joint on Opposite Side ........................................................................................................... 59
10.8 Master Axis/Slave Axis Specification for Synchronized Operation ...................................................... 59
10.9 High-Precision Straightness Specification ........................................................................................... 60
11. Motor/Encoder Cables......................................................................................................62
11.1 Standard............................................................................................................................................... 62
12. Maintenance/Inspection....................................................................................................64
12.1 Inspection Items and Intervals............................................................................................................. 64
12.2 Visual Inspection of the Machine Exterior ........................................................................................... 65
12.3 External Cleaning ................................................................................................................................ 66
12.4 Interior Check ...................................................................................................................................... 67
12.5 Grease Supply ..................................................................................................................................... 69
13. Replacement/Adjustment Procedure for Stainless Sheet .................................................72
13.1 Preparation .......................................................................................................................................... 72
13.2 Replacement/Adjustment Procedure................................................................................................... 73
14. Motor Replacement Procedures.......................................................................................76
14.1 Removing the Motor Unit..................................................................................................................... 77
14.2 Installing a New Motor ......................................................................................................................... 81
14.3 Correcting for Position Deviation ......................................................................................................... 92
14.4 Operation Check after Replacing the Motor ........................................................................................ 92

15. Appendix ..........................................................................................................................93
15.1 External Dimensions............................................................................................................................ 93
15.1.1 ISDB, ISPDB-S .................................................................................................................... 93
15.1.2 ISDB, ISPDB-M ................................................................................................................... 94
15.1.3 ISDB, ISPDB-MX ................................................................................................................. 95
15.1.4 ISDB, ISPDB-L .................................................................................................................... 96
15.1.5 ISDB, ISPDB-LX .................................................................................................................. 97
15.1.6 ISDBCR, ISPDBCR-S.......................................................................................................... 98
15.1.7 ISDBCR, ISPDBCR-M ......................................................................................................... 99
15.1.8 ISDBCR, ISPDBCR-MX..................................................................................................... 100
15.1.9 ISDBCR, ISPDBCR-L ........................................................................................................ 101
15.1.10 ISDBCR, ISPDBCR-LX...................................................................................................... 102
15.1.11 SSPDACR-S...................................................................................................................... 103
15.1.12 SSPDACR-M ..................................................................................................................... 104
15.1.13 SSPDACR-L ...................................................................................................................... 105
16. Warranty.........................................................................................................................106
16.1 Warranty Period................................................................................................................................. 106
16.2 Scope of Warranty ............................................................................................................................. 106
16.3 Honoring the Warranty....................................................................................................................... 106
16.4 Limited Liability .................................................................................................................................. 107
16.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ............ 107
16.6 Other Items Excluded from Warranty ................................................................................................ 107
Change History .....................................................................................................................108

1
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage
beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No. Operation
Description Description
1 Model Selection Ɣ This product has not been planned and designed for the application where high
level of safety is required, so the guarantee of the protection of human life is
impossible. Accordingly, do not use it in any of the following applications.
1) Medical equipment used to maintain, control or otherwise affect human life or
physical health.
2) Mechanisms and machinery designed for the purpose of moving or transporting
people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Ɣ Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding the
specification range
4) Location where radiant heat is added from direct sunlight or other large heat
source
5) Location where condensation occurs due to abrupt temperature changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ For an actuator used in vertical orientation, select a model which is equipped with
a brake. If selecting a model with no brake, the moving part may drop when the
power is turned OFF and may cause an accident such as an injury or damage on
the work piece.

2
No. Operation
Description Description
2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize
equipment such as crane.
Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the
leader and who to be the follower(s) and communicate well with each other to
ensure the safety of the workers.
Ɣ When in transportation, consider well about the positions to hold, weight and
weight balance and pay special attention to the carried object so it would not get hit
or dropped.
Ɣ Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts attached or
there are tapped holes to attach bolts. Follow the instructions in the operation
manual for each model.
Ɣ Do not step or sit on the package.
Ɣ Do not put any heavy thing that can deform the package, on it.
Ɣ When using a crane capable of 1t or more of weight, have an operator who has
qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a load that
weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the hook in
such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane.
Ɣ Do not leave a load hung up with a crane.
Ɣ Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
Ɣ The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
Ɣ Store the products with a consideration not to fall them over or drop due to an act
of God such as earthquake.
4 Installation and
Start
(1) Installation of Robot Main Body and Controller, etc.
Ɣ Make sure to securely hold and fix the product (including the work part). A fall, drop
or abnormal motion of the product may cause a damage or injury.
Also, be equipped for a fall-over or drop due to an act of God such as earthquake.
Ɣ Do not get on or put anything on the product. Failure to do so may cause an
accidental fall, injury or damage to the product due to a drop of anything,
malfunction of the product, performance degradation, or shortening of its life.
Ɣ When using the product in any of the places specified below, provide a sufficient
shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or chemical
droplets