IAI America ICS(P)A - Manual (Page 26)

ICS(P)A Cartesian Robot, 3-axis Configuration X-Y Base Mount (XYB) + Z-axis (Z-axis Base Mount) Type
ICS(P)A3-B
†††B††-SC-SC X-axis/Y-axis: Self-supporting Cable, Y-axis/Z-axis: Self-supporting Cable
Caution: x 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.
x Exercise due caution during the assembly to prevent pinching of hands and fingers.
Drawing No. GMM08-0011 1/2
* This assembly procedure applies to combination direction 1. If other combination 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.
Z-axis: IS(P)A
Y-axis: IS(P)A
[2] Y-Z bracket
Parallel pin
Hexagonal socket
head bolt (4 pcs)
Dedicated washer
3 4
Configuration type Parallel
pin
Hexagonal
socket head bolt Washer Tightening torque
ICS(P)A-BA †MB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BB †MB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BB †HB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BC †HB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BC †HB2† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BC †HB3† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BC †MB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BC †MB2† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BC †MB3† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BD †HB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BD †HB2† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BD †HB3† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BE †HB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BE †HB2† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BE †HB3† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BE †MB2† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BE †MB3† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BF †HB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BF †HB2† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BF †HB3† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
1
Configuration
type
Parallel
pin Hexagonal bolt High-tension Tightening torque
ICS(P)A-BA ‡6x15 M6x30mm M6 54.7kgf xcm/536Nxcm
ICS(P)A-BB ‡8x18 M8x35mm M8 306kgf xcm/2997Nxcm
ICS(P)A-BC ‡8x18 M8x35mm M8 306kgf xcm/2997Nxcm
ICS(P)A-BD ‡8x18 M8x35mm M8 306kgf xcm/2997Nxcm
ICS(P)A-BE ‡8x18 M8x35mm M8 306kgf xcm/2997Nxcm
ICS(P)A-BF ‡8x18 M8x35mm M8 306kgf xcm/2997Nxcm
Configuration
type Thin-head screw Tightening torque
ICS(P)A-BA M3x6mm 8.9kgf xcm/87.2Nxcm
ICS(P)A-BB M3x6mm 8.9kgf xcm/87.2Nxcm
ICS(P)A-BC M4x6mm 20.8kgf xcm/204Nxcm
ICS(P)A-BD M4x6mm 20.8kgf xcm/204Nxcm
ICS(P)A-BE M4x6mm 20.8kgf xcm/204Nxcm
ICS(P)A-BF M4x6mm 20.8kgf xcm/204Nxcm
2
Configuration
type
Parallel
pin
Hexagonal
socket head bolt
Dedicated
washer Tightening torque
ICS(P)A-BA ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BB ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BC ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BD ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BE ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BF ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
Hexagonal socket
head bolt (4 pcs)
Dedicated washer
Hexagonal socket head bolt (4 pcs)
Parallel pin (2 pcs)
Configuration type Parallel
pin
Hexagonal
socket head bolt Washer Tightening torque
ICS(P)A-BA †MB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BB †MB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BB †HB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BC †HB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BC †HB2† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BC †HB3† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BC †MB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BC †MB2† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BC †MB3† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BD †HB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BD †HB2† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BD †HB3† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BE †HB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BE †HB2† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BE †HB3† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BE †MB2† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BE †MB3† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BF †HB1† ‡6x15 M6x20mm Not required 54.7kgf xcm/536Nxcm
ICS(P)A-BF †HB2† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
ICS(P)A-BF †HB3† ‡8x18 M8x28mm Required 306kgf xcm/2997Nxcm
[Tools] Allen wrench
In the case of configuration direction types 2 to 4,
the actuator and bracket directions are different.
Thin-head screw (3 pcs)
[5] Bracket cover
[1] X-Y bracket
Thin-head screw (3 pcs)
Parallel pin (1 pc or 2 pcs)
Type 2
(Reverse of type 1)
Type 3
(Y-axis installed on opposite side)
Type 4
(Reverse of type 3)
[Installation of X-Y bracket [1] on X-axis: IS(P)A]
[Installation of bracket cover [5] on X-Y bracket [1]]
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.
X-axis: IS(P)A
High-tension washer
Y-axis: IS(P)A
[1] X-Y bracket
X-axis: IS(P)A
[Installation of Y-axis: IS(P)A on X-Y bracket [1]]
Y-axis: IS(P)A
Parallel pin
[2] Y-Z bracket Hexagonal socket
head bolt (4 pcs)
[Installation of Y-Z bracket [2] on Y-axis: IS(P)A]
Remove the cover when installing the Z-axis.
[Installation of Z-axis: IS(P)A on Y-Z bracket [2]]