IAI America LSA - Manual (Page 3)

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 fi ngers.
* This assembly procedure applies to confi guration direction 1. If other confi guration 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)
Track mounting bracket
(Already attached to LSA)
30
100
[Tools] Allen wrench, spanner wrench 1
3
2
5
GMM07-068 1/2 Drawing No.
4
[1] XY bracket
Z-axis: ISPA
Y-axis: ISPA
[11] YZ plate
Hexagonal socket head bolt M8s25
+ M8 dedicated washer (4 sets)
Parallel pin (2 pcs)
Parallel pin (1 pc)
Hexagonal socket head bolt M8s30
+ flat washer (4 sets)
[Installation of YZ plate [11] on Y-axis: ISPA]
[Installation of Z-axis: ISPA on YZ plate [11]]
Parallel pin Hexagonal socket
head bolt Tightening torque
F8h7s18 M8s30mm 306kgfvcm/2997Nvcm
Parallel pin Hexagonal socket
head bolt Tightening torque
F8h7s25 M8s25mm 306kgfvcm/2997Nvcm
Z-axis: ISPA
[12] Track mounting plate
[13] Track support bracket
[1] XY bracket
Y-axis: ISPA
Hexagonal socket head bolt M4s8 (2 pcs)
Hexagonal socket head bolt M4s16
+ hexagonal nut (2 sets)
Place the M4 hexagonal nut in
the T slot beforehand to secure
the tie-mount in position.
[Installation of track support bracket [13] on XY bracket [1]]
[Installation of track support metal [13] on track mounting plate [12]]
Hexagonal socket head bolt Tightening torque
M4s8mm 36.7kgfvcm/359Nvcm
Hexagonal socket head bolt Tightening torque
M4s16mm 36.7kgfvcm/359Nvcm
[Installation of track mounting bracket 2 [14] on YZ plate [11]]
[Installation of connector box 2 [16] on track mounting bracket 2 [14]]
[16] Connector box 2
[14] Track mounting bracket 2
Y-axis: ISPA
[11] YZ plate
Z-axis: ISPA
Hexagonal socket head bolt M6s15 (2 pcs)
Hexagonal socket head bolt
M4s5 (2 pcs)
Hexagonal socket head bolt Tightening torque
M6s15mm 126kgfvcm/1234Nvcm
Hexagonal socket head bolt Tightening torque
M4s5mm 18.0kgfvcm/176Nvcm
[Installation of X-axis: LSA on XY bracket [1]] [Installation of Y-axis: ISPA on XY 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.
Parallel pin Hexagonal bolt Tightening torque
F6h7s15 M8s40mm 306kgfvcm/2997Nvcm
Parallel pin Hexagonal socket
head bolt Tightening torque
F8h7s18 M8s30mm 306kgfvcm/2997Nvcm
(Reverse of 1)
Configuration direction: 2
(Range of operation)
(Y-axis installed on opposite side)
Configuration
direction: 3
(Range of operation)
(Reverse of 3)
Configuration direction: 4
(Range of
operation)
Hexagonal bolt M8s40
+ high-tension washer
(4 sets)
Parallel pin (1 pc or 2 pcs)
Hexagonal socket head bolt
M8s30
+ high-tension washer
(4 sets)
Parallel pin (2 pcs)
Y-axis: ISPA
[1] XY bracket
X-axis: LSA
X-axis base, reamed-hole side
In the case of configuration direction types 2 to 4,
the actuator and bracket directions are different.
Hexagonal socket head bolt M4s10
Hexagonal socket head bolt M4s10
+ hexagonal nut (2 sets)
Flange socket
(hexagonal socket head type) M4s10
+ hexagonal nut (4 sets)
Hexagonal socket head bolt M4s6
+ hexagonal nut (2 sets)
Hexagonal socket head bolt
M3s3 (4 pcs)
Cable Tie Mount MB1
(Manufacturer: HellermannTyton)
+ M3 hex socket flat head cap screw
s 5 pcs (1 set)
Guide the Y-axis actuator
cables through the hole. [3] Cable track 1
[2] Guide rail
[3] Cable track 1
[4] Connector box 1
[2] Guide rail
[4] Connector box 1
[8] Grommet with film
Track mounting
bracket
X-axis: LSA
[1] XY bracket
Track mounting bracket
[8] Grommet with film
X-axis motor and encoder
cables.
Guide the cables to the
other side through the hole
* Affix cables using Insulok.
[5] Connector cover
Y-axis actuator cable
Track mounting bracket
Affixing positions of guide rail [2],
cable track 1 [3] and connector box 1 [4]
Make a cut in the film on the grommet to put
through the cables, and then attach it to
the 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)
Make a cross cut.
Align the guide rail [2] surface
with the end face of the base.
[Installation of X-axis: LSA side of guide rail [2] in the upper T-slot]
[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] [Cable Tie Mount Attachment to Track Mounting Bracket]
[[5] Connector cover Attachment to Track Mounting Bracket]
Tightening torque
M3s5mm 15.8kgfvcm/154Nvcm
Hexagonal socket head bolt
Tightening torque
M3s3mm 15.8kgfvcm/154Nvcm
Hexagonal socket head bolt
Tightening torque
M4s6mm 18.0kgfvcm/176Nvcm
Hexagonal socket head bolt Tightening torque
M4s10mm 36.7kgfvcm/359Nvcm
Hexagonal socket head bolt
Tightening torque
M4s10mm 18.0kgfvcm/176Nvcm
Flange socket
(hexagonal socket head type)
Attach to the upper T-slot.