FIRST-STEP_ZR(ME3696

Precautions in Handling
Names of the Parts
1. Handling of Robot
1.1 Handling of the Packed Product
Single Axis Robot ZR Series
Vertical / Rotary Integrated Type
First Step Guide First Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (CD) included with the product in addition to this First
Step Guide to ensure correct use.
This Instruction Manual is original.
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the CD included in the box this device was packaged in. It should be retained with this
device at all times.
A copy of the CD Manual can be requested by contacting your nearest IAI Sales Office listed at the
back cover of the Instruction Manual or on the First Step Guide.
• Using or copying all or part of this Instruction Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts (The option is excluded.)
1
Part Name
Main Body
Model
“How to read the model plate”, “How
to read the model No.”
Remarks
Accessories
Motor • Encoder
2
Cable*1
3
First Step Guide
Instruction Manual
4
(CD)
5
Safety Guide
*1 Please refer to the wiring layout for the enclosed motor cable and encoder cable.
2. How to read the model plate
Model
Serial number
MODEL ZR-S-I-100-16-150-T2-S-B-L
SERIAL No. 600117639
MADE IN JAPAN
3. How to read the model No.
ZR-S-I-100-16-150-T2-S-B-L
<Series>
<Type>
S : Small Type
(Z-axis, 100W/
R-axis, 100W)
M
: MediumType
(Z-axis, 200W/
<Standard Equipment>
L
: Limit Switch
(equipped standard to
rotary shaft)
<Motor Type>
100 : 100W
200 : 200W
<Z-axis Lead>
16 : 16mm
20 : 20mm
1.2 Handling of Robot without Package
•
•
•
•
Do not carry the actuator by holding the cable, or do not move it by pulling the cable.
Do not carry the actuator by holding the ball screw or the cover part.
When carrying the actuator, exercise caution not to bump it against nearby objects or structures.
Do not give any excessive force to any of the sections in the actuator.
R-axis (rotary axis)
<Standard Equipment>
B
: Brake
(Standard Equipment)
<Cable Length>
N
: None
S
: 3m
M
: 5m
X□□ : Specified Length
<Controller>
T2
: SCON
SSEL
XSEL-P/Q
<Z-axis Stroke>
[Refer to the Catalog or Instruction Manual (CD) for specification details.]
Z-axis, R-axis
(Motor Cable,
Encoder Cable)
Z-axis (vertical axis)
1.3 Precautions for Tentative Set-down
When tentatively setting down the unpacked actuator, provide a pedestal, as shown below, to prevent the
cables at the rear from receiving loads.
Cover
Mounting Flange
Mounting Hole
4 Places, Tapped Dia.
ZRSM6ZRMM8
100mm or more
Mounting Flange
Positioning Pin Pocket
2 Places, Pocket Dia.
φ6H7 (+0.012)
ZR-S 7mm from back side
ZR-M8mm from back side
*Not a through hole.
r=50mm or more
Multi-axes type will be delivered in a package with an outer case fixed to a wooden base. Sliders are fixed
so they would not accidently move while in transportation. The end of the actuator is also fixed to avoid it
swinging by external vibration.
• Do not damage or drop. The package is not supplied with any special treatment that enables it to resist
an impact caused by a drop or crash.
• Transport a heavy package with at least more than two operators. Consider an appropriate method for
transportation.
• When suspending the package using ropes, pass the ropes from underneath the reinforcement frames
at the bottom of the base. When lifting with a forklift, also place the forks underneath the base.
• Do not apply an impact on the package or let it bounce when putting it down.
• Do not get on the package.
• Do not put any load that may cause a deformation or breakage of the package.
Component Mounting Tapped Hole
for Customer’s Use
(both sides, tapped dia.M4×12)
Base
Base
Z-axis Stopper
Positioning Pin Pocket
for Ball Screw Spline Adjustment
Connector Box
Attachment Hole, 4 Places
tapped dia. M5×8
2.2 Handling of Robot without Package
• Secure the sliders to prevent sudden movement during transport.
• If any end of the actuator is overhanging, secure it properly to avoid significant movement due to
external vibration.
• If the actuator assembly is transported without the ends being secured, do not apply an impact of 0.3G
or more.
• In the case that the actuator needs to be carried up with ropes or another method, be sure to use an
appropriate cushioning to avoid the robot being deformed or put on an excessive pressure. And also,
be sure to keep the robot in a stable and horizontal posture. Utilize the tapped holes on the bottom of
the base to attach a tool to suspend the package if necessary.
• Be careful not to apply a load on any of the actuator brackets or covers or on the connector box. Also,
avoid the cables being pinched or caused an excessive deformation.
3. Handling of Robot Mounted on Mechanical Equipment (System)
Note the following when the whole mechanical equipment (system) that the actuator is mounted on
needs to be transported.
• Secure the sliders to prevent sudden movement during transport.
• If any end of the actuator is overhanging, secure it properly to avoid significant movement due to
external vibration.
• If the actuator assembly is transported without the ends being secured, do not apply an impact of 0.3G
or more.
• When suspending the mechanical equipment (system) with ropes, avoid applying force to actuator,
connector box, etc. Also, avoid the cables being pinched or caused an excessive deformation.
Installation Environment, Storage Environment
Please refer to the Catalog or the Instruction Manual (CD) for the dimensions and profile.
Attachment
Refer to the Instruction Manual (CD) for the attachments of the actuator and loads.
[Precautions for Attachments]
No.
1
Item
Installation
An environment that satisfies the following conditions is required during installation.
It is generally the environment where a worker can work without any protection gear.
• There should be no direct sunlight.
• Any radiant heat from a large heat source such as a heat treatment furnace should not be directed at
the machine main body.
• The ambient temperature should be 0 to 40°C.
• Keep the product in the relative humidity 20% at least and 85% at the most, and avoid condensation.
• There should be no corrosive gas or flammable gas.
• There should be no flammable dust or ignitable liquid in the surroundings.
• Oil mist or cutting liquid should not be directed at the machine.
• Chemical liquid should not be splashed on it.
• An impact or vibration should not be transmitted to it.
• There should be no strong electromagnetic waves, ultraviolet rays or radiation.
• The actuator should not be installed where it gets dipped in liquid.
• The working space required for maintenance or inspection should be secured.
2
Attachment Surface
• The base has to have a structure with sufficient rigidity to
prevent oscillation.
• The actuator mounting surface and other surfaces that are
used as a datum should be flat enough with an accuracy of
machining or equivalent treatment, and the flatness of the
mounting surface needs to be ±0.05mm/m or less.
• Secure the space where maintenance work can be performed.
3
Bolts to be used
• For the bolts to be used, a high-tensile bolt complying with
ISO-10.9 or more is recommended.
• For the actuator mounting, use a bolt with the dimension of its
effective mating length to the tapped hole size as stated below.
If tapped hole in steel → thread length same as nominal
diameter
If tapped hole in aluminum → thread length 2 times longer than
nominal diameter
4
Tightening Torque
• Please follow the specification values stated in the Instruction
Manual (CD) for the tightening torque.
Failure to do so may cause an operation problem.
5
Load Allowable
Moment of Inertia
and Load Offset
• Please follow the specified values stated in the Instruction
Manual (CD) for the load allowable moment of inertia and the
load offset. Failure to do so may cause abnormal vibration or
noise, and also may remarkably shorten the product life.
2. Storage and Preservation Environment
The storage and preservation environment should comply with the same standards as those for the
installation environment. In particular, when the machine is to be stored for a long time, pay close
attention to environmental conditions so that no dew condensation forms.
Unless specially specified, moisture absorbency protection is not included in the package when the
machine is delivered. In the case that the machine is to be stored in an environment where dew
condensation is anticipated, take the condensation preventive measures from outside of the entire
package, or directly after opening the package.
For storage temperature, the machine withstands temperatures up to 60°C for a short time, but in the
case of the storage period of 1 month or more, control the temperature to 50°C or less.
Storage and preservation should be performed in the horizontal condition.
Precautions
• The product is not suitable for horizontally oriented mount.
Horizontally Oriented Mount
1. Installation Environment
R-axis, 200W)
<Encoder Type>
A : Absolute
I
: Incremental
Z-axis Stopper
Ball Screw
Spline Shaft
2. Handling of Multi-Axes Type
2.1 Handling of the Packed Product
Product Check
No.
Unless otherwise specified, the actuator is shipped with each axis packaged separately.
• Do not damage or drop. The package is not supplied with any special treatment that enables it to resist
an impact caused by a drop or crash.
• Transport a heavy package with at least more than two operators. Consider an appropriate method for
transportation.
• If the shipping box is to be left standing, it should be in a horizontal position. Follow the instruction if
there is any for the packaging condition.
• Do not get on the package.
• Do not put any load that may cause a deformation or breakage of the package.
•
Wiring
•
Do not pull the cable with a strong force.
The cable track capacity for cables to put in should be 60% or less to prevent cables
from breaking. (Cable heat is not considered.)
For the controller, only the dedicated controller manufactured by our company can be used.
Using other controllers may cause a problem such as burning the product, ignition or
generating heat.
Use the dedicated cable enclosed in the package when connecting the actuator and the
controller.
Cable Track
1. Incremental Type
[Connection to the XSEL-P/Q controller]
Brake Box
• Controller Connection Cable
(included in the package)
CB-RCS-PLA***
Brake Box
RCB-110-RA13-0
Z
R
Z
R
•
Cable
Do not let the cable receive a turning force at a single point.
Note:
Encoder CableCB-X1-PA***
Encoder CableCB-X1-PLA***
• When the cable is connected or disconnected, make sure to turn off the power to the controller.
When the cable is connected or disconnected with the controller power turned ON, it might cause a
malfunction of the actuator and result in a serious injury or damage to the machinery.
• When the connector connection is not correct, it would be dangerous because of a malfunction of
the actuator. Make sure to confirm that the connector is connected correctly.
Motor Cable CB-X-MA***
Motor CableCB-X-MA***
Connector for Encoder
24V DC
Power Input
Motor Cable
ZR Unit
Encoder Cable
Connector for Motor
Controller
(brake equipped type)
XSEL-P/Q
Motor Cable
•
Do not pinch, drop a heavy object onto or cut the cable.
•
When fixing the cable, provide a moderate slack and do not tension it too tight.
Encoder Cable
Orthogonal Axis
2. Absolute Type
[Connection to the XSEL-P/Q controller]
Brake Box
• Controller Connection Cable
(included in the package)
CB-RCS-PLA***
Brake Box
RCB-110-RA13-0
Z
R
Z
R
Encoder Cable CB-X1-PA***
Encoder Cable CB-X1-PLA***
LS Connector not in use
Motor Cable CB-X-MA***
Motor Cable CB-X-MA***
Connector for Encoder
24V DC
Power Input
Motor Cable
ZR Unit
Encoder Cable
Connector for Motor
Controller
(brake equipped type)
XSEL-P/Q
Motor Cable
Do not use spiral tube in any
position where cables are bent
frequently.
Encoder Cable
Orthogonal Axis
•
[Prohibited Items in the Cable Processing]
•
•
•
Separate the I/O line, communication line and power line from each other.
Arrange so that such lines are independently routed in the duct.
Do not pull or bend forcibly the cable so as not to give any extra load or tension to the
cable.
Do not process the cable for extension or shortening by means of cutting out,
combination or connecting with another cable.
Do not let the cable flex at a single point.
Technical Support available in USA, Europe and China
Steel Strap
(Piano Wire)
Power Line
Duct
I/O Line
(Flat Cable, etc.)
Tie them up softly.
•
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL+81-54-364-5105 FAX+81-54-364-2589
website: www.iai-robot.co.jp/
•
•
Take care of the following items using the cable carrier.
Arrange the wiring so that there is no entanglement or kink of the cables in the cable
carrier or flexible tube, and do not bind the cables so that the cables are relatively free.
(Do not bend it at an angle of 90° or less)
Head Office: 2690 W, 237th Street Torrance, CA 90505
TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 1261 Hamilton Parkway Itasca, IL 60143
TEL (630) 467-9900 FAX (630) 467-9912
Atlanta Office: 1220 Kennestone Circle Suite 108 Marietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
Do not let the cable bend, kink or twist.
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com
Manual No.: ME3696-1A