Intelligent Actuator IS-D CR Manuale utente
IS-D CR Actuator
Operating Manual
Intelligent Actuator, Inc.
This publication was written to assist you in better understanding this part of your IA system. If you require further assistance, please
contact IA Technical Support. For Central and East Coast Time ones, please call our Itasca, IL office at 1-800-944-0333 or FAX 630-
467-9912. For Mountain and Pacific Time ones, please call our Torrance, CA office at 1-800-736-1712 or FAX 310-891-0815; Monday
thru Friday from 8:30 AM to 5:00PM.
Intelligent Actuator, Inc.
U.S. Headquarters
2690 W. 237th Street
Torrance, CA 90505
310-891-6015 / 310-891-0815 FAX
Intelligent Actuator, Inc.
Midwest Regional Office
1261 Hamilton Parkway
Itasca, IL 60143
(630) 467-9900 / 630-467-9912 FAX
www.intelligentactuator.com
© April 2000 Intelligent Actuator, Inc. All rights reserved.
No portion of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic,
mechnical, recording, or otherwise, without the prior written permission of Intelligent Actuator, Inc.
Disclaimer
The information and technical data contained herein are subject to change without notice. Intelligent Actuator, Inc. assumes no responsibility
responsibilityfor any errors or omissions regarding the accuracy of the information contained in this publication.
1. Foreword .................................................................................................................................................. 1
2. Outline ...................................................................................................................................................... 1
3. Safety Precautions .................................................................................................................................. 1
3-1 Basic Operating Instructions .............................................................................................................. 1
3-2 Maintenance and Inspection ............................................................................................................... 1
4. Warranty ................................................................................................................................................... 2
4-1 Warranty Period ................................................................................................................................. 2
4-2 Scope of Warranty .............................................................................................................................. 2
5. Names of the Parts ................................................................................................................................. 3
. Installation Environment and Noise Measures ................................................................................. 4
6-1 Handling the Packed Unit ................................................................................................................... 4
6-2 Handling the Actuator After It is Unpacked ....................................................................................... 4
7. Operating and Storage Environment ................................................................................................... 5
7-1 Operation Environment ....................................................................................................................... 5
7-2 Storage Environment ........................................................................................................................... 5
8. Installation ........................................................................................................................................... ~9
8-1 Installing the Main Body ..................................................................................................................... 6
8-2 Attaching the Slider Carrying the Payload .......................................................................................... 7
8-3 Mounting Surface ................................................................................................................................ 8
8-4 Clamp Screw ....................................................................................................................................... 9
8-5 Mounting the Connector Box and T-Slot (option) ...............................................................................9
9. Connecting the Controller .................................................................................................................. 10
9-1 Standard Wiring Specifications .......................................................................................................... 10
10. Caution Regarding Usage. ............................................................................................................11~15
10-1 Regarding Maximum Speed ............................................................................................................. 11
10-2 Load on the Actuator ...................................................................................................................... 12
10-3 Setting the Home Position ............................................................................................................... 13
10-3-1 Principle of the Homing Operation ............................................................................................ 13
10-3-2 Fine Control of the Home Position ............................................................................................ 14
10-3-3 Changing Home Direction ......................................................................................................... 14
10-4 Regarding the Stainless Sheet Area ................................................................................................ 14
10-5 Regarding the Vacuum Flow ........................................................................................................... 15
10-5-1 Recommended Vacuum Flow ................................................................................................... 15
10-5-2 Regarding the Vacuum Coupling ............................................................................................... 15
11. Maintenance ................................................................................................................................... 1 ~20
11-1 Maintenance Schedule ..................................................................................................................... 16
11-2 Visual Inspection of the Machine Exterior ....................................................................................... 16
11-3 Cleaning the Exterior ....................................................................................................................... 16
11-4 Inspecting the Interior ...................................................................................................................... 17
11-5 Cleaning the Interior ........................................................................................................................ 19
11-6 Lubricating the Guide Bearing Block ............................................................................................... 19
11-6-1 What Grease to Use .................................................................................................................. 19
11-6-2 How to Lubricate ...................................................................................................................... 19
Table of Contents
IS-D CR Actuator
Page 1
1. Foreword
Thank you for purchasing the IS-D CR Actuator. This manual explains the structure, correct operation and maintenance
of the IS-D CR Actuator. Please read this manual carefully before using the actuator. For more complete information on
operating the actuator, please refer to the controller operating manual.
2. Outline
A shield and evacuation system enables the new ISD-CR actuators to maintain a Class 10 level. A thin stainless steel
shield is used to keep particles generated inside the actuator from migrating to the outside environment. In addition,
any particles that are generated are purged from the system through a standard vacuum connector port which has
been designated for quick and easy hookup to a vacuum source.
3. Safety Precautions
3-1 Basic Operating Instructions
•Please do not attempt to use or operate the actuator in any manner not indicated in this manual or the
controllermanual.
• Please be sure to use only the cable provided by IAI to connect the actuator and controller.
• Please do not allow people within the moving range of the unit when it is in operation or when the power is
ON since this is dangerous.
3-2 Maintenance and Inspection
• When doing maintenance and inspection work, always shut down the controller power first.
• When doing inspection, make sure that no one can inadvertently turn the power ON.
• Make sure that a sign indicating work in progress is clearly visible.
• If several persons are working, be sure to watch out for each other's safety. In particular, check before
turning power ON or OFF and let others know if you are doing work involving axis movement.
IS-D CR Actuator
Page 2
4. Warranty
All ISD-CR Series actuators are individually tested on a clean bench located within a class 10 cleanroom. They are
sealed and packed within a class 10 cleanroom before shipment. Data is fully assembled for each CR Series and can
be provided upon request. Currently, there is no industry standard to measure cleanliness. In general, particles are
measured in the area of operation. However, this type of measurement method can be influenced by the capacity of
the cleanroom itself. Therefore, the ISD-CR Series of Intelligent Actuator satisfactorily meets Class 10 ratings, but is
not absolutely guaranteed.
4-1 Warranty Period
The warranty period is one year after IAI America ships the unit.
4-2 Scope of Warranty
If a breakdown occurs within the period specified above and is due to the manufacturer's error, we will
repair the unit at no cost. However, the following items are not covered by this warranty.
wFaded paint or other changes that occur naturally over time.
wConsumable components that wear out with use.
wUnit seems to be noisy or similar impressions that do not affect machinery performance.
wDamage resulting from improper handling by the user or lack of proper maintenance.
wAny alterations made by other than IAI or its representatives.
wBreakdowns caused by using controllers made by other manufacturers.
wAny damages caused by fire and other natural disasters or accidents.
The warranty pertains to the purchased product itself and does not cover any damages that might arise from a
breakdown of the supplied product. Any repairs will be done at our factory. Even if the product is still covered
under the warranty period, we will assess a separate charge for sending technicians to the customer's site.
IS-D CR Actuator
Page 3
5. Names of the Parts
The name of the actuator parts are indicated below. The left and right sides are indicated by looking at the actuator
from the motor end with the actuator set down horizontally. Front end means the side opposite the motor end.
Sheet stopper plate Side cover Cable
Slider cover Motor cover
Stainless sheet
Left Side (L)
Suction coupling
Front cover
Base
Slider Rear cover
Right Side (R)
Reversed
motor side
(front area) Motor side
IS-D CR Actuator
Page 4
6. Transporting, Handling
6-1 Handling the Packed Unit
Unless there are special instructions, the system is shipped with each axis packed separately. Please take care
that the shipping box is not dropped or subjected to strong impact during transport.
• The operator should not carry heavy shipping boxes by himself.
• If the shipping box is left standing, it should be in a horizontal position.
• Do not climb on top of the shipping box.
• Do not place heavy objects on top of the shipping box.
6-2 Handling the Actuator After It is Unpacked
Lift the actuator up by the base to remove it from the packing. Never grab the stainless sheet area.
• When carrying the actuator, take care not to bump it. Take particular care with the front cover, motor housing
and the encoder cover.
• Do not exert excessive force on any part of the actuator. Take particular care with the screw cover and cable.
• Please do not apply any excessive force onto each part of the actuator. In particular, please do not apply
any force onto the stainless sheet or pull the cables.
!! Warning !! Never grab the stainless sheet area!
* Please refer to Section 5 regarding the names of the actuator parts.
IS-D CR Actuator
Page 5
7. Operating and Storage Environment
7-1 Operating Environment
The actuator should be set up in an environment which meets the following criteria:
wAvoiddirect sunlight.
wAvoid radiant heat from strong heat sources such as a furnace.
wAmbient temperature should be 0 ~ 40º C.
wThe humidity should be less than 85% and there should be no condensation.
wAvoid exposure to corrosive or combustible gases.
wThe area should have very little dust and be suitable for normal assembly operations.
wAvoid exposure to oil mist or fluids used in cutting.
wThe unit should not be subject to vibrations greater than 0.3G.
wAvoid surroundings with extreme electromagnetic waves, ultraviolet rays and radiation.
In general, the environment should be one in which an operator can work without protective gear.
7-2 Storage Environment
The storage environment should be similar to the operating environment. In addition, you must take precautions
against condensation if the unit is to be stored for a long period of time. Unless there are special instructions, we
do not include moisture absorption agents when shipping the unit. If you are storing the unit where condensation
might occur, then you must treat the entire packing or treat the unit itself after it is unpacked to prevent conden-
sation. The unit can withstand up to 60ºC during a short storage interval but only up to 50ºC if the storage period
is longer than one month.
IS-D CR Actuator
Page 6
8. Installation
We'll describe the installation process using a single axis unit.
8.1 Installing the Main Body
In this section, we will explain the mounting method for a single axis application.
!! Warning !!
!! Since the tap is a stopper hole, please be careful when setting the bolt length. Inadequate
bolt usage may cause tap hole breakdown as well as lead to lack of intensity in actuator
mounting, thus lowering precision and may cause an accident.
Machine Type Tap diameter Tap Effective length A
Small M6 17mm 70mm
Medium M8 20mm 90mm
Large M8 20mm 120mm
Tap effective length
Tap diameter
A
IS-D CR Actuator
Page 7
• There are tapped holes in the slider where you can affix the payload. To do this, follow the mounting
procedure used for the main body.
• If you are anchoring the slider and moving the main body, attach the slider using the tapped holes.
• The slider has two reamed holes which are used to reproduce the correct positioning when dismounting and
reattaching the slider. Use only one of the holes when fine adjustments to the perpendicularity are required.
8.2 Attaching the Slider Carrying the Payload
Slider Tap Hole Diameter and Reamer Diameter
Machine Type Tap diameter Tap depth A B C Reamer Hole Reamer Depth
Small M6 13mm 70mm --- 60mm φ6H10 10mm
Medium M6 18mm --- 70mm 80mm φ6H10 10mm
M8 18mm 90mm --- φ6H10 10mm
Large M8 20mm 120mm 90mm 105mm φ6H10 10mm
Reamer Hole
Tap Hole
A
B
C
Indice
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