Iai-america LSA-W21SS Manuel d'utilisateur

Large Types LSA-W21SS, LSA-W21SM LSA-W21HS, LSA-W21HM IAI America, Inc. Linear Servo Actuator LS

Pre-4 Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task Note

Pre-5 No. Task Note (2) Wiring the cables  Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc.  Do n

Pre-6 No. Task Note 5 Teaching  Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.  When releasing the brake of a vertically ins

Pre-7 Indication of Cautionary Information The operation manual for each model denotes safety guides under “Danger,” “Warning,” “Caution” and “No

Pre-8

1 1. Foreword Thank you for purchasing an IAI product. This operating manual describes the correct handling, structure, maintenance and other aspe

2 3. Warranty 3.1 Warranty Period Warranty period shall be either of the following periods whichever ends first:  18 months after shipment fro

3 4. Name of Each Part The name of each part of the actuator is specified below. In this manual, the right-left directions of the actuator are in

4 5. Transportation and Handling 5.1 Handling the Actuator by Itself When transporting the actuator by itself, take note of the items specified

5 5.2 Handling the Actuator Assembly Pay attention to the following instructions when transporting an assembly of actuator axes. 5.2.1 Conditio

6 6. Installation, Storage/Preservation Environment 6.1 Operating Environment The actuator should be set up in an environment, which meets the fo

7 7. Installation Notes on Installation [Stainless sheet] The stainless sheet is designed very thin (thickness: 0.1 mm) in order to ensure flexib

8 7.1 Installing the Actuator Install the actuator on a machined surface or other flat surface of equivalent precision. This linear actuator can

9 7.1.2 Affixing the Actuator on the Bottom Side of the Base  Tapped mounting holes are provided at the back of the actuator base. Use these tap

10 7.2 Installation Surface  Ensure that the frame offers sufficient structural rigidity to prevent generation of vibration.  Install the actuat

11 7.3 Tightening Screws  Use hexagonal socket head bolts (male screws) for installing the base.  Use of high-tensile bolts of ISO strength cate

12 7.5 Installing a Load on the Slider  The slider has tapped holes that can be used to affix a load. The procedure to affix a load on the sli

13 8. Wiring of the Cables Unless otherwise specified, the actuator of single-axis configuration is shipped with a 3 or 5-meter single-axis cable

14 9. Precautions for Use 9.1 Actuator Load Make sure the load specified in the “Specifications” section is not exceeded. In particular, pay att

15 9.2 Home Return 9.2.1 Operating Principles of Home Return Home return is performed in the sequence specified below. [1] When a home return

Precaution on Installation of Linear Servo Actuator The linear servo actuator shall be installed according to the following table as a general

16 9.3 Stainless Sheet The stainless sheet is held in position by the attraction forces of rubber magnets provided on the side covers. If ambient

17 10. Selection Conditions When using a large linear servo actuator, you must ensure that the actuator satisfies the following two conditions.

18 10.1 Selection Method Condition [1]: Maximum thrust For the slider to accelerate according to a command, the thrust required for acceleration,

19 Condition [2]: Thrust during continuous operation Confirm that the thrust during continuous operation, or Ft, which also takes into considerati

20 10.2 Example Let’s select a motor by following the procedure in “Selection Method.”  Operating conditions  Applicable model: Large linear

21 Test condition [2], “thrust during continuous operation.” Apply the above operation pattern to the aforementioned equation of thrust during cont

22 11. Maintenance and Inspection 11.1 Inspection Items and Schedule Perform maintenance and inspection at the intervals specified below. This s

23 11.4 Inspecting the Interior With the power supply turned off, turn up the stainless sheet and visually inspect the interior. Check the follow

24 11.6 Greasing the Guide 11.6.1 Applicable Grease Lithium grease is applied to the guide before shipment. IAI uses the greases specified below

25 11.6.2 How to Add Grease Before adding grease, turn off the actuator power. 1) Remove the end cover to reveal the right and left grease nippl

Table of Contents Safety Guide... Pre-1 1. Foreword...

26 YESNOYESNO 12. Troubleshooting 12.1 What to Do When You Suspect a Failure Even when an encoder open error (error code: D12), driver overload er

27 YESNOYESNOYESNOEncoder open error After Start of Operation Is there a broken cable? Check if

28 Cable Connection Locations The connection locations of cables on the LSA-W21 linear servo actuator are shown below.

29 13. Replacement/Adjustment of Stainless Sheet [Required Items]  Replacement stainless sheet  Hex wrench set  Scale  Adhesive tape [Notes]

30 13.1 Replacement Procedure for Stainless Sheet 1. Replacing the damaged stainless sheet with a new stainless sheet [1] Check a new stainless

31 13.2 Adjusting the Stainless Sheet Tension [1] First, affix the stainless sheet uniformly on the right and left in a manner free from meanderi

32 [4] Move the slider by hand over its full stroke and see the stainless sheet from above to confirm that the specified dimensions on both sides

33 14. Linear Scale Cleaning Procedure [Required Items for Cleaning]  Allen wrenches (4 mm, 3 mm and 2.5 mm across flats)  Tweezers  Dry cloth

34 [2] Remove the stainless sheet and clean the linear scale. So that the original tension can be restored when the stainless sheet is installed ag

35 (2) Remove the side cover from the side where there is no cable track. [1] Use an Allen wrench of 2.5 mm across flats to remove t

8. Wiring of the Cables...13 9. Precautions for Use...

36 [3] Remove the side cover. Once the side cover is removed, you should see the linear scale at the bottom. (3) Ta

37 (4) Install the side cover to its original condition. [1] Install the side cover you have removed earlier. [2] Use an Allen

38 (5) Install the stainless sheet. [1] Move the slider to near the center of the stroke, and insert the stainless sheet into the slider and guid

39 [3] Pull the stainless sheet from the side not yet secured and align it with the marker lines in the same manner. Loosely tighten the bolts on

40 [4] Move the slider by hand over its full stroke and see the stainless sheet from above to confirm that the specified dimensions on both sides

41 [6] Put the slider cover over the slider and tighten the bolts using an Allen wrench of 3 mm across flats to secure the slider cover.

42 15. Specifications 15.1 Actuator Model number Unit LSA-W21SS, LSA-W21SM LSA-W21HS, LSA-W21HM Stroke mm LSA-W21SS: 1050 ~ 4155LSA-W21SS:

43 15.2 Cable Wiring Diagram [1] Cable in the cable track (motor cable) [2] Cable in the cable track (encoder cable)

44 (Reamer pitch: 0.02)(Reamer pitch: 0.02) 15.3 External Dimension Drawing 15.3.1 W21SS C-

45 No. Stroke

15. Specifications ...42 15.1 Actuator...

46 (Reamer pitch: 0.02) 15.3.2 W21SM C-9, depth 13 4-M8, depth 20 8 H7, depth 5 Detail view

47 No. Stroke

48 (Reamer pitch: 0.02) 15.3.3 W21HS C-9, depth 13 8-M8, depth 20 2-,6H7, depth 10 8 H7, d

49 No. Stroke

50 15.3.4 W21HM C-9, depth 13 8-M8, depth 20 2-,6H7, depth 10 8 H7, depth 5 Detail view of

51 No. Stroke

52 Change History Revision Date Description of Revision September 2010 January 2011 First edition Second edition  Page 31 Corrected t

Catalog No.: ME3645-3A Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chica

Pre-1 Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety guides provided below and taking the ne

Pre-2 Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measure

Pre-3 Applicable Models of IAI’s Industrial Robots Machines meeting the following conditions are not classified as industrial robots according to