IAI America ICS(P)A - Manual (Page 20)

ICS(P)A Cartesian Robot, 3-axis Configuration XYB + Z-axis (Z-axis Base Mount) Type
ICS(P)A3-B
†††B††-CT-CT X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Self-supporting Cable Track
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. GMM08-009 1/3
* 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 20.8kgf xcm/204Nxcm
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)
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)
High-tension washer
[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.
Y-axis: IS(P)A
[1] X-Y bracket
Parallel pin (2 pcs)
X-axis: IS(P)A
[Installation of Y-axis: IS(P)A on X-Y bracket [1]]
X-axis: IS(P)A
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]]
Type 2
(Reverse of type 1)
Type 3
(Y-axis installed on
opposite side)
Type 4
(Reverse of type 3)
X-axis
Y-axis