IAI America ICS(P)A - Manual (Page 39)

* 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.
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.
ICS(P)A Cartesian Robot, 4-axis Configuration XYB (Y-axis Base Mount) Type
Cable Track
Drawing No.
[Tools] Allen wrench
Parallel pin (2 pcs)
Hexagonal socket head
bolt (4 pcs)
Y-axis: IS(P)A
X-axis: IS(P)A
[For the Y-X-axis assembly, refer to Assembly
Procedures [GMM08-004].]
[1] YZR (M) (S) plate
[Installation of YZR (M) (S) plate [1] on Y-axis: IS(P)A]
Parallel pin Tightening torque Hexagonal socket
head bolt Configuration type
[2] Box support (M) (S)
Hexagonal socket head
bolt (4 pcs)
ZR-axis
[Installation of box support (M) (S) [2] on ZR-axis]
Tightening torque Hexagonal socket
head bolt
Parallel pin (2 pcs)
Hexagonal socket head
bolt (4 pcs)
Y-axis: IS(P)A
X-axis: IS(P)A
[1] YZR (M) (S) plate
ZR-axis
[Installation of ZR on YZR (M) (S) plate [1]]
Tightening torque Hexagonal socket
head bolt
Configuration type
Y-axis: IS(P)A
X-axis: IS(P)A
ZR-axis
Install the hexagonal nut on the hexagonal socket head
bolt and then insert the nut in the lower slot of the Y-axis.
[Installation of cable track support [3] on Y-axis: IS(P)A]
Tightening torque Flange-head hexagonal socket head bolt
[3] Cable track support
Flange-head hexagonal
socket head bolt
M4 hexagonal nut
[2] Box support (M) (S)
[4] Connector box Y-Z
Hexagonal socket
head bolt (2 pcs)
[Installation of connector box Y-Z [4] on box support (M) (S) [2])
Tightening torque Hexagonal socket
head bolt
X-axis: IS(P)A [5] Cable track
ZR-axis
Same on the
moving-end side
[5] Cable track
Common to
ZRM and S Y-axis: IS(P)A
Hexagonal socket head bolt
(8 pcs) M6 x 10 mm
M6 hexagonal nut (8 pcs)
Secure the cables using tie-
mounts, convex bases (provided
by the customer), etc.
Connector joint for cable
inside cable track and ZR, X-
axis and Y-axis cables
Follow “Instruction for Cable Track Type Wiring
(Drawing No. GMM12-001)”
for how to lay out the wiring inside a cable track.