IAI America NS - Manual (Page 9)

X-axis Nut-rotation Type Cartesian Robot – High-precision 6-axis Specification,
Z Base Mount
ICSPA6-B3N1H (M) B3H (M)
Drawing No.
Caution:  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.
 Exercise due caution during the assembly to prevent pinching of hands and fingers.
Assembly of Y1-axis side
Y1-axis: ISPA
X1-axis slider side
(base, reamed-hole side)
X2-axis slider side
(base, slotted-hole side)
* The direction is different on the
Y2-axis side. Assemble the parts
by referring to the Y1-axis side.
Caution: The controller-actuator cables for Y1-axis side (axes 1, 2
and 3) and Y2-axis side (axes 4, 5 and 6) are available.
Install each cable correctly.
[Cable markings]
 Y1-axis side (axes 1, 2 and 3): 1-M, PG, (LS), 2-M, PG,
(LS), 3-M, PG, (LS)
 Y2-axis side (axes 4, 5 and 6): 4-M, PG, (LS), 5-M, PG,
(LS), 6-M, PG, (LS)
Affixing positions of guide rail [4], cable track [5] and wiring box bracket [6]
Affix the wiring box bracket [6] using the holes on the outer side.
Align the guide rail [3] surface with the end face of the base.
[Installation of wiring box bracket [6] in T slot on X-axis: NS side]
Wiring box
In this assembly procedure, the controller-actuator cable is
taken out from the wiring box in the direction shown above.
The cable can also be taken out in the directions shown below.
[Tools] Allen wrench, spanner wrench
Hexagonal socket head bolt M8x30
+ high-tension washer (4 sets)
Parallel pin (2 pcs)
[1] XY bracket
Parallel pin (1 pc or 2 pcs)
X-axis: NS
X-axis base, reamed-hole side
Hexagonal bolt M8x40
+ high-tension washer
(4 sets)
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.
[Installation of X-axis: NS on XY bracket [1]]
Parallel pin Hexagonal bolt Tightening torque
Install the grommet with
film [8] onto the Y-axis
actuator cable and
guide the cable through
the hole in the track
mounting bracket [3].
[Installation of Y1-axis: ISPA on XY bracket [1]]
[3] Track mounting bracket
Hexagonal socket
head bolt
M5x10 (2 pcs)
[8] Grommet with film
[1] XY bracket
X-axis: NS
Parallel pin Hexagonal socket
head bolt
Tightening torque
Hexagonal socket head bolt Tightening torque
[Installation of track mounting bracket [3] on XY bracket [1]]
[3] Track mounting bracket
Y1-axis: ISPA
X-axis: NS
[1] XY bracket
[3] Track mounting bracket
Y2-axis: ISPA
[2] XY bracket
(different direction)
Flange socket
(hexagonal socket head type)
M4x10
+ hexagonal nut (3 sets)
[4] Guide rail
Y1-axis: ISPA
X-axis: NS
[9] Controller-actuator cable with
cable fix cap (for axis 1, 2 or 3)
Hexagonal socket head bolt M4x6
+ hexagonal nut (2 sets)
[9] Controller-actuator cable with
cable fix cap (for axis 4, 5 or 6)
[6] Wiring box bracket
[4] Guide rail
[8] Grommet with film
Flange socket (hexagonal socket head type) M4x10
+ hexagonal nut (3 sets)
Y2-axis: ISPA
[3] Guide rail [3] Guide rail
[5] Cable track [5] Cable track
[Installation of guide rail [4] in T slot on X-axis: NS side]
Hexagonal socket head bolt Tightening torque
Flange socket (hexagonal socket head type) Tightening torque
Hexagonal socket head bolt M4x10 (2 pcs)
Y1-axis: ISPA
X-axis: NS
[3] Track mounting bracket
[4] Guide rail
[5] Cable track
Hexagonal socket head bolt M4x10
+ hexagonal nut (2 sets)
Hexagonal socket head bolt M4x10
+ hexagonal nut (2 sets)
Hexagonal socket head bolt M4x10 (2 pcs)
Y2-axis: ISPA
[4] Guide rail
[5] Cable track
[3] Track mounting bracket
[Installation of cable track [5] on track mounting bracket [3]]
[Installation of guide rail [4] for cable track [5] in T-slot]
Hexagonal socket head bolt Tightening torque