IAI America CT4 - Manual (Page 5)

Table of Contents
Safety Guide............................................................................................................... 1
Caution in Handling .................................................................................................... 8
Names of the Parts..................................................................................................... 9
1. Specifications Check .......................................................................................... 10
1.1 Checking the Product.....................................................................................................10
1.1.1 Components............................................................................................................10
1.1.2 Instruction manuals related to this product, which are contained in the (DVD). ......10
1.1.3 How to Read the Model Nameplate ........................................................................10
1.1.4 How to Read the Model Number............................................................................. 11
1.2 Specification ...................................................................................................................12
1.2.1 Speed......................................................................................................................12
1.2.2 Maximum acceleration and transportable weight ....................................................12
1.2.3 Driving System and Position Detector.....................................................................13
1.2.4 Positioning Accuracy ...............................................................................................13
1.3 Motor • Encoder Cables .................................................................................................14
1.3.1 Motor Cables...........................................................................................................14
1.3.2 Encoder Cables.......................................................................................................15
2. Installation .......................................................................................................... 16
2.1 Transportation ................................................................................................................16
2.1.1 Handling of the Robot .............................................................................................16
2.1.2 Handling of the Robot Mounted on Mechanical Equipment (System) .....................17
2.2 Installation and Storage/Preservation Environment........................................................18
2.3 How to Install..................................................................................................................19
2.3.1 Installation of the Main Body ...................................................................................19
2.3.2 Datum Surface ........................................................................................................20
2.3.3 Platform for installation............................................................................................21
2.3.4 Attachment of Transported Objects.........................................................................22
3. Connecting to the Controller ............................................................................... 24
4. Maintenance Inspection...................................................................................... 28
4.1 Inspection Items and Inspection Schedule .....................................................................28
4.2 Visual Inspection ............................................................................................................28
4.3 Cleaning .........................................................................................................................28
4.4 Internal Inspection..........................................................................................................29
4.5 Internal Cleanup.............................................................................................................31
4.6 Grease Supply ...............................................................................................................32
4.6.1 Grease Applied........................................................................................................32
4.6.2 How to Apply Grease ..............................................................................................32
4.7 Motor Replacement Process ..........................................................................................37
4.7.1 Motor Replacement for X1 and X2..........................................................................38
4.7.2 Process to Replace the Motor for the Y-Axis...........................................................47
4.7.3 Process to Replace the Motor for the Z-Axis...........................................................54
5. External Dimensions........................................................................................... 60