Cartesian Robot ICSB/ICSPB.

Transcription

1 Cartesian Robot ICSB/ICSPB

2 The ICSA Series Cartesian Robots Have Been Totally Upgraded! The ICSB/ICSPB Cartesian robots are pre-configured units based on the seven 2-axis configurations and seven 3-axis configurations that are frequently used. These robots are ready to be assembled and include the cabling and brackets so that they can be installed in your equipment and used immediately after delivery. ICSB Series Standard Specifications / ICSPB Series High-Precision Specifications Features 1 Great Improvements in Performance Great improvements in precision, payload, acceleration and deceleration compared to the conventional ICSA series models. Positioning repeatability Standard Specifications ±0.02mmà±0.01mm High-Precision Specifications ±0.01mmà±0.005mm Payload Cantilevered 3-axis Configuration Maximum payload 19kg à36.4kg Acceleration and deceleration Rated acceleration/deceleration 0.3Gà0.4G Maximum acceleration/deceleration 1.0Gà1.2G Note: Positioning repeatability conforms to the specification of each configured axis. 2 Many variations available 3 Cable track option made available 4 No cable track overhang Seven types of configurations are provided for 2-axis and 3-axis units; a total of 834 types of variations including axis size and configuration direction can be selected. 2-axis configuration types axis configuration types 608 A cable track for wiring of a customer provided device is an option that is available with the XYB/XYBG types. Device provided and mounted by the customer. For details, see page 14 Cable track (optional) No overhang from the main body caused by changes in the cable track mounting position; no need to worry about interference from peripheral devices. With overhang No overhang (Overhang) 001 Features

3 Variations 2-axis Configurations base mount slider mount upright mount slider mount XYB type (à P. 17) XYS type (à P. 57) XZ type (à P. 71) YZS type (à P. 87) base mount flat-mounted gantry side-mounted gantry YZB type (à P. 97) XYG type (à P. 109) XYBG type (à P. 113) 3-axis Configurations base mount base mount base mount slider mount upright mount slider mount flat-mounted gantry base mount XYB + Z base mount type (à P. 135) XYB + Z slider mount type (à P. 189) XZ + Y slider mount type (à P. 225) XYG + Z base mount type (à P. 229) flat-mounted gantry slider mount side-mounted gantry base mount side-mounted gantry slider mount XYG + Z slider mount type (à P. 241) XYBG + Z base mount type (à P. 253) XYBG + Z slider mount type (à P. 285) Variations 002

4 2-axis Configuration Explanation of Types of Robots A selection of configurations for seven frequently used types which include the cabling and brackets ready to be assembled. The line up ranges from lightweight to heavyweight, short stroke to long stroke; the optimal type can be selected according to use for each configuration. 1 XYB ( Base Mount) Type à P. 17 A basic configuration type where the base is mounted to the bracket. This actuator operates with a device or attached to the slider. Configuration direction: 1 Configuration direction: 2 Point 1 The configuration direction can be selected from one of four patterns (see the diagram at right). bracket slider Point 2 Select the wiring specification from the two options of self-standing cable and cable track. Configuration direction: 3 Configuration direction: 4 ( installed on opposite side) (opposite of 3) 2 XYS ( Slider Mount) Type à P. 57 The slider is mounted to the bracket in a manner allowing the to move. Use this type when the itself must be moved back and forth to avoid an obstacle, etc. Configuration direction: 1 Configuration direction: 2 Point 1 configuration direction can be selected from one of four patterns (see the diagram at right). Configuration direction: 3 Configuration direction: 4 bracket Point 2 Only the self-standing cable option is available for the wiring specification. ( installed on opposite side) (opposite of 3) 3 XZ ( Upright Mount) Type à P. 71 The (vertical axis) is positioned vertically on the. Use this type in such applications as inserting loads into a stacker or moving a pallet up and down. Point 1 The configuration direction can be selected from one of six patterns (see the diagram at right). Point 2 Since the comes standard with a brake, the slider will not drop even when the power is turned off. Configuration direction: 1 Configuration direction: 2 Configuration direction: 3 Configuration direction: 4 ( installed on opposite side) (opposite of 3) Point 3 The maximum stroke is 2500mm for the and 500mm for the. (Consult IAI if you need a longer stroke.) Configuration direction: 5 Configuration direction: 6 (opposite of 5) 003 Explanation of Types of Robots

5 4 YZS ( Slider Mount) Type à P. 87 The is oriented horizontally on its side and its slider is connected to the slider of the (vertical axis). Since the body of the moves vertically, this type can be fitted with tooling or other devices on the to transfer loads or perform other operations. Configuration direction: 1 Configuration direction: 2 Point 1 Since the comes standard with a brake, the slider will not drop even when the power is turned off. Point 2 A self-standing cable comes as standard for the wiring specification, however, a cable track can also be accommodated (as a custom order). 5 YZB ( Base Mount) Type à P. 97 The is horizontally oriented on its side and its slider is mounted to the slider of the (vertical axis). Since the moves vertically, this type can be fitted with tooling or other devices on the to transfer loads or perform other operations. Configuration direction:1 Configuration direction:2 Point 1 This type has a greater payload capacity than the YZS ( slider mount) type. Point 2 Since the comes standard with a brake, the slider will not drop even when the power is turned off. Point 3 Select the wiring specification from the two options of self-standing cable and cable track. 6 XYG ( Flat-mounted Gantry) Type à P. 109 The of the XYB type is placed flat and a support guide is attached at the end of the. Use this type for transferring heavy objects or when the stroke is long and the end might sag. Configuration direction: 1 Configuration direction: 2 Support Guide Point 1 A maximum of 45 kg can be transferred. Point 2 The maximum stroke is 2500mm for the and 1200mm for the. (Consult IAI if you need a longer stroke.) 7 XYBG ( Side-mounted Gantry) Type Support Guide à P. 113 The of the XYB type is placed sidemounted and a support guide is attached at the end of the. Use this type for transferring heavy objects or when sagging at the end of the would become a problem. Point 1 A maximum of 60 kg can be transferred. Point 2 A shorter stroke than the XYG type can be set for both the and. Configuration direction: 1 Configuration direction: 2 Configuration direction: 3 Configuration direction: 4 ( installed on opposite side) (opposite of 3) Explanation of Types of Robots 004

6 3-axis Configuration Explanation of Types of Robots Based on the 2-axis configuration XYB (XY base fixed) type and XYG/XYBG (XY gantry) type, this is a 3-axis configuration with an additional vertical. An XZY type with an added based on the XZ ( upright mount) type is also included in the line-up. 1 XYB ( Base Mount) + Base Mount Type à P. 135 With this type, the base of the is mounted to the slider of the XYB type (The base is mounted to the bracket). Point The main body of the is mounted and the slider moves up and down. It has a greater load capacity vertically than the slider mounted type. Configuration direction: 1 Configuration direction: 3 Configuration direction: 2 Configuration direction: 4 ( installed on opposite side) (opposite of 3) 2 XYB ( Base Mount) + Slider Mount Type à P. 189 With this type, the slider of the is mounted to the slider of the XYB type (The base is mounted to the bracket). Point The main body of the moves up and down, making it suitable when there are obstacles to the movement. Configuration direction: 1 Configuration direction: 2 Configuration direction: 3 Configuration direction: 4 ( installed on opposite side) (opposite of 3) 3 XZ ( Upright Mount) + Slider Mount Type à P. 225 This is a type where the slider of the is mounted to the slider of the of the XZ type ( is upright mounted on the ). Point Suitable for insertion, movement of work parts to a stacker and moving of objects placed on the surface of a wall. Configuration direction: 1 Configuration direction: Explanation of Types of Robots

7 4 XYG ( Flat-Mounted Gantry) + Base Mount Type à P. 229 With this type, the base of the is mounted on the slider of the XYG type (a guide is placed parallel to the and the is supported by the and the guide). Support Guide Point The main body of the is mounted and the slider moves up and down. It has a greater load capacity vertically than the slider mounted type. Configuration direction: 1 Configuration direction: 2 5 XYG ( Flat-mounted Gantry) + Slider Mount Type à P. 241 With this type, the slider of the is mounted on the slider of the of the XYG type (a guide is placed parallel to the and the is supported by the and the guide). Point The main body of the moves up and down, making it suitable when there are obstacles to the movement. Configuration direction: 1 Configuration direction: 2 Support Guide 6 XYBG ( Side-mounted Gantry) + Base Mount Type à P. 253 With this type, the base of the is mounted on the slider of the of the XYBG type (a support guide is attached at the end of the of the XYB type). Configuration direction: 1 Configuration direction: 2 Point The main body of the is mounted and the slider moves up and down. It has a greater load capacity vertically than slider mounted type. Configuration direction: 3 ( installed on opposite side) Configuration direction: 4 (opposite of 3) Support Guide 7 XYBG ( Side-mounted Gantry) + Slider Mount Type Support Guide à P. 285 With this type, the slider of the is mounted on the slider of the of the XYBG type (a support guide is attached at the end of the of the XYB type). Point The main body of the moves up and down, making it suitable when there are obstacles to the movement. Configuration direction: 1 Configuration direction: 2 Configuration direction: 3 Configuration direction: 4 ( installed on opposite side) (opposite of 3) Explanation of Types of Robots 006

8 2-axis Configuration Selection Tables by Type In the following Specification Tables by Type, please select the best suitable model by comparing the stroke, speed and payload. Cartesian Robot XYB ( Base Mount) Type B XY 2-axis base configuration mount stroke 100~ ~ ~ ~ Payload by stroke (kg) Max. speed (mm/s) BA H à P BA M à P BB H à P BC H à P BB M à P BC M à P BG S à P BK H à P BE S à P BE H à P BE M à P BK M à P BM H à P BM M à P ~ BD H à P ~ ~ BH S à P BF S à P BF H à P BL H à P BL M à P. 51 Cartesian Robot XYS ( Slider Mount) Type S XY 2-axis configuration slider mount stroke 100~ ~ Payload by stroke (kg) Max. speed (mm/s) SA H à P SA M à P S1C H à P SG S à P SG H à P S1C M à P S2C H à P. 65 Cartesian Robot XZ ( Upright Mount) Type Z XZ 2-axis configuration upright mount stroke 100~ ~ Payload by stroke (kg) Max. speed (mm/s) ZA H à P ZA M à P Z1C H à P Z2C H à P Z1C M à P ~ ZG S à P ~ ZD H à P ~ ZH S à P Cartesian Robot Selection Tables

9 Cartesian Robot YZS ( Slider Mount) Type YS YZ 2-axis configuration slider mount stroke 100~ ~ Payload by stroke (kg) Max. speed (mm/s) YSA H à P YSA M à P Y M à P Y H à P YSG H à P. 95 Cartesian Robot YZB ( Base Mount) Type YB YZ 2-axis base configuration mount stroke 100~ ~ ~ Payload by stroke (kg) Max. speed (mm/s) YBA H à P YBA M à P YBC H à P YBC M à P YBG S à P YBG H à P. 107 Cartesian Robot XYG ( Flat-mounted Gantry) Type stroke Payload by stroke (kg) Max. speed (mm/s) 1200 G XY 2-axis gantry configuration flat-mounted gantry 1000~ G1J H à P G2J H à P. 111 Cartesian Robot XYBG ( Side-mounted Gantry) Type G XY 2-axis configuration side-mounted gantry stroke 100~ ~ ~ Payload by stroke (kg) Max. speed (mm/s) GB H à P GB M à P GC H à P GC M à P GE H à P GE M à P GG H à P GG M à P ~ GD H à P ~ GF H à P GH H à P. 133 Cartesian Robot Selection Tables 008

10 3-axis Configuration Selection Tables by Type In the following Specification Tables by Type, please select the best suitable model by comparing the stroke, speed and payload. Cartesian Robot XYB + Base Mount Type 009 B B XYB + 3-axis configuration base mount stroke 100~ ~ ~ ~ ~ ~ ~ ~1500 Cartesian Robot Selection Tables stroke stroke 100~ ~ ~ ~ ~ ~500 Payload (kg) 3.5 Maximum speed (mm/s) 960 BA MB1H 7~ BA MB1M 8.9~ BA MB1L BB HB1H 7~ BB HB1M 7.7~ BB HB1L BB MB1H BB MB1M BB MB1L BC HB1H BC HB1M 14~ BC HB1L BC HB2H 10~ BC HB2M 13.1~ BC HB2L 10~ BC HB3H 12.6~ BC HB3M BC MB2H 10~ BC MB2M 19~ BC MB2L 10~ BC MB3H ~ BC MB3M BD HB1H BD HB1M 14~ BD HB1L BD HB2H 10~ BD HB2M 13.1~ BD HB2L 10~ BD HB3H 12.6~ BD HB3M BE HB1H BE HB1M BE HB1L BE HB2H 10~ BE HB2M 20~ BE HB2L 10~ BE HB3H 20~ BE HB3M BF HB1H BF HB1M BF HB1L BF HB2H 10~ BF HB2M 20~ BF HB2L 10~ BF HB3H 20~ BF HB3M BK HB3H ~ BK HB3M à P. 135 à P. 137 à P. 139 à P. 141 à P. 143 à P. 145 à P. 147 à P. 149 à P. 151 à P. 153 à P. 155 à P. 157 à P. 159 à P. 161 à P. 163 à P. 165 à P. 167 à P ~ BK HB4H à P ~ BK MB3M à P ~ BK MB4M à P BL HB3H ~ BL HB3M à P ~ BL HB4H à P ~ BL MB3M à P ~ BL MB4M à P ~ BM HB4H à P ~ BM MB4M à P. 187

11 Cartesian Robot XYB + Slider Mount Type stroke stroke stroke Payload (kg) Maximum speed (mm/s) B S XYB + 3-axis configuration slider mount 100~ ~ ~ ~ BA MS1M ~ BA MS1L 4.3~ BB HS1M ~ BB HS1L à P. 189 à P ~ ~ BB MS1M ~ BB MS1L 480 BC HS1M 11.3~ BC HS1L à P. 193 à P ~ BC HS3M à P ~ ~ BC MS3M à P ~ BD HS1M 11.3~ BD HS1L à P ~ ~ BD HS3M à P ~ BE HS1M 11.3~ BE HS1L à P ~ BE HS3M à P ~ BF HS1M 11.3~ BF HS1L à P ~ BF HS3M à P ~ ~700 12~ BK HS4H ~ BK HS4M 12~ BK MS4H 32~ BK MS4M à P. 213 à P ~ ~500 12~ BL HS4H ~ BL HS4M 12~ BL MS4H 32~ BL MS4M à P. 217 à P ~ ~ BM HS4H à P ~ BM MS4M à P. 223 Cartesian Robot XZ + Slider Mount Type Z3 HS XZ + 3-axis configuration slider mount stroke stroke stroke Payload (kg) Maximum speed (mm/s) 120~ ~ ~400 13~ Z3C HS1H à P ~ ~ ~ ~ Z3G HS2H à P. 227 Cartesian Robot Selection Tables 010

12 Cartesian Robot XYG + Base Mount Type stroke stroke stroke Payload (kg) Maximum speed (mm/s) G HB XYG + 3-axis configuration base mount 500~ ~ G1J HB1H G1J HB1M G1J HB1L G1J HB2H G1J HB2M à P. 229 à P ~ G1J HB2L 1000~ G1J HB3H 20~ G1J HB3M G2J HB1H à P G2J HB1M à P G2J HB1L 800~ ~ G2J HB2H G2J HB2M à P ~ G2J HB2L G2J HB3H 20~ G2J HB3M à P. 239 Cartesian Robot XYG + Slider Mount Type stroke stroke stroke Payload (kg) Maximum speed (mm/s) G HS XYG + 3-axis configuration slider mount 1000~ ~ ~ ~ ~ ~ ~ G1J HS1M 11.3~ G1J HS1L à P ~ G1J HS2L à P ~ G1J HS3M à P G2J HS1M 11.3~ G2J HS1L à P ~ G2J HS2L à P ~ G2J HS3M à P Cartesian Robot Selection Tables

13 Cartesian Robot XYBG + Base Mount Type stroke stroke stroke Payload (kg) Maximum speed (mm/s) G B XYBG + 3-axis configuration base mount 300~ ~300 7~ GB HB1M ~ GB HB1L GB MB1M GB MB1L à P. 253 à P ~ GC HB1M 14~ GC HB1L à P ~ GC HB2M 13~ GC HB2L à P ~ GC HB3H à P ~ ~ ~ GC MB2L à P ~ GC MB3M à P GD HB1M 14~ GD HB1L à P ~ ~ GD HB2M 13~ GD HB2L à P ~ GD HB3H à P GE HB1L à P ~ GE HB2M 20~ GE HB2L GE HB3H à P ~ GE HB3M à P ~ ~ ~ GE HB3L GF HB1L à P ~ GF HB2M 20~ GF HB2L GF HB3H à P ~ GF HB3M à P ~ GF HB3L Cartesian Robot XYBG + Slider Mount Type stroke stroke stroke Payload (kg) Maximum speed (mm/s) G S XYBG + 3-axis configuration slider mount 300~ ~ ~ GB HS1M ~ GB HS1L 4.3~ GB MS1M ~ GB MS1L à P. 285 à P ~ GC HS1M 11.3~ GC HS1L à P ~ GC HS3M à P ~ GC MS1M ~ GC MS1L à P ~ GC MS3M à P ~ GD HS1M 11.3~ GD HS1L à P ~ GD HS3M à P ~ GE HS1M 11.3~ GE HS1L à P ~ ~ GE HS3M 32.9~ GE HS3L à P ~ GE MS1M ~ GE MS1L à P ~ GE MS3L à P ~ GF HS1M 11.3~ GF HS1L 14.3~ GF HS3M 32.9~ GF HS3L à P. 309 à P. 311 Cartesian Robot Selection Tables 012

14 Cartesian Robot Cable Wiring Methods of Wiring and Characteristics The following two methods can be selected for the wiring cable for the motor/encoder for the second and third axes of Cartesian robots. Please select the type which is suitable for the particular use. Diagram of the Self-standing Cable Wiring Self-standing cable model: The radius of flexure is large so that it does not readily disconnect. Space is required in the height direction. Provides user wiring and tubing inside the composite cable. Cable track model: Height is kept low and does not require space. Wiring for devices mounted on the and can be contained inside the cable track. Red air tube (Ø6 outer diameter, Ø4 inside diameter) Black air tube (Ø6 outer diameter, Ø4 inside diameter) 2 User wiring (0.2mm x 7 pairs) * Protected by red insulating tube Red air tube (Ø6 outer diameter, Ø4 inside diameter) Black air tube (Ø6 outer diameter, Ø4 inside diameter) 2 User wiring (0.2mm x 7pairs) * Protected by red insulating tube Wiring Details by Type of Configuration Cartesian robot configured axis cable exit direction and installation direction of sensor differs depending on the type of configuration and the configuration direction. See the following tables for details. Cable exit direction of the first axis can be changed as an option. (YZS/YZB are excluded) Explanation of Symbols in the Tables A1E A3E A1S A3S Actuator cable exit direction from the rear left Actuator cable exit direction from the rear right Actuator cable exit direction from the left side Actuator cable exit direction from the right side C/L CL/LL Creep sensor/limit switch mounting direction on the right side of the main body (standard) Creep sensor/limit switch mounting direction on the left side of the main body (symmetrically opposite) Self-standing cable Cable track Cable exit direction number: A3S (exit from the right side) number: A3E (exit from the rear right) 2-axis Configuration number: A1E (exit from the rear left) Type XYB XYBG XYS XZ YZS YZB XYG Configuration First axis Second axis Wiring on direction Cable exit direction Limit switch Cable exit direction Limit switch second axis 1 A3S CL/LL A1S C/L 2 A1S C/L A3S CL/LL 3 A3S CL/LL A3S CL/LL 4 A1S C/L A1S C/L 1 A3S CL/LL A3S C/L 2 A1S C/L A1S CL/LL 3 A3S CL/LL A1S CL/LL 4 A1S C/L A3S C/L 1 A3S CL/LL A3S CL/LL 2 A1S C/L A1S C/L 3 A3S CL/LL A1S C/L 4 A1S C/L A3S CL/LL 5 A3S CL/LL A1S C/L 6 A1S C/L A3S CL/LL 1 A1E C/L A3E CL/LL 2 A3E CL/LL A1E C/L 1 A1E C/L A3S CL/LL A1E C/L 2 A3E CL/LL A1S C/L A3E CL/LL 1 A3S CL/LL A3E C/L 2 A1S C/L A1E CL/LL Limit Switch Position Opposite motor side Actuator types other than the SSPA Series 12 SSPA Series number: A1S (exit from the left side) Limit Switch Cover Limit Switch Cover Motor side axis Configuration Type XYB + base mount XYB + slider mount XZ + slider mount XYG + base mount XYG + slider mount XYBG + base mount XYBG + slider mount Configuration First axis Second axis Third axis Wiring for direction Cable exit direction Limit switch Cable exit direction Limit switch Cable exit direction Limit switch second axis 1 A3S CL/LL A1S C/L A3S CL/LL A3E 2 A1S C/L A3S CL/LL A1S C/L A1E 3 A3S CL/LL A3S CL/LL A1S C/L A1E 4 A1S C/L A1S C/L A3S CL/LL A3E 1 A3S CL/LL A1S C/L A1E C/L 2 A1S C/L A3S CL/LL A3E CL/LL 3 A3S CL/LL A3S CL/LL A3E CL/LL 4 A1S C/L A1S C/L A1E C/L 1 A3S CL/LL A3E CL/LL A3S C/L 2 A1S C/L A1E C/L A1S CL/LL 1 A3S CL/LL A3E C/L A1S C/L 2 A1S C/L A1E CL/LL A3S CL/LL 1 A3S CL/LL A3E C/L A3E CL/LL 2 A1S C/L A1E CL/LL A1E C/L 1 A3S CL/LL A1S C/L A3S CL/LL A3E 2 A1S C/L A3S CL/LL A1S C/L A1E 3 A3S CL/LL A3S CL/LL A1S C/L A1E 4 A1S C/L A1S C/L A3S CL/LL A3E 1 A3S CL/LL A1S C/L A1E C/L 2 A1S C/L A3S CL/LL A3E CL/LL 3 A3S CL/LL A3S CL/LL A3E CL/LL 4 A1S C/L A1S C/L A1E C/L 013 Cartesian Robot Selection Tables

15 Cartesian Robot Cable Wiring Cables between the Cartesian Robot and the Controller Connect each axis of the Cartesian robot using motor and encoder single axis robot cables to the controller. The and motor cable and encoder cable are connected in an junction box. Motor cable model CB-X-MA Encoder cable model CB-X1-PA (standard) model CB-X1-PLA (with LS) Controller Motor cable model CB-X-MA Encoder cable model CB-X1-PA (standard) model CB-X1-PLA (with LS) Motor cable model CB-X-MA Encoder cable model CB-X1-PA (standard) model CB-X1-PLA (with LS) Controller Motor cable model CB-X-MA Encoder cable model CB-X1-PA (standard) model CB-X1-PLA (with LS) * The length of the motor cable/encoder cable is common to the and Y/; use a joint cable if one axis is shorter than the other. (144.5) (116.5) Bracket location on the moving end A (300) (300) Motor joint cable model CB-X-MA -JY1 Encoder joint cable modelcb-x1-pa -JY1 Encoder joint cable with LS model CB-X1-PLA JY1 available lengths 0.5m/1m/1.5m/2m <Self-standing Cable Specification> <Cable track specification> Details of Wiring by Type of Configuration Cable track option for wiring of the customer provided device is available for the slider of the XYB, XYBG, and XYG types. base side mounted flat base mounted (144.5) (drive axis) (116.5) X- (drive axis) (144.5) (116.5) (drive axis) Bracket on moving end (93.5) Bracket on moving end B (93.5) (81.5) R75 R48 R75 ST/ (support guide) (support guide) (support guide) Detailed Diagram of Bracket on Moving End and Sectional View of cable track 54 (5.5) Countersink for 2-M6 (81.5) User space (68) 18 (21) (28) (Ø11.8) (Ø6.4) (19.5) (22) Configuration type A dimensions B dimensions BA /BB BC /BD / BE /BF BG /BH / BK /BL /BM GB GC /GD / GE /GF GG /GH Detailed Diagram of Bracket on Moving End Detailed and Sectional Diagram View of cable of track Bracket on Moving End and Sectional View of cable track 66 (93.5) (80) Countersink for 2-M6 User space 18 (21) (28) (11.8) (5.5) 66 (Ø6.4) (19.5) (22) (93.5) (80) Countersink for 2-M6 User space 18 (21) (28) (11.8) (5.5) (Ø6.4) (19.5) (22) Cartesian Robot Selection Tables 014

16 Specification Items The ICSB2, ICSPB2, ICSB3 and ICSPB3 models are made up of the following items. The selected range for each item (stroke, cable wiring and the like) differs depending on each model. For details, please refer to each model specification page starts from page 017. ICSB2/ICSPB2 Series Series Type Encoder type First axis details ICSB2 Standard Type ICSPB2 High-Precision Type <B > ICSB3/ICSPB3 Series A mm mm Set for every 50mm I Stroke ~ ~ Absolute Incremental BA H XYB (S + S) BE S XYB (L + M) super- BK H XYB (SL + L) BA M XYB (S + S) BE H XYB (L + M) BK M XYB (SL + L) BB H XYB (M + S) BE M XYB (L + M) BL H XYB (SL + L) long BB M XYB (M + S) BF S XYB (L + M) super- long BL M XYB (SL + L) long BC H XYB (M + M) BF H XYB (L + M) -long BM H XYB (HRL + L) BC M XYB (M + M) BG S XYB (L + L) super- BM M XYB (HRL + L) BD H XYB (M + M) long BH S XYB (L + L) super- long S = small model M = medium model L = large model SL = super-large model HRL = high-rigidity large model Second axis details Applicable controller Cable length Cable wiring Cable wiring between between first second and third axes and second axes Option Stroke Option T1 XSEL-J/K 3L 3m Cable exit direction A change for the first axis mm AQ AQ seal ON 5L 5m AQ AQ seal ~ ~ B Brake T2 SSEL L Specified length B Brake mm C Creep sensor XSEL-P/Q/R/S C Creep sensor Set for every 50mm L Limit switch * When operating with ON controllers, L Limit switch NM Non-motor end as the same number of single axis controllers is specification required. Also, a control device such as NM Non-motor end specification RT Guide with ball retention mechanism PLC is required on the top position. RT Guide with ball retention mechanism <S > <Z > <Y > <G > SA H XYS (S + S) SA M XYS (S + S) S1C H XYS (M + M) S1C M XYS (M + M) S2C H XYS (M + M) SG S XYS (L + L) super- SG H XYS (L + L) ZA H XZ (S + S) ZA M XZ (S + S) YSA H YZS (S + S) YSA M YZS (S + S) Z1C H XZ (M + M) Y H YZS (M + M) Z1C M XZ (M + M) Y M YZS (M + M) Z2C H XZ (M + M) YSG H YZS (L + L) ZD H XZ (M + M) long YBA H YZB (S + S) ZG S XZ (L + L) super- YBA M YZB (S + S) ZH S XZ (L + L) YBC H YZB (M + M) super- long YBC M YZB (M + M) YBG S YZB (L + L) super- YBG H YZB (L + L) G1J H XYG (L + M) flat-mounted G2J H XYG (L + M) long flat-mounted GB H XYBG (M + S) side-mounted GB M XYBG (M + S) side-mounted GC H XYBG (M + M) side-mounted GC M XYBG (M + M) side-mounted GD H XYBG (M + M) long side-mounted (no entry) No cable track Self-standing cable Cable track Cable track *Option code dedicated for the B, G types. This option is available when is selected for GE H XYBG (L + M) side-mounted GE M XYBG (L + M) side-mounted GF H XYBG (L + M) long side-mounted GG H XYBG (L + L) side-mounted GG M XYBG (L + L) side-mounted GH H XYBG (L + L) long side-mounted 015 Series Type Encoder type Details of first axis ICSB3 Standard Type ICSPB3 High-Precision Type Stroke mm ~ ~ mm Set for every 50mm A I Absolute Incremental Option Stroke A mm Cable exit direction change for the first axis AQ AQ seal ~ ~ B Brake mm C Creep sensor Set for every 50mm L Limit switch NM Non-motor end specification RT Guide with ball retention mechanism <B B > BA MB1 XYB (small model + small model) type BB HB1 XYB (medium model + small model) type BB MB1 XYB (medium model + small model) type BC HB1 XYB (medium model + medium model) type BC HB2 XYB (medium model + medium model) type BC HB3 XYB (medium model + medium model) type BC MB2 XYB (medium model + medium model) type BC MB3 XYB (medium model + medium model) type BD HB1 XYB (medium model + medium model) long type BD HB2 XYB (medium model + medium model) long type BD HB3 XYB (medium model + medium model) long type BE HB1 XYB (large model + medium model) type BE HB2 XYB (large model + medium model) type BE HB3 XYB (large model + medium model) type Specification Items BF HB1 BF HB2 BF HB3 BK HB3 BK HB4 BK MB3 BK MB4 BL HB3 BL HB4 BL MB3 BL MB4 BM HB4H BM MB4M Details of second axis AQ B C Option AQ seal Brake Creep sensor L Limit switch NM Non-motor end specification RT Guide with ball retention mechanism Details of third axis Applicable controller T1 XSEL-J/K 3L 3m ON 5L 5m T2 XSEL-P/Q/R/S L Specified length * When operating with ON controllers, as the same number of axis controllers is required. Also, a control device such as PLC is required on the top position. Stroke mm ~ ~ mm Set for every 50mm XYB (large model + medium model) long type XYB (large model + medium model) long type XYB (large model + medium model) long type XYB (super-large model + large model) type XYB (super-large model + large model) type + (large model 400W) base mount XYB (super-large model + large model) type XYB (super-large model + large model) type + (large model 400W) base mount XYB (super-large model + large model) long type XYB (super-large model + large model) long type + (large model 400W) base mount XYB (super-large model + large model) long type XYB (super-large model + large model) long type + (large model 400W) base mount XYB (high-rigidity large model + large model) type + Z axis (large model 400W) base mount XYB (high-rigidity large model + large model) type + (large model 400W) base mount Cable length Cable wiring Cable wiring between between first second and third axes and second axes AQ B C Option AQ seal Brake Creep sensor L Limit switch NM Non-motor end specification RT Guide with ball retention mechanism <B S > BA MS1 XYB (small model + small model) type BB HS1 XYB (medium model + small model) type BB MS1 XYB (medium model + small model) type BC HS1 XYB (medium model + medium model) type BC HS3 XYB (medium model + medium model) type BC MS3 XYB (medium model + medium model) type BD HS1 XYB (medium model + medium model) long type BD HS3 XYB (medium model + medium model) long type BE HS1 XYB (large model + medium model) type BE HS3 XYB (large model + medium model) type BF HS1 XYB (large model + medium model) long type BF HS3 XYB (large model + medium model) long type BK HS4 XYB (super-large model + large model) type + (large model 400W) slider mount BK MS4 XYB (super-large model + large model) type + (large model 400W) slider mount BL HS4 XYB (super-large model + large model) long type + (large model 400W) slider mount BL MS4 XYB (super-large model + large model) long type + (large model 400W) slider mount BM HS4H XYB (high-rigidity large model + large model) type + (large model 400W) slider mount BM MS4M XYB (high-rigidity large model + large model) type + (large model 400W) slider mount Self-standing cable Cable track Cable track + self-standing cable * is a dedicated model for: G1J HS G2J HS Self-standing cable Cable track

17 j Series Series names are as follows. ICSB2 : ISB 2-axis configuration ICSPB2 : ISPB 2-axis configuration ICSB3 : ISB 3-axis configuration ICSPB3 : ISPB 3-axis configuration k Type Indicates the configuration patterns, configuration directions, types of model configurations and types of speeds. 2-axis configuration B B 1 H 3-axis B B 1 H B 1 M (1) (2) (3) (4) configuration (1) (2) (3) (4) (5) (6) (7) (1) 1-2-axis configuration type (*1) B: XYB type / S: XYS type / Z: XZ type / YS: YZS type / YB: YZB type / G: XYG type (2) 1-2-axis configuration type A / B / C / 1C / 2C / D / E / F / G / H / K / L / M / 1J / 2J (3) 1-2-axis configuration direction 1 / 2 / 3 / 4 (4) 1-2-axis speed type S: super-high speed type / H: type / M: medium speed type (5) mount type B: base mount / S: slider mount (6) motor output 1: 60W / 2: 100W / 3: 200W / 4: 400W (7) speed type H: type / M: type / L: low-speed type (*1) For 3 axes, B (XYB type) and G (XYG type) and Z (XZ type) only l Encoder type Indicates whether the encoder installed in the actuator is an absolute type or incremental type. A : Absolute type I : Incremental type m First axis details Since the current slider position will be retained after the power is turned off, homing is not required when the actuator is powered up. Since the slider position data are cleared when the power is turned off, homing must be performed every time the actuator is powered up. Indicate the stroke and options of the first axis in the 2-axis and 3-axis configurations. The stroke should be entered in cm units (example: 500 mm stroke à 50). When multiple options are set, entry should be made in alphabetical order with no hyphens in between. (Example : AQ seal + creep sensor + limit switch + non-motor end specification à AQCLNM) n Second axis details Indicate the stroke and options of the second axis in the 2-axis and 3-axis configurations. The same holds for others. o Third axis details Indicate the stroke and options of the third axis in the 3-axis configuration. The same holds for others. q Applicable controller Indicates the type of controller which is connected. T1: XSEL-J/K T2: XSEL-P/Q/R/S, SSEL, ON s Cable wiring between axes 1-2 Indicates the method of cable wiring from the first axis to the second axis. : Self-standing cable specification : Cable track specification * Depending on the model, sometimes only either or can be specified. Please refer to each model specification page for details. <Z3 HS H/G B /G S > Z3C HS1H XZ (medium model + medium model) type + (small model) slider mount Z3G HS2H XZ (large model + large model) type + (medium model) slider mount G1J HB1 XYG (large model + medium model) long type G1J HB2 XYG (large model + medium model) long type G1J HB3 XYG (large model + medium model) long type G2J HB1 XYG (large model + medium model) long type G2J HB2 XYG (large model + medium model) long type G2J HB3 XYG (large model + medium model) long type G1J HS1 XYG (large model + medium model) long type G1J HS2 XYG (large model + medium model) long type + (medium model 100W) slider mount G1J HS3 XYG (large model + medium model) long type G2J HS1 XYG (large model + medium model) long type G2J HS2 XYG (large model + medium model) long type + (medium model 100W) slider mount G2J HS3 XYG (large model + medium model) long type r Cable length GB HB1 XYBG (medium model + small model) type GB MB1 XYBG (medium model + small model) type GC HB1 XYBG (medium model + medium model) type GC HB2 XYBG (medium model + medium model) type GC HB3 XYBG (medium model + medium model) type GC MB2 XYBG (medium model + medium model) type GC MB3 XYBG (medium model + medium model) type + Z axis (medium model 200W) base mount GD HB1 XYBG (medium model + medium model) long type GD HB2 XYBG (medium model + medium model) long type GD HB3 XYBG (medium model + medium model) long type GE HB1 XYBG (large model + medium model) type GE HB2 XYBG (large model + medium model) type GE HB3 XYBG (large model + medium model) type GF HB1 XYBG (large model + medium model) long type GF HB2 XYBG (large model + medium model) long type GF HB3 XYBG (large model + medium model) long type Indicates the length of the motor/encoder cable connecting the actuator and the controller. As standard lengths, 3L (3m) or 5L (5m) can be selected. Or custom length can be specified up to 20m. Cable wiring between axes 2-3 Indicates the method of cable wiring from the second axis to the third axis. : Self-standing cable specification : Cable track specification : Cable track + self-standing cable * As a general rule, the cable wiring between axes 2-3 is carried out using the same method as for wiring between axes 1-2. * is restricted to G1J HS, G2J HS. * Depending on the model, sometimes only either or can be specified. Please refer to each model specification page for details. GB HS1 GB MS1 GC HS1 GC HS3 GC MS1 GC MS3 GD HS1 GD HS3 GE HS1 GE HS3 GE MS1 GE MS3 GF HS1 GF HS3 XYBG (medium model + small model) type XYBG (medium model + small model) type + Z axis(small model) slider mount XYBG (medium model + medium model) type XYBG (medium model + medium model) type XYBG (medium model + medium model) type XYBG (medium model + medium model) medium speed type XYBG (medium model + medium model) long type XYBG (medium model + medium model) long type XYBG (large model + medium model) type XYBG (large model + medium model) type XYBG (large model + medium model) type XYBG (large model + medium model) type XYBG (large model + medium model) long type XYBG (large model + medium model) long type Specification Items 016

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