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Iai cartesian icsa_icspa_specsheet

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Electromate

This document provides information on Cartesian robots including: 1. It describes 57 standard configuration types for two-axis and three-axis robots that can be immediately installed and used. 2. The configuration types include variations like XYB (Y-axis base mount), XYS (Y-axis slider mount), XZ, YZ, and XYG (gantry) for two-axis robots, and combinations of these with Z-axis for three-axis robots. 3. Specifications like stroke, speed, and load capacity are provided for each configuration type in tables to help select the best matching model.

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41 ISPA/ICSPA Catalog Q u a l i t y a n d I n n o v a t i o n Cartesian Robots ICSA2/ICSPA2 ICSA3/ICSPA3 C o n t e n t s Cartesian Robot Series Contents 42 Features 43 Product Types 45 Two-Axes Configuration Unit Selection Table 47 Three-Axes Configuration Unit Selection Table 49 Points to Note 59 Explanation of Model Specification Items 61 Installation Method 63 System Configuration 65 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots Two-Axes Configuration 67 Three-Axes Configuration 145 ICS(P)A3-BAMB1 ICS(P)A3-BBHB1 ICS(P)A3-BBMB1 ICS(P)A3-BBMB2 ICS(P)A3-BCHB1 ICS(P)A3-BCHB2 ICS(P)A3-BCHB3 ICS(P)A3-BCMB1 ICS(P)A3-BCMB2 ICS(P)A3-BCMB3 ICS(P)A3-BDHB1 ICS(P)A3-BDHB2 ICS(P)A3-BDHB3 ICS(P)A3-BEHB1 ICS(P)A3-BEHB2 ICS(P)A3-BEHB3 ICS(P)A3-BEMB2 ICS(P)A3-BEMB3 ICS(P)A3-BFMB1 ICS(P)A3-BFHB2 ICS(P)A3-BFHB3 ICS(P)A3-BAMS1 ICS(P)A3-BBHS1 ICS(P)A3-BBMS1 ICS(P)A3-BCHS1 ICS(P)A3-BCHS3 ICS(P)A3-BCMS1 ICS(P)A3-BCMS3 ICS(P)A3-BDHS1 ICS(P)A3-BDHS3 ICS(P)A3-BEHS1 ICS(P)A3-BEHS3 ICS(P)A3-BEMS1 ICS(P)A3-BEMS3 ICS(P)A3-BFHS1 ICS(P)A3-BFHS3 ICS(P)A3-G1JHB1 ICS(P)A3-G1JHB2 ICS(P)A3-G1JHB3 ICS(P)A3-G2JHB1 ICS(P)A3-G2JHB2 ICS(P)A3-G2JHB3 ICS(P)A3-G1JHS1 ICS(P)A3-G1JHS2 ICS(P)A3-G1JHS3 ICS(P)A3-G2JHS1 ICS(P)A3-G2JHS2 ICS(P)A3-G2JHS3 ISPA/ICSPA Catalog 42 Cartesian Robot Series Contents ICSA2(ICSPA2)-BAH ICSA2(ICSPA2)-BAM ICSA2(ICSPA2)-BBH ICSA2(ICSPA2)-BBM ICSA2(ICSPA2)-BCH ICSA2(ICSPA2)-BCM ICSA2(ICSPA2)-BDH ICSA2(ICSPA2)-BEH ICSA2(ICSPA2)-BEM ICSA2(ICSPA2)-BFH ICSA2(ICSPA2)-SAH ICSA2(ICSPA2)-SAM ICSA2(ICSPA2)-S1CH ICSA2(ICSPA2)-S1CM ICSA2(ICSPA2)-S2CH ICSA2(ICSPA2)-SGH ICSA2(ICSPA2)-ZAH ICSA2(ICSPA2)-ZAM ICSA2(ICSPA2)-Z1CH ICSA2(ICSPA2)-Z1CM ICSA2(ICSPA2)-Z2CH ICSA2(ICSPA2)-ZDH ICSA2(ICSPA2)-ZGH ICSA2(ICSPA2)-ZHH ICSA2(ICSPA2)-YAH ICSA2(ICSPA2)-YAM ICSA2(ICSPA2)-YCH ICSA2(ICSPA2)-YCM ICSA2(ICSPA2)-YGH ICSA2(ICSPA2)-G1JH ICSA2(ICSPA2)-G2JH XYB (Y-Axis Base Mount) Type XYS (Y-Axis Slider Mount) Type XZ (Z-Axis Base Mount) Type YZ (Y-Axis Slider Mount) Type XYG (Gantry) Type X-Y Two-Axes Configuration X-Z Two-Axes Configuration Y-Z Two-Axes Configuration X-Y Two-Axes Gantry Configuration 69 71 73 75 77 79 81 83 85 103 105 107 109 111 113 115 117 119 121 123 125 127 129 131 133 135 137 139 141 143 Z-Axis Base Mount Type (Z-Axis Slider Flexible) Z-Axis Slider Mount Type (Z-Axis Body Flexible) Z-Axis Base Mount Type (Z-Axis Slider Flexible) Z-Axis Slider Mount Type (Z-Axis Body Flexible) X-Y Base Mount (XYB) + Z-Axis Configuration X-Y Gantry (XYG) + Z-Axis Configuration 147 149 151 153 155 157 159 161 163 165 167 169 171 173 175 177 179 181 183 185 187 189 191 193 195 197 199 201 203 205 207 209 211 213 215 217 219 221 223 225 227 229 231 233 235 237 239 * In the above model names, indicates the configuration direction (1 through 4). ICSA2(ICSPA2)-BKH ICSA2(ICSPA2)-BKM ICSA2(ICSPA2)-BLH ICSA2(ICSPA2)-BLM ICSA2(ICSPA2)-BPH ICSA2(ICSPA2)-BPM ICSA2(ICSPA2)-BQH ICSA2(ICSPA2)-BQM 87 89 91 93 95 97 99 101 New Models added! Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots Cartesian Robot Series Features The ICSA/ICSPA Cartesian robots are configuration units based on the two-axes and three-axes configuration patterns that are frequently used. These actuators come pre-wired with brackets attached, so they can be installed in your equipment and used immediately after delivery. 1. Configuration Variations Fifty-seven standard configuration types are provided, so the user can find the model best suited to existing conditions. We can also build custom configurations not currently represented in the standard range. Please contact us regarding your specifications. Two-Axes Configuration Type Two-axes configuration units are available in 31 types, each combining one of five configuration patterns with different speeds and motor capacities. XYB Type XYS Type XZ Type ZY Type XYG Type XYB (Y-Axis Base Mount)Type Point 1 There are four patterns of Y-axis configuration directions to choose Point 2 Select the Y-axis wiring specification from the two options of self-standing 43 ISPA/ICSPA Catalog Configuration Direction A basic configuration type where the Y-axis base is mounted to the X-axis bracket. This actuator operates with a device or Z-axis attached to the Y-axis slider. from (refer to the figure shown to right). cable (standard) and cable track. XYS (Y-Axis Slider Mount) Type Configuration direction 1 (Range of operation) Configuration direction 2 (Opposite of 1) (Range of operation) Configuration direction 4 (Opposite of 3) (Range of operation) Configuration direction 3 (Y-axis installed on opposite side) (Range of operation) The Y-axis slider is mounted to the X-axis bracket in a manner allowing the Y-axis to move. Use this type when the Y-axis itself must be moved back and forth to avoid an obstacle, etc. Point 1 There are four patterns of Y-axis configuration directions to choose from (refer to the figure shown to right). Point 2 Only the self-standing cable option is available for the Y-axis wiring specification. Configuration Direction Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots Since the Z-axis comes standard with a brake, the slider will not drop even when the power is turned off. The maximum stroke is 2500 mm for the X-axis and 500mm for the Z-axis. (Consult IAI if you need a longer stroke.) Since the Z-axis comes standard with a brake, the slider will not drop even when the power is turned off. The standard wiring specification of the Z-axis is the self-standing cable, but the cable track can also be used (custom order). The Z-axis base can be mounted (custom order). Point 1 Point 2 Point 1 Point 2 Point 3 The Y-axis o f the XYB type i s placed f lat a nd a s upport guide i s attached at the tip of the Y-axis. Use this type for transferring heavy objects or when the Y-axis stroke is long and the tip might sag. A maximum of 40 kg can be transferred. The maximum stroke is 2500 mm for the X-axis and 1200 mm for the Y-axis. (Consult IAI if you need a longer stroke.) ISPA/ICSPA Catalog 44 XZ (Z-Axis Base Mount) Type YZ (Y-Axis Slider Mount) Type The Z-axis (vertical axis) is positioned vertically on the X-axis. Use this type in such applications as inserting loads into a stocker or moving a pallet up and down. XYG (Gantry) Type The Y-axis is positioned on its side and its slider is connected to the slider of the Z-axis (vertical axis). Since the Z-axis moves vertically, this type can be fitted with a chuck or other device on the Z-axis for transfer of loads. Three-Axes Configuration Type Three-axes c onfiguration units are available in 102 types, each combining either the basic XYB (Y-axis base mount) type or high-rigidity XYG ( gantry) type with a Z-axis (vertical axis) of high-speed, m edium-speed or low-speed specification, providing a maximum load capacity of 19 kg. Consult IAI for details on three-axes combined types. Point 1 Point 2 Four-Axes Configuration Type We a lso offer four-axes configuration t ypes, which are three-axes c onfiguration units with a rotating axis integrated with the Z-axis. Please advise u s of y our desired conditions, and we will select the best configuration and s ubmit drawings. Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots 45 ISPA/ICSPA Catalog Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots ISPA/ICSPA Catalog 46 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots 47 ISPA/ICSPA Catalog Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots ISPA/ICSPA Catalog 48 3 4 5 Applicable type 100 ~ 600 100 ~ 600 200 ~ 800 200 ~ 800 200 ~ 800 800 ~ 2000 200 ~ 800 1000 ~ 2500 Configuration type Page X-axis stroke (mm) 100 ~ 600 100 ~ 600 200 ~ 800 200 ~ 800 200 ~ 800 200 ~ 800 800 ~ 2000 300 ~ 1000 300 ~ 1000 1000 ~ 2500 Maximum speed (X-axis/Y-axis) (mm/sec) 800/800 400/400 *1000/800 *500/400 *1000/1000 *500/500 *1000/1000 *1000/1000 *500/500 *1000/1000 X-axis stroke (mm) 100 ~ 600 100 ~ 600 200 ~ 800 200 ~ 800 200 ~ 800 300 ~ 800 Maximum speed (X-axis/Y-axis) (mm/sec) 800/800 400/400 *1000/1000 *500/500 *1000/1000 1000/1000 Configuration type Page Y-axis stroke (mm) 100 ~ 400 100 ~ 400 200 ~ 700 200 ~ 700 200 ~ 700 Maximum speed (Y-axis/Z-axis) (mm/sec) 800/400 400/200 1000/500 *500/250 1000/500 Configuration type Page YAH YAM YCH YCM YGH X-axis stroke (mm) 1000 ~ 2500 1000 ~ 2500 Maximum speed (X-axis/Y-axis) (mm/sec) *1000/1000 *1000/1000 Configuration type Page G1JH G2JH X-axis stroke (mm) Maximum speed (X-axis/Z-axis) (mm/sec) 800/400 400/200 *1000/500 *500/250 *1000/500 *1000/500 1000/500 *1000/500 Configuration type Page Caution ……e maximum speed of some long-stroke types (indicated by *) …as been reduced to pre…ent t…e ball scre… from r eac…ing a dangerous speed… … nce t…e desired type …as b een s elected… c…eck t…e actual speed specification on t…e page corresponding to t…e selected type… BAH BAM BBH BBM BCH BCM BD H BEH BEM BFH SAH SAM S1CH S1CM S2CH SG H ZAH ZAM Z1CH Z1CM Z2CH ZDH ZGH ZHH BK         H BK M BL H BL M BP H BP M BQ H BQ M Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots Three-Axes Configuration Unit Selection Table Start from and move toward right as you confirm each condition to select a desired type. 2 3 4 5 High-Speed Type 800~1000 mm/sec 49 ISPA/ICSPA Catalog 3.0 8.6 7.3 9.0 7.9 7.6 6.3 9.0 6.9 9.0 5.8 9.0 9.0 8.4 9.0 9.0 3.0 3.0 3.0 3.0 9.0 9.0 How to Select a Unit (Explanation of the Table) [ Z-Axis Base Mount ] 1 Select the installation method of Z-axis from the followings: 1 1 Check the Y-axis stroke and load capacity. (If the condition is not satisfied, go down to the line below and select larger load capacity.) 5 [Z-Axis Base Mount] (The Z-axis base is mounted to the Y-axis slider: The Z-axis slider moves vertically.) [Z-Axis Slider Mount] (The Z-axis slider is mounted to the Y-axis slider: The Z-axis itself moves vertically.) Refer to page 45 for the X/Y-Axis configuration directions. Select the X/Y-Axis and Z-Axis wiring specifications from the two options to the right. Only cable track is available for X/Y-Axis type D, F, 1J, and 2J. Only Self-standing cable is available for Z-Axis Slider Mount Type. We can also build custom configurations not currently represented in the standard range. Please contact us regarding your specifications. Check the X-axis stroke. If the condition is not satisfied, go down to the line below and select larger type. *( ) specifies the case of BDHB or BFHB. 6 Select the Z-axis type from High-speed, Mid-speed, and Low-speed. (The Slider Mount Type is available only in Mid-speed and Low-speed. 2 7 Check the maximum speed for X-axis and Y-axis. You have selected the type that satisfies all your desired conditions. 8 Select the load capacity for Z-axis (total weight of load and jig) 3 4 Select the desired Z-axis stroke from the chart. SC: Self-standing cable CT: Cable track * Refer to page 241. 100 200 300 400 500 600 700 800~1200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 100~300 100~400 100~500 100~600 100~600 100 200 300 400 500 1000~600 3kg or less 9kg or less Z-Axis Z-Axis Speed Type Load Capacity Stroke (mm) Y-Axis Stroke (mm) Load Capacity (kg) Load Capacity (kg) Cartesian Robots Series If the condition is not satisfied, go down to the line below and select larger type. Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots Conditions The Z-Axis is subject to base mount. Allowable tip load : 2kg Speed : 800mm/sec or more Z-Axis Stroke : 200mm Y-Axis Stroke : 500mm X-Axis Stroke : 700MM The crossed column for Z-Axis stroke 100~300mm and Y-Axis stroke 500mm reads --- (Not applicable), so apply the line below. Since the Y-Axis stroke on the line covers 500mm, shift to the right. The X-Axis stroke is applicable up to 800mm, so shift to the right. The maximum speed for X-Axis/ Y Axis is 1000mm/sec and satisfy the condition. Shift to the right. As a result, Unit Type [BCHB1H] is the selected suitable model. Note The numbers in ( ) in X-Axis stroke in the chart below are for models in ( ) listed in Applicable Type's configuration type. Example: If the X-Axis stroke in the above example is 1000mm, configuration Applicable Type will be [BDHB1H]. 6 7 8 Applicable Type Configuration Type Page ISPA/ICSPA Catalog 50 Example of Selection 1 2 3 4 5 6 7 8 Select the chart of [Z-Axis Base Mount Type]. Select High-speed type since the desired speed is 800mm/sec. Select 3kg or less since the load capacity is 2kg. Move the line for 100~300 to the right since Z-Axis stroke is 200mm. ICSA [ICSPA] 3-BB HB1H ICSA [ICSPA] 3-BC HB1H(BD HB1H) ICSA [ICSPA] 3-BE HB1H(BF HB1H) ICSA [ICSPA] 3-G1JHB1H ICSA [ICSPA] 3-G2JHB1H ICSA [ICSPA] 3-BC HB3H (BD HB3H) ICSA [ICSPA] 3-BE HB3H (BF HB3H) ICSA [ICSPA] 3-BC HB3H (BD HB3H) ICSA [ICSPA] 3-BE HB3H (BF HB3H) ICSA [ICSPA] 3-BC HB3H (BD HB3H) ICSA [ICSPA] 3-BE HB3H (BF HB3H) ICSA [ICSPA] 3-BC HB3H (BD HB3H) ICSA [ICSPA] 3-BE HB3H (BF HB3H) ICSA [ICSPA] 3-BE HB3H (BF HB3H) ICSA [ICSPA] 3-G1JHB3H ICSA [ICSPA] 3-G2JHB3H *( ) is for the type BDHB or BFHB. X-Axis Stroke Maximum Speed (X-axis / Y-axis) (mm) (mm/sec) 1000/800 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 200~800 200~800 (800~2000) 300~1000 (1000~2500) 1000~2500 200~800 (800~2000) 300~1000 (1000~2500) 200~800 (800~2000) 300~1000 (1000~2500) 200~800 (800~2000) 300~1000 (1000~2500) 200~800 (800~2000) 300~1000 (1000~2500) 300~1000 (1000~2500) 1000~2500 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots 2 3 4 5 51 ISPA/ICSPA Catalog 5.7 5.4 1.7 4.7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 17.6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 19.0 - - - - 6.0 6.0 9.7 8.4 18.5 17.5 16.5 11.5 8.4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16.6 - 19.0 13.8 9.4 5.8 17.6 16.6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9.0 9.0 9.0 9.0 9.0 8.4 9.0 7.6 6.3 9.0 6.9 9.0 5.8 9.0 9.0 8.6 7.3 6.0 6.0 2.9 6.0 5.9 6.0 6.0 2.3 6.0 5.3 6.0 6.0 6.0 5.6 6.0 10.7 9.4 19.0 18.5 17.5 12.5 9.4 19.0 19.0 18.7 7.6 6.3 16.4 15.4 14.4 9.4 6.3 19.0 14.9 10.5 6.9 18.7 8.6 7.3 17.4 16.4 15.4 10.4 7.3 19.0 15.9 11.5 7.9 19.0 19.0 17.0 [ Z-Axis Base Mount ] 1 400~500 mm/sec Z-Axis Z-Axis Speed Type Mid-Speed Type Load Capacity Load Capacity (kg) Load Capacity (kg) Load Capacity (kg) Stroke (mm) Y-Axis Stroke (mm) 100 200 300 400 500 600 700 800~1200 19.0 7.9 19.0 18.0 13.6 10.0 19.0 100 200 300 100~400 100~500 100~600 100~600 100 200 300 400 500 100~600 100~600 100 200 300 400 500 600 6kg or less 9kg or less 19kg or less 12.6 9.0 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots *( ) is for the type BDHB or BFHB. Applicable Type ICSA [ICSPA] 3-BA MB1M ICSA [ICSPA] 3-BB HB1M ICSA [ICSPA] 3-BB MB1M ICSA [ICSPA] 3-BA MB1M ICSA [ICSPA] 3-BB HB1M ICSA [ICSPA] 3-BB MB1M ICSA [ICSPA] 3-BC HB1M (BD HB1M) ICSA [ICSPA] 3-BE HB1M (BF HB1M) ICSA [ICSPA] 3-G1JHB1M ICSA [ICSPA] 3-G2JHB1M ICSA [ICSPA] 3-BB MB2M ICSA [ICSPA] 3-BC HB2M (BD HB2M) ICSA [ICSPA] 3-BE HB2M (BF HB2M) ICSA [ICSPA] 3-BC HB2M (BD HB2M) ICSA [ICSPA] 3-BE HB2M (BF HB2M) ICSA [ICSPA] 3-BC HB2M (BD HB2M) ICSA [ICSPA] 3-BE HB2M (BF HB2M) ICSA [ICSPA] 3-BC HB2M (BD HB2M) ICSA [ICSPA] 3-BE HB2M (BF HB2M) ICSA [ICSPA] 3-BE HB2M (BF HB2M) ICSA [ICSPA] 3-G1JHB2M ICSA [ICSPA] 3-G2JHB2M ICSA [ICSPA] 3-BC HB3M (BD HB3M) ICSA [ICSPA] 3-BC MB3M ICSA [ICSPA] 3-BE HB3M (BF HB3M) ICSA [ICSPA] 3-G1JHB3M ICSA [ICSPA] 3-G2JHB3M ICSA [ICSPA] 3-BC HB3M (BD HB3M) ICSA [ICSPA] 3-BC MB3M ICSA [ICSPA] 3-BE HB3M (BF HB3M) ICSA [ICSPA] 3-G1JHB3M ICSA [ICSPA] 3-G2JHB3M ICSA [ICSPA] 3-BC HB3M (BD HB3M) ICSA [ICSPA] 3-BC MB3M ICSA [ICSPA] 3-BE HB3M (BF HB3M) ICSA [ICSPA] 3-G1JHB3M ICSA [ICSPA] 3-G2JHB3M ICSA [ICSPA] 3-BC HB3M (BD HB3M) ICSA [ICSPA] 3-BC MB3M ICSA [ICSPA] 3-BE HB3M (BF HB3M) ICSA [ICSPA] 3-G1JHB3M ICSA [ICSPA] 3-G2JHB3M ICSA [ICSPA] 3-BE HB3M (BF HB3M) ICSA [ICSPA] 3-G1JHB3M ICSA [ICSPA] 3-G2JHB3M ICSA [ICSPA] 3-G1JHB3M ICSA [ICSPA] 3-G2JHB3M ISPA/ICSPA Catalog 52 6 7 8 ICSA [ICSPA] 3-BA MB1M ICSA [ICSPA] 3-BB HB1M ICSA [ICSPA] 3-BB MB1M X-Axis Stroke Maximum Speed (X-axis / Y-axis) (mm) (mm/sec) 400/400 1000/800 500/400 400/400 1000/800 500/400 400/400 1000/800 500/400 1000/1000 1000/1000 1000/1000 1000/1000 500/400 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 500/500 1000/1000 1000/1000 1000/1000 1000/1000 50/500 1000/1000 1000/1000 1000/1000 1000/1000 500/500 1000/1000 1000/1000 1000/1000 1000/1000 500/500 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 100~600 200~800 200~800 100~600 200~800 200~800 100~600 200~800 200~800 200~800 300~1000 1000~2500 200~800 200~800 (800~2000) 300~1000 (1000~2500) 200~800 (800~2000) 300~1000 (1000~2500) 200~800 (800~2000) 300~1000 (1000~2500) 200~800 (800~2000) 300~1000 (1000~2500) 300~1000 (1000~2500) 1000~2500 200~800 200~800 300~1000 1000~2500 200~800 200~800 300~1000 1000~2500 200~800 200~800 300~1000 1000~2500 200~800 200~800 300~1000 1000~2500 300~1000 1000~2500 (800~2000) (1000~2500) (800~2000) (1000~2500) (800~2000) (1000~2500) (800~2000) (1000~2500) (1000~2500) 1000~2500 Configuration Type Page Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots 200~250 53 ISPA/ICSPA Catalog 19.0 6.3 5.9 5.2 - - - - - - - - - 10.7 9.4 - - - 19.0 18.5 17.5 12.5 9.4 - - - - - - 12.9 - - 19.0 18.0 13.6 10.0 19.0 - - - - - 17.6 - - - 19.0 17.0 12.6 9.0 - - - - - - - 8.6 7.3 - - 17.4 16.4 15.4 10.4 7.3 19.0 15.9 11.5 7.9 12.8 9.6 - - - 19.0 14.9 10.5 6.9 9.4 5.8 16.6 19.0 15.9 12.7 19.0 9.7 8.4 18.5 17.5 16.5 11.5 8.4 19.0 14.6 11.4 18.7 7.6 6.3 - 16.4 15.4 14.4 9.4 6.3 18.7 19.0 19.0 13.8 10.6 17.6 16.6 14.0 14.0 13.0 11.4 6.9 6.9 2.9 7.1 6.2 14.0 14.0 13.5 12.9 14.0 12.4 2.3 6.1 10.8 14.0 11.8 10.2 5.7 1.7 5.4 4.7 14.0 13.5 11.7 12.3 11.7 14.0 14.0 14.0 13.5 5.6 14.0 14.0 12.3 - - - - - - - - - - - - - - - - - - - - - - - - - - 1 2 3 4 5 100 200 300 400 500 600 700 800~1200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13.8 - - 100 200 300 400 500 100~600 100~600 100 200 300 400 500 100~600 100~600 - - - - - - - - - - - - - - - - - - - - - - - - - - - [ Z-Axis Base Mount ] mm/sec Z-Axis Z-Axis Speed Type Low-Speed Type Load Capacity Load Capacity (kg) Load Capacity (kg) Stroke (mm) Y-Axis Stroke (mm) 14kg or less 19kg or less Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots Applicable Type *( ) is for the type BDHB or BFHB. X-Axis Stroke Configuration Type Page ISPA/ICSPA Catalog 54 6 7 8 ICSA [ICSPA] 3-BA MB1L ICSA [ICSPA] 3-BB HB1L ICSA [ICSPA] 3-BB MB1L ICSA [ICSPA] 3-BC HB1L (BD HB1L) ICSA [ICSPA] 3-BE HB1L (BF HB1L) ICSA [ICSPA] 3-BA MB1L ICSA [ICSPA] 3-BB HB1L ICSA [ICSPA] 3-BB MB1L ICSA [ICSPA] 3-BC HB1L (BD HB1L) ICSA [ICSPA] 3-BE HB1L (BF HB1L) ICSA [ICSPA] 3-BA MB1L ICSA [ICSPA] 3-BB HB1L ICSA [ICSPA] 3-BB MB1L ICSA [ICSPA] 3-BC HB1L (BD HB1L) ICSA [ICSPA] 3-BE HB1L (BF HB1L) ICSA [ICSPA] 3-BC HB1L (BD HB1L) ICSA [ICSPA] 3-BE HB1L (BF HB1L) ICSA [ICSPA] 3-BE HB1L (BF HB1L) ICSA [ICSPA] 3-G1JHB1L ICSA [ICSPA] 3-G2JHB1L ICSA [ICSPA] 3-BB MB2L ICSA [ICSPA] 3-BC HB2L (BD HB2L) ICSA [ICSPA] 3-BC MB2L ICSA [ICSPA] 3-BE HB2L (BF HB2L) ICSA [ICSPA] 3-G1JHB2L ICSA [ICSPA] 3-G2JHB2L ICSA [ICSPA] 3-BB MB2L ICSA [ICSPA] 3-BC HB2L (BD HB2L) ICSA [ICSPA] 3-BC MB2L ICSA [ICSPA] 3-BE HB2L (BF HB2L) ICSA [ICSPA] 3-G1JHB2L ICSA [ICSPA] 3-G2JHB2L ICSA [ICSPA] 3-BB MB2L ICSA [ICSPA] 3-BC HB2L (BD HB2L) ICSA [ICSPA] 3-BC MB2L ICSA [ICSPA] 3-BE HB2L (BF HB2L) ICSA [ICSPA] 3-G1JHB2L ICSA [ICSPA] 3-G2JHB2L ICSA [ICSPA] 3-BB MB2L ICSA [ICSPA] 3-BC HB2L (BD HB2L) ICSA [ICSPA] 3-BC MB2L ICSA [ICSPA] 3-BE HB2L (BF HB2L) ICSA [ICSPA] 3-G1JHB2L ICSA [ICSPA] 3-G2JHB2L ICSA [ICSPA] 3-BE HB2L (BF HB2L) ICSA [ICSPA] 3-G1JHB2L ICSA [ICSPA] 3-G2JHB2L ICSA [ICSPA] 3-G1JHB2L ICSA [ICSPA] 3-G2JHB2L (mm) Maximum Speed (X-axis / Y-axis) (mm/sec) 400/400 1000/1000 500/400 1000/1000 1000/1000 400/400 1000/1000 500/400 1000/1000 1000/1000 400/400 1000/1000 500/400 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 500/500 1000/1000 1000/1000 1000/1000 500/400 1000/1000 500/500 1000/1000 1000/1000 1000/1000 500/400 1000/1000 500/500 1000/1000 1000/1000 1000/1000 500/400 1000/1000 500/500 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 100~600 200~800 200~800 200~800 300~1000 100~600 200~800 200~800 200~800 300~1000 100~600 200~800 200~800 200~800 300~1000 200~800 300~1000 300~1000 1000~2500 200~800 200~800 200~800 300~1000 1000~2500 200~800 200~800 200~800 300~1000 1000~2500 200~800 200~800 200~800 300~1000 1000~2500 200~800 200~800 200~800 300~1000 1000~2500 300~1000 1000~2500 (800~2000) (1000~2500) (800~2000) (1000~2500) (800~2000) (1000~2500) (1000~2500) (1000~2500) (800~2000) (1000~2500) (1000~2500) (800~2000) (1000~2500) (800~2000) (1000~2500) (1000~2500) 1000~2500 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots 55 ISPA/ICSPA Catalog - 11.9 10.9 9.9 8.9 - - - - - 0.9 0.9 0.9 7.8 - - - 10.9 10.9 - 9.0 7.7 9.5 9.9 9.9 8.0 6.7 8.5 8.9 8.9 - - - 7.8 7.5 11.9 11.9 10.0 8.7 10.5 1.6 1.6 1.6 1.6 1.6 1.6 1.6 2.3 2.3 2.3 2.3 2.3 2.3 2.3 3.0 3.0 3.0 3.0 3.0 3.0 3.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 19.0 1 2 3 4 5 400~500 mm/sec 100 200 300 400 500 600 700 800~1200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 100 200 300 400 100 200 300 400 500 - - - - - - - - - - - - - - - - - - - - - - - - - [ Z-Axis Slider Mount ] Z-Axis Z-Axis Speed Type Mid-Speed Type Load Capacity Load Capacity (kg) Load Capacity (kg) Stroke (mm) Y-Axis Stroke (mm) 3kg or less 12kg or less Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots *( ) is for the type BDHB or BFHB. Applicable Type ISPA/ICSPA Catalog 56 6 7 8 ICSA [ICSPA] 3-BA MS1M ICSA [ICSPA] 3-BB HS1M ICSA [ICSPA] 3-BB MS1M ICSA [ICSPA] 3-BC HS1M (BD HS1M) ICSA [ICSPA] 3-BE HS1M (BF HS1M) ICSA [ICSPA] 3-G1JHS1M ICSA [ICSPA] 3-G2JHS1M ICSA [ICSPA] 3-BA MS1M ICSA [ICSPA] 3-BB HS1M ICSA [ICSPA] 3-BB MS1M ICSA [ICSPA] 3-BC HS1M (BD HS1M) ICSA [ICSPA] 3-BE HS1M (BF HS1M) ICSA [ICSPA] 3-G1JHS1M ICSA [ICSPA] 3-G2JHS1M ICSA [ICSPA] 3-BA MS1M ICSA [ICSPA] 3-BB HS1M ICSA [ICSPA] 3-BB MS1M ICSA [ICSPA] 3-BC HS1M (BD HS1M) ICSA [ICSPA] 3-BE HS1M (BF HS1M) ICSA [ICSPA] 3-G1JHS1M ICSA [ICSPA] 3-G2JHS1M ICSA [ICSPA] 3-BE HS1M (BF HS1M) ICSA [ICSPA] 3-G1JHS1M ICSA [ICSPA] 3-G2JHS1M ICSA [ICSPA] 3-BC HS3M (BD HS3M) ICSA [ICSPA] 3-BE HS3M (BF HS3M) ICSA [ICSPA] 3-G1JHS3M ICSA [ICSPA] 3-G2JHS3M ICSA [ICSPA] 3-BC HS3M (BD HS3M) ICSA [ICSPA] 3-BE HS3M (BF HS3M) ICSA [ICSPA] 3-G1JHS3M ICSA [ICSPA] 3-G2JHS3M ICSA [ICSPA] 3-BC HS3M (BD HS3M) ICSA [ICSPA] 3-BE HS3M (BF HS3M) ICSA [ICSPA] 3-G1JHS3M ICSA [ICSPA] 3-G2JHS3M ICSA [ICSPA] 3-BE HS3M (BF HS3M) ICSA [ICSPA] 3-G1JHS3M ICSA [ICSPA] 3-G2JHS3M ICSA [ICSPA] 3-G1JHS3M ICSA [ICSPA] 3-G2JHS3M 400/400 1000/800 500/500 1000/1000 1000/1000 1000/1000 1000/1000 400/400 1000/800 500/500 1000/1000 1000/1000 1000/1000 1000/1000 400/400 1000/800 500/500 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 100~600 200~800 200~800 200~800 (800~2000) 300~1000 (1000~2500) 1000~2500 100~600 200~800 200~800 200~800 (800~2000) 300~1000 (1000~2500) 1000~2500 100~600 200~800 200~800 200~800 (800~2000) 300~1000 (1000~2500) 1000~2500 300~1000 (1000~2500) 1000~2500 200~800 (800~2000 300~1000 (1000~2500) 1000~2500 200~800 (800~2000) 300~1000 (1000~2500) 1000~2500 200~800 (800~2000) 300~1000 (1000~2500) 1000~2500 300~1000 (1000~2500) 1000~2500 X-Axis Stroke Maximum Speed (X-axis / Y-axis) (mm) (mm/sec) Configuration Type Page Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots 400~500 57 ISPA/ICSPA Catalog - - - - - 8.9 8.9 9.6 8.9 - - - 9.6 - 9.6 9.6 9.6 10.3 10.3 10.3 10.3 10.3 11.0 7.2 7.6 7.0 3.6 6.3 10.3 6.5 6.9 6.3 2.9 5.6 9.6 5.8 6.2 5.6 2.2 4.9 11.0 11.0 11.0 11.0 11.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 2 3 4 5 100 200 300 400 500 600 700 800~1200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 100 200 300 400 [ Z-Axis Slider Mount ] mm/sec Z-Axis Z-Axis Speed Type Low-Speed Type Load Capacity Load Capacity (kg) Stroke (mm) Y-Axis Stroke (mm) 11 kg or less Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots *( ) is for the type BDHB or BFHB. Applicable Type ISPA/ICSPA Catalog 58 6 7 8 ICSA [ICSPA] 3-BA MS1L ICSA [ICSPA] 3-BB HS1L ICSA [ICSPA] 3-BB MS1L ICSA [ICSPA] 3-BC HS1L (BD HS1L) ICSA [ICSPA] 3-BE HS1L (BF HS1L) ICSA [ICSPA] 3-G1JHS1L ICSA [ICSPA] 3-G2JHS1L ICSA [ICSPA] 3-BA MS1L ICSA [ICSPA] 3-BB HS1L ICSA [ICSPA] 3-BB MS1L ICSA [ICSPA] 3-BC HS1L (BD HS1L) ICSA [ICSPA] 3-BE HS1L (BF HS1L) ICSA [ICSPA] 3-G1JHS1L ICSA [ICSPA] 3-G2JHS1L ICSA [ICSPA] 3-BA MS1L ICSA [ICSPA] 3-BB HS1L ICSA [ICSPA] 3-BB MS1L ICSA [ICSPA] 3-BC HS1L (BD HS1L) ICSA [ICSPA] 3-BE HS1L (BF HS1L) ICSA [ICSPA] 3-G1JHS1L ICSA [ICSPA] 3-G2JHS1L ICSA [ICSPA] 3-BE HS1L (BF HS1L) ICSA [ICSPA] 3-G1JHS1L ICSA [ICSPA] 3-G2JHS1L X-Axis Stroke (mm) Configuration Type Page Maximum Speed (X-axis / Y-axis) (mm/sec) 400~400 1000~800 500~400 1000~1000 1000~1000 1000~1000 1000~1000 400~400 1000~800 500~400 1000~1000 1000~1000 1000~1000 1000~1000 400~400 1000~800 500~400 1000~1000 1000~1000 1000~1000 1000~1000 1000~1000 1000~1000 1000~1000 100~600 200~800 200~800 200~800 300~1000 1000~2500 100~600 200~800 200~800 200~800 300~1000 1000~2500 100~600 200~800 200~800 200~800 300~1000 1000~2500 300~1000 1000~2500 (800~2000) (1000~2500) (800~2000) (1000~2500) (800~2000) (1000~2500) (1000~2500) X-Y Two-Axes Configuration ICSA2(ICSPA2)-BK H ICSA2(ICSPA2)-BK M ICSA2(ICSPA2)-BL H ICSA2(ICSPA2)-BL M ICSA2(ICSPA2)-BP H ICSA2(ICSPA2)-BP M ICSA2(ICSPA2)-BQ H ICSA2(ICSPA2)-BQ M 87 89 91 93 95 97 99 101 Check out the New Models! Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots Cartesian Robot Series Points to Note Notes on Catalog Specifications Speed Speed refers to the specified speed at which the actuator slider will move. Positioning Repeatability Positioning repeatability refers to the positioning accuracy of repeated movements to a 59 ISPA/ICSPA Catalog The slider accelerates from a stationary state, and once the specified speed is reached it will maintain that speed until the specified position (immediately before the target position), where it will begin decelerating to stop at the target position. Caution With all Cartesian robot models, the maximum speed will not change even when the load placed on the slider is changed. The time needed to reach the specified speed will vary according to the acceleration (deceleration). If the travel distance is short, the specified speed may not be reached. With a long-stroke axis, the maximum speed will drop to avoid reaching a dangerous speed. (If you are using a 600 or longer stroke, check the maximum speed for the applicable stroke.) When calculating the travel time, consider acceleration, deceleration and stabilization periods in addition to the travel time at the specified speed. (Refer to pages 39 and 40 for the method to calculate travel time.) Speed can be set in increments of 1 mm/sec in a program. Acceleration/Deceleration Acceleration refers to the rate of change of speed when the speed rises from zero (stationary state) to the specified speed. Deceleration refers to the rate of change of speed when the specified speed drops to zero (stationary state). Caution Increasing the acceleration (deceleration) will shorten the duration the actuator accelerates (decelerates) and decrease the travel time. However, doing so will also cause rapid acceleration (deceleration), resulting in increased shock. The load capacity of each type assumes operation at the rated acceleration and maximum speed. (The rated acceleration is 0.3 G for the standard type and 0.15 G when the lead is 4 or 5 mm.) The ICSA2/ICSPA2 supports a maximum acceleration of 1.0 G. The load capacity will decrease when the specified acceleration is increased beyond the rated acceleration. For the load capacity at a raised acceleration, refer to the table of load capacity by acceleration corresponding to each actuator type. Acceleration can be set (specified) in increments of 0.01 G for each position movement in a program. pre-stored position. This is not the same as absolute positioning accuracy, so exercise caution. Home The home is set on the motor side for the standard specification, or on the counter-motor side for the reversed-home specification. Caution • The incremental actuator always requires homing every time the power is reconnected. (Homing is not required for the absolute type even after reconnecting the power.) • During homing the slider (or rod or arm) will move to the mechanical end before reversing, so be careful to prevent contact with surrounding parts. • Note that changing the home position from the standard to reverse homing specification will require the actuator to be returned to IAI for adjustment. Duty IAI recommends that our actuators be used at a duty of 50% or less as a guideline in view of the relationship of service life and accuracy. Duty (%) = Acceleration / Deceleration Time Motion time + Inactivity x 100 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots ISPA/ICSPA Catalog 60 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots 61 ISPA/ICSPA Catalog Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots ISPA/ICSPA Catalog 62 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots Cartesian Robots Installation Method Two-Axes Configuration XYB type Affix the actuators using the through holes provided on the bottom surface of the X-axis. BAH, BAM : ø7 (P15 ISA-SXM Refer to the bottom plan view.) BBH, BBM : ø9 (P18 ISA-MXM Refer to the bottom plan view.) BCH, BCM : ø9 (P19 ISA-MXM Refer to the bottom plan view.) BDH, : ø9 (P20 ISA-MXMX Refer to the bottom plan view.) BEH, BEM : ø9 (P26 ISA-LXM Refer to the bottom plan view.) BFH, : ø9 (P28 ISA-LXMX Refer to the bottom plan view.) 63 ISPA/ICSPA Catalog XYS type XZ type YZ type XYG type ICSA2/ICSPA2/ICSA3/ICSPA3 BKH, BKM BLH, BLM BPH, BPM BQH, BQM Affix the actuators using the through holes provided on the bottom surface of the X-axis. ZAH, ZAM : ø7 (P15 ISA-SXM Refer to the bottom plan view.) Z1CH, Z1CM : ø9 (P18 ISA-MXM Refer to the bottom plan view.) Z2CH : ø9 (P19 ISA-MXM Refer to the bottom plan view.) ZDH, : ø9 (P20 ISA-MXMX Refer to the bottom plan view.) ZGH : ø9 (P26 ISA-LXM Refer to the bottom plan view.) ZHH : ø9 (P28 ISA-LXMX Refer to the bottom plan view.) Affix the actuators using the through holes provided on the bottom surface of the X-axis. SAH, SAM : ø7 (P15 ISA-SXM Refer to the bottom plan view.) S1CH, S1CM : ø9 (P18 ISA-MXM Refer to the bottom plan view.) S2CH : ø9 (P19 ISA-MXM Refer to the bottom plan view.) Affix the actuators using the threaded holes provided on the bottom surface of the actuator. YAH, YAM : M6 (P16 ISA-SYM Refer to the bottom plan view.) YCH, YCM : M8 (P22 ISA-MYM Refer to the bottom plan view.) YGH : M8 (P32 ISA-LYM Refer to the bottom plan view.) Affix the actuators using the through holes provided on the bottom surface of the X-axis (driving shart / driven shaft). G1JH (Driving shaft) : ø9 (P30 ISA-LXUWX Refer to the bottom plan view.) (Driven shaft) : ø7 (P15 ISA-SXM Refer to the bottom plan view.) G2JH (Driving shaft) : ø9 (P30 ISA-LXUWX Refer to the bottom plan view.) (Driven shaft) : ø7 (P15 ISA-SXM Refer to the bottom plan view.) Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots ISPA/ICSPA Catalog 64 Three-Axes Configuration XYB+Z Axis type Affix the actuators using the through holes provided on the bottom surface of the X-axis. BAMS : ø7 (P15 ISA-SXM Refer to the bottom plan view.) BB : ø9 (P18 ISA-MXM Refer to the bottom plan view.) BC : ø9 (P19 ISA-MXM Refer to the bottom plan view.) BD : ø9 (P20 ISA-MXMX Refer to the bottom plan view.) BE : ø9 (P26 ISA-LXM Refer to the bottom plan view.) BF : ø9 (P28 ISA-LXMX Refer to the bottom plan view.) XYG+Z Axis type Affix the actuators using the through holes provided on the bottom surface of the X-axis (driving shaft / driven shaft). G1JH (Driving shaft) : ø9 (P30 ISA-LXUWX Refer to the bottom plan view.) (Driven shaft) : ø7 (P15 ISA-SXM Refer to the bottom plan view.) G2JH (Driving shaft) : ø9 (P30 ISA-LXUWX Refer to the bottom plan view.) (Driven shaft) : ø7 (P15 ISA-SXM Refer to the bottom plan view.) Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ICSA/ICSPA Cartesian Robots Cartesian Robots Series System Configurations Actuator Controller Options ICSA2 Series ICSPA2 Series ICSA3 Series ICSPA3 Series 65 ISPA/ICSPA Catalog X-SEL P-Driver PC Software PDR-101-MW Motor Cable Encoder Cable Teaching pendant IA-T-X PC Software IA-101-X-MW IA-101-X-CW * Operating with P-Driver requires as many P-Driver controller as the number of axis to operate. Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
ISPA/ICSPA Catalog 66 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com

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Iai cartesian icsa_icspa_specsheet

  • 1. 41 ISPA/ICSPA Catalog Q u a l i t y a n d I n n o v a t i o n Cartesian Robots ICSA2/ICSPA2 ICSA3/ICSPA3 C o n t e n t s Cartesian Robot Series Contents 42 Features 43 Product Types 45 Two-Axes Configuration Unit Selection Table 47 Three-Axes Configuration Unit Selection Table 49 Points to Note 59 Explanation of Model Specification Items 61 Installation Method 63 System Configuration 65 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 2. ICSA/ICSPA Cartesian Robots Two-Axes Configuration 67 Three-Axes Configuration 145 ICS(P)A3-BAMB1 ICS(P)A3-BBHB1 ICS(P)A3-BBMB1 ICS(P)A3-BBMB2 ICS(P)A3-BCHB1 ICS(P)A3-BCHB2 ICS(P)A3-BCHB3 ICS(P)A3-BCMB1 ICS(P)A3-BCMB2 ICS(P)A3-BCMB3 ICS(P)A3-BDHB1 ICS(P)A3-BDHB2 ICS(P)A3-BDHB3 ICS(P)A3-BEHB1 ICS(P)A3-BEHB2 ICS(P)A3-BEHB3 ICS(P)A3-BEMB2 ICS(P)A3-BEMB3 ICS(P)A3-BFMB1 ICS(P)A3-BFHB2 ICS(P)A3-BFHB3 ICS(P)A3-BAMS1 ICS(P)A3-BBHS1 ICS(P)A3-BBMS1 ICS(P)A3-BCHS1 ICS(P)A3-BCHS3 ICS(P)A3-BCMS1 ICS(P)A3-BCMS3 ICS(P)A3-BDHS1 ICS(P)A3-BDHS3 ICS(P)A3-BEHS1 ICS(P)A3-BEHS3 ICS(P)A3-BEMS1 ICS(P)A3-BEMS3 ICS(P)A3-BFHS1 ICS(P)A3-BFHS3 ICS(P)A3-G1JHB1 ICS(P)A3-G1JHB2 ICS(P)A3-G1JHB3 ICS(P)A3-G2JHB1 ICS(P)A3-G2JHB2 ICS(P)A3-G2JHB3 ICS(P)A3-G1JHS1 ICS(P)A3-G1JHS2 ICS(P)A3-G1JHS3 ICS(P)A3-G2JHS1 ICS(P)A3-G2JHS2 ICS(P)A3-G2JHS3 ISPA/ICSPA Catalog 42 Cartesian Robot Series Contents ICSA2(ICSPA2)-BAH ICSA2(ICSPA2)-BAM ICSA2(ICSPA2)-BBH ICSA2(ICSPA2)-BBM ICSA2(ICSPA2)-BCH ICSA2(ICSPA2)-BCM ICSA2(ICSPA2)-BDH ICSA2(ICSPA2)-BEH ICSA2(ICSPA2)-BEM ICSA2(ICSPA2)-BFH ICSA2(ICSPA2)-SAH ICSA2(ICSPA2)-SAM ICSA2(ICSPA2)-S1CH ICSA2(ICSPA2)-S1CM ICSA2(ICSPA2)-S2CH ICSA2(ICSPA2)-SGH ICSA2(ICSPA2)-ZAH ICSA2(ICSPA2)-ZAM ICSA2(ICSPA2)-Z1CH ICSA2(ICSPA2)-Z1CM ICSA2(ICSPA2)-Z2CH ICSA2(ICSPA2)-ZDH ICSA2(ICSPA2)-ZGH ICSA2(ICSPA2)-ZHH ICSA2(ICSPA2)-YAH ICSA2(ICSPA2)-YAM ICSA2(ICSPA2)-YCH ICSA2(ICSPA2)-YCM ICSA2(ICSPA2)-YGH ICSA2(ICSPA2)-G1JH ICSA2(ICSPA2)-G2JH XYB (Y-Axis Base Mount) Type XYS (Y-Axis Slider Mount) Type XZ (Z-Axis Base Mount) Type YZ (Y-Axis Slider Mount) Type XYG (Gantry) Type X-Y Two-Axes Configuration X-Z Two-Axes Configuration Y-Z Two-Axes Configuration X-Y Two-Axes Gantry Configuration 69 71 73 75 77 79 81 83 85 103 105 107 109 111 113 115 117 119 121 123 125 127 129 131 133 135 137 139 141 143 Z-Axis Base Mount Type (Z-Axis Slider Flexible) Z-Axis Slider Mount Type (Z-Axis Body Flexible) Z-Axis Base Mount Type (Z-Axis Slider Flexible) Z-Axis Slider Mount Type (Z-Axis Body Flexible) X-Y Base Mount (XYB) + Z-Axis Configuration X-Y Gantry (XYG) + Z-Axis Configuration 147 149 151 153 155 157 159 161 163 165 167 169 171 173 175 177 179 181 183 185 187 189 191 193 195 197 199 201 203 205 207 209 211 213 215 217 219 221 223 225 227 229 231 233 235 237 239 * In the above model names, indicates the configuration direction (1 through 4). ICSA2(ICSPA2)-BKH ICSA2(ICSPA2)-BKM ICSA2(ICSPA2)-BLH ICSA2(ICSPA2)-BLM ICSA2(ICSPA2)-BPH ICSA2(ICSPA2)-BPM ICSA2(ICSPA2)-BQH ICSA2(ICSPA2)-BQM 87 89 91 93 95 97 99 101 New Models added! Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 3. ICSA/ICSPA Cartesian Robots Cartesian Robot Series Features The ICSA/ICSPA Cartesian robots are configuration units based on the two-axes and three-axes configuration patterns that are frequently used. These actuators come pre-wired with brackets attached, so they can be installed in your equipment and used immediately after delivery. 1. Configuration Variations Fifty-seven standard configuration types are provided, so the user can find the model best suited to existing conditions. We can also build custom configurations not currently represented in the standard range. Please contact us regarding your specifications. Two-Axes Configuration Type Two-axes configuration units are available in 31 types, each combining one of five configuration patterns with different speeds and motor capacities. XYB Type XYS Type XZ Type ZY Type XYG Type XYB (Y-Axis Base Mount)Type Point 1 There are four patterns of Y-axis configuration directions to choose Point 2 Select the Y-axis wiring specification from the two options of self-standing 43 ISPA/ICSPA Catalog Configuration Direction A basic configuration type where the Y-axis base is mounted to the X-axis bracket. This actuator operates with a device or Z-axis attached to the Y-axis slider. from (refer to the figure shown to right). cable (standard) and cable track. XYS (Y-Axis Slider Mount) Type Configuration direction 1 (Range of operation) Configuration direction 2 (Opposite of 1) (Range of operation) Configuration direction 4 (Opposite of 3) (Range of operation) Configuration direction 3 (Y-axis installed on opposite side) (Range of operation) The Y-axis slider is mounted to the X-axis bracket in a manner allowing the Y-axis to move. Use this type when the Y-axis itself must be moved back and forth to avoid an obstacle, etc. Point 1 There are four patterns of Y-axis configuration directions to choose from (refer to the figure shown to right). Point 2 Only the self-standing cable option is available for the Y-axis wiring specification. Configuration Direction Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 4. ICSA/ICSPA Cartesian Robots Since the Z-axis comes standard with a brake, the slider will not drop even when the power is turned off. The maximum stroke is 2500 mm for the X-axis and 500mm for the Z-axis. (Consult IAI if you need a longer stroke.) Since the Z-axis comes standard with a brake, the slider will not drop even when the power is turned off. The standard wiring specification of the Z-axis is the self-standing cable, but the cable track can also be used (custom order). The Z-axis base can be mounted (custom order). Point 1 Point 2 Point 1 Point 2 Point 3 The Y-axis o f the XYB type i s placed f lat a nd a s upport guide i s attached at the tip of the Y-axis. Use this type for transferring heavy objects or when the Y-axis stroke is long and the tip might sag. A maximum of 40 kg can be transferred. The maximum stroke is 2500 mm for the X-axis and 1200 mm for the Y-axis. (Consult IAI if you need a longer stroke.) ISPA/ICSPA Catalog 44 XZ (Z-Axis Base Mount) Type YZ (Y-Axis Slider Mount) Type The Z-axis (vertical axis) is positioned vertically on the X-axis. Use this type in such applications as inserting loads into a stocker or moving a pallet up and down. XYG (Gantry) Type The Y-axis is positioned on its side and its slider is connected to the slider of the Z-axis (vertical axis). Since the Z-axis moves vertically, this type can be fitted with a chuck or other device on the Z-axis for transfer of loads. Three-Axes Configuration Type Three-axes c onfiguration units are available in 102 types, each combining either the basic XYB (Y-axis base mount) type or high-rigidity XYG ( gantry) type with a Z-axis (vertical axis) of high-speed, m edium-speed or low-speed specification, providing a maximum load capacity of 19 kg. Consult IAI for details on three-axes combined types. Point 1 Point 2 Four-Axes Configuration Type We a lso offer four-axes configuration t ypes, which are three-axes c onfiguration units with a rotating axis integrated with the Z-axis. Please advise u s of y our desired conditions, and we will select the best configuration and s ubmit drawings. Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 5. ICSA/ICSPA Cartesian Robots 45 ISPA/ICSPA Catalog Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 6. ICSA/ICSPA Cartesian Robots ISPA/ICSPA Catalog 46 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 7. ICSA/ICSPA Cartesian Robots 47 ISPA/ICSPA Catalog Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 8. ICSA/ICSPA Cartesian Robots ISPA/ICSPA Catalog 48 3 4 5 Applicable type 100 ~ 600 100 ~ 600 200 ~ 800 200 ~ 800 200 ~ 800 800 ~ 2000 200 ~ 800 1000 ~ 2500 Configuration type Page X-axis stroke (mm) 100 ~ 600 100 ~ 600 200 ~ 800 200 ~ 800 200 ~ 800 200 ~ 800 800 ~ 2000 300 ~ 1000 300 ~ 1000 1000 ~ 2500 Maximum speed (X-axis/Y-axis) (mm/sec) 800/800 400/400 *1000/800 *500/400 *1000/1000 *500/500 *1000/1000 *1000/1000 *500/500 *1000/1000 X-axis stroke (mm) 100 ~ 600 100 ~ 600 200 ~ 800 200 ~ 800 200 ~ 800 300 ~ 800 Maximum speed (X-axis/Y-axis) (mm/sec) 800/800 400/400 *1000/1000 *500/500 *1000/1000 1000/1000 Configuration type Page Y-axis stroke (mm) 100 ~ 400 100 ~ 400 200 ~ 700 200 ~ 700 200 ~ 700 Maximum speed (Y-axis/Z-axis) (mm/sec) 800/400 400/200 1000/500 *500/250 1000/500 Configuration type Page YAH YAM YCH YCM YGH X-axis stroke (mm) 1000 ~ 2500 1000 ~ 2500 Maximum speed (X-axis/Y-axis) (mm/sec) *1000/1000 *1000/1000 Configuration type Page G1JH G2JH X-axis stroke (mm) Maximum speed (X-axis/Z-axis) (mm/sec) 800/400 400/200 *1000/500 *500/250 *1000/500 *1000/500 1000/500 *1000/500 Configuration type Page Caution ……e maximum speed of some long-stroke types (indicated by *) …as been reduced to pre…ent t…e ball scre… from r eac…ing a dangerous speed… … nce t…e desired type …as b een s elected… c…eck t…e actual speed specification on t…e page corresponding to t…e selected type… BAH BAM BBH BBM BCH BCM BD H BEH BEM BFH SAH SAM S1CH S1CM S2CH SG H ZAH ZAM Z1CH Z1CM Z2CH ZDH ZGH ZHH BK         H BK M BL H BL M BP H BP M BQ H BQ M Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 9. ICSA/ICSPA Cartesian Robots Three-Axes Configuration Unit Selection Table Start from and move toward right as you confirm each condition to select a desired type. 2 3 4 5 High-Speed Type 800~1000 mm/sec 49 ISPA/ICSPA Catalog 3.0 8.6 7.3 9.0 7.9 7.6 6.3 9.0 6.9 9.0 5.8 9.0 9.0 8.4 9.0 9.0 3.0 3.0 3.0 3.0 9.0 9.0 How to Select a Unit (Explanation of the Table) [ Z-Axis Base Mount ] 1 Select the installation method of Z-axis from the followings: 1 1 Check the Y-axis stroke and load capacity. (If the condition is not satisfied, go down to the line below and select larger load capacity.) 5 [Z-Axis Base Mount] (The Z-axis base is mounted to the Y-axis slider: The Z-axis slider moves vertically.) [Z-Axis Slider Mount] (The Z-axis slider is mounted to the Y-axis slider: The Z-axis itself moves vertically.) Refer to page 45 for the X/Y-Axis configuration directions. Select the X/Y-Axis and Z-Axis wiring specifications from the two options to the right. Only cable track is available for X/Y-Axis type D, F, 1J, and 2J. Only Self-standing cable is available for Z-Axis Slider Mount Type. We can also build custom configurations not currently represented in the standard range. Please contact us regarding your specifications. Check the X-axis stroke. If the condition is not satisfied, go down to the line below and select larger type. *( ) specifies the case of BDHB or BFHB. 6 Select the Z-axis type from High-speed, Mid-speed, and Low-speed. (The Slider Mount Type is available only in Mid-speed and Low-speed. 2 7 Check the maximum speed for X-axis and Y-axis. You have selected the type that satisfies all your desired conditions. 8 Select the load capacity for Z-axis (total weight of load and jig) 3 4 Select the desired Z-axis stroke from the chart. SC: Self-standing cable CT: Cable track * Refer to page 241. 100 200 300 400 500 600 700 800~1200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 100~300 100~400 100~500 100~600 100~600 100 200 300 400 500 1000~600 3kg or less 9kg or less Z-Axis Z-Axis Speed Type Load Capacity Stroke (mm) Y-Axis Stroke (mm) Load Capacity (kg) Load Capacity (kg) Cartesian Robots Series If the condition is not satisfied, go down to the line below and select larger type. Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 10. ICSA/ICSPA Cartesian Robots Conditions The Z-Axis is subject to base mount. Allowable tip load : 2kg Speed : 800mm/sec or more Z-Axis Stroke : 200mm Y-Axis Stroke : 500mm X-Axis Stroke : 700MM The crossed column for Z-Axis stroke 100~300mm and Y-Axis stroke 500mm reads --- (Not applicable), so apply the line below. Since the Y-Axis stroke on the line covers 500mm, shift to the right. The X-Axis stroke is applicable up to 800mm, so shift to the right. The maximum speed for X-Axis/ Y Axis is 1000mm/sec and satisfy the condition. Shift to the right. As a result, Unit Type [BCHB1H] is the selected suitable model. Note The numbers in ( ) in X-Axis stroke in the chart below are for models in ( ) listed in Applicable Type's configuration type. Example: If the X-Axis stroke in the above example is 1000mm, configuration Applicable Type will be [BDHB1H]. 6 7 8 Applicable Type Configuration Type Page ISPA/ICSPA Catalog 50 Example of Selection 1 2 3 4 5 6 7 8 Select the chart of [Z-Axis Base Mount Type]. Select High-speed type since the desired speed is 800mm/sec. Select 3kg or less since the load capacity is 2kg. Move the line for 100~300 to the right since Z-Axis stroke is 200mm. ICSA [ICSPA] 3-BB HB1H ICSA [ICSPA] 3-BC HB1H(BD HB1H) ICSA [ICSPA] 3-BE HB1H(BF HB1H) ICSA [ICSPA] 3-G1JHB1H ICSA [ICSPA] 3-G2JHB1H ICSA [ICSPA] 3-BC HB3H (BD HB3H) ICSA [ICSPA] 3-BE HB3H (BF HB3H) ICSA [ICSPA] 3-BC HB3H (BD HB3H) ICSA [ICSPA] 3-BE HB3H (BF HB3H) ICSA [ICSPA] 3-BC HB3H (BD HB3H) ICSA [ICSPA] 3-BE HB3H (BF HB3H) ICSA [ICSPA] 3-BC HB3H (BD HB3H) ICSA [ICSPA] 3-BE HB3H (BF HB3H) ICSA [ICSPA] 3-BE HB3H (BF HB3H) ICSA [ICSPA] 3-G1JHB3H ICSA [ICSPA] 3-G2JHB3H *( ) is for the type BDHB or BFHB. X-Axis Stroke Maximum Speed (X-axis / Y-axis) (mm) (mm/sec) 1000/800 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 200~800 200~800 (800~2000) 300~1000 (1000~2500) 1000~2500 200~800 (800~2000) 300~1000 (1000~2500) 200~800 (800~2000) 300~1000 (1000~2500) 200~800 (800~2000) 300~1000 (1000~2500) 200~800 (800~2000) 300~1000 (1000~2500) 300~1000 (1000~2500) 1000~2500 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 11. ICSA/ICSPA Cartesian Robots 2 3 4 5 51 ISPA/ICSPA Catalog 5.7 5.4 1.7 4.7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 17.6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 19.0 - - - - 6.0 6.0 9.7 8.4 18.5 17.5 16.5 11.5 8.4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 16.6 - 19.0 13.8 9.4 5.8 17.6 16.6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9.0 9.0 9.0 9.0 9.0 8.4 9.0 7.6 6.3 9.0 6.9 9.0 5.8 9.0 9.0 8.6 7.3 6.0 6.0 2.9 6.0 5.9 6.0 6.0 2.3 6.0 5.3 6.0 6.0 6.0 5.6 6.0 10.7 9.4 19.0 18.5 17.5 12.5 9.4 19.0 19.0 18.7 7.6 6.3 16.4 15.4 14.4 9.4 6.3 19.0 14.9 10.5 6.9 18.7 8.6 7.3 17.4 16.4 15.4 10.4 7.3 19.0 15.9 11.5 7.9 19.0 19.0 17.0 [ Z-Axis Base Mount ] 1 400~500 mm/sec Z-Axis Z-Axis Speed Type Mid-Speed Type Load Capacity Load Capacity (kg) Load Capacity (kg) Load Capacity (kg) Stroke (mm) Y-Axis Stroke (mm) 100 200 300 400 500 600 700 800~1200 19.0 7.9 19.0 18.0 13.6 10.0 19.0 100 200 300 100~400 100~500 100~600 100~600 100 200 300 400 500 100~600 100~600 100 200 300 400 500 600 6kg or less 9kg or less 19kg or less 12.6 9.0 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 12. ICSA/ICSPA Cartesian Robots *( ) is for the type BDHB or BFHB. Applicable Type ICSA [ICSPA] 3-BA MB1M ICSA [ICSPA] 3-BB HB1M ICSA [ICSPA] 3-BB MB1M ICSA [ICSPA] 3-BA MB1M ICSA [ICSPA] 3-BB HB1M ICSA [ICSPA] 3-BB MB1M ICSA [ICSPA] 3-BC HB1M (BD HB1M) ICSA [ICSPA] 3-BE HB1M (BF HB1M) ICSA [ICSPA] 3-G1JHB1M ICSA [ICSPA] 3-G2JHB1M ICSA [ICSPA] 3-BB MB2M ICSA [ICSPA] 3-BC HB2M (BD HB2M) ICSA [ICSPA] 3-BE HB2M (BF HB2M) ICSA [ICSPA] 3-BC HB2M (BD HB2M) ICSA [ICSPA] 3-BE HB2M (BF HB2M) ICSA [ICSPA] 3-BC HB2M (BD HB2M) ICSA [ICSPA] 3-BE HB2M (BF HB2M) ICSA [ICSPA] 3-BC HB2M (BD HB2M) ICSA [ICSPA] 3-BE HB2M (BF HB2M) ICSA [ICSPA] 3-BE HB2M (BF HB2M) ICSA [ICSPA] 3-G1JHB2M ICSA [ICSPA] 3-G2JHB2M ICSA [ICSPA] 3-BC HB3M (BD HB3M) ICSA [ICSPA] 3-BC MB3M ICSA [ICSPA] 3-BE HB3M (BF HB3M) ICSA [ICSPA] 3-G1JHB3M ICSA [ICSPA] 3-G2JHB3M ICSA [ICSPA] 3-BC HB3M (BD HB3M) ICSA [ICSPA] 3-BC MB3M ICSA [ICSPA] 3-BE HB3M (BF HB3M) ICSA [ICSPA] 3-G1JHB3M ICSA [ICSPA] 3-G2JHB3M ICSA [ICSPA] 3-BC HB3M (BD HB3M) ICSA [ICSPA] 3-BC MB3M ICSA [ICSPA] 3-BE HB3M (BF HB3M) ICSA [ICSPA] 3-G1JHB3M ICSA [ICSPA] 3-G2JHB3M ICSA [ICSPA] 3-BC HB3M (BD HB3M) ICSA [ICSPA] 3-BC MB3M ICSA [ICSPA] 3-BE HB3M (BF HB3M) ICSA [ICSPA] 3-G1JHB3M ICSA [ICSPA] 3-G2JHB3M ICSA [ICSPA] 3-BE HB3M (BF HB3M) ICSA [ICSPA] 3-G1JHB3M ICSA [ICSPA] 3-G2JHB3M ICSA [ICSPA] 3-G1JHB3M ICSA [ICSPA] 3-G2JHB3M ISPA/ICSPA Catalog 52 6 7 8 ICSA [ICSPA] 3-BA MB1M ICSA [ICSPA] 3-BB HB1M ICSA [ICSPA] 3-BB MB1M X-Axis Stroke Maximum Speed (X-axis / Y-axis) (mm) (mm/sec) 400/400 1000/800 500/400 400/400 1000/800 500/400 400/400 1000/800 500/400 1000/1000 1000/1000 1000/1000 1000/1000 500/400 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 500/500 1000/1000 1000/1000 1000/1000 1000/1000 50/500 1000/1000 1000/1000 1000/1000 1000/1000 500/500 1000/1000 1000/1000 1000/1000 1000/1000 500/500 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 100~600 200~800 200~800 100~600 200~800 200~800 100~600 200~800 200~800 200~800 300~1000 1000~2500 200~800 200~800 (800~2000) 300~1000 (1000~2500) 200~800 (800~2000) 300~1000 (1000~2500) 200~800 (800~2000) 300~1000 (1000~2500) 200~800 (800~2000) 300~1000 (1000~2500) 300~1000 (1000~2500) 1000~2500 200~800 200~800 300~1000 1000~2500 200~800 200~800 300~1000 1000~2500 200~800 200~800 300~1000 1000~2500 200~800 200~800 300~1000 1000~2500 300~1000 1000~2500 (800~2000) (1000~2500) (800~2000) (1000~2500) (800~2000) (1000~2500) (800~2000) (1000~2500) (1000~2500) 1000~2500 Configuration Type Page Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 13. ICSA/ICSPA Cartesian Robots 200~250 53 ISPA/ICSPA Catalog 19.0 6.3 5.9 5.2 - - - - - - - - - 10.7 9.4 - - - 19.0 18.5 17.5 12.5 9.4 - - - - - - 12.9 - - 19.0 18.0 13.6 10.0 19.0 - - - - - 17.6 - - - 19.0 17.0 12.6 9.0 - - - - - - - 8.6 7.3 - - 17.4 16.4 15.4 10.4 7.3 19.0 15.9 11.5 7.9 12.8 9.6 - - - 19.0 14.9 10.5 6.9 9.4 5.8 16.6 19.0 15.9 12.7 19.0 9.7 8.4 18.5 17.5 16.5 11.5 8.4 19.0 14.6 11.4 18.7 7.6 6.3 - 16.4 15.4 14.4 9.4 6.3 18.7 19.0 19.0 13.8 10.6 17.6 16.6 14.0 14.0 13.0 11.4 6.9 6.9 2.9 7.1 6.2 14.0 14.0 13.5 12.9 14.0 12.4 2.3 6.1 10.8 14.0 11.8 10.2 5.7 1.7 5.4 4.7 14.0 13.5 11.7 12.3 11.7 14.0 14.0 14.0 13.5 5.6 14.0 14.0 12.3 - - - - - - - - - - - - - - - - - - - - - - - - - - 1 2 3 4 5 100 200 300 400 500 600 700 800~1200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 14.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13.8 - - 100 200 300 400 500 100~600 100~600 100 200 300 400 500 100~600 100~600 - - - - - - - - - - - - - - - - - - - - - - - - - - - [ Z-Axis Base Mount ] mm/sec Z-Axis Z-Axis Speed Type Low-Speed Type Load Capacity Load Capacity (kg) Load Capacity (kg) Stroke (mm) Y-Axis Stroke (mm) 14kg or less 19kg or less Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 14. ICSA/ICSPA Cartesian Robots Applicable Type *( ) is for the type BDHB or BFHB. X-Axis Stroke Configuration Type Page ISPA/ICSPA Catalog 54 6 7 8 ICSA [ICSPA] 3-BA MB1L ICSA [ICSPA] 3-BB HB1L ICSA [ICSPA] 3-BB MB1L ICSA [ICSPA] 3-BC HB1L (BD HB1L) ICSA [ICSPA] 3-BE HB1L (BF HB1L) ICSA [ICSPA] 3-BA MB1L ICSA [ICSPA] 3-BB HB1L ICSA [ICSPA] 3-BB MB1L ICSA [ICSPA] 3-BC HB1L (BD HB1L) ICSA [ICSPA] 3-BE HB1L (BF HB1L) ICSA [ICSPA] 3-BA MB1L ICSA [ICSPA] 3-BB HB1L ICSA [ICSPA] 3-BB MB1L ICSA [ICSPA] 3-BC HB1L (BD HB1L) ICSA [ICSPA] 3-BE HB1L (BF HB1L) ICSA [ICSPA] 3-BC HB1L (BD HB1L) ICSA [ICSPA] 3-BE HB1L (BF HB1L) ICSA [ICSPA] 3-BE HB1L (BF HB1L) ICSA [ICSPA] 3-G1JHB1L ICSA [ICSPA] 3-G2JHB1L ICSA [ICSPA] 3-BB MB2L ICSA [ICSPA] 3-BC HB2L (BD HB2L) ICSA [ICSPA] 3-BC MB2L ICSA [ICSPA] 3-BE HB2L (BF HB2L) ICSA [ICSPA] 3-G1JHB2L ICSA [ICSPA] 3-G2JHB2L ICSA [ICSPA] 3-BB MB2L ICSA [ICSPA] 3-BC HB2L (BD HB2L) ICSA [ICSPA] 3-BC MB2L ICSA [ICSPA] 3-BE HB2L (BF HB2L) ICSA [ICSPA] 3-G1JHB2L ICSA [ICSPA] 3-G2JHB2L ICSA [ICSPA] 3-BB MB2L ICSA [ICSPA] 3-BC HB2L (BD HB2L) ICSA [ICSPA] 3-BC MB2L ICSA [ICSPA] 3-BE HB2L (BF HB2L) ICSA [ICSPA] 3-G1JHB2L ICSA [ICSPA] 3-G2JHB2L ICSA [ICSPA] 3-BB MB2L ICSA [ICSPA] 3-BC HB2L (BD HB2L) ICSA [ICSPA] 3-BC MB2L ICSA [ICSPA] 3-BE HB2L (BF HB2L) ICSA [ICSPA] 3-G1JHB2L ICSA [ICSPA] 3-G2JHB2L ICSA [ICSPA] 3-BE HB2L (BF HB2L) ICSA [ICSPA] 3-G1JHB2L ICSA [ICSPA] 3-G2JHB2L ICSA [ICSPA] 3-G1JHB2L ICSA [ICSPA] 3-G2JHB2L (mm) Maximum Speed (X-axis / Y-axis) (mm/sec) 400/400 1000/1000 500/400 1000/1000 1000/1000 400/400 1000/1000 500/400 1000/1000 1000/1000 400/400 1000/1000 500/400 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 500/500 1000/1000 1000/1000 1000/1000 500/400 1000/1000 500/500 1000/1000 1000/1000 1000/1000 500/400 1000/1000 500/500 1000/1000 1000/1000 1000/1000 500/400 1000/1000 500/500 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 100~600 200~800 200~800 200~800 300~1000 100~600 200~800 200~800 200~800 300~1000 100~600 200~800 200~800 200~800 300~1000 200~800 300~1000 300~1000 1000~2500 200~800 200~800 200~800 300~1000 1000~2500 200~800 200~800 200~800 300~1000 1000~2500 200~800 200~800 200~800 300~1000 1000~2500 200~800 200~800 200~800 300~1000 1000~2500 300~1000 1000~2500 (800~2000) (1000~2500) (800~2000) (1000~2500) (800~2000) (1000~2500) (1000~2500) (1000~2500) (800~2000) (1000~2500) (1000~2500) (800~2000) (1000~2500) (800~2000) (1000~2500) (1000~2500) 1000~2500 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 15. ICSA/ICSPA Cartesian Robots 55 ISPA/ICSPA Catalog - 11.9 10.9 9.9 8.9 - - - - - 0.9 0.9 0.9 7.8 - - - 10.9 10.9 - 9.0 7.7 9.5 9.9 9.9 8.0 6.7 8.5 8.9 8.9 - - - 7.8 7.5 11.9 11.9 10.0 8.7 10.5 1.6 1.6 1.6 1.6 1.6 1.6 1.6 2.3 2.3 2.3 2.3 2.3 2.3 2.3 3.0 3.0 3.0 3.0 3.0 3.0 3.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 19.0 1 2 3 4 5 400~500 mm/sec 100 200 300 400 500 600 700 800~1200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 100 200 300 400 100 200 300 400 500 - - - - - - - - - - - - - - - - - - - - - - - - - [ Z-Axis Slider Mount ] Z-Axis Z-Axis Speed Type Mid-Speed Type Load Capacity Load Capacity (kg) Load Capacity (kg) Stroke (mm) Y-Axis Stroke (mm) 3kg or less 12kg or less Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 16. ICSA/ICSPA Cartesian Robots *( ) is for the type BDHB or BFHB. Applicable Type ISPA/ICSPA Catalog 56 6 7 8 ICSA [ICSPA] 3-BA MS1M ICSA [ICSPA] 3-BB HS1M ICSA [ICSPA] 3-BB MS1M ICSA [ICSPA] 3-BC HS1M (BD HS1M) ICSA [ICSPA] 3-BE HS1M (BF HS1M) ICSA [ICSPA] 3-G1JHS1M ICSA [ICSPA] 3-G2JHS1M ICSA [ICSPA] 3-BA MS1M ICSA [ICSPA] 3-BB HS1M ICSA [ICSPA] 3-BB MS1M ICSA [ICSPA] 3-BC HS1M (BD HS1M) ICSA [ICSPA] 3-BE HS1M (BF HS1M) ICSA [ICSPA] 3-G1JHS1M ICSA [ICSPA] 3-G2JHS1M ICSA [ICSPA] 3-BA MS1M ICSA [ICSPA] 3-BB HS1M ICSA [ICSPA] 3-BB MS1M ICSA [ICSPA] 3-BC HS1M (BD HS1M) ICSA [ICSPA] 3-BE HS1M (BF HS1M) ICSA [ICSPA] 3-G1JHS1M ICSA [ICSPA] 3-G2JHS1M ICSA [ICSPA] 3-BE HS1M (BF HS1M) ICSA [ICSPA] 3-G1JHS1M ICSA [ICSPA] 3-G2JHS1M ICSA [ICSPA] 3-BC HS3M (BD HS3M) ICSA [ICSPA] 3-BE HS3M (BF HS3M) ICSA [ICSPA] 3-G1JHS3M ICSA [ICSPA] 3-G2JHS3M ICSA [ICSPA] 3-BC HS3M (BD HS3M) ICSA [ICSPA] 3-BE HS3M (BF HS3M) ICSA [ICSPA] 3-G1JHS3M ICSA [ICSPA] 3-G2JHS3M ICSA [ICSPA] 3-BC HS3M (BD HS3M) ICSA [ICSPA] 3-BE HS3M (BF HS3M) ICSA [ICSPA] 3-G1JHS3M ICSA [ICSPA] 3-G2JHS3M ICSA [ICSPA] 3-BE HS3M (BF HS3M) ICSA [ICSPA] 3-G1JHS3M ICSA [ICSPA] 3-G2JHS3M ICSA [ICSPA] 3-G1JHS3M ICSA [ICSPA] 3-G2JHS3M 400/400 1000/800 500/500 1000/1000 1000/1000 1000/1000 1000/1000 400/400 1000/800 500/500 1000/1000 1000/1000 1000/1000 1000/1000 400/400 1000/800 500/500 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 1000/1000 100~600 200~800 200~800 200~800 (800~2000) 300~1000 (1000~2500) 1000~2500 100~600 200~800 200~800 200~800 (800~2000) 300~1000 (1000~2500) 1000~2500 100~600 200~800 200~800 200~800 (800~2000) 300~1000 (1000~2500) 1000~2500 300~1000 (1000~2500) 1000~2500 200~800 (800~2000 300~1000 (1000~2500) 1000~2500 200~800 (800~2000) 300~1000 (1000~2500) 1000~2500 200~800 (800~2000) 300~1000 (1000~2500) 1000~2500 300~1000 (1000~2500) 1000~2500 X-Axis Stroke Maximum Speed (X-axis / Y-axis) (mm) (mm/sec) Configuration Type Page Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 17. ICSA/ICSPA Cartesian Robots 400~500 57 ISPA/ICSPA Catalog - - - - - 8.9 8.9 9.6 8.9 - - - 9.6 - 9.6 9.6 9.6 10.3 10.3 10.3 10.3 10.3 11.0 7.2 7.6 7.0 3.6 6.3 10.3 6.5 6.9 6.3 2.9 5.6 9.6 5.8 6.2 5.6 2.2 4.9 11.0 11.0 11.0 11.0 11.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 2 3 4 5 100 200 300 400 500 600 700 800~1200 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 100 200 300 400 [ Z-Axis Slider Mount ] mm/sec Z-Axis Z-Axis Speed Type Low-Speed Type Load Capacity Load Capacity (kg) Stroke (mm) Y-Axis Stroke (mm) 11 kg or less Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 18. ICSA/ICSPA Cartesian Robots *( ) is for the type BDHB or BFHB. Applicable Type ISPA/ICSPA Catalog 58 6 7 8 ICSA [ICSPA] 3-BA MS1L ICSA [ICSPA] 3-BB HS1L ICSA [ICSPA] 3-BB MS1L ICSA [ICSPA] 3-BC HS1L (BD HS1L) ICSA [ICSPA] 3-BE HS1L (BF HS1L) ICSA [ICSPA] 3-G1JHS1L ICSA [ICSPA] 3-G2JHS1L ICSA [ICSPA] 3-BA MS1L ICSA [ICSPA] 3-BB HS1L ICSA [ICSPA] 3-BB MS1L ICSA [ICSPA] 3-BC HS1L (BD HS1L) ICSA [ICSPA] 3-BE HS1L (BF HS1L) ICSA [ICSPA] 3-G1JHS1L ICSA [ICSPA] 3-G2JHS1L ICSA [ICSPA] 3-BA MS1L ICSA [ICSPA] 3-BB HS1L ICSA [ICSPA] 3-BB MS1L ICSA [ICSPA] 3-BC HS1L (BD HS1L) ICSA [ICSPA] 3-BE HS1L (BF HS1L) ICSA [ICSPA] 3-G1JHS1L ICSA [ICSPA] 3-G2JHS1L ICSA [ICSPA] 3-BE HS1L (BF HS1L) ICSA [ICSPA] 3-G1JHS1L ICSA [ICSPA] 3-G2JHS1L X-Axis Stroke (mm) Configuration Type Page Maximum Speed (X-axis / Y-axis) (mm/sec) 400~400 1000~800 500~400 1000~1000 1000~1000 1000~1000 1000~1000 400~400 1000~800 500~400 1000~1000 1000~1000 1000~1000 1000~1000 400~400 1000~800 500~400 1000~1000 1000~1000 1000~1000 1000~1000 1000~1000 1000~1000 1000~1000 100~600 200~800 200~800 200~800 300~1000 1000~2500 100~600 200~800 200~800 200~800 300~1000 1000~2500 100~600 200~800 200~800 200~800 300~1000 1000~2500 300~1000 1000~2500 (800~2000) (1000~2500) (800~2000) (1000~2500) (800~2000) (1000~2500) (1000~2500) X-Y Two-Axes Configuration ICSA2(ICSPA2)-BK H ICSA2(ICSPA2)-BK M ICSA2(ICSPA2)-BL H ICSA2(ICSPA2)-BL M ICSA2(ICSPA2)-BP H ICSA2(ICSPA2)-BP M ICSA2(ICSPA2)-BQ H ICSA2(ICSPA2)-BQ M 87 89 91 93 95 97 99 101 Check out the New Models! Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 19. ICSA/ICSPA Cartesian Robots Cartesian Robot Series Points to Note Notes on Catalog Specifications Speed Speed refers to the specified speed at which the actuator slider will move. Positioning Repeatability Positioning repeatability refers to the positioning accuracy of repeated movements to a 59 ISPA/ICSPA Catalog The slider accelerates from a stationary state, and once the specified speed is reached it will maintain that speed until the specified position (immediately before the target position), where it will begin decelerating to stop at the target position. Caution With all Cartesian robot models, the maximum speed will not change even when the load placed on the slider is changed. The time needed to reach the specified speed will vary according to the acceleration (deceleration). If the travel distance is short, the specified speed may not be reached. With a long-stroke axis, the maximum speed will drop to avoid reaching a dangerous speed. (If you are using a 600 or longer stroke, check the maximum speed for the applicable stroke.) When calculating the travel time, consider acceleration, deceleration and stabilization periods in addition to the travel time at the specified speed. (Refer to pages 39 and 40 for the method to calculate travel time.) Speed can be set in increments of 1 mm/sec in a program. Acceleration/Deceleration Acceleration refers to the rate of change of speed when the speed rises from zero (stationary state) to the specified speed. Deceleration refers to the rate of change of speed when the specified speed drops to zero (stationary state). Caution Increasing the acceleration (deceleration) will shorten the duration the actuator accelerates (decelerates) and decrease the travel time. However, doing so will also cause rapid acceleration (deceleration), resulting in increased shock. The load capacity of each type assumes operation at the rated acceleration and maximum speed. (The rated acceleration is 0.3 G for the standard type and 0.15 G when the lead is 4 or 5 mm.) The ICSA2/ICSPA2 supports a maximum acceleration of 1.0 G. The load capacity will decrease when the specified acceleration is increased beyond the rated acceleration. For the load capacity at a raised acceleration, refer to the table of load capacity by acceleration corresponding to each actuator type. Acceleration can be set (specified) in increments of 0.01 G for each position movement in a program. pre-stored position. This is not the same as absolute positioning accuracy, so exercise caution. Home The home is set on the motor side for the standard specification, or on the counter-motor side for the reversed-home specification. Caution • The incremental actuator always requires homing every time the power is reconnected. (Homing is not required for the absolute type even after reconnecting the power.) • During homing the slider (or rod or arm) will move to the mechanical end before reversing, so be careful to prevent contact with surrounding parts. • Note that changing the home position from the standard to reverse homing specification will require the actuator to be returned to IAI for adjustment. Duty IAI recommends that our actuators be used at a duty of 50% or less as a guideline in view of the relationship of service life and accuracy. Duty (%) = Acceleration / Deceleration Time Motion time + Inactivity x 100 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 20. ICSA/ICSPA Cartesian Robots ISPA/ICSPA Catalog 60 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 21. ICSA/ICSPA Cartesian Robots 61 ISPA/ICSPA Catalog Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 22. ICSA/ICSPA Cartesian Robots ISPA/ICSPA Catalog 62 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 23. ICSA/ICSPA Cartesian Robots Cartesian Robots Installation Method Two-Axes Configuration XYB type Affix the actuators using the through holes provided on the bottom surface of the X-axis. BAH, BAM : ø7 (P15 ISA-SXM Refer to the bottom plan view.) BBH, BBM : ø9 (P18 ISA-MXM Refer to the bottom plan view.) BCH, BCM : ø9 (P19 ISA-MXM Refer to the bottom plan view.) BDH, : ø9 (P20 ISA-MXMX Refer to the bottom plan view.) BEH, BEM : ø9 (P26 ISA-LXM Refer to the bottom plan view.) BFH, : ø9 (P28 ISA-LXMX Refer to the bottom plan view.) 63 ISPA/ICSPA Catalog XYS type XZ type YZ type XYG type ICSA2/ICSPA2/ICSA3/ICSPA3 BKH, BKM BLH, BLM BPH, BPM BQH, BQM Affix the actuators using the through holes provided on the bottom surface of the X-axis. ZAH, ZAM : ø7 (P15 ISA-SXM Refer to the bottom plan view.) Z1CH, Z1CM : ø9 (P18 ISA-MXM Refer to the bottom plan view.) Z2CH : ø9 (P19 ISA-MXM Refer to the bottom plan view.) ZDH, : ø9 (P20 ISA-MXMX Refer to the bottom plan view.) ZGH : ø9 (P26 ISA-LXM Refer to the bottom plan view.) ZHH : ø9 (P28 ISA-LXMX Refer to the bottom plan view.) Affix the actuators using the through holes provided on the bottom surface of the X-axis. SAH, SAM : ø7 (P15 ISA-SXM Refer to the bottom plan view.) S1CH, S1CM : ø9 (P18 ISA-MXM Refer to the bottom plan view.) S2CH : ø9 (P19 ISA-MXM Refer to the bottom plan view.) Affix the actuators using the threaded holes provided on the bottom surface of the actuator. YAH, YAM : M6 (P16 ISA-SYM Refer to the bottom plan view.) YCH, YCM : M8 (P22 ISA-MYM Refer to the bottom plan view.) YGH : M8 (P32 ISA-LYM Refer to the bottom plan view.) Affix the actuators using the through holes provided on the bottom surface of the X-axis (driving shart / driven shaft). G1JH (Driving shaft) : ø9 (P30 ISA-LXUWX Refer to the bottom plan view.) (Driven shaft) : ø7 (P15 ISA-SXM Refer to the bottom plan view.) G2JH (Driving shaft) : ø9 (P30 ISA-LXUWX Refer to the bottom plan view.) (Driven shaft) : ø7 (P15 ISA-SXM Refer to the bottom plan view.) Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 24. ICSA/ICSPA Cartesian Robots ISPA/ICSPA Catalog 64 Three-Axes Configuration XYB+Z Axis type Affix the actuators using the through holes provided on the bottom surface of the X-axis. BAMS : ø7 (P15 ISA-SXM Refer to the bottom plan view.) BB : ø9 (P18 ISA-MXM Refer to the bottom plan view.) BC : ø9 (P19 ISA-MXM Refer to the bottom plan view.) BD : ø9 (P20 ISA-MXMX Refer to the bottom plan view.) BE : ø9 (P26 ISA-LXM Refer to the bottom plan view.) BF : ø9 (P28 ISA-LXMX Refer to the bottom plan view.) XYG+Z Axis type Affix the actuators using the through holes provided on the bottom surface of the X-axis (driving shaft / driven shaft). G1JH (Driving shaft) : ø9 (P30 ISA-LXUWX Refer to the bottom plan view.) (Driven shaft) : ø7 (P15 ISA-SXM Refer to the bottom plan view.) G2JH (Driving shaft) : ø9 (P30 ISA-LXUWX Refer to the bottom plan view.) (Driven shaft) : ø7 (P15 ISA-SXM Refer to the bottom plan view.) Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 25. ICSA/ICSPA Cartesian Robots Cartesian Robots Series System Configurations Actuator Controller Options ICSA2 Series ICSPA2 Series ICSA3 Series ICSPA3 Series 65 ISPA/ICSPA Catalog X-SEL P-Driver PC Software PDR-101-MW Motor Cable Encoder Cable Teaching pendant IA-T-X PC Software IA-101-X-MW IA-101-X-CW * Operating with P-Driver requires as many P-Driver controller as the number of axis to operate. Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 26. ISPA/ICSPA Catalog 66 Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com