Iai-america CT4 User Manual

߿ߓࠆ㧿High-Speed Orthogonal Robot CT4Instruction Manual Third EditionIAI America, Inc.

4No.OperationDescription Description 4 Installation and Start (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it cle

5No.OperationDescription Description 6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader

6No.OperationDescription Description 8 Maintenance and Inspection Ɣ When the work is carried out with 2 or more persons, make it clear who is to be

7Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

8Caution in Handling 1. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings. If the robot is operated a

9Names of the PartsScrew Cover TableScrew Cover X-Y cable X direction datum surfaceConnector Joint Connector BOXX-Y cable Connector Joint Details M c

1. Specications Check101. Specifications Check 1.1 Checking the Product If based on a standard configuration, this product consists of the items li

1. Specications Check11 1.1.4 How to Read the Model Number Note 1 Identification for IAI use only : It may be displayed for IAI use. It is not a co

1. Specications Check121.2 Specification 1.2.1 Speed Max. Speed (Unit: mm/s) Axis Motor Type [W] Stroke [mm] Max. Speed [mm/s]X1-axis 400 400

1. Specications Check131.2.3 Driving System and Position Detector Ball Screw type AxisMotor Type [W]No. of EncoderPlusesLead[mm]Type Diameter[mm]X1-

1. Specications Check141.3 Motor • Encoder Cables 1.3.1 Motor Cables CB-CT4-MAƑƑƑLM3M4M2M1CN1CN2CN4CN3CN5A1A10B1B104321432143214321ƑƑƑ shows the ca

1. Specications Check151.3.2 Encoder Cables CB-CT4-PAƑƑƑCN2Width Electric wire colorSignal Name Pin No. - NC 10 - NC 11 - NC 12- NC 13- NC 26

2. Installation162. Installation 2.1 Transportation 2.1.1 Handling of the Robot [1] Handling of the Robot Pay attention to the following when carry

2. Installation17(2) Handling after Unpackaged Follow the instructions below to transport the unpackaged CT4 that was delivered from our factory in a

2. Installation182.2 Installation and Storage/Preservation Environment [1] Installation Environment The robot should be installed in a location other

2. Installation192.3 How to Install Shown below is how to install High-Speed Orthogonal Robot CT4. 2.3.1 Installation of the Main Body Ɣ There are

2. Installation202.3.2 Datum Surface Ɣ The side faces on the base is referred as the datum surface for the slider’s run.Use these surfaces as the da

2. Installation212.3.3 Platform for installation Ɣ The attachment surface should be a machined surface or a flat surface that possesses an equivalen

2. Installation222.3.4 Attachment of Transported Objects x There are tapped holes on the table and the end of the Z-axis. Affix the transported obje

2. Installation23There are restrictions in the moment and load overhang length when attaching a load on the table. Dynamic Allowable Moment[N㨯m] Ma

Please Read Before Use Thank you for purchasing our product. This Instruction Manual explains the handling methods, structure and maintenance of this

3. Connecting to the Controller243. Connecting to the ControllerFor the controller, those other than the controller dedicated for CT4 cannot be used.

3. Connecting to the Controller25Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipment,

3. Connecting to the Controller26• Do not pull the cable with a strong force. • Pay attention not to concentrate the twisting force to one point on

3. Connecting to the Controller27• If using a cable track, arrange the wiring so that there is no entanglement or kink of the cables in the cable car

4. Maintenance Inspection284. Maintenance Inspection 4.1 Inspection Items and Inspection Schedule Have maintenance inspections following the interva

4. Maintenance Inspection294.4 Internal Inspection Turn OFF the power, remove the screw cover and have a visual inspection. Include the items below i

4. Maintenance Inspection30[Z-axis] 1) Remove the four screws holding the Z-axis cover. Detach the Z-axis cover. Tool to use: Hex Wrench 2.5mm-sized

4. Maintenance Inspection313) Detach the four screws holding the screw cover (at the points where circled) and remove the screw cover. Tool to use: H

4. Maintenance Inspection324.6 Grease Supply 4.6.1 Grease Applied The following grease is applied when the product is shipped out from IAI factory.

4. Maintenance Inspection333) Move the X1, X2-axis several times with hand. Caution: Ɣ Applying too much grease will increase the stirring resistan

4. Maintenance Inspection34[2] Y-axis 1) For the Y-axis, there is a grease nipple on the back side. Nipple Inlet Diameter [mm]I4.0

4. Maintenance Inspection35[3] Z-axis1) Remove the four screws holding the Z-axis cover. Detach the Z-axis cover.Tool to use: Hex Wrench 2.5mm-sized

4. Maintenance Inspection363) Detach the four screws holding the screw cover (at the points where circled) and remove the screw cover.Tool to use: He

4. Maintenance Inspection374.7 Motor Replacement Process Shown in the description below is how to replace the motor in such a case that it gets a wir

4. Maintenance Inspection384.7.1 Motor Replacement for X1 and X2 [Items Required for Replacement Work] x Motor Unit for Replacement Model No. : M-C

4. Maintenance Inspection39(3) Detaching the Motor1) Detach the four screws holding the plate at the back and remove the plate.Tool to

4. Maintenance Inspection403) Detach the two screws (at the points where circled) holding the plate of the heat radiation sheet at the bottom of the

4. Maintenance Inspection415) Detach the four screws holding the motor (at the points where circled and two places at the bottom) and remove the moto

4. Maintenance Inspection42(4) Attaching the New Motor1) Adjust the coupling on the new motor so the screw on it faces up.2) Move the Y-a

4. Maintenance Inspection433) Insert the motor together with the plate at the bottom of the motor, and temporarily tighten the screws to hold the mot

Table of Contents Safety Guide... 1Caution

4. Maintenance Inspection445) Attach the two screws (at the points where circled) to hold the plate on the bottom of the motor.6) Joi

4. Maintenance Inspection45(5) Attaching the Screw Cover Tighten the four screws holding the screw cover (at the points where circled) and remove the

4. Maintenance Inspection46(6) Attaching the Motor CoverAttach the four screws to hold the motor cover to affix it.(7) Connection to

4. Maintenance Inspection474.7.2 Process to Replace the Motor for the Y-Axis [Items Required for Replacement Work] x Motor Unit for ReplacementMo

4. Maintenance Inspection48(2) Detaching the Motor 1) Detach the connectors of the motor cable and encoder cable. 2) Detach the four screws holding

4. Maintenance Inspection494) Detach the four screws holding the motor (at the points where circled and two places at the bottom) and pull out the mo

4. Maintenance Inspection50(3) Attaching the New Motor 1) Adjust the coupling on the new motor so the screw on it faces up. 2) Move the

4. Maintenance Inspection513) Slide in the motor to the main body and temporarily tighten the four screws to hold the motor (at the circled places an

4. Maintenance Inspection525) Join the connectors. 6) Tighten the four screws holding the screw cover (at the points where circled) and attach the s

4. Maintenance Inspection53(4) Attaching the Motor Covers 1 and 2 Attach the four screws to hold Motor Cover 1, then another four to hold Motor Cover

6. Life... 617. Warranty ...

4. Maintenance Inspection544.7.3 Process to Replace the Motor for the Z-Axis [Items Required for Replacement Work] x Motor Unit for Replacement Mo

4. Maintenance Inspection55(2) Detaching the Motor 1) Cut and remove the cable band clamping the cables. Disconnect the motor cable connector from t

4. Maintenance Inspection563) Move the table to a position where the coupling tightening screw can be seen(at the circled places). Loosen the couplin

4. Maintenance Inspection57(3) Attaching the New Motor 1) Adjust the coupling on the new motor so the screw on it faces below. 2) Locate t

4. Maintenance Inspection584) Tighten the screws affixing the motor (at the circled places). 5) Plug in the motor cable and ribbon ca

4. Maintenance Inspection59(4) Attaching the Motor Cover Tighten the four screws holding the screw cover and remove the screw cover. 

5. SampleExternal Dimensions605. External Dimensions 82.0Weight [kg] BCCEEY : STROKE300680.56060245X : XTROKE400 164130 130790Z : STROKE1004001641903

6. Life616. Life The mechanical life of the High-Speed Orthogonal Robot CT4 is represented by the guide that receives the moment load mostly. One of

7. Warranty627. Warranty 7.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from IAI y 12 months

7. Warranty637.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with anoth

1Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read

8. Change History64Change History Revision Date Description of Revision 2012.08 2012.11 2013.01 First edition Second edition Caution in Handling (2)

Manual No.: ME3724-3A (January 2013)The information contained in this document is subject to change without notice for purposes of product improvement

2No.OperationDescription Description 2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such

3No.OperationDescription Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for