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ROBO Cylinder (RCP6) Combinations IA Kit IK Series Assembly Procedures Edition 2

Thank you for purchasing an IAI product. Assemble your product correctly by referring to this Assembly Procedures. Be sure to read the operation manual (DVD) supplied separately for each actuator and handle the actuator correctly.

No. Model Number of Axes Assembling (Fixed) Method Wiring Method Assembly Direction

Drawing No. Completed Drawing

List

Drawing No. Assembly

Procedures

① IK2-P6XB(B/C/D/E/F) S (-FTP) 2-axes (X, Y) XYB (Y-axis Base Mount) Type Cable track 1 to 4 GMM16-001 ① GMM16-002

② IK2-P6YB(B/C/D) S 2-axes (Y, Z) YZB (Z-axis Base Mount) Type (1) Cable track 1 to 2 GMM16-001 ② GMM16-003

③ IK2-P6YB(G/H/I) S 2-axes (Y, Z) YZB (Z-axis Base Mount) Type (2) Cable track 1 to 2 GMM16-001 ③ GMM16-004

④ IK3-P6BB(B/C/E/F) S (-FTP) 3-axes (X, Y, Z) XYB (Y-axis Base Mount) + Z-axis Base Mount Type (1)

Cable track 1 to 4 GMM16-001 ④ GMM16-005

⑤ IK3-P6BB(G/H) S (-FTP) 3-axes (X, Y, Z) XYB (Y-axis Base Mount) + Z-axis Base Mount Type (2) Cable track 1 to 4 GMM16-001 ⑤ GMM16-006

⑥ IK4-P6BB(B/F) S (- FTP) 4-axes (X, Y, Z, R) XYB (Y-axis Base Mount) + ZR-axis (Vertical/Rotary) Unit Type

Cable track 1 to 4 GMM16-001 ⑥ GMM16-007

Catalog No. : ME0366-2B

← X-axis

↑ Y-axis

Assembly Direction 1

Z-axis → ↑ Y-axis


Z-axis → ↑

Y-axis


IA Kit IK Series Assembly Procedures Completion Drawing List

Catalog No. : ME0366-2B GMM16－001 1/2

YZB (Z-axis Base Mount) Type (1) [Assembly Procedures] IK2-P6YB (B/C/D) S Drawing No. : GMM16-003② XYB (Y-axis Base Mount) Type [Assembly Procedures]

IK2-P6XB S (-FTP) Drawing No. : GMM16-002 ① ③

[1] X plate [2] XY bracket [3] Y cable affixing bracket (Type A)

[3] Y cable affixing bracket (Type B)

[3] Y cable affixing bracket (Type C)

[4] X guide rail (Type D, E)

[4] X guide rail (Type F)

[4] X guide rail (Type G) [5] X-Y cable track [6] X track mounting

bracket

[8] Y-Y cable track [7] Y guide rail [9] Foot plate (option)

[1] Y plate [2] Z plate [3] Z cable affixing bracket (Type R)

[3] Z cable affixing bracket (Type C) [4] Y guide rail

[5] Y-Z cable track [6] Y track

mounting bracket [8] Z-Z cable track[7] Z guide rail

[Assembled parts]

[Assembly Direction]

FTP: Equipped with Foot Plate

X-axis + Y-axis

B: SA8 + SA7 C: SA7 + SA6 D: SA6 + SA4 E: WSA16 + SA8 F: WSA14 + SA7

[Model] IK2-P6XB S (-FTP)

S : Ultra High Speed H : High speed M: Medium speed

Assembly direction (1 to 4) X-axis + Y-axis 1: Reversed + Reversed 2: Straight + Reversed 3: Straight + Straight

Type A to G is the statements in the Assembly Procedure (GMM16-002)

X-axis

Y-axis Y-axis

Y-axis Y-axis

X-axis

X-axis X-axis

Direction 1

Direction 3

Direction 4

Direction 2

[Assembled parts]


[Model] IK2-P6YB S

S: Ultra High SpeedH: High speed M: Medium speed L : Low speed

Y-axis + Z-axis B: SA8 + SA7 C: SA7 + SA6 D: SA6 + SA4

Assembly direction (1 to 2)

Y-axis + Z-axis 1: Reversed + Reversed 2: Straight + Reversed 3: Straight + Straight

YZB (Z-axis Base Mount) Type (2) [Assembly Procedures] IK2-P6YB (G/H/I) S Drawing No. : GMM16-004


[Model] IK2-P6YB S


Y-axis + Z-axis G: SA8 + TA7 H: SA7 + TA6 I : SA6 + TA4


Y-axis + Z-axis 1: Reversed + Reversed 2: Straight + Reversed 3: Straight + Straight

[Assembled parts] Type R and C is the statements in the Assembly Procedure (GMM16-003)

Type R1, R2 and C is the statements in the Assembly Procedure (GMM16-004)

[1] Y plate [2] Z plate [3] Z cable affixing bracket (Type C)

[4] Y guide rail [5] Y-Z cable track [6] Y track

mounting bracket [8] Z-Z cable track[7] Z guide rail

[3] Z cable affixing bracket (Type R1)

[3] Z cable affixing bracket (Type R2)

← X-axis

↑ Y-axis


← Z-axis ← X-axis

↑ Y-axis ↑

Z-axis


IA Kit IK Series Assembly Procedures Completion Drawing List

Catalog No. : ME0366-2B GMM16－001 2/2

④ XYB (Y-axis Base Mount) + ZR-axis(Vertical/Rotary) Unit Type[Assembly Procedures]IK4-P6BB(B/F) S (-FTP) Drawing No. : GMM16-007 ⑥XYB (Y-axis Base Mount) + Z-axis Base Mount Type(1) [Assembly Procedures]

IK3-P6BB(B/C/E/F) S (-FTP) Drawing No. : MM16-005

[1] X plate [2] XY bracket [3] Y plate [4] Z plate [5] Y cable affixing bracket

[6] Z cable affixing bracket [7] X guide rail [8] X-Y cable track [9] X track mounting

bracket

[11] Y-Z cable track [13] Z guide rail [15] Foot plate (option)

[10] Y guide rail

[12] Y track mounting bracket [14] Z-Z cable track

[Assembled parts]


[Model] IK3-P6BB S (-FTP)

S: Ultra High Speed H: High speed M: Medium speed L : Low speed

X-axis + Y-axis + Z-axis B: SA8 + SA7 + SA6 C: SA7 + SA6 + SA4 E: WSA16 + SA8 + SA7 F: WSA14 + SA7 + SA6

Assembly direction (1 to 4) X-axis + Y-axis + Z-axis 1: Reversed + Reversed + Reversed 2: Straight + Reversed + Reversed 3: Straight + Straight + Straight


X-axis(Motor:Front Side)

Z-axis

Y-axis

(OperatingRange of YZ)

Y-axis



Z-axis

Z-axis

Y-axis


X-axis(Motor:Back side)

Z-axis

Y-axis



Direction 3 Direction 4


⑤ XYB (Y-axis Base Mount) + Z-axis Base Mount Type(2) [Assembly Procedures]IK3-P6BB(G/H) S (-FTP) Drawing No. : MM16-006




X-axis + Y-axis + Z-axis G: SA8 + SA7 + TA6 H: SA7 + SA6 + TA4


X-axis + Y-axis + Z-axis 1: Reversed + Reversed + Reversed 2: Straight + Reversed + Reversed 3: Straight + Straight + Straight



Z-axis

Y-axis


Y-axis



Z-axis

Z-axis

Y-axis



Z-axis

Y-axis





[Assembled parts]

[1] X plate [2] XY bracket [3] Y plate [4] Z plate [5] Y cable affixing bracket

[6] Z cable affixing bracket [7] X guide rail [8] X-Y cable track [9] X track mounting

bracket

[11] Y-Z cable track [13] Z guide rail [15] Foot plate (option)

[10] Y guide rail

[12] Y track mounting bracket [14] Z-Z cable track

[Assembled parts]


M: Medium speed

X-axis + Y-axis + ZR unit B: SA8 + SA7 + TTPIK-AZR F: WSA14 + SA7 + TTPIK-AZR


X-axis + Y-axis 1: Reversed + Reversed 2: Straight + Reversed 3: Straight + Straight


← X-axis

↑ Y-axis ↑

ZR unit


[1] X plate [2] XY bracket [3] Y plate

[12] Box cover

[4] Y cable affixing bracket

[11] Connector box

[5] X guide rail

[6] X-Y cable track [7] X track mounting bracket [9] Y-ZR cable track

[13] Joint cover [15] Foot plate (option)

[8] Y guide rail [10] Y track mounting bracket

[14] Grommet




Y-axis Y-axis

Y-axis Y-axis

(Motor: Back side)X-axis

(Motor: Back side)X-axis

(Motor: Front side)X-axis

(Motor: Front side)X-axis

R-axisOperating

Range

R-axisOperating

Range

R-axisOperating

Range

R-axisOperating

Range

Z-axisOperating Range




ZR unitZR unit

ZR unitZR unit

* This assembly procedure applies to assembly direction 1. If other assembly direction such as 2, 3 or 4 is used, the actuator and bracket directions vary. However, you can still use this assembly drawing as a reference.

Caution: Although each part has been chamfered to remove sharp edges, exercise due caution during the assembly to prevent injury. If necessary, wear gloves or other protective gears.

Exercise due caution during the assembly to prevent pinching of hands and fingers. ① IA Kit IK Series Assembly Procedures Drawing No. GMM16－002 1/4 XYB (Y-axis Base Mount) Type IK2－P6XB S

Y-axis Y-axis

X-axis

X-axis

X-axis

Direction 1

Direction 2

Direction 4

Direction 3

(*1)

Hex bolts

X-axis: RCP6- SA/WSA

High-tension washers

Parallel pins

[1] X plate

[2] XY bracket

[Tools to be Prepared] Hex wrench, Open-end wrench

Configuration type

Y-axis actuator

Parallel pin (Type B)

Hex socket

head boltTightening

torque

IK2-P6XBB1 RCP6-SA7R 4h7x10 M5x20 34.9kgf•cm

/ 342N•cmIK2-P6XBB2 RCP6-SA7R IK2-P6XBB3 RCP6-SA7C IK2-P6XBC1 RCP6-SA6R

4h7x10 M5x18 34.9kgf•cm/ 342N•cm

IK2-P6XBC2 RCP6-SA6R IK2-P6XBC3 RCP6-SA6C IK2-P6XBD1 RCP6-SA4R

3h7x8 M4x14 18.0kgf•cm/ 176N•cm

IK2-P6XBD2 RCP6-SA4R IK2-P6XBD3 RCP6-SA4C IK2-P6XBE1 RCP6-SA8R

6h7x12 M6x22 54.7kgf•cm/ 536N•cm

IK2-P6XBE2 RCP6-SA8R IK2-P6XBE3 RCP6-SA8C IK2-P6XBF1 RCP6-SA7R

4h7x10 M5x20 34.9kgf•cm/ 342N•cm

IK2-P6XBF2 RCP6-SA7R IK2-P6XBF3 RCP6-SA7C

Configuration type X-axis actuator [1] X

plate [2] XY

bracket

Parallel pin

(Type B)

Hex bolt

High-tension washer

Tightening torque

IK2-P6XBB1 RCP6-SA8R 8S (M) for

SA8 6h7x35 M8x40 9x18x2.3 306kgf•cm/ 2997N•cm

IK2-P6XBB2 RCP6-SA8C IK2-P6XBB3 RCP6-SA8C IK2-P6XBC1 RCP6-SA7R

7S (S) for SA7 5h7x28 M5x30 5.5x12x2.0 74.2kgf•cm

/ 727N•cmIK2-P6XBC2 RCP6-SA7C IK2-P6XBC3 RCP6-SA7C IK2-P6XBD1 RCP6-SA6R

6S (S) for SA6 5h7x20 M5x30 5.5x12x2.0 74.2kgf•cm

/ 727N•cmIK2-P6XBD2 RCP6-SA6C IK2-P6XBD3 RCP6-SA6C IK2-P6XBE1 RCP6-WSA16R

None (L) for WSA16 8h7x18 M8x40 9x18x2.3 306kgf•cm

/ 2997N•cmIK2-P6XBE2 RCP6-WSA16C IK2-P6XBE3 RCP6-WSA16C IK2-P6XBF1 RCP6-WSA14R

None (M) for WSA14 8h7x18 M8x35 9x18x2.3 306kgf•cm

/ 2997N•cmIK2-P6XBF2 RCP6-WSA14C IK2-P6XBF3 RCP6-WSA14C

The figure on the right shows the example of Assembly Direction 1. In the case of assembly direction type 2 to 4, the actuator and XY bracket directions are different.

1 Installation of the XY Bracket 1. In case of using the foot plate option, conduct 7-1 in advance. 2. Install [2] XY bracket on X-axis slider. (For P6XBB, P6XBC, and P6XBD,

put [1] X plate between the X-axis slider and [2] XY bracket when installing.) (*1) Install them to have [2] XY bracket overhanging to the operation area.

3 Installation of the Y Cable Affixing Bracket (A bracket to be attached should differ depending on the configuration type and assembly direction.)

1. Attach [3] Y cable affixing bracket to [2] XY bracket (Type A) or actuator (Type B or C).

In case it is necessary to have accuracy turning, use only one parallel pin.

When installing Type A, insert square nuts to the T-groove on the top surface of [2] XY bracket and attach [3] Y cable affixing bracket at the position of Dimension X in the figure on the right.

2 Installation of the Y-Axis 1. Attach the Y-axis on the base to [2] XY bracket. (*2) Two parallel pins should be inserted to the motor side of

the actuator and operation area of [2] XY bracket. (In case it is necessary to have accuracy turning, use only one parallel pin.)

Table 1

Table 2

Table 3

Direction 1 Example of Assembly

[3] Y cable affixing bracket (R)

Type AHex socket head bolts

Type B


(C-1)

Hex socket head bolts

[3] Y cable affixing bracket (C-2)

Type C


[2] XY bracket

Y-axis Y-axis

X-axis

Configuration type

Direction

Type (Shown in

figure)


Dimension X (mm)

Hex socket

head boltSquare

nut Tightening

torque

IK2-P6XBB1 1 to 4 A 7R 45 M4x8 M4 36.7kgf•cm/ 359N•cmIK2-P6XBB2 1 to 4 A 7R 45 M4x8 M4

IK2-P6XBB3 1, 2 B 7C-1 － M3x8 － 15.8kgf•cm

/ 154N•cm3, 4 C 7C-2 － M3x8 － IK2-P6XBC1 1 to 4 A 6R 35 M4x8 M4 36.7kgf•cm

/ 359N•cmIK2-P6XBC2 1 to 4 A 6R 35 M4x8 M4

IK2-P6XBC3 1, 2 B 6C-1 － M3x8 － 15.8kgf•cm

/ 154N•cm3, 4 C 6C-2 － M3x8 － IK2-P6XBD1 1 to 4 A 4R 40 M4x8 M4 36.7kgf•cm

/ 359N•cmIK2-P6XBD2 1 to 4 A 4R 40 M4x8 M4

IK2-P6XBD3 1, 2 B 4C-1 － M3x8 － 15.8kgf•cm

/ 154N•cm3, 4 C 4C-2 － M3x8 － IK2-P6XBE1 to 3 1 to 4 － N/A －－－－

IK2-P6XBF1 1 to 4 A 7R 40 M4x8 M4 36.7kgf•cm/ 359N•cmIK2-P6XBF2 1 to 4 A 7R 40 M4x8 M4

IK2-P6XBF3 1, 2 B 7C-1 － M3x8 － 15.8kgf•cm

/ 154N•cm3, 4 C 7C-2 － M3x8 －

[2] XY bracket


Y-axis: RCP6-SA

Parallel pins(*2)

① IA Kit IK Series Assembly Procedures Drawing No. GMM16－002 2/4 XYB (Y-axis Base Mount) Type IK2－P6XB S

Configuration Type

(Shown [4] X guide [5] X-Y [6] X track mounting

bracket Dimen sion Y (mm)

Hex socket Square Tightening

type in figure)

rail cable track Direction 1, 3

Direction 2, 4

head bolt

nut torque

IK2-P6XBB1 D For SA8 Refer to

Table 4-2 M1 M2 50.5 M4x8 M4 36.7kgf•cm/ 359N•cmIK2-P6XBB2 E

IK2-P6XBB3 E IK2-P6XBC1 D

For SA7 Refer to Table 4-2 S1 S2 50.5 M4x8 M4 36.7kgf•cm

/ 359N•cmIK2-P6XBC2 E IK2-P6XBC3 E IK2-P6XBD1 D

For SA6 Refer to Table 4-2 S1 S2

76 M4x8 M4 36.7kgf•cm

/ 359N•cmIK2-P6XBD2 E 54

IK2-P6XBD3 E IK2-P6XBE1 F For WSA16R

Refer to Table 4-2 L1 L2 50.5 M4x8 M4 36.7kgf•cm

/ 359N•cmIK2-P6XBE2 G For WSA16C(Note 1) IK2-P6XBE3 G

IK2-P6XBF1 F For WSA14R Refer to

Table 4-2 M1 M2 50.5 M4x8 M4 36.7kgf•cm/ 359N•cmIK2-P6XBF2 G For

WSA14C(Note 1) IK2-P6XBF3 G

Cable Track Size

Ba(mm)

Bi (mm)

W1(mm)

Screws on Fixed end / Moving end

Plain washer

Fixed end square

nut (Note 2) Moving end

hex nut Tightening torque

on Fixed end / Moving end

CT 49 38 23 Hex socket head cap M6x12 6.5x13x1.0 M6 M6

(Class 1) 35.6kgf•cm / 349N•cm CTM 61 50 35

CTL 76 63 48 Hex socket flat head cap M6x12 N/A

M6 M6 (Class 1)

33.6kgf•cm / 329N•cm CTXL 94 80 65 －

4 Installation of the X-Y Cable Track (Size of [5] X-Y Cable Track should be selected from CT/CTM/CTL/CTXL）

1. In case of using the foot plate option, conduct 7-2 in advance. 2. Prepare the motor/encoder cable for the Y-axis through [5] X-Y cable track. (Inside the cable track is

divided into areas by a divider plate. Put the motor/encoder cable for the Y-axis into the smaller area.) 3. Insert square nuts to the T-groove on the top surface of [2] XY bracket and attach [6] X track mounting bracket

at the position of Dimension Y in Figure 4-1.

Table 4-1

Table 4-2

4. Attach the fixed end of [5] X-Y cable track to [4] X guide rail. 5. Attach the moving end of [5] X-Y cable track to [6] X track mounting bracket. 6. For Type G, insert square nuts to the T-groove on the side of X-axis and attach the [4] X guide rail.

Note 1 To affix [4] X guide rail: Hex socket head bolt M3x8, plain washer 3.4x8x1.0, square nut M3, tightening torque 15.8kgf•cm / 154N•cm Note 2 It should be used for attachment of [8] Y-Y cable track fix end.

IK2-P6XBB1, -P6XBC1, -P6XBD1 (X-axis SA Motor Reversed Type)

Type D

[4] X guide rail

[5] X-Y cable track

[6] X track mounting bracket

Hex socket head bolt + Plain washer

or Hex socket head countersunk

Hex socket head bolt Square nut

Hex nut

Section of [5] X-Y Cable Track

Motor/encoder cable for Y-axis

User space

Divider plate

Attachment Position of[6] X Track Mounting Bracket

[5] X-Y cable track

[2] XY bracket


Y

IK2-P6XBB2/3, -P6XBC2/3, -P6XBD2/3 (X-axis SA Motor Straight Type)

Type E

[4] X guide rail



Hex nut



[5] X-Y cable track

IK2-P6XBE1, -P6XBF1 (X-axis WSA Motor Reversed Type)

[4] X guide rail

[5] X-Y cable track


Hex socket headbolt Square nut

Hex nut



Type F

IK2-P6XBE2/3, -P6XBF2/3 (X-axis WSA Motor Straight Type)

Type G

[4] X guide rail

[5] X-Y cable track


Hex nut Hex socket head bolt

+ Plain washer or Hex socket head countersunk


To affix [4] X guide rail (Note 1): Hex socket head bolt, Plain washer, Square nut



Fixed End Attachment Position Dimension Z (All Units = mm) Moving End Attachment Position

Y-axis stroke 50 100 150 200 250 300 350 400 450 500 Dimension H Dimension L

IK2-P6XBB 56.5 81.5 106.5 131.5 156.5 181.5 206.5 231.5 －－ 300 126

IK2-P6XBC 25 50 75 100 125 150 175 200 －－ 282.5 133

IK2-P6XBD 60 85 110 135 160 185 －－－－ 275.5 78

IK2-P6XBE 125.5 150.5 175.5 200.5 225.5 250.5 275.5 300.5 325.5 350.5 304 147.5

IK2-P6XBF 107 132 157 182 207 232 257 282 －－ 283.5 126

Table 5-1

6 Cable Wiring

1. Connect the motor/encoder cable connector for the Y-axis to the Y-axis. 2. Affix the motor/encoder cable for the Y-axis with a cable band using the hole on [3] Y cable

affixing bracket. Refer to A 3. Affix the motor/encoder cable for the Y-axis to the moving end and the fixed end of [5] X-Y

cable track with cable bands using the sinking combs. Refer to B

(9.5) User space

In common for all sizes

Attaching [8] Y-Y Cable Track, Insertion of Square Nut

For CT Attachment

For CTM Attachment

For CTL Attachment[2] XY

bracket

[7] Y guide rail

[8] Y-Y cable track

Device Installation Face (excluding foot plate)

Y-axis Home Position

Affixing Position of [8] Y-Y Cable Track Moving End

IK2-P6XB3 (Y-axis Motor Straight Type)

A

B

Affix with cable bands using the hole on the bracket.

[5] X-Y cable track


Caution: Arrange the wires so that each axis will not contact the cables and connecters when the axis is moved over its entire stroke. If you want to move the actuator with brake by hand, connect the controller and supply the power and then set the

brake release switch to the release (RLS) side. At this time, pay attention to the vertical axis as there is a risk that it could drop with its self-weight.

Configuration type

[7] Y guide rail

[8] Y-Y cable track

Hex socket head bolt

Square nut

Tightening torque

IK2-P6XBB SA8 Refer to Table 4-2 M4x10 M4 18.0kgf•cm

/ 176N•cm

IK2-P6XBC SA7 Refer to Table 4-2 M4x10 M4 18.0kgf•cm

/ 176N•cm

IK2-P6XBD SA6 Refer to Table 4-2 M4x10 M4 18.0kgf•cm

/ 176N•cm

IK2-P6XBE WSA16 Refer to Table 4-2 M4x10 M4 18.0kgf•cm

/ 176N•cm

IK2-P6XBF WSA14 Refer to Table 4-2 M4x10 M4 18.0kgf•cm

/ 176N•cm [8] Select the size from CT/CTM/CTL for the cable track between Y and Y

(CTXL is out of option).

Table 5-2

5 Installation of the Y-Y Cable Track (Size of [8] Y-Y Cable Track should be selected form CT/CTM/CTL)

1. Insert square nuts to the T-groove on the side of [2] XY bracket and attach [7] Y guide rail flash to the face of [2] XY bracket.2. Insert square nuts to the T-groove on [7] Y guide rail and attach the fixed end of [8] Y-Y cable track at the position of

Dimension Z. 3. Attach the moving end of [8] Y-Y cable track to such a place as a plate that you have installed following Dimension H and

Dimension L in Table 5-2.


Square nuts (Insert to T-groove)



[8] Y-Y cable track

[2] XY bracket

Attach [7] guide rail flush to the face of [2] XY bracket.

T-groove

Insert square nuts ( ) to the T-groove on the [7] Y guide rail and attach the fixed end of the cable track.

Z

[7] Y guide rail

T-groove

Table 4-2 Note 2

IK2-P6XB1, -P6XB2 (Y-axis Motor Reversed Type)

Use the sinking combs on moving end and fixed end

of the cable track.B

A

[5] X-Y cable track

Utilize this area for affixing


Affix cables using two cable bands on each.


7 How to Assemble when Using Foot Plate Option (- FTP) 7-1 It should be conducted before 1 XT Bracket Installation.

1. Attach the X-axis to [9] Foot plate.

Configuration type

Type 4 Shown

in figure [4] X guide rail [9] Foot plate Hex socket flange

head cap screw Square nut Tightening torque

IK2-P6XBB1 D For SA8

With no foot plate option IK2-P6XBB2 E

Base plate (L) M4x10 M4 38.5kgf•cm / 377N•cm IK2-P6XBB3 E

IK2-P6XBC1 D For SA7

With no foot plate option IK2-P6XBC2 E

Base plate (M) M4x10 M4 38.5kgf•cm / 377N•cm IK2-P6XBC3 E

IK2-P6XBD1 D For SA6

With no foot plate option IK2-P6XBD2 E

Base plate (S) M4x10 M4 38.5kgf•cm / 377N•cm IK2-P6XBD3 E

IK2-P6XBE1 F For WSA16RWith no foot plate option IK2-P6XBE2 G

For WSA16CIK2-P6XBE3 G IK2-P6XBF1 F For WSA14R

With no foot plate option IK2-P6XBF2 G For WSA14C

IK2-P6XBF3 G

7-2 It should be conducted before 4 X-Y cable track 1. For the Type E (X-axis SA Motor Straight Type), insert square nuts to the T-groove on [9] Foot plate

and attach [4] guide rail.

Table 7-1 Table 7-2 Configuration

type X-axis actuator [9] Foot plate Parallel pin (Type B) Hex socket head bolt

Tightening torque

IK2-P6XBB1 RCP6-SA8R With no foot plate option IK2-P6XBB2 RCP6-SA8C

Base plate (L) 6h7x12 M6x16 54.7kgf•cm / 536N•cm IK2-P6XBB3 RCP6-SA8C

IK2-P6XBC1 RCP6-SA7R With no foot plate option IK2-P6XBC2 RCP6-SA7C

Base plate (M) 4h7x10 M5x14 34.9kgf•cm / 342N•cm IK2-P6XBC3 RCP6-SA7C

IK2-P6XBD1 RCP6-SA6R With no foot plate option IK2-P6XBD2 RCP6-SA6C

Base plate (S) 4h7x10 M5x14 34.9kgf•cm / 342N•cm IK2-P6XBD3 RCP6-SA6C

IK2-P6XBE1 RCP6-WSA16R With no foot plate option IK2-P6XBE2 RCP6- WSA16C

IK2-P6XBE3 RCP6- WSA16C IK2-P6XBF1 RCP6-WSA14R

With no foot plate option IK2-P6XBF2 RCP6- WSA14C IK2-P6XBF3 RCP6- WSA14C

[9] Foot plate

X-axis: RCP6-SA


Parallel pins

Square nuts

Hex socket flange head cap screws

[4] X guide rail

[9] Foot plate

T-groove

② IA Kit IK Series Assembly Procedures Drawing No. GMM16－003 1/3 YZB (Z-axis Base Mount) Type (1) IK2－P6YB (B/C/D) S

* This assembly procedure applies to assembly direction 1. If assembly direction 2 is used, the actuator direction vary. However, you can still use this assembly drawing as a reference.

[Tools to be Prepared] Hex wrench

Configuration type

Y-axis actuator

[1] Y plate

Parallel pin

(Type B)

Hex socket

head boltHigh-tension

washer Tightening

torque

IK2-P6YBB1 RCP6-SA8R YBB 6h7x15 M8x22 9x18x2.3 306kgf•cm

/ 2997N•cm IK2-P6YBB2 RCP6-SA8C IK2-P6YBB3 RCP6-SA8C IK2-P6YBC1 RCP6-SA7R

YBC 5h7x14 M5x16 N/A 34.9kgf•cm / 342N•cm IK2-P6YBC2 RCP6-SA7C

IK2-P6YBC3 RCP6-SA7C IK2-P6YBD1 RCP6-SA6R

YBD 5h7x10 M5x15 N/A 34.9kgf•cm / 342N•cm IK2-P6YBD2 RCP6-SA6C

IK2-P6YBD3 RCP6-SA6C

1 Installation of the Y Plate 1. Attach the Y-axis to the user device. 2. Attach the [1] Y plate to the Y-axis with its stepped side facing the slider side. (*1) Two parallel pins should be inserted.

2 Installation of the Z Plate 1. Attach [2] Z plate to the base surface on the Z-axis. (*2) Attach it with the 2 hole with depth 1 on Z plate coming upward. (*3) Two parallel pins should be inserted to the motor side on the

actuator.

Table 1

Table 2 Table 3

3 Installation of the Z-Axis 1. Join [1] Y plate and [2] Z plate. (*4) Two parallel pins should be inserted. (In case it is necessary to have accuracy turning, use one parallel pin.)

Configuration

type Z-axis

actuator [2] Z plate

Parallel pin

(Type B)

Hex socket

head boltTightening

torque

IK2-P6YBB1 RCP6-SA7RBBB 4h7x8 M5x18 34.9kgf•cm

/ 342N•cm IK2-P6YBB2 RCP6-SA7RIK2-P6YBB3 RCP6-SA7CIK2-P6YBC1 RCP6-SA6R

BBC 4h7x8 M5x16 34.9kgf•cm/ 342N•cm IK2-P6YBC2 RCP6-SA6R

IK2-P6YBC3 RCP6-SA6CIK2-P6YBD1 RCP6-SA4R

BBD 3h7x6 M4x12 18.0kgf•cm/ 176N•cm IK2-P6YBD2 RCP6-SA4R

IK2-P6YBD3 RCP6-SA4C

Configuration type

Parallel pin

(Type B) Hex socket head bolt

Tightening torque

IK2-P6YBB1 4h7x8 M5x14 34.9kgf•cm

/ 342N•cm IK2-P6YBB2 IK2-P6YBB3 IK2-P6YBC1

4h7x8 M4x12 18.0kgf•cm / 176N•cm IK2-P6YBC2

IK2-P6YBC3 IK2-P6YBD1

4h7x8 M4x12 18.0kgf•cm / 176N•cm IK2-P6YBD2

IK2-P6YBD3

Direction 1

Example of Assembly


High-tension washers [1] Y plate

Parallel pins (*1)

Y-axis: RCP6-SA

Stepped side


[2] Z plate

Parallel pins (*3)

2 hole with depth 1 (*2) Z-axis: RCP6-SA


[1] Y plate

[2] Z plate

Parallel pins (*4)

Z-axis: RCP6-SA

Y-axis: RCP6-SA


Exercise due caution during the assembly to prevent pinching of hands and fingers.


Section of [5] Y-Z Cable Track

Motor/encoder cable for Z-axis

User space

Divider plate

[6] Y track mounting bracket

Hex socket head bolt + Plain washeror Hex socket head countersunk

[1] Y plate

[5] Y-Z cable track

Hex socket head bolt + Plain washeror Hex socket head countersunk

[4] Y guide rail

Hex nut

4 Installation of the Z Cable Affixing Bracket 5 Installation of Y-Z Cable Track (Size of [5] Y-Z Cable Track should be Selected form CT/CTM/CTL/CTXL)

1. Prepare the motor/encoder cable for Z-axis through [5] Y-Z cable track. (Inside the cable track is divided into areas by a divider plate. Put the motor/encoder cable for Z-axis into the smaller area.)

2. Attach [6] Y track mounting bracket to [1] Y plate. (Two tapped holes on further end from Y-axis motor to be used for YBB and YBC)

3. Attach [4] Y guide rail to the user device. 4. Attach the fixed end of [5] Y-Z cable track to [4] Y guide rail. 5. Attach the moving end of [5] Y-Z cable track to [6] Y track mounting bracket.

Table 5-1

Table 5-2 Note 1 It should be used for attachment of [6] Y track mounting bracket.

View A

A

Note 2 It should be used for attachment of the moving end of [5] Y-Z cable track and the fixed end of [8] Z-Z cable track.

[1] Y plate


IK2-P6YBB1/2 IK2-P6YBC1/2 IK2-P6YBD1/2

For Z-Axis Motor Reversed Type

Type R

[3] Z cable affixing bracket (R-1, R-2)

1. Install [3] Z cable affixing bracket on [1] Y plate.

Table 4

Type C IK2-P6YBB3 IK2-P6YBC3 IK2-P6YBD3

For Z-Axis Motor

Straight Type

[3] Z cable affixing bracket (C-2)


Z-axis: RCP6-SA

1. Attach [3] Z cable affixing bracket to the actuator.

Configuration type

Type (Shown in figure)

[3] Z cable affixing bracket Hex socket head bolt

Tightening torque Direction 1 Direction 2

IK2-P6YBB1 R 7R-1 7R-2 M4x10 36.7kgf•cm / 359N•cm

IK2-P6YBB2 R

IK2-P6YBB3 C 7C-2 M3x8 15.8kgf•cm / 154N•cm

IK2-P6YBC1 R 6R-1 6R-2 M4x10 36.7kgf•cm / 359N•cm

IK2-P6YBC2 R

IK2-P6YBC3 C 6C-2 M3x8 15.8kgf•cm / 154N•cm

IK2-P6YBD1 R 4R-1 4R-2 M4x10 36.7kgf•cm / 359N•cm

IK2-P6YBD2 R

IK2-P6YBD3 C 4C-2 M3x8 15.8kgf•cm / 154N•cm

Attachment of [6] Y TrackMounting Bracket

[1] Y plate



[5] Y-Z cable track

Configuration type

[4] Y guide rail

[5] Y-Z cable track


(Note 1)

Tightening torque

IK2-P6YBB YBB Refer to Table 5-2 M5x14 74.2kgf•cm

/ 727N•cm

IK2-P6YBC YBC Refer to Table 5-2 M5x14 74.2kgf•cm

/ 727N•cm

IK2-P6YBD YBD Refer to Table 5-2 M5x14 74.2kgf•cm

/ 727N•cm

Cable track size

Ba (mm)

Bi (mm)

W1 (mm)

Bolts on fix end / moving end

Plain washer Hex nut (Note 2) Tightening torque on fix end / moving end

CT 49 38 23 Hex socket head cap M6x12 6.5x13x1.0 M6

(Class 1) 35.6kgf•cm/ 349N•cm CTM 61 50 35

CTL 76 63 48 Hex socket flat head cap M6x12 N/A M6

(Class 1) 33.6kgf•cm/ 329N•cm CTXL 94 80 65


L

H

Device Installation

Face

Z-axis Home

Position

Affixing Position of [8] Z-Z Cable Track Moving End

Hex socket head bolt + Plain washer or Hex socket head countersunk

[8] Z-Z cable track

Hex nut (Back side)


[8] Select the size from CT/CTM/CTL for the cable track between Z and Z (CTXL is out of option).

Configuration type [7] X guide rail [8] Z-Z cable

track Hex socket head bolt Tightening torque

IK2-P6YBB BBB Refer to Table 5-2 M4x10 36.7kgf•cm / 359N•cm

IK2-P6YBC BBC Refer to Table 5-2 M4x8 36.7kgf•cm / 359N•cm

IK2-P6YBD BBD Refer to Table 5-2 M4x8 36.7kgf•cm / 359N•cm

Configuration type

Dimension H (mm)

Dimension L (mm)

IK2-P6YBB 194 98

IK2-P6YBC 187 98

IK2-P6YBD 179 52.5

7 Cable Wiring

Table 6-2

6 Installation of the Z-Z Cable Track

(Size of [8] Z-Z Cable Track should be selected from CT/CTM/CTL) 1. Installation of [7] Z guide rail on [2] Z plate. 2. Attach the fixed end of [8] Z-Z cable track to [7] Z guide rail. (Refer to Table 5-2) 3. Attach the moving end of [8] Z-Z cable track to such as a plate that you have

installed following Dimension H and Dimension L in Table 6-2.

Use the sinking combs

on moving end and fixed

end of the cable track

Affix cables using two

cable bands on each.

Attach a cable Tie- mount (KR5G5) and affix

with a cable band B

Attach a cable Tie- mount (MB1) and affix

with a cable band

Tie-mount (MB1)

Tie-mount (KR5G5)

C

For Z-Axis Motor Reversed Type 1. Connect the motor/encoder cable connector for Z-axis to

Z-axis. 2. Affix the motor/encoder cable for Z-axis with a cable band

using the hole on [3] Z cable affixing bracket. Refer to A

3. Attach cable tie mounts (MB1) at the point of B to affix the motor/encoder cable for Z-axis with cable bands.

Refer to B

4. Attach the cable tie mounts (KR5G5) at the point of C to affix the motor/encoder cable for Z-axis with cable bands.

Refer to C

5. Attach the motor/encoder cable for Z-axis to the moving end and fixed end of [5] Y-Z cable track with cable bands using the sinking combs. Refer to D

IK2-P6YBB1/2, IK2-P6YBC1/2, IK2-P6YBD1/2

Type R

[1] Y plate

[6] Y trackmounting bracket

Put [3] Z cable affixing bracket through inside.

C

B

A

D[5] Y-Z

cable track

For Z-Axis Motor Straight Type 1. Connect the motor/encoder cable connector for Z-axis to

Z-axis. 2. Affix the motor/encoder cable for Z-axis with a cable band

using the hole on [3] Z cable affixing bracket. Refer to A


Type C

IK2-P6YBB3, IK2-P6YBC3, IK2-P6YBD3

[3] Z cable affixing bracketA

[5] Y-Z cable track

D

Table 7

[7] Z guide rail

[2] Z plate

Table 6-1



Point Tie-mount Bolts to be used Bolt size Tightening torque

B MB1 Hex socket head countersunk M3x8 10.4kgf•cm

/ 102N•cm

C KR5G5 Hex socket button head screw M4x6 12.6kgf•cm

/ 124N•cm

D

Affix with a cable band using the hole on bracket

A

③ IA Kit IK Series Assembly Procedures Drawing No. GMM16－004 1/4 YZB (Z-axis Base Mount) Type (2) IK2－P6YB (G/H/I) S

* This assembly procedure applies to assembly direction 1. If assembly direction 2 is used, the actuator direction vary. However, you can still use this assembly drawing as a reference.

[Tools to be Prepared] Hex wrench

Configuration type

Y-axis actuator

[1] Y plate

Parallel pin

(Type B)

Hex socket

head boltHigh-tension

washer Tightening

torque

IK2-P6YBG1 RCP6-SA8R YBG (*2) 6h7x15 M8x22 9x18x2.3 306kgf•cm

/ 2997N•cm IK2-P6YBG2 RCP6-SA8C IK2-P6YBG3 RCP6-SA8C IK2-P6YBH1 RCP6-SA7R

YBH 5h7x14 M5x16 N/A 34.9kgf•cm / 342N•cm IK2-P6YBH2 RCP6-SA7C

IK2-P6YBH3 RCP6-SA7C IK2-P6YBI1 RCP6-SA6R

YBI 5h7x10 M5x14 N/A 34.9kgf•cm / 342N•cm IK2-P6YBI2 RCP6-SA6C

IK2-P6YBI3 RCP6-SA6C

1 Installation of the Y Plate 1. Attach the Y-axis to the user device. 2. Attach the [1] Y plate to the Y-axis with its stepped side facing the slider side. (*1) Two parallel pins should be inserted.

2 Installation of the Z Plate 1. Attach [2] Z plate to the base surface on the Z-axis. (*3) Attach it with the 2 hole with depth 1 on Z plate coming upward. (*4) Two parallel pins should be inserted to the motor side on the

actuator.

Table 1

3 Installation of the Z-Axis 1. Join [1] Y plate and [2] Z plate. (*5) Two parallel pins should be inserted. (In case it is necessary to have accuracy turning, use one parallel pin.)

Table 3

Configuration type

Parallel pin


Tightening torque

IK2-P6YBG1 6h7x12 M5x14 34.9kgf•cm

/ 342N•cm IK2-P6YBG2 IK2-P6YBG3 IK2-P6YBH1

4h7x8 M4x12 18.0kgf•cm/ 176N•cm IK2-P6YBH2

IK2-P6YBH3 IK2-P6YBI1

4h7x8 M4x12 18.0kgf•cm/ 176N•cm IK2-P6YBI2

IK2-P6YBI3

Direction 1

Example of Assembly


High-tension washers [1] Y plate

Parallel pins (*1)

Y-axis: RCP6-SA

Stepped side


[2] Z plate

Parallel pins (*4)

2 hole with depth 1 (*3) Z-axis: RCP6-TA


[1] Y plate

[2] Z plate

Parallel pins (*5)

Z-axis: RCP6-TA

Y-axis: RCP6-SA



(*2) Z-Axis Actuator Stroke: Use YBG(S) for range from 50 to 100mm and YBG(L) for range from 125 to 300mm.

Table 2-1 Configuration

type Z-axis

actuator [2] Z plate

Parallel pin

(Type B)

Hex socket

head boltTightening

torque

IK2-P6YBG1 RCP6-TA7R YBGRefer to

Table 2-2

6h7x12 M6x20 54.7kgf•cm/ 536N•cm

IK2-P6YBG2 RCP6-TA7RIK2-P6YBG3 RCP6-TA7CIK2-P6YBH1 RCP6-TA6R

YBH 5h7x10 M5x16 34.9kgf•cm/ 342N•cmIK2-P6YBH2 RCP6-TA6R

IK2-P6YBH3 RCP6-TA6CIK2-P6YBI1 RCP6-TA4R

YBI 4h7x8 M4x12 18.0kgf•cm/ 176N•cmIK2-P6YBI2 RCP6-TA4R

IK2-P6YBI3 RCP6-TA4C


type Z-axis stroke

(mm) [2] Z plate Number of Used Hex Socket Head

Cap Screws

IK2-P6YBG50 to 100 YBG(S) 4 125 to 300 YBG(L) 6

IK2-P6YBH50

YBH 4

75 to 200 6

IK2-P6YBI 50, 75

YBI 4

100 to 150 6


4 Installation of the Z Cable Affixing Bracket

IK2-P6YBG1/2 (50mm～150mm) , IK2-P6YBH1/2 (50mm～150mm) , IK2-P6YBI1/2 For Z-Axis Motor Reversed Type 1

IK2-P6YBG1/2 (175mm～300mm) , IK2-P6YBH1/2 (175mm～200mm) For Z-Axis Motor Reversed Type 2

Table 4-3

Configuration type

Z-axis stroke (mm)

Type (Shown in

figure)

[3] Z cable affixing bracket Hex socket

head bolt Plain washer Hex nuts Tightening torque


IK2-P6YBG1 50 to 150 R1 TA4R-1 TA4R-2 M4x8 N/A N/A 36.7kgf･cm / 359N･cm

175 to 300 R2 TA6R M4x8 4.5x10x0.8 M4 (Class 1) 36.7kgf･cm / 359N･cm

IK2-P6YBG2 50 to 150 R1 TA4R-1 TA4R-2 M4x8 N/A N/A 36.7kgf･cm / 359N･cm


IK2-P6YBG3 All stroke C 7C-2 M3x8 N/A N/A 15.8kgf･cm / 154N･cm

IK2-P6YBH1 50 to 150 R1 TA4R-1 TA4R-2 M4x8 N/A N/A 36.7kgf･cm / 359N･cm


IK2-P6YBH2 50 to 150 R1 TA4R-1 TA4R-2 M4x8 N/A N/A 36.7kgf･cm / 359N･cm


IK2-P6YBH3 All stroke C 6C-2 M3x8 N/A N/A 15.8kgf･cm / 154N･cm

IK2-P6YBI1 All stroke R1 TA 4R-1 TA 4R-2 M4x8 N/A N/A 36.7kgf･cm / 359N･cm

IK2-P6YBI2 All stroke

IK2-P6YBI3 All stroke C 4C-2 M3x8 N/A N/A 15.8kgf･cm / 154N･cm

Type C

IK2-P6YBG3、IK2-P6YBH3、IK2-P6YBI3 For Z-Axis Motor Straight Type

[3] Z cable affixing bracket

(C-2)


Z-axis: RCP6-TA


Dimension A (mm)

Z-axis stroke (mm) 50 75 100 125 150

IK2-P6YBG 55.5 80.5 105.5 130.5 155.5

IK2-P6YBH 69.0 94.0 119.0 144.0 169.0

IK2-P6YBI 59.5 84.5 109.5 134.5 159.5

Type R1 1. Attach [3] Z cable affixing bracket to [1] Y plate.

Table 4-1

A

Z-axis: RCP6-TA

[1] Y plate



(TA4R-1, TA4R-2)

Type R2 1. Attach [3] Z cable affixing bracket to [1] Y plate.

A B

Table 4-2

IK2-P6YBG IK2-P6YBH

Z-axis stroke (mm) 175 200 250 300 175 200

Dimension A (mm) 62.0 87.0 137.0 187.0 83.0 108.0

Dimension B (mm) 50.0 75.0 125.0 175.0 74.0 99.0

Z-axis: RCP6-TA

[1] Y plate



(TA6R)

Hex nuts

Plain washer


Section of [5] Y-Z Cable Track


User space

Divider plate



[1] Y plate

[5] Y-Z cable track


[4] Y guide rail

Hex nut Hex socket head bolt + Plain washer or Hex socket head countersunk

[8] Z-Z cable track

Hex nut (Back side)


[8] Select the size from CT/CTM/CTL for the cable track between Z and Z (CTXL is out of option).

L

H

Device Installation Face

Z-axis Home Position


5 Installation of Y-Z Cable Track (Size of [5] Y-Z Cable Track should be Selected form CT/CTM/CTL/CTXL)

1. Prepare the motor/encoder cable for Z-axis through [5] Y-Z cable track. (Inside the cable track is divided into areas by a divider plate. Put the motor/encoder cable for Z-axis into the smaller area.)

2. Attach [6] Y track mounting bracket to [1] Y plate. (Two tapped holes on further end from Y-axis motor to be used for YBG and YBH)

3. Attach [4] Y guide rail to the user device. 4. Attach the fixed end of [5] Y-Z cable track to [4] Y guide rail. 5. Attach the moving end of [5] Y-Z cable track to [6] Y track mounting bracket.

Table 5-1

Table 5-2 Note 1 It should be used for attachment of [6] Y track mounting bracket.

View A

A

Note 2 It should be used for attachment of the moving end of [5] Y-Z cable track and the fixed end of [8] Z-Z cable track.

Attachment of [6] Y TrackMounting Bracket

[1] Y plate



[5] Y-Z cable track

Configuration type

[4] Y guide rail

[5] Y-Z cable track


(Note 1)

Tightening torque

IK2-P6YBG YBB Refer to Table 5-2 M5x14 74.2kgf•cm

/ 727N•cm

IK2-P6YBH YBC Refer to Table 5-2 M5x14 74.2kgf•cm

/ 727N•cm

IK2-P6YBI YBD Refer to Table 5-2 M5x14 74.2kgf•cm

/ 727N•cm

Cable track size

Ba (mm)

Bi (mm)

W1 (mm)

Bolts on fix end / moving end

Plain washer Hex nut (Note 2) Tightening torque on fix end / moving end

CT 49 38 23 Hex socket head cap M6x12 6.5x13x1.0 M6

(Class 1) 35.6kgf•cm/ 349N•cmCTM 61 50 35

CTL 76 63 48 Hex socket flat head cap M6x12 N/A M6

(Class 1) 33.6kgf•cm/ 329N•cmCTXL 94 80 65


(Size of [8] Z-Z Cable Track should be selected from CT/CTM/CTL)1. Installation of [7] Z guide rail on [2] Z plate. 2. Attach the fixed end of [8] Z-Z cable track to [7] Z guide rail. (Refer to Table 5-2)3. Attach the moving end of [8] Z-Z cable track to such as a plate that you have

installed following Dimension H and Dimension L in Table 6-2.

Configuration type

Z-axis stroke (mm)

DimensionL (mm)

DimensionH (mm)

IK2-P6YBG 100 or less 188

194 125 or more 232

IK2-P6YBH All stroke 197 187

IK2-P6YBI All stroke 192 179

Configuration type [7] X guide rail [8] Z-Z cable

track Hex socket head bolt Tightening torque

IK2-P6YBG BBB Refer to Table 5-2 M4x10 36.7kgf•cm / 359N•cm

IK2-P6YBH BBC Refer to Table 5-2 M4x8 36.7kgf•cm / 359N•cm

IK2-P6YBI BBD Refer to Table 5-2 M4x8 36.7kgf•cm / 359N•cm

Table 6-2

[7] Z guide rail

[2] Z plate

Table 6-1


7 Cable Wiring



Type C

A Affix with a cable

band using the hole on bracket

Point Tie-mount Bolts to be used Bolt size Tightening torque

B KR5G5 Hex socket button head screw M4x6 12.6kgf•cm

/ 124N•cm

Table 7

Attach a cable Tie-mount (KR5G5) and affix with a

cable band

Tie-mount (KR5G5)

B

Use the sinking combs on moving

end and fixed end of the cable track

C


For Z-Axis Motor Reversed Type 1. Connect the motor/encoder cable connector for Z-axis to Z-axis. 2. Affix the motor/encoder cable for Z-axis with a cable band using the hole on [3] Z cable affixing bracket. Refer to A

3. Attach cable tie mounts (MB1) at the point of B to affix the motor/encoder cable for Z-axis with cable bands. Refer to B

4. Attach the cable tie mounts (KR5G5) at the point of C to affix the motor/encoder cable for Z-axis with cable bands.

Refer to C


IK2-P6YBG1/2, IK2-P6YBH1/2, IK2-P6YBI1/2

Type R For Z-Axis Motor Straight Type 1. Connect the motor/encoder cable connector for Z-axis to Z-axis. 2. Affix the motor/encoder cable for Z-axis with a cable band using the hole on [3] Z

cable affixing bracket. Refer to A

3. Attach the motor/encoder cable for Z-axis to the moving end and fixed end of [5] Y-Z cable track with cable bands using the sinking combs. Refer to C

IK2-P6YBG3, IK2-P6YBH3, IK2-P6YBI3


A

[5] Y-Z cable track

C

[5] Y-Z cable track

[1] Y plate


C

B

A


YBG , YBH When Z-axis stroke is 175 or more

A [1] Y plate


B

④ IA Kit IK Series Assembly Procedures Drawing No. GMM16－005 1/7 XYB (Y-axis Base Mount) + Z-axis Base Mount Type (1) IK3－P6BB (B/C/E/F) S

X-axis

Y-axis Y-axis

Y-axis Y-axis

X-axis

X-axis X-axis

Direction 1

Direction 3

Direction 4

Direction 2

X-axis: RCP6-

SA/WSA


[2] XY bracket

Parallel pins

[1] X plate

(*1)

Hex bolts



[3] Y plate

Parallel pins (*3)

Y-axis: RCP6-SA

Stepped side




1 Installation of the XY Bracket 1. In case of using the foot plate option, conduct 13-1 in advance. 2. Install [2] XY bracket on X-axis slider. (For P6BBB and P6BBC,

put [1] X plate between X-axis slider and [2] XY bracket when installing.) (*1) Install them to have [2] XY bracket overhanging to the operation area.

2 Installation of the Y-Axis 1. Attach the Y-axis on the base to [2] XY bracket. (*2) Two parallel pins should be inserted to the motor side

of actuator and operation area of [2] XY bracket. (In case it is necessary to have accuracy turning, use only one parallel pin.)

Table 1

Table 2 Direction 1

Example of Assembly

3 Installation of the Y Plate 1. Attach [3] Y plate to the Y-axis with its stepped side facing the slider side. (*3) Two parallel pins should be inserted.

Table 3


plate [2] XY

bracket Parallel pin

(Type B) Hex bolt

High-tension washer

Tightening torque

IK3-P6BBB1 RCP6-SA8R 8S (M) for


IK3-P6BBB2 RCP6-SA8C IK3-P6BBB3 RCP6-SA8C

IK3-P6BBC1 RCP6-SA7R 7S (S) for

SA7 5h7x28 M5x30 5.5x12x2.0 74.2kgf•cm/ 727N•cm

IK3-P6BBC2 RCP6-SA7C IK3-P6BBC3 RCP6-SA7C

IK3-P6BBE1 RCP6-WSA16R None (L) for

WSA16 8h7x18 M8x40 9x18x2.3 306kgf•cm/ 2997N•cm

IK3-P6BBE2 RCP6-WSA16C IK3-P6BBE3 RCP6-WSA16C

IK3-P6BBF1 RCP6-WSA14R None (M) for

WSA14 8h7x18 M8x35 9x18x2.3 306kgf•cm/ 2997N•cm

IK3-P6BBF2 RCP6-WSA14C IK3-P6BBF3 RCP6-WSA14C

Configuration type [3] Y plate Parallel pin


High-tension washer Tightening torque

IK3-P6BBB BBC 5h7x14 M5x16 N/A 34.9kgf•cm / 342N•cm

IK3-P6BBC BBD 5h7x10 M5x15 N/A 34.9kgf•cm / 342N•cm

IK3-P6BBE BBB 6h7x15 M8x22 9x18x2.3 306kgf•cm / 2997N•cm

IK3-P6BBF BBC 5h7x14 M5x16 N/A 34.9kgf•cm / 342N•cm

Configuration type

Y-axis actuator



Tightening torque

IK3-P6BBB1 RCP6-SA7R 4h7x10 M5x20 34.9kgf•cm

/ 342N•cmIK3-P6BBB2 RCP6-SA7R IK3-P6BBB3 RCP6-SA7C

IK3-P6BBC1 RCP6-SA6R 4h7x10 M5x18 34.9kgf•cm

/ 342N•cmIK3-P6BBC2 RCP6-SA6R IK3-P6BBC3 RCP6-SA6C

IK3-P6BBE1 RCP6-SA8R 6h7x12 M6x22 54.7kgf•cm

/ 536N•cmIK3-P6BBE2 RCP6-SA8R IK3-P6BBE3 RCP6-SA8C

IK3-P6BBF1 RCP6-SA7R 4h7x10 M5x20 34.9kgf•cm

/ 342N•cmIK3-P6BBF2 RCP6-SA7R IK3-P6BBF3 RCP6-SA7C [2] XY bracket


Parallel pins (*2)

Y-axis: RCP6-SA




[3] Y plate

[4] Z plate

Parallel pins (*6)

Y-axis: RCP6-SA

Z-axis: RCP6-SA


6 Installation of the Y Cable Affixing Bracket (A bracket to be attached should differ depending on the configuration type and assembly direction.) 1. Attach [5] Y cable affixing bracket to [2] XY bracket (Type A) or actuator

(Type B or C)

Table 6

Type B

[5] Y cable affixing

bracket (C-1)


4 Installation of the Z Plate 1. Attach [4] Z plate to the base surface on the Z-axis. (*4) Attach it with the 2 hole with depth 1 on Z plate coming upward. (*5) Two parallel pins should be inserted to the motor side of the

actuator.

Table 4 Table 5

5 Installation of the Z-Axis 1. Join [3] Y plate and [4] Z plate. (*6) Two parallel pins should be inserted.

(In case it is necessary to have accuracy turning, use only one parallel pin.)




Type A

[2] XY bracket

Configuration type

Direction

Type (Shown in

figure)


Dimension X (mm)

Hex socket

head boltSquare

nut Tightening

torque

IK3-P6BBB1 1 to 4 A 7R 45 M4x8 M4 36.7kgf•cm/ 359N•cm IK3-P6BBB2 1 to 4 A 7R 45 M4x8 M4

IK3-P6BBB3 1, 2 B 7C-1 － M3x8 － 15.8kgf•cm

/ 154N•cm 3, 4 C 7C-2 － M3x8 －

IK3-P6BBC1 1 to 4 A 6R 35 M4x8 M4 36.7kgf•cm/ 359N•cm IK3-P6BBC2 1 to 4 A 6R 35 M4x8 M4

IK3-P6BBC3 1, 2 B 6C-1 － M3x8 － 15.8kgf•cm

/ 154N•cm 3, 4 C 6C-2 － M3x8 －

IK3-P6BBE1 to 3 1 to 4 － N/A －－－－

IK3-P6BBF1 1 to 4 A 7R 40 M4x8 M4 36.7kgf•cm/ 359N•cm IK3-P6BBF2 1 to 4 A 7R 40 M4x8 M4

IK3-P6BBF3 1, 2 B 7C-1 － M3x8 － 15.8kgf•cm

/ 154N•cm 3, 4 C 7C-2 － M3x8 －

Configuration type



Tightening torque

IK3-P6BBB1 4h7x8 M4x12 18.0kgf•cm

/ 176N•cm IK3-P6BBB2 IK3-P6BBB3 IK3-P6BBC1

4h7x8 M4x12 18.0kgf•cm / 176N•cm IK3-P6BBC2

IK3-P6BBC3 IK3-P6BBE1

4h7x8 M5x14 34.9kgf•cm / 342N•cm IK3-P6BBE2

IK3-P6BBE3 IK3-P6BBF1

4h7x8 M4x12 18.0kgf•cm / 176N•cm

IK3-P6BBF2 IK3-P6BBF3

Configuration type

Z-axis actuator

[4] Z plate

Parallel pin

(Type B)

Hex socket

head bolt Tightening

torque

IK3-P6BBB1 RCP6-SA6R BBC 4h7x8 M5x16 34.9kgf•cm

/ 342N•cm IK3-P6BBB2 RCP6-SA6R IK3-P6BBB3 RCP6-SA6C

IK3-P6BBC1 RCP6-SA4R BBD 3h7x6 M4x12 18.0kgf•cm

/ 176N•cm IK3-P6BBC2 RCP6-SA4R IK3-P6BBC3 RCP6-SA4C

IK3-P6BBE1 RCP6-SA7R BBB 4h7x8 M5x18 34.9kgf•cm

/ 342N•cm IK3-P6BBE2 RCP6-SA7R IK3-P6BBE3 RCP6-SA7C

IK3-P6BBF1 RCP6-SA6R BBC 4h7x8 M5x16 34.9kgf•cm

/ 342N•cm IK3-P6BBF2 RCP6-SA6R IK3-P6BBF3 RCP6-SA6C


[4] Z plate

Parallel pins (*5)

2 hole with depth 1(*4)

Z-axis: RCP6-SA


Type C Hex socket head bolts


7 Installation of the X-Y Cable Track (Size of [8] X-Y Cable Track should be selected from CT/CTM/CTL/CTXL) 1. In case of using the foot plate option, conduct 13-2 in advance. 2. Prepare the motor/encoder cable for the Y-axis and the Z-axis through [8] X-Y cable track. (Inside the cable track

is divided into areas by a divider plate. Put the motor/encoder cable through in the cable area with width 25mm.) 3. Insert square nuts to the T-groove on the top surface of [2] XY bracket and attach [9] X track mounting bracket

at the position of Dimension Y in Table 7-1.

Table 7-1

Table 7-2

4. Attach the fixed end of [8] X-Y cable track to [7] X guide tail. 5. Attach the moving end of [8] X-Y cable track to [9] X track mounting bracket. 6. For Type G, insert square nuts to the T-groove on the side of X-axis and attach the [7] X guide

rail.

Note 1 To affix [7] X guide rail: Hex socket head bolt M3x8, Plain washer 3.4x8x1.0, Square nut M3, Tightening torque 15.8kgf･cm / 154N･cm

IK3-P6BBE2/3, -P6BBF2/3 (X-axis WSA Motor Straight Type)

Type G

[7] X guide rail

[8] X-Y cable track





To affix [7] X guide rail (Note1): Hex socket head bolt, Plain washer, Square nut


Note 2 It should be used for attachment of the fixed end of [11] Y-Z cable track.

Attachment Position of [9] X Track Mounting Bracket

[8] X-Y cable track

[2] XY bracket


Y

Cable track size

Ba(mm)

Bi(mm)

W1(mm)

W2(mm)

Bolts on fixed end / moving end

Plain washer

Fixed end square

nut(Note2) Moving end


on fixed end / moving end

CT 49 38 23 13 Hex socket head cap M6x12 6.5x13x1.0 M6 M6

(Class 1) 35.6kgf•cm

/ 349N•cm CTM 61 50 35 25CTL 76 63 48 38 Hex socket

flat head cap M6x12 N/A M6 M6 (Class 1)

33.6kgf•cm

/ 329N•cm CTXL 94 80 65 55 －

Configuration type

Type (Shown

in figure)

[7] X guide rail

[8] X-Y cable track


Dimen sion Y (mm)


Squarenut

Tighteningtorque Direction

1, 3 Direction

2, 4 IK3-P6BBB1 D

For SA8 Refer to Table 7-2 M1 M2 50.5 M4x8 M4 36.7kgf•cm

/ 359N•cm IK3-P6BBB2 E IK3-P6BBB3 E

IK3-P6BBC1 D For SA7 Refer to

Table 7-2 S1 S2 50.5 M4x8 M4 36.7kgf•cm/ 359N•cm IK3-P6BBC2 E

IK3-P6BBC3 E

IK3-P6BBE1 F For WSA16R Refer to

Table 7-2 L1 L2 50.5 M4x8 M4 36.7kgf•cm/ 359N•cm IK3-P6BBE2 G For

WSA16C(Note 1) IK3-P6BBE3 G

IK3-P6BBF1 F For WSA14R Refer to

Table 7-2 M1 M2 50.5 M4x8 M4 36.7kgf•cm/ 359N•cm IK3-P6BBF2 G For

WSA14C(Note 1) IK3-P6BBF3 G

IK3-P6BBB1, -P6BBC1 (X-axis SA Motor Reversed Type)

Type D

[7] X guide rail

[8] X-Y cable track




Hex nut

IK3-P6BBB2/3, -P6BBC2/3 (X-axis SA Motor Straight Type)

Type E

[7] X guide rail



Hex nut



[8] X-Y cable track

IK3-P6BBE1, -P6BBF1 (X-axis WSA Motor Reversed Type)

[7] X guide rail

[8] X-Y cable track

[9] X trackmounting bracket


Hex nut


Type F

Motor/encoder cable for

Y-axis/Z-axis

Cable area


User space

Divider plate



Table 8

9 Installation of the Y-Z Cable Track (Size of [11] Y-Z Cable Track should be selected form CT/CTM/CTL)

1. Insert square nuts to the T-groove on the side of [2] XY bracket and attach [10] Y guide rail flash to the face of [2] XY bracket. 2. Prepare the motor/encoder cable for the Z-axis through [11] Y-Z cable track. (Put the cable into the smaller area divided by

a divider plate.) 3. Inset square nuts to the T-groove on the [10] Y guide rail and attach the fixed end of [11] Y-Z cable track at the position of Z Dimension.4. Attach [12] Y track mounting bracket to [3] Y plate. 5. Attach the moving end of [11] Y-Z cable track to [12] Y track mounting bracket.

Table 9-1

Table 9-2

[3] Y plate


IK3-P6BBB1/2 IK3-P6BBC1/2 IK3-P6BBE1/2 IK3-P6BBF1/2


Type R


(R-1, R-2)

1. Attach [6] Z cable affixing bracket to [3] Y plate.

Type C IK3-P6BBB3 IK3-P6BBC3 IK3-P6BBE3 IK3-P6BBF3

For Z-Axis Motor

Straight Type


(C-2)


Z-axis: RCP6-SA


Configuration type

Type (Shown

In figure)


Tightening torque Direction 1, 4 Direction 2, 3

IK3-P6BBB1 R 6R-1 6R-2 M4x10 36.7kgf•cm / 359N•cm

IK3-P6BBB2 R IK3-P6BBB3 C 6C-2 M3x8 15.8kgf•cm / 154N•cm IK3-P6BBC1 R

4R-1 4R-2 M4x10 36.7kgf•cm / 359N•cm IK3-P6BBC2 R IK3-P6BBC3 C 4C-2 M3x8 15.8kgf•cm / 154N•cm IK3-P6BBE1 R

7R-1 7R-2 M4x10 36.7kgf•cm / 359N•cm IK3-P6BBE2 R IK3-P6BBE3 C 7C-2 M3x8 15.8kgf•cm / 154N•cm IK3-P6BBF1 R

6R-1 6R-2 M4x10 36.7kgf•cm / 359N•cm IK3-P6BBF2 R IK3-P6BBF3 C 6C-2 M3x8 15.8kgf•cm / 154N•cm

Attachmento Position of Fixed end Dimension Z (mm)

Y-axis stroke (mm) 50 100 150 200 250 300 350 400 450 500

IK3-P6BBB 56.5 81.5 106.5 131.5 156.5 181.5 206.5 231.5 －－

IK3-P6BBC 25 50 75 100 125 150 175 200 －－

IK3-P6BBE 125.5 150.5 175.5 200.5 225.5 250.5 275.5 300.5 325.5 350.5

IK3-P6BBF 107 132 157 182 207 232 257 282 －－

Configurationtype

[11] Y-Z cable track

[10] Y guide rail

Hex socket head bolt (A)

Squarenut

Tightening torque

[12] Y track mounting bracket Hex sockethead bolt (B)


IK3-P6BBB Refer to Table 7-2 SA8 M4x10 M4 18.0kgf•cm

/ 176N•cm M1 M2 M5x12 74.2kgf•cm/ 727N•cm

IK3-P6BBC Refer to Table 7-2 SA7 M4x10 M4 18.0kgf•cm

/ 176N•cm S1 S2 M5x12 74.2kgf•cm/ 727N•cm

IK3-P6BBE Refer to Table 7-2 WSA16 M4x10 M4 18.0kgf•cm

/ 176N•cm L1 L2 M5x12 74.2kgf•cm/ 727N•cm

IK3-P6BBF Refer to Table 7-2 WSA14 M4x10 M4 18.0kgf•cm


[11] Select the size from CT/CTM/CTL for the cable track between Y and Z (CTXL is out of option).

[3] Y plate

Square nuts(Insert to the

T-groove)


[2] XY bracket

Hex socket head bolts (A)

Attach [10] Y guide rail flush to the face of [2] XY bracket.



T-grooveInsert square nuts ( ) to the T-groove on the [10] Y guide rail and attach the fixed end of the cable track.

Z

[10] Y guide rail

T-groove

Table 7-2Note 2

Hex socket head bolts (B) [12] Y track mounting bracket

(9.5) User space


Attaching [11] Y-Z Cable Track, Insertion of Square nut

For CT Attachment For CTM Attachment

For CTL Attachment [2] XY

bracket

[10] Y guide rail


W1



[13] Z guide rail


[14] Z-Z cable track

[4] Z plate

Hex nuts (Back Side)



L

H

J


Y-axis Installation

Face

Top of surface of Z-axis slider

Device Installation Face (excluding foot plate) X-axis Y-axis

Z-axis


(Size of [14] Z-Z Cable Track is selected from CT/CTM) 1. Attach [13] Z guide rail to [4] Z plate. 2. Attach the fixed end of [14] Z-Z cable track to [13] Z guide rail. (Refer to Table 7-2) 3. Attach the moving end of [14] Z-Z cable track to such as a plate that you have installed following

Dimension H (Dimension J) and Dimension L in Table 10-2.

11 Cable Wiring 1 (Y-Axis Motor/Encoder Cable) 1. Connect the motor/encoder cable connector for Y-axis to Y-axis. 2. Affix the motor/encoder cable for Y-axis with a cable band using the hole on [5] Y cable affixing bracket.

Refer to A

3. Attach the motor/encoder cable for Y-axis to the moving end and fixed end of [8] X-Y cable track with cable bands using the sinking combs. Refer to B



IK3-P6BB3 (Y-axis motor straight type)

A

B

Affix with cable bands using the holes on bracket

[8] X-Y cable track


Configuration type

Dimension H (mm)

Dimension J (mm)

Dimension L (mm)

IK3-P6BBB 187 35 98

IK3-P6BBC 179 49.5 52.5

IK3-P6BBE 194 30 98

IK3-P6BBF 187 35 98

Table 10-2

Configuration type

[13] Z guide rail


Hex socket

head bolt

Tightening torque

IK3-P6BBB BBC Refer to Table 7-2 M4x8 36.7kgf•cm

/ 359N•cm

IK3-P6BBC BBD Refer to Table 7-2 M4x8 36.7kgf•cm

/ 359N•cm

IK3-P6BBE BBB Refer to Table 7-2 M4x10 36.7kgf•cm

/ 359N•cm

IK3-P6BBF BBC Refer to Table 7-2 M4x8 36.7kgf•cm

/ 359N•cm[14] Select the size from CT/CTM for the cable track

between Z and Z (CTL/CTXL is out of option).

Table 10-1


IK3-P6BB1, -P6BB2 (Y-axis motor reversed type)

Use the sinking combs on moving end and fixed

end of the cable track B

A

[8] X-Y cable track




12 Cable Wiring 2 (Z-Axis Motor/Encoder Cable) 1. Connect the motor/encoder cable connector for Z-axis to Z-axis. 2. Affix the motor/encoder cable for Z-axis with cable bands using the hole on [6] Z cable affixing bracket. Refer to A

3. Affix the motor/encoder cable for Z-axis with cable bands using the hole on [12] Y track mounting bracket. Refer to B

4. Affix the motor/encoder cable for Z-axis to the moving end and fixed end of [11] Y-Z cable track with a cable band using the sinking combs. Refer to C

5. Affix the motor/encoder cable for Z-axis with a cable band using the hole on [9] X track mounting bracket. Refer to D

6. Affix the motor/encoder cable for Z-axis to the moving end and fixed end of [8] X-Y cable track with cable bands using the sinking combs.

Refer to E



A IK3-P6BB1/2

(Z-axis motor reversed type) IK3-P6BB3

(Z-axis motor straight type)

B IK3-P6BB3

(Z-axis motor straight type)IK3-P6BB1/2

(Z-axis motor reversed type)


C

D [8] X-Y cable track

A

B

E




IK3-P6BB1, -P6BB2 (Z-axis motor reversed type)

C

D[8] X-Y

cable track

A

B

E





IK3-P6BB3 (Z-axis motor straight type)

D IK3-P6BB3 (Z-axis motor straight type)

IK3-P6BB□1/2 (Z-axis motor reversed type)


C

[11] Y-Z cable track moving end

(Example of wiring)

[11] Y-Z cable track fixed end

(Example of wiring)


E

[8] X-Y cable track moving end

(Example of wiring)

[8] X-Y cable track fixed end

(Example of wiring)


13 How to Assemble when Using Foot Plate Option (-FTP) 13-1 It should be conducted before 1 XY Bracket Installation.


Configuration type X-axis actuator [15] Foot plate Parallel pin


Tightening torque

IK3-P6BBB1 RCP6-SA8R With no foot plate option

IK3-P6BBB2 RCP6-SA8C Base plate (L) 6h7x12 M6x16 54.7kgf•cm

/ 536N•cm IK3-P6BBB3 RCP6-SA8C

IK3-P6BBC1 RCP6-SA7R With no foot plate option

IK3-P6BBC2 RCP6-SA7C Base plate (M) 4h7x10 M5x14 34.9kgf•cm

/ 342N•cm IK3-P6BBC3 RCP6-SA7C

IK3-P6BBE1 RCP6-WSA16R

With no foot plate option IK3-P6BBE2 RCP6- WSA16C

IK3-P6BBE3 RCP6- WSA16C

IK3-P6BBF1 RCP6-WSA14R

With no foot plate option IK3-P6BBF2 RCP6- WSA14C

IK3-P6BBF3 RCP6- WSA14C

Configuration type

Type 7 Shown

in figure [7] X guide rail [15] Foot plate


Square nut Tightening torque

IK3-P6BBB1 D

For SA8

With no foot plate option

IK3-P6BBB2 E Base plate (L) M4x10 M4 38.5kgf•cm

/ 377N•cm IK3-P6BBB3 E

IK3-P6BBC1 D

For SA7


IK3-P6BBC2 E Base plate (M) M4x10 M4 38.5kgf•cm

/ 377N•cm IK3-P6BBC3 E

IK3-P6BBE1 F For WSA16R

With no foot plate option IK3-P6BBE2 G For WSA16C

IK3-P6BBE3 G

IK3-P6BBF1 F For WSA14R

With no foot plate option IK3-P6BBF2 G For WSA14C

IK3-P6BBF3 G

13-2 It should be conducted before 7 X-Y Cable Track Installation.

1. For Type E (X-axis SA Motor Straight Type), insert square nuts to the T-groove on the [15] Foot plate and attach [7] X guide rail.

Table 13-1 Table 13-2

[15] Foot plate

X-axis: RCP6 - SA


Parallel pins

Square nuts


[7] X guide rail

[15] Foot plate

T-groove

⑤ IA Kit IK Series Assembly Procedures Drawing No. GMM16－006 1/7 XYB (Y-axis Base Mount) + Z-axis Base Mount Type (2) IK3－P6BB (G/H) S

X-axis

Y-axis Y-axis

Y-axis Y-axis

X-axis

X-axis X-axis

Direction 1

Direction 3

Direction 4

Direction 2

X-axis: RCP6-

SA/WSA


[2] XY bracket

Parallel pins

[1] X plate

(*1)

Hex bolts



[3] Y plate

Parallel pins (*3)

Y-axis: RCP6-SA

Stepped side




1 Installation of the XY Bracket 1. In case of using the foot plate option, conduct 13-1 in advance. 2. Put (1) X Plate on the X-axis slider and attach (2) XY Bracket on top of it.

(*1) Install them to have [2] XY bracket overhanging to the operation area.

2 Installation of the Y-Axis 1. Attach the Y-axis on the base to [2] XY bracket. (*2) Two parallel pins should be inserted to the motor side of actuator and operation area of [2] XY bracket.


Table 1

Table 2

Direction 1

Example of Assembly


Table 3


plate [2] XY


(Type B) Hex bolt

High-tension washer

Tightening torque

IK3-P6BBG1 RCP6-SA8R 8S (M) for


IK3-P6BBG2 RCP6-SA8C IK3-P6BBG3 RCP6-SA8C

IK3-P6BBH1 RCP6-SA7R 7S (S) for

SA7 5h7x28 M5x30 5.5x12x2.0 74.2kgf•cm/ 727N•cm

IK3-P6BBH2 RCP6-SA7C IK3-P6BBH3 RCP6-SA7C



High-tension washer Tightening torque

IK3-P6BBG BBG 5h7x14 M5x16 N/A 34.9kgf•cm / 342N•cm

IK3-P6BBH BBH 5h7x10 M5x14 N/A 34.9kgf•cm / 342N•cm

Configuration type

Y-axis actuator



Tightening torque

IK3-P6BBG1 RCP6-SA7R 4h7x10 M5x20 34.9kgf•cm

/ 342N•cmIK3-P6BBG2 RCP6-SA7R IK3-P6BBG3 RCP6-SA7C

IK3-P6BBH1 RCP6-SA6R 4h7x10 M5x18 34.9kgf•cm

/ 342N•cmIK3-P6BBH2 RCP6-SA6R IK3-P6BBH3 RCP6-SA6C

[2] XY bracket


Parallel pins (*2)

Y-axis: RCP6-SA




[3] Y plate

[4] Z plate

Parallel pins (*6)

Y-axis: RCP6-SA

Z-axis: RCP6-TA


6 Installation of the Y Cable Affixing Bracket (A bracket to be attached should differ depending on the configuration type and assembly direction.) 1. Attach [5] Y cable affixing bracket to [2] XY bracket (Type A) or actuator

(Type B or C)

Table 6

Type B


bracket (C-1)


4 Installation of the Z Plate 1. Attach [4] Z plate to the base surface on the Z-axis. (*4) Attach it with the 2 hole with depth 1 on Z plate coming upward. (*5) Two parallel pins should be inserted to the motor side of the

actuator.

Table 4-1 Table 5

5 Installation of the Z-Axis 1. Join [3] Y plate and [4] Z plate. (*6) Two parallel pins should be inserted.





Type A

[2] XY bracket

Configuration type

Direction

Type (Shown in

figure)


Dimension X (mm)

Hex socket

head boltSquare

nut Tightening

torque

IK3-P6BBG1 1 to 4 A 7R 45 M4x8 M4 36.7kgf•cm/ 359N•cm IK3-P6BBG2 1 to 4 A 7R 45 M4x8 M4

IK3-P6BBG3 1, 2 B 7C-1 － M3x8 － 15.8kgf•cm

/ 154N•cm 3, 4 C 7C-2 － M3x8 －

IK3-P6BBH1 1 to 4 A 6R 35 M4x8 M4 36.7kgf•cm/ 359N•cm IK3-P6BBH2 1 to 4 A 6R 35 M4x8 M4

IK3-P6BBH3 1, 2 B 6C-1 － M3x8 － 15.8kgf•cm

/ 154N•cm 3, 4 C 6C-2 － M3x8 －

Configuration type



Tightening torque

IK3-P6BBG1 4h7x8 M4x12 18.0kgf•cm

/ 176N•cm IK3-P6BBG2 IK3-P6BBG3 IK3-P6BBH1

4h7x8 M4x12 18.0kgf•cm / 176N•cm IK3-P6BBH2

IK3-P6BBH3

Configuration type

Z-axis actuator

[4] Z plate

Parallel pin

(Type B)

Hex socket

head bolt Tightening

torque

IK3-P6BBG1 RCP6-TA6R BBG 5h7x10 M5x16 34.9kgf•cm

/ 342N•cm IK3-P6BBG2 RCP6-TA6R IK3-P6BBG3 RCP6-TA6C

IK3-P6BBH1 RCP6-TA4R BBH 4h7x8 M4x12 18.0kgf•cm

/ 176N•cm IK3-P6BBH2 RCP6-TA4R IK3-P6BBH3 RCP6-TA4C


[4] Z plate

Parallel pins (*5)

2 hole with depth 1(*4)

Z-axis: RCP6-TA



Table 4-2

Configuration type

Z-axis stroke (mm)

Number of Used Hex Socket Head

Cap Screws

IK3-P6BBG 50 to 100 4 125, 150 6

IK3-P6BBH 50, 75 4

100 6


7 Installation of the X-Y Cable Track (Size of [8] X-Y Cable Track should be selected from CT/CTM/CTL/CTXL) 1. In case of using the foot plate option, conduct 13-2 in advance. 2. Prepare the motor/encoder cable for the Y-axis and the Z-axis through [8] X-Y cable track. (Inside the cable track is divided into areas by a divider plate.

Put the motor/encoder cable through in the cable area with width 25mm.) 3. Insert square nuts to the T-groove on the top surface of [2] XY bracket and attach [9] X track mounting bracket at the position of Dimension Y in Table 7-1. 4. Attach the fixed end of [8] X-Y cable track to [7] X guide tail. 5. Attach the moving end of [8] X-Y cable track to [9] X track mounting bracket.


[8] X-Y cable track

[2] XY bracket


Y

Note 2 It should be used for attachment of the fixed end of [11] Y-Z cable track.

Table 7-2Cable track

size Ba

(mm)Bi

(mm)W1

(mm)W2

(mm)Bolts on fixed end /

moving end Plain

washer Fixed end

square nut(Note2)

Moving end hex nut

Tightening torque on fixed end / moving end

CT 49 38 23 13 Hex socket head cap M6x12 6.5x13x1.0 M6 M6




33.6kgf•cm

/ 329N•cm CTXL 94 80 65 55 －

Table 7-1

Configurationtype

Type (Shown

in figure)

[7] X guide rail

[8] X-Y cable track


Dimen sion Y (mm)


Squarenut


1, 3 Direction

2, 4 IK3-P6BBG1 D


/ 359N•cm IK3-P6BBG2 E IK3-P6BBG3 E

IK3-P6BBH1 D For SA7 Refer to

Table 7-2 S1 S2 50.5 M4x8 M4 36.7kgf•cm/ 359N•cm IK3-P6BBH2 E

IK3-P6BBH3 E Note 1 To affix [7] X guide rail: Hex socket head bolt M3x8, Plain washer 3.4x8x1.0, Square nut M3, Tightening

torque 15.8kgf･cm / 154N･cm

IK3-P6BBG1, -P6BBH1 (X-axis SA Motor Reversed Type)

Type D

[7] X guide rail

[8] X-Y cable track




Hex nut

IK3-P6BBG2/3, -P6BBH2/3 (X-axis SA Motor Straight Type)

Type E

[7] X guide rail



Hex nut



[8] X-Y cable track


Y-axis/Z-axis

Cable area


User space

Divider plate



Table 8

9 Installation of the Y-Z Cable Track (Size of [11] Y-Z Cable Track should be selected form CT/CTM/CTL)

1. Insert square nuts to the T-groove on the side of [2] XY bracket and attach [10] Y guide rail flash to the face of [2] XY bracket. 2. Prepare the motor/encoder cable for the Z-axis through [11] Y-Z cable track. (Put the cable into the smaller area divided by

a divider plate.) 3. Inset square nuts to the T-groove on the [10] Y guide rail and attach the fixed end of [11] Y-Z cable track at the position of Z Dimension.4. Attach [12] Y track mounting bracket to [3] Y plate. 5. Attach the moving end of [11] Y-Z cable track to [12] Y track mounting bracket.

Table 9-1

Table 9-2

[3] Y plate


IK3-P6BBG1/2 IK3-P6BBH1/2


Type R


(R-1, R-2)

1. Attach [6] Z cable affixing bracket to [3] Y plate.

Type C IK3-P6BBG3 IK3-P6BBH3

For Z-Axis Motor Straight Type


(C-2)


Z-axis: RCP6-TA


Configuration type

Type (Shown

In figure)



IK3-P6BBG1 R 6R-1 6R-2 M4x10 36.7kgf•cm / 359N•cm

IK3-P6BBG2 R IK3-P6BBG3 C 6C-2 M3x8 15.8kgf•cm / 154N•cm IK3-P6BBH1 R

4R-1 4R-2 M4x10 36.7kgf•cm / 359N•cm IK3-P6BBH2 R IK3-P6BBH3 C 4C-2 M3x8 15.8kgf•cm / 154N•cm

Attachmento Position of Fixed end Dimension Z (mm)

Y-axis stroke (mm) 50 100 150 200 250

IK3-P6BBG 56.5 81.5 106.5 131.5 156.5

IK3-P6BBH 25 50 75 100 -

Configurationtype


[10] Y guide rail

Hex socket head bolt (A)

Squarenut

Tightening torque

[12] Y track mounting bracket Hex sockethead bolt (B)


IK3-P6BBG Refer to Table 7-2 SA8 M4x10 M4 18.0kgf•cm


IK3-P6BBH Refer to Table 7-2 SA7 M4x10 M4 18.0kgf•cm

/ 176N•cm S1 S2 M5x12 74.2kgf•cm/ 727N•cm

[11] Select the size from CT/CTM/CTL for the cable track between Y and Z (CTXL is out of option).

(9.5) User space


Attaching [11] Y-Z Cable Track, Insertion of Square nut

For CT Attachment For CTM Attachment

For CTL Attachment [2] XY

bracket

[10] Y guide rail


W1


[3] Y plate

Square nuts(Insert to the

T-groove)


[2] XY bracket

Hex socket head bolts (A)

Attach [10] Y guide rail flush to the face of [2] XY bracket.



T-groove

[10] Y guide rail

T-groove


Table 7-2Note 2

Hex socket head bolts (B)


Z


[13] Z guide rail



[4] Z plate

Hex nuts (Back Side)



(Size of [14] Z-Z Cable Track is selected from CT/CTM) 1. Attach [13] Z guide rail to [4] Z plate. 2. Attach the fixed end of [14] Z-Z cable track to [13] Z guide rail. (Refer to Table 7-2) 3. Attach the moving end of [14] Z-Z cable track to such as a plate that you have installed following

Dimension H (Dimension J) and Dimension L in Table 10-2.

11 Cable Wiring 1 (Y-Axis Motor/Encoder Cable) 1. Connect the motor/encoder cable connector for Y-axis to Y-axis. 2. Affix the motor/encoder cable for Y-axis with a cable band using the hole on [5] Y cable affixing bracket.

Refer to A




IK3-P6BB(G/H)3 (Y-axis motor straight type)

A

B


[8] X-Y cable track


Configuration type

[13] Z guide rail


Hex socket

head bolt

Tightening torque

IK3-P6BBG BBC Refer to Table 7-2 M4x8 36.7kgf•cm

/ 359N•cm

IK3-P6BBH BBD Refer to Table 7-2 M4x8 36.7kgf•cm

/ 359N•cm[14] Select the size from CT/CTM for the cable track

between Z and Z (CTL/CTXL is out of option).

Table 10-1

Configuration type

Dimension H (mm)

Dimension J (mm)

Dimension L (mm)

IK3-P6BBG 187 32.5 210

IK3-P6BBH 179 43.5 192


Table 10-2

L

H J

Device Installation Face (excluding foot plate)


Y-axis Installation

Face

Top of surface of Z-axis slider

X-axis Y-axis

Z-axis



IK3-P6BB(G/H)1, -P6BB(G/H)2(Y-axis motor reversed type)



A

[8] X-Y cable track



12 Cable Wiring 2 (Z-Axis Motor/Encoder Cable) 1. Connect the motor/encoder cable connector for Z-axis to Z-axis. 2. Affix the motor/encoder cable for Z-axis with cable bands using the hole on [6] Z cable affixing bracket. Refer to A

3. Affix the motor/encoder cable for Z-axis with cable bands using the hole on [12] Y track mounting bracket. Refer to B

4. Affix the motor/encoder cable for Z-axis to the moving end and fixed end of [11] Y-Z cable track with a cable band using the sinking combs. Refer to C

5. Affix the motor/encoder cable for Z-axis with a cable band using the hole on [9] X track mounting bracket. Refer to D

6. Affix the motor/encoder cable for Z-axis to the moving end and fixed end of [8] X-Y cable track with cable bands using the sinking combs.

Refer to E

B IK3-P6BB(G/H)3

(Z-axis motor straight type)IK3-P6BB(G/H)1/2

(Z-axis motor reversed type)

D IK3-P6BB(G/H)3 (Z-axis motor straight type)

IK3-P6BB(G/H)1/2 (Z-axis motor reversed type)


C

[11] Y-Z cable track moving end

(Example of wiring)

[11] Y-Z cable track fixed end

(Example of wiring)


E

[8] X-Y cable track moving end

(Example of wiring)

[8] X-Y cable track fixed end

(Example of wiring)

IK3-P6BB(G/H)1, -P6BB(G/H)2 (Z-axis motor reversed type)

C

D

A

B

E


[8] X-Y cable track




IK3-P6BB(G/H)3 (Z-axis motor straight type)

C

D

A

B

E [8] X-Y cable track







A IK3-P6BB(G/H)1/2

(Z-axis motor reversed type) IK3-P6BB(G/H)3

(Z-axis motor straight type)






Tightening torque

IK3-P6BBG1 RCP6-SA8R With no foot plate option

IK3-P6BBG2 RCP6-SA8C Base plate (L) 6h7x12 M6x16 54.7kgf•cm

/ 536N•cm IK3-P6BBG3 RCP6-SA8C

IK3-P6BBH1 RCP6-SA7R With no foot plate option

IK3-P6BBH2 RCP6-SA7C Base plate (M) 4h7x10 M5x14 34.9kgf•cm

/ 342N•cm IK3-P6BBH3 RCP6-SA7C

Configuration type

Type 7 Shown




IK3-P6BBG1 D

For SA8


IK3-P6BBG2 E Base plate (L) M4x10 M4 38.5kgf•cm

/ 377N•cm IK3-P6BBG3 E

IK3-P6BBH1 D

For SA7


IK3-P6BBH2 E Base plate (M) M4x10 M4 38.5kgf•cm

/ 377N•cm IK3-P6BBH3 E




[15] Foot plate

X-axis: RCP6 - SA


Parallel pins

Square nuts


[7] X guide rail

[15] Foot plate

T-groove

⑥ IA Kit IK Series Assembly Procedures Drawing No. GMM16－007 1/7 XYB (Y-axis Base Mount) + ZR-Axis (Vertical/Rotary) Unit Type IK4－P6BB (B/F) S

X-axis

Y-axis Y-axis

Y-axis Y-axis

X-axis

X-axis X-axis

Direction 1

Direction 3

Direction 4

Direction 2

X-axis: RCP6-

SA/WSA


[2] XY bracket

Parallel pins

[1] X plate

(*1)

Hex bolts



[3] Y plate

Parallel pins (*3)

Y-axis: RCP6-SA

Stepped side



1 Installation of the XY Bracket 1. In case of using the foot plate option, conduct 11-1 in advance. 2. Install [2] XY bracket on X-axis slider. (For P6BBB, put [1] X plate between X-axis slider

and [2] XY bracket when installing.) (*1) Install them to have [2] XY bracket overhanging to the operation area.

2 Installation of the Y-Axis 1. Attach the Y-axis on the base to [2] XY bracket. (*2) Two parallel pins should be inserted to the motor side of actuator and operation area of [2] XY bracket.


Table 1

Table 2

Direction 1

Example of Assembly


Table 3


plate [2] XY


(Type B) Hex bolt

High-tension washer

Tightening torque

IK4-P6BBB1 RCP6-SA8R IK4-P6BBB2 RCP6-SA8C IK4-P6BBB3 RCP6-SA8C

8S (M) for SA8 φ6h7x35 M8x40 9x18x2.3 306kgf•cm

/ 2997N•cm

IK4-P6BBF1 RCP6-WSA14R IK4-P6BBF2 RCP6-WSA14C IK4-P6BBF3 RCP6-WSA14C

None (M) for WSA14 φ8h7x18 M8x35 9x18x2.3 306kgf•cm

/ 2997N•cm


(Type B) Hex socket head bolt Tightening torque

IK4-P6BBB ZR φ5h7x14 M5x18 34.9kgf•cm / 342N•cm

IK4-P6BBF ZR φ5h7x14 M5x18 34.9kgf•cm / 342N•cm

Configuration type

Y-axis actuator



Tightening torque

IK4-P6BBB1 RCP6-SA7R IK4-P6BBB2 RCP6-SA7R IK4-P6BBB3 RCP6-SA7C

φ4h7x10 M5x20 34.9kgf•cm/ 342N•cm

IK4-P6BBF1 RCP6-SA7R IK4-P6BBF2 RCP6-SA7R IK4-P6BBF3 RCP6-SA7C

φ4h7x10 M5x20 34.9kgf•cm/ 342N•cm

[2] XY bracket


Parallel pins (*2)

Y-axis: RCP6-SA

Caution: • Although each part has been chamfered to remove sharp edges, exercise due caution during the assembly to prevent injury. If necessary, wear gloves or other protective gears.

• Exercise due caution during the assembly to prevent pinching of hands and fingers.


5 Installation of the Y Cable Affixing Bracket (A bracket to be attached should differ depending on the configuration type and assembly direction.)

1. Attach [4] Y cable affixing bracket to [2] XY bracket (Type A) or actuator (Type B or C)

Table 5

When installing Type A, insert square nuts to the T-groove on the top surface of [2] XY bracket and attach [4] Y cable affixing bracket at the position of Dimension X in the figure below.

Configuration type Direction

Type (Shown in figure)


Dimension X

(mm)


Square nut

Tightening torque

IK4-P6BBB1 1 to 4 A 7R 45 M4x8 M4 IK4-P6BBB2 1 to 4 A 7R 45 M4x8 M4

36.7kgf•cm/ 359N•cm

1, 2 B 7C-1 － M3x8 － IK4-P6BBB3

3, 4 C 7C-2 － M3x8 － 15.8kgf•cm / 154N•cm

IK4-P6BBF1 1 to 4 A 7R 40 M4x8 M4 IK4-P6BBF2 1 to 4 A 7R 40 M4x8 M4

36.7kgf•cm/ 359N•cm

1, 2 B 7C-1 － M3x8 － IK4-P6BBF3

3, 4 C 7C-2 － M3x8 － 15.8kgf•cm / 154N•cm


Type A Hex socket head bolts

[2] XY bracket

Type B


bracket (C-1)


4 Installation of the ZR Unit 1. Remove the three screws for screw cover attachment (cross recessed truss-head screws), and detach the screw cover. 2. Attach the ZR Unit to [3] Y plate. 3. Attach the screw cover. (*4) Two parallel pins should be inserted to the motor side on the actuator. (In case it is necessary to have accuracy turning, use one parallel pin.)

Table 4Configuration

type ZR Unit Parallel pin (Type B)


Tightening torque

IK4-P6BBB1 IK4-P6BBB2 IK4-P6BBB3

TTPIK-AZR φ5h7x10 M4x14 18.0kgf･cm/ 176N･cm

IK4-P6BBF1 IK4-P6BBF2 IK4-P6BBF3

TTPIK-AZR φ5h7x10 M4x14 18.0kgf･cm/ 176N･cm



[3] Y plate

Parallel pins (*4)


Y-axis: RCP6-SA

ZR Unit: TTPIK-AZR

ZR Unit : TTPIK-AZR

Screw cover

Base mounting hole

Screw cover attachment screw (3)

Screw cover cttachment screw (2)

Screw cover attachment screw (1)


Table 6-1

Table 6-2

6 Installation of the X-Y Cable Track (Size of [6] X-Y Cable Track should be selected from CT/CTM/CTL/CTXL) 1. In case of using the foot plate option, conduct 11-2 in advance. 2. Set the motor / encoder cables (3pcs) for Y-axis, Z-axis and R-axis through [6] X-Y cable track in advance. (The area inside the cable track is divided with dividers for all the types except for Cable Track Size CT.

Put the motor/encoder cable through in the cable area with width 35mm.)

3. Insert square nuts to the T-groove on the top surface of [2] XY bracket and attach [7] X track mounting bracket at the position of Dimension Y in Table 6-1.

4. Attach the fixed end of [6] X-Y cable track to [5] X guide tail. 5. Attach the moving end of [6] X-Y cable track to [7] X track mounting bracket. 6. For Type G, insert square nuts to the T-groove on the side of X-axis and attach the [5] X guide rail.


[6] X-Y cable track

[2] XY bracket


Y

Cable track size

Ba(mm)

Bi(mm)

W1(mm)

W2(mm)

Bolts on fixed end / moving end

Plain washer

Fixed end square

nut(Note2) Moving end


on fixed end / moving end

CT 49 38 13 - Hex socket head cap M6x12 6.5x13x1.0 M6 M6




33.6kgf•cm

/ 329N•cm CTXL 94 80 - 45 - Note 2 It should be used for attachment of the fixed end of [9] Y-Z cable track.

Configuration type

Type (Shown

in figure)

[5] X guide rail

[6] X-Y cable track


Dimen sion Y (mm)


Squarenut


1, 3 Direction

2, 4 IK4-P6BBB1 D


/ 359N•cmIK4-P6BBB2 E IK4-P6BBB3 E

IK4-P6BBF1 F For WSA14R Refer to

Table 6-2 M1 M2 50.5 M4x8 M4 36.7kgf•cm/ 359N•cmIK4-P6BBF2 G For

WSA14C(Note 1) IK4-P6BBF3 G Note 1 To affix [5] X guide rail: Hex socket head bolt M3x8, Plain washer 3.4x8x1.0, Square nut M3, Tightening torque

15.8kgf･cm / 154N･cm

IK4-P6BBB1 (X-axis SA Motor Reversed Type)

Type D

[5] X guide rail

[6] X-Y cable track




Hex nut

IK4-P6BBB2/3 (X-axis SA Motor Straight Type)

Type E

[5] X guide rail



Hex nut



[6] X-Y cable track

IK4-P6BBF1 (X-axis WSA Motor Reversed Type)

[5] X guide rail

[6] X-Y cable track

[7] X trackmounting bracket


Hex nut


Type F

IK4-P6BBF2/3 (X-axis WSA Motor Straight Type)

Type G

[5] X guide rail

[6] X-Y cable track





To affix [5] X guide rail (Note1): Hex socket head bolt, Plain washer, Square nut




Y-axis, Z-axis and R-axis User space

Divider plate Cable area


7 Installation of the Y-ZR Cable Track (Size of [9] Y-Z Cable Track should be selected form CT/CTM/CTL) 1. Insert square nuts to the T-groove on the side of [2] XY bracket and attach [8] Y guide rail flash to the face of [2] XY bracket. 2. Set the motor / encoder cable for Z-axis and the motor / encoder cable for R-axis through [9] Y-ZR cable track in advance. (Put the cables through in the cable area with width of 25mm divided with a divider.) 3. Inset square nuts to the T-groove on the [8] Y guide rail and attach the fixed end of [9] Y-ZR cable track at the position of Z Dimension. 4. Attach [10] Y track mounting bracket to the ZR unit spacer. 5. Attach the moving end of [9] Y-Z cable track to [10] Y track mounting bracket.

Table 7-2Attachmento Position of Fixed end Dimension Z (mm)

Y-axis stroke (mm) 50 100 150 200 250 300 350 400

IK4-P6BBB 56.5 81.5 106.5 131.5 156.5 181.5 - -

IK4-P6BBF 107 132 157 182 207 232 257 282


type [9] Y-ZR

cable track [8] Y

guide rail Hex socket

head bolt (A) Square

nut Tightening

torque [10] Y track mounting bracket Hex socket

head bolt (B)Tightening

torque Direction 1, 4 Direction 2, 3

IK4-P6BBB Refer to Table 6-2 SA8 M4x10 M4 18.0kgf•cm


IK4-P6BBF Refer to Table 6-2 WSA14 M4x10 M4 18.0kgf•cm


[9] Select the size from CT/CTM/CTL for the cable track between Y and ZR (CTXL is out of option).

Z

Square nuts (Insert to the T-groove)



[3] Y plate [9] Y-ZR cable track

[2] XY bracket

Hex socket head bolts (A) Attach [8] Y guide rail flush to

the face of [2] XY bracket.

T-groove

[8] Y guide rail

T-groove

Hex socket head bolts (B)


ZR unit spacer


Table 6-2 Note 2 [2] XY

bracket

(9.5) User space

[8] Y guide rail

Motor/encoder cable for Z-axis and R-axis

W1 [9] Y-ZR cable track Cable area 25

Attaching [9] Y-ZR Cable Track, Insertion of Square nut


For CT Attachment

For CTM Attachment

For CTL Attachment


Caution: • Arrange the wires so that each axis will not contact the cables and connecters when the axis is moved over its entire stroke.• If you want to move the actuator with brake by hand, connect the controller and supply the power and then set the


8 Installation of the Connector Box 1. Attach [10] Y track mounting bracket to [11] Connector box. (At this moment, put the Z-axis actuator cable through the connector box.

Refer to Z ) 2. Attach [14] Grommet on the top of [11] Connector box and put the R-axis actuator cable through it. Refer to R 3. Attach a cable Tie-mount (KR5G5) on [10] Y track mounting bracket and affix the R-axis actuator cable with a cable band. Refer to S 4. Attach [12] Box cover and [14] Grommet on the moving end of [9] Y-ZR cable track on [11] Connector box,

and put the Z-axis motor / encoder cable and the R-axis motor / encoder cable through them. Refer to ZR 5. Join the three connectors in different profiles on the Z-axis actuator cable and on the Z-axis motor / encoder cable inside [11] Connector box. 6. Join the three connectors in different profiles on the R-axis actuator cable and on the R-axis motor / encoder cable inside [11] Connector box. 7. Affix the ground cable on the Z-axis to [10] Y track mounting bracket on the area marked with T . 8. Attach [12] Box cover and [13] Joint cover on [11] Connector box.

Table 8 Configuration

type 8 Process

Number Attachment Bolts to be used Bolt size Tightening torque

1 Attachment of [11] Connector box Hex socket head bolts M4x6 18.0kgf･cm / 176N･cm

3 Attachment of cable Tie-mount (KR5G5)

Hex socket button head screw M4x6 12.6kgf･cm / 124N･cm

4, 8 Attachment of [12] Box cover Hex socket head bolts M3x12 5.51kgf･cm / 54.0N･cm

IK4-P6BBB IK4-P6BBF

7 Affixing of Z-axis ground cable Cross Recessed Pan Head Machine Screw M3ｘ4 6.27kgf･cm / 61.5N･cm


S

Attach a cable Tie- mount and affix with a cable band

Tie-mount (KR5G5)

[14] Grommet


[11] Connector box

[14] Grommet

[9] Y-ZR cable track

[12] Box cover

[12] Box cover

[13] Joint cover

T




Join the connectors on the Z-axis actuator cable and on the Z-axis motor / encoder cable, and then connect the connectors on the R-axis actuator cable and on the R-axis motor / encoder cable inside [11] Connector box.

R

Z ZR

Actuator Cable for Z-axis and R-axis

Motor / Encoder Cable for Z-axis and R-axis

R-axis actuator cable

Z-axis motor / encoder cable R-axis motor / encoder cable Z-axis actuator cable


9 Cable Wiring 1 (Y-Axis Motor/Encoder Cable) 1. Connect the motor/encoder cable connector for Y-axis to Y-axis. 2. Affix the motor/encoder cable for Y-axis with a cable band using the hole on [4] Y cable affixing

bracket. Refer to A


Caution: • Arrange the wires so that each axis will not contact the cables and connecters when the axis is moved over its entire stroke.• If you want to move the actuator with brake by hand, connect the controller and supply the power and then set the


IK4-P6BB(B/F)3 (Y-axis motor straight type)

A

B


[6] X-Y cable track



IK4-P6BB(B/F)1, -P6BB(B/F)2 (Y-axis motor reversed type)



A

[6] X-Y cable track



C Attach a cable Tie-mount (KR5G5) and affix with a

cable band

Tie-mount (KR5G5)

Table 10

Tie-mount Bolts to be used Bolt size Tightening

torque

KR5G5 Hex socket button head

screw M4x6 12.6kgf•cm

/ 124N•cm

IK4-P6BB(B/F)

[9] Y-Z cable track

[6] X-Y cable track

C

F D

E



10 Cable Wiring 2 (Z-Axis and R-Axis Motor / Encoder Cable) 1. Attach a Cable Tie-mount on [10] Y track mounting bracket, and affix the Z-axis and R-axis motor / encoder

cables with a cable band. Refer to C 2. Affix the motor/encoder cable for Z-axis and R-axis to the moving end and fixed end of [9] Y-ZR cable track with a

cable band using the sinking combs. Refer to D

3. Utilize the holes on [7] X track mounting bracket to affix with a cable band. Refer to E

4. Affix the motor/encoder cable for Z-axis and R-axis to the moving end and fixed end of [6] X-Y cable track with cable bands using the sinking combs. Refer to F

E [7] X track mounting

bracketUtilize the holes on the side of [7] X track mounting bracket to affix with a cable band.

[6] X-Y cable track






Tightening torque

IK4-P6BBB1 RCP6-SA8R With no foot plate option

IK4-P6BBB2 RCP6-SA8C

IK4-P6BBB3 RCP6-SA8C Base plate (L) φ6h7x12 M6x16 54.7kgf•cm

/ 536N•cm

IK4-P6BBF1 RCP6-WSA14R




Configuration type

Type 6 Shown




IK4-P6BBB1 D With no foot plate option

IK4-P6BBB2 E

IK4-P6BBB3 E

For SA8 Base plate (L) M4x10 M4 38.5kgf•cm

/ 377N•cm

IK4-P6BBF1 F For WSA14R

IK4-P6BBF2 G

IK4-P6BBF3 G For WSA14C





[15] Foot plate

X-axis: RCP6 - SA


Parallel pins

Square nuts


[5] X guide rail

[15] Foot plate

T-groove

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