ISA/ISPA Single-Axis

w w w . i n t e l l i g e n t a c t u a t o r. c o m

New XY ConfigurationsAdded

1 ISPA/ICSPA Catalog

Controllers Single-axis or Cartesian robot controllers that can execute various positioner operations andpulse-input program operations depending on your specific control needs.

Cartesian Robots

The Y-axis slider moves horizontally.

ICSA2-B��ICSPA2-B��

The entire Y-axis moves horizontally.

ICSA2-S��ICSPA2-S��

Y-Axis Base Mount

X-SEL

Y-Axis Slider Mount

P67-102

SSELSCON

The Z-axis slider is mounted to the Y-axis positioned on its

side. The entire Z-axis moves vertically.

ICSA2-Y��ICSPA2-Y��

Z-Axis Slider Mount

P131-140

The Z-axis is positioned vertically and mounted to the

X-axis. The Z-axis slider moves vertically.

ICSA2-Z��ICSPA2-Z��

Z-Axis Base Mount

Single-Axis Position Controller 2-Axis Program Controller High-Function Multi-Axis Controller

P115-130

A support axis is added in parallel with the X-axis and the

Y-axis base is mounted to the sliders on the two axes. The

Y-axis slider moves horizontally.

ICSA2-G ��ICSPA2-G��

Gantry

P141-144

P103-114

Transfer/positioning systems combining single-axis robotsinto a two to three orthogonal axes configuration.

Overall Contents 2

INDEX

Contents

Features

Specification Table

System Configurations

Points to Note

Explanation of ModelSpecification Items

Explanation of Options

Product Specifications

Technical Data

4

5

7

8

9

11

13

15

39

Single-Axis Robot Series

Contents

Features

Product Types

Two-Axes ConfigurationUnit Selection Table

Points to Note



Technical Data

42

43

45

47

59

61

63

241

Cartesian Robot Series

PointThe ISA/ICSA2 is a standard actuator with a positioning repeatability of ±0.02 mm. The ISPA/ICSPA2 is a high-precision actuator with a positioning repeatability of ±0.01 mm.

Three-Axes ConfigurationUnit Selection Table 49

System Configuration 65

ISA-SXMISPA-SXM

ISA-MXMISPA-MXM

ISA-MXMXISPA-MXMX

ISA-MYMISPA-MYM

ISA-MZMISPA-MZM

ISA-SYMISPA-SYM

ISA-SZMISPA-SZM

ISA-LXMISPA-LXM

ISA-WXMISPA-WXM

ISA-WXMXISPA-WXMX

ISA-LXMXISPA-LXMX

ISA-LXUWXISPA-LXUWX

ISA-LYMISPA-LYM

ISA-LZMISPA-LZM

V I S U A L I N D E XSingle-Axis Robots

Y-Axis Z-Axis

Actuatorwidth90mm

X-AxisStandard Type Mid-Support Type

Actuatorwidth

120mm

Actuatorwidth

Actuatorwidth

198mm

Compact

Medium

Large

SuperLarge

150mm

(Not available)

(Not available) (Not available)

High-precision positioning systems with a linear positioning repeatability of 0.01 to 0.02 mm

P15

P18, P19 P20 P21, P22 P23, P24

P16 P17

P25, P26 P29, P30

P27, P28

P35, P36 P37, P38

P31, P32 P33, P34

Controllers Single-axis or Cartesian robot controllers that can execute various positioner operations andpulse-input program operations depending on your specific control needs.

Cartesian Robots

The Y-axis slider moves horizontally.

ICSA2-B��ICSPA2-B��

The entire Y-axis moves horizontally.

ICSA2-S��ICSPA2-S��

Y-Axis Base Mount

X-SEL

Y-Axis Slider Mount

P67-102

SSELSCON

The Z-axis slider is mounted to the Y-axis positioned on its

side. The entire Z-axis moves vertically.

ICSA2-Y��ICSPA2-Y��

Z-Axis Slider Mount

P131-140

The Z-axis is positioned vertically and mounted to the

X-axis. The Z-axis slider moves vertically.

ICSA2-Z��ICSPA2-Z��

Z-Axis Base Mount

Single-Axis Position Controller 2-Axis Program Controller High-Function Multi-Axis Controller

P115-130

A support axis is added in parallel with the X-axis and the

Y-axis base is mounted to the sliders on the two axes. The

Y-axis slider moves horizontally.

ICSA2-G ��ICSPA2-G��

Gantry

P141-144

P103-114

Transfer/positioning systems combining single-axis robotsinto a two to three orthogonal axes configuration.

Overall Contents 2

INDEX

Contents

Features

Specification Table

System Configurations

Points to Note


Explanation of Options


Technical Data

4

5

7

8

9

11

13

15

39

Single-Axis Robot Series

Contents

Features

Product Types

Two-Axes ConfigurationUnit Selection Table

Points to Note



Technical Data

42

43

45

47

59

61

63

241

Cartesian Robot Series

PointThe ISA/ICSA2 is a standard actuator with a positioning repeatability of ±0.02 mm. The ISPA/ICSPA2 is a high-precision actuator with a positioning repeatability of ±0.01 mm.

Three-Axes ConfigurationUnit Selection Table 49

System Configuration 65

ISPA/ICSPA Catalog 2


Single-Axis RobotsISAISPA

Q u a l i t y a n d I n n o v a t i o n

C o n t e n t s

Contents 4■

■

■

■

■

■

■

Features 5Specification Table 7System Configurations 8Points to Note 9Explanation of Model Specification Items 11Explanation of Options 13


ISA/ISPA Single-Axis Robots

Single-Axis Robot Series Contents

ISA (ISPA)-SXM

ISA(ISPA)-SYM

ISA(ISPA)-SZM

ISA(ISPA)-MXM-100

ISA(ISPA)-MXM-200

ISA(ISPA)-MXMX

ISA(ISPA)-MYM-100

ISA(ISPA)-MYM-200

ISA(ISPA)-MZM-100

ISA(ISPA)-MZM-200

ISA(ISPA)-LXM-200

ISA(ISPA)-LXM-400

ISA(ISPA)-LXMX-200

ISA(ISPA)-LXMX-400

ISA(ISPA)-LXUWX-200

ISA(ISPA)-LXUWX-400

ISA(ISPA)-LYM-200

ISA(ISPA)-LYM-400

ISA(ISPA)-LZM-200

ISA(ISPA)-LZM-400

ISA(ISPA)-WXM-600

ISA(ISPA)-WXM-750

ISA(ISPA)-WXMX-600

ISA(ISPA)-WXMX-750

X-Axis

Y-Axis

Z (Vertical) Axis

X-Axis

Long-Stroke Type (Mid-Support Type)

Y-Axis

Z (Vertical) Axis

X-Axis


Y-Axis

Z (Vertical) Axis

X-Axis


15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

38

CompactActuator width

90mm

MediumActuator width

120mm

LargeActuator width

150mm

SuperLarge

Actuator width198mm



MotorCoupling

Ball screw



ActuatorISA/ISPA

(P15~34)ISA/ISPA

(P35~38)

Single-Axis Robot Series System Configurations

Actuator

Motor CableEncoder CableLS Cable

Option

Option

Controller

Controller

Super SEL Controller

X-SEL SSEL SCON

Teaching PendantIA-T-X/XD

SEL-T/TD/TGPC Software

IA-101-X-MWIA-101-XA-MW

IA-101-X-USBMW

Teaching PendantIA-T-X/XDSEL-T/TDPC Software

IA-101-X-MW-JIA-101-X-USB

Teaching PendantCON-T / RCM-E / RCM-P

PC Software

RCM-101-MWRCM-101-USB



Single-Axis Robot Series Points to Note

Speed "Speed" refers to the specified speed at which the actuator slider will move.The slider accelerates from a stationary state, and once the specified speed is reached it willmaintain that speed until the specified position (immediately before the target position), whereit will begin decelerating to stop at the target position.

Notes on Catalog Specifications

< Caution >The maximum speed of the ISA/ISPA Series will remain the same 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 in the corresponding dimensional drawing.)When calculating the travel time, consider acceleration, deceleration and stabilization periods in addition to the travel timeat 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 (stationarystate) to the specified speed."Deceleration" refers to the rate of change of speed when the specified speed drops to zero(stationary state).

Positioning Repeatability "Positioning repeatability" refers to the positioning accuracy of repeated movements to a pre-stored position.This is not the same as "absolute positioning accuracy," so exercise caution.

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.

< Caution >Increasing the acceleration (deceleration) will shorten the duration the actuator accelerates (decelerates) and decrease thetravel time. However, doing so will also cause rapid acceleration (deceleration), resulting in increased shock.The rated acceleration is 0.3 G (or 0.15 G if the lead is 4 or 5 mm.)(The load capacity is set based on the rated acceleration.)If the ISA/ISPA Series is operated at an acceleration (deceleration) exceeding the rated acceleration, the load capacity will drop.(Refer to page 40 for details.)Acceleration can be set in increments of 0.01 G in a program.

Positioning repeatabilityAccuracy variation of the stop positionwhen positioning is performedrepeatedly to the same point.

Absolute positioning accuracyDifference between the coordinate valueand the measured value when positioningis performed to a given positioning pointspecified by coordinates.

Duty (%) = Acceleration / Deceleration TimeMotion time + Inactivity x 100



Notes on Catalog Specifications

Home The home is set on the motor side for the standard specification, or on the counter-motor sidefor the reversed-home specification.

• The incremental actuator always requires homing every time the power is reconnected.• During homing the slider will move to the mechanical end before reversing, so be careful to prevent contact

with surrounding parts.• To change the home direction, the actuator must be returned to IAI for adjustment.

Allowable LoadMoments (Ma, Mb, Mc)

Each allowable load moment is calculated by assuming the service life of the guide as 10,000km. Applying a moment exceeding the specified value will reduce the life of the guide, soexercise caution.

Ma Mb Mc

Directions of load moment for slider type

Actuator Accuracy The accuracy of the ISA/ISPA-Series actuators is specified below.The side and bottom faces of the actuator base provide reference surfaces for slider travel.Use them to adjust parallelism when installing the actuator.

C

Guide rail Guide rail

Slider

Base

Reference surface

Reference surface

Parallelism of actuator-mounting surface (bottom face of the base)and load-mounting surface (top face)0.05 mm/m or less

30 50

Parallelism when mounted on frame (when the actuatoris mounted to a flat surface *1)0.05 mm/m or less

Condition: The above values are applicable at 20˚C. *1 Flatness: 0.05 mm or less

Overhung Load Length(L)

"Overhung load length" refers to a referenceoffset at which the actuator can operatesmoothly when a load, bracket, etc., is installedat a position offset from the actuator/slidercenter.When each model is used with an overhung loadexceeding the allowable length, vibration orstabilization delay may result. Therefore, besure to keep the overhung load length within theallowable value.

L

L



Explanation of Model Specification ItemsRefer to the right page for the explanation of each model specification item.The selection range for each item will vary depending on the actuator type. For details, refer to the page corresponding toeach actuator type.

Applicablecontroller

AQBC

CLL

LLLLMLMNMRTS

T1

NSM

X

Encoder type

48

16

ISAISPA

AI

48

51020

102030

510

10

2030

1020

2040

10

10

20

2040

102040

2040

2040

2040

100 ~

600

100 ~

1000

800 ~

2000

100 ~

1200

1000 ~

2500

100 ~

1300

900 ~

2500900 ~

2000

SXMSYM

SZM

MXMMYM

MZM

MXMX

LXMLYM

LZM

LXMX

LXUWX

WXM

WXMX

2040

20

Series Motor output Lead Stroke Cable length Options

(7)(3)(1) (4) (5) (6) (8) (9)

60

_

_

100_

200_

100

200

200

200

400

200

400

200

400

600

750

600

750

400

200

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Type

(2)



(1) Series

Indicate the name of each series.

(3) Encoder type

Indicate whether the encoder installed in the actuator is an "absolute type" or "incremental type."

A: Absolute type Since the current slider position will be retained after the power is turned off, homing is not required when the actuator is powered up.

I: Incremental type Since the slider position data are cleared when the power is turned off, homing must be performed every time the actuator is powered up.

(4) Motor output

Indicate the output of the motor installed in the actuator in watts.

(6) Stroke

Indicate the actuator stroke (range of operation) in millimeters.

(8) Cable length

Indicate the length of the motor/encoder cable connecting the actuator and the controller.N : No cableS : 3mM : 5mX : Use this field when a length other than 3 m and 5 m is specified.(Example X08 : 8m)* The standard cable is a robot cable.

(9) Actuator Accuracy

Indicate a desired option(s) to be equipped on the actuator. Refer to pages 13 and 14 for the explanation of each option.* When selecting multiple options, specify them in alphabetical order (e.g., AQ-B-L-NM).

AQ : [AQ seal] A unit that supplies lubricant to the sliding sections of the ball screw and guide.B : [Brake] A brake for preventing the slider from falling in a vertical application when the power or servo is turned off.C : [Creep sensor] A sensor for increasing the homing speed and thereby decreasing the homing time.CL : [Creep sensor on opposite side] The creep sensor is normally installed on the right side as viewed from the motor.

Select this option if you want to install the sensor on the left side.L : [Home limit switch] A limit switch for completing homing by reversing the slider using a sensor, not by the normal contact

method, during homing.LL : [Home limit switch on opposite side] Similarly to the creep sensor on opposite side option, select this option if you want to

install the limit switch on the opposite side.LM : [Master-axis designation] Specify this option for the axis to be used as the master in synchronized operation.LLM : [Master-axis limit switch on opposite side] Select this option if you want to install the limit switch on the opposite side of the

master axis used in synchronized operation.NM : [Reverse-homing specification] Normally the home is set on the motor side. Select this option to specify the home on the

counter-motor side.RT : [Guide with ball-retaining mechanism] A mechanism for reducing noise while extending the service life of the guide by

inserting a spacer (retention device) between guide balls.S : [Slave-axis designation] Specify this option for the axis to be used as the slave in synchronized operation (limit switch is not

required).

(5) Lead

Indicate the ball screw lead."Lead" refers to the distance the slider will move when theball screw rotates by one revolution.The larger the lead, the faster the maximum speed becomes.

(2) Type

Indicate the classification by size (S, M, L or W), shape (X,Y or Z), etc.

(7) Applicable controller

Indicate the type of controller that can be used with theactuator.T1: X-SEL, E-Con, P-Driver



AQ: [AQ seal]

The AQ seal is a lubrication unit that utilizes lubricationmaterial made of resin-solidified lubricant.The porous material impregnated with a large amount oflubricant allows lubricant to ooze out onto its surface via thecapillary effect.Lubricant is supplied when the AQ seal is pushed against theguide or ball-screw surface (steel-ball rolling surface).Combined use of the AQ seal and grease helps achievemaintenance-free operation for a long period.

B: [Brake]

A retention mechanism that prevents the slider from falling and damaging the load when the power or servo is turned off in a verticalactuator application.The S, M and L-type Z-axis actuators of the ISA/ISPA Series (SZM, MZM and LZM) are designed for use in a vertical application andtherefore come standard with a brake.If any axis other than the Z-axis is to be used vertically, install an optional brake.For the S, M and L types, the brake is installed on the outside of the end cover on the counter-motor side (refer to the drawing ofeach model). The brake is installed inside the actuator only for the W type.

C: [Creep sensor]

A sensor used for achieving high-speed homing.Normally during homing, the slider is caused to contact the stopper at the motor-side stroke end and then reverse, so the homing speed is kept to between 10 and 20 mm/s.For this reason, it takes time to complete homing when the stroke is long. This proximity sensor reduces the homing time by allowing the slider to return at high speed and then reducing the speed to the normal homing speed just before homing is completed.The standard installation position of this sensor is on the right side of the actuator as viewed from the motor (option code: C) (refer to the limit switch drawing on the right page).A cover similar to that for the limit switch is provided on the outside of the sensor.To install the sensor on the opposite side, select CL (opposite side specification).

AQ: [AQ seal]

�uide rail �uide rail

AQ: [AQ seal]

Ball screw (screw)

(Sectional view of actuator)

Nut

(Side view of actuator)

Options

(S type) (M type) (L type)



LL: [Home limit switch on opposite side]

The normal homing operation of the ISA/ISPA Seriesconforms to the "contact method," whereby the slider iscaused to contact the stopper and then reverse, after whichthe Z phase will be detected and set as the home.Option L (home limit switch) achieves this homing operationby letting the slider reverse upon proximity sensor detection,without contacting the stopper. When this option is specified,three proximity sensors of HOME (for home detection), +OT(counter-motor side overtravel) and –OT (motor-sideovertravel) will be installed. Use this option if you want tofine-tune the reversing position.The standard installation position of the home limit switchand cover is on the right side of the actuator as viewed fromthe motor (option code: L).To install the switch on the opposite side, select LL (oppositeside specification).

LM: [Master-axis designation in synchronized operation]

"Synchronized operation function" is one of the functions provided by the X-SELcontroller.It allows two actuator axes to operate simultaneously, with one axis acting as themaster (option code: M) and the other as the slave (option code: S). The slave followsthe master by super-high speed processing control to achieve simultaneous operationof the two axes. The two actuator axes used in synchronized operation must have thesame specifications (type, lead motor output and stroke).When performingsynchronized operation, the master axis must be of the limit switch specification.Therefore, specify LM (limit-switch master-axis designation) for the master axis and S(slave-axis designation) for the slave axis.

NM: [Reverse homing specification]

With the ISA/ISPA Series, the standard home direction is the motor side. To change the home direction, the encoder must beadjusted. If you prefer a reverse homing specification, specify it when placing an order.

RT: [Guide with ball-retaining mechanism]

A spacer (retainer) is inserted between guide balls (steel balls) to reduce noise while extending the service life of the guide.The spacer eliminates annoying metal noise caused by colliding balls.Since wear due to ball friction decreases, the service life of the guide will increase.Elimination of ball contact will make the guide movement smoother, resulting in improved slider operability.

S: [Slave-axis designation in synchronized operation]

Specify this option for the axis to be used as the slave in synchronized operation. Refer to the explanation of LM (master-axisdesignation in synchronized operation) for details.

Options

� This option cannot be used with the ISP-WXM/WXMX.



Positioning repeatability (Note 3) ±0.02mm [±0.01mm]

Drive system (Note 4) Ball screw ø12mm, rolled C10 [equivalent to rolled C5]

Lost motion (Note 5) 0.05mm or less [0.02mm or less]

Guide integrated with base

Allowable static moment Refer to page 242

Allowable dynamic moment Ma: 28.4N•m Mb: 40.2N•m Mc: 65.7N•m

Overhang load length Ma direction: 450mm or less, Mb/Mc directions: 450mm or less

Base Material: Aluminum, with white alumite treatment

Cable length (Note 6) N: None, S: 3m, M: 5m, X: Specified length

Ambient operating temperature/humidity 0 to 40°C, 85%RH max. (non-condensing)









Brake Comes standard with a dry, single-plate, non-excitation type electromagnetic brake






■ Model specification items

ISA[ISPA] – LXUMX – A – 200 – 20 – 2500 – T1 – S – NM

OptionsCable lengthApplicable controllerStrokeLeadMotor outputEncoder typeTypeSeries

ISA-LXUWX-200ISPA-LXUWX-200

* Refer to page 11 for the details of model specification items.

Models/Specifications

Dimensions

* Note that changing the home direction will require the actuator to bereturned to IAI for adjustment.

Stroke 1000 ~ 2500mm Load capacity 40kg (horizontal)Type

Stroke 1000 1100 1200 1300

1000

1400 1500ABCDEFGHJK

Weight (kg)Maximum speed (mm/s)

15651450101427500

27500

1229.0

16651550111432500

32500

1230.5

17651650121437500

3750012

32.0

18651750131442500

4250012

33.5

19651850141447500

4750012

35.0

20651950151452500

5250012

36.5950

1600 1700216520501614575

00

57500

1238.0830

2265215017142004250

200425016

39.5740

1800 1900 2000 2100 2200 23002365225018142004750

200475016

41.0650

246523501914200525

0200525

016

42.5590

2565245020142005750

200575016

44.0540

26652550211420020042520020042520

45.5490

27652650221420020047520020047520

47.0440

28652750231420020052520020052520

48.5410

2400 250029652850241420020057520020057520

50.0370

30652950251420020062520020062520

51.5340

■ Dimensions, Weight and Maximum Speed by Stroke

Model Encoder type

Absolute

Incremental

Motor output

(W)

200

Lead(mm)

20

20

Stroke (mm)In increments of

100mm

Speed(Note 1)(mm/s)

1000 ~ 25001 ~ 1000

1 ~ 1000

Rated thrust(N)

170.5

170.5

Acceleration (Note 2)

Horizontal (G)

0.3

0.3

Vertical (G)

Rated RatedHorizontalapplication

only

Maximum Maximum

Load capacity (Note 2)

Horizontal (kg)

40

40

Vertical (kg)Rated

accelerationRated

accelerationHorizontalapplication

only

Maximumacceleration

Maximumacceleration

* In the above model names, ✽ ✽ ✽ indicates the stroke, ▲ the cable length and � the applicable options. *1.0G=9800mm/sec2

High-Precision Specification

Single-Axis Robot: Large X-Axis Mid-Support, Double SliderType, Actuator Width 150mm, 200W, Straight Shape

Single-Axis Robot: Large X-Axis Mid-Support, Double Slider Type, ActuatorWidth 150mm, 200W, Straight Shape

Large X-axis (150-mm wide)mid-support, double slider type

Options

Name

AQ seal

Brake

Creep sensor

Creep sensor on opposite side

Home limit switch

Home limit switch on opposite side

AQ

B

C

CL

L

LL

P13

P13

P13

P13

P14

P14

Code Page Name

Master-axis designation

Master-axis designation (sensor on opposite side)

Reverse homing specification

Guide with ball-retaining mechanism

Slave-axis designation

LM

LLM

NM

RT

S

P14

P14

P14

P14

P14

Code Page

Common Specifications * Refer to page 10 for the details of common specification items.

Applicable Controller SpecificationsApplicablecontroller

Maximum numberof controlled axes

Compatibleencoder type

Programoperation

Positioneroperation

Pulse-traincontrol

PageSupplyvoltage

X-SELE-ConP-Driver

4 axes1 axis1 axis

Absolute/incrementalAbsolute/incremental

Incremental

▲ AC100/200VAC100/200VAC100/200V * Refer to page 9 for other points to note.

(Note 1) The strokes that are set in increments of 50 mm are semi-standard settings.

(Note 2) Refer to page 40 for the relationship of acceleration and load capacity.

(Notes 3, 4, 5) The figures in brackets apply to the ISPA Series. Other specification values apply to both the ISA and ISPA Series.

(Note 6) The maximum cable length is 30 m. Specify the desired length in meters (e.g., X08 = 8 m).

* Due to its structure themid-support type cannot be positioned horizontallyon its side or vertically.

ISA [ISPA] -LXUWX-A-200-20- ✽ ✽ ✽ -T1-▲-�

ISA [ISPA] -LXUWX-I-200-20- ✽ ✽ ✽ -T1-▲-�














ISA[ISPA] – LXUWX – A – 400 – 40 – 2500 – T1 – S – NM



Dimensions* Note that changing the home direction will require the actuator to bereturned to IAI for adjustment.

ISA-LXUWX-400 Single-Axis Robot: Large X-Axis Mid-Support, DoubleSlider Type, Actuator Width 150mm, 400W, Straight Shape

ISPA-LXUWX-400Stroke 1000 ~ 2500mm Load capacity 80kg (horizontal)


Type

Stroke 1000 1100 1200 1300

20001000

1400 1500ABCDEFGHJK

Weight (kg)Lead 40Lead 20

159014501014275

00

27500

1230.0

169015501114325

00

32500

1231.5

179016501214375

00

37500

1233.0

189017501314425

00

42500

1234.5

199018501414475

00

47500

1236.0

209019501514525

00

52500

1237.51900950

1600 1700219020501614575

00

57500

1239.01660830

229021501714200425

0200425

016

40.51480740

1800 1900 2000 2100 2200 2300239022501814200475

0200475

016

42.01300650

249023501914200525

0200525

016

43.51180590

259024502014200575

0200575

016

45.01080540

26902550211420020042520020042520

46.5980490

27902650221420020047520020047520

48.0880440

28902750231420020052520020052520

49.5820410

2400 250029902850241420020057520020057520

51.0740370

30902950251420020062520020062520

52.5680340

Maximumspeed

(mm/s)


Model Encoder type

Absolute

Incremental

Motor output

(W)

400

Lead(mm)

40

20

40

20


100mm

Speed(Note 1)(mm/s)

1000 ~ 2500

1 ~ 2000

1 ~ 1000

1 ~ 2000

1 ~ 1000

Rated thrust(N)

170.0

340.1

170.0

340.1* In the above model names, ✽ ✽ ✽ indicates the stroke, ▲ the cable length and � the applicable options.


Horizontal (G)

0.3

0.3

0.3

0.3

Vertical (G)

Rated Rated

Horizontalapplication

only

Maximum Maximum


Horizontal (kg)

40

80

40

80

Vertical (kg)Rated

accelerationRated

acceleration

Horizontalapplication

only

Maximumacceleration

Maximumacceleration

*1.0G=9800mm/sec2

High-Precision SpecificationSingle-Axis Robot: Large X-Axis Mid-Support, Double Slider Type, ActuatorWidth 150mm, 400W, Straight Shape

Large X-axis (150-mm wide) mid-support, double slider type

Options

Name

AQ seal

Brake

Creep sensor


Home limit switch


AQ

B

C

CL

L

LL

P13

P13

P13

P13

P14

P14

Code Page Name






LM

LLM

NM

RT

S

P14

P14

P14

P14

P14

Code Page





Programoperation

Positioneroperation

Pulse-traincontrol PageSupply

voltageX-SELE-ConP-Driver

4 axes1 axis1 axis


Incremental


(Note 1) The strokes that are set in increments of 50 mm are semi-standard settings.

(Note 2) Refer to page 40 for the relationship of acceleration and load capacity.

(Notes 3, 4, 5) The figures in brackets apply to the ISPA Series. Other specification values apply to both the ISA and ISPA Series.

(Note 6) The maximum cable length is 30 m. Specify the desired length in meters (e.g., X08 = 8 m).

* Due to its structure themid-support type cannot be positioned horizontallyon its side or vertically.

ISA [ISPA] -LXUWX-A-400-40- ✽ ✽ ✽ -T1-▲-�

ISA [ISPA] -LXUWX-I-400-20- ✽ ✽ ✽ -T1-▲-�

ISA [ISPA] -LXUWX-A-400-20- ✽ ✽ ✽ -T1-▲-�

ISA [ISPA] -LXUWX-I-400-40- ✽ ✽ ✽ -T1-▲-�














ISA[ISPA] – LYM – A – 200 – 20 – 1200 – T1 – S – NM



Dimensions

* Note that changing the home direction will require the actuator to bereturned to IAI for adjustment.

ISA-LYM-200 Single-Axis Robot: Large Y-Axis Long Slider Type, ActuatorWidth 150mm, 200W, Straight Shape

ISPA-LYM-200Stroke 100 ~ 1200mm Load capacity 80kg (horizontal)/19kg (vertical)


Type

Stroke 100 (150) 200 (250) 300 (350)ABCD

Weight (kg)Lead 20Lead 10

4533381000

11.0

5033881500

11.8

5534382001

12.5

6034882501

12.3

6535383001

14.1

7035883501

14.9Maximumspeed

(mm/s)

400 (450) 500 (550)7536384002

15.7

8036884502

16.5

8537385002

17.3

9037885502

18.1

6009538386003

18.8

(650)1003888650

319.6

1000500

7001053938700

320.4

(750)1103988750

321.2

80011531038800

422.01000470

(850)120310888504

22.8

900 (950) 1000 (1050) 1100 (1150)125311389004

23.5

130311889504

24.3

135312381000

525.1

140312881050

525.9

145313381100

526.7

150313881150

527.5

1200155314381200

628.2


830385

690320

585270

500235

Model Encoder type

Absolute

Incremental

Motor output

(W)

200

Lead(mm)

20

10

20

10


50mm(Note 1)

Speed(Note 2)(mm/s)

100 ~ 1200

1 ~ 1000

1 ~ 500

1 ~ 1000

1 ~ 500

Rated thrust(N)

170.5

340.1

170.5

340.1* In the above model names, ✽ ✽ ✽ indicates the stroke, ▲ the cable length and � the applicable options.


Horizontal (G)

0.3

0.3

0.3

0.3

1.0

0.6

1.0

0.6

0.3

0.3

0.3

0.3

0.8

0.5

0.8

0.5

Vertical (G)

Rated RatedMaximum Maximum


Horizontal (kg)

40

80

40

80

12

40

12

40

9

19

9

19

4

14

4

14

Vertical (kg)Rated

accelerationRated

accelerationMaximumacceleration

Maximumacceleration

* 1.0G=9800mm/sec2

High-Precision SpecificationSingle-Axis Robot: Large Y-Axis Long Slider Type, ActuatorWidth 150mm, 200W, Straight Shape

Large Y-axis (150-mm wide) long slider type

Options

Name

AQ seal

Brake

Creep sensor


Home limit switch


AQ

B

C

CL

L

LL

P13

P13

P13

P13

P14

P14

Code Page Name






LM

LLM

NM

RT

S

P14

P14

P14

P14

P14

Code Page





Programoperation

Positioneroperation

Pulse-traincontrol PageSupply

voltageX-SELE-ConP-Driver

4 axes1 axis1 axis


Incremental


(Note 1) The strokes that are set in increments of 50 mm are semi-standard settings.(Note 2) A longer stroke will result in a lower maximum speed to prevent the ball

screw from reaching a dangerous speed. (Refer to the above table for the maximum speed at a given stroke.)

(Note 3) Refer to page 40 for the relationship of acceleration and load capacity.(Notes 4, 5, 6) The figures in brackets apply to the ISPA Series.

Other specification values apply to both the ISA and ISPA Series.(Note 7) The maximum cable length is 30 m. Specify the desired length in meters (e.g., X08 = 8 m).

ISA [ISPA] -LYM-A-200-20- ✽ ✽ ✽ -T1-▲-�

ISA [ISPA] -LYM-I-200-20- ✽ ✽ ✽ -T1-▲-�

ISA [ISPA] -LYM-A-200-10- ✽ ✽ ✽ -T1-▲-�

ISA [ISPA] -LYM-I-200-10- ✽ ✽ ✽ -T1-▲-�













180±

0.02

310135

160 II

(7)SEME

(7)

130

2-M5, depth 10(same on opposite side)

m−ø9K

2-ø8H7 reamer2-ø8H7 reamer

14

2-ø8H7 reamer, depth 10 8-M8, depth 30ME*2Home

Secure at least 100

164196

9090

N×200

L (Stroke + 440)

30 120 3010 160 10

60 235

335

41 Stroke

50 65 20

118.

5

180

180 219 (300)

198A

5012

0

PP

(ø9)

ø18

8Detail view of base mounting part

10

R42

8H7

R4

Detail view of PDetail view of A

1715

4.3

67.

3

1.5 4.5

6Reference plane

Cable joint connector *1

*1 Connect the motor cable and encoder cable. Refer to p. 243 for details on the cables.

SE: Stroke endME: Mechanical end

*2 During homing the slider will move to the ME, so be careful to prevent contact with surrounding parts.

Cable exit to the right: A3

Cable exit to the left: A1

A :Absolute I :Incremental

T1:XSEL-J/KT2:SCON

SSELXSEL-P/Q

N :NoneS :3 mM :5 mX: Length specification

Lead Stroke Cable length Options Encoder type Motor Output600

Applicable controllerISA: Standard

SpecificationISPA: High-Precision

Specification

Model specification items


* 1.0G=9800mm/sec²

* In the above model names, ➀ indicates the encoder type, ➁ stroke, ➂ applicable controller, ➃ cable length and ➄ options.

* With the WXM type, the home limit switch (L) is a standard equipment.

Positioning repeatability (Note 3) ± 0.02 mm [± 0.01 mm]Drive system (Note 4) Ball screw ø20 mm, rolled C10 [equivalent to C5]Lost motion (Note 5) 0.05 mm or less [0.02 mm or less]Allowable static moment Refer to page 242Allowable dynamic moment (Note 6) Ma: 139.2 N • m Mb: 199.9 N • m Mc: 391 N • mOverhang load length Ma direction: 900 mm or less, Mb/Mc directions: 900 mm or lessBase Material: Aluminum with white alumite treatmentApplicable controller T1: XSEL-J/K T2: XSEL-P/Q, SSEL, SCONCable length (Note 7) N: No cable, S: 3 m, M: 5 m, X: Length specificationAmbient operating temperature • humidity 0 to 40°C, 85% RH or less (Non-condensing)

Name Code Page Name Code PageAQ seal AQ →P13 Master-axis designation LM →P14Brake B →P13 Reverse homing specification NM →P14Creep sensor C →P13 Slave-axis designation S →P14

Home limit switch L →P14 Optional cable exit direction A1/A3 Refer to the

figure below

Applicable controller Maximum number of controlled axes

Compatible encoder type

Operating method Supply voltage Page

X-SEL-P/Q 6 axes

Absolute/ Incremental

Program

Single phase/ Three-phase 200VAC

X-SEL-K 4 axes Single phase AC 100/200VX-SEL-J (Note 8) 4 axes

Single phase AC 200VSSEL 2 axesSCON 1 axis Positioner pulse

train control

Model Encodertype

Motor output

(W)Lead (mm)

Stroke(mm)In increments of

100mm

Speed(Note1)(mm/s)

Acceleration (Note 2) Load capacity (Note 2)Rated thrust

(N)

Horizontal (G) Vertical (G) Horizontal (G) Vertical (G)

Rated Maximum Rated Maximum Ratedacceleration

Maximumacceleration

Ratedacceleration

Maximumacceleration

ISA[ISPA]-WXM- ➀ -600-40- ➁ - ➂ - ➃ -L- ➄Absolute

Incremental 600

40

100 ~ 1300

1 ~ 2400 0.3 1.0 0.3 1.0 60 18 14 5 255

ISA[ISPA]-WXM- ➀ -600-20- ➁ - ➂ - ➃ -L- ➄ 20 1 ~ 1200 0.3 1.0 0.3 0.8 120 36 29 15 510

ISA[ISPA]-WXM- ➀ -600-10- ➁ - ➂ - ➃ -L- ➄ 10 1 ~ 600 0.3 0.6 0.3 05 150 75 60 40 1020

Refer to the option list below.

40:40mm 20:20mm 10:10mm

600:600WTypeSeries

WXM

ISA-WXM-600ISPA-WXM-600

Single-Axis Robot: Super-Large X-Axis Type, Actuator Width 198mm, 600W. Straight Shape


(Note 1) A longer stroke will result in a lower maximum speed to prevent the ball screw from reaching a dangerous speed. (Refer to the above table for the maximum speed at a given stroke.)

(Note 2) Refer to page 40 for the relationship of acceleration and payload. (Note 3,4,5) The figures in brackets apply to the ISPA Series. Other

specification values apply to both the ISA and ISPA Series(Note 6) Traveling life of 10,000 km is assumed. (Note 7) The maximum cable length is 30 m. Specify the desired length in

meters (e.g. X08 = 8 m)(Note 8) If the WXM type is to be used vertically, use a controller other than

the XSEL-J type.


100:100mm

1300:1300mm (every 100mm)


Options Common Specifications

Dimensions Dimensions

Applicable Controller Specifications

* The WXM type comes with the home limit switch as a standard equipment, so use a controller of limit switch specification for this type.

Stroke 100 200 300 400 500 600 700 800 900 1000 1100 1200 1300L 540 640 740 840 940 1040 1140 1240 1340 1440 1540 1640 1740I 70 170 270 370 470 570 670 770 870 970 1070 1170 1270K 245 145 245 145 245 145 245 145 245 145 245 145 245N − 1 1 2 2 3 3 4 4 5 5 6 6m 4 6 6 8 8 10 10 12 12 14 14 16 16

Weight (kg) 18.1 20.1 22.1 24.1 26.1 28.0 30.0 32.0 34.0 35.9 37.9 39.9 41.9Maximum speed (mm/s)* Varies depending on

the stroke.

Lead 40 2400 1840 1530 1290 1100 950Lead 20 1200 920 765 645 550 475Lead 10 600 460 380 320 270 235

2DCAD2D

CAD

CAD drawings can be downloaded from the website.

* Models with the brake have the same external dimensions but weigh 0.5 kg more.

* To change the home direction, the robot must be returned for adjustment.




180±

0.02

330135

160 II

(7)SEME

(7)

130


m−ø9K

2-ø8H7 reamer2-ø8H7 reamer

14

2-ø8H7 reamer, depth 10 8-M8, depth 30ME*2Home

Secure at least 100

164196

9090

N×200

L (Stroke + 460)

30 120 3010 160 10

60 255

355

41 Stroke

50 65 20

118.

5

180

180 239 (300)

198

5012

0

PP

(ø9)

ø18

8Detail view of basemounting part

10

R42

8H7

R4

Detail view of P

Detail view of A

1715

4.3

67.

3

1.5 4.5

6Reference plane

A

Cable joinconnector *1







T1:XSEL-J/KT2:SCON

SSELXSEL-P/Q





Specification



* 1.0G=9800mm/sec²


* With the WXM type, the home limit switch (L) is a standard equipment.




figure below




X-SEL-P/Q 6 axes


Program


X-SEL-K 4 axes Single phase AC 100/200VX-SEL-J (Note 8) 4 axes


train control

Model Encodertype

Motor output

(W)Lead (mm)


100mm

Speed(Note1)(mm/s)


(N)



Maximumacceleration

Ratedacceleration

Maximumacceleration

ISA[ISPA]-WXM- ➀ -750-50- ➁ - ➂ - ➃ -L- ➄ Absolute Incremental 750

50100 ~ 1300

1 ~ 2000 0.3 1.0 0.3 1.0 60 18 14 5 255

ISA[ISPA]-WXM- ➀ -750-25- ➁ - ➂ - ➃ -L- ➄ 25 1 ~ 1250 0.3 1.0 0.3 0.8 120 36 29 15 510


50:50mm 25:25mm

750:750WTypeSeries

WXM

ISA-WXM-750ISPA-WXM-750




(Note 2) Refer to page 40 for the relationship of acceleration and payload. (Note 3,4,5) The figures in brackets apply to the ISPA Series. Other

specification values apply to both the ISA and ISPA Series(Note 6) Traveling life of 10,000 km is assumed. (Note 7) The maximum cable length is 30 m. Specify the desired length in

meters (e.g. X08 = 8 m)(Note 8) If the WXM type is to be used vertically, use a controller other than

the XSEL-J type.


100:100mm

1300:1300mm (every 100mm)





* The WXM type comes with the home limit switch as a standard equipment, so use a controller of limit switch specification for this type.

Stroke 100 200 300 400 500 600 700 800 900 1000 1100 1200 1300L 560 660 760 860 960 1060 1160 1260 1360 1460 1560 1660 1760I 70 170 270 370 470 570 670 770 870 970 1070 1170 1270K 245 145 245 145 245 145 245 145 245 145 245 145 245N − 1 1 2 2 3 3 4 4 5 5 6 6m 4 6 6 8 8 10 10 12 12 14 14 16 16

Weight (kg) 20.9 22.9 24.9 26.9 28.9 30.8 32.8 34.8 36.8 38.7 40.7 42.7 44.7Maximum speed (mm/s)* Varies depending on the stroke.

Lead 50 2000 1840 1570 1360Lead 25 1250 1090 920 785 680

2DCAD2D

CAD







180±

0.02

330I185 I

2-ø8H7 reamer2-ø8H7 reamer210

(15) (15)13

0


m−ø9K

2-ø8H7 reamer, depth 10 8-M8, depth 30

Secure at least 100

164196

9090

N×200

L (Stroke + 666)

30 120 3010 160 10

110 255

355

167 Stroke

50 65 20

118.

5

180

180 319 (300)

198

5012

0

PP

(ø9)

ø18


14

SEME

ME*2

10

R42

8H7

R4

Detail view of P

A

Detail view of A

1715

4.3

67.

3

1.5 4.5

6Reference plane

Home

Cable jointconnector *1







T1:XSEL-J/KT2:SCON

SSELXSEL-P/Q





Specification



* 1.0G=9800mm/sec²


* With the WXMX type, the home limit switch (L) is a standard equipment.




figure below




X-SEL-P/Q 6 axes


Program


X-SEL-K 4 axes Single phase AC 100/200VX-SEL-J 4 axes


train control

Model Encodertype

Motor output

(W)Lead (mm)


100mm

Speed(Note1)(mm/s)


(N)



Maximumacceleration

Ratedacceleration

Maximumacceleration

ISA[ISPA]-WXMX- ➀ -600-40- ➁ - ➂ - ➃ -L- ➄ Absolute Incremental 600

40900 ~ 2500

1 ~ 2400 0.3 Used only horizontally

60 Used only horizontally

255

ISA[ISPA]-WXMX- ➀ -600-20- ➁ - ➂ - ➃ -L- ➄ 20 1 ~ 1200 0.3 120 510


40:40mm 20:20mm

600:600WTypeSeries

WXMX

ISA-WXMX-600ISPA-WXMX-600

Single-Axis Robot: Super-Large X-Axis Mid-support Mechanism Type, Actuator Width 198mm, 600W. Straight Shape



(Note 2) The maximum acceleration is 0.3 G.(Note 3,4,5) The figures in brackets apply to the ISPA Series. Other

specification values apply to both the ISA and ISPA Series(Note 6) Traveling life of 10,000 km is assumed.(Note 7) The maximum cable length is 30 m. Specify the desired length in

meters (e.g. X08 = 8 m)


900:900mm

2500:2500mm (every 100mm)





* The WXMX type comes with the home limit switch as a standard equipment, so use a controller of limit switch specification for this type.

Stroke 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500L 1566 1666 1766 1866 1966 2066 2166 2266 2366 2466 2566 2666 2766 2866 2966 3066 3166I 1026 1126 1226 1326 1426 1526 1626 1726 1826 1926 2026 2126 2226 2326 2426 2526 2626K 201 301 201 301 201 301 201 301 201 301 201 301 201 301 201 301 201N 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13m 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30

Weight (kg) 38.6 40.6 42.6 44.6 46.6 48.5 50.5 52.5 54.5 56.5 58.4 60.4 62.4 64.4 66.3 68.3 70.3Maximum speed (mm/s)* Varies depending on the stroke.

Lead 40 2400 2200 1965 1725 1530 1365 1225 1110 1005 915 840 770 710 655Lead 20 1200 1100 980 860 765 680 610 555 500 455 420 385 355 325

2DCAD2D

CAD





* Due to its structure, the mid-support mechanism type cannot be laid flat on its side or oriented vertically.



180±

0.02

330I185 I

2-ø8H7 reamer2-ø8H7 reamer210

(15) (15)13

0


m−ø9K

2-ø8H7 reamer, depth 10 8-M8, depth 30

Secure at least 100

164196

9090

N×200

L (Stroke + 666)

30 120 3010 160 10

110 255

355

167 Stroke

50 65 20

118.

5

180

180 319 (300)

198

5012

0

PP

(ø9)

ø18


14

SEME

ME*2

10

R42

8H7

R4

Detail view of P

A

Detail view of A

1715

4.3

67.

3

1.5 4.5

6Reference plane

Home

Cable jointconnector *1







T1:XSEL-J/KT2:SCON

SSELXSEL-P/Q





Specification



* 1.0G=9800mm/sec²


* With the WXMX type, the home limit switch (L) is a standard equipment.




figure below




X-SEL-P/Q 6 axes


Program


X-SEL-K 4 axes Single phase AC 100/200VX-SEL-J 4 axes


train control

Model Encodertype

Motor output

(W)Lead (mm)


100mm

Speed(Note1)(mm/s)


(N)



Maximumacceleration

Ratedacceleration

Maximumacceleration

ISA[ISPA]-WXMX- ➀ -750-50- ➁ - ➂ - ➃ -L- ➄ Absolute Incremental 750

50900 ~ 2500

1 ~ 2000 0.3 Used only horizontally

60 Used only horizontally

255

ISA[ISPA]-WXMX- ➀ -750-25- ➁ - ➂ - ➃ -L- ➄ 25 1 ~ 1250 0.3 120 510


50:50mm 25:25mm

750:750WTypeSeries

WXMX

ISA-WXMX-750ISPA-WXMX-750




(Note 2) The maximum acceleration is 0.3 G.(Note 3,4,5) The figures in brackets apply to the ISPA Series. Other

specification values apply to both the ISA and ISPA Series(Note 6) Traveling life of 10,000 km is assumed.(Note 7) The maximum cable length is 30 m. Specify the desired length in

meters (e.g. X08 = 8 m)


900:900mm

2500:2500mm (every 100mm)





* The WXMX type comes with the home limit switch as a standard equipment, so use a controller of limit switch specification for this type.

Stroke 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500L 1566 1666 1766 1866 1966 2066 2166 2266 2366 2466 2566 2666 2766 2866 2966 3066 3166I 1026 1126 1226 1326 1426 1526 1626 1726 1826 1926 2026 2126 2226 2326 2426 2526 2626K 201 301 201 301 201 301 201 301 201 301 201 301 201 301 201 301 201N 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13m 14 14 16 16 18 18 20 20 22 22 24 24 26 26 28 28 30

Weight (kg) 41.4 43.4 45.4 47.4 49.4 51.3 53.3 55.3 57.3 59.3 61.2 63.2 65.2 67.2 69.1 71.1 73.1Maximum speed (mm/s)* Varies depending on the stroke.

Lead 50 2000 1930 1740 1580 1440 1320 1210 1115 1035Lead 25 1250 1200 1075 965 870 790 720 660 605 555 515

2DCAD2D

CAD





* Due to its structure, the mid-support mechanism type cannot be laid flat on its side or oriented vertically.


Reference

ISA/ISPA Single-Axis

Documents

Transcript of ISA/ISPA Single-Axis