ICS(P)A Cartesian Robot

Assembly Procedures Fifth Edition


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

Number of Wiring method/type Drawing No. Drawing No.

No. Mounting method Model
configured axes Between X-axis and Y-axis Between Y-axis and Z-axis Between X-axis and Z-axis Between Y-axis and ZR-axis Completed Drawing List Assembly Procedures

1 2 axes Y-axis base Self-supporting cable - - - ICS(P)A2-B………-SC GMM09-001(1/2) GMM08-003

2 2 axes Y-axis base Cable track - - - ICS(P)A2-B………-CT GMM09-001(1/2) GMM08-004
3 2 axes Gantry Cable track - - - ICS(P)A2-G………-CT GMM09-001(1/2) GMM08-005
4 2 axes Y-axis slider Self-supporting cable - - - ICS(P)A2-S………-SC GMM09-001(1/2) GMM08-006
5 2 axes Y-axis slider - Self-supporting cable - - ICS(P)A2-Y………-SC GMM09-001(1/2) GMM08-007
6 2 axes Z-axis base - - Cable track - ICS(P)A2-Z………-CT GMM09-001(1/2) GMM08-008
7 3 axes X-Y base, Z-axis base Cable track Cable track - - ICS(P)A3-B………B……-CT-CT GMM09-001(2/2) GMM08-009
8 3 axes X-Y base, Z-axis base Cable track Self-supporting cable - - ICS(P)A3-B………B……-CT-SC GMM09-001(2/2) GMM08-010
9 3 axes X-Y base, Z-axis base Self-supporting cable Self-supporting cable - - ICS(P)A3-B………B……-SC-SC GMM09-001(2/2) GMM08-011
10 3 axes X-Y base, Z-axis slider Self-supporting cable Self-supporting cable - - ICS(P)A3-B………S……-SC-SC GMM09-001(2/2) GMM08-012
11 3 axes X-Y gantry, Z-axis base Cable track Cable track - - ICS(P)A3-G………B……-CT-CT GMM09-001(2/2) GMM08-013
12 3 axes X-Y gantry, Z-axis slider Cable track Cable track Self-supporting cable - ICS(P)A3-G………S……-CT-SC GMM09-001(2/2) GMM08-014
13 2 axes Y-axis base Cable track - ICS(P)A2-BK,L,P,Q ……-CT GMM09-001(3/3) GMM09-002
14 4 axes Y-axis mount Cable track Cable track ICS(P)A4-B……HZR…-CT-CT GMM09-001(3/3) GMM09-003
15 Instruction for Cable Track Type Wiring GMM12-001
Catalog No.: ME0215-5A
 ICS(P)A Cartesian Robot – Completed Drawings

Drawing No. 1/9

(X-axis Base Mount) (Y-axis Base Mount) (Gantry) Type

Self-supporting Cable Specification Cable Track Specification Cable Track Specification

(Model) (Model)

[Assembled parts]
H: High speed H: High speed
M: Medium speed M: Medium speed
[Assembled parts]
Configuration direction Configuration direction (Model)

X-axis Y-axis X-axis Y-axis [1] X-Y bracket (1) [2] X-Y bracket [3] Pin bracket
H: High speed
[Assembled parts]
[1] X-Y bracket [2] Box cover [3] Connector box
X-axis Y-axis

[4] Spacer [5] Mounting bracket [6] Guide rail

[1] X-Y bracket [2] Box cover [3] Connector box (small)
[4] Box spacer, [5] Joint cover [6] Bracket cover
BA type only
[Configuration directions] [Configuration directions] [Configuration directions]
[7] Connector box (small) [8] Box cover [9] Joint cover

[4] Connector box (large) [5] Bracket cover [6] Grommet with film
[7] Grommet with film [9] Guide rail
[8] Cable fix cap
(‡30, ‡34)
Type 1 Type 2 Type 1 Type 2 [10] Connector box (large) [11] Cable track [12] Grommet with film
(Reverse of type 1) (Reverse of type 1)

[7] Cable fix cap [8] Joint cover

[13] Cable fix cap [14] Packing frame

[10] Cable track
[2], [3], [5] and [9] are
Type 3 assembled before the
Type 3
Type 4 [9] Self-supporting Type 4 shipment. Cable track assembly
(Y-axis installed on (Y-axis installed on
(Reverse of type )
cable assembly opposite side) (Reverse of type 3)
opposite side) [5], [6] and [11] are assembled before the shipment.

[Assembly Procedure] Drawing No.: [Assembly Procedure] Drawing No.: [Assembly Procedure] Drawing No.:

(Y-axis Slider Mount) (Y-axis Slider Mount) (Z-axis Base Mount)

Self-supporting Cable Specification

(Model)
(Model) (Model)
H: High speed
M: Medium speed H: High speed
H: High speed M: Medium speed
M: Medium speed [Assembled parts]
[Assembled parts]
Configuration direction Y-axis Z-axis [Assembled parts]
X-axis Y-axis
X-axis Y-axis
[1] X-Y bracket [2] Box cover [3] Connector box (small)
[1] X-Y bracket [2] Box cover [3] Connector [3] Connector
box (large) box (small)

[1] X-Y bracket [2] Box cover [3] Connector box (small)

[Configuration directions] [4] Connector box (large) [5] Bracket cover [6] Grommet with film [6] Grommet with film
[Configuration directions] [Configuration directions]
[4] Joint cover [5] Mounting bracket (‡30, ‡34)

[4] Connector box (large) [5] Grommet with film [6] Cable fix cap

[7] Cable fix cap [8] Joint cover [8] Mounting bracket
Combination Combination
direction: 1 direction: 2
[7] Cable fix cap [8] Guide rail [9] Cable track
(Operation range) (Reverse of 1)
(Operation range)
[7] Joint cover [8] Box spacer

[6], [9] and [10] are assembled

Combination Combination [9] Self-supporting before the shipment.
direction: 3 direction: 4 cable assembly
(Y-axis installed on (Reverse of 1) [10] Self-supporting
opposite side)
(Operation range) (Operation range) cable assembly

[Assembly Procedure] Drawing No.: [Assembly Procedure] Drawing No.: [Assembly Procedure] Drawing No.:
 ICS(P)A Cartesian Robot – Completed Drawings

Drawing No. 2/9

X-Y Base Mount (XYB) + Z-axis, Z-axis Base Mount X-Y Base Mount (XYB) + Z-axis, Z-axis Base Mount X-Y Base Mount (XYB) + Z-axis, Z-axis Base Mount
(Model) (Model)
(Model)

H: High speed H: High speed

H: High speed M: Medium speed M: Medium speed
M: Medium speed
Z-axis Z-axis
Z-axis
[Assembled parts]
H: High speed [Assembled parts]
H: High speed M: Medium
Configuration M: Medium
direction [Assembled parts] speed
speed
Configuration direction Configuration direction
X-axis Y-axis
[3] Connector [4] Connector
X-axis Y-axis [3] Connector [4] Connector
X-axis Y-axis [1] X-Y bracket [2] Y-Z bracket [1] X-Y bracket [2] Y-Z bracket
box (large) box (medium) box (large) box (medium)

[1] X-Y bracket [2] Y-Z bracket [3] Connector [4] Connector
box (large) box (medium)

[5] Connector [6] Joint [7] Joint cover [8] Joint cover [5] Connector [6] Box cover [7] Joint [8] Joint cover
box (small) cover (large) (medium) (small) box (small) cover (large) (medium)

[5] Connector [6] Joint [7] Joint cover [8] Joint cover
[Configuration directions] box (small) cover (large) (medium) (small) [Configuration directions] [Configuration directions]
[9] Box cover [10] Bracket cover [11] Grommet [12] Cable fix cap [9] Joint cover [10] Bracket cover [11] Grommet [12] Cable fix cap
with film (small) with film

Type 1 Type 2 Type 1 Type 2 Type 1 Type 2

[9] Box cover [10] Bracket cover [11] Grommet [12] Cable fix cap
(Reverse of type 1) with film (Reverse of type 1) (Reverse of type 1)

[14] Cable track [13] Box support

assembly [13] Box support
Guide rail
Cable track [14] Cable track assembly
[13] Box support mounting bracket
Connector box
Box cover
Type 3 [14] Cable track assembly Cable track Type 3 Type 3
Type 4 The above parts are Type 3 [15] Self-supporting cable assembly (2) Type 4 [14] Self-supporting [15] Self-supporting
(Y-axis installed on (Y-axis installed on (Y-axis installed on cable assembly (1) cable assembly (2)
opposite side) (Reverse of type 3) supplied as a set. (Reverse of type 3) opposite side) (Reverse of type 3)
opposite side)
[Assembly Procedure] Drawing No.: [Assembly Procedure] Drawing No.: [Assembly Procedure] Drawing No.:

X-Y Base Mount (XYB) + Z-axis, Z-axis Slider Mount X-Y Gantry Configuration (XYG) + Z-axis, Z-axis Base Mount X-Y Gantry Configuration (XYG) + Z-axis Slider Mount
(Model) (Model) (Model)

H: High speed
M: Medium speed Z-axis Z-axis [Assembled parts]
H: High speed [Assembled parts] H: High speed
M: Medium speed M: Medium speed
Z-axis [Assembled parts]
L: Low speed L: Low speed

H: High speed
M: Medium Z-axis Z-axis
speed
[1] X-Y bracket (1) [2] X-Y bracket (2) [3] Pin bracket [4] Spacer [1] X-Y bracket (1) [2] X-Y bracket (2) [3] Pin bracket [4] Spacer
Configuration direction
[1] X-Y bracket [2] Y-Z bracket [3] Connector [4] Connector
X-axis Y-axis box (large) box (medium)
H: High speed H: High speed
[5] Y-Z bracket [6] Y-Z plate [7] Mounting [8] Mounting [5] Y-Z bracket [6] Mounting [7] Mounting
bracket (1) bracket (2) bracket (1) bracket (2)
X-axis Y-axis X-axis Y-axis
[5] Connector [6] Box cover [7] Joint [8] Joint cover
box (small) cover (large) (medium)

[8] Guide rail (1) [10] Connector [11] Joint cover

[9] Guide rail (1) [10] Guide rail (2) [11] Connector [12] Connector [9] Guide rail (2)
box (large)
box (large) box (medium)
[Configuration directions] [Configuration directions] [Configuration directions]
[9] Joint cover [10] Bracket cover [11] Grommet [12] Cable fix cap
(small) [12] Box cover [13] Cable track
with film [15] Joint [16] Joint cover
[13] Connector [14] Box cover cover (large) (medium)
box (small)
Type 1 Type 2
(Reverse of type 1)
[17] Joint [18] Cable track [19] Grommet with film
cover (small) [14] Packing frame
[13] Box support
[15] Self-supporting cable assembly
* Cable track assembly
The cable track
[20] Packing frame assembly is configured * Cable track assembly
with the mounting The cable track assembly is
Type 3 [14] Self-supporting [15] Self-supporting bracket and guide rail. configured with the mounting
Type 4 cable assembly (1) cable assembly (2)
(Y-axis installed on bracket and guide rail.
opposite side) (Reverse of type 3)

[Assembly Procedure] Drawing No.: [Assembly Procedure] Drawing No.: [Assembly Procedure] Drawing No.:
 ICS(P)A Cartesian Robot – Completed Drawings

Drawing No. 3/9

(Y-axis Base Mount) (Y-axis Base Mount)

Cable Track Specification Cable Track Specification

(Model) (Model)

H: High speed
M: Medium speed
Configuration Configuration
direction direction
[Assembled parts]
X-axis Y-axis [Assembled parts]
X-axis Y-axis

[1] X-Y plate [2] X-Y bracket [3] Bracket cover [4] Grommet
[1] YXR (MXS) plate [2] Box support ZRS (M)

[Configuration directions] [Configuration directions]

[5] Track mounting [6] Cable track [7] Bracket cover [8] Controller-
bracket actuator cable

[3] Cable track support [4] Connector box Y-Z

Type 1 Type 2 Type 1 Type 2
(Reverse of type 1)
(Reverse of type 1)
[9] Connector [10] Joint cover [11] Box cover (large)
box (large)

Type 3
Type 4 Type 3 [5] Cable track
(Y-axis installed on [12] Guide rail (1) [12] Guide rail (2) [13] Cable track Type 4
opposite side) (Reverse of type 3) (Y-axis installed on
opposite side) (Reverse of type 3)
[Assembly Procedure] Drawing No.: [Assembly Procedure] Drawing No.:
 ICS(P)A Cartesian Robot – Completed Drawings

Drawing No. GMM09-001 4/9

x Parts Used on ICS(P)A2 Combining 2 Axes

Hexagonal bolt Hexagonal socket head bolt
M6 x 30㩷 M8 x 35㩷 M3 x 12㩷 M4 x 6㩷 M4 x 8㩷 M4 x 10㩷 M4 x 12㩷 M4 x 14㩷 M4 x 16㩷 M4 x 20 M5 x 10 M6 x 8㩷 M6 x 10 M6 x 12 M6 x 20 M6 x 28 M6 x 35 M6 x 45㩷 M8 x 15㩷 M8 x 28㩷 M8 x 30 M8 x 40 M8 x 45
BA-SC㩷 4㩷 㩷 16㩷 㩷 㩷 㩷 2㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
BA-CT㩷 4㩷 㩷 16㩷 㩷 㩷 㩷 2㩷 2㩷 㩷 2㩷 3㩷 4㩷 4㩷 㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
BB-SC㩷 㩷 4㩷 16㩷 2㩷 㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
BB-CT㩷 㩷 4㩷 16㩷 2㩷 㩷 㩷 2㩷 㩷 㩷 㩷 3㩷 4㩷 4㩷 㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
BC-SC㩷 㩷 4㩷 16㩷 2㩷 㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷
BC-CT㩷 㩷 4㩷 16㩷 2㩷 㩷 㩷 2㩷 㩷 㩷 㩷 3㩷 4㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷
BD-CT㩷 㩷 4㩷 16㩷 2㩷 㩷 㩷 2㩷 㩷 㩷 㩷 3㩷 4㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷
BE-SC㩷 㩷 4㩷 16㩷 2㩷 㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷
BE-CT
BF-CT㩷
㩷 4㩷 16㩷 2㩷 㩷 㩷 2㩷 㩷 㩷 㩷 3㩷 4㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷
SA-SC㩷 4㩷 㩷 16㩷 㩷 㩷 2㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 2㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
S1C-SC
S2C-SC 㩷 4㩷 16㩷 2㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 2㩷 4㩷 㩷 㩷 㩷
SG-SC㩷
ZA-CT㩷 㩷 㩷 16㩷 㩷 㩷 2㩷 㩷 2㩷 㩷 㩷 㩷 4㩷 4㩷 㩷 8㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
ZC-CT
ZD-CT
ZG-CT
㩷 㩷 16㩷 2㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 4㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 8㩷 㩷 㩷
ZH-CT㩷
YA-SC㩷 4㩷 㩷 16㩷 㩷 2㩷 㩷 㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
YC-SC㩷 㩷 4㩷 16㩷 㩷 2㩷 㩷 㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷
YG-SC㩷 㩷 4㩷 16㩷 㩷 2㩷 㩷 㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷
G1J-CT
G2J-CT㩷
㩷 㩷 16㩷 㩷 㩷 4㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷 㩷 4㩷 4㩷 㩷 㩷 6㩷 㩷 8㩷
 ICS(P)A Cartesian Robot – Completed Drawings

Drawing No. GMM09-001 5/9

x Parts Used on ICS(P)A2 Combining 2 Axes

Flange-head Flange-head
hexagonal M8 flat Grommet with film hexagonal
Thin-head TP socket head
Parallel pin High-tension washer Hexagonal nut M8 socket head
Hexagonal nut
washer (Takigen)
bolt dedicated bolt
‡8.5 x ‡18 C-30-SG-34A-EP-UL flat washer
M3 x 6㩷 M4 x 6㩷 M4 x 8㩷 ‡6h7 x 15㩷 ‡8h7 x 18㩷 M6㩷 M8㩷 M4㩷 M5㩷 M6㩷 M4 x 6㩷 M4㩷
x t1.6㩷 (ivory)㩷
BA-SC㩷 6㩷 㩷 㩷 4㩷 㩷 㩷 4㩷 㩷 2㩷 㩷 㩷 2㩷 㩷 㩷 㩷
BA-CT㩷 6㩷 㩷 㩷 4㩷 㩷 㩷 4㩷 㩷 2㩷 3㩷 8㩷 5㩷 㩷 *㩷 *㩷
BB-SC㩷 6㩷 㩷 㩷 2㩷 2㩷 㩷 㩷 4㩷 2㩷 㩷 㩷 2㩷 㩷 㩷 㩷
BB-CT㩷 6㩷 㩷 㩷 2㩷 2㩷 㩷 㩷 4㩷 2㩷 3㩷 8㩷 5㩷 㩷 *㩷 *㩷
BC-SC㩷 㩷 6㩷 㩷 㩷 4㩷 㩷 㩷 4㩷 2㩷 㩷 㩷 2㩷 4㩷 㩷 㩷
BC-CT㩷 㩷 6㩷 㩷 㩷 4㩷 㩷 㩷 4㩷 2㩷 3㩷 8㩷 5㩷 4㩷 *㩷 *㩷
BD-CT㩷 㩷 6㩷 㩷 㩷 4㩷 㩷 㩷 4㩷 2㩷 3㩷 8㩷 5㩷 4㩷 *㩷 *㩷
BE-SC㩷 㩷 6㩷 㩷 㩷 4㩷 㩷 㩷 4㩷 2㩷 㩷 㩷 2㩷 4㩷 㩷 㩷
BE-CT
BF-CT㩷
㩷 6㩷 㩷 㩷 4㩷 㩷 㩷 4㩷 2㩷 3㩷 8㩷 5㩷 4㩷 *㩷 *㩷
SA-SC㩷 6㩷 㩷 㩷 4㩷 㩷 㩷 4㩷 㩷 4㩷 㩷 㩷 4㩷 㩷 㩷 㩷
S1C-SC
S2C-SC 㩷 6㩷 㩷 㩷 4㩷 㩷 㩷 4㩷 4㩷 㩷 㩷 4㩷 4㩷 㩷 㩷
SG-SC㩷
ZA-CT㩷 㩷 㩷 2㩷 4㩷 㩷 㩷 㩷 㩷 4㩷 㩷 8㩷 4㩷 㩷 *㩷 *㩷
ZC-CT
ZD-CT
ZG-CT
㩷 㩷 2㩷 㩷 4㩷 8㩷 㩷 㩷 4㩷 㩷 8㩷 4㩷 㩷 *㩷 *㩷
ZH-CT㩷
YA-SC㩷 㩷 㩷 㩷 4㩷 㩷 㩷 4㩷 㩷 2㩷 㩷 㩷 3㩷 㩷 㩷 㩷
YC-SC㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 4㩷 2㩷 㩷 㩷 3㩷 4㩷 㩷 㩷
YG-SC㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 4㩷 2㩷 㩷 㩷 3㩷 4㩷 㩷 㩷
G1J-CT
G2J-CT㩷
㩷 㩷 㩷 2㩷 4㩷 8㩷 㩷 㩷 㩷 㩷 8㩷 4㩷 6㩷 *㩷 *㩷
*: Varies depending on the number of tumbler-shaped holes in the guide rail.
 ICS(P)A Cartesian Robot – Completed Drawings

Drawing No. GMM09-001 6/9

x Parts Used on ICS(P)A3 Combining 3 Axes

Hexagonal bolt Hexagonal socket head bolt
M6 x 30㩷 M8 x 35㩷 M3 x 12㩷 M4 x 6㩷 M4 x 8㩷 M4 x 12㩷 M4 x 14㩷 M4 x 20㩷 M5 x 10㩷 M6 x 8㩷 M6 x 10㩷 M6 x 12㩷 M6 x 20㩷 M6 x 28㩷 M8 x 28㩷
BA-B1
4㩷 㩷 24㩷 㩷 2㩷 2㩷 2㩷 㩷 㩷 㩷 㩷 㩷 12㩷 㩷 㩷
-SC-SC㩷
BA-B1
4㩷 㩷 24㩷 2㩷 㩷 4㩷 2㩷 2㩷 6㩷 8㩷 8㩷 2㩷 12㩷 㩷 㩷
-CT-CT㩷
BB-B1
㩷 4㩷 24㩷 2㩷 2㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 12㩷 㩷 㩷
-SC-SC㩷
BB-B2/B3
㩷 4㩷 24㩷 2㩷 2㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 4㩷 4㩷
-SC-SC㩷
BB-B1
㩷 4㩷 24㩷 4㩷 㩷 4㩷 㩷 㩷 6㩷 8㩷 8㩷 2㩷 12㩷 㩷 㩷
-CT-CT㩷
BB-B2/B3
㩷 4㩷 24㩷 4㩷 㩷 4㩷 㩷 㩷 6㩷 8㩷 8㩷 2㩷 4㩷 4㩷 4㩷
-CT-CT㩷
BC-B1
㩷 4㩷 24㩷 2㩷 2㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 8㩷 㩷 4㩷
-SC-SC㩷
BC-B2/B3
㩷 4㩷 24㩷 2㩷 2㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 12㩷
-SC-SC㩷
BC-B1
㩷 4㩷 24㩷 4㩷 㩷 4㩷 㩷 㩷 6㩷 8㩷 8㩷 2㩷 8㩷 㩷 4㩷
-CT-CT㩷
BC-B2/B3
㩷 4㩷 24㩷 4㩷 㩷 4㩷 㩷 㩷 6㩷 8㩷 8㩷 2㩷 㩷 㩷 12㩷
-CT-CT㩷
BD-B1
㩷 4㩷 24㩷 2㩷 2㩷 2㩷 㩷 㩷 3㩷 4㩷 4㩷 㩷 8㩷 㩷 4㩷
-CT-SC㩷
BD-B2/B3
㩷 4㩷 24㩷 2㩷 2㩷 2㩷 㩷 㩷 3㩷 4㩷 4㩷 㩷 㩷 㩷 12㩷
-CT-SC㩷
BD-B1
㩷 4㩷 24㩷 4㩷 㩷 4㩷 㩷 㩷 6㩷 8㩷 8㩷 2㩷 8㩷 㩷 4㩷
-CT-CT㩷
BD-B2/B3
㩷 4㩷 24㩷 4㩷 㩷 4㩷 㩷 㩷 6㩷 8㩷 8㩷 2㩷 㩷 㩷 12㩷
-CT-CT㩷
BE-B1
㩷 4㩷 24㩷 2㩷 2㩷 2㩷 㩷 㩷 3㩷 4㩷 4㩷 㩷 8㩷 㩷 4㩷
-SC-SC㩷
BE-B2/B3
㩷 4㩷 24㩷 2㩷 2㩷 2㩷 㩷 㩷 3㩷 4㩷 4㩷 㩷 㩷 㩷 12㩷
-SC-SC㩷
BE-B1
㩷 4㩷 24㩷 4㩷 㩷 4㩷 㩷 㩷 6㩷 8㩷 8㩷 2㩷 8㩷 㩷 4㩷
-CT-CT㩷
BE-B2/B3
㩷 4㩷 24㩷 4㩷 㩷 4㩷 㩷 㩷 6㩷 8㩷 8㩷 2㩷 㩷 㩷 12㩷
-CT-CT㩷
 ICS(P)A Cartesian Robot – Completed Drawings

Drawing No. GMM09-001 7/9

x Parts Used on ICS(P)A3 Combining 3 Axes

Hexagonal bolt Hexagonal socket head bolt
M6 x 30㩷 M8 x 35㩷 M3 x 12㩷 M4 x 6㩷 M4 x 8㩷 M4 x 10㩷 M4 x 12㩷 M4 x 14㩷 M4 x 16㩷 M4 x 40 M5 x 10 M6 x 8 M6 x 10 M6 x 12 M6 x 18 M6 x 20 M6 x 25 M6 x 28 M6 x 35㩷 M6 x 45㩷 M8 x 20㩷 M8 x 28 M8 x 30 M8 x 40 M8 x 45
BF-B1
㩷 4㩷 24㩷 2㩷 2㩷 㩷 2㩷 㩷 㩷 㩷 3㩷 4㩷 4㩷 㩷 㩷 8㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷
-CT-SC㩷
BF-B2/B3
㩷 4㩷 24㩷 2㩷 2㩷 㩷 2㩷 㩷 㩷 㩷 3㩷 4㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 12㩷 㩷 㩷 㩷
-CT-SC㩷
BF-B1
㩷 4㩷 24㩷 4㩷 㩷 㩷 4㩷 㩷 㩷 㩷 6㩷 8㩷 8㩷 2㩷 㩷 8㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷
-CT-CT㩷
BF-B2/B3
㩷 4㩷 24㩷 4㩷 㩷 㩷 4㩷 㩷 㩷 㩷 6㩷 8㩷 8㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 12㩷 㩷 㩷 㩷
-CT-CT㩷
BA-S1
8㩷 㩷 24㩷 㩷 㩷 㩷 2㩷 2㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
-SC-SC㩷
BB-S1
4㩷 4㩷 24㩷 2㩷 㩷 㩷 2㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷
-SC-SC㩷
BC-S1
4㩷 4㩷 24㩷 2㩷 㩷 㩷 2㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷
-SC-SC㩷
BC-S2/S3
㩷 8㩷 24㩷 2㩷 㩷 㩷 2㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 4㩷 㩷
-SC-SC㩷
BD-S1
4㩷 4㩷 24㩷 2㩷 㩷 㩷 2㩷 㩷 2㩷 㩷 3㩷 4㩷 4㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷
-CT-SC㩷
BD-S2/S3
㩷 8㩷 24㩷 2㩷 㩷 㩷 2㩷 㩷 2㩷 㩷 3㩷 4㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 4㩷 㩷
-CT-SC㩷
BE-S1
4㩷 4㩷 24㩷 2㩷 㩷 㩷 2㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷
-SC-SC㩷
BE-S2/S3
㩷 8㩷 24㩷 2㩷 㩷 㩷 2㩷 㩷 2㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 4㩷 㩷
-SC-SC㩷
BF-S1
4㩷 4㩷 24㩷 2㩷 㩷 㩷 2㩷 㩷 2㩷 㩷 3㩷 4㩷 4㩷 㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷 4㩷 㩷 㩷 㩷
-CT-SC㩷
BF-S2/S3
㩷 8㩷 24㩷 2㩷 㩷 㩷 2㩷 㩷 2㩷 㩷 3㩷 4㩷 4㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 4㩷 㩷 4㩷 㩷
-CT-SC㩷
G*J-B1
㩷 㩷 24㩷 㩷 㩷 8㩷 㩷 㩷 㩷 㩷 㩷 8㩷 4㩷 㩷 4㩷 4㩷 㩷 㩷 4㩷 4㩷 㩷 㩷 10㩷 㩷 8㩷
-CT-CT㩷
G*J-B2/B3
㩷 㩷 24㩷 㩷 㩷 8㩷 㩷 㩷 㩷 㩷 㩷 8㩷 4㩷 㩷 㩷 㩷 㩷 㩷 4㩷 4㩷 4㩷 4㩷 10㩷 㩷 8㩷
-CT-CT㩷
G*J-S1
㩷 㩷 32㩷 㩷 㩷 8㩷 㩷 㩷 㩷 2㩷 㩷 8㩷 4㩷 㩷 㩷 㩷 4㩷 㩷 4㩷 4㩷 㩷 㩷 10㩷 㩷 8㩷
-CT-CT-SC㩷
G*J-S2/S3
㩷 㩷 32㩷 㩷 㩷 8㩷 㩷 㩷 㩷 㩷 㩷 8㩷 4㩷 㩷 㩷 㩷 㩷 㩷 4㩷 4㩷 㩷 㩷 14㩷 㩷 8㩷
-CT-CT-SC㩷
 ICS(P)A Cartesian Robot – Completed Drawings

Drawing No. GMM09-001 8/9

x Parts Used on ICS(P)A3 Combining 3 Axes

Flange-head M8 Flange-head
hexagonal Grommet with film hexagonal Hexagonal
M8 flat washer High-tension washer socket head
Parallel pin Hexagonal nut dedicated Thin-head TP socket head
(Takigen) nut
bolt flat washer bolt
‡8.5 x C-30-SG-34A-EP-UL
M6㩷 M8 㩷 M4 x 8㩷 ‡6h7 x 15㩷 ‡8h7 x 18㩷 M4㩷 M5㩷 M6㩷 㩷 M3 x 6㩷 M4 x 6㩷 M4 x 6㩷 M4㩷
‡18 x t1.6㩷 (ivory)㩷
BA-B1
㩷 4㩷 㩷 2㩷 7㩷 㩷 6㩷 㩷 㩷 2㩷 㩷 6㩷 㩷 㩷 㩷
-SC-SC㩷
BA-B1
㩷 4㩷 㩷 㩷 7㩷 㩷 2㩷 6㩷 8㩷 6㩷 㩷 6㩷 㩷 *㩷 *㩷
-CT-CT㩷
BB-B1
㩷 㩷 4㩷 2㩷 5㩷 2㩷 6㩷 㩷 㩷 2㩷 㩷 6㩷 㩷 㩷 㩷
-SC-SC㩷
BB-B2/B3
㩷 㩷 4㩷 2㩷 4㩷 3㩷 6㩷 㩷 㩷 2㩷 㩷 6㩷 㩷 㩷 㩷
-SC-SC㩷
BB-B1
㩷 㩷 4㩷 㩷 5㩷 2㩷 2㩷 6㩷 8㩷 6㩷 㩷 6㩷 㩷 *㩷 *㩷
-CT-CT㩷
BB-B2/B3
㩷 㩷 4㩷 㩷 4㩷 3㩷 2㩷 6㩷 8㩷 6㩷 㩷 6㩷 㩷 *㩷 *㩷
-CT-CT㩷
BC-B1
㩷 㩷 4㩷 2㩷 1㩷 6㩷 6㩷 㩷 㩷 2㩷 4㩷 㩷 6㩷 㩷 㩷
-SC-SC㩷
BC-B2/B3
4㩷 㩷 4㩷 2㩷 㩷 7㩷 6㩷 㩷 㩷 2㩷 8㩷 㩷 6㩷 㩷 㩷
-SC-SC㩷
BC-B1
㩷 㩷 4㩷 㩷 1㩷 6㩷 2㩷 6㩷 8㩷 6㩷 4㩷 㩷 6㩷 *㩷 *㩷
-CT-CT㩷
BC-B2/B3
4㩷 㩷 4㩷 㩷 㩷 7㩷 2㩷 6㩷 8㩷 6㩷 8㩷 㩷 6㩷 *㩷 *㩷
-CT-CT㩷
BD-B1
㩷 㩷 4㩷 2㩷 1㩷 6㩷 6㩷 3㩷 8㩷 5㩷 4㩷 㩷 6㩷 *㩷 *㩷
-CT-SC㩷
BD-B2/B3
4㩷 㩷 4㩷 2㩷 㩷 7㩷 6㩷 3㩷 8㩷 5㩷 8㩷 㩷 6㩷 *㩷 *㩷
-CT-SC㩷
BD-B1
㩷 㩷 4㩷 㩷 1㩷 6㩷 2㩷 6㩷 8㩷 5㩷 4㩷 㩷 6㩷 *㩷 *㩷
-CT-CT㩷
BD-B2/B3
4㩷 㩷 4㩷 㩷 㩷 7㩷 2㩷 6㩷 8㩷 6㩷 8㩷 㩷 6㩷 *㩷 *㩷
-CT-CT㩷
BE-B1
㩷 㩷 4㩷 2㩷 1㩷 6㩷 6㩷 3㩷 8㩷 5㩷 4㩷 㩷 6㩷 *㩷 *㩷
-SC-SC㩷
BE-B2/B3
4㩷 㩷 4㩷 2㩷 㩷 7㩷 6㩷 3㩷 8㩷 5㩷 8㩷 㩷 6㩷 *㩷 *㩷
-SC-SC㩷
BE-B1
㩷 㩷 4㩷 㩷 1㩷 6㩷 2㩷 6㩷 8㩷 6㩷 4㩷 㩷 6㩷 *㩷 *㩷
-CT-CT㩷
BE-B2/B3
4㩷 㩷 4㩷 㩷 㩷 7㩷 2㩷 6㩷 8㩷 6㩷 8㩷 㩷 6㩷 *㩷 *㩷
-CT-CT㩷
*: Varies depending on the number of tumbler-shaped holes in the guide rail.
 ICS(P)A Cartesian Robot – Completed Drawings

Drawing No. GMM09-001 9/9

x Parts Used on ICS(P)A3 Combining 3 Axes

Flange-head
Flange-head
M8 flat Grommet with film M8 dedicated hexagonal Hexagonal
High-tension washer hexagonal socket Parallel pin Hexagonal nut Thin-head TP socket head
washer head bolt (Takigen) flat washer nut
bolt
‡8.5 x C-30-SG-34A-EP-UL
M6㩷 M8 㩷 M4 x 8㩷 ‡6h7 x 15㩷 ‡8h7 x 18 M4㩷 M5㩷 M6㩷 㩷 M3 x 6㩷 M4 x 6㩷 M4 x 6㩷 M4㩷
‡18 x t1.6㩷 (ivory)㩷
BF-B1
㩷 㩷 4㩷 2㩷 1㩷 6㩷 6㩷 3㩷 8㩷 5㩷 4㩷 㩷 6㩷 *㩷 *㩷
-CT-SC㩷
BF-B2/B3
4㩷 㩷 4㩷 2㩷 㩷 7㩷 6㩷 3㩷 8㩷 5㩷 8㩷 㩷 6㩷 *㩷 *㩷
-CT-SC㩷
BF-B1
㩷 㩷 4㩷 㩷 1㩷 6㩷 2㩷 6㩷 8㩷 6㩷 4㩷 㩷 6㩷 *㩷 *㩷
-CT-CT㩷
BF-B2/B3
4㩷 㩷 4㩷 㩷 㩷 7㩷 2㩷 6㩷 8㩷 6㩷 8㩷 㩷 6㩷 *㩷 *㩷
-CT-CT㩷
BA-S1
㩷 8㩷 㩷 㩷 8㩷 㩷 4㩷 㩷 㩷 2㩷 㩷 6㩷 㩷 㩷 㩷
-SC-SC㩷
BB-S1
㩷 4㩷 4㩷 㩷 6㩷 2㩷 4㩷 㩷 㩷 2㩷 㩷 6㩷 㩷 㩷 㩷
-SC-SC㩷
BC-S1
㩷 4㩷 4㩷 㩷 2㩷 6㩷 4㩷 㩷 㩷 2㩷 4㩷 㩷 6㩷 㩷 㩷
-SC-SC㩷
BC-S2/S3
㩷 㩷 8㩷 㩷 㩷 8㩷 4㩷 㩷 㩷 2㩷 8㩷 㩷 6㩷 㩷 㩷
-SC-SC㩷
BD-S1
㩷 4㩷 4㩷 㩷 2㩷 6㩷 4㩷 3㩷 8㩷 5㩷 4㩷 㩷 6㩷 *㩷 *㩷
-CT-SC㩷
BD-S2/S3
㩷 㩷 8㩷 㩷 㩷 8㩷 4㩷 3㩷 8㩷 5㩷 8㩷 㩷 6㩷 *㩷 *㩷
-CT-SC㩷
BE-S1
㩷 4㩷 4㩷 㩷 2㩷 6㩷 4㩷 㩷 㩷 2㩷 4㩷 㩷 6㩷 㩷 㩷
-SC-SC㩷
BE-S2/S3
㩷 㩷 8㩷 㩷 㩷 8㩷 4㩷 㩷 㩷 2㩷 8㩷 㩷 6㩷 㩷 㩷
-SC-SC㩷
BF-S1
㩷 4㩷 4㩷 㩷 2㩷 6㩷 4㩷 3㩷 8㩷 5㩷 4㩷 㩷 6㩷 *㩷 *㩷
-CT-SC㩷
BF-S2/S3
㩷 㩷 8㩷 㩷 㩷 8㩷 4㩷 3㩷 8㩷 5㩷 8㩷 㩷 6㩷 *㩷 *㩷
-CT-SC㩷
G*J-B1
12㩷 㩷 㩷 㩷 2㩷 9㩷 㩷 㩷 8㩷 5㩷 6㩷 㩷 㩷 *㩷 *㩷
-CT-CT㩷
G*J-B2/B3
16㩷 㩷 㩷 㩷 2㩷 9㩷 㩷 㩷 8㩷 5㩷 6㩷 㩷 㩷 *㩷 *㩷
-CT-CT㩷
G*J-S1
12㩷 㩷 㩷 㩷 2㩷 6㩷 4㩷 㩷 8㩷 6㩷 6㩷 㩷 㩷 *㩷 *㩷
-CT-CT-SC㩷
G*J-S2/S3
12㩷 㩷 㩷 㩷 2㩷 8㩷 4㩷 㩷 8㩷 6㩷 6㩷 㩷 㩷 *㩷 *㩷
-CT-CT-SC㩷
*: Varies depending on the number of tumbler-shaped holes in the guide rail.
 Caution: x Although each part has been chamfered to remove sharp edges, exercise due caution ICS(P)A Cartesian Robot, 2-axis Configuration XYB (Y-axis Base Mount) Type
during the assembly to prevent injury. If necessary, wear gloves or other protective gears. ICS(P)A2-B†††-SC Self-supporting Cable
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No. GMM08-003 1/1

[Tools] Allen wrench Y-axis: IS(P)A

1 2
In the case of configuration direction types 2 to 4,
the actuator and bracket directions are different.
Thin-head screw (3 pcs)
Type 2
(Reverse of type 1)
Hexagonal socket
head bolt (4 pcs) [Installation of X-Y bracket [1] on X-axis: IS(P)A] Parallel pin (2 pcs)
High-tension washer Configuration Parallel Hexagonal High-
Tightening torque
type pin bolt tension
ICS(P)A-BA ‡6x15 M6x30mm M6 54.7kgfxcm/536Nxcm
Type 3 ICS(P)A-BB ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
(Y-axis installed on ICS(P)A-BC ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
opposite side)

[5] Bracket cover ICS(P)A-BD ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm

ICS(P)A-BE ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm [1] X-Y bracket
[1] X-Y bracket ICS(P)A-BF ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
Dedicated washer
Type 4
(Reverse of type 3)
[Installation of bracket cover [5] on X-Y bracket [1]] Hexagonal socket head bolt (4 pcs)
Configuration Thin-head [Installation of Y-axis: IS(P)A on X-Y bracket [1]]
X-axis: IS(P)A Tightening torque
type screw
Configuration Parallel Hexagonal Dedicated
ICS(P)A-BA M3x6mm 8.9kgfxcm/87.2Nxcm Tightening torque
Thin-head screw (3 pcs) type pin socket head bolt washer
X-axis: IS(P)A
ICS(P)A-BB M3x6mm 8.9kgfxcm/87.2Nxcm ICS(P)A-BA ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
Parallel pin (1 pc or 2 pcs) ICS(P)A-BC M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BB ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BD M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BC ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin. ICS(P)A-BE M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BD ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
Adjust the angle between the X-axis and Y-axis to the right angle, and then mount ICS(P)A-BF M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BE ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
the hexagonal bolts.
ICS(P)A-BF ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm

M3 x 12 mm (4 pcs)
3 4

X-axis
[2] Box cover

[3] Connector box (small)

M3 x 12 mm (4 pcs) X-axis: IS(P)A [2] Box cover
M4 x 12 mm (2 pcs)

[6] Grommet with film

[9] Connector joint for cable inside self- [4] Connector box (large)
supporting cable assembly and Y-axis
cable
BA: M4 x 14 mm (2 pcs) + spacer
[8] Joint cover
BB to BF: M4 x 6 mm (2 pcs)
Configuration Hexagonal
[8] Joint cover Tightening torque
type socket head bolt
[1] X-Y bracket ICS(P)A-BA M4x20mm 18kgfxcm/176N㨯cm
M3 x 12 mm
(4 pcs) ICS(P)A-BB M4x12mm 18kgfxcm/176N㨯cm
ICS(P)A-BC M4x12mm 18kgfxcm/176N㨯cm
Place the M4 nuts M4 nut (2 pcs) ICS(P)A-BD M4x12mm 18kgfxcm/176N㨯cm
M3 x 12 mm (4 pcs)
in the slot ICS(P)A-BE M4x12mm 18kgfxcm/176N㨯cm
provided on the
ICS(P)A-BF M4x12mm 18kgfxcm/176N㨯cm
side face of the X-
[Installation of connector box (small) [3] on X-Y bracket [1]] axis, before the [7] Cable fix cap
[Installation of box cover [2] on connector box (small) [3]] connector box
Hexagonal (large) [4] is
Tightening torque installed.
socket head bolt [9] Connector joint for cable inside
M3x12mm 5.51kgfxcm/54Nxcm self-supporting cable assembly, X-axis
M4x12mm 18kgfxcm/176Nxcm cable and controller-actuator cable

* This assembly procedure applies to combination direction 1. If other combination 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: x Although each part has been chamfered to remove sharp edges, exercise due caution ICS(P)A Cartesian Robot, 2-axis Configuration XYB (Y-axis Base Mount) Type
during the assembly to prevent injury. If necessary, wear gloves or other protective gears. ICS(P)A2-B†††-CT Cable Track
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No. GMM08-004 1/2

1 [Tools] Allen wrench 2 Y-axis: IS(P)A

In the case of configuration direction types 2 to 4,

Type 2
the actuator and bracket directions are different. (Reverse of type 1)

Thin-head screw (3 pcs)

Parallel pin (2 pcs)
Hexagonal socket Type 3
head bolt (4 pcs) (Y-axis installed on [Installation of X-Y bracket [1] on X-axis: IS(P)A]
opposite side)
Configuration Parallel Hexagonal High-
High-tension washer Tightening torque
type pin bolt tension
ICS(P)A-BA ‡6x15 M6x30mm M6 54.7kgfxcm/536Nxcm
ICS(P)A-BB ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
Type 4
[1] X-Y bracket
ICS(P)A-BC ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
[5] Bracket cover (Reverse of type 3)
ICS(P)A-BD ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
ICS(P)A-BE ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm Dedicated washer
[1] X-Y bracket
ICS(P)A-BF ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm Hexagonal socket head bolt (4 pcs)

[Installation of Y-axis: IS(P)A on X-Y bracket [1]]

X-axis: IS(P)A [Installation of bracket cover [5] on X-Y bracket [1]]
X-axis: IS(P)A Configuration Parallel Hexagonal Dedicated
Configuration Thin-head Tightening torque
Thin-head screw (3 pcs) Tightening torque type pin socket head bolt washer
type screw
ICS(P)A-BA ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
Parallel pin (1 pc or 2 pcs) ICS(P)A-BA M3x6mm 8.9kgfxcm/87.2Nxcm
ICS(P)A-BB M3x6mm 8.9kgfxcm/87.2Nxcm ICS(P)A-BB ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BC M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BC ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin. ICS(P)A-BD M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BD ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BE ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
Adjust the angle between the X-axis and Y-axis to the right angle, and then mount
ICS(P)A-BF M4x6mm 20.8kgfxcm/204Nxcm
the hexagonal bolts. ICS(P)A-BF ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm

3 4
M6 x 8 mm (4 pcs)
Flange-head hexagonal
socket head bolt
M4 x 6 mm [10] Cable track

X-axis: IS(P)A

[9] Guide rail

[9] Guide rail

X-axis: IS(P)A

Install the bolts by

M4 hexagonal nut hooking them in the
Install the bolts before holes in the guide rail [9].
the guide rail [9] is
installed.
X-axis: IS(P)A M6 hexagonal nut (4 pcs)
[Installation of guide rail [9] on X-axis: IS(P)A]
The M4 hexagonal nut in the slot provided on the
Flange-head hexagonal
side face of the X-axis, before the guide rail [9] is socket head bolt
Tightening torque
installed. The number of hexagonal nuts to be M4x6mm 18kgfxcm/176Nxcm Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
placed in the slot varies according to the stroke. for how to lay out the wiring inside a cable track.

* This assembly procedure applies to combination direction 1. If other combination 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.
 ICS(P)A Cartesian Robot, 2-axis Configuration XYB (Y-axis Base Mount) Type
ICS(P)A2-B†††-CT Cable Track

Drawing No. GMM08-004 2/2

5 [2] Box cover

6
[10] Cable track
M3 x 12 mm (4 pcs)
[3] Connector box BA: M4 x 20 mm (2 pcs) + spacer M5 x 10 mm (3 pcs)
M4 x 22 mm (2 pcs)
BB to BF: M4 x 12 mm (2 pcs)

M3 x 12 mm (4 pcs)
Y-axis: IS(P)A
[5] Joint cover

[3] Connector box

To [1] X-Y bracket
[7] Grommet with film
M5 hexagonal nut (3 pcs)

[Installation of connector box [3] on X-Y bracket [1]] Follow “Instruction for Cable Track Type Wiring
(Drawing No. GMM12-001)”
Hexagonal socket for how to lay out the wiring inside a cable track.
Configuration type Tightening torque
head bolt
ICS(P)A-BA M4x20mm 18kgfxcm/176Nxcm
ICS(P)A-BB M4x12mm 18kgfxcm/176Nxcm
ICS(P)A-BC M4x12mm 18kgfxcm/176Nxcm
ICS(P)A-BD M4x12mm 18kgfxcm/176Nxcm Cable track side
ICS(P)A-BE M4x12mm 18kgfxcm/176Nxcm
ICS(P)A-BF M4x12mm 18kgfxcm/176Nxcm

[Installation of box cover [2] on connector box [3]] [10] Connector joint for cable inside
Hexagonal socket
cable track and Y-axis cable
Tightening torque
head bolt
M3x12mm 5.51kgfxcm/54Nxcm

7 8
Cable inside cable track

[3] Connector box

[3] Connector box

X-axis: IS(P)A
BA: M4 x 14 mm (2 pcs) X-axis: IS(P)A
+ spacer
BB to BF: M4 x 6 mm
M4 hexagonal nut (2 pcs)

X-axis: IS(P)A
X-axis: IS(P)A
Controller-actuator cable

[3] Connector box

[8] Cable fix cap
Hexagonal socket
Configuration type
head bolt
Tightening torque [10] Connector joint for cable
[5] Joint cover
ICS(P)A-BA M4x14mm 18kgfxcm/176Nxcm inside cable track and
Place two M4 hexagonal nuts in the slot provided on the side face of ICS(P)A-BB M4x6mm 18kgfxcm/176Nxcm controller-actuator cable
the X-axis before the connector box [3] is installed. ICS(P)A-BC M4x6mm 18kgfxcm/176Nxcm
ICS(P)A-BD M4x6mm 18kgfxcm/176Nxcm
M3 x 12 mm (4 pcs)
ICS(P)A-BE M4x6mm 18kgfxcm/176Nxcm
ICS(P)A-BF M4x6mm 18kgfxcm/176Nxcm
Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
for how to lay out the wiring inside a cable track.
 Caution: x Although each part has been chamfered to remove sharp edges, exercise due caution ICS(P)A Cartesian Robot, 2-axis Configuration XYG (Gantry) Type
during the assembly to prevent injury. If necessary, wear gloves or other protective gears. ICS(P)A2-G†††-CT Cable Track
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No. GMM08-005 1/2

Hexagonal socket
1 2 head bolt
Dedicated washer Tightening torque
Parallel pin (‡8x18) x 2
M8x45mm (8 pcs) Required 117kgfxcm/1148Nxcm
[Installation of X-Y bracket (1) [1] on X-axis: IS(P)A]

[1] X-Y bracket Flat washer

X-axis: IS(P)A
X-axis: IS(P)A

[Installation of spacer [4] on gantry]

3 4 5
Hexagonal socket head
Tightening torque
bolt
M6x45mm (4 pcs) 57.4 kgfxcm/536Nxcm

[4] Spacer

‡6 x 15 mm
X-axis: IS(P)A parallel pin (2 pcs)

[1] X-Y bracket Gantry

M3 x 12 mm (4 pcs)

[Installation of pin bracket [3] on spacer [4]]

[8] Box cover Hexagonal socket
Tightening torque
Flange-head head bolt
X-axis: IS(P)A
M4 x 6 mm M6x35mm (4 pcs) 57.4 kgfxcm/536Nxcm

M4 x 10 mm [3] Pin bracket

[13] Cable fix cap

Cable track assembly [10] Connector box

M3 x 12 mm (4 pcs) M4 x 12 mm (2 pcs)
[9] Joint cover

Flange-head hexagonal Gantry

Tightening torque
socket head bolt
Insert the M4 nuts beforehand. M4x6mm 18kgfxcm/176Nxcm Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
M4x10mm 18kgfxcm/176Nxcm for how to lay out the wiring inside a cable track.
 ICS(P)A Cartesian Robot, 2-axis Configuration XYG (Gantry) Type
ICS(P)A2-G†††-CT Cable Track

Drawing No. GMM08-005 2/2

(2 pcs) These 2 pieces Hexagonal socket

Tightening torque
6 7 8 have been deleted. head bolt
(4 pcs) M8x30mm (6 pcs) 54.7 kgfxcm/536Nxcm

[2] X-Y bracket ‡8 x 18mm

Parallel pin (2 pcs) Y-axis: IS(P)A
[3] Pin bracket

Gantry

Driven axis

Gantry [11] Cable track

Driving axis
Follow “Instruction for Cable Track Type
Wiring (Drawing No. GMM12-001)”
for how to lay out the wiring inside a
X-axis: IS(P)A cable track.

X-axis: IS(P)A
Gantry Cable inside cable track
[3] Connector box (large)

X-axis: IS(P)A

9 10 M4 x 10 mm (2 pcs)
[8] Box cover
[7] Connector box (small)
Controller-
actuator cable

[8] Cable fix cap [11] Connector joint for

cable inside cable track
Thin-head screw M3 x 12 mm and controller-actuator
cable
[7] Connector box (small)

M3 x 12 mm

[9] Joint cover

Connector joint for
Y-axis: IS(P)A [8] Box cover actuator cable and cable
Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
inside cable track
for how to lay out the wiring inside a cable track.
 Caution: x Although each part has been chamfered to remove sharp edges, exercise due caution ICS(P)A Cartesian Robot, 2-axis Configuration XYS (Y-axis Slider Mount) Type
during the assembly to prevent injury. If necessary, wear gloves or other protective gears. ICS(P)A2-S†††-SC Self-supporting Cable
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No. GMM08-006 1/1

1 [Tools] Allen wrench 2 Y-axis: IS(P)A

Type 2
In the case of configuration direction types 2 to 4, (Reverse of type 1)

the actuator and bracket directions are different.

Hexagonal bolt (4 pcs)

High-tension Parallel pin (2 pcs)

washer
Type 3
Thin-head screw (3 pcs) (Y-axis installed on
opposite side)

Type 4
[5] Bracket cover (Reverse of type 3)
X-axis: IS(P)A
[1] X-Y bracket
[1] X-Y bracket [Installation of X-Y bracket [1] on X-axis: IS(P)A]
Dedicated washer
Configuration type Parallel pin Hexagonal bolt High-tension Tightening torque
ICS(P)A-SA ‡6x15 M6x30mm M6 54.7kgfxcm/536Nxcm
ICS(P)A-S1C ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm Hexagonal socket head bolt (4 pcs)
X-axis: IS(P)A
ICS(P)A-S2C ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
ICS(P)A-SG ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm [Installation of Y-axis: IS(P)A on X-Y bracket [1]]
Parallel pin (1 pc or 2 pcs)
[Installation of bracket cover [5] on X-Y bracket [1]] Configuration Parallel Hexagonal Dedicated
Tightening torque
Configuration type Thin-head screw Tightening torque type pin socket head bolt washer
ICS(P)A-SA M3x6mm 8.9kgfxcm/87.2Nxcm ICS(P)A-SA ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
Note: To ensure squareness between the X-axis and Y-axis, insert one parallel ICS(P)A-S1C M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-S1C ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
pin. Adjust the angle between the X-axis and Y-axis to the right angle, ICS(P)A-S2C ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-S2C M4x6mm 20.8kgfxcm/204Nxcm
and then mount the hexagonal bolts.
ICS(P)A-SG M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-SG ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm

3 4 M3 x 12 mm (4 pcs)

[3] Connector box (small)

X-axis: IS(P)A

M4 nut (2 pcs)
Place the M4 nuts in the
[2] Box cover M4 x 10 mm, M4 nut
(2 pcs each)
slot provided on the side
face of the X-axis, before [2] Box cover
the connector box (large)
SA: M6 x 12 mm (2 pcs)
[4] is installed.
SC, SG: M8 x 15 mm (2 pcs) [9] Connector joint for cable inside [4] Connector box (large)
[6] Grommet with film
self-supporting cable assembly
SA: M4 x 14 mm (2 pcs) + spacer
and Y-axis cable SC, SG: M4 x 6 mm (2 pcs)

[8] Joint cover M3 x 12 mm (4 pcs)

[2] Cable fix cap
[8] Joint cover

[Installation of connector box (small) [3] on X-Y bracket [1]]

[Installation of box cover [2] on connector box (small) [3]] [Installation of connector box (large) [4] on X-Y bracket [1]]
Hexagonal Hexagonal socket head bolt Tightening torque
Tightening torque
[1] X-Y socket head bolt M4x12mm 18kgfxcm/176Nxcm
bracket M3x12mm 5.51kgfxcm/54Nxcm
M4x12mm 18kgfxcm/176Nxcm
[Installation of box cover [2] on connector box (large) [4]]
M6x6mm 54.7kgfxcm/536Nxcm
M8x6mm 117kgfxcm/1148Nxcm Hexagonal socket head [9] Connector joint for cable inside
Tightening torque
bolt
M3 x 12 mm
M3x12mm 5.51kgfxcm/54Nxcm
self-supporting cable assembly, X-axis
cable and controller-actuator cable

* This assembly procedure applies to combination direction 1. If other combination 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: x Although each part has been chamfered to remove sharp edges, exercise due caution ICS(P)A Cartesian Robot, 2-axis Configuration YZ (Z-axis Slider Mount) Type
during the assembly to prevent injury. If necessary, wear gloves or other protective gears. ICS(P)A2-Y†††-SC Self-supporting Cable
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No. GMM08-007 1/1

Hexagonal socket head bolt (4 pcs)

1 [Tools] Allen wrench High-tension washer (4 pcs) 2 Hexagonal bolt

Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin.
Adjust the angle between the X-axis and Y-axis to the right angle, and then
mount the hexagonal bolts. Place the mounting bolts
before the X-Y bracket [1] is
installed on the Y-axis.
Y-axis: IS(P)A

Z-axis: IS(P)A

Parallel pin
Mounting bolt
Hexagonal socket head bolt (4 pcs)
Dedicated washer (excluding YA) Configuration Parallel High-tension
Hexagonal bolt
type pin washer
Y-axis: IS(P)A ICS(P)A-YA ‡6x15 M6x30mm M6
ICS(P)A-YC ‡8x18 M8x35mm M8
ICS(P)A-YG ‡8x18 M8x35mm M8

Parallel pin [1] X-Y bracket

(1 pc or 2 pcs) [Installation of X-Y bracket [1] on Y-axis: IS(P)A] [Installation of Z-axis: IS(P)A on X-Y bracket [1]]
Configuration Parallel Hexagonal Dedicated Configuration High-tension
Tightening torque Tightening torque Parallel pin Hexagonal bolt Tightening torque Tightening torque
type pin socket head bolt washer type washer
ICS(P)A-YA ‡6x15 M6x28mm None 54.7kgfxcm/536Nxcm 8.9kgfxcm/87.2Nxcm ICS(P)A-YA ‡6x15 M6x30mm M6 54.7kgfxcm/536Nxcm 8.9kgfxcm/87.2Nxcm
ICS(P)A-YC ‡8x18 M8x40mm M8 306kgfxcm/2997Nxcm 20.8kgfxcm/204Nxcm ICS(P)A-YC ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm 20.8kgfxcm/204Nxcm
ICS(P)A-YG ‡8x18 M8x30mm M8 306kgfxcm/2997Nxcm 20.8kgfxcm/204Nxcm ICS(P)A-YG ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm 20.8kgfxcm/204Nxcm

M4 x 16 mm (2 pcs)
3 4 [8] Box spacer
Z-axis: IS(P)A
[3] Connector box
[4] Connector box (large) [9] Connector joint for cable inside self- 3 x 12 mm (4 pcs)
supporting cable assembly and controller-
[2] Box cover [7] Joint cover
actuator cable
M4 x 8 mm (2 pcs)

M3 x 12 mm (2 pcs)

[8] Joint cover M3 x 12 mm (4 pcs)

[Installation of connector box (large) [4] on X-Y bracket [1]] [5] Grommet with film [9] Connector joint for cable inside
3 x 12 mm ( 4 pcs) self-supporting cable assembly and
Hexagonal socket head bolt Tightening torque
[2] Box cover Z-axis cable
M4x8mm 18kgfxcm/176Nxcm
M4 nut
Place the M4 nuts in the slot provided
[Installation of box cover [2] on connector box (large) [4]] on the side face of the X-axis before the
Hexagonal socket head bolt Tightening torque connector box (large) [4] is installed.
M3x12mm 5.51kgfxcm/54Nxcm
Y-axis: IS(P)A
[Installation of connector box (large) [4] on X-Y bracket [1]]
Hexagonal socket head bolt Tightening torque
M4x16mm 18kgfxcm/176Nxcm
Place two M4 nuts in the slot provided
on the side face of the Y-axis before the [Installation of box cover [2] on connector box (large) [4]]
connector box (large) [4] is installed. Hexagonal socket head bolt Tightening torque
M3x12mm 5.51kgfxcm/54Nxcm
 Caution: x Although each part has been chamfered to remove sharp edges, exercise due caution ICS(P)A Cartesian Robot, 2-axis Configuration XZ (Z-axis Base Mount) Type
during the assembly to prevent injury. If necessary, wear gloves or other protective gears. ICS(P)A2-Z†††-CT Cable Track
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No. GMM08-008 1/2

Z-axis: IS(P)A
1 [Tools] Allen wrench 2
Hexagonal socket head bolt (4 pcs)

Flat washer(excluding ZA)

[1] X-Z bracket

[1] X-Z bracket

Parallel pin (2 pcs)

X-axis: IS(P)A

X-axis: IS(P)A Parallel pin (2 pcs)

Flat washer(excluding ZA)
[Installation of X-Y bracket [1] on X-axis: IS(P)A]
Hexagonal socket head
Configuration Parallel Hexagonal Flat bolt (4 pcs)
Tightening torque Tightening torque
type pin socket head bolt washer
[Installation of X-Y bracket [1] on Y-axis: IS(P)A]
ICS(P)A-ZA ‡6x15 M6x20mm None 54.7kgfxcm/536Nxcm 8.9kgfxcm/87.2Nxcm
ICS(P)A-Z1C M8x30mm M8 306kgfxcm/2997Nxcm 20.8kgfxcm/204Nxcm Configuration Parallel Hexagonal Flat
‡8x18 Tightening torque Tightening torque
type pin socket head bolt washer
ICS(P)A-Z2C ‡8x18 M8x30mm M8 306kgfxcm/2997Nxcm 20.8kgfxcm/204Nxcm
ICS(P)A-ZA ‡6x15 M6x20mm None 54.7kgfxcm/536Nxcm 8.9kgfxcm/87.2Nxcm
ICS(P)A-ZD ‡8x18 M8x30mm M8 306kgfxcm/2997Nxcm 20.8kgfxcm/204Nxcm
ICS(P)A-Z1C ‡8x18 M8x30mm M8 306kgfxcm/2997Nxcm 20.8kgfxcm/204Nxcm
ICS(P)A-ZG ‡8x18 M8x30mm M8 306kgfxcm/2997Nxcm 20.8kgfxcm/204Nxcm
ICS(P)A-Z2C ‡8x18 M8x30mm M8 306kgfxcm/2997Nxcm 20.8kgfxcm/204Nxcm
ICS(P)A-ZD ‡8x18 M8x30mm M8 306kgfxcm/2997Nxcm 20.8kgfxcm/204Nxcm
ICS(P)A-ZG ‡8x18 M8x30mm M8 306kgfxcm/2997Nxcm 20.8kgfxcm/204Nxcm

3 4
Flange-head
hexagonal socket head
bolt
M4 x 6 mm M6 x 8 mm (4 pcs)

X-axis: IS(P)A

[9] Guide rail

[10] Cable track

[9] Guide rail

X-axis: IS(P)A
Install the bolts by
hooking them in the
M4 hexagonal nut Install the bolts before holes in the guide rail [9].
the guide rail [9] is
installed.

M6 nut
X-axis: IS(P)A
The M4 hexagonal nut in the slot provided on the
side face of the X-axis, before the guide rail [9] is [Installation of guide rail [9] on X-axis: IS(P)A]
installed. The number of hexagonal nuts to be Flange-head hexagonal
Tightening torque
placed in the slot varies according to the stroke. socket head bolt Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
M4x6mm 18kgfxcm/176Nxcm for how to lay out the wiring inside a cable track.
 ICS(P)A Cartesian Robot, 2-axis Configuration XZ (Z-axis Base Mount) Type
ICS(P)A2-Z†††-CT Cable Track

Drawing No. GMM08-008 2/2

Installation of mounting
5 Z-axis: IS(P)A bracket [11] on Y-axis 6
M4 x 10 mm (2 pcs) [10] Connector joint for cable inside
[11] Mounting bracket
M4 nut cable track and Y-axis cable
[2] Box cover
Z-axis: IS(P)A
Install the connector box [7] Place two M4 hexagonal nuts in Z-axis: IS(P)A
with mounting bracket [11]. the slot provided on the side face
M3 x 12 mm (4 pcs) of the Z-axis before the cable
track [10] is installed.
[3] Connector box (small)
[3] Connector box (small)
[3] Connector box
[5] Joint cover Flange-head
[1] X-Z bracket M4 x 8 mm (2 pcs)

[7] Grommet with film [11] Mounting Install the bolts before the
bracket
connector box (small) [3] is
installed.

[Installation of mounting bracket [11] on connector box [3]]

[Installation of mounting bracket [11] on Z-axis: IS(P)A]
Hexagonal socket head bolt Tightening torque
M4x22mm 18kgfxcm/176Nxcm
[10] Cable track

[Installation of box cover [2] on connector box [3]] Install the bolts by hooking them
in the holes in the mounting
Hexagonal socket head bolt Tightening torque Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
bracket [11].
M3x12mm 5.51kgfxcm/54Nxcm for how to lay out the wiring inside a cable track.

7 8

[3] Connector box

Cable inside cable track

[3] Connector box
X-axis: IS(P)A

M4 hexagonal nut X-axis: IS(P)A

X-axis: IS(P)A
ZA: M4 x 14 mm + spacer
ZC to ZH: M4 x 6 mm

[2] Box cover Controller-

actuator cable
X-axis: IS(P)A
[3] Connector box
Place two M4 hexagonal nuts in the slot
[8] Cable fix cap
provided on the side face of the X-axis [5] Joint cover
before the connector box [3] is installed. [10] Connector joint for cable
inside cable track and
M3 x 12 mm (4 pcs) controller-actuator cable

Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
for how to lay out the wiring inside a cable track.
 Caution: x Although each part has been chamfered to remove sharp edges, exercise due caution ICS(P)A Cartesian Robot, 3-axis Configuration XYB + Z-axis (Z-axis Base Mount) Type
during the assembly to prevent injury. If necessary, wear gloves or other protective gears. ICS(P)A3-B†††B††-CT-CT X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Self-supporting Cable Track
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No. GMM08-009 1/3

[Tools] Allen wrench

1 2
In the case of configuration direction types 2 to 4, Y-axis: IS(P)A
the actuator and bracket directions are different. Type 2
(Reverse of type 1)
Y-axis

Thin-head screw (3 pcs)

Hexagonal socket Parallel pin (2 pcs)

head bolt (4 pcs)
Type 3
High-tension washer (Y-axis installed on
opposite side)
[Installation of X-Y bracket [1] on X-axis: IS(P)A]
Configuration Parallel High-
Hexagonal bolt Tightening torque
type pin tension
ICS(P)A-BA ‡6x15 M6x30mm M6 54.7kgfxcm/536Nxcm [1] X-Y bracket
[5] Bracket cover Type 4 ICS(P)A-BB ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
(Reverse of type 3) ICS(P)A-BC ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm Dedicated washer
[1] X-Y bracket ICS(P)A-BD ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm X-axis
Hexagonal socket head bolt (4 pcs)
ICS(P)A-BE ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
ICS(P)A-BF ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
[Installation of Y-axis: IS(P)A on X-Y bracket [1]]
X-axis: IS(P)A
[Installation of bracket cover [5] on X-Y bracket [1]] X-axis: IS(P)A Configuration Parallel Hexagonal Dedicated
Configuration Thin-head Tightening torque
Tightening torque type pin socket head bolt washer
type screw
ICS(P)A-BA ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
Thin-head screw (3 pcs) ICS(P)A-BA M3x6mm 8.9kgfxcm/87.2Nxcm
ICS(P)A-BB ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BB M3x6mm 20.8kgfxcm/204Nxcm
Parallel pin (1 pc or 2 pcs) ICS(P)A-BC ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BC M4x6mm 20.8kgfxcm/204Nxcm
ICS(P)A-BD ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin. ICS(P)A-BD M4x6mm 20.8kgfxcm/204Nxcm
ICS(P)A-BE M4x6mm 20.8kgfxcm/204Nxcm
ICS(P)A-BE ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
Adjust the angle between the X-axis and Y-axis to the right angle, and then ICS(P)A-BF ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
mount the hexagonal bolts. ICS(P)A-BF M4x6mm 20.8kgfxcm/204Nxcm

3 4
Z-axis: IS(P)A

Parallel pin

Parallel pin Remove the cover when installing the Z-axis.

Hexagonal socket
Y-axis: IS(P)A head bolt (4 pcs)
[Installation of Y-Z bracket [2] on Y-axis: IS(P)A] [Installation of Z-axis: IS(P)A on Y-Z bracket [2]]
Hexagonal socket Hexagonal socket
Configuration type Parallel pin Washer Tightening torque Configuration type Parallel pin Washer Tightening torque
Y-axis: IS(P)A head bolt head bolt
ICS(P)A-BA†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BA†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BB†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BB†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BB†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BB†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
[2] Y-Z bracket
ICS(P)A-BC†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BC†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BC†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm Dedicated washer ICS(P)A-BC†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
[2] Y-Z bracket Hexagonal socket ICS(P)A-BC†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BC†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
head bolt (4 pcs) ICS(P)A-BC†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BC†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BC†MB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BC†MB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BC†MB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BC†MB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BD†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BD†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BD†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BD†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BD†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BD†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BE†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BE†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BE†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BE†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†MB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BE†MB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†MB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BE†MB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BF†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BF†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BF†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BF†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BF†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BF†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm

* This assembly procedure applies to combination direction 1. If other combination 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.
 ICS(P)A Cartesian Robot, 3-axis Configuration XYB + Z-axis (Z-axis Base Mount) Type
ICS(P)A3-B†††B††-CT-CT X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Self-supporting Cable Track

Drawing No. GMM08-009 2/3

5 6
Z-axis: ICS(P)A
Flange-head hexagonal
socket head bolt
M4 x 6 mm

X-axis: IS(P)A

Thin-head screw [9] Guide rail

X-axis: IS(P)A

Ball screw cover

Install the bolts by hooking
Install the bolts before them in the holes in the
Y-axis: ICS(P)A the guide rail [9] is guide rail [9].
M4 hexagonal nut
installed.

The M4 hexagonal nut in the slot provided on the

[Installation of guide rail [9] on X-axis: IS(P)A]
side face of the X-axis, before the guide rail [9] is
installed. The number of hexagonal nuts to be Flange-head hexagonal
Tightening torque
socket head bolt
placed in the slot varies according to the stroke.
M4x6mm 18kgfxcm/176Nxcm

[10] Cable track

7 8 [2] Box cover 9
M3 x 12 mm (4 pcs) M5 x 10 mm (3 pcs)
[3] Connector box
BA: M4 x 20 mm (2 pcs) + spacer
BB to BF: M4 x 12 mm (2 pcs)
M6 x 8 mm (4 pcs)
[10] Cable track
Y-axis: IS(P)A
M3 x 12 mm (4 pcs)

[5] Joint cover

[3] Connector box

[9] Guide rail
M5 hexagonal nut (3 pcs)
Follow “Instruction for Cable Track Type
To [1] X-Y bracket Wiring (Drawing No. GMM12-001)”
[7] Grommet with film for how to lay out the wiring inside a
[Installation of connector box [3] on X-Y bracket [1]] cable track.
Hexagonal
Configuration type Tightening torque
socket head bolt
ICS(P)A-BA M4x20mm 18kgfxcm/176Nxcm
ICS(P)A-BB M4x12mm 18kgfxcm/176Nxcm
ICS(P)A-BC M4x12mm 18kgfxcm/176Nxcm Cable track side
X-axis: IS(P)A
M6 hexagonal nut (4 pcs) ICS(P)A-BD M4x12mm 18kgfxcm/176Nxcm
ICS(P)A-BE M4x12mm 18kgfxcm/176Nxcm
ICS(P)A-BF M4x12mm 18kgfxcm/176Nxcm

[Installation of box cover [2] on connector box [3]] [10] Connector joint for cable inside
Hexagonal socket head bolt Tightening torque cable track and Y-axis cable
M3x12mm 5.51kgfxcm/54Nxcm
 ICS(P)A Cartesian Robot, 3-axis Configuration XYB + Z-axis (Z-axis Base Mount) Type
ICS(P)A3-B†††B††-CT-CT X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Self-supporting Cable Track

Drawing No. GMM08-009 3/3

10 11
[3] Connector box

Cable inside cable track X-axis: IS(P)A

[3] Connector box

X-axis: IS(P)A

BA: M4 x 14 mm (2 pcs)
+ spacer
M4 hexagonal nut BB to BF: M4 x 6 mm
(2 pcs)
X-axis: IS(P)A
X-axis: IS(P)A Controller-actuator
[5] Joint cover
[3] Connector box cable

Hexagonal [8] Cable fix cap

Configuration type Tightening torque
socket head bolt [10] Connector joint for cable M3 x 12 mm (4 pcs)
ICS(P)A-BA M4x14mm 18kgfxcm/176Nxcm inside cable track and controller-
ICS(P)A-BB M4x6mm 18kgfxcm/176Nxcm actuator cable
Place two M4 hexagonal nuts in the slot provided on the side face ICS(P)A-BC M4x6mm 18kgfxcm/176Nxcm
of the X-axis before the connector box [3] is installed. ICS(P)A-BD M4x6mm 18kgfxcm/176Nxcm
ICS(P)A-BE M4x6mm 18kgfxcm/176Nxcm Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
ICS(P)A-BF M4x6mm 18kgfxcm/176Nxcm for how to lay out the wiring inside a cable track.

12 13 Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)” 14
for how to lay out the wiring inside a cable track.
Z-axis: IS(P)A
[5] Connector box (small)
M3 x 12 mm (4 pcs)
Z-axis: IS(P)A
M4 x 6 mm (2 pcs)

Z-axis: IS(P)A
[2] Y-Z bracket

[13] Box cover support [9] Box cover

Insert the M4 nut from the T

slot. The number of nuts to be
inserted varies according to the
Also wire the
length of the Y-axis.
motor/encoder at the
same time.

M3 x 12 mm (4 pcs)
M6 x 12 mm (2 pcs) [14] Cable track assembly
[8] Joint cover (small)
Y-axis: IS(P)A
[13] Box cover support

Y-axis: IS(P)A Flange-head hexagonal

socket head bolt Y-axis: IS(P)A
M4 x 6 mm Guide rail

Hexagonal
Tightening torque Flange-head hexagonal
Hexagonal socket head bolt Tightening torque
Tightening torque socket head bolt
socket head bolt M3x12mm 5.51kgfxcm/54Nxcm
M4x6mm 18kgfxcm/176Nxcm
M6x12mm 54.7kgfxcm/536Nxcm M4x6mm 18kgfxcm/176Nxcm
 Caution: x Although each part has been chamfered to remove sharp edges, exercise due caution ICS(P)A Cartesian Robot, 3-axis Configuration X-Y Base Mount (XYB) + Z-axis (Z-axis Base Mount) Type
during the assembly to prevent injury. If necessary, wear gloves or other protective gears. ICS(P)A3-B†††B††-CT-SC X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Self-supporting Cable
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No. GMM08-0010 1/3

1 [Tools] Allen wrench

2
Type 2 Y-axis: IS(P)A
In the case of configuration direction types 2 to 4, (Reverse of type 1)
Y-axis
the actuator and bracket directions are different.
Thin-head screw (3 pcs)

Hexagonal socket Type 3 Parallel pin (2 pcs)

head bolt (4 pcs) (Y-axis installed on
opposite side)

High-tension washer
[Installation of X-Y bracket [1] on X-axis: IS(P)A]
Type 4 Configuration type Parallel pin Hexagonal bolt High-tension Tightening torque
(Reverse of type 3)
[1] X-Y bracket
ICS(P)A-BA ‡6x15 M6x30mm M6 54.7kgfxcm/536Nxcm
[5] Bracket cover ICS(P)A-BB ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
Dedicated washer
ICS(P)A-BC ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
[1] X-Y bracket X-axis
ICS(P)A-BD ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm Hexagonal socket head bolt (4 pcs)
ICS(P)A-BE ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
ICS(P)A-BF ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
X-axis: IS(P)A
X-axis: IS(P)A [Installation of Y-axis: IS(P)A on X-Y bracket [1]]
[Installation of bracket cover [5] on X-Y bracket [1]]
Configuration Parallel Hexagonal Dedicated
Configuration type Thin-head screw Tightening torque Tightening torque
Thin-head screw (3 pcs) type pin socket head bolt washer
ICS(P)A-BA M3x6mm 8.9kgfxcm/87.2Nxcm ICS(P)A-BA ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
Parallel pin (1 pc or 2 pcs) ICS(P)A-BB M3x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BB ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BC M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BC ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin. Adjust the angle ICS(P)A-BD M4x6mm 20.8kgfxcm/204Nxcm
ICS(P)A-BD ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
between the X-axis and Y-axis to the right angle, and then mount the hexagonal bolts. ICS(P)A-BE M4x6mm 20.8kgfxcm/204Nxcm
ICS(P)A-BE ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BF M4x6mm 20.8kgfxcm/204Nxcm
ICS(P)A-BF ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm

3 4 Z-axis: IS(P)A

Parallel pin

Parallel pin Remove the cover when installing the Z-axis.

[Installation of Y-Z bracket [2] on Y-axis: IS(P)A] Hexagonal socket

Y-axis: IS(P)A head bolt (4 pcs)
Parallel Hexagonal [Installation of Z-axis: IS(P)A on Y-Z bracket [2]]
Configuration type Washer Tightening torque
pin socket head bolt
Hexagonal socket
ICS(P)A-BA†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm Configuration type Parallel pin Washer Tightening torque
head bolt
Y-axis: IS(P)A ICS(P)A-BB†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BA†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BB†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BB†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BC†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BB†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BC†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm [2] Y-Z bracket ICS(P)A-BC†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BC†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm Dedicated washer ICS(P)A-BC†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
Hexagonal socket ICS(P)A-BC†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BC†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
[2] Y-Z bracket ICS(P)A-BC†MB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BC†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
head bolt (4 pcs)
ICS(P)A-BC†MB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BC†MB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BD†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BC†MB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BD†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BD†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BD†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BD†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BD†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BE†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BE†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†MB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†MB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†MB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BE†MB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BF†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BF†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BF†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BF†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BF†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BF†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm

* This assembly procedure applies to combination direction 1. If other combination 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.
 ICS(P)A Cartesian Robot, 3-axis Configuration X-Y Base Mount (XYB) + Z-axis (Z-axis Base Mount) Type
ICS(P)A3-B†††B††-CT-SC X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Self-supporting Cable

Drawing No. GMM08-010 2/3

5 6 7

Z-axis: ICS(P)A [14] Guide rail

Flange-head hexagonal
socket head bolt
M4 x 6 mm

[9] Box cover [14] Cable track assembly

M3 x 12 mm (4 pcs) M4 x 12 mm (4 pcs)

Install the bolts before the

guide rail [14] is installed.

M3 x 12 mm (4 pcs)

Ball screw cover
Y-axis: ICS(P)A
Hexagonal socket head bolt
M3x12mm
M4x12mm
The M4 hexagonal nut in the slot provided Install the bolts by hooking
on the side face of the X-axis, before the them in the holes in the
guide rail [14] is installed. The number of guide rail [14].
hexagonal nuts to be placed in the slot
varies according to the stroke.
Tightening torque
[Installation of guide rail [14] on X-axis: IS(P)A]
5.51kgfxcm/54Nxcm
18kgfxcm/176Nxcm Flange-head hexagonal
Tightening torque
socket head bolt
M4x6mm 18kgfxcm/176Nxcm

8 9 10 [10] Cable track

[2] Box cover

M3 x 12 mm (4 pcs) M5 x 10 mm (3 pcs)

[3] Connector box BA: M4 x 20 mm (2 pcs) + spacer

BB to BF: M4 x 12 mm (2 pcs)
M6 x 8 mm (4 pcs)

[10] Cable track

Y-axis: IS(P)A

M3 x 12 mm (4 pcs)

[5] Joint cover

[3] Connector box
[14] Guide rail
M5 hexagonal nut (3 pcs)
Follow “Instruction for Cable Track
To [1] X-Y bracket Type Wiring(Drawing No. GMM12-001)”
[7] Grommet with film for how to lay out the wiring inside a
[Installation of connector box [3] on X-Y bracket [1]] cable track.

Hexagonal
Configuration type Tightening torque
socket head bolt
ICS(P)A-BA M4x20mm 18kgfxcm/176Nxcm
ICS(P)A-BB M4x12mm 18kgfxcm/176Nxcm
X-axis: IS(P)A M6 hexagonal nut (4 pcs) ICS(P)A-BC M4x12mm 18kgfxcm/176Nxcm Cable track side
ICS(P)A-BD M4x12mm 18kgfxcm/176Nxcm
ICS(P)A-BE M4x12mm 18kgfxcm/176Nxcm
ICS(P)A-BF M4x12mm 18kgfxcm/176Nxcm

[Installation of box cover [2] on connector box [3]]

[10] Connector joint for cable inside
Hexagonal socket head bolt Tightening torque
cable track and Y-axis cable
M3x12mm 5.51kgfxcm/54Nxcm
 ICS(P)A Cartesian Robot, 3-axis Configuration X-Y Base Mount (XYB) + Z-axis (Z-axis Base Mount) Type
ICS(P)A3-B†††B††-CT-SC X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Self-supporting Cable

Drawing No. GMM08-010 3/3

11 12

[3] Connector box

Cable inside cable track

X-axis: IS(P)A

[3] Connector box

X-axis: IS(P)A
M4 hexagonal nut BA: M4 x 14 mm (2 pcs)
+ spacer
BB to BF: M4 x 6 mm
X-axis: IS(P)A (2 pcs)
X-axis: IS(P)A
[3] Connector box Controller-actuator
cable [5] Joint cover

Hexagonal [8] Cable fix cap

Configuration type Tightening torque [3] Connector box
socket head bolt
ICS(P)A-BA M4x14mm 18kgfxcm/176Nxcm [10] Connector joint for cable M3 x 12 mm (4 pcs)
Place two M4 hexagonal nuts in the slot provided on the side face of ICS(P)A-BB M4x6mm 18kgfxcm/176Nxcm inside cable track and
the X-axis before the connector box [3] is installed. ICS(P)A-BC M4x6mm 18kgfxcm/176Nxcm controller-actuator cable
ICS(P)A-BD M4x6mm 18kgfxcm/176Nxcm
ICS(P)A-BE M4x6mm 18kgfxcm/176Nxcm Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
ICS(P)A-BF M4x6mm 18kgfxcm/176Nxcm for how to lay out the wiring inside a cable track.

13 14

[5] Connector box(small)

[5] Connector box (small)

Z-axis: ICS(P)A
M4 x 8 mm (2 pcs)

Z-axis: ICS(P)A
Hexagonal
Tightening torque
socket head bolt
M4x8mm 18kgfxcm/176Nxcm
[13] Box cover support

Insert two M4 nuts. M3 x 12 mm (4 pcs)

Flange-head hexagonal [9] Box cover

socket head bolt
M4 x 8 [14] Connector joint for cable
inside cable track and
[4] Connector box (medium) controller-actuator cable

[7] Joint cover (medium) Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
for how to lay out the wiring inside a cable track.
 Caution: x Although each part has been chamfered to remove sharp edges, exercise due caution ICS(P)A Cartesian Robot, 3-axis Configuration X-Y Base Mount (XYB) + Z-axis (Z-axis Base Mount) Type
during the assembly to prevent injury. If necessary, wear gloves or other protective gears. ICS(P)A3-B†††B††-SC-SC X-axis/Y-axis: Self-supporting Cable, Y-axis/Z-axis: Self-supporting Cable
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No. GMM08-0011 1/2

1 [Tools] Allen wrench

2
Type 2 Y-axis: IS(P)A
In the case of configuration direction types 2 to 4, (Reverse of type 1)

the actuator and bracket directions are different.

Thin-head screw (3 pcs)

Hexagonal socket Type 3 Parallel pin (2 pcs)

head bolt (4 pcs) (Y-axis installed on
[Installation of X-Y bracket [1] on X-axis: IS(P)A]
opposite side)

High-tension washer Configuration Parallel

Hexagonal bolt High-tension Tightening torque
type pin
ICS(P)A-BA ‡6x15 M6x30mm M6 54.7kgfxcm/536Nxcm
Type 4 ICS(P)A-BB ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm [1] X-Y bracket
(Reverse of type 3)
ICS(P)A-BC ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
[5] Bracket cover ICS(P)A-BD ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
Dedicated washer
[1] X-Y bracket ICS(P)A-BE ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
ICS(P)A-BF ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm Hexagonal socket head bolt (4 pcs)

[Installation of bracket cover [5] on X-Y bracket [1]] X-axis: IS(P)A

X-axis: IS(P)A [Installation of Y-axis: IS(P)A on X-Y bracket [1]]
Configuration
Thin-head screw Tightening torque
type Configuration Parallel Hexagonal Dedicated
Thin-head screw (3 pcs) Tightening torque
ICS(P)A-BA M3x6mm 8.9kgfxcm/87.2Nxcm type pin socket head bolt washer
ICS(P)A-BB M3x6mm 8.9kgfxcm/87.2Nxcm ICS(P)A-BA ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
Parallel pin (1 pc or 2 pcs) ICS(P)A-BB ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BC M4x6mm 20.8kgfxcm/204Nxcm
ICS(P)A-BD M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BC ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin. Adjust the angle ICS(P)A-BE M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BD ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
between the X-axis and Y-axis to the right angle, and then mount the hexagonal bolts. ICS(P)A-BF M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BE ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BF ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm

Z-axis: IS(P)A
3 4
Parallel pin

Parallel pin Remove the cover when installing the Z-axis.

Hexagonal socket
[Installation of Y-Z bracket [2] on Y-axis: IS(P)A] Y-axis: IS(P)A head bolt (4 pcs) [Installation of Z-axis: IS(P)A on Y-Z bracket [2]]
Parallel Hexagonal Parallel Hexagonal
Configuration type Washer Tightening torque Configuration type Washer Tightening torque
pin socket head bolt pin socket head bolt
ICS(P)A-BA†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BA†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
Y-axis: IS(P)A ICS(P)A-BB†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BB†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BB†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BB†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BC†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm [2] Y-Z bracket ICS(P)A-BC†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BC†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BC†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
Dedicated washer
ICS(P)A-BC†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BC†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BC†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BC†MB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
Hexagonal socket
[2] Y-Z bracket ICS(P)A-BC†MB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BC†MB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
head bolt (4 pcs)
ICS(P)A-BC†MB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BC†MB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BD†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BD†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BD†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BD†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BD†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BD†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BE†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BE†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BE†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BE†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†MB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BE†MB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†MB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BE†MB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BF†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm ICS(P)A-BF†HB1† ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BF†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BF†HB2† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BF†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BF†HB3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm

* This assembly procedure applies to combination direction 1. If other combination 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.
 ICS(P)A Cartesian Robot, 3-axis Configuration X-Y Base Mount (XYB) + Z-axis (Z-axis Base Mount) Type
ICS(P)A3-B†††B††-SC-SC X-axis/Y-axis: Self-supporting Cable, Y-axis/Z-axis: Self-supporting Cable

Drawing No. GMM08-011 2/2

7 M3 x 12 mm (4 pcs)
5 6

Z-axis: ICS(P)A
[6] Box cover X-axis

[4] Connector box (medium)

M3 x 12 mm (4 pcs)

X-axis: IS(P)A [2] Box cover

M4 x 12 mm (4 pcs)
Thin-head screw
[6] Grommet with film
[4] Connector box (large)

BA: M4 x 14 mm (2 pcs) + spacer

M3 x 12 mm (4 pcs) BB to BF: M4 x 6 mm (2 pcs)

Y-axis: ICS(P)A [8] Joint cover

Hexagonal
M3 x 12 mm Configuration type Tightening torque
socket head bolt
(4 pcs)
ICS(P)A-BA M4x20mm 18kgfxcm/176Nxcm
Y-axis: ICS(P)A Ball screw cover M4 nut (2 pcs) ICS(P)A-BB M4x12mm 18kgfxcm/176Nxcm
[8] Joint cover (medium) ICS(P)A-BC M4x12mm 18kgfxcm/176Nxcm
Place the M4 ICS(P)A-BD M4x12mm 18kgfxcm/176Nxcm
nuts in the slot [7] Cable ICS(P)A-BE M4x12mm 18kgfxcm/176Nxcm
provided on the fix cap ICS(P)A-BF M4x12mm 18kgfxcm/176Nxcm
Hexagonal socket head bolt Tightening torque
side face of the
X-axis, before [9] Connector joint for cable inside
M3x12mm 5.51kgfxcm/54Nxcm
the connector self-supporting cable assembly, X-axis
M4x12mm 18kgfxcm/176Nxcm
box (large) [4] is
installed.
cable and controller-actuator cable

8 9 M3 x 12 mm (4 pcs) Z-axis: ICS(P)A

Hexagonal socket head bolt Tightening torque

M4x8mm 18kgfxcm/176Nxcm

[5] Connector box (small) M3 x 12 mm (4 pcs)

[6] Box cover
Z-axis: ICS(P)A

Flange-head hexagonal
Tightening torque
Hexagonal socket head bolt socket head bolt [8] Joint cover (small)
M4 x 8 mm M4x8mm 18kgfxcm/176Nxcm
[13] Box cover support

Flange-head hexagonal
Insert two M4 nuts.
socket head bolt
M4 x 8 mm

[14] Connector joint for cable

inside cable track and
controller-actuator cable
 Caution: x Although each part has been chamfered to remove sharp edges, exercise due caution ICS(P)A Cartesian Robot, 3-axis Configuration X-Y Base Mount (XYB) + Z-axis (Z-axis Slider Mount) Type
during the assembly to prevent injury. If necessary, wear gloves or other protective gears. ICS(P)A3-B†††S††-SC-SC X-axis/Y-axis: Self-supporting Cable, Y-axis/Z-axis: Self-supporting Cable
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No. GMM08-012 1/2

1 [Tools] Allen wrench (3 pcs)

2
Type 2 Y-axis: IS(P)A
In the case of configuration direction types 2 to 4, (Reverse of type 1)

the actuator and bracket directions are different.

Thin-head screw

Hexagonal socket Type 3 Parallel pin (2 pcs)

head bolt (4 pcs) (Y-axis installed on
opposite side)

High-tension washer

[Installation of X-Y bracket [1] on X-axis: IS(P)A]

Type 4
(Reverse of type 3)
Configuration type Parallel pin Hexagonal bolt High-tension Tightening torque [1] X-Y bracket
ICS(P)A-BA ‡6x15 M6x30mm M6 54.7kgfxcm/536Nxcm
[5] Bracket cover
ICS(P)A-BB ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm Dedicated washer
[1] X-Y bracket ICS(P)A-BC ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
Hexagonal socket head bolt (4 pcs)
ICS(P)A-BD ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
ICS(P)A-BE ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
ICS(P)A-BF ‡8x18 M8x35mm M8 306kgfxcm/2997Nxcm
X-axis: IS(P)A
X-axis: IS(P)A [Installation of Y-axis: IS(P)A on X-Y bracket [1]]
[Installation of bracket cover [5] on X-Y bracket [1]]
Configuration Parallel Hexagonal Dedicated
Tightening torque
Thin-head screw (3 pcs) Configuration type Thin-head screw Tightening torque type pin socket head bolt washer
ICS(P)A-BA M3x6mm 8.9kgfxcm/87.2Nxcm ICS(P)A-BA ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
Parallel pin (1 pc or 2 pcs) ICS(P)A-BB M3x6mm 8.9kgfxcm/87.2Nxcm ICS(P)A-BB ‡6x15 M6x20mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BC M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BC ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin. Adjust the angle ICS(P)A-BD M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BD ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
between the X-axis and Y-axis to the right angle, and then mount the hexagonal bolts. ICS(P)A-BE M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BE ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BF M4x6mm 20.8kgfxcm/204Nxcm ICS(P)A-BF ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm

3 High-tension washer (4 pcs) 4

Hexagonal bolt

[2] Y-Z bracket

[2] Y-Z bracket
Hexagonal bolt 4 pcs
Y-axis: ICS(P)A

Parallel pin

Configuration type Parallel pin Hexagonal bolt Washer Tightening torque Parallel Hexagonal
ICS(P)A-BA†MS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm Configuration type Washer Tightening torque
pin socket head bolt
ICS(P)A-BB†HS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm ICS(P)A-BA†MS1† ‡6x15 M6x28mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BB†MS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm ICS(P)A-BB†HS1† ‡6x15 M6x28mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BC†HS3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BB†MS1† ‡6x15 M6x28mm Not required 54.7kgfxcm/536Nxcm
ICS(P)A-BC†MS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm ICS(P)A-BC†HS3† ‡8x18 M8x40mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BC†MS3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BC†MS1† ‡6x15 M6x28mm Required 54.7kgfxcm/536Nxcm
ICS(P)A-BD†HS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm ICS(P)A-BC†MS3† ‡8x18 M8x40mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BD†HS3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BD†HS1† ‡6x15 M6x28mm Required 54.7kgfxcm/536Nxcm
ICS(P)A-BE†HS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm ICS(P)A-BD†HS3† ‡8x18 M8x40mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†HS3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BE†HS1† ‡6x15 M6x28mm Required 54.7kgfxcm/536Nxcm
ICS(P)A-BF†MS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm ICS(P)A-BE†HS3† ‡8x18 M8x40mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BF†MS3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BF†MS1† ‡6x15 M6x28mm Required 54.7kgfxcm/536Nxcm
ICS(P)A-BF†HS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm ICS(P)A-BF†MS3† ‡8x18 M8x40mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BF†HS3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm ICS(P)A-BF†HS1† ‡6x15 M6x28mm Required 54.7kgfxcm/536Nxcm
ICS(P)A-BF†HS3† ‡8x18 M8x40mm Required 306kgfxcm/2997Nxcm
 ICS(P)A Cartesian Robot, 3-axis Configuration X-Y Base Mount (XYB) + Z-axis (Z-axis Slider Mount) Type
ICS(P)A3-B†††S††-SC-SC X-axis/Y-axis: Self-supporting Cable, Y-axis/Z-axis: Self-supporting Cable

Drawing No. GMM08-012 2/2

5 6

Hexagonal bolt
[6] Box cover
M3 x 12 mm (4 pcs)

[4] Connector box (medium)

M4 x 12 mm (4 pcs)
Z-axis: ICS(P)A

Configuration type Parallel pin Hexagonal bolt Washer Tightening torque

ICS(P)A-BA†MS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm
ICS(P)A-BB†HS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm M3 x 12 mm (4 pcs)
ICS(P)A-BB†MS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm
Parallel pin
ICS(P)A-BC†HS3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BC†MS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm
ICS(P)A-BC†MS3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm Y-axis: ICS(P)A
Y-axis: ICS(P)A ICS(P)A-BD†HS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm
ICS(P)A-BD†HS3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BE†HS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm
ICS(P)A-BE†HS3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
ICS(P)A-BF†MS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm [1] X-Y bracket
ICS(P)A-BF†MS3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm [8] Joint cover (medium)
ICS(P)A-BF†HS1† ‡6x15 M6x20mm Required 54.7kgfxcm/536Nxcm
ICS(P)A-BF†HS3† ‡8x18 M8x28mm Required 306kgfxcm/2997Nxcm
Hexagonal socket head bolt Tightening torque
M3x12mm 5.51kgfxcm/54Nxcm
M4x12mm 18kgfxcm/176Nxcm

7 M3 x 12 mm (4 pcs) 8

X-axis
Z-axis: ICS(P)A

[5] Connector box

X-axis: IS(P)A [2] Box cover

[6] Grommet with film [6] Box cover

[4] Connector box (large)

BA: M4 x 14 mm (2 pcs) + spacer

BB to BF: M4 x 6 mm (2 pcs)
M3 x 12 mm (4 pcs)
Hexagonal
Configuration type Tightening torque
[8] Joint cover socket head bolt
ICS(P)A-BA M4x20mm 18kgfxcm/176Nxcm M4 x 16 mm (2 pcs)
ICS(P)A-BB M4x12mm 18kgfxcm/176Nxcm
ICS(P)A-BC M4x12mm 18kgfxcm/176Nxcm
M4 nut (2 pcs)
Place the M4 ICS(P)A-BD M4x12mm 18kgfxcm/176Nxcm M3 x 12 mm (4 pcs)
nuts in the slot ICS(P)A-BE M4x12mm 18kgfxcm/176Nxcm
provided on the ICS(P)A-BF M4x12mm 18kgfxcm/176Nxcm [9] Joint cover (small)
side face of the [7] Cable fix cap
X-axis, before [18] Connector joint for cable
the connector inside cable track and
box (large) [4] is [9] Connector joint for cable inside controller-actuator cable
installed.
self-supporting cable assembly, X-axis
cable and controller-actuator cable
 Caution: x Although each part has been chamfered to remove sharp edges, exercise due caution ICS(P)A Cartesian Robot, 3-axis Configuration XYG (Gantry) Type
during the assembly to prevent injury. If necessary, wear gloves or other protective gears. ICS(P)A3-G†††B††-CT-CT X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Cable Track
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No. GMM08-013 1/3

Hexagonal socket
1 2 head bolt Dedicated washer Tightening torque
Parallel pin (‡8 x 18) x 2 pcs
M8x45mm (8 pcs) Required 117kgfxcm/1148Nxcm
[Installation of X-Y bracket (1) [1] on X-axis: IS(P)A]

[1] X-Y bracket Flat washer

X-axis: IS(P)A
X-axis: IS(P)A

[Installation of space [4] on gantry]

3 4 5
Hexagonal socket
Tightening torque
head bolt
M6x45mm (4 pcs) 57.4 kgfxcm/536Nxcm
[4] Spacer

‡6 x 15 mm
parallel pin (2pcs)

X-axis: IS(P)A

Gantry
[1] X-Y bracket

M3 x 12 mm (4 pcs)
[Installation of pin bracket [3] on spacer [4]]
Hexagonal socket
Flange-head Tightening torque
X-axis: IS(P)A head bolt
M4 x 6 mm M6x35mm (4 pcs) 57.4 kgfxcm/536Nxcm
[8] Box cover
M4 x 10 mm [3] Pin bracket

[13] Cable fix cap

Cable track assembly

[10] Connector box

M3 x 12 mm (4 pcs) M4 x 12 mm (2 pcs)
[9] Joint cover Gantry
Flange-head hexagonal
Tightening torque
socket head bolt
Insert the M4 nuts beforehand. M4x6mm 18kgfxcm/176Nxcm
M4x10mm 18kgfxcm/176Nxcm
 ICS(P)A Cartesian Robot, 3-axis Configuration XYG (Gantry) Type
ICS(P)A3-G†††B††-CT-CT X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Cable Track

Drawing No. GMM08-013 2/3

(2 pcs) These 2 pieces Hexagonal socket

6 7 8 have been deleted. head bolt
Tightening torque
(4 pcs) M8x30mm (6 pcs) 54.7 kgfxcm/536Nxcm

[2] X-Y bracket

[3] Pin bracket ‡8 x 18mm
Parallel pin (2 pcs) Y-axis: IS(P)A

Gantry

Driven axis

Gantry [11] Cable track

Driving axis

X-axis: IS(P)A

Gantry X-axis: IS(P)A Cable inside cable track

[3] Connector box (large)

X-axis: IS(P)A

9 10 M4 x 10 mm (2 pcs)

[8] Box cover Controller-

[7] Connector box (small)
actuator cable

[8] Cable fix cap [11] Connector joint for

cable inside cable track
Thin-head screw
and controller-actuator
M3 x 12 mm cable

[7] Connector box (small)

Follow “Instruction for Cable Track
Type Wiring (Drawing No.
GMM12-001)”for how to lay out
the wiring inside a cable track.

M3 x 12 mm

[9] Joint cover

Y-axis: IS(P)A Connector joint for
[8] Box cover actuator cable and cable
inside cable track
Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
for how to lay out the wiring inside a cable track.
 ICS(P)A Cartesian Robot, 3-axis Configuration XYG (Gantry) Type
ICS(P)A3-G†††B††-CT-CT X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Cable Track

Drawing No. GMM08-013 3/3

11 12 13 14

Z-axis: ICS(P)A
Hexagonal socket
head bolt (4 pcs)
Parallel pin (1 pc)
Flat washer
Parallel pin (2 pcs)

[5] Y-Z bracket

Y-axis: ICS(P)A

Y-axis: ICS(P)A Y-axis: ICS(P)A

Hexagonal socket
head bolt (4 pcs)
Parallel pin (2 pcs)
[6] Y-Z plate
Ball screw cover

Configuration type Parallel pin Hexagonal bolt Flat washer Tightening torque Configuration type Parallel pin Hexagonal bolt Tightening torque Configuration type Parallel pin Hexagonal bolt Washer Tightening torque
ICS(P)A3-G1(2)JHB1 ‡8x18 M8x30mm M8 54.7kgfxcm/536Nxcm ICS(P)A3-G1(2)JHB1 ‡6x15 M6x20mm 54.7kgfxcm/536Nxcm ICS(P)A3-G1(2)JHB1 ‡6x15 M6x18mm Dedicated 54.7kgfxcm/536Nxcm
ICS(P)A3-G1(2)JHB2 ‡8x18 M8x30mm M8 306kgfxcm/2997Nxcm ICS(P)A3-G1(2)JHB2 ‡8x18 M8x20mm 306kgfxcm/2997Nxcm ICS(P)A3-G1(2)JHB2 ‡8x18 M8x28mm Dedicated 306kgfxcm/2997Nxcm
ICS(P)A3-G1(2)JHB3 ‡8x18 M8x30mm M8 306kgfxcm/2997Nxcm ICS(P)A3-G1(2)JHB3 ‡8x18 M8x20mm 306kgfxcm/2997Nxcm ICS(P)A3-G1(2)JHB3 ‡8x18 M8x28mm Dedicated 306kgfxcm/2997Nxcm

15 16 17 M3 x 12 (4 pcs)

M6 x 10 mm (4 pcs)
[14] Box cover [13] Connector box
(small)

M3 x 12 (4 pcs)
[8] Mounting bracket (2)

M4x6
The number of bolts
varies according to
the Y-axis stroke. Insert M4 nuts beforehand.
M4 x 10 mm (2 pcs)

M4 x 10 mm (2 pcs)
[8] Mounting bracket (2)

[18] Connector joint for cable

inside cable track and
controller-actuator cable

Follow “Instruction for Cable Track

Type Wiring (Drawing No. GMM12-001)”
for how to lay out the wiring inside a
M6 nut (4 pcs) cable track.
 Caution: x Although each part has been chamfered to remove sharp edges, exercise due caution ICS(P)A Cartesian Robot, 3-axis Configuration X-Y (Gantry) + Z Type
during the assembly to prevent injury. If necessary, wear gloves or other protective gears. ICS(P)A3-G†††S††-CT-SC X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Self-supporting Cable
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No. GMM08-014 1/4

Hexagonal socket
1 2 head bolt Dedicated washer Tightening torque
Parallel pin (‡8 x 18) x 2 pcs
M8x45mm (8 pcs) Required 117kgfxcm/1148Nxcm
[Installation of X-Y bracket (1) [1] on X-axis: IS(P)A]

[1] X-Y bracket Flat washer

X-axis: IS(P)A
X-axis: IS(P)A

[Installation of space [4] on gantry]

3 4 5
Hexagonal socket head
Tightening torque
bolt
M6x45mm (4 pcs) 57.4 kgfxcm/536Nxcm
[4] Spacer

‡6 x 15 mm
parallel pin (2pcs)

X-axis: IS(P)A

Gantry
[1] X-Y bracket

M3 x 12 mm (4 pcs) [Installation of pin bracket [3] on spacer [4]]

Hexagonal socket
Tightening torque
Flange-head head bolt
X-axis: IS(P)A
M4 x 6 mm M6x35mm (4 pcs) 57.4 kgfxcm/536Nxcm
[8] Box cover

M4 x 10 mm [3] Pin bracket

[13] Cable fix cap

Cable track assembly

[10] Connector box

M4 x 12 mm (2 pcs)
M3 x 12 mm (4 pcs) [9] Joint cover Gantry
Flange-head hexagonal
Tightening torque
socket head bolt
Insert the M4 nuts beforehand. M4x6mm 18kgfxcm/176Nxcm
M4x10mm 18kgfxcm/176Nxcm
 ICS(P)A Cartesian Robot, 3-axis Configuration X-Y (Gantry) + Z Type
ICS(P)A3-G†††S††-CT-SC X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Self-supporting Cable

Drawing No. GMM08-014 2/4

(2 pcs)
These 2 pieces Hexagonal socket
6 7 8 have been deleted. head bolt
Tightening torque
(4 pcs) M8x30mm (6 pcs) 54.7 kgfxcm/536Nxcm

[2] X-Y bracket ‡8 x 18mm

Parallel pin (2 pcs) Y-axis: IS(P)A
[3] Pin bracket

Gantry

Driven axis

Gantry [11] Cable track

Driving axis

X-axis: IS(P)A

X-axis: IS(P)A Cable inside cable track

Gantry [3] Connector box (large)

X-axis: IS(P)A

9 10 M4 x 10 mm (2 pcs)
[8] Box cover
[7] Connector box (small) Controller-
actuator cable

[8] Cable fix cap

[11] Connector joint for
Thin-head screw
cable inside cable
track and controller-
M3 x 12 mm actuator cable

[7] Connector box (small)

Follow “Instruction for Cable Track
Type Wiring (Drawing No. GMM12-
001)” for how to lay out the wiring
inside a cable track.

M3 x 12 mm

Y-axis: IS(P)A [9] Joint cover

Connector joint for
[8] Box cover actuator cable and cable
inside cable track
Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
for how to lay out the wiring inside a cable track.
 ICS(P)A Cartesian Robot, 3-axis Configuration X-Y (Gantry) + Z Type
ICS(P)A3-G†††S††-CT-SC X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Self-supporting Cable

Drawing No. GMM08-014 3/4

11 12 13

Hexagonal socket
head bolt (4 pcs) Cable track assembly

Flat washer Z-axis: ICS(P)A

[5] Y-Z bracket

[5] Y-Z bracket

Parallel pin (1 pc)
Y-axis: ICS(P)A

Parallel pin (2 pcs)

Flange-head
M4 x 6
The number of bolts
varies according to
the Y-axis stroke.
Configuration type Parallel pin Hexagonal bolt Flat washer Tightening torque Hexagonal
Configuration type Parallel pin Tightening torque Insert M4 nuts beforehand.
ICS(P)A3-G1(2)JHB1 ‡8x18 M8x30mm M8 54.7kgfxcm/536Nxcm socket head bolt
ICS(P)A3-G1(2)JHB2 ‡8x18 M8x30mm M8 306kgfxcm/2997Nxcm ICS(P)A3-G1(2)JHB1 ‡6x15 M6x25mm 54.7kgfxcm/536Nxcm
ICS(P)A3-G1(2)JHB3 ‡8x18 M8x30mm M8 306kgfxcm/2997Nxcm ICS(P)A3-G1(2)JHB2 ‡8x18 M8x30mm 306kgfxcm/2997Nxcm
ICS(P)A3-G1(2)JHB3 ‡8x18 M8x30mm 306kgfxcm/2997Nxcm

15 16 17

M6 x 10 mm (4 pcs)

M4 x 10 mm (2 pcs)
Mounting bracket (2)

Hexagonal socket head bolt Tightening torque

M4x10mm 18kgfxcm/176Nxcm

M3 x 12 mm (4 pcs) M3 x 12 mm (4 pcs)

M4 x 10 mm (2 pcs) [12] Box cover

M6 nut (4 pcs) M4 nut [10] Connector box
 ICS(P)A Cartesian Robot, 3-axis Configuration X-Y (Gantry) + Z Type
ICS(P)A3-G†††S††-CT-SC X-axis/Y-axis: Cable Track, Y-axis/Z-axis: Self-supporting Cable

Drawing No. GMM08-014 4/4

17

S1: M4 x 40 mm
S2/S3: M4 x 16 mm

[10] Connector box

[11] Joint cover M3 x 12 mm (4 pcs)

Spacer

[13] Connector joint for cable

inside cable track and [12] Box cover
controller-actuator cable M3 x 12 mm (4 pcs)

Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
for how to lay out the wiring inside a cable track.
 Caution: x Although each part has been chamfered to remove sharp edges, exercise due caution during the ICS(P)A Cartesian Robot, 2-axis Configuration XYB (Y-axis Base Mount) Type
assembly to prevent injury. If necessary, wear gloves or other protective gears. Cable Track
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No.

In the case of configuration direction types 2 to 4, the

[Tools] Allen wrench
actuator and bracket directions are different.
Hexagonal socket
head bolt (4 pcs)

Hexagonal full thread bolt (4 pcs) Type 2

High-tension washer (Reverse of type 1)
High-tension washer
[2] X-Y bracket cover

[1] X-Y plate

Type 3 Thin-head screw

Parallel pin (2 pcs) [2] X-Y bracket
(Y-axis installed on
opposite side)
(6 pcs)

[3] Bracket cover

Parallel pin (1 pc or 2 pcs)

X-axis: IS(P)A
Type 4
(Reverse of type 3)

X-axis: IS(P)A

Note: To ensure squareness between the X-axis and

X-axis: IS(P)A Y-axis, insert one parallel pin. Adjust the angle
between the X-axis and Y-axis to the right
angle, and then mount the hexagonal bolts.

[Installation of XY bracket [1] on X-axis: IS(P)A] [Installation of XY bracket [2] on X-axis: IS(P)A] [Installation of bracket cover [3] on X-Y bracket [2]]
Parallel pin Hexagonal bolt High-tension Tightening torque Parallel pin Hexagonal bolt High-tension Tightening torque Thin-head screw Tightening torque

Install the bolts by

hooking them in the holes
Hexagonal socket
in the guide rail (1) [12].
head bolt (4 pcs) End face of base (excluding cover)
Y-axis: IS(P)A Align the edge surface of the guide rail.

Y-axis: IS(P)A

X-axis: IS(P)A [12] Guide rail (1)

[1] X-Y plate
M4 hexagonal nut
[4] Grommet
[2] X-Y bracket
[5] Track mounting
Hexagonal socket head bolt bracket
Parallel pin (2 pcs) M4 hexagonal nut

X-axis: IS(P)A
X-axis: IS(P)A
Hexagonal socket
Place the M4 hexagonal nuts in the upper Install the bolts before the head bolt (2 pcs)
slot provided on the side face of the X-axis, guide rail (1) [12] is installed.
Y-axis: IS(P)A
before the guide rail (1) [12] is installed.
The number of hexagonal nuts to be
placed varies according to the stroke.
[Installation of Y-axis IS(P)A on [2] X-Y bracket] [Installation of track mounting bracket [5] on X-Y plate [1]]
[Installation of guide rail (1) [12] on X-axis: ICS(P)A]
Hexagonal socket Hexagonal socket
Parallel pin Tightening torque Hexagonal socket head bolt Tightening torque
head bolt head bolt Tightening torque

* This assembly procedure applies to combination direction 1. If other combination 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.
 ICS(P)A Cartesian Robot, 2-axis Configuration XYB (Y-axis Base Mount) Type
Cable Track
Drawing No.

Y-axis: IS(P)A
[6] Cable track

Hexagonal socket head bolt Hexagonal socket head bolt

Y-axis: IS(P)A (4 pcs) M6 x 10 mm Y-axis: IS(P)A (2 pcs) M4 x 5 mm
[6] Cable track
Tie-mount KR5G5
Flat washer
[7] Metal cover

X-axis: IS(P)A [5] Track mounting

[5] Track mounting bracket
Thin-head (4 pcs)
bracket [12] Guide rail

Follow “Instruction for Cable Track Type

Hexagonal socket head bolt
Wiring (Drawing No. GMM12-001)”for
(4 pcs) M6 x 12 mm
how to lay out the wiring inside a cable
track.
X-axis: IS(P)A
Tie-mount KR5G5
M6 hexagonal nut (8 pcs) X-axis: IS(P)A
* Used to install the cable.
Connector joint for Y-axis cable and
cable inside cable track [6]

[Installation of metal cover [7] on track mounting bracket [5]]

Thin-head screw Tightening torque

Y-axis: IS(P)A
Y-axis: IS(P)A
[6] Cable track
Y-axis: IS(P)A
[2] X-Y bracket

[12] Guide rail (2)

[4] Grommet
Install the cable
onto the tie-
X-axis: IS(P)A mount KR5G5.
[13] Cable track
[12] Guide rail (2) Hexagonal socket head bolt
[11] Box cover (8 pcs) M6 x 10 mm [6] Connector joint for cable
Hexagonal socket Flat washer (4 pcs) inside cable track and
[10] Joint cover
Distance between the
base edge surface to head bolt (4 pcs) controller-actuator cable
connector box edge Hexagonal socket head bolt
surface (3 pcs) M4 x 6
Install the connector box
[6] in T slot on top slot of [9] Connector box M6 hexagonal nut (4 pcs)
the X-axis side surface.
Hexagonal socket head bolt (8 pcs)
[8] Cable fix cap

[Installation of connector box [9] on X-axis: IS(P)A] X-axis: IS(P)A

X-axis: IS(P)A
Hexagonal socket head bolt Tightening torque
[Installation of guide rail (2) [12] on X-Y bracket [2]]
Hexagonal socket
head bolt Tightening torque
[Installation of connector box [9] on box cover [11]]
Hexagonal socket head bolt Tightening torque Follow “Instruction for Cable Track Type Wiring (Drawing No. GMM12-001)”
for how to lay out the wiring inside a cable track.

* This assembly procedure applies to combination direction 1. If other combination 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: x Although each part has been chamfered to remove sharp edges, exercise due caution during the ICS(P)A Cartesian Robot, 4-axis Configuration XYB (Y-axis Base Mount) Type
assembly to prevent injury. If necessary, wear gloves or other protective gears. Cable Track
x Exercise due caution during the assembly to prevent pinching of hands and fingers. Drawing No.

[For the Y-X-axis assembly, refer to Assembly

[Tools] Allen wrench Procedures [GMM08-004].]

[2] Box support (M) (S)

[1] YZR (M) (S) plate

Y-axis: IS(P)A
Y-axis: IS(P)A

Parallel pin (2 pcs)

Parallel pin (2 pcs)

Hexagonal socket head

[1] YZR (M) (S) plate
bolt (4 pcs) ZR-axis
ZR-axis

Hexagonal socket head

bolt (4 pcs) Hexagonal socket head
bolt (4 pcs)

X-axis: IS(P)A X-axis: IS(P)A

[Installation of YZR (M) (S) plate [1] on Y-axis: IS(P)A] [Installation of box support (M) (S) [2] on ZR-axis] [Installation of ZR on YZR (M) (S) plate [1]]
Hexagonal socket Hexagonal socket
Configuration type Parallel pin head bolt
Tightening torque Hexagonal socket
Tightening torque Configuration type Tightening torque
head bolt head bolt

X-axis: IS(P)A
[4] Connector box Y-Z
[5] Cable track
ZR-axis
[2] Box support (M) (S) Same on the
moving-end side

Hexagonal socket
head bolt (2 pcs)
ZR-axis
Y-axis: IS(P)A M4 hexagonal nut [5] Cable track

Secure the cables using tie-

mounts, convex bases (provided
by the customer), etc.
[3] Cable track support
Hexagonal socket head bolt
X-axis: IS(P)A (8 pcs) M6 x 10 mm

Flange-head hexagonal M6 hexagonal nut (8 pcs)

Install the hexagonal nut on the hexagonal socket head socket head bolt Common to Y-axis: IS(P)A
bolt and then insert the nut in the lower slot of the Y-axis. ZRM and S

[Installation of cable track support [3] on Y-axis: IS(P)A]

[Installation of connector box Y-Z [4] on box support (M) (S) [2])
Follow “Instruction for Cable Track Type Wiring
Flange-head hexagonal socket head bolt Tightening torque Hexagonal socket
Connector joint for cable
Tightening torque (Drawing No. GMM12-001)” inside cable track and ZR, X-
head bolt for how to lay out the wiring inside a cable track. axis and Y-axis cables

* This assembly procedure applies to combination direction 1. If other combination 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.
 Instruction for Cable Track Type Wiring

Drawing No. GMM12-001 1/1

Cable track specification Cable track specification

CT CTM CTL CTXL
Option model code Option model code
Cable track model code TKP0450W38 Cable track model code TKP0450W58 TKP0450W78 TKP0450W108

The parts content should be the same for the both cable tracks between X and Y and between Y and Z. Cable track TKP0450W58/W78/W108
However, for the construction with no connector box on the moving end, the same cable clamp as one on the
fixed end should also be used on the moving end. M6 × 12 hex socket head cap screw (4pcs)
M6 plain washer (4pcs)
Cable track TKP0450W38 M6 hexagon nut (4pcs)
Connector box
(the type with φ4 hole added)
M6 ×12 hex socket head cap screw (4pcs)

Connector box
(the type with φ4 hole added)

M6 plain washer
(4pcs)
M6 hexagon nut 1080755*: cable clamp 3
(4pcs)
M3 × 5 hex socket head cap screw (2pcs)
M6 × 10 hex socket head cap screw (2pcs)
1080755*: cable clamp 3
1080754*: cable clamp 2
M3 × 5 hex socket head cap screw (2pcs)

1080753*: cable clamp 1

Guide rail
M6 × 10 hex socket head cap screw (4pcs)
M6 plain washer (2pcs) M6 × 10 hex socket head cap screw (2pcs)
For the type of X axis SMX (BA** Type),
the parts on area is as shown below. M6 plain washer (2pcs) For the type of X axis SMX (BA** Type),
the parts on area is as shown below.
M6 hexagon nut (4pcs) • M6 × 10 hex socket head cap screw (2pcs)
• M6 × 8 hex socket head cap screw (2pcs) • M6 × 8 hex socket head cap screw (2pcs)
• No M6 plain washer • No M6 plain washer
Installation of cable track M6 hexagon nut (4pcs)
Installation of cable track

(Moving end)

Cable band

(Fixed end)
Cable band
Cable band
Put a cable band through the holes, and affix the cables in a pair.
(Same as W38 on the moving end)
Cable Wiring and Fixation

Caution
(Fixed end) • Avoid piling up a cable onto another or have cables running across each other, and
have the cables laid out straight in parallel.
• Basically, M cables and PG cables should be separated in each bunch.
• When affixing the cables on the moving end and fixed end, gather the cables on the
inner side of the cable track, and have enough play on the cables that would not
Put a cable band through the comb teeth and the hole, and affix the cables in a pair. apply tension to them when the cable track is moved for the swing stroke.
Also, make sure the cables are not twisted.
Cable Wiring and Fixation