ROBO Cylinder RCA2 Actuator Slider Type Operating Manual Eleventh Edition Motor coupling types SA2AC SA3C SA4C SA5C SA6C Motor reversing types SA2AR SA3R SA4R SA5R SA6R IAI America, Inc.
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products.
CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Table of Contents Safety Guide.................................................................................................................................. 1 Handling Precautions .................................................................................................................... 8 1. Part Names .......................................................................................................................... 11 2. External Dimensions ...........................................
8. Installation and Storage/Preservation .................................................................................. 43 8.1 8.2 9. Installation Environment ............................................................................................................ 43 Storage/preservation Environment............................................................................................ 43 Installation ............................................................................................
14. Warranty............................................................................................................................... 78 14.1 14.2 14.3 14.4 14.5 14.6 Warranty Period......................................................................................................................... 78 Scope of Warranty...................................................................................................................... 78 Honoring the Warranty......................................
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
Handling Precautions 1. Do not set a speed or acceleration/deceleration exceeding the applicable rating. Do not set a speed or acceleration/deceleration exceeding the applicable rating. Doing so may result in vibration, failure or shorter life. If an acceleration/deceleration exceeding the rating is set, creep may occur or the coupling may slip. 2. Keep the load moments to within the allowable value. Keep the load moments to within the allowable value.
7. Transportation 7.1 Handling the Unassembled Actuator When transporting the unassembled actuator alone, pay attention to the items specified below. 7.1.1 Handling the Packed Unit Unless otherwise specified, single-axis actuators are shipped in individual packaging. Please handle packages carefully during transport to ensure that product is not damaged by bumping or dropping. Never attempt to move heavy packages by yourself. Always set packages down on a level surface. Never climb on top of packages.
7.2 Handling the Actuator Assembly When transporting the actuator with its axes already assembled, take note of the following items. 7.2.1 Shipping from IAI Already Assembled After assembly at IAI, your machine undergoes a shipping inspection, is packed in a crate with skids, and finally shipped. If any of the combined actuators is a slider, the slider is securely fastened in place to prevent unexpected movement during shipping.
1. Part Names 1. Part Names The names of the actuator parts are indicated below. In this manual, the right and left are determined by viewing the actuator from the top and from the motor side. Also, the front side means the side opposite from the motor.
1. Part Names “Motor reversing types” : RCA2-SA2AR Right Side Stainless sheet Slider cover Slider Left Side Reversing bracket Motor Pulley cover Actuator cable Opposite Side of the Motor Motor side Front bracket * Base Bare housing Refer to 2, “External Dimensions” for details. “Motor reversing types” : RCA2-SA3R/SA4R/SA5R/SA6R Stainless sheet Opposite Side of the Motor Right Side Left Side Connector Motor unit * Refer to 2, “External Dimensions” for details.
1 .5 R1 Detail view of Slot Scale 2:1 R1 .5 20 16 27.2 22.7 15.2 2 SE 30 B-M2, Depth 4 ME 14.5 7.5 A×25 Slot, Depth 2 (25) st L2 2-F2H7, Depth 2 3 15 ORG 30 7.5 5 3 12 4-M2, Depth 4 F3H7, Depth 2 22.5 2 ME L1 3 10 82 L1 174 199 224 249 ST 25 50 75 100 Secure at least 100 B 4 6 8 10 A 1 2 3 4 L2 92 117 142 167 Weight [kg] 0.2 0.22 0.23 0.25 2. External Dimensions 3H7 18.9 4.4 2.1 15 (Reamer pitch tolerance p0.02) 2.
14 (Side view of the motor when the cable exit direction has been changed (optional) Brake type Detail view of F Scale 5:1 4-M3, depth 6 50 100 150 200 250 300 ST Without brake 247.5 297.5 347.5 397.5 447.5 497.5 L 292 342 392 442 492 542 With brake D-M3, depth 5 155.5 205.5 255.5 305.5 355.5 405.5 A 84 34 84 34 84 34 B 0 1 1 2 2 3 C 2H7, depth 4 (from bottom face of base) 2- 2H7, depth 5 4 6 6 8 8 10 D 84 134 184 234 284 334 M Weight [kg] Without With brake brake 0.5 0.7 0.6 0.8 0.
Brake type Detail view of F Scale 5:1 (Side view of the motor when the cable exit direction has been changed (optional) 50 100 150 200 250 300 ST Without brake 247.5 297.5 347.5 397.5 447.5 497.5 L 292 342 392 442 492 542 With brake D-M3, depth 5 155.5 205.5 255.5 305.5 355.5 405.5 A 84 34 84 34 84 34 B 0 1 1 2 2 3 C 4 6 6 8 8 10 D 2H7, depth 4 (from bottom face of base) 2- 2H7, depth 5 84 134 184 234 284 334 M Weight [kg] Without With brake brake 0.6 0.8 0.6 0.8 0.7 0.9 0.8 1.0 0.8 1.
16 Brake type Detail view of F Scale 5:1 50 100 150 200 250 300 350 400 450 500 ST Without brake 274 324 374 434 474 524 574 624 674 724 L 314.5 364.5 414.5 464.5 514.5 564.5 614.5 664.4 714.5 764.5 With brake D-M3, depth 5 165.5 215.5 265.5 315.5 365.5 415.5 465.5 515.5 565.5 615.5 A 91 41 91 41 91 41 91 41 91 41 B 0 1 1 2 2 3 3 4 4 5 C 2.5H7, depth 5 (from bottom face of base) 2- 2.
Brake type Detail view of F Scale 5:1 (Side view of the motor when the cable exit direction has been changed (optional) 50 100 150 200 250 300 350 400 450 500 ST Without brake 274 324 374 434 474 524 574 624 674 724 L 314.5 364.5 414.5 464.5 514.5 564.5 614.5 664.4 714.5 764.5 With brake 165.5 215.5 265.5 315.5 365.5 415.5 465.5 515.5 565.5 615.5 A 91 41 91 41 91 41 91 41 91 41 B 2.5H7, depth 5 (from bottom face of base) D-M3, depth 5 2- 2.
18 2.5H7, depth 5 (from bottom face of base) Motor cover top: 58 Brake type Detail view of F Scale 2:1 (Side view of the motor when the cable exit direction has been changed (optional) 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 ST 4-M4, depth 8 Without brake 272.5 322.5 372.5 422.5 472.5 522.5 572.5 622.5 672.5 722.5 772.5 822.5 872.5 922.5 972.5 1022.5 L 312 362 412 462 512 562 612 662 712 762 812 862 912 962 1012 1062 With brake 175.5 225.5 275.5 325.5 375.5 425.5 475.
Brake type Detail view of F Scale 2:1 (Side view of the motor when the cable exit direction has been changed (optional) ST 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 4-M4, depth 8 Without brake 272.5 322.5 372.5 422.5 472.5 522.5 572.5 622.5 672.5 722.5 772.5 822.5 872.5 922.5 972.5 1022.5 L 312 362 412 462 512 562 612 662 712 762 812 862 912 962 1012 1062 With brake 175.5 225.5 275.5 325.5 375.5 425.5 475.5 525.5 575.5 625.5 675.5 725.5 775.5 825.5 875.5 925.
20 (Side view of the motor when the cable exit direction has been changed (optional) Brake type Detail view of F Scale 2:1 4-M5, depth 10 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 ST Without brake 292.5 342.5 392.5 442.5 492.5 542.5 592.5 642.5 692.5 742.5 792.5 842.5 892.5 942.5 992.5 1042.5 L 332 382 432 482 532 582 632 682 732 782 832 882 932 982 1032 1082 With brake 180.5 230.5 280.5 330.5 380.5 430.5 480.5 530.5 580.5 630.5 680.5 730.5 780.5 830.5 880.5 930.
21 Brake type (Side view of the motor when the cable exit direction has been changed (optional) Detail view of F Scale 2:1 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 ST Without brake 292.5 342.5 392.5 442.5 492.5 542.5 592.5 642.5 692.5 742.5 792.5 842.5 892.5 942.5 992.5 1042.5 L 332 382 432 482 532 582 632 682 732 782 832 882 932 982 1032 1082 With brake 180.5 230.5 280.5 330.5 380.5 430.5 480.5 530.5 580.5 630.5 680.5 730.5 780.5 830.5 880.5 930.
1 41 .5 R1 16.2 Detail view of Slot Scale 2:1 R1 .5 20 (1.9) 2.9 23.9 30 B-M2, Depth 4 Slot, Depth 2 SE (25) st Secure at least 100 14.5 2 ME L2 A×25 2-F2H7, Depth 2 15 (Reamer pitch tolerance p0.02) 16 3 L1 15 ORG 30 10 55 F3H7, Depth 2 2 ME 89 4-M2, Depth 4 12 3 22 3 B 4 6 8 10 A 1 2 3 4 L2 92 117 142 167 L1 124.5 149.5 174.5 199.5 ST 25 50 75 100 32.5 Weight [kg] 0.2 0.22 0.23 0.25 2. External Dimensions 2.10 RCA2-SA2AR 3 H7 15.2 27.2 22.
23 Detail view of F Scale 5:1 (Side view of the motor when the cable exit direction has been changed (optional) D-M3, depth 5 (without brake) Brake type L 162 212 262 312 362 412 ST 50 100 150 200 250 300 143 193 243 293 343 393 A 84 34 84 34 84 34 B 0 1 1 2 2 3 C 4 6 6 8 8 10 D Weight [kg] Without With brake brake 0.6 0.8 0.7 0.9 0.7 0.9 0.8 1.0 0.8 1.0 0.9 1.1 (with brake) 2H7, depth 4 (from bottom face of base) 4-M3, depth 6 2. External Dimensions 2- 2H7, depth 5 2.
24 Detail view of F Scale 5:1 (Side view of the motor when the cable exit direction has been changed (optional) Brake type L 162 212 262 312 362 412 ST 50 100 150 200 250 300 143 193 243 293 343 393 A 84 34 84 34 84 34 B 0 1 1 2 2 3 C 4 6 6 8 8 10 D Weight [kg] Without With brake brake 0.7 0.9 0.7 0.9 0.8 1.0 0.9 1.1 0.9 1.1 1.0 1.2 (with brake) 2H7, depth 4 from bottom face of base 4-M3, depth 6 (without brake) D-M3, depth 5 2- 2H7, depth 5 2. External Dimensions 2.
Detail view of F Scale 5:1 (Side view of the motor when the cable exit direction has been changed (optional) 2.5H7, depth 5 (from bottom face of base) D-M3, depth 5 (without brake) 4-M3, depth 6 L 183 233 283 333 383 433 483 533 583 633 ST 50 100 150 200 250 300 350 400 450 500 Brake type 156.5 206.5 256.5 306.5 356.5 406.5 456.5 506.5 556.5 606.5 A 91 41 91 41 91 41 91 41 91 41 B (with brake) 0 1 1 2 2 3 3 4 4 5 C 4 6 6 8 8 10 10 12 12 14 D Weight [kg] Without With brake brake 1.0 1.3 1.
26 Detail view of F Scale 5:1 (Side view of the motor when the cable exit direction has been changed (optional) 4-M3, depth 6 (without brake) 2.5H7, depth 5 (from bottom face of base) D-M3, depth 5 2- 2.5H7, depth 5 L 183 233 283 333 383 433 483 533 583 633 ST 50 100 150 200 250 300 350 400 450 500 Brake type 156.5 206.5 256.5 306.5 356.5 406.5 456.5 506.5 556.5 606.
Detail view of F Scale 2:1 (Side view of the motor when the cable exit direction has been changed (optional) D-M4, depth 7 2.5H7, depth 5 (from bottom face of base) (without brake) 4-M4, depth 8 L 189.5 239.5 289.5 339.5 389.5 439.5 489.5 539.5 589.5 639.5 689.5 739.5 789.5 839.5 889.5 939.
28 Detail view of F Scale 2:1 (Side view of the motor when the cable exit direction has been changed (optional) D-M4, depth 7 2.5H7, depth 5 (from bottom face of base) 2- 2.5H7, depth 5 (without brake) 4-M4, depth 8 L 189.5 239.5 289.5 339.5 389.5 439.5 489.5 539.5 589.5 639.5 689.5 739.5 789.5 839.5 889.5 939.
Detail view of F Scale 2:1 (Side view of the motor when the cable exit direction has been changed (optional) 3H7, depth 5 (from bottom face of base) D-M5, depth 8 (without brake) 4-M5, depth 10 L 194.5 244.5 294.5 344.5 394.5 444.5 494.5 544.5 591.5 644.5 694.5 744.5 794.5 844.5 894.5 944.
30 Detail view of F Scale 2:1 (Side view of the motor when the cable exit direction has been changed (optional) 4-M5, depth 10 (without brake) 3H7, depth 5 (from bottom face of base) D-M5, depth 8 D-M5, depth 8 2- 3H7, depth 5 L 194.5 244.5 294.5 344.5 394.5 444.5 494.5 544.5 591.5 644.5 694.5 744.5 794.5 844.5 894.5 944.
3. Cable Drawings 3.1 AMEC, ASEP Controller Cables Integrated motor/encoder cable (CB-APSEP-MPA***) *** indicates the cable length (L). Up to 20m can be specified. Example) 080 = 8 m Model Nameplate [5] No. 3. Cable Drawings [1][2] [6] Item 1 Housing 2 3 4 Contact Housing Contact 5 Coupler cover 6 ZUL2854-OHFRPCVVSW Lot number [3][4] Model number Manufacturer D-1100D 1-1827863-1 (black, 2.0-mm pitch, 22 poles) AMP D-1 1827570-2 (AWG 22 to 18, 1.08 to 1.6 ) PADP-24V-1-S (white, 2.
3.2 ACON, ASEL Controller Cables RCA2 Integrated motor/encoder cable (CB-ACS-MPA***) 3. Cable Drawings *** indicates the cable length (L). Up to 20m can be specified. Example) 080 = 8 m [1][2] [3][4] [7] Model Nameplate [7] [5][6] No. [1] [2] [3] [4] [5] [6] Item Receptacle housing Receptacle contact Socket Socket contact Housing Contact Model number D-1100D 1-1827863-1 D-1 1827570-2 DF1E-3S-2.5C DF1E-2022SCF PHDR-18VR SPHD-001T-P0.
4. Options 4.1 Brake Type The brake is a mechanism designed to prevent the slider from dropping on a vertically installed actuator when the power or servo is turned off. Use the brake to prevent the installed load, etc., from being damaged due to the falling slider. The applicable model number for this option is “B.” 4.2 Power-saving Measure 4. Options As shown in the table below, the maximum load current of the standard specification and high acceleration/deceleration specification can be lowered.
4.5 Changing the Cable Exit Direction If the cable exit direction is changed, the applicable part of the model number must also be changed. A desired direction can be selected from among the five options of top (CJT in the model number), right (CJR), left (CJL), bottom (CJB) and outer (CJO). 4. Options Top: CJT Top: CJT Outer: CJO Right: CJR Left: CJL Top: CJT Outer: CJO Bottom: CJB Straight type 4.
5. Checking after Unpacking After unpacking, check the product condition and the included items. 5.1 Included Items No. 1 Item Actuator Model number Refer to “How to Read the Model Nameplate” and “How to Read the Model Number.” Accessories RCA integrated motor/encoder cable 3 4 5 First Step Guide Operating Manual (CD/DVD) Safety Guide 5.2 No.
5.3 How to Read Model Nameplate Model Serial number 5.4 How to Read Model Number 5.
6. Specifications (1) Maximum speed The maximum speed of this ROBO Cylinder is limited to prevent resonance of the ball screw shaft and also due to limitation of the motor speed. Observe the maximum speed limits specified in the table. Strokes and Maximum Speed Limits (Unit: mm/s) Mode Motor Lead Type (mm) Stroke (mm) 25 50 5W SA4 SA5 10W 20W 20W SA5C 20W SA6 30W SA6C 30W 200 250 300 350 400 450 500 550 600 650 700 750 800 200 180 2 100 100 4 200 200 6 300 300 2.
(2) Acceleration and payloads Model Motor type Lead (mm) 1 SA2A 10 W 2 4 6. Specifications 2 SA3 10 W 4 6 2.5 SA4 20 W 5 10 3 SA5 20 W 6 12 Rated acceleration (G) Horizontal 0.3 Vertical 0.3 Horizontal 0.3 Vertical 0.3 Horizontal 0.3 Vertical 0.3 Horizontal 0.2 Vertical 0.2 Horizontal 0.3 Vertical 0.2 Horizontal 0.3 Vertical 0.2 Horizontal 0.3 Vertical 0.2 Horizontal 0.3 Vertical 0.2 Horizontal 0.3 Vertical 0.2 Horizontal 0.3 Vertical 0.2 Horizontal 0.
(3) Rated thrust Model Motor type SA2A 5W SA3 10 W SA4 20 W 20 W SA5C SA6 30 W SA6C Rated thrust (N) 85.5 42.3 21.4 85 43 28 136 68 34 68 34 17 10.1 105 53 26 16 6. Specifications SA5 Lead (mm) 1 2 4 2 4 6 2.5 5 10 3 6 12 20 3 6 12 20 (4) Drive method Model Motor type Lead 1 SA2A 5W 2 4 2 SA3 10 W 4 6 2.5 SA4 20 W 5 10 3 SA5 6 20 W 12 SA5C 20 3 SA6 6 30 W 12 SA6C 20 *1 Number of pulses input to the controller.
(5) Common specifications Item Positioning repeatability*1 6. Specifications Backlash*1 Base *1 Default value 40 Specification SA5C, SA6C – Lead SA5C, SA6C – Lead 20 mm other than 20 mm r0.02 mm r0.03 mm 0.
7. Notes on Use Regarding Maximum Speed and Loading Mass [1] Maximum speed, loading mass Determine which models you can choose from by the maximum speed and payload capacity. x AC servo motor (Graph 1) How to decide: If your maximum speed and payload capacity are within the usage range in the graph, you can use the model. 7.
Graph 1 ࠉ Servo Motor: RCA2 Horizontal Correlation of speed and payload (Horizontal) Vertical Correlation of speed and payload (Vertical) Lead 4 Lead 6 Payload (kg) SA3 Payload (kg) Lead 2 Lead 2 Lead 4 Speed (mm/sec) Lead 6 Speed (mm/sec) Correlation of speed and payload (Vertical) Correlation of speed and payload (Horizontal) Lead 5 Lead 10 Payload (kg) SA4 Payload (kg) 7. Notes on Use Regarding Maximum Speed and Loading Mass Lead 2.5 Lead 2.
8. Installation and Storage/Preservation 8.1 Installation Environment Do not use this product in the following environment It is generally the environment where a worker can work without any protection gear. Also make sure to keep enough work space necessary for maintenance.
9. Installation This chapter explains how to install the actuator on your mechanical system. 9.1 General Rules on Installation Follow the information below when installing the actuator, as a rule. Do pay attention to these items (except when custom-order models). : Possible : Daily inspection is required x: Not possible Horizontal installation Vertical installation Sideway installation Ceiling mount installation Model SA3 SA4 SA5 SA6 Installation posture Vertical Sideways Ceiling mount 9.
9.2 9.2.1 Installation of Actuator Installation of RCA2-SA2AC and SA2AR This actuator has the screw holes for mounting so it can be fixed from the rear side. Also, there are a reamed hole and a slotted hole for positioning pins. F3H7, Depth 2 16 Slot, Depth 2 B-M2, Depth 4 (25) 30 A×25 1 .5 R1 3H7 .5 Detail view of Slot Scale 2:1 Screw diameter and max.
9.2.2 Installation of RCA2-SA3C, SA4C, SA5C, SA6C, SA3R, SA4R, SA5R and SA6R The surface to mount the main unit should be a machined surface or a plane that possesses an equivalent accuracy and the flatness should be within 0.05mm. Also, the platform should have a structure stiff enough to install the unit so it would not generate vibration or other abnormality. 9. Installation This actuator has the screw holes for mounting so it can be fixed from the rear side.
Tightening screws Use hexagonal socket head bolts for the male threads for installing the base. Use of high-tension bolts meeting at least ISO 10.9 is recommended. The length of thread engagement should be 1.8 times more than the nominal diameter, and pay attention not to stick the screw out inside the actuator. Caution: Be careful when selecting the bolt length.
9.3 Mounting Surface The platform to install the actuator should possess a structure that ensures enough stiffness, and should be free from vibration. RCA2-SA3C, SA4C, SA5C, SA6C, SA3R, SA4R, SA5R, SA6R The side and bottom faces of the base provide reference surfaces for slider travel. When it is necessary that the slider moves in a highly precise fashion, ensure that the device is installed at the direction that is based on the position of these surfaces. Reference surface 9.
Installation of the Load Please attach the load to the device using the tap holes in the slider. The process for attaching these to the main unit is similar to the installation process of the main unit. Use of high-tension bolts meeting at least ISO-10.9 standard is recommended for mounting. The table below shows the recommended tightening torque. There are two reamed holes on the slider, so if you need to be able to secure and detach the load multiple times, please use these holes.
10. Connecting with Controller Both for the controller itself and for the connection cable between the controller and actuator (RCA2), use a dedicated IAI controller and dedicated connection cable. This section explains the wiring method for a single axis. If the dedicated connection cable cannot be secured, reduce the load on the cable by allowing it to deflect only by the weight of the cable or wire it in a self-standing cable hose, etc., having a large radius.
Dedicated connection cable (connects controller and RCA2) r=84 mm min. (unfastened) r=42 mm min. (fastened) Dedicated controller ASEL ACON 10. Connecting with Controller Dedicated connection cable Servo motor cable: CB-ACS-MPA*** *) *** indicates the cable length. Up to 20m can be specified. Example) 080 = 8 m (Note) RCA2-SA2AC and SA2AR cannot be run with ASEL or ACON controller.
When building an application system using the actuator and controller, incorrect wiring or connection of each cable may cause broken wire, poor contact or other unexpected problem. The prohibited items relating to cable wiring are explained below. ● Do not cut and reconnect the cable to extend or shorten the cable. ● If the cable cannot be secured, reduce the load on the cable by allowing it to deflect only by the weight of the cable or wire it in a self-standing cable hose, etc., having a large radius.
x When fixing the cable, provide a moderate slack and do not tension it too tight. Do not use a spiral tube where the cable flexes frequently. x Separate the IO and communication lines from the power and drive lines. Do not wire them together in the same duct. Power line Duct I/O lines (flat cable) 10. Connecting with Controller x Pay attention to the following points when using a cable track. x Do not let the cable get tangled or kinked in a cable track or flexible tube.
11. Notes on Operation 11.1 Placing a Load on the Actuator 11.1.1 Allowable moment Do not exceed the load ratings given in the specification table below. In particular, be careful not to exceed the load moment, overhang load length, and maximum payload capacity for the slider. (See diagram below.) Allowable dynamic load moment Unit: N·m (kgf·m) Ma Mc SA2A 0.18 (0.018) 0.16 (0.016) 0.23 (0.023) SA3 1.96 (0.2) 2.84 (0.29) 3.14 (0.32) SA4 3.04 (0.31) 4.31 (0.44) 5.00 (0.51) SA5 3.92 (0.40) 5.
Allowable overhang lengths Model Ma direction Mb direction Mc direction SA2A 40 mm or less 40 mm or less 40 mm or less SA3 100 mm or less 100 mm or less 100 mm or less SA4 120 mm or less 120 mm or less 120 mm or less SA5 130 mm or less 130 mm or less 130 mm or less SA6 150 mm or less 150 mm or less 150 mm or less Overhang load length direction Mb, Mc direction Ma direction 11.
(Note) When calculating the moment in Ma or Mc direction, offset the reference position by l mm from the top surface of the slider, as shown in the figure below. “Slider type” 11. Notes on Operation Ma, Mc moment guide offset distance Caution: 56 Model SA2A SA3 SA4 SA5 SA6 A (mm) 23.5 29.5 36.5 43.5 47 Make sure the load installed on the actuator does not exceed the allowable overhang load length (L).
11.1.2 External force in axial direction Be careful not to subject the actuator to an external force or an impact load in the axial or thrust direction in excess of allowable capacity. Subjecting the actuator to an external force or an impact load at levels above the allowable capacity may damage or destroy internal components. Allowable external force in thrust direction SA3 SA4 SA5 SA6 Unit: N (kgf) 50 (5.1) 160 (16.3) 220 (22.4) 220 (22.4) “Motor unit type” Thrust direction 11.
11.2 Adjusting the Home Position The actuator home position can be adjusted by changing parameter *1. In order to make adjustments, please do the following. [1] Verify the home position by performing a home return operation. [2] Move the actuator to the desired position, verify the distance between the old and new positions, and adjust the parameter accordingly. The parameter can be set to a positive value in the direction of movement. (It cannot be set to a negative value.
11.4 x x x Stainless Sheet Section The stainless sheet is attached by absorbtion to the side cover. If the environment contains high levels of iron filings or other magnetic matter, this may become absorbed between the stainless sheet and the rubber and cause malfunction. For that reason, avoid usage in such an environment. Keep adhesive, paint, and other viscous material off the stainless sheet.
12. Life One factor that affects the traveling life of an actuator is “Rated Load.” There are two types of rated loads: “Static Rated Load” and “Dynamic Rated Load.” x “Static Rated Load”: Load applied while the actuator is stopped, as a result of which minor pressure marks are left on the contact surface x “Dynamic Rated Load”: Load under which the actuator can travel for a specified distance and still meet a specified probability of survival defined by no damage to its guide.
13. Maintenance Inspection 13.1 Inspection Items and Schedule Follow the maintenance inspection schedule below. It is assumed that the equipment is operating 8 hours per day. If the equipment is running continuously night and day or otherwise running at a high operating rate, inspect more often as needed.
13.3 y y y y y Cleaning Clean exterior surfaces as necessary. Use a soft cloth to wipe away dirt and buildup. Do not blow too hard with compressed air as it may cause dust to get in through the gaps. Do not use oil-based solvents as they can harm lacquered and painted surfaces. To remove severe buildup, wipe gently with a soft cloth soaked in a neutral detergent or alcohol. 13.4 Adjusting the Stainless Sheet 13.
13.5 Internal Inspections Turn off the power and inspect visually after turning up or removing the stainless sheet in the case of stainless sheet types. With reversing types, inspect visually after removing the reversing bracket. When inspecting the interior, check the following items. Main unit Loose mounting bolts, other loose items Guide section Lubrication, buildup Belt (Reversing type) Belt wear, damage Visually inspect the interior of the equipment.
13.6 Internal Cleaning Use a soft cloth to wipe away dirt and buildup. Do not blow too hard with compressed air as it may cause dust to get in through the gaps. Do not use oil-based solvents, neutral detergent or alcohol. 13.7 Greasing Guides 13.7.1 Applicable greases for guide The grease initially used is lithium-based grease. IAI uses the following grease in our plant. Idemitsu Kosan Daphne Eponex Grease No. 2 13. Maintenance Inspection Other companies also sell similar types of grease.
13.7.3 How to apply grease When side cover and stainless sheet are present, remove these before beginning. Pinch in the direction of the arrows to remove ball screw cover Ball screw cover (1) For the guide section, apply the grease by moving the slider back and forth and spreading it out, either by pushing a scraper between the slider and base or by lubricating with a grease injector. Grease the guides on both sides. When complete, wipe away any excess grease.
(2) To grease ball screws, first clean, then put some grease on your finger and apply while moving the slider back and forth. When finished, wipe off excess grease. (Note) There is no side cover for RA2AC and RA2AR. Remove the stainless steel sheet and apply grease to the guide from upper side. If the side cover and stainless sheet are present, put them back on. 13.
13.8 Belt 13.8.1 Inspection of belt When inspecting the belt, remove the pulley cover and check the belt visually. Although the durability of the belt is affected significantly by the operating conditions, generally a belt has a flex line of several million times. As a reference for determining when to actually replace the belt, replace the belt if any of the following conditions is found: x Significant wear of the teeth or end face of the belt x Swelling of the belt due to attached oil, etc.
13.9 Stainless Sheet Replacement (for models with slider cover) It is possible to replace the stainless sheet without removing the slider cover. [Items required for replacing the stainless sheet] y Replacement stainless sheet y Hex wrench set y Cellophane tape [Part names] Stainless sheet retainer plates 13. Maintenance Inspection Stainless sheet Slider cover [Procedure] [1] With a 1.5 mm hex wrench, remove the four screws securing the stainless sheet and the two stainless sheet retainer plates.
[3] Apply cellophane tape to one side of the new stainless sheet. Cellophane tape Stainless sheet Stainless sheet Apply the cellophane tape as though sandwiching the stainless sheet, leaving about 3 mm of tape sticking out from the stainless sheet. Cut off the excess tape. [4] Slide the stainless sheet, taped end first, in through the gap under the slider cover. Do not let stainless sheet fall in this hole. Fasten the two stainless sheet retainer plates with the four screws. Use a 1.5 mm hex wrench.
13.10 Replacement of Motor (AC Servo Motor: RCA2) * Refer to 12.10 for the reversing type.
[3] Take out the coupling hub and coupling spacer from the detached motor unit. Twist the coupling hub or coupling spacer on the motor side to align the screw holes with the hole for the tool to go through. Then remove two screws with a 2 mm hex wrench. * If there is only a coupling hub on the motor unit side, then there is a coupling spacer on the actuator side which can be removed by pulling. * If both coupling hub and coupling spacer are present, pull them apart. (They should separate with a gentle pull.
[7] Align the marking on the motor shaft with the point indicated and insert the replacement motor unit into the actuator. Motor shaft Top view Alignment mark [8] Take out the motor unit and the replacement jig (large). (Do not allow the jig to turn.) 13. Maintenance Inspection [9] In order to keep the jig from turning, draw a mark using a pen or marker. [10] Insert the replacement jig (small) in such a way that its protrusion is aligned with the groove in the motor shaft.
[11] Turn the replacement jig (large) and the replacement jig (small) by the same amount. When the coupling fastening screws appear through the tool holes, tighten them with a 2 mm hex wrench. (There are two fastening screws.) Tighten with hex wrench Rotate same amount to keep aligned [12] Align the marks made in [9]. After the marks are aligned, remove the replacement jig (large) and the replacement jig (small).
13.11 Replacement of Belt and Motor for Reversing Type (AC Servo Motor: RCA2) [Items required for replacing the motor] y Replacement motor unit of reversing type Model number Axis type Without brake With brake RCA2 SA3R RCA2-MU1B RCA2-MU1B-B (brown RCA2-MU2B RCA2-MU2B-B Slider SA4R encoder type SA5R RCA2-MU3B RCA2-MU3B-B cable SA6R RCA2-MU4B RCA2-MU4B-B connector) y Belt Manufacturer: Bando Chemical Industries, Ltd.
[3] Remove the belt from the pulleys. When replacing the belt, proceed to step [7]. [4] Remove the tension adjustment bolts and pull out the motor unit. [5] Install the replacement motor unit. As shown below, install the motor unit by making sure its specified surface faces the actuator base. Loosely secure the motor unit using the tension adjustment bolts. The surface with no gaps should face the motor unit surface with two holes. 75 13.
Move the slider or table by 0.5 to 1 mm from the mechanical end on the home side. [7] Move the motor unit in the direction of the arrow shown below, and then install the belt. Align the motor unit with the countermark on the actuator. When replacing the belt, install the replacement belt. [8] Pass around the base of the motor unit a strong string (or long tie band) that has been looped, and pull the loop with a tension gauge.
[9] Install the pulley cover. Mounting screws (2 pcs for the SA3R, 3 pcs for other models) [10] Connect a PC or teaching pendant to the controller and perform a home return. Check for displacement with the original home position and if there is a displacement, make correction using the following parameter: ACON Parameter No. 22: Home return offset distance ASEL Parameter No.
14. Warranty 14.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from IAI 12 months after delivery to the specified location 2,500 hours of operation 14.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
Appendix Using the home position marks As necessary, affix these marks to the product to mark the home position of the actuator. Stickers Included Home position mark tickers × 1 sheet Mark stickers with scales x 4 Mark stickers x 4 (10 mm wide with 1 mm scales) x Peel from backing and attach. Notes: 1. Rear surface is adhesive 2. Ensure surface is clean before attaching sticker 3.
Change History Revision Date Description of Revision First edition March 2007 Second edition Corrected clerical errors. March 2010 Third edition P. 25, 26: Added “High-acceleration/deceleration specification.” September 2010 Forth edition P. 9: Added an “item to note regarding the position when the servo is turned on” under “Handling Precautions.” November 2010 P. 30~31: P.
Revision Date March 2012 Description of Revision Eleventh edition P.1~7: P.8: Change History P.13~30: P.64~66: 82 Contents added and changed in Safety Guide Note “Make sure to attach the actuator properly by following this operation manual.” added in Caution in Handling Weight added to external dimensions Warning notes added such as in case the grease got into your eye, immediately go to see the doctor for an appropriate care.
Manual No.: ME3669-11A (March 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
