ROBO Cylinder RCA2 Actuator Rod Type Instruction Manual Tenth Edition Slim types [Slim Small ROBO Cylinders] RC2AC, RA2AR Short types (nut affixing types) [Slim Small ROBO Cylinders] RN3NA, RN4NA RN3N, RN4N Short types (tapped-hole mounting types) [Slim Small ROBO Cylinders] RP3NA, RP4NA RP3N, RP4N Single guide types [Slim Small ROBO Cylinders] GS3NA, GS4NA GS3N, GS4N Double guide types [Slim Small ROBO Cylinders] GD3NA, GD4NA GD3N, GD4N Slide unit types [Slim Small ROBO Cylinders] SD3NA, SD4NA
Please Read Before Use Thank you for purchasing our product. This Instruction Manual describes all necessary information items to operate this product safely such as the operation procedure, structure and maintenance procedure. Before the operation, read this manual carefully and fully understand it to operate this product safely. The enclosed CD or DVD in this product package includes the Instruction Manual for this product.
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 1.1 1.2 1.3 1.4 1.5 1.
7. Installation and Storage/Preservation Environment ···················································· 36 7.1 7.2 Installation Environment ·································································································· 36 Storage/Preservation Environment ················································································· 37 8. Installation ··················································································································· 38 8.1 8.2 8.
13. Warranty······················································································································ 88 13.1 13.2 13.3 13.4 13.
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 Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ 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 Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Ɣ 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 Ɣ 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. Ɣ 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 Ɣ 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. Ɣ 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 Ɣ 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. Ɣ 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 Instruction Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger 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. Setting the acceleration/deceleration exceeding the applicable rating may also cause creep. 2. Grease film may run out after back-and-forth operations over a short distance.
6. For Short Type (RP*N/RN*N), do not attempt to operate the rod back and forth without the guide. Operating back and forth from the rod side without the guide would apply unbalanced load to the feed screw shaft, which may result in a bend of the screw shaft or damage to the internal mechanism. Warning : Do not attempt to move the rod back and forth only with the actuator itself. Unbalanced load onto the feed screw may damage the actuator. 7.
8. Transportation 8.1 Handling a Single Actuator Please adhere to the following when handling a single actuator. 8.1.1 Handling the Packed Unit Unless otherwise specified, the actuator is shipped with each axis packaged separately. • Do not damage or drop. The package is not applied with any special treatment that enables it to resist an impact caused by a drop or crash. • Transport a heavy package with at least more than two operators. Consider an appropriate method for transportation.
1. Part Names 1.1 Slim Types RA2AC (Motor coupling types), RA2AR (Motor reversing types) Ɣ RA2AC Right side Actuator cable Motor Opposite side of the motor Motor side Rod tip bracket Rod Left side Front bracket Motor bracket Body Bare housing * Refer to 2, “External Dimensions” for details.
1. Part Names 1.2 Short Types (Nut Affixing Types) RN3NA, RN3N (Lead screw, Ball screw), RN4NA, RN4N (Lead screw, Ball screw) Right side Opposite side of the motor Motor side Left side Connector cover Cable Rod tip bracket Actuator (aluminum frame) * Refer to 2, “External Dimensions” for details. 1.
1.4 Single Guide Types GS3NA, GS3N (Lead screw, Ball screw), GS4NA, GS4N (Lead screw, Ball screw) 1. Part Names Right side Opposite side of the motor Motor side Left side Connector cover Cable Guide bracket Actuator (aluminum frame) * Refer to 2, “External Dimensions” for details. 1.
Slide Unit Types SD3NA, SD3N (Lead screw, Ball screw), SD4NA, SD4N (Lead screw, Ball screw) 1. Part Names 1.6 Cable Right side Connector cover Front side Rear side Left side Guide bracket * Refer to 2, “External Dimensions” for details.
2. External Diagrams 2.1 Slim Type (Motor coupling type) RA2AC 1.5 10 φ12 φ16 2. External Diagrams 2 3 12 M6×1.0 Secure at least 100 L1 L2 2 2-M2, depth 4 st SE ORG 82 5.5 20 9 18 14 19.8 ME 18.5 2 ME ST 25 50 75 100 14 10 (between 2 flat faces) 14 18 Weight [kg] 0.17 0.19 0.2 0.22 2.2 (25) B-M 2, depth 4 21.5 15 A×25 Slim Type (Motor reversing type) RA2AR L1 L2 1.5 Watch for the surface exceeding from seating surface 1 14 10 9 φ16 φ12 14 2-M2, depth 4 32.
2.3 Short Types (Nut rotating types) RN3NA, RN3N (Lead screw, Ball screw) 12 (Width across flats) 29 (Width across flats) Nut B M20×1.0 28.5 22.6 6 Position adjustment sticker 3 12 22 28 Home 9 0 - 0.1 28 M5 10.5 9 (Effective thread length) 2 ME 1 22 15 Nut B M20×1.0 8 (9.2) M5×0.8 3.2 φ .8 30 ST L1 L2 30 112 73.5 Weight [kg] Lead screw Ball screw 0.25 0.25 50 132 93.5 0.27 0.27 (Note) Only 30mm is available for the stroke of Lead Screw RN3N Type. 29 6 2.
Short Types (Tapped-hole mounting types) RP3NA, RP3N (Lead screw, Ball screw) Nut A 28.5 22.6 10.5 φ 23 h8 9 (Effective thread length) 3 4-M4, depth 8 1 0 - 0.033 12 0 φ 9 - 0.1 21 28 22 M5 Position adjustment sticker Home 2 21 28 ME 1.5 ST Nut A 3 2-M4, depth 4 ST L1 L2 30 98.5 73.5 Weight [kg] Lead screw Ball screw 0.2 0.2 50 118.5 93.5 0.22 0.22 (Note) Only 30mm is available for the stroke of Lead Screw RP3N Type.
2.7 Single Guide Types GS3NA, GS3N (Lead screw, Ball screw) φ3 10 30 depth 3 17 5.5 25 15 +0.03 0 22.6 depth 3 (same on opposite side) 34 3 +0.05 0 31 depth 3 40 42 3 5.5 5 16 4 28 2-φ3 30 30 4-M4 through depth 3 φ3 +0.03 0 28.5 10.5 16 4 3 +0.05 depth 3 0 4 ME 2-3 +0.05 depth 3 0 (same on opposite side) 8 L1 L2 17 ST L1 L2 5.5 30 89.5 73.5 4-M4, depth 6 25 10 30 φ3 +0.03 0 depth 3 * Screw-in depths shall not exceed the dimensions shown above. 2.
2.9 Double Guide Types GD3NA, GD3N (Lead screw, Ball screw) 10 30 φ3 25 +0.03 0 depth 3 4-M4, depth 6 depth 3 28.5 22.6 2-φ3 +0.03 depth 3 (same on opposite side) 0 10.5 depth 3 30 30 4-M4 through 44 44 54 56 4 20 40 17 6 6 +0.03 0 +0.05 0 15 7 φ3 3 16 4 17 5.5 2. External Diagrams 4 depth 3 24 28 Home 2 8 8-M4, depth6 (same on opposite side) 3 25 4-M4, depth 6 30 φ3 2.10 20 4 depth3 17 +0.05 0 5.5 10 4-M4, depth 4 L2 L1 4 ST 2-3 +0.
2.11 Slide Unit Types SD3NA, SD3N (Lead screw, Ball screw) 15 30 2-φ3 +0.03 depth 3 (same on opposite side) 0 2×4-M4 depth 6 (same on opposite side) 2×2-M4, depth 8 38 52 44 6 2. External Diagrams 30 4 2-3 +0.05 0 depth 3 (same on opposite side) 8 2 Home 8 ME 3 2×2-φ4, H7 depth 5 8 17 25 30 28 10 5.5 4-M4, depth 6 1 23.5 44 4 depth 3 29 +0.05 0 L2 L1 73.5 1 60 4 ST depth 3 φ3 +0.03 0 ST 2 L1 L1 L2 25 131 50 156 Weight [kg] Lead screw Ball screw 123 0.
3. Cable Drawings 3.1 ASEP Controller Cables RCA2 Integrated motor/encoder cable (CB-APSEP-MPA***) 3. Cable Drawings *** indicates the cable length (L). Up to 10 m can be specified. Example) 080 = 8 m L (25) (15) [1][2] (30) Model Nameplate [5] No. [6] Item Lot number 1 Housing 2 3 4 Contact Housing Contact Model number D-1100D 1-1827863-1 (black, 2.0-mm pitch, 22 poles) D-1 1827570-2 (AWG 22 to 18, 1.08 to 1.6 I) PADP-24V-1-S (white, 2.0-mm pitch, 24 poles) SPND-001T-C0.5 (AWG 26 to 22, 1.
Wiring diagram [PCON] (ACON) Terminal number on actuator side Terminal number on controller side Black White Brown Green Yellow Red 3. Cable Drawings Orange Gray White Yellow [1] Red Green [3] Black Brown Black (identification tape) Brown (identification tape) Green (identification tape) Red (identification tape) White (identification tape) Yellow (ID tape) Shield [FG] (FG) 3.2 ACON, ASEL Controller Cables RCA2 Integrated motor/encoder cable (CB-ACS-MPA***) *** indicates the cable length (L).
Terminal number on actuator side Wiring diagram [ABZ][Serial] Terminal number on controller side Red [U] [U] Yellow [V] [V] Black [W] [W] [3] 3.
4. Options 4.1 Connector Cable Exit Direction Changed 4. Options The standard specification is to take out the cable from the opposite side of the rod and guide bracket. On all models other than the slide unit types SD3N and SD4N, however, you can specify an option (Model : K2) to reverse the cable take-out direction if you wish to take out the cable from the rod/guide bracket side due to the layout of the system, etc. 4.
5. Checking after Unpacking After unpacking, check the condition of the product and the included items. 5.1 No. 1 Included Items Item Actuator Accessories RCA integrated motor/encoder cable 3 4 5 First Step Guide Instruction Manual (CD/DVD) Safety Guide 5.2 No.
5.3 How to Read Model Nameplate Model Serial number 5.4 How to Read Model 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.
Model GD3NA (Ball screw) 6.
Model Motor Type 20W GD4N (Ball screw) 20W SD3NA SD3N (Lead screw) 10W SD3NA SD3N (Ball screw) 10W SD4NA SD4N (Lead screw) 20W SD4NA SD4N (Ball screw) 20W 2 4 6 2 4 6 1 2 4 1 2 4 2 4 6 2 4 6 25 50 100 200 50 100 200 100 200 200 100 200 240<200> 30 100 200 220 100 200 270<220> - Stroke [mm] 50 50 100 200 50 100 200 100 200 300 100 200 300 75 100 200 300 100 200 300 (Note) The maximum speed may not be reached depending on the acceleration/deceleration setting.
(2) Acceleration and payloads Model Motor Type Lead [mm] 1 RA2AC 5W 2 4 1 RA2AR 5W 2 4 1 6. Specifications RN3NA RN3N (Lead screw) 10W 2 4 1 RN3NA RN3N (Ball screw) 10W 2 4 2 RN4NA RN4N (Lead screw) 20W 4 6 2 RN4NA RN4N (Ball screw) 20W 4 6 Rated acceleration [G] Horizontal 0.3 Vertical 0.3 Horizontal 0.3 Vertical 0.3 Horizontal 0.3 Vertical 0.3 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 0.2 Vertical 0.
Model Motor Type Lead [mm] 1 RP3NA RP3N (Lead screw) 10W 2 4 1 RP3NA RP3N (Ball screw) 10W 2 4 2 20W 4 6 2 RP4NA RP4N (Ball screw) 20W 4 6 1 GS3NA GS3N (Lead screw) 10W 2 4 1 GS3NA GS3N (Ball screw) 10W 2 4 2 GS4NA GS4N (Lead screw) 20W 4 6 2 GS4NA GS4N (Ball screw) 20W 4 6 Payload [kg] 1 0.5 0.5 0.25 0.25 0.125 3 1 1.5 0.5 0.75 0.25 1 0.5 0.5 0.25 0.25 0.125 6 1.5 3 0.75 2 0.5 1 0.5 0.5 0.25 0.25 0.125 3 1 1.5 0.5 0.75 0.25 1 0.5 0.5 0.25 0.25 0.125 6 1.5 3 0.75 2 0.5 6.
Model Motor Type Lead [mm] 1 GD3NA GD3N (Lead screw) 10W 2 4 1 GD3NA GD3N (Ball screw) 10W 2 4 2 6. Specifications GD4NA GD4N (Lead screw) 20W 4 6 2 GD4NA GD4N (Ball screw) 20W 4 6 1 SD3NA SD3N (Lead screw) 10W 2 4 1 SD3NA SD3N (Ball screw) 10W 2 4 2 SD4NA SD4N (Lead screw) 20W 4 6 2 SD4NA SD4N (Ball screw) 20W 4 6 Rated acceleration [G] Horizontal 0.2 Vertical 0.2 Horizontal 0.2 Vertical 0.2 Horizontal 0.2 Vertical 0.2 Horizontal 0.2 Vertical 0.2 Horizontal 0.3 Vertical 0.
(3) Rated thrust Motor Type RA2AC 5W RA2AR 5W RN3NA RN3N (Lead screw) 10W RN3NA RN3N (Ball screw) 10W RN4NA RN4N (Lead screw) 20W RN4NA RN4N (Ball screw) 20W RP3NA RP3N (Lead screw) 10W RP3NA RP3N (Ball screw) 10W RP4NA RP4N (Lead screw) 20W RP4NA RP4N (Ball screw) 20W Lead [mm] 1 2 4 1 2 4 1 2 4 1 2 4 2 4 6 2 4 6 1 2 4 1 2 4 2 4 6 2 4 6 Rated thrust [N] 85.5 42.3 21.4 85.5 42.3 21.4 100.5 50.3 25.1 170.9 85.5 42.7 59.7 29.8 19.9 101.5 50.7 33.8 100.5 50.3 25.1 170.9 85.5 42.7 59.7 29.
6.
Model SD3NA SD3N (Lead screw) Motor Type 10W SD3NA SD3N (Ball screw) 10W SD4NA SD4N (Lead screw) 20W SD4NA SD4N (Ball screw) 20W Lead 1 2 4 1 2 4 2 4 6 2 4 6 Encoder pulses *1 Drive method Lead screw I4mm Rolled, C10 Ball screw I4mm Rolled, C10 Lead screw I6mm Rolled, C10 Ball screw I6mm Rolled, C10 1048 *1 Number of pulses input to the controller. Item *1 Positioning repeatability *1 Backlash Base * Default value 6.
7. Installation and Storage/Preservation Environment 7.1 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.
7.2 Storage/Preservation Environment The storage and preservation environment should comply with the same standards as those for the installation environment. In particular, when the machine is to be stored for a long time, pay close attention to environmental conditions so that no dew condensation forms. Unless specially specified, moisture absorbency protection is not included in the package when the machine is delivered.
8. Installation 8.1 Slim Types RA2AC (Motor coupling types), RA2AR (Motor reversing types) 8.1.1 Installation of Actuator At the back, there are tapped holes and a reamed hole provided for positioning. The locations of these holes are as shown in the figure below. 14 (In common for coupling type and reversed type) B-M 2, depth 4 8. Installation 21.5 (25) A×25 15 ST 25 50 75 100 L1 163.5 188.5 213.5 238.
8.2 Short Types (Nut affixing types) RN3NA, RN3N (Lead screw, ball screw), RN4NA, RN4N (Lead screw, ball screw) 8.2.1 Installation of Actuator Install the actuator by guiding it through a hole of approx. 5 to 10 mm provided in a smooth plate. • Use the nut on the actuator rod to install the actuator onto the actuator mounting plate. • The base of the male thread on the actuator side has a tolerance of h8. Use this part as a pilot section. Actuator mounting plate 8.
8.2.2 Installation of Detent The short types (nut affixing types) have no detent on the rod. If you are using the RN3NA, RN3N (Lead screw, ball screw), RN4NA, RN4N (Lead screw, ball screw) without guide, install a detent, if necessary, by referring to the figure below. Actuator mounting plate Tip-bracket mounting hole Detent Actuator mounting hole 8.
Keep the coaxiality between the actuator mounting hole in the actuator mounting hole and tip-bracket mounting hole in the guide-side bracket, to within 0.05. Also keep the parallelism to within 0.02. 0.02 A L A Guide-side bracket (Please prepare separately) Rear side Front side Detent guide (Please prepare separately) Actuator mounting plate Fixing Nut Tip bracket (12mm between 2 flat faces) Guide-side bracket Guide-side bracket Flat washer Tip bracket Tip bracket M5 nut 8.
Tightening torque for tip clasp Type RN3NA, RN3N (Lead screw, ball screw) RN4NA, RN4N (Lead screw, ball screw) Tightening torque 2.8N·m 4.2N·m 8. Installation Caution : Do not join the actuator detent using a floating joint. A radial load will be applied due to an eccentricity of the screw shaft, resulting in actuator malfunction or premature damage.
[Mounting procedure] 1) Check the accuracy on the actuator side and load side. Adjust the position so the accuracy can be maintained at the value shown below or less in the whole range of the load side movement. L 0.02 A Load-side bracket 0.05 A B B Actuator-mounted-side bracket 8. Installation 2) Mount the main unit of the actuator. 3) Move the load-side bracket to confirm that there is no problem in the precision of the position to the shaft of the rod.
4) Turn the shaft clockwise until the overall actuator dimension becomes the shortest and the mechanical stopper is contacted. When the shaft is turned at the mechanical end, the cutout groove provided in the shaft on the rear side also turns. 8. Installation 5) Turn the shaft clockwise until the cutout groove provided in the shaft on the rear side aligns with the marking (positioning) sticker.
6) While keeping this positioning relationship (= the cutout groove provided in the shaft on the rear side is aligned with the marking sticker), turn the shaft counterclockwise to adjust L to the specified dimension. L 7) Use a spanner, etc., to hold the width across flats of the tip clasp in place and affix it with the guide-side bracket. (When affixing with the bracket, turn the nut while locking the spanner applied to the tip clasp. If the tip clasp turns, the home position becomes offset.) 8.
8) Confirm that the bracket moves smoothly in the whole range of its stroke. Readjust the position if it is confirmed the bracket gets heavy or stuck at any point in the stroke range. (For the low lead types (Lead 1 and 2), twist the rotation shaft with a screwdriver to move the bracket.) Recommended screwdriver size: Nominal size 5.5 to 6.0 (width at tip) 8. Installation Caution : Do not attempt to move back and forth from the load side (rod side) for the low lead types (Lead 1 and 2).
[How to check and adjust the position of encoder phase Z] Follow the procedures below to check if encoder phase Z is at an appropriate position. This is required only for RN3NA, RN3N (slip screw) actuators with a lead of 1 mm. [Procedure 1] Checking the position of encoder phase Z [1] Turn the shaft clockwise from the rear until the rod contacts the rear end. Recommended screwdriver size: Nominal size 5.5 to 6.
[Procedure 2] Correcting the position of encoder phase Z If the cutout groove in the shaft is outside the allowable angle range, make correction by following the procedure below: [1] Use a spanner to hold the width across flats on the clasp at the tip to keep it in position, and loosen the lock nut slightly. [2] Move the clasp at the tip slightly in the rotating direction to correct the position.
8.2.3 Installation of Flange Provide a flange-shaped sheet and install the actuator onto this sheet from the back. • Use the nut on the actuator rod to install the actuator onto the flange. • Secure the flange with the actuator mounting plate using screws. If positioning is required, insert positioning pins. (Note) For the actuator mounting hole in the actuator mounting plate, provide a hole larger than the dimension of the nut so as to provide a clearance for the nut.
8.2.4 Installation from Rear Side When installing the actuator from the rear side, provide a rear mounting plate of a slightly-projected circular column shape as shown below, to facilitate the positioning. Rear mounting plate 8. Installation A 50 RN3NA, RN3N (Lead screw, ball screw) -0.2 I25 -0.3 RN4NA, RN4N (Lead screw, ball screw) -0.2 I30 -0.
8.3 Short Types (Tapped-hole mounting types) RP3NA, RP3N (Lead screw, ball screw), RP4NA, RP4N (Lead screw, ball screw) 8.3.1 Installation of Actuator Install the actuator by guiding it through a hole of approx. 5 to 10 mm provided in a smooth plate. • Use the tapped hole on the actuator to install the actuator onto the actuator mounting plate. • The base of the male thread on the actuator side has a tolerance of h8. Use this part as a pilot section. Actuator mounting plate 8.
Ɣ RP4N (Lead screw, ball screw) Tapped mounting hole Tapped hole size RP3NA, RP3N (Lead screw, ball screw) RP4NA, RP4N (Lead screw, ball screw) M4, depth 8 8. Installation Type 52 Tightening torque Plate is made of Plate is made of steel material aluminum material 3.6N·m 1.
8.3.2 Installation of Detent The short types (nut affixing types) have no detent on the rod. If you are using the RP3NA, RP3N (Lead screw, ball screw), RP4NA, RP4N (Lead screw, ball screw) without guide, install a detent, if necessary, by referring to the figure below. Actuator mounting plate Tip-bracket mounting hole Detent Actuator mounting hole 8.
Keep the coaxiality between the actuator mounting hole in the actuator mounting hole and tip-bracket mounting hole in the guide-side bracket, to within 0.05. Also keep the parallelism to within 0.02. 12 mm (width across flats) Guide-side bracket (Please prepare separately) Detent guide (Please prepare separately) Actuator mounting plate Guide-side bracket Flat washer Tip bracket 8.
Tightening torque for tip clasp Type RP3NA, RP3N (Lead screw, ball screw) RP4NA, RP4N (Lead screw, ball screw) Tightening torque 2.8N·m 4.2N·m Caution : Do not join the actuator detent using a floating joint. A radial load will be applied due to an eccentricity of the screw shaft, resulting in actuator malfunction or premature damage. 8.
[Mounting procedure] 1) Check the accuracy on the actuator side and load side. Adjust the position so the accuracy can be maintained at the value shown below or less in the whole range of the load side movement. L 0.02 A Load-side bracket 0.05 A B B 8. Installation Actuator-mounted-side bracket 2) Mount the main unit of the actuator. 3) Move the load-side bracket to confirm that there is no problem in the precision of the position to the shaft of the rod.
4) Turn the shaft clockwise until the overall actuator dimension becomes the shortest and the mechanical stopper is contacted. When the shaft is turned at the mechanical end, the cutout groove provided in the shaft on the rear side also turns. 5) Turn the shaft clockwise until the cutout groove provided in the shaft on the rear side aligns with the marking (positioning) sticker. 8.
6) While keeping this positioning relationship (= the cutout groove provided in the shaft on the rear side is aligned with the marking sticker), turn the shaft counterclockwise to adjust L to the specified dimension. 7) Use a spanner, etc., to hold the width across flats of the tip clasp in place and affix it with the guide-side bracket. (When affixing with the bracket, turn the nut while locking the spanner applied to the tip clasp. If the tip clasp turns, the home position becomes offset.) 8.
8) Confirm that the bracket moves smoothly in the whole range of its stroke. Readjust the position if it is confirmed the bracket gets heavy or stuck at any point in the stroke range. (For the low lead types (Lead 1 and 2), twist the rotation shaft with a screwdriver to move the bracket.) Recommended screwdriver size: Nominal size 5.5 to 6.0 (width at tip) Caution : Do not attempt to move back and forth from the load side (rod side) for the low lead types (Lead 1 and 2).
[How to check and adjust the position of encoder phase Z] Follow the procedures below to check if encoder phase Z is at an appropriate position. This is required only for RP3NA, RP3N (slip screw) actuators with a lead of 1 mm. [Procedure 1] Checking the position of encoder phase Z [1] Turn the shaft clockwise from the rear until the rod contacts the rear end. Cutout groove in shaft ) G 4 (O 5 K) (N If the cutout groove is outside the allowable angle, the position of encoder phase Z must be readjusted.
[Procedure 2] Correcting the position of encoder phase Z If the cutout groove in the shaft is outside the allowable angle range, make correction by following the procedure below: [1] Use a spanner to hold the width across flats on the clasp at the tip to keep it in position, and loosen the lock nut slightly. [2] Move the clasp at the tip slightly in the rotating direction to correct the position.
8.3.3 Installation of Flange Provide a flange-shaped sheet and install the actuator onto this sheet from the back. • Use the tapped hole on the actuator to install the actuator onto the flange using the M4 countersunk screw. • Secure the flange with the actuator mounting plate using screws. If positioning is required, insert positioning pins. Actuator mounting plate Actuator mounting hole Positioning pin hole (2 locations) Flange Positioning pin (2 pcs) 8.
8.3.4 Installation from Rear Side φ16 A When installing the actuator from the rear side, provide a rear mounting plate of a slightly-projected circular column shape as shown below, to facilitate the positioning. 1.5 Rear mounting plate RP4NA, RP4N (Lead screw, ball screw) -0.2 I30 -0.3 8. Installation A RP3NA, RP3N (Lead screw, ball screw) -0.2 I25 -0.
8.4 Single Guide Types GS3NA, GS3N (Lead screw, ball screw), GS4NA, GS4N (Lead screw, ball screw) The actuator mounting surface should be machined or otherwise processed to a smooth surface of equivalent precision. • The effective depth varies depending on the actuator model and mounting surface. Determine an appropriate length for the screws to be used by referring to the figure below. • Circular and long positioning pin holes are provided in each mounting surface. Use these holes if necessary.
Ɣ GS4NA, GS4N (Lead screw, ball screw) The actuator is structured in such a way that it can be affixed on any of its four sides. The load can be installed only one side. 10 30 φ3 25 +0.03 0 depth 3 20 7 4-M4, depth 5 4-M4 through 15 +0.05 0 2-φ3 30 +0.03 0 22.6 depth 3 (same on opposite side) 6 7 4 depth 3 28.5 depth 3 30 8-M4, depth 5 (same on opposite side) 37 depth 3 49 51 Home 2 ST ME 10 2-3 +0.
8.5 Double Guide Types GD3NA, GD3N (Lead screw, ball screw), GD4NA, GD4N (Lead screw, ball screw) The actuator mounting surface should be machined or otherwise processed to a smooth surface of equivalent precision. • The effective depth varies depending on the actuator model and mounting surface. Determine an appropriate length for the screws to be used by referring to the figure below. • Circular and long positioning pin holes are provided in each mounting surface. Use these holes if necessary.
Ɣ GD4NA, GD4N (Lead screw, ball screw) The actuator is structured in such a way that it can be affixed on any of its four sides. The load can be installed only one side. 10 φ3 30 25 +0.03 0 depth 3 3 depth 3 φ3 +0.03 0 ME +0.05 0 depth 3 15 28.5 30 30 56 54 4 66 68 28 48 19 9 22.6 2-φ3 +0.03 depth 3 (same on opposite side) 0 7 4-M4 through Home 2 10.5 20 6 5 4 20 7 4-M4, depth 8 depth 3 10 8-M4, depth 8 (same on opposite side) 4 L1 3 L2 +0.
8.6 Slide Unit Types SD3NA, SD3N (Lead screw, ball screw), SD4NA, SD4N (Lead screw, ball screw) The actuator or guide bracket mounting surface should be machined or otherwise processed to a smooth surface of equivalent precision. • The effective depth varies depending on the actuator model and mounting surface. Determine an appropriate length for the screws to be used by referring to the figure below. • Circular and long positioning pin holes are provided in each mounting surface.
Ɣ SD3NA, SD3N (Lead screw, ball screw) The actuator is structured in such a way that it can be affixed on any of its three sides. 2-φ3 +0.03 depth 0 3 (same on opposite side) 2×4-M4, depth 6 (same on opposite side) 2-3 3 Home +0.05 0 depth 3 (same on opposite side) +0.05 depth 0 2×2-M4, depth 8 2×2-φ4 H7, depth 5 3 8. Installation 4-M4, depth 6 φ3 +0.03 depth 0 3 2×2-φ3.3 ST 25 50 L 131 156 M 123 148 Caution : Some tapped mounting holes are through holes.
Ɣ SD4NA, SD4N (Lead screw, ball screw), The actuator is structured in such a way that it can be affixed on any of its three sides. 2-φ3 +0.03 depth 0 2×4-M4, depth 8 (same on opposite side) 2×2-M5, depth 10 3 (same on opposite side) +0.05 2-3 0 depth 3 (same on opposite side) 2×2-φ4 H7, depth 5 3 +0.05 0 depth 3 8. Installation Home +0.03 0 4-M4, depth 8 φ3 depth 3 2×2-φ4.2 ST 25 50 75 L 141 166 191 M 131 156 181 Caution : Some tapped mounting holes are through holes.
9. Connecting with Controller Both for the controller itself and for the connection cable between the controller and RCA2 (actuator), 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.
IAI’s dedicated connection cable (Connects the RCA2 and dedicated controller) RCA2-×× r = 84 mm or more (movable) r = 42 mm or more (fixed) 9. Connecting with Controller Dedicated controller ACON ASEL Dedicated connection cable • Servo motor cable : CB-ACS-MPA*** *) *** indicates the cable length. Up to 10 m 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.
• 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. • Separate the I/O and communication lines from the power and drive lines. Do not wire them together in the same duct. 9. Connecting with Controller Power line Duct I/O lines (flat cable) • Pay attention to the following points when using a cable track. • Do not let the cable get tangled or kinked in a cable track or flexible tube.
10. Notes on Operation 10.1 Placing a Load on the Actuator • Do not exceed the load ratings given in the specification table below. • Align the shaft center of the rod with the moving direction of the load. 10.2 How to Move Rod by Hand In the case of the low lead types such as Lead 1 and 2 of RN3NA, RN3N, RN4NA, RN4N, RP3NA, RP3N, RP4NA, RP4N, GS3NA, GS3N, GS4NA, GS4N, GD3NA, GD3N, GD4NA, GD4N, SD3NA, SD3N, SD4NA and SD4N, the rod would not move even if trying to move manually because it is heavy.
10.3 Home Return 10.3.1 Home Return Operation (1) RA2AC, RA2AR [1] The actuator moves to the parameter direction set as the operational direction in the home return command. [2] It detects the mechanical end with the software in the home return operation. [3] After reversed at the end point, determines the point where Z-phase signal is detected as the datum point. [4] Furthermore, it moves in the offset amount set in the parameter and this point becomes the origin point.
[3] The rod turns by rotating angle b from the position where phase Z was detected, and the attained offset position (the offset conform to an applicable parameter value) is set as the home (points zero). Phase-Z detection sensor (fixed side) Rotating angle β The offset from the position where phase Z is detected to the home is 1.2 mm. 10.
11. Life 11.1 Life of Actuator Using Ball Screws Refer to the following for the product life of the ball screw type actuator assuming it was operated under the condition of maximum transportable weight, maximum acceleration and deceleration. Model RA2AC, RA2AR RN3NA, RP3NA, GS3NA, GD3NA, SD3NA, RN3N, RP3N, GS3N, GD3N, SD3N RN3NA, RP3NA, GS3NA, GD3NA, SD3NA, RN3N, RP3N, GS3N, GD3N, SD3N RN4NA, RP4NA, GS4NA, GD4NA, SD4NA, RN4N, RP4N, GS4N, GD4N, SD4N 11.
Life (years) 8 hours of operation 24 hours of operation Cycle time (sec) 11.
(2) Vertical application The graph below shows the relationship between the cycle time for one back-and-forth operation and the life of the product in a vertical application (product life: 5 million back-and-forth operations). The lines based on 8 hours of operation and 24 hours operations a day, for 240 days a year, are shown. Use this graph as a reference when determining the product life. 8 hours of operation 24 hours of operation Life (years) 11.
12. Maintenance and Inspection 12.1 Inspection Items and Timings Perform maintenance and inspection at the timings specified below. This schedule assumes 8 hours of operation a day. If the actuator is operated continuously day and night or at a higher utilization rate, shorten the inspection intervals according to the situation.
12.4 Inspection of Interior When inspecting the interior, check the items specified below. Main unit Lead screw Loose actuator mounting bolts, other loose items Lubrication, buildup Spiral cover 12. Maintenance and Inspection To check the Lead screw or ball screw, turn off the power, extend the rod, and pull the narrower end of the spiral cover toward the wider end (in the direction of the arrow) to expose the screw shaft and inspect the shaft visually.
12.5 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. 12.6 Greasing 12.6.1 Applicable Grease [Lead screw types] All Lead screw products have been shipped with synthetic poly-ҏD olefin grease applied to the Lead screw. IAI uses the following grease in our plant. Location Lead screw Manufacturer Sumico Lubricant Co., Ltd.
12.6.2 Greasing Method For the ball screws of RA2AC and RA2AR, apply grease directly. For those equipped with spiral cover, follow the instruction below to apply grease. [1] Turn off the power and check the surface of the spiral cover for shavings, powder dust, etc. Use a waste cloth, etc., to wipe off shavings, powder dust, if any. [2] Extend the rod and pull the narrower end of the spiral cover toward the wider end (in the direction of the arrow) to expose the screw shaft.
12.7 How to Replace Spiral Cover [Item required for replacement] • Replacement spiral cover Stroke 25mm, 30mm 50mm 75mm Model RCA-SPC-30 RCA-SPC-50 RCA-SPC-75 [Procedure] [1] Remove the spiral cover. Pull out the base of the spiral cover toward you and roll the edge of the cover. Spiral cover [2] Gradually roll the spiral cover to remove it. 12. Maintenance and Inspection Screw shaft Wipe off old grease on the screw shaft.
[3] Pull out the thin side of the replacement spiral cover and take out the end hidden inside. 12. Maintenance and Inspection [4] Install the replacement spiral cove. Hook the end of the replacement spiral cover you have taken out. Once the end is hooked, orient the cover so that the end faces the inside. [5] Push the end toward the shaft end while winding the cover a little.
[6] Continue to wind the replacement spiral cover. [7] Finally, orient the cover so that the end faces the outside, and push the cover into the actuator groove. 12. Maintenance and Inspection [8] Grease the screw shaft. [Refer to 12.6.2, “Greasing Method”.
13. Warranty 13.
13.5 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.
Change History Revision Date May 2009 First edition Second edition Added 12.7, “How to Replace Spiral Cover” March 2010 Third edition Added [How to check and adjust the position of encoder phase Z] on p. 39 and 40. Added [How to check and adjust the position of encoder phase Z] on p. 49 and 50. March 2010 Fourth edition Changed the tolerance of dimension L to 0.1 mm on p. 36 and 46.
Manual No.: ME3671-10A (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.