ROBO Cylinder Rod Type RCA Actuators RCAW Actuators, Dustproof/Splash-proof Type Operating Manual Eighth Edition 䎰䏒䏗䏒䏕䎃䎶䏗䏕䏄䏌䏊䏋䏗䎃䎷䏜䏓䏈䎃䎋䎦䏒䏘䏓䏏䏌䏑䏊䎃䎷䏜䏓䏈䎌䎃 䎵䎤䎖䎦䎏䎵䎪䎶䎖䎦䎏䎵䎪䎧䎖䎦䎏䎵䎤䎗䎦䎏䎵䎪䎶䎗䎦䎏䎵䎪䎧䎗䎦䎃 䎰䏒䏗䏒䏕䎃䎶䏗䏕䏄䏌䏊䏋䏗䎃䎷䏜䏓䏈䎃䎋䎥䏘䏌䏏䏗䎐䏌䏑䎃䎷䏜䏓䏈䎌䎃 䎵䎤䎖䎧䎏䎵䎪䎶䎖䎧䎏䎵䎪䎧䎖䎧䎏䎵䎤䎗䎧䎏䎵䎪䎶䎗䎧䎏䎵䎪䎧䎗䎧䎃 䎰䏒䏗䏒䏕䎃䎵䏈䏙䏈䏕䏖䏌䏑䏊䎃䎷䏜䏓䏈䎃 䎵䎤䎖䎵䎏䎵䎪䎧䎖䎵䎏䎵䎤䎗䎵䎏䎵䎪䎧䎗䎵䎃 䎃 䎰䏒䏗䏒䏕䎃䎶䏗䏕䏄䏌䏊䏋䏗䎃䎷䏜䏓䏈䎃䎋䎦䏒䏘䏓䏏䏌䏑䏊䎃䎷䏜䏓䏈䎌䎃 䎵䎤䎖䎦䎏䎵䎤䎗䎦䎃 䎰䏒䏗䏒䏕䎃䎶䏗䏕䏄䏌䏊䏋䏗䎃䎷䏜䏓䏈䎃䎋䎥䏘䏌䏏䏗䎐䏌䏑䎃䎷䏜䏓䏈䎌䎃 䎵䎤䎖䎧䎏䎵䎤䎗䎧䎃 䎰䏒䏗䏒䏕䎃䎵䏈䏙䏈䏕䏖䏌䏑䏊䎃䎷䏜䏓䏈䎃 䎵䎤䎖䎵䎏䎵䎤䎗䎵䎃 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.
Table of Contents Safety Guide ························································································································1 Precautions··························································································································8 International Standards Compliances ··················································································9 Names of the Parts ·····················································································
3. Connecting with Controller ··························································································55 4. Maintenance ···············································································································59 4.1 4.2 4.3 4.4 4.
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 Operating manual for each model. Level Degree of Danger and Damage Symbol Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
Precautions 1. Ensure use of the product in the specified conditions, environments and ranges. Operation out of the specified conditions could cause a drop in performance or malfunction of the product. 2. Set the allowable load of the move on rod tip within the allowable range. An operation with the load beyond the allowable load of the move on rod tip may cause an abnormal noise, vibration, malfunction or shortened life. If it is extreme, flaking may occur on the guide. 3.
International Standards Compliances This actuator complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
Names of the Parts In this Operation Manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actuator placed horizontally, as shown in the figure below.
[RGS3C, RGS3D, RGS4C, RGS4D] RGS3D and RGS4C are non-brake-equipped types. Right Rod Side Motor Side Left Guide Bearing Guide Bracket Head Cover Guide Rod Rod Rod Cover Motor Unit Brake Unit Cylinder Tube Cable [RGD3C, RGD3D, RGD4C, RGD4D] RGD3D and RGD4C are non-brake-equipped types.
Dust and Splash-Proof Type [RA3C, RA3D, RA4C, RA4D] RA3D and RA4D are non-brake-equipped types.
1. Specifications Check The standard configuration of this product is comprised of the following parts. Caution: Check for the enclosed components referring to the component list. If you find any fault or missing part, contact your local IAI distributor or our company. 1.1.1 Parts No. 1 Part Name Actuator Main Body Accessories 2 Motor • Encoder CableNote1 3 Nut 4 First Step Guide 5 Instruction Manual (CD/DVD) 6 Safety Guide Model No.
1.1.2 Instruction Manuals related to this product, which are contained in the CD/DVD. 1. Specifications Check Shown below is a list of the instruction manuals for the controllers related to this product which is recorded in Instruction Manual (CD/DVD). No.
1.1.4 How to Read the Model Number RCA-RA3C-I-20-10-50-A1-P-B-** Standard Type Coupling Type RA3C, RA4C Built-in Type RA3D, RA4D Motor-Reversing Type RA3R, RA4R Single-Guide Type Coupling Type RGS3C, RGS4C Built-in Type RGS3D, RGS4D Double-Guide Type Coupling Type RGD3C, RGD4C Built-in Type I : Incremental RGD3D, RGD4D Motor-Reversing Type A : Absolute RGD3R, RGD4R Short Length Type 20 :20W SRA4R 30 :30W Short Length Type With Single Guide SRGS4R 2.5 :2.
1.2 Specification 1.2.1 Speed 1. Specifications Check Speed limits (Unit: mm/s) Size RA3C RA3D RA3R RGD3C RGD3D RGD3R RGS3C RGS3D RA4C RA4D RA4R RGD4C RGD4D RGD4R RGS4C RGS4D RA4C RA4D RA4R RGD4C RGD4D RGD4R RGS4C RGS4D Motor Type 20W 20W 30W Lead [mm] 50 Stroke [mm] 150 200 100 2.5 125 5 250 10 500 3 150 6 300 12 600 3 150 6 300 12 600 250 300 (Note) The speed may not reach the maximum in some ways of the acceleration/deceleration settings.
1.2.2 Maximum Acceleration and Transportable Weight If the transportable weight is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. Motor Type Lead [mm] 2.5 RA3C 20W 5 10 2.5 RA3D RA3R 20W 5 10 2.5 RGD3C RGS3C 20W 5 10 RGD3D RGD3R RGS3D RA4C RA4D RA4R RGD4C RGD4D RGD4R RGS4C RGS4D 2.
Type Motor Type Lead [mm] 1. Specifications Check 3 RA4C 30W 6 12 3 RA4D RA4R 30W 6 12 3 RGD4C RGS4C 30W 6 12 RGD4D RGD4R RGS4D 3 30W 6 12 Rated Acceleration [G] Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical 0.2 0.2 1 1 1 1 0.2 0.2 0.3 0.3 0.3 0.3 0.2 0.2 1 1 1 1 0.2 0.2 0.3 0.3 0.3 0.
1.2.3 Driving System • Position Detector Type 20W 20W RA4C RA4D RA4R RGD4C RGD4D RGD4R RGS4C RGS4D 30W Lead [mm] No. of Encoder Pulses [P/R] 2.5 200 5 200 10 200 3 200 6 200 12 200 3 200 6 200 12 200 Drive System Ball Screw I8 Rolled C10 Ball Screw I10 Rolled C10 1.
1. Specifications Check 1.2.4 Positioning Precision Item Tolerance Positioning repeatability ±0.02mm Backlash 0.1mm or less Base Material : Aluminum Anodizing treatment This is an option already attached when it is shipped out from the factory. It does not include the consideration of time-dependent change as it is used. 1.2.
z With single guide Motor Type RGS3C 20W RGS3D 20W RGS4C RGS4D 20W RGS4C 30W RGS4D 30W Lead [mm] Rod Diameter Rod Non-Rotation Accuracy I8mm ±0.05° 2.5 5 10 2.5 5 10 3 6 12 3 6 12 3 6 12 I8mm ±0.05° I10mm ±0.05° I10mm ±0.05° I10mm ±0.05° Lead [mm] Rod Diameter Rod Non-Rotation Accuracy I8mm ±0.05° I8mm ±0.05° I10mm ±0.05° I10mm ±0.05° I10mm ±0.
The allowable torque for each model is as shown below. Make sure to use the product within the range specified below when applying running torque to the product. Also, please note that the single guide type is not capable to receive any running torque. (1) Double guide Allowable Rotary Torque (N䍃m) Stroke (mm) 1.2.7 Relation of Allowable Tip Load and Running Life The bigger the load on the tip of the guide gets, the shorter the life becomes.
1.2.8 Radial load and Tip Flexure Shown below is the correlation graph of the load applied to the guide tip and the flexure at that time. Flexure (mm) 1. Specifications Check (1) Single guide * Single guide type is not capable for any load except for those from the top and bottom.
1.2.9 Duty Ratio in Continuous Operation Perform an operation with the duty ratio below the allowable range. 1. Specifications Check Duty ratio is the rate of operation expressed in % that presents the time of the actuator being operated in 1 cycle of operation. Caution: If the overload error occurs, try either to reduce the duty by extending the stop time or to reduce the acceleration/deceleration speed.
3) From the load ratio LF and the acceleration/deceleration time ratio tod that were used to figure out the duty ratio, read the duty ratio. e.g.) When the load ratio LF = 80% and the acceleration/deceleration time ratio tod = 80%, the reference for the duty is approximately 75%. 1. Specifications Check Reference for Operation Duty Less than 50 % About 72 % High Accel/Decel Type High Accel/Decel Type High Accel/Decel Type High Accel/Decel Type Acceleration/Deceleration Time Ratio tod 1.2.
1.3 Options 1. Specifications Check 1.3.1 Brake Type (Model No.: B) The brake is a mechanism designed to prevent the rod 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 rod. The model code should be expressed with B. 1.3.2 High Acceleration/Deceleration Type (Model No.: HA) This is an option to upgrade the rated acceleration (0.3G) of the standard type to 1G.
1.3.7 Front Flange (Model No. : FL) This metal part is used for fixing the actuator from the actuator body side using the bolts. φ16 M8×1.25 (Effective screw range = 16) M26×1.5 (Effective screw range = 15.5) (ROD O/D) Model code of single product RCA -FL-RA 3 1. Specifications Check RCA / RCAW-RA 3 □ 18 4 18 3 70 55 ME 49 3 Home ME 10 Nut A 8 32 (Width across Flats) 48.6 40 26 φ32 SE st Flange M10×1.
1.3.8 Rear Flange (Model No. : FLR) 1. Specifications Check This metal fitting is used for fixing the actuator from the actuator rear side. RCA -S RA 4 R RCA -FL-S RA 4 Model code of single product 34 44.5 4-φ6.6, through RCA / RCAW-RA3C, RA3D Model code of single product RCA -FL R-RA 3 49 L1 φ32 17 14 4 - φ6.8 85.5 40(Width across Flats) φ42 φ35 Home 50 36 85 70 5.25 0.
RCA / RCAW-RA3R RCA -FL-RA 3 Model code of single product 116.5 85.5 25 18 42.4 4 - φ6.8 49 L1 L2 31 Flange RCA / RCAW-RA4R 26 40 84.4 42 φ 32 φ32 φ 35 φ35 φ 42 φ42 3 1. Specifications Check *The front flange and the rear flange can be used in common for the motor reversing type. 55 70 M8, Depth 15 st 50 100 150 200 L1 120 170 220 270 L2 218 268 318 368 RCA -FL-RA 4 Model code of single product *The front flange and the rear flange can be used in common for the motor reversing type.
1.3.9 Foot (Model No. : FT) This metal part is used for fixing the actuator from the top side using the bolts. 1. Specifications Check * Refer to the attachment pitch size in the drawing for each actuator, for the attachment pitch between the foot metal parts. RCA -S RA 4 R Model code of single product RCA-FT-SRA4 4-φ6.6, through 71 57 20 10 95 105 st+10 RCA -RA 3 C / RGS 3 C / RGD 3 C 18 70 30 ME SE st 3 49 Home ME 2 - φ6.8 20 18 10 L1 17 14 85.5 φ32 35 59.3 2 - φ6.
RCA -RA 4 C / RGS 4 C / RGD 4 C 60 10 m m Dimensions φ37 3 ME Home SE ME 2 - φ6.8 19 16 L1 10 20 L2 173.8 223.8 273.8 323.8 373.8 423.8 20 10 L2 1. Specifications Check 56 st 3 75 22 20 L1 137 187 237 287 337 487 st L1 L2 50 145 181.8 100 195 231.8 150 245 281.8 200 295 331.8 250 345 381.8 300 495 431.8 22 2 - φ6.8 66.4 40 RCA-FT-RA4 60 Model code of single product st 50 100 150 200 250 300 9.5 m 20w Incremental 67.5 RCA 80.5 Absolute 30w 82.5 95.5 80.
1.3.10 Foot (Attached on the Right Side/Left Side) (Model No.: FT2 (Attached on the Right Side), FT4 (Attached on the Left Side) 1. Specifications Check This metal part is used for fixing the actuator from the top side using the bolts. For RCA-SRA4R, the actuator can be attached also to the side. RCA -S RA 4 R Model code of single product RCA-FTS-SRA4 4 - φ6.
1.3.11 Knuckle Joint (Model No. : NJ) This metal part is used to give some degree of freedom (rotation) in the movement at the rod end of the actuator when Clevis or trunnion part is used. RCA-NJ-RA3 Joint Pin M8×1.25 Depth 11 1. Specifications Check For RCA-RA3□ Model code of single product Joint W Nut 16 Joint S 25 16 25 10 For RCA-RA4□ Model code of single product RCA-NJ-RA4 Joint W Nut Joint Pin Joint S 20 M10×1.
1.3.12 Clevis (Model No. : QR) 2 - φ6.8 RCA -RA 3 R 18 L ME φ35 3 Home Nut A M4 8 Clevis Nut B 32 (Width across Flats) 14 (Width across Flats) st 40 φ32 3 ME SE 27 15 10 49 31 25 85.5 9.5 st 116.5 42 103.2 18 φ42 Model code of single product RCA-QR-RA3 15 50 100 150 200 22.4 42.
1.3.13 Rear Attachment Plate (Model No. : RP) This plate is used to fix the rear side of the motor reversing rod type (RA3R/RA4R) onto the system. 116.5 85.5 9.5 1. Specifications Check For RCA-RA3R Model code of single product RCA-RP-RA3 25 8 49 84.4 42 0 φ42 φ35 42.4 10 φ42 Nut A 2.5 26 32(Width across Flats) 4-M4 0 3 ME 115.5 82.5 9.5 φ37 SE Home φ20(ROD O/D) st 31 L For RCA-RA4R Model code of single product RCA-RP-RA4 ME φ34 98.5 48 ME st φ30h9 (-0.
1.3.14 Front Trunnion (Model No. : TRF) φ16 (ROD O/D) For RCA-RA3□ Model code of single product RCA-TRF-RA3 M8×1.25 (Effective screw range = 16) M35×1.5 (Effective screw range = 17.5) 70 1. Specifications Check This bracket is used to make the cylinder follow up when the movement of an object attached on the tip of the rod is different from the direction of rod movement. Attach on the rod. 18 64.
1.3.15 Rear Trunnion (Model No. : TRR) This bracket is used to make the cylinder follow up when the movement of an object attached on the tip of the rod is different from the direction of rod movement. Attach on the rod. M26×1.5 (Effective screw range = 15.5) 83 φ16 (ROD O/D) M8×1.25 (Effective screw range = 16) 18 40(Width across Flats) 32(Width across Flats) 8 Nut C 14(Width across Flats) 73 40 64.3 ME 40 10 φ42 Home 2-φ6.8 φ35 49 3 Nut A 9.
1. Specifications Check 1.4 Motor • Encoder Cables 1.4.1 Motor cable CB-ACS-MA ƑƑƑ 1 3 Controller end Actuator end Cable Color Width AWG22 (crimped) Red White Black Signal Name U V W Pin No. 1 2 3 Pin No. 1 2 3 Signal Name U V W Cable Color Red White Black Width AWG22 (crimped) 1.4.2 Encoder cable/robot encoder cable CB-ACS-PA ƑƑƑ/CB-ACS-PA ƑƑƑ-RB 1 18 17 2 1 Controller end Width AWG26 (crimped) 38 10 9 18 Actuator end Pin No. Signal Name Cable Pin No.
1.4.3 Motor/Encoder Integrated Cable for AMEC/ASEP CB-ASEP-MPA ƑƑƑ AWG22 (crimped) Cable Color Red Yellow Orange Gray Black Brown White Brown White Yellow Red Green Identification Tape Yellow Red Green AWG26 (crimped) U V 1 2 NC NC Black Black Signal Pin Name No. Pin Signal No.
2. Installation 2. Installation 2.1 Transportation [1] Handling of Robot Unless otherwise specified, the actuators are packaged individually. (1) Handling the Packed Unit y 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. y Transport a heavy package with at least more than two operators. Consider an appropriate method for transportation.
[2] Handling in Assembled Condition This is the case when the product is delivered from our factory under a condition that it is assembled with other actuators. The combined axes are delivered in a package that the frame is nailed on the lumber base. The rods are fixed so they would not accidently move. The actuators are also fixed so the tip of it would not shake due to the external vibration. (2) How to Handle after Unpackaged y Fix the rod so they would not accidently move during transportation.
2.2 Installation and Storage • Preservation Environment [1] Installation Environment 2. Installation The actuator should be installed in a location other than those specified below. In general, the installation environment should be one in which an operator can work without protective gear. Also provide sufficient work space required for maintenance inspection.
2.3 How to Installation This chapter explains how to install the actuator on your mechanical system. 2.3.1 General Rules on Installation 2. Installation Follow the information below when installing the actuator, as a rule. Do pay attention to these items (except with custom-order models). {: Available u : Not available Horizontally Oriented Mount ż Vertical Mount ż Caution: When the unit is installed vertically oriented, attempt to put the motor up unless there is a special reason.
2.3.2 Installation (1) Using screws on the rod or head side Install the actuator using screws set on the rod or head side of the actuator. z Applicable models: All models 2. Installation Straight type MA Rod cover Cylinder tube MB Head cover Reversing type Motor unit MA MA Rod Rod cover Type RA3 type RA4 type 44 Pulley case Cylinder tube MA M26u1.5 M30u1.5 Head cover MB M35u1.5 M40u1.
(2) Using screws on a flange (optional) An optional flange is available for installing the actuator. Use this flange, if necessary. z Applicable models: All models Straight type 2. Installation Mounting hole Affixing nut Flange Straight type Mounting hole Affixing nut Flange Screw size Tightening torque Mating material is steel M6 12.3 N•m Mating material is aluminum M6 5.
2. Installation Reversing type Affixing nut Mounting hole Flange Reversing type Affixing nut Mounting hole Flange Screw size Tightening torque 46 Mating material is steel M6 12.3 N•m Mating material is aluminum M6 5.
(3) Using screws on feet (optional) Optional feet are available for installing the actuator. Use these feet, if necessary. z Applicable models: All models Straight type Affixing nut Affixing nut 2. Installation Mounting hole Mounting hole Foot B Foot A Mounting hole Mounting hole Reversing type Affixing nut Foot Foot Screw size Tightening torque Affixing nut Mating material is steel M6 12.3 N•m Mating material is aluminum M6 5.
(4) Using screws on a trunnion (optional) An optional trunnion is available for installing the actuator. Use this trunnion, if necessary. z Applicable models: RA3C, RA3D, RA4C, RA4D 2. Installation Straight type Mounting hole Affixing nut Trunnion ring Bracket B Bracket A Straight type Mounting hole Trunnion ring Affixing nut Bracket B Bracket A Screw size Tightening torque 48 Mating material is steel M6 12.3 N•m Mating material is aluminum M6 5.
Trunnion ring Reversing type 2. Installation Mounting hole Affixing nut Bracket B Bracket A Screw size Tightening torque Mating material is steel M6 12.3 N•m Mating material is aluminum M6 5.4 N•m Caution: y When the optional Clevis, Trunnion or commercially available free joint is attached and the actuator is installed horizontally, take the greatest care because the weight of the actuator is given to the rod. Otherwise, the bush might be worn out earlier or inside mechanism might be damaged.
(5) Using screws on a clevis (optional) An optional clevis is available for installing the actuator. Use this clevis, if necessary. z Applicable models: Motor reversing type RCA-RA3R, RCA-RA4R Stopper ring 2.
(6) Using screws on a rear mounting bracket (optional) An optional rear mounting bracket is available for installing the actuator. Use this rear mounting bracket, if necessary. z Applicable models: Motor reversing type RCA-RA3R, RCA-RA4R 2. Installation Reversing type Tapped mounting hole Type RA3 type RA4 type Tapped hole diameter M4 M4 Tapped depth 6 mm 7 mm Tightening torque 1.8 N•m 1.
2. Installation (7) Double-guide type Use the tapped holes in the bracket for installing an actuator of the double-guide type. z Applicable models: Double-guide type RGD3, RGD4 Tapped mounting hole Bracket A Type RA3 type RA4 type 52 Bracket B Tapped hole diameter M5 M5 Tapped depth 8 mm 8 mm Tightening torque 3.4 N•m 3.
(8) Single-guide type Use the tapped holes in the bracket for installing an actuator of the single-guide type. z Applicable models: Double-guide type RGD3, RGD4 2. Installation Tapped mounting hole Bracket A Type RA3 type RA4 type Bracket B Tapped hole diameter M5 M5 Tapped depth 8 mm 8 mm Tightening torque 3.4 N•m 3.
2.3.3 Connecting the Air Tube of the RCAW Dustproof/Splash-proof Type 2. Installation Intake/exhaust port Install the air tube (outer diameter: 10 mm, inner diameter: 6.5 mm) on the intake/exhaust port and guide the air tube to a location where the external environment assures the tube will not come in contact with water.
3. Connecting with Controller For the controller, only the dedicated controller manufactured by our company can be used. Usage of an undedicated controller may cause accidents such as burnout, ignition or heat generation. For the connection between the actuator and controller, use the attached dedicated connection cable.
Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire. 3. Connecting with Controller • Use dedicated cables of IAI indicated in this instruction manual.
• Do not pull the cable with a strong force. 3. Connecting with Controller • Pay attention not to concentrate the twisting force to one point on a cable. • Do not pinch, drop a heavy object onto or cut the cable. • When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much. Do not use spiral tube in any position where cables are bent frequently.
3. Connecting with Controller • If using a cable track, arrange the wiring so that there is no entanglement or kink of the cables in the cable carrier or flexible tube, and do not bind the cables so that the cables are relatively free. (Arrange the wiring so the cables are not to be pulled when bent.) • The occupied volume rate for the cables, etc., inside the cable track should be 60% or less.
4. Maintenance 4.1 Maintenance Schedule Perform maintenance work according to the schedule below. The schedule is set assuming eight hours of operation a day. When the operation time is long such as 24-hour operation, shorten the maintenance intervals as needed.
4.4 Applying Grease to the Sliding Surface of the Rod (1) Applicable grease KyodoYushi MultempLRL3 4. Maintenance Warning: Never use any fluorine-based grease. It will cause a chemical reaction when mixed with a lithium-based grease and may cause damage to the actuator. (2) How to apply grease Apply grease over the entire surface of the rod. Caution: In case the grease got into your eye, immediately go to see the doctor to get an appropriate care.
4.5 Reduction Belt [Motor Reversing Type] 4.5.1 Inspecting the Belt Remove the pulley cover and visually inspect the belt. Durability of the reduction belt is affected significantly by the operating condition, and there is no standard guideline as to when the belt should be replaced. Generally, the belt is designed to withstand several millions of flexing loads.
4.5.3 Adjusting the Belt Tension 4. Maintenance Remove the pulley case cover and loosen the four motor-unit affixing bolts. Pass a looped string (or long tie-band) around the motor unit, and pull the string to the specified tension using a tension gauge. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque of adjustment bolts] 162 N•cm (16.5 kgf•cm) Tension: 2.5 kgf Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.
4.5.4 Replacing the Belt of the Motor Reversing Type: RA3R/RA4R Types [Overview of Replacement] 1) Move the rod to a position where Z phase turns on (home position) (2 mm from the mechanical end). In this position, loosen the motor-unit affixing bolts and replace the belt. 2) Restore the home position. Affix the rod at a position 2 mm from the mechanical end on the home side, pass the belt, and adjust the belt to the specified tension.
[Procedure] 1) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. 4. Maintenance M4 hexagon socket head screws M3 hexagon socket head screws 2) Move the rod to a position where Z phase turns on (home position). This corresponds to a position where the rod projects 2 mm from the mechanical end. Apply countermarks in this position. Cause the rod to project 2 mm from the mechanical end.
3) Loosen the motor-unit affixing bolts using an Allen wrench of 2.5 mm across flats. Slide the motor, and loosen and remove the belt. Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.) 4. Maintenance Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.) 4) Check the following points before restoring the home position: y The motor side should be aligned with the initial countermark. If the position is offset, adjust it to achieve proper alignment.
4. Maintenance 5) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque for adjustment bolts] 162 N•cm (16.5 kgf•cm) Tension: 2.5 kgf Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.) Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.
6) Install the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. M4 hexagon socket head screws 4. Maintenance M3 hexagon socket head screws 7) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of absolute encoder specification, an absolute reset must be performed.) Check for deviation from the initial home position. If there is a deviation, adjust parameter No.
4.6 Replacing the Motor 4.6.1 Replacing the Motor of the Motor Straight Type (Coupling Type): RA3C/RA4C Types Replacement motor unit 4. Maintenance [Items Required for Replacement] y Replacement motor unit y Coupling (with screws) y Allen wrenches y Scale y Oil-based marker pen y Grease Idemitsu Kosan Daphne Eponex Grease No.2 y PC or teaching pendant Coupling (with screws) [Overview of Replacement] 1) Move the rod to a position where Z phase turns on (home position) (2 mm from the mechanical end).
[Procedure] 1) Move the rod to a position where Z phase turns on (home position). This corresponds to a position where the rod projects 2 mm from the mechanical end. Apply countermarks in this position. Cause the rod to project 2 mm from the mechanical end. 4. Maintenance Apply countermarks once the rod has projected 2 mm from the mechanical end. Warning: If the actuator is installed vertically, move it after turning on the controller power and forcibly releasing the brake.
4. Maintenance 3) Pull out the motor unit. Before pulling out the motor unit, apply a countermark on the cylinder tube at a position corresponding to the tab on the motor unit, so that the motor unit and cylinder can be aligned in the correct position later on. Tab on the motor unit Apply a countermark at a position corresponding to the tab on the motor unit. 4) Apply grease on the actuator coupling. Apply grease on the inside of the coupling.
5) Align the tab on the replacement motor unit with the countermark on the cylinder. With the motor unit and cylinder aligned properly, insert the coupling into the replacement motor unit by aligning the orientation of this coupling with that of the actuator coupling (adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end). Apply countermarks to identify the current motor position (phase Z position) and coupling.
4. Maintenance 6) Turn the coupling and motor shaft simultaneously until a setscrew on the coupling is seen through the hole. Thereafter, tighten the hexagon socket head setscrew using an Allen wrench of 2 mm across flats. Similarly, turn the coupling and motor shaft simultaneously until the other screw is seen through the hole, and tighten the setscrew. Coupling setscrew hole 72 Turn the coupling and motor shaft simultaneously until a setscrew on the coupling is seen through the hole.
7) Return the coupling in the replacement motor unit to the initial motor position (Z phase position). Align the tab on the replacement motor unit with the countermark on the cylinder. With the motor unit and cylinder positioned this way, confirm that the orientation of the actuator coupling (adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end) corresponds to the position of the coupling in the replacement motor unit.
4. Maintenance 8) Carefully insert the replacement motor unit into the cylinder by ensuring that the couplings do not lose their alignment. 9) Using an Allen wench of 2 mm across flats, tighten the two motor-unit affixing bolts on the right and left. 2 affixing bolts on the motor-end cap (right and left) (hexagon socket head setscrews) 10) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of absolute encoder specification, an absolute reset must be performed).
4.6.2 Replacing the Motor of the Motor Reversing Type: RA3R/RA4R Types [Items Required for Replacement] y Replacement motor unit y Allen wrenches y Tension gauge (capable of tensioning to 7 kgf or greater) y Strong string, looped (or long tie-band) y Scale y Oil-based marker pen y PC or teaching pendant 4. Maintenance Replacement motor unit [Overview of Replacement] 1) Loosen the motor-unit affixing bolts to remove the belt, and replace the motor. 2) Restore the home position.
[Procedure] 1) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. 4. Maintenance M4 hexagon socket head screws M3 hexagon socket head screws 2) Loosen the motor-unit affixing bolts using an Allen wrench of 2.5 mm across flats. Slide the motor, and loosen and remove the belt. After the belt has been removed, remove the motor-unit affixing bolts. Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.
3) Take out the motor. 4. Maintenance 4) Install the replacement motor. Loosely tighten the motor-unit affixing bolts.
5) Move the rod to a position where Z phase turns on (home position). This corresponds to a position where the rod projects 2 mm from the mechanical end. Apply countermarks in this position. 4. Maintenance Cause the rod to project 2 mm from the mechanical end. Apply countermarks once the rod has projected 2 mm from the mechanical end. Warning: If the actuator is installed vertically, move it after turning on the controller power and forcibly releasing the brake.
7) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque for adjustment bolts] 162 N•cm (16.5 kgf•cm) 4. Maintenance Tension: 2.5 kgf Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.) Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.
8) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. 4. Maintenance M4 hexagon socket head screws M3 hexagon socket head screws 9) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of absolute encoder specification, an absolute reset must be performed.) Check for deviation from the initial home position. If there is a deviation, adjust parameter No.
4.7 Replacing the Bellows of the RCAW Dustproof/Splash-proof Type [Items Required for Replacement] y Replacement bellows unit : RA3 ······ JB-RA3- (stroke) : RA4 ······ JB-RA4- (stroke) y Phillips screwdriver y Torque driver y Grease Multemp LRL3 4. Maintenance Kyodo Yushi Bellows [Procedure] 1) Loosen the front and rear metal fittings affixing the bellows and remove the bellows.
4. Maintenance 2) Apply grease evenly over the entire cylinder surface. Apply grease evenly over the entire surface. 3) Install a metal fitting on the bellows. Install a metal fitting on the bellows.
4) Install the replacement (new) bellows and tighten the screws of the front and rear metal fittings affixing the bellows. Tighten the screws to the specified torque using a torque driver. Installation of bellows 4.
5. Appendix 5.1 RCA-RA3C ME: Mechanical End [Without Brake Type] SE: Stroke End M35 × 1.5 (Effective screw range 17.5) M26 × 1.5 (Effective screw range 15.5) M8 × 1.25 (Effective screw range 16) 18 18 20 L 49 48 85.5 48 .6 35 42 ME SE Home ME 17 Nut A 32 3 16 (Rod diameters) 14 (Width across Flats) 32 (Width across Flats) 8 Nut B 10 [With Brake Type] 49 43 ( 42) ME SE Home 124.
5.2 RCA-RA4C ME: Mechanical End SE: Stroke End [Without Brake Type] M40 × 1.5 (Effective screw range 19.5) M30 × 1.5 (Effective screw range 17.5) M10 × 1.25 (Effective screw range 20) Caution from the directions other than the rod operating directions. The force in the vertical or rotational direction of the rod may damage the stopper. 22 20 22 L 56 m 36 (Width across Flats) 37 .
5.3 RCA-RA3D ME: Mechanical End SE: Stroke End M35 × 1.5 M26 × 1.5 M8 × 1.25 Caution 18 18 20 L 49 17 48 .6 ME SE 48 .6 42 32 ME 66.5 Nut A 3 Nut C 14 (Width across Flats) 32 (Width across Flats) 8 10 Nut B 14 Cable Joint Connector .6 48 34 32 8 46 (15.01) M35 × 1.5 M26 × 1.5 7 40 (Width across Flats Secure at least 100 3 35 5. Appendix st M8 × 1.25 5 13 RCA-RA3D (Without brake) Stroke 50 100 L 264.5 314.5 182 132 0.7 0.8 150 364.5 232 200 414.5 282 0.9 1.
5.4 RCA-RA4D ME: Mechanical End SE: Stroke End M40 × 1.5 M30 × 1.5 M10 × 1.25 Caution 22 20 22 L 56 52 .8 m 36 (Width across Flats) 9 Nut B 10 16 Cable Joint Connector Nut B .2 RCA-RA4D Nut C M40 × 1.5 .8 40 8 38 52 10 50 (19.6) Nut A M30 × 1.5 8 Secure at least 100 Nut C 19 (Width across Flats) 52. 42 48 50 Home ME ME SE 19 47 (Width across Flats) Nut A 37 3 5. Appendix 3 20 (Rod diameters) st M10 × 1.
5.5 RCA-RA3R ME: Mechanical End [Without Brake Type] SE: Stroke End M26 × 1.5 (Effective screw range 15.5) M26 × 1.5 (Effective screw range 15.5) M8 × 1.25 (Effective screw range 16) Caution 18 18 18 P 85.5 Nut A 32 84.4 16 (Rod diameters) 84.4 14 (Width across Flats) Nut B Cable Joint Connector 35 32 (Width across Flats) Nut A 25 42 Secure at least 100 5. Appendix Do not apply any external force to the rod from the directions other than the rod operating directions.
5.6 RCA-RA4R ME: Mechanical End SE: Stroke End RCA-RA4R L M10 × 1.25 M30 × 1.5 M10 × 1.25 Nut B .2 40 M10 × 1.25 22 20 20 m 17 Secure at least 100 6 st Home 300 484 484 484 484 375 1.7 1.8 2.0 67.5 80.5 82.5 95.5 100.5 113.5 115.5 128.5 1.2 1.4 1.5 Cable Joint Connector Caution Nut A 3 ME 250 434 434 434 434 325 Nut A 36 (between 2 flat faces) 48 98.5 3 SE 200 384 384 384 384 275 37 98.
5.7 RCA-RGS3C SE: Stroke End 20 (st + 65) 53 (st + 12) 17 5 42 40 (Width across Flats) 32 (Width across Flats) Bracket A 14 (Width across Flats) Nut B Bracket B Nut A 85.5 14 2 15 37.5 24 46 70 52.5 30.5 3 ME Home Shaft overhang at SE position L 8 37 46 st L (st+12) 124.5 17 5 14 43 32 53 32 (Width across Flats) Bracket A 14 (Width across Flats) 20 30 12 C2 430.5 70 Nut A Nut B M35 × 1.5 M26 × 1.5 29 37 8 7 6 48. 34 24 19.5 15 30.5 52.5 41.5 4- C2 20.
5.8 RCA-RGS4C ME: Mechanical End SE: Stroke End Caution 22 ME 3 SE Home M40 × 1.5 (Effective screw range 19.5) ME 3 11 st 41 (st + 74) st L 9 63 19 16 (st + 11) 48 m 5. Appendix 3 ME Home Shaft overhang at SE position 42 36 (Width across Flats) Bracket A 19 (Width across Flats) 30 50 (st + 11) 63 50 Cable Joint Connector L 9 81 50 47 (Width across Flats) Nut B Bracket B Nut A Secure at least 100 15 26 37 81 59 36.
5.9 RCA-RGS3D ME: Mechanical End SE: Stroke End 20 M35 × 1.5 (Effective screw range 17.5) ME ME SE 5. Appendix 3 3 12 st 35 st 3 (st + 65) ME Shaft overhang at SE position L 8 17 66.5 14 70 35 2 46 Nut A 40 (Width across Flats) 32 (Width across Flats) Secure at least 100 14 (Width across Flats) 37 46 Nut B Bracket B Cable Joint Connector 46 2 C 4-M5 20 30 12 Nut A 70 30.5 41.5 Nut B M35 × 1.5 M26 × 1.5 29 37 .6 48 34 24 19.5 52.5 15 10 30.
5.10 RCA-RGS4D ME: Mechanical End SE: Stroke End 22 ME ME Home SE 3 11 st (st + 74) 41 st 3 5. Appendix 3 M40 × 1.5 (Effective screw range 19.5) ME Home Shaft overhang at SE position L m 63 16 (st + 11) 42 48 19 9 36 (Width across Flats) Nut A 2 C 4- 4-M5 2 C .2 40 M40 × 1.5 .8 52 26 22 15 M30 × 1.5 36.5 81 50 436.5 59 10 26.
RCA-RGD3C SE: Stroke End 20 st 35 12 st Nut B ME Home (st + 65) L 8 29 20 53 40(Width across Flats) 3 (st + 12) 17 5 92 83 75 61 Bracket A (Width across Flats) Nut A 30 37 48.6 85.5 14 32 32(Width across Flats) 48.6 Bracket B L 8 (st + 12) 53 32(Width across Flats) 5 17 14 420.5 20 20.5 2 C Nut A Nut A 92 83 75 8-M4 (through) 20 30 12 4-M5 (through) M26 × 1.5 29 37 124.
RCA-RGD4C ME: Mechanical End SE: Stroke End 22 ME 3 M40 × 1.5 ME SE 3 st 11 41 47(Width across Flats) 3 (st + 74) ME L 52.8 37 30 9 63 Bracket A 19 16 (st + 11) 48 m 5. Appendix st Secure at least 100 5.12 42 52.8 1 110 110 100 88 73 20 37 50 19(Width across Flats) Nut B Nut A 36(Width across Flats) Bracket B 9 63 Bracket A RCA-RGD4C L 19 16 (st + 11) 1 L 2 C 4- 2 C 4- 88 110 100 26.5 20 26.5 Nut A Nut B M30 × 1.5 .2 40 M40 × 1.5 .8 50 272.5 285.
5.13 RCA-RGD3D ME: Mechanical End SE: Stroke End 20 M35 × 1.5 5. Appendix 3 3 12 3 35 40(Width across Flats) Nut B L 17 32(Width across Flats) 5 92 83 75 61 30 37 66.5 14 32 53 92 r 42 35 8 29 20 48.6 14(Width across Flats) Nut A 75 20.5 20 20.5 4- C 4- 2 C 2 48.6 8-M4 92 83 Nut A 20 30 12 4-M5 Nut B M35 × 1.5 M26 × 1.5 29 37 8 7 .6 48 34 32 8 46 RCA-RGD3D Stroke L Weight [kg] 50 258.5 140 100 308.5 190 150 358.5 240 200 408.5 290 1.1 1.2 1.4 1.
RCA-RGD4D SE: Stroke End SE ME Home 3 M40 × 1.5 (Effective screw range 19.5) 3 11 41 (st + 74) 47 (Width across Flats) 3 ME Home Shaft overhang at SE position L 52.8 r 9 37 30 19 16 (st + 11) 63 Bracket A 1 37 110 100 88 73 20 Cable Joint Connector m 50 19 (Width across Flats) 5. Appendix st st 52.8 110 ME 22 Secure at least 100 20 (Rod diameters) [Without Brake Type] Incremental Type 42 Absolute Type 48 ME: Mechanical End 10 (Giude rod diameters) 5.
5.15 RCA-RGD3R ME: Mechanical End SE: Stroke End L [Without Brake Type] Nut A M26 × 1.5 31 18 34 32 Bracket A 8 7 r 35 8 Bracket B 116.5 85.5 5. Appendix 9.5 25 Nut A 42 30 37 20 29 84.4 ME ME 20 35 Nut A 3 3 12 61 75 83 92 50 3 14(Width across Flats) 42.4 155.5 124.5 [With Brake Type] 25 43 42 C 2 Nut A ME ME 92 83 75 20.5 20 20.
5.16 RCA-RGD4R ME: Mechanical End SE: Stroke End RCA-RGD4R L 41 9 20 L .2 40 m 38 P ME st 3 SE Home 26 250 427 427 427 427 333 300 477 477 477 477 383 1.9 2.2 2.3 2.6 2.7 3.0 50 227 227 227 227 133 100 277 277 277 277 183 150 200 327 377 327 377 327 377 327 377 233 283 110.5 123.5 125.5 138.5 143.5 156.5 158.5 171.5 250 427 427 427 427 333 300 477 477 477 477 383 2.1 2.4 2.5 2.9 3.2 9.5 3 ME 42 48 Connector 150 200 327 377 327 377 377 327 327 377 283 233 67.5 80.5 82.5 95.
5.17 RCAW-RA3C/RA3D/RA3R ME: Mechanical End Air Inlet and Outlet Port (360 rotatable) [RA3C/RA3D] SE: Stroke End M26 × 1.5 M35 × 1.5 (Effective screw range 17.5) (Effective screw range 17.5) Bellows Caution M8 × 1.25 (Effective screw range 16) 20 Nut A 32(Width across Flats) 6 40(Width across Flats) Nut B 48 .6 32 45 36.4 44 41 12 32(Width across Flats) 35 3 ME SE Home 44 36.4 Nut C 11(Width across Flats) 22 38.6 14 10 56.1 n 17 Secure at least 100 9.
5.18 RCAW-RA4C/RA4D/RA4R [RA4C/RA4D] Air Inlet and Outlet Port (360 rotatable) M10 × 1.25 (Effective screw range 20) RCAW-RA4C/RA4D/RA4R (Without brake) M40 × 1.5 (Effective screw range 19.5) M30 × 1.5 (Effective screw range 17.5) Stroke 20W RA4C 30W 22 22 Incremental Type 42 Absolute Type 48 15 38(Width across Flats) Nut A Nut B 36(Width across Flats) 7.5 37 30W 20W RA4R 52. 8 19(Width across Flats) Secure at least 100 22 44.1 n 58.
6. Life 6. Life The product life is estimated as 5000km (reference) under the condition that it is operated with maximum transportable weight, maximum acceleration and deceleration.
7. Warranty 7.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company y 12 months after delivery to the specified location y 2,500 hours of operation 7.
7.4 Limited Liability (1) We shall assume no liability for any special damage, consequential loss or passive loss such as a loss of expected profit arising from or in connection with our product. (2) We shall not be liable for any program or control method created by the customer to operate our product or for the result of such program or control method. 7.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications 7.
Change History Revision Date April 2011 March 2012 September 2012 October 2012 Fifth edition A page for CE Marking added Sixth edition CAUTION deleted Pg. 1 to 7 Contents added and changed in Safety Guide Pg. 8 Caution in Handling added Pg. 10, 11 Contents changed in 3. Warranty Pg. 38 Warning notes added such as in case the grease got into your eye, Pg. 64 to 81 immediately go to see the doctor for an appropriate care.
Manual No.: ME3653-8A (November 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.
