ROBO Cylinder RCP2/RCP2W Actuator Rod Type Operation Manual Ninth Edition Standard types Motor straight types RCP2- RA2CxRA3C RA4CxRA6CxRA8C RA10CxRGS4CxRGS6C RGD3CxRGD4CxRGD6C Motor reversing types RCP2- RA3RxRA4RxRA6RxRA8R Dustproof/Splash proof type Motor straight types RCP2W-RA4CxRA6CxRA10C 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 Precautions in Handling................................................................................................... 8 Names of the Parts........................................................................................................ 10 1. Product Check ...............................................................................................
10.4 Applying Grease to the Ball Screw and Rod Slide Surface......................................................67 10.4.1 Grease for Ball Screw ................................................................................................67 10.4.2 How to Apply Grease (Keep the spraying time to within 1 second per spray.)...........67 11. Belt Replacement and Adjustment .......................................................................... 69 11.1 Belt Inspection....................................
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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 8VH RXU FRPSDQ\¶V JHQXLQH FDEOHV 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 DUHD ZLWKLQ WKH URERW¶V PRYDEOH 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.
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Precautions in Handling 1. Do not set the speed or acceleration/deceleration settings beyond the rated values. Please do not set the speed or acceleration/deceleration settings beyond the rated values. It may cause an occurrence of vibration, malfunction, or shorten the product life. Setting especially the acceleration/deceleration beyond the rated values may cause a creep or a slip of the coupling. 2. Back and forth operation in a short distance may cause wear of grease.
5. Transportation 5.1 Handling a Single Actuator Please adhere to the following when handling a single actuator. 5.1.1 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.
4. Names theParts Parts Names ofof the The names of the actuator parts are indicated below. In this manual, the right and left are determined by viewing the horizontally placed actuator from the top and from the motor side. The front indicates the counter-motor side.
RCP2 RA4C type RA6C type Right Grease supply port (thin head screw) Motor side Front Rod Left Aluminum frame Rod tip adapter Cable joint connector Motor bracket Motor end cap Range of T-groove Motor cover Cable RA8C type Right Front Motor side Left Aluminum frame Grease supply port (thin head screw) Cable Wire cover Rod Rod tip adapter Motor cover Motor end cover 11
RCP2 RA10C type Right Grease supply port (thin head screw) Cable Motor side Front Rod tip fitting Wire cover Left Rod Tie rod Base Front bracket Motor cover Rear cover Motor bracket (Note) There is no grease supply port on those manufactured in the early time.
RCP2 RA3R type Grease supply port (thin head screw) Right Front Motor side Left Cable Motor cover Wire cover Cable joint connector Motor end cover Aluminum frame Rod Rod tip adapter Reversing bracket End plate 13
RCP2 RA4R type RA6R type Grease supply port (thin head screw) Right Front Motor side Left Cable joint connector Wire cover Motor cover Motor end cover Aluminum frame Rod Rod tip adapter Range of T-groove 14 End plate Reversing bracket
RCP2 RA8R type Grease supply port (thin head screw) Right Cable Wire cover Front Motor side Left Motor cover Motor end cover Aluminum frame Rod Rod tip adapter Reversing bracket End plate 15
RCP2 RGS4C type RGS6C type (Single guide type) Motor side Right Aluminum frame Front Guide bearing Guide rod Guide bracket Left Grease supply port (thin head screw) Motor bracket Motor end cap Range of T-groove RGD3C type RGD4C type RGD6C type (Double guide type) Mounting bracket Guide bearing Guide rod Cable Motor cover Grease supply port (thin head screw) Motor side Right Guide bracket Front Left Guide rod Guide bearing Motor bracket Aluminum frame Motor end cap Range of T-groove Motor
Grease supply port (Truss head screw) RA4C type RA6C type Motor cover Right Motor side Front The joint can be turned 360 degrees. Rod Left Motor bracket Intake/exhaust port Aluminum frame Motor end cap Range of T-groove Rod tip adapter Cable x Connect a tube to the intake/exhaust port and extend the other end of the tube to a location not subject to water, etc.
RA10C type Right The joint can be turned 360 degrees. Grease supply port (thin head screw) Cable Motor side Front Rod tip fitting Wire cover Left Rod Intake/exhaust port Tie rod Base Front bracket Motor cover Rear cover Motor bracket Connect a tube to the intake/exhaust port and extend the other end of the tube to a location not subject to water, etc. (Note) There is no grease supply port on those manufactured in the early time.
1. Product Check 1. Product Check This product is comprised of the following parts if it is of standard configuration. Caution: Check the packing list to confirm what is in the package. If you find any fault in the contained model or any missing parts, contact us or our distributor. 1.1 Parts No. 1 Part Name Actuator Main Body Model Refer to “How to read the model plate”, “How to read the model No.
1. Product Check 1.2 No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 1.
1.4 How to read the model No. RCP2 1. Product Check 1.4.
2. 2. Specifications (1) Specifications Maximum Speed The maximum speed for the actuator is limited due to the resonance of the ball screw axis and the limitation of the number of motor rotation. Make sure that the maximum speed of your actuator does not exceed the applicable limit specified in the table below.
[Motor Reversing] Restriction in Stroke and Maximum Speed (unit: mm/s) Motor Type RCP2-RA3R 28P RCP2-RA4R 42P Lead (mm) Stroke (mm) 50 100 150 RCP2-RA8R 56P 60P 250 300 2.5 114<93> - - 5 187 - - 2.5 125<114> 118<114> 87 5 250 237 175 10 RCP2-RA6R 200 458 2. Specifications Type 350 4 110 8 210 16 400 5 100 10 200 (Note) Values in brackets < > are the maximum speed when vertically oriented.
[With double guides] 2. Specifications Restriction in Stroke and Maximum Speed (unit: mm/s) Type Motor Type RCP2-RGD3C 28P RCP2-RGD4C 42P Lead (mm) Stroke (mm) 50 100 56P 200 250 300 2.5 114<93> - - 5 187 - - 2.5 125<114> 118<114> 87 5 250 237 175 10 RCP2-RGD6C 150 458 350 4 130 8 210 16 450<400> (Note) Values in brackets < > are the maximum speed when vertically oriented.
(2) Speed and Transportable Weight Ɣ 6WDQGDUG [RCP2-RA2C] Acceleration at Horizontal Mount : 0.05G Acceleration at Vertical Mount : Acceleration 0.05G 3.5 14 Horizontal 10 Lead 1 8 Vertical 3 Load capacity (kg) Load capacity (kg) 12 7 6 4 2 Lead 1 2.5 2 1.5 1 0.5 0 0 5 10 15 20 25 30 0 0 35 5 10 15 20 Velocity (mm/s) Velocity (mm/s) 25 30 35 [RCP2-RA3C] Acceleration at Horizontal Mount : 0.2G 14 Lead 2.
[RCP2-RA6C] Acceleration at Horizontal Mount : 0.2G Acceleration at Vertical Mount : Acceleration 0.2G 28 70 Horizontal Lead 4 Lead 8 50 40 35 30 Lead 16 20 26 Lead 4 24 Load capacity (kg) 2. Specifications Load capacity (kg) 60 55 20 Vertical 17.5 16 12 8 10 Lead 8 5 Lead 16 4 0 0 100 200 300 400 500 600 0 0 700 100 1.5 1.5 200 300 Velocity (mm/s) 1 400 500 600 700 Velocity (mm/s) [RCP2-RA8C] Acceleration at Horizontal Mount : Lead 5 0.1G Lead10 0.
Ɣ 0RWRU 5HYHUVLQJ [RCP2-RA3R] Acceleration at Horizontal Mount : Lead 2.5 0.2G Lead 5 0.2G Acceleration at Vertical Mount : Lead 2.5 0.2G Lead 5 0.2G 30 Lead 2.5 20 Lead 5 15 Vertical 8 Load capacity (kg) Load capacity (kg) 25 10 5 2. Specifications 9 Horizontal Lead 2.5 7 6 5 4 Lead 5 3 2 1 0 0 50 100 150 0 200 0 20 40 60 80 100 120 140 160 180 200 Velocity (mm/s) Velocity (mm/s) [RCP2-RA4R] Acceleration at Horizontal Mount : Lead 2.5 0.2G Lead 5 0.2G Lead10 0.
[RCP2-RA8R] Acceleration at Horizontal Mount : Lead 5 0.1G Lead10 0.2G 2. Specifications 120 Acceleration at Vertical Mount : Lead 5 Lead10 80 Horizontal Vertical Lead 5 70 Lead 5 100 0.1G 0.2G Load capacity (kg) Load capacity (kg) 60 80 Lead 10 60 40 50 Lead 10 40 30 20 20 10 0 0 0 0 100 200 300 100 Velocity (mm/s) 200 300 Velocity (mm/s) Ɣ :LWK 6LQJOH JXLGH [RCP2-RGS4C] Acceleration at Horizontal Mount : 0.2G Acceleration at Vertical Mount : Acceleration 0.
Ɣ :LWK 'RXEOH JXLGH [RCP2-RGD3C] Acceleration at Horizontal Mount : 0.2G 14 Horizontal Load capacity (kg) 20 15 10 Lead 5 5 100 10 Lead 2.5 9 8 6 5 4 Lead 5 2 4 50 Vertical 12 25 2 150 200 250 300 2. Specifications Lead 2.5 30 0 0 Acceleration at Vertical Mount : Acceleration 0.2G Load capacity (kg) 35 1 0 0 350 50 100 Velocity (mm/s) 0.5 150 200 Velocity (mm/s) 250 300 350 [RCP2-RGD4C] Acceleration at Horizontal Mount : 0.
Ɣ 6SODVK 3URRI 7\SH [RCP2W-RA4C] Acceleration at Vertical Mount : Acceleration 0.2G Acceleration at Horizontal Mount : 0.2G 21 Horizontal Load capacity (kg) 60 50 Lead 2.5 40 30 Lead 5 25 20 Lead 10 10 100 200 300 Lead 2.5 400 500 600 12 Lead 5 9 6 4.5 Lead 10 2.5 0 0 700 Vertical 15 3 5 0 0 19 18 Load capacity (kg) 2. Specifications 70 50 100 2 2.5 150 200 Velocity (mm/s) Velocity (mm/s) 250 300 350 [RCP2W-RA6C] Acceleration at Horizontal Mount : 0.
(3) Drive system Type RCP2-RA2C RCP2-RA8C RCP2-RA8R Lead 20P 1 Number of Encoder Pulses*1 2.5 28P 5 Drive system Ball screw I6mm Rolled C10 Ball screw I8mm Rolled C10 Ball screw I8mm Rolled C10 Ball screw I12mm Rolled C10 Ball screw I16mm Rolled C10 Ball screw Rolled C10 2. Specifications RCP2-RA3C RCP2-RA3R RCP2-RGD3C RCP2-RA4C RCP2-RA4R RCP2-RGS4C RCP2-RGD4C RCP2W-RA4C RCP2-RA6C RCP2-RA6R RCP2-RGS6C RCP2-RGD6C RCP2W-RA6C Motor Type 2.5 42P 5 10 4 56P 800 8 16 5 60P 10 2.
Ɣ 0RWRU 5HYHUVLQJ Type 2. Specifications RCP2-RA3R Motor Type 28P Lead 2.5 5 Rod Diameter Rod Non-rotating Accuracy I22mm r1.5q I22mm r1.5q I30mm r1.0q I40mm r1.0q Rod Diameter Rod Non-rotating Accuracy I22mm r0.05q I30mm r0.05q Rod Diameter Rod Non-rotating Accuracy I22mm r0.05q I22mm r0.05q I30mm r0.05q 2.5 RCP2-RA4R 42P 5 10 4 RCP2-RA6R 56P 8 16 RCP2-RA8R 60P 5 10 Ɣ :LWK 6LQJOH JXLGH Type Motor Type Lead 2.
Ɣ 6SODVK 3URRI 7\SH Type Motor Type Lead Rod Diameter Rod Non-rotating Accuracy I22mm r1.5q I30mm r1.0q I40mm r1.0q 2.5 42P 5 2. Specifications RCP2W-RA4C 10 4 RCP2W-RA6C 56P 8 16 2.5 RCP2W-RA10C 86P 5 10 (5) Protection Structure of Dustproof Type Type Motor Type Lead Protection Structure 2.5 RCP2W-RA4C 42P 5 10 IP65 4 RCP2W-RA6C 56P 8 16 RCP2W-RA10C (6) 86P 2.5 IP54 Common Specifications Item Positioning Accuracy Repeatability*1 Lost Motion*1 Specification r0.02q 0.
(7) Relationship of Current-limiting Value and Push Force Ɣ 6WDQGDUG [RCP2-RA2C] [RCP2-RA3C] 200 Lead 1 80 180 160 60 40 20 0 0 10 20 30 40 50 Current Limit Value (Ratio %) Pressing Force (N) Pressing Force (N) 2. Specifications 100 140 120 Lead 2.5 100 80 60 40 Lead 5 20 0 0 10 20 30 40 50 60 70 Current Limit Value (Ratio %) [RCP2-RA4C] [RCP2-RA6C] 400 800 350 700 600 Lead 2.
Ɣ 0RWRU 5HYHUVLQJ [RCP2-RA4R] 140 350 120 300 Pressing Force (N) 400 100 Lead 2.5 80 60 40 Lead 5 20 0 Lead 2.5 250 Lead 5 200 150 100 Lead 10 50 0 10 20 30 40 50 60 0 70 2.
Ɣ :LWK 'RXEOH JXLGH [RCP2-RGD3C] [RCP2-RGD4C] 200 400 180 350 140 120 Pressing Force (N) Pressing Force (N) 2. Specifications 160 Lead 2.5 100 80 60 40 Lead 5 0 10 20 30 40 50 60 Lead 2.
3. Product Life 3.1 RCP2/RCP2W Rod Type for other than RCP2-RA8C, RA8R, RA10C and RCP2W-RA10C The life is 5,000km (reference) under the condition that it is operated with maximum transportable weight, acceleration and deceleration. 3. Product Life 3.2 RCP2-RA8C, RA8R The life of Lead 5 is estimated to be 5,000km (reference) under the condition of maximum transportable weight and maximum acceleration/deceleration. The life of Lead 5 varies due to the transportable weight.
6. Operating andEnvironment, Storage Environment 4. Installation Storage and Preservation Environment 4.1 6.1 Installation Operating Environment Environment 4. Installation Environment, Storage and Preservation Environment The actuator should be set up in an environment, which meets the following criteria: x x x x x x x x x x Avoid direct sunlight. Avoid radiant heat from strong heat sources such as a furnace. Surrounding air temperature should be 0 ~ 40qC.
5. Installation 5.1 Installing the Main Body (1) Using tapped mounting holes at back [A] Applicable models: RA2C, RA3C, RA3R, RGD3C types Tapped mounting holes are provided at the back of the actuator. Install the actuator using these tapped holes. 5. Installation The thread depths of mounting holes provided in the base of respective actuators are specified below. Exercise caution to make sure the end of the bolt will not project from the thread.
(2) Using T-grooves and square nuts RGS4C, RGS6C, RGD4C, RGD6C types RGD6C types Applicable models: RA4C, RA6C, RA4R, RA6R, RGS4C, RGS6C, RGD4C, 5. Installation T grooves are provided on the actuator surface. Slide square nuts into the T-grooves to install the actuator to the mounting frame.
(3) Using mounting feet RA3R, RGD3C, [A] Applicable models: RA2C, RA3C, RGD3C types RA8C, RA8R types Mounting foot [1] To install the RA3C type, first install mounting feet using the tapped mounting holes at the back of the actuator. [2] Install the mounting feet to the mounting frame with bolts. Mounting foot 5.
[B] Applicable models: RA4C, RA6C, RA4R, RGS4C, RGS6C, RGD4C, RGD6C types RGD6C types RA6R, RGS4C, RGS6C, RGD4C, Install mounting feet using the square nuts inserted into the T-grooves. [2] Install the mounting feet to the mounting frame with bolts. Mounting foot 5.
[C] Applicable models: RA10C (optional) Install mounting feet using the tapped mounting holes at the back of the actuator. [2] Install the mounting feet to the mounting frame with bolts (M8). 5.
(4) Using tapped holes on datum surface [A] Applicable models: RA2C, RA3C, RA4C, RA6C, RA3R, RA4R, RA6R, RA10C types (Not applicable to guide types) 5. Installation Tapped mounting holes are provided on the datum surface. Install the actuator using these tapped holes. The thread depths of mounting holes provided in the respective actuators are shown below.
For RCP2-RA4R, RA6R, RA8R 50st equipped with the brake, the motor cover/motor-end cover exceed the datum surface line. Pay attention to the interference of the motor cover when it is installed. Sticking out of Datum Surface 5. Installation Datum Surface RA4R, RA6R, RA8R (50st, with brake) When mounting the unit in the horizontal orientation using the tapped holes on the datum surface, have a support base as shown in the figure below.
(5) Using a flange RA4R, RA6R, RGD4C, RGD6C, RA8C, RA8R types [A] Applicable models: RA3C, RA4C, RA6C, RA3R, RGD4C, RGD6C types 5. Installation Install a flange on the reference surface using bolts (this method is not applicable to guide types). Next, install the flange to the mounting frame using bolts (use the mounting bracket for the double guide type). Flange [B] Applicable models: RA10C (optional) 46 [1] Install a flange using the tapped holes on the reference surface.
When mounting the unit in the horizontal orientation using the flange, have a support base as shown in the figure below. Support base 5. Installation Caution: When mounting the unit with using the datum surface and the back surface, pay attention so the external force is not applied to the main body. The body or the attachment part on the back may get damaged.
(6) Method to Use Tapped Holes on Back 5. Installation Applicable model : RA3R, RA4R, RA6R, RA8R There are tapped holes on the back for attachment. Utilize these holes for installation. The depth of attachment screw is as shown below: Model name RA3R RA4R RA6R RA8R Tapped hole size M3 M6 M8 M8 Effective thread depth 10mm 15mm 16mm 16mm For RCP2-RA4R, RA6R, RA8R 50st equipped with the brake, the motor cover/motor-end cover exceed the datum surface line.
When mounting the unit in the horizontal orientation using the tapped holes on the back surface, have a support base as shown in the figure below. 5. Installation Support base Caution: When mounting the unit with using the datum surface and the back surface, pay attention so the external force is not applied to the main body. The body or the attachment part on the back may get damaged. (7) Tightening bolts Install the actuator using Unichro hexagon socket head bolts of strength category 10.9 or higher.
6. Connection the controller 6.1 Wiring Ɣ ,Q D XVH RI WKH DFWXDWRU ZLWK WKH FDEOHV QRW IL[HG FRQVLGHU WR HDVH WKH ORDG WR WKH FDEOHV E\ XVLQJ WKH actuator in the range of the cable bends only with its weight or by using a stand-alone cable hose to gain a large radius bending.
When constructing an application system using the actuators and controllers, inappropriate wiring and connection of the cables may cause unexpected troubles such as cable break and connection failure. Listed below are the prohibited things to be done in cable handling and treatment.
Ɣ When fixing the cable, provide a moderate slack and do not tension it too tight. Do not use spiral tube in any position where cables are bent frequently. 6. Connecting the Controller Ɣ Separate the I/O line, communication line and power line from each other. Arrange so that such lines are independently routed in the duct. Power Line Duct I/O Line (Flat Cable, etc.) Ɣ Take care of the following items using the cable carrier.
7. Cautions in Operation 7.1 Load on the Actuator The actual load should not exceed the value specified in the catalog. Be sure to align the shaft center of the rod and the moving direction of the load. Lateral load may cause damage or breakdown of the actuator. If the rod may receive lateral load, provide a guide or other appropriate mechanism to support the actuator in the moving direction of the load. Do not allow the rod (slide shaft) to receive rotational torque.
7.2 Caution for when setting to 60% or more of RCP2-RA8 pressing current limit value When the pressing current limit value, which determines the pressing force of the pressing operation, is 60% or less, continuous pressing and continuous operation are available. Set the pressing current control value to the following.
2) Condition 2 The continuous operation torque of the cycle should be 2.08N•m or less. Calculate the torque for continuous operation. In Graph 2, shows the speed change of the actuator in continuous operation on the time-basis. In Graph 3, shows the torque change in time-basis. t t1a t1f t1d to t2a t1a t1 f t1 d t2 f t2 d tw to T t Graph 2: Actuator Speed Change on Time-basis F T1f T1a t1a T1d t1f t1d T2f To T2a to t2a T2d t2f t2d Tw tw T t T1a T1f T1d To T2a T2f T2d Tw 7.
Read the values for To and Tw from Table 2 and Graph 5. Pressing/Stop Current Limit Value [%] Motor Torque [N•m] Motor Torque [N•m] 2.6 2.4 2.2 2.0 1.8 1.6 1.4 1.2 1.0 30 Table 2: Current Limit Value and Motor Torque 40 50 60 70 Current Limit Value [%] Graph 5: Current Limit Value and Motor Torque 7. Cautions in Operation Substitute the read torque value to Formula 1 to calculate the continuous operation torque Tt. • • • (Formula 1) If the value for continuous operation torque Tt is 2.
(2) Example of calculation and operation availability judgment As an example of a calculation, let's see if the continuous operation is available under the following operational conditions. Used Model: RCP2-RA8 Lead 10 Speed: 200mm/sec Acceleration/Deceleration: 1.96m/s2 (0.
3) Condition 3 Confirmation of the stop or pressing that the current limit value greater than 60% is only 1 time in 1 cycle. There is only 1 time in 1 cycle that the current limit value is greater than 60%, thus, it can be defined as okay. 7. Cautions in Operation Since all of 1, 2 and 3 are okay, example of the calculation is defined available for the continuous operation.
8. Option 8.1 Brake This is a function to protect the object attached to the actuator from being damaged when the slider is dropped at the power cut or the servo is turned off in the case the actuator is used in the vertical mount orientation. An optional brake is required when the axis is used in the vertical position. The model code is expressed with “B”. 8.
8.2 Flange Bracket It is a flanged metal plate to fix the main body of the actuator on the rod side. The model code is expressed with “FL”. RCP2-RA3C / RA3R Model Code of Component RCP2-FL-RA3 12.5 25 12.5 RCP2-RA2C Model Code of Component RCP2-FL-RA2 4-I4.5 drilled through hole 50 10 45 55 (39) Home Home RCP2-RA4C / RA4R Model Code of Component RCP2-FL-RA4 8. Option 24 16 35 2.5 (2.5) 40 5.5 25 25 15 20 30 M8 2.5 44.
8.3 Foot Bracket It is a metal component to fix the main body of the actuator with screws from top. The model code is expressed with “FT”. RCP2-RA2C Model Code of Component RCP2-FT-RA2 Stroke Size part 25 45 50 70 75 100 95 120 4-I6.
8.4 Single Guide The position of the rod for each model equipped with the single guide is as shown below: • Attached on Right : Model GS2 • Attached on Bottom : Model GS3 • Attached on Left 8.5 : Model GS4 Reversed Home Specification The reversed home type has the home position on the opposite side of the motor. The model code is expressed with “NM”. If a change to the home position is required after the product is delivered, it is necessary to adjust the movement direction parameters.
9. Motor • Encoder Cables 9.1 Cable for PMEC and PSEP Controllers 1) Motor • Encoder Integrated Cable CB-PSEP-MPA*** L Mechanical side Controller side Mechanical side Controller side BK [FA] WT [VMM] RD [FB] GN [VMM] BR [F/A] YW [F/B] OR [BK+] GY [BK-] NC NC BK [LS+] BR [LS-] WT [A+] YW [A-] RD [B+] GN [B-] WT (Identification tape) [VCC] YW (Identification tape) [VPS] RD (Identification tape) [GND] GN (Identification tape) [(Reserve)] NC NC NC Shield [FG] Terminal No.
9.2 Cable for PCON and PSEL Controllers (20) (14) (28) (20) C N 1 CN3 (14) (15) (8) (Approx. F7) 1) Motor cable CB-RCP2-MA*** (Front View) (Front View) L Controller side CN3 Mechanical side M Cable OR A A1 GY VMM A2 A3 B I-1318119-3 WT YW B1 A (AMP) PK VMM B2 YW(GN) B B3 * *** indicates the cable length. Max. 20m. Example) 080 = 8m [Minimum bendable radius] Movable Use : 42mm Fixed Use : 28mm CN1 YW 1 A GY 2 VMM OR 3 A SLP-06V YW(GN) (J.S.T. Mfg.
4) Encoder cable CB-RFA-PA*** Encoder Robot Cable CB-RFA-PA***-RB (For RCP2-RA8C, RA8R, RA10C and RCP2W-RA10C) (8) (13) (15) C N 2 CN4 (Front View) (25) (18) (F9) (35) (5) (Front View) Controller side Mechanical side L CN2 Cable Color Signal Robot Cable Standard Cable Name OR(BK1) OR(RD1) LGY(BK1) LGY(RD1) WT(BK1) WT(RD1) RD GY BR GN PL PK YW(BK1) YW (Reserved) (Reserved) BK BK ENA ENA ENB ENB (Reserved) VPS PK(BK1) PK(RD1) BL OR GND 5V Drain Drain F.
10. Maintenance 10. Maintenance 10.1 10.1 Maintenance MaintenanceSchedule 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.
10.4 Applying Grease to the Ball Screw and Rod Slide Surface 10.4.1 Grease for Ball Screw The dedicated grease specified below has been applied to the ball screw before the shipment. Kyodo Yushi Multemp LRL3 The following grease is applied to RCP2-RA8C, RA8R, RA10C and RCP2W-RA10C only. Kyodo Yushi Maltemp PS No.2 When maintaining your actuator, use a lithium grease spray. Keep the spraying time to within 1 second per spray. WAKO CHEMICAL, LTD. Spray Grease No.
10. Maintenance [2] Before applying grease, move the rod by more than a half the stroke. To apply grease to the ball screw, spray grease into the screw hole. (Keep the spraying time to within 1 second.) Apply grease to the rod slide surface using your fingers. [3] After the necessary parts have been greased, move the rod back and forth to let the grease spread evenly. [4] Apply silicone sealer to the threaded part of the screw removed in [1], and then install the screw back in the original position.
11. Belt Replacement and Adjustment Applicable Unit : RCP2-RA8R 11.1 Belt Inspection Remove the end plate and check the belt visually for the inspection process. The condition of the belt deteriorates as the time passes and would cause such problems as abrasion.
11.3 Replacement Belt [Requirements for Replacement] Ɣ 5HSODFHPHQW %HOW Ɣ +H[ :UHQFK :LGWK DFURVV IODW PP PP Ɣ 7HQVLRQ *DXJH VKRXOG EH FDSDEOH RI NJI WHQVLRQ Ɣ /RQJ 7LH %DQG RU WKLQ VWULQJ 11. Belt Replacement and Adjustment 1) Remove the end plate. Dropping tools to be used : Hex Wrench (Width across flat = 2mm) Screw to be used : Hex socket flat head cap screw (M3×6) 7 pieces 2) 70 Remove the motor unit.
3) Replace the belt and adjust the belt tension. Dropping tools to be used : Hex Wrench (Width across flat = 5mm), Long Tie Band(or thin string), Tension Gauge Screw to be used : Hexagon socket head cap bolt (M6×20), plain washer 4 for each 20kgf 20kgf 4) Attach the end plate Dropping tools to be used : Hex Wrench (Width across flat = 2mm) Screw to be used : Hex socket flat head cap screw (M3×6) 7 pieces 71 11.
12. Process for Motor Replacement 12.1 Process to replace motor for RA8C and RA8R 12.1.1 Process to replace motor for RA8C [Requirements for Replacement] Ɣ +H[ :UHQFK Ɣ 3KLOOLSV VFUHZGULYHU Ɣ 1HZ PRWRU IRU UHSODFHPHQW 12. Process for Motor Replacement [Replacement Procedures] Mechanical End 72 1) Untighten the hex socket head cap screw (M6 × 6) on the top of the actuator using a 3mm sized hex wrench. The motor coupling will appear.
3) Untighten the hex socket head cap screw (M3 × 5) using a 1.5mm sized hex wrench. (Note) Do not forget to turn off the power to the controller in case you have moved the rod with using the controller. Pull the rod further. In the range of lead length, you will find the second hex socket head cap screw (M3 × 5) tightening the motor coupling. For low lead actuators, it is difficult to move the rod manually. Do not intend to move it forcefully, connect the controller and move it with JOG operation.
6) Remove the 4 screws retaining the motor cover using a Phillips screwdriver. The motor cover will come off. 7) Disconnect the motor connector and encoder connector. Pay special attention to the encoder PCB so you would not touch it during the work. Encoder PCB 12. Process for Motor Replacement Top Side Bottom Side 74 8) Remove the 4 screws (M4 × 14) retaining the motor using a 3mm sized hex wrench.
9) Pull out the motor. 10) Insert the key on the new motor for replacement to the key groove. Key Key Groove 11) Place the key groove on the coupling of the main unit and the key on the replacement motor to come upwards. Motor 75 12.
12) Insert the motor after confirming that the key groove on the main unit and the key on the motor are in the same position. Do not move the rod while in the procedures from 12) to 16). Top Side 13) Tighten the 4 screws (M4 × 14) using a 3mm sized hex wrench to hold the motor. 12. Process for Motor Replacement Tightening Torque : 176N·cm (18.0kgf·cm) Bottom Side 14) Plug the motor connector and encoder connector. Pay special attention to the encoder PCB so you would not touch it during the work.
15) Attach the motor cover. Pay attention to the power cables so they would not get into the screw guides. Also avoid the cables getting pinched between the main unit, motor cover, end cover, etc. Screw Guide 16) Hold the motor cover with 4 screws and tighten them with a Phillips screwdriver. Tightening Torque : 85N·cm (8.7kgf·cm) 77 12.
18) Pull the rod further. In the range of lead length, you will find the second hex socket head cap screw (M3 × 5) tightening the motor coupling. For low lead actuators, it is difficult to move the rod manually. Do not intend to move it forcefully, connect the controller and move it with JOG operation. 19) Untighten the hex socket head cap screw (M3 × 5) using a 1.5mm sized hex wrench. Tightening Torque : 85N·cm (8.7kgf·cm) 12.
12.1.2 Process to replace motor for RA8R [Requirements for Replacement] Ɣ +H[ :UHQFK Ɣ 3KLOOLSV VFUHZGULYHU Ɣ 1HZ PRWRU IRU UHSODFHPHQW [Replacement Procedures] Untighten the hex socket head cap screw (M6 x 6) on the top of the actuator using a 3mm sized hex wrench. The joint part of the motor and motor shaft will appear. 2) After pushing the rod towards the mechanical end, pull out the rod slowly. A hex socket head cap screw (M3 × 5) tightening the motor shaft joint will appear.
3) Untighten the hex socket head cap screw (M3 × 5) using a 1.5mm sized hex wrench. 12. Process for Motor Replacement (Note) Do not forget to turn off the power to the controller in case you have moved the rod with using the controller. 4) Pull the rod further. In the range of lead length, you will find the second hex socket head cap screw (M3 × 5) tightening the motor shaft joint. For low lead actuators, it is difficult to move the rod manually.
7) Disconnect the motor connector and encoder connector. Pay special attention to the encoder PCB so you would not touch it during the work. Encoder PCB 5emove the 4 screws (M4 × 14) retaining the motor using a 3mm sized hex wrench. 9) Pull out the motor. Top Side 12.
10) Insert the key on the new motor for replacement to the key groove. Key Key Groove Main Unit Side Key 11) Place the key groove on the coupling of the main unit and the key on the replacement motor to come upwards. Motor 12. Process for Motor Replacement 12) Insert the motor after confirming that the key groove on the main unit and the key on the motor are in the same position. Do not move the rod while in the procedures from 12) to 16).
Top Side 13) Tighten the 4 screws (M4 × 14) using a 3mm sized hex wrench to hold the motor. Tightening Torque : 176N·cm (18.0kgf·cm) Bottom Side 14) Plug the motor connector and encoder connector. Pay special attention to the encoder PCB so you would not touch it during the work. 15) Attach the motor cover. Pay attention to the power cables so they would not get into the screw guides. Also avoid the cables getting pinched between the main unit, motor cover, end cover, etc. Screw Guide 83 12.
16) Hold the motor cover with 4 screws and tighten them with a Phillips screwdriver. 17) You will be able to see the hex socket head cap screw (M3 × 5) retaining the motor shaft joint unless you have moved the rod after the procedure to insert the motor into the main unit in 12). Untighten the hex socket head cap screw (M3 × 5) using a 1.5mm sized hex wrench. Tightening Torque : 85N·cm (8.7kgf·cm) 12. Process for Motor Replacement 18) Pull the rod further.
19) Untighten the hex socket head cap screw (M3 × 5) using a 1.5mm sized hex wrench. Tightening Torque : 85N·cm (8.7kgf·cm) (Note) Do not forget to turn off the power to the controller in case you have moved the rod with using the controller. 20) Untighten the hex socket head cap screw (M6 × 6) on the top of the actuator using a 3mm sized hex wrench. 12.
12.2 Process to replace motor for RA10C [Requirements for Replacement] Ɣ +H[ :UHQFK Ɣ 0RWRU IRU UHSODFHPHQW VKRZQ EHORZ $66< Replacement motor for standard type 12. Process for Motor Replacement (1) 86 Replacement motor ass’y equipped with a brake for brake-equipped type Standard Type (without brake) 1) Remove the 4 screws (M3) retaining the motor cover from the motor bracket side.
Disconnect the encoder connector shown with an arrow. 4) Slide the motor cover away from the motor to disconnect the motor cable connector. 5) Remove the 4 screws (M5) retaining the motor onto the motor bracket. The motor will come off. 6) Align the positions of the new motor and the coupling on the bracket side. 87 12.
7) Attach the motor to the motor bracket with the screws (M5). 12. Process for Motor Replacement Tightening Torque : 727N·cm (74.2kgf·cm) 88 8) Connect the motor cable connector. 9) Put the motor cover over the motor. Tidy the motor cable so it comes to the position as shown on the left.
Motor Cable Connector 10) Confirm that the motor cable connector is in the position as shown on the left. Connect the encoder connector. 11) Attach the rear cover. Tightening Torque : Approx. 80N·cm Tightening Torque : Approx. 80N·cm 89 12. Process for Motor Replacement 12) Attach the motor cover from the motor bracket side.
(2) Brake-equipped Type For the brake-equipped type, the replacement is done with the whole unit of the motor ass’y equipped with 12. Process for Motor Replacement a brake. 1) Remove the 4 screws (M6) retaining the motor cover from the motor bracket side. (Arrowed points shown in the picture on the left and 2 places on the bottom) The motor ass’y equipped with a brake comes off. 2) Align the positions of the new motor ass’y and the coupling on the bracket side. 3) Attach in the reversed order.
13. Appendix 13.1 External Dimensions 13.1.1 RCP2-RA2C Cable Joint Connector (200) 12 10 42 M8s1.25 F20 20 2 ME 4-M3, effective depth 6 20 25 ME (1) SE Stroke (2.5) 1 14 19 2 61 Secure at least 100 12.5 Lp1 Home Position 14 25 Rod Diameter F12 ME : Mechanical End SE : Stroke End 10P 4-M3, effective depth 5 Stroke Ɛ L P Weight [kg] 25 70 157.5 45 0.4 50 95 182.5 70 0.5 75 120 207.5 95 0.6 13. Appendix Ŷ 'LPHQVLRQV IRU HDFK 6WURNH 100 145 232.5 120 0.
13.1.2 RCP2-RA3C Rod Diameter F22 ME : Mechanical End SE : Stroke End 31.5 22 3.5 4 (240) F32 7.5 (Square block part) M10s1.25 Cable Joint Connector 1.5 14 28 35 SE Home 14.5 ME (2.3) ME 2 ST 38 39 90.5 1.5 L 27 Secure at least 100 20 Dimensions for Accessory Nut to Attach on Rod Tip 17 P 30 n-M4 Depth 6 M10s1.25 (19.6) 6 Ns50 13. Appendix Ŷ 'LPHQVLRQV IRU HDFK 6WURNH Stroke Ɛ L N n Weight [kg] 92 50 112.5 203 1 6 0.8 100 162.5 253 2 8 0.95 150 212.5 303 3 10 1.
13.1.3 RCP2-RA4C Rod Diameter F22 ME : Mechanical End SE : Stroke End 3.5 4 31.5 22 (240) 7.5 (Square block part) 10.5 F32 Cable Joint Connector M10s1.25 Home 13 SE ME 2 ST A 86.5 L Secure at least 100 Dimensions for Accessory Nut to Attach on Rod Tip DETAIL: A 1.8 M10s1.25 3 Dimensions for Accessory Square Nut to Attach on T-groove (4 pieces attachment) 0.5 7.3 Ƒ 17 With the Brake 47 46.5 M4 6 4.3 50 T-groove Effective Range 39 2.5 4.3 2.5 ME (2.3) (19.
13.1.4 RCP2-RA6C Rod Diameter F30 ME : Mechanical End SE : Stroke End 42 30.5 6 4 (240) 9.5 (Square block part) ij 3 Cable Joint Connector M14s1.5 75 ME 19 SE Home (4.8) A ME T-groove Effective Range 4 25 ST 50 64 68 52 112 L 2 Secure at least 100 With the Brake 64 63.5 2 13 32 50 19 64 11 4-M8 Depth 15 6.5 10.5 8 22 M14s1.5 72.5 (25.4) 2.6 M6 0.
13.1.5 RCP2-RA8C ME : Mechanical End SE : Stroke End F40 (Rod Diameter) 0 F70-0.05 5 (18) 4-M8 Depth 16 M20×1.5 43.5 (Square block part) 4 Home 67 85 4 ME st ME 40 15 st+124.5 34.5 (2.6) 111 12 (Square block part) SE (67) L C-M8 Depth 16 2-F5H7 Reame pitch depth 5 55 (Reame pitch ±0.02) Width across flat = 27 67 86 35 (effective threaded length) 60 35 50 50 A×100 (B) With the Brake 13. Appendix st+124.5 34.
13.1.6 RCP2-RA10C ME : Mechanical End SE : Stroke End (200) 37 F70h10 M22s1.5 Width across flat = 32 13 Accessory Nut Dimensions Cable Joint Connector 13.5 (Square block part) 80 4-M10, through hole 40 27.5 37 ST+115 52.5 117.5 100 Width across flat = 26 M22s1.5 (1) 80 37 (effective threaded length) 5 95 100 5 ME Available ST SE Home (81) ME L 40 4-M10 Depth 18 ST 160 20 52.5 45.5 117.5 13.
13.1.7 RCP2-RA3R ME : Mechanical End SE : Stroke End 3.5 31.5 22 4 32 32 32 F32 F22 F20 7.5 (Square block part) M10s1.25 49 19 Secure at least 100 103 ME ST 39 0.2 35.1 y 4-M3 Depth 10 0.5 (27.7) Home 2 SE (2.3) 17.5 ME 14 28 35 13.5 14.2 14 28 27 35 Dimensions for Accessory Nut to Attach M10s1.25 17 6 27 L (19.6) 35 0.5 z 4-M4 Depth 10 20 50 Ns50 P 20 n-M4 Depth 6 13. Appendix Ŷ 'LPHQVLRQV IRU HDFK 6WURNH Stroke y L N n z Weight [kg] 50 104 178.3 0 6 4 0.
13.1.8 RCP2-RA4R ME : Mechanical End SE : Stroke End 3.5 31.5 22 4 32 37 32 F20 F22 F32 7.5 (Square block part) M10s1.25 Secure at least 100 1 134.5 68.5 19 z SE 2 ME (2.3) Home 14 ME 2 17 34 45 47.5 A ST 0.2 39 4-M6 Depth 15 39.1 34 47.5 L (19.6) 4.3 Dimensions for Accessory Nut to Attach M10s1.25 17 6 1.8 13. Appendix 4.3 7.3 y Detail Diagram A Scale 2 : 1 Ŷ 'LPHQVLRQV IRU HDFK 6WURNH Stroke y L z Weight w/o Brake [kg] w/ Brake 98 50 104 182.3 9 1.7 1.
13.1.9 RCP2-RA6R ME : Mechanical End SE : Stroke End 42 30.5 6 4 46 45.8 I43 I30 I28 46 9.5 (Square block part) M14u1.5 Secure at least 100 32 0.5 32 50 64 50 19 1 165 84 17 z ME 19 25 50 64 SE Home 4 4.8 w ST ME 4-M8 Depth 16 0.2 52 y 50 47.1 L 25.4 6.5 10.5 2.6 8 Dimensions for Accessory Nut to Attach 8 22 M4u1.5 Detail Diagram W Scale 2 : 1 13. Appendix Ŷ 'LPHQVLRQV IRU HDFK 6WURNH Stroke y L z Weight w/o Brake [kg] w/ Brake 50 127 226.3 5 3.8 4.1 100 177 276.
13.1.10 RCP2-RA8R ME : Mechanical End SE : Stroke End 0 F70-0.05 5 4 ME st 15 st+124.5 47 12 (Square block part) SE (67) 67 85 L C-M8 Depth 16 2-F5H7 Reame pitch depth 5 55 (Reame pitch ±0.02) 67 85 43.5 4 ME 40 Home 60 35 50 50 (B) A×100 13. Appendix With the Brake 111 67 247 20.5 68.5 47 st+171.5 Ŷ 'LPHQVLRQV IRU HDFK 6WURNH Stroke L A B C D Weight w/o Brake [kg] w/ Brake 100 50 221.5 0 39.5 6 100 7.7 8.6 100 271.5 0 89.5 6 100 8.6 9.5 150 321.5 1 39.5 8 200 9.4 10.
13.1.11 RCP2-RGS4C ME : Mechanical End SE : Stroke End (240) 50 Cable Joint Connector ME Home SE (2.3) ME st 2 st 2 (Shaft movable length from ME position on home side to home position) st 69 41 14 (Shaft length at SE position) Body width : 45 20 0.5 13 st 14 63 6.5 F34 44 7 57.5 45 30 80 20 30 5 T-groove Pitch : 17 (For mounting of main body) 20 30 6-M5 Depth 12 (for work attachment) 4.5 2 2.5 Height of main body : 47 90 F10 15 8 0.
13.1.12 RCP2-RGS6C ME : Mechanical End SE : Stroke End (240) 68 Cable Joint Connector ME SE Home (4.8) ME 4 st st 4 (Shaft movable length from ME position on home side to home position) st 72 54 14.5 (Shaft length at SE position) Body width : 64 19 67.5 st 14.5 F36 25 16 F12 0.5 8.5 63 6 30 40 T-groove Pitch : 25 (For mounting of main body) 7 6.5 5 25 40 75 55 95 40 110 0.5 Height of main body : 64 15 0.
13.1.13 RCP2-RGD3C ME : Mechanical End SE : Stroke End 5 (Shaft length at SE position) 8-M4 Depth 10 (for work attachment) 35 st Home SE 2 (Shaft movable length from ME position on home side to home position) st 58 33 2 ME st 43 Body width : 35 35 (2.3) ME 22 27 30 35 23 23 83 97 105 23 33 8 90.5 L Secure at least 100 13 53 st+5 12.5 F8 6.5 F27 11 20 6.
13.1.14 RCP2-RGD4C ME : Mechanical End SE : Stroke End 13 st 14 63 6.5 F10 7.5 15.5 F34 20 7.5 45 50 45 15 (240) Home st 2 ME 57.5 SE 2 (Shaft movable length from ME position on home side to home position) st 69 41 20 30 0.5 (2.3) ME 45.5 44 34 2.5 Height of main body : 47 14 (Shaft length at SE position) st Body width : 45 45.5 15.
13.1.15 RCP2-RGD6C st 14.5 67.5 F36 19 16 F12 25 (240) 13.5 55 68 55 15 10 13.5 ME : Mechanical End SE : Stroke End 10 Cable Joint Connector 14.5 (Shaft length at SE position) 8-M6 Depth 15 (for work attachment) 4-M6 (For mounting of main body) st 46.5 ME SE Home st ME 75 64 4 (Shaft movable length from ME position on home side to home position) st 72 54 4 30 40 46.
13.1.16 RCP2W-RA4C Rod Diameter F22 ME : Mechanical End SE : Stroke End Cable Joint Connector 24.3 7.
13.1.17 RCP2W-RA6C Rod Diameter I30 ME : Mechanical End SE : Stroke End Intake and Exhaust Port (360q rotation available) Cable Joint Connector I48 9.
13.1.18 RCP2W-RA10C ME : Mechanical End SE : Stroke End 5 Joint is available for 360o rotation (2m) Width across flat = 32 13 F70h10 37 M2 2× 1.5 Actuator Cable Accessory Nut Dimensions Cable Joint Connector 13.5 (Square block part) 80 4-M10, through hole 40 Intake and Exhaust Port 27.5 37 ST+115 52.5 117.5 37 (effective threaded length) (1) 80 120 100 Width across flat = 26 M2 2× 1.
14. Warranty 14.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our factory 12 months after delivery to a specified location 2500 hours of operation time 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.
Change History Revision Date Revision Description First Edition 2010.01 Second Edition 2010.07 Third Edition • “Caution” added to the beginning 2011.04 Fourth Edition • A page for CE Marking addedg 2011.07 Fifth Edition • Contents changed in 5. Transportation in pages 8 • RA8C and RA8R added • Contents changed in 14. Warranty in pages 109 to 110 2011.08 Sixth Edition • RA3R, RA4R and RA6R added 2012.
Manual No.: ME3652-9A (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.
