ROBO Cylinder Radial Cylinder RCP4 Actuator Rod Type Operation Manual Seventh Edition Motor straight type Motor Reversing type RA5C, RA6C RA5R, RA6R 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 Names of the Parts .................................................................................................................. 9 1. Specifications Check ......................................................
5.6 5.7 5.8 5.9 Grease Supply .....................................................................................................................................53 5.6.1 What Grease to Use on the Guides.....................................................................................53 5.6.2 What Grease to Use on the Ball Screw ...............................................................................53 5.6.3 Grease to be applied on the Rod (Sliding Surface) ...................................
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 Operation Manual for each model. Level Degree of Danger and Damage Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
Precautions 1. Do not attempt to establish the settings for the speed and acceleration/deceleration above the allowable range. An operation with speed and acceleration/deceleration beyond the allowable range may cause an abnormal noise, vibration, malfunction or shortened life. 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.
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. 1. Motor Straight Type Right Side Opposite Side of the Motor Motor Side Left Side Rod-Tip Adapter Rod Frame Cover Motor Unit Screw for Motor Unit Attachment Front Housing Actuator Cable Base Scraper (Oprtion equipped type) Tapped Hole for Ground Cable Connection 2.
1. Checking the Product 1. Specifications Check 1.1 Checking the Product The standard configuration of this product is comprised of the following parts. See the component list for the details of the enclosed components. If you find any fault or missing parts, contact your local IAI distributor. 1.1.1 Parts No. 1 Name Actuator Model number Refer to “How to Read the Model Nameplate” and “How to Read the Model Number.
1.1.
1. Checking the Product 1.2 1.2.
[When high–output setting is ineffective] Strokes and maximum speed limits (Unit: mm/s) Motor Type Lead [mm] 3 6 RA5C 42P 12 20 4 8 RA6C 56P 16 24 3 6 RA5R 42P 12 20 4 8 RA6R 56P 16 24 Horizontal / Vertical Stroke [mm] 50 100 150 200 250 300 Horizontal 125 Vertical 125 Horizontal 250 Vertical 250 Horizontal 500 Vertical 500 Horizontal 640 Vertical 640 Horizontal 140 Vertical 140 Horizontal 210 Vertical 210 Horizontal 420 Vertical 420 Horizontal 600 Vertical
1. Checking the Product 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. [When high–output setting for motor straight type is effective] Type Motor Type Lead [mm] Horizontal / Vertical Horizontal 3 Vertical RA5C 42P Horizontal 6 Vertical 14 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.
Type Motor Type Horizontal / Vertical Horizontal 12 Vertical RA5C 42P Horizontal 20 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 25 25 18 16 12 100 25 25 18 16 12 200 25 25 18 16 10 300 25 25 18 12 8 400 20 20 14 10 6 500 15 15 8 6 4 600 10 10 6 700 – 6 2 3 – 2 – 0 4 4 4 – – 100 4 4 4 – – 200 4 4 4 – – 4 – – – – 300 4 400 4 4 4 – 500 4 3.
1. Checking the Product Type Motor Type Lead [mm] Horizontal / Vertical Horizontal 4 Vertical RA6C 56P Horizontal 8 Vertical 16 Payload capacity by acceleration/deceleration [kg] Velocity [mm/s] 0.1G 0.3G 0.5G 0.7G 1.
Type Motor Type Horizontal / Vertical Horizontal 16 Vertical RA6C 56P Horizontal 24 Vertical Payload capacity by acceleration/deceleration [kg] Velocity [mm/s] 0.1G 0.3G 0.5G 0.7G 1.0G 0 50 50 40 35 30 140 50 50 40 35 30 280 50 50 35 25 20 420 50 25 18 14 10 560 12 10 5 3 2 700 3 2 – – – 0 8 8 8 – – 140 8 8 8 – – 280 8 7 7 – – 420 6 4.
[When high–output setting for motor Reversing type is effective] 1. Checking the Product Type Motor Type Lead [mm] Horizontal / Vertical Horizontal 3 Vertical RA5R 42P Horizontal 6 Vertical 18 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.
Type Motor Type Lead [mm] Horizontal / Vertical 12 Vertical RA5R 42P Horizontal 20 Vertical 0 100 200 300 400 500 600 700 0 100 200 300 400 500 600 700 0 160 320 480 640 800 0 160 320 480 640 800 25 25 25 25 20 15 10 – 4 4 4 4 4 4 4 – 6 6 6 6 – – 1.5 1.5 1.5 1.5 – – 25 25 25 25 20 15 10 6 4 4 4 4 4 3.5 3 2 6 6 6 6 6 4 1.5 1.5 1.5 1.5 1.5 1 18 18 18 18 14 8 6 2 4 4 4 4 4 3 2 1 6 6 6 6 4 3 1.5 1.5 1.5 1.5 1.5 1 16 16 16 12 10 6 3 – – – – – – – – – 5 5 5 5 3 – – – – – – – 1.
Motor Type 1. Checking the Product Type Lead [mm] Horizontal / Vertical Horizontal 4 Vertical RA6R 56P Horizontal 8 Vertical Horizontal 16 Vertical RA6R 56P Horizontal 24 Vertical 20 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.2G 0.3G 0.5G 0.
[When high–output setting for motor straight type is ineffective] Motor Type Lead [mm] 3 6 RA5C 42P 12 20 Payload capacity by acceleration/deceleration [kg] Horizontal / Velocity Vertical 0.1G 0.2G 0.3G 0.5G 0.
Motor Type 1. Checking the Product Type Lead [mm] 4 8 RA6C 56P 16 24 22 Payload capacity by acceleration/deceleration [kg] Horizontal / Velocity Vertical 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] 0 – 55 – – – 35 – 55 – – – Horizontal 70 – 55 – – – 105 – 55 – – – 140 – 35 – – – 0 – 26 – – – 35 – 26 – – – Vertical 70 – 15 – – – 105 – 4 – – – 140 – 2 – – – 0 – 50 – – – 70 – 50 – – – Horizontal 140 – 50 – – – 210 – 30 – – – 0 – 17.5 – – – 70 – 17.
[When high–output setting for motor reversing type is ineffective] Motor Type Lead [mm] Horizontal / Vertical Horizontal 3 Vertical Horizontal 6 Vertical RA5R 42P Horizontal 12 Vertical Horizontal 20 Vertical Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.2G 0.3G 0.5G 0.
Motor Type 1. Checking the Product Type Lead [mm] Horizontal / Vertical Horizontal 4 Vertical Horizontal 8 RA6R Vertical 56P Horizontal 16 Vertical Horizontal 24 Vertical Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] 0 35 70 105 140 0 35 70 105 140 0 70 140 210 0 70 140 210 0 140 280 420 0 140 280 420 0 200 400 600 0 200 400 600 – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – 55 55 55 55 5 26 26 15 4 0.
1.2.3 Motor Type Lead No. of Encoder Pulses Ball Screw Type Type Diameter Accuracy Rolled I10mm C10 Rolled I12mm C10 1. Checking the Product Type Driving System • Position Detector 3 RA5C RA5R 42P 6 12 20 4 RA6C RA6R 56P 8 16 800 24 1.2.4 Type Positioning Precision lead Item Tolerance ±0.02mm Positioning repeatability 3, 6, 12 0.1mm or less Backlash RA5C RA5R ±0.03mm Positioning repeatability 20 0.1mm or less Backlash ±0.02mm Positioning repeatability 4, 8, 16 0.
Current Limit Value and Pressing Force Ɣ RA5C, RA5R Current Limit Value Lead 3 Lead 6 Lead 12 20% 106 53 26 30% 159 79 40 40% 211 106 53 50% 264 132 66 60% 317 159 79 70% 370 185 93 * These are the reference values at 20mm/s of pressing speed. Lead 20 16 24 32 40 48 56 [N] RA5C, RA5R Current Limiting Values and Pressing Force 400 350 Pressing Force [N] 1. Checking the Product 1.2.
Ɣ RA6C, RA6R Lead 24 52 78 104 130 156 182 [N] 1. Checking the Product Current Limit Value Lead 4 Lead 8 Lead 16 20% 312 156 78 30% 469 234 117 40% 625 312 156 50% 781 391 195 60% 937 469 234 70% 1094 547 273 * These are the reference values at 20mm/s of pressing speed.
1. Checking the Product 1.2.6 Allowable Load and Torque on Rod Tip Ɣ RCP4㵨RA5C/RA6C/RA5R/RA6R actuator possesses a built㵨in guide structure that enables it to apply a side㵨 way load (radial load) and torque. Make sure not to exceed the load indicated in the specification table. Applying excess load may cause an operation failure, parts malfunction and shortened life.
1.2.7 Rod Flexure (Reference) 1. Checking the Product (Note) This is the flexure of the rod when the actuator is installed vertically. It does not include the flexure caused by the weight of itself.
1. Checking the Product 1.3 1.3.1 Options Brake Type (Model: 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. 1.3.2 Reversed–home Specification (Model: NM) The standard home position is on the motor side. However, the motor position will be reversed if it is desirable in view of the layout of the system, etc.
1.4 Motor • Encoder Cables Motor • Encoder Integrated Cables 1. Checking the Product 1.4.1 CB㵨CA㵨MPAƑƑƑ L (30) (25) (25) (15) CN1 (30) CN2 Connector : 1-1827863-1 Contact : 1827570-2 Connector : PADP-24V-1-S Contact SPND-002T-C0.5 (AWG26) SPND-001T-C0.5 (AWG22) Connection diagram CN1 1-1827863-1(AMP) Pin No.
1. Checking the Product 1.4.2 Motor • Encoder Integrated Cables Robot Type CB㵨CA㵨MPAƑƑƑ㵨RB L (30) (25) (25) (15) CN1 CN2 Connector : 1-1827863-1 Contact : 1827570-2 Connector : PADP-24V-1-S Contact SPND-002T-C0.5 (AWG26) SPND-001T-C0.5 (AWG22) Connection diagram CN1 1-1827863-1(AMP) Pin No.
2. 2.1 Installation Transportation [1] Handling of Robot 2. Installation (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.
2. Installation [2] Handling in Assembled Condition x When carrying the actuator, exercise caution not to bump it against nearby objects or structures. x Secure the rods to prevent sudden movement during transport. x If any end of the actuator is overhanging, secure it properly to avoid significant movement due to external vibration. x When transporting the assembly without the ends of the actuators fastened, do not subject the assembly to an impact of 0.3 G or more.
2.
2.3 How to Installation This chapter explains how to install the actuator on your mechanical system. 2. Installation 2.3.1 General Rules on Installation Follow the information below when installing the actuator, as a rule. Do pay attention to these items (except with custom-order models).
2.3.2 Installation of Main Unit [1] Using the Tapped Holes on the Bottom of the Base 䎃 This actuator has tapped holes for mounting so it can be fixed from the bottom of the base. (Note that the tapped hole size depends on the model. Please see the diagrams below and 6. “External Dimensions.”) Also, there are reamed holes and a slotted hole for positioning pins.
[2] Using the Mounting Holes on the Top of the Base 2. Installation There are through holes equipped on the base so the unit can be attached from the top of the base. Detach the side covers on both sides when installing.(Remove 4 hex socket head cap screws.) Frame Cover Mounting Screw Frame Cover Mounting Screw Mounting Holes 䎃 When affixing the frame cover, tighten the screws with the tightening torque described below. Model Name RA5C RA5R RA6C RA6R Screw Diameter Tightening Torgue M3 0.89N㨯m (0.
[3] When using Tapped Holes on Front Housing 䎃 2. Installation There are tapped holes equipped on the front housing. Utilize these tapped holes for installation. The effective depth for the attachment screws is as shown below; 䎃 䎃 Tightening Torque Model Name Tapped Hole Size B A Screw Effective Depth RA5C RA5R M6 39 12 RA6C RA6R M8 43 16 In the case that steel is used for the bolt seating surface: 12.3N㨯m (1.26kgf㨯m) 30N㨯m (3.
[4] When using Front Flange (Option) 2. Installation There are holes for attachment on the front flange. Utilize these holes for the installation. The attachment holes are located as shown below; 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 Model Name Applicable Screw Diameter A B C D 䎃 䎃 RA5C/RA5R Front Flange M6 65 30 10 I6.
䃁 Caution for Installation using Front Housing and Front Flange Do not attempt to apply any external force to the body when installing with front housing or front flange (option). External force may cause an operation failure or parts malfunction. 2. Installation External Force External Force 䎃 䎃 䎃 䎃 Prepare a support block as shown in the figure below for the horizontal installation of the unit with its stroke more than 150 even if there is no external force applied on the body.
2. Installation [5] When Utilizing Attachment Holes on the Bracket for Motor-Reversed Type䎃 There are tapped holes prepared on the reversing bracket. (See the table below for the detailed dimensions.) 䎃 䎃 䎃 䎃 A B C 䎃 RA5R 37 29.5 M5 Depth 15 䎃 RA6R 48 33 M6 Depth 14 䎃 䎃 䎃 䎃 䎃 䎃 Model Name Attachment Holes Attachment Hole Depth RA5R M5 15mm RA6R M6 14mm Tightening Torque 3.42N䱏m (0.35kgf䱏m) 5.36 N䱏m (0.55kgf䱏m) 䎃 Tightening screws x For attaching using male screw, use a hex socket cap screw.
Availability of installation for each installation posture is as shown below: (Note) When it is perpendicular installation without support etc., external force does not act, it is not attempt to apply the radial load. 䎃 2.
[6] Attachment of Work Part (Transported Object) 2. Installation Utilize the threaded part on the rod tip to attach the work part (transported object). In the installation process, make sure to hold 2 faces on the tip with a wrench so the tightening torque would not be applied to the rod. [7] Mounting䎃Surface䎃 x The platform to install the actuator should possess a structure that ensures enough stiffness, and should be free from vibration.
3. Connecting with Controller As the connection cable for the controller and RCP4 (this actuator), use the IAI-dedicated controller and dedicated connection cable. This section explains the wiring method for a single axis. Please consult with IAI if you require a different kind of cable than the one supplied.
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 let the cable bend, kink or twist. 3. Connecting with Controller • Do not pull the cable with a strong force. • 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 • PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them together. Arrange so that such lines are independently routed in the duct. Power Line Duct I/O Line (Flat Cable, etc.) • 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.
4. Caution for Operation䎃 x When the reaction force against the pressing operation is the side㵨way force, make sure it would not exceed the allowable load. 4. Caution for Operation Be careful on the direction of the reaction force against the pressing operation. x When connecting the rod to external guides, be careful on the parallelism of the guides to the rod.
4. Caution for Operation x When using a stroke of more than 200 and the load is eccentric (offset), the rod may generate vibration in some operation conditions. Apply guides to control the vibration.
5. 5.1 Maintenance Inspection Inspection Items and Schedule Follow the maintenance inspection schedule below. It is assumed that the equipment is operating 8 hours per day. If the equipment is running continuously night and day or otherwise running at a high operating rate, inspect more often as needed. 5.2 Internal inspection { { {(Ball Screw/Guide ) { { {(Ball Screw/Guide) Greasing 5.
5.4 Internal Inspections 5. Maintenance Inspection Turn OFF the power, remove the side cover and have a visual inspection. When inspecting the interior, check the following items. Main unit Loose mounting bolts, other loose items Guide section Lubrication, buildup Ball screw Lubrication, buildup Visually inspect the interior of the equipment. Check whether dust or other foreign matter has gotten inside and check the lubrication state. The lubrication may have turned brown.
5.5 Internal Cleaning Ɣ Use a soft cloth to wipe away dirt and buildup. Ɣ Do not blow too hard with compressed air as it may cause dust to get in through the gaps. Ɣ Do not use oil–based solvents, neutral detergent or alcohol. 5.6 Grease Supply 5.6.1 What Grease to Use on the Guides IAI uses the following grease in our plant. Idemitsu Kosan Daphne Eponex Grease No. 2 Other companies also sell similar types of grease.
5.6.3 Grease to be applied on the Rod (Sliding Surface) The following grease is applied when the product is shipped out from IAI factory. Rod (sliding surface) Kyodo Yushi Multitemp LRL 3 When supplying the grease, use the lithium㵨based all㵨around grease (consistency class: NLGI 2 to 0). 5. Maintenance Inspection Caution: If the unit is equipped with the scraper (optional equipment), apply the grease on the rod sliding surface inside the main unit.
5.6.4 How to apply grease (1) With 2.5mm (RA5C, RA5R) or with 3mm (RA6C, RA6R) hex wrench, loosen the screws holding the frame cover, and detach the frame cover. Frame Cover Cover Mounting Screw 5. Maintenance Inspection Ball Screw Guide Rod (2) Pull out the rod. The ball screw will appear. For some of the low lead actuators, the rod would not move manually with hand. Move it with JOG operation of the controller.
(3) After cleaning up the guide on both sides, apply the grease. Slide the rod back and forth to evenly apply the grease. Wipe off the excess grease at last. 5. Maintenance Inspection Guide Guide (4) After cleaning up the ball screw, apply the grease with hand. Move the rod back and forth to evenly apply the grease. For some of the low lead actuators, the rod would not move manually with hand. Move it with JOG operation of the controller. Wipe off the excess grease at last.
(5) If the unit is not equipped with the scraper (option), clean up the rod (sliding surface) and apply the grease with hands. Move the rod back and forth to evenly apply the grease. For some of the low lead actuators, the rod would not move manually with hand. Move it with JOG operation of the controller. Wipe off the excess grease at last. Rod (sliding surface) Inside of rod (sliding surface) 5.
5.7 Procedure for Belt Replacement and Tuning Applicable Untis : RCP4-RA5R, RA6R 5.7.1 Inspection of the Belt For inspection work, detach the pulley cover with 1.5mm-sized hex wrench and carry it out by visual. 5. Maintenance Inspection Pulley Cover Screw The replacement period cannot be determined in general because the durability of the deceleration belt can be greatly influenced by the conditions of operation. It generally has life of hundreds of times for bending movement.
5.7.3 Replacement of the Belt [Items Required for Replacemet Work] x Belt for Replacement x Hex wrench 1.5mm, 2.5mm (RA5R) or 3mm (RA6R) - sized x Tension gauge (that is available for pulling with 80N) x Long cable band (thin string) [Procedures] Pulley Cover Screw 2) Loosen the four screws holding the pulley on the motor side with a 2.5mm-sized (RA5R) or 3mm-sized (RA6R) hex wrench. If the belt is required to be replaced, replace it. Screw Belt 59 5.
3) Adjust the belt tension. Hand a cable band (thin string) on the edge of the motor unit and pull it on a tension gauge with the specified load (specified value of the belt tension). When the load reached the specified, tighten the screws with a 2.5mm-sized (RA5R) or 3mm-sized (RA6R) hex wrench to hold the unit in the place. Cable band (thin string) Screw 5.
5.8 5.8.1 Motor Replacement Process RCP4-RA5C, RA6C [Items required for replacing the motor] x Motor Unit for Replacement x Hex wrench set 3mm-sized 5. Maintenance Inspection [Procedure] 1) Remove the screw affixing the actuator and the motor unit with a 3mm hex wrench. For Fixed screws actuator and Motor Unit 2) Detach the motor unit.
5. Maintenance Inspection 3) Make the profiles on the actuator side and motor unit side aligned so the projection matches to the slit. Make the projection and slit matched with each other. Apply grease to the coupling part. TL101Y grease made by NOK 4) Attach the motor unit for replacement with the projection being matched with the slit. 5) Tighten the screw to affix the motor unit to the actuator with 3mm hex wrench.
5.8.2 RCP4-RA5R, SA6R [Items Required for Replacement Work] x Motor Unit for Replacement x Hex Wrench Set 3mm-sized 5. Maintenance Inspection [Procedure] 1) Remove the screw affixing the actuator and the motor unit with a 3mm hex wrench. Fixing screw for actuator and motor unit 2) Detach the motor unit.
5. Maintenance Inspection 3) Make the profiles on the actuator side and motor unit side aligned so the projection matches to the slit. Apply grease to the coupling part. TL101Y grease made by NOK Make the projection and slit matched with each other. 4) Attach the motor unit for replacement with the projection being matched with the slit. 5) Tighten the screw to affix the motor unit to the actuator with 3mm hex wrench.
5.9 Procedure to Replace Scraper (Option) [Items required for replacing the motor] x Hex wrench set x Replacement Scraper Model Name Model No. Supplier RA5C, RA5R SFR–22K Sakagami Seisakusho, Ltd. RA6C, RA6R SFR–25K Sakagami Seisakusho, Ltd. 5. Maintenance Inspection 1) Remove the actuator from the device temporarily, and place it on the work bench horizontally to ensure the safety. Working with it in vertical orientation has a risk of the rod dropping down. Never attempt to do so.
5. Maintenance Inspection 3) Detach the scraper. Attach the scraper for replacement. Pay attention to the orientation of the scraper. Scraper, projection in front 4) Affix the front housing temporarily. To tune the center of the front housing, pull out the rod as much as possible and tighten the screws to hold the front housing. Check if any abnormal resistance to the rod move. If there is, redo the center tuning process.
External Dimensions RA5C Datum Surface φ8 5 4.5 6.1 O.D. Rod φ22 31.5 22 (13) (300) 20 7.5 (27) 3 φ 4.5 Detail: X (Attachment hole and datum surface) M10×1.25 Affixing Cable Allowable Bending = R50 Stroke 4-M6 depth 12 3 ME SE φ3 105(145) K 41.5 3 SE ME 29.5 58 52 29.5 9 L 47 2.5 B×100P 18 N C×100P J (Reamed hole and slotted hole) A G 18.5 6 35 113.5(153.5) M10×1.25 17 (19.6) Y Detail Diagram Y Scale 2 : 1 2.5 F-φ4.5, Through φ8 Counterbore, depth 4.
RA6C O.D. Rod φ25 6.2 Detail: X (Attachment hole and datum surface) M14×1.5 Affixing Cable Allowable Bending = R50 Stroke L 54 4-M8 depth 16 3 ME SE φ4 K 133(183) 3 SE ME 21 33 19 76 58 3 19 X Grounding Tap, M3, depth 6 (Same on opposite side) 32 56 61 D-M5 depth 9 2- φ4H7 depth 5.5 (from bottom of base) 5 F-φ4.5, Through φ8 Counterbore, depth 4.5 (from other side) B×100P M Y 31 4 +0.012 0 6. External Dimensions (13) (300) 20 9.5 Width across Flats Section 5 φ4.5 42 30.
RA5R 31.5 22 O.D. Rod φ22 6.3 7.5 (13) M10×1.25 (28.5) Affixing Cable Allowable Bending = R50 (28) (32.5) 4-M5 depth 15 47 29.5 29.5 14 D-M4 depth 7 50 52 φ 4H7 depth 5.5 (from bottom of base) Oblong hole depth 5.5 (from bottom of base) 37 F-φ4.5, Through φ8 Counterbore, depth 4.5 (from other side) N 18.5 C× 100 P 26 X 27.5 K 3 SE ME 37 3 ME SE 14 9 L 24 .3 41.
RA6R O.D. Rod φ25 6.4 42 30.5 9.5 (Area of paired faces) L 3 SE ME SE 19 K 33 4-M6 depth 14 ME 48 33 63.5 58 54 Stroke 3 45° Grounding Tap, M3, depth 6 (Same on opposite side) 148.5(198.5) 33 19 X (14) 56 60 48 2.5 2-φ 4H7 depth 5.5 (from bottom of base) 75.25 150 F-φ4.5, Through φ8 Counterbore, depth 4.5 (from other side) D-M5 depth 9 76 Y N C× 100 P 20 31 6. External Dimensions .43 (37) 20 (300) 4-M8 depth 16 90° Distribution .
7. 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.
8. 8.1 Warranty 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 8. Warranty 8.2 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met.
8.5 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 Change History Revision Date September 2011 First edition November 2011 Second edition Pg. 32 Caution note added regarding cable February 2012 Third edition Pg. 11 Graph added for stroke and maximum speed limits when high–output setting is ineffective Pg. 17 to 18 Graph added for maximum acceleration and transportable weight when high–output setting is ineffective Pg. 54, 55 Mass added March 2012 Fourth edition Pg. 7 May 2012 Fifth edition Pg. 1 to 7 Pg.
Manual No.: ME3718-7A (August 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.
