ROBO Cylinder Radial Cylinder RCP4 Actuator Slider Type Operation Manual Sixth Edition Standard type Motor straight type, RCP4-RA5C, RA6C, RA7C Standard type Motor reversing type, RCP4-RA5R, RA6R, RA7R Clean Room type Motor straight type, RCP4CR-SA5C, SA6C SA7C
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 Caution in Handling .......................................................................................................................................8 Names of the Parts........................................................................................................................................9 1.
4.6 5. Grease Supply............................................................................................................................61 4.6.1 What Grease to Use on the Standard Type .................................................................61 4.6.2 What Grease to Use on the Clean Room Type............................................................61 4.6.3 How to apply grease....................................................................................................62 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 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start 2 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 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other 6 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 Symbol Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
Caution in Handling 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 moment within the allowable range. An operation with the load beyond the allowable load moment 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. Standard Type Motor Straight Type RCP4 Right Side Stainless Steel Sheet Opposite Side of the Motor Motor Side Side Cover Front Cover Motor Unit Screw for motor unit attachment Left Side Slider Cover Slider Actuator Cable Base 2.
3.
Specification Check 1.1 Checking the Product 1. Checking the Product 1. 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. Checking the Product 1.1.
1.
1.
[When high-output setting is ineffective] Lead [mm] 3 6 SA5C 42P 12 20 3 6 SA6C 42P 12 20 4 8 SA7C 56P 16 24 3 6 SA5R 42P 12 20 3 6 SA6R 42P 12 20 4 8 SA7R 56P 16 24 Horizontal / Vertical Speed limits (Unit: mm/s) Stroke [mm] 50 100 150 200 250 300 350 400 600 650 700 750 800 Horizontal 150 450 500 550 140 120 105 90 80 Vertical 150 140 120 105 90 80 Horizontal 300 285 245 215 185 165 Vertical 300 285 245 215 185 165 Horizontal 600 570 490 425
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 SA5C 42P Horizontal 6 Vertical 16 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 SA5C 42P Horizontal 20 Vertical 1. Checking the Product Horizontal Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 9 9 9 9 8 100 9 9 9 9 8 200 9 9 9 9 8 300 9 9 9 9 8 400 9 9 9 9 8 500 9 9 9 8 6.5 600 9 9 9 6 4 700 9 9 8 4 2.5 800 䋭 7 5 2 1 900 䋭 5 3 1 1 0 2.5 2.5 2.5 – – 100 2.5 2.5 2.5 – – 200 2.5 2.5 2.5 – – 300 2.5 2.5 2.5 – – 400 2.5 2.5 2.5 – – 500 2.5 2.5 2.5 – – 600 2.5 2.5 2.
Motor Type 1. Checking the Product Type Lead [mm] Horizontal / Vertical Horizontal 3 Vertical SA6C 42P Horizontal 6 Vertical 18 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 25 25 25 25 25 25 25 25 25 25 25 50 25 25 25 25 25 75 25 25 25 25 25 100 25 25 25 25 25 125 25 25 25 25 25 150 25 25 25 25 22.
Type Motor Type Lead [mm] Horizontal / Vertical 12 Vertical SA6C 42P Horizontal 20 Vertical 1. Checking the Product Horizontal Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 15 15 12.5 11 10 100 15 15 12.5 11 10 200 15 15 12.5 11 10 300 15 15 12.5 11 10 400 15 14 11 10 8.5 500 15 13 10 8 6.5 600 15 12 9 6 4 700 12 10 8 4 2.5 800 10 7 5 2 1 900 – 5 3 1 1 0 2.5 2.5 2.5 – – 100 2.5 2.5 2.5 – – 200 2.5 2.5 2.5 – – 300 2.5 2.5 2.5 – – 400 2.5 2.5 2.
Motor Type 1. Checking the Product Type Lead [mm] Horizontal / Vertical Horizontal 4 Vertical SA7C 56P Horizontal 8 Vertical 20 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 45 45 45 40 40 35 45 45 45 40 40 70 45 45 45 40 40 105 45 45 45 40 35 140 45 45 35 30 25 175 45 30 18 – – 210 45 8 – – – 245 35 – – – – 0 25 25 25 – – 35 25 25 25 – – 70 25 25 25 – – 105 22 20 19 – – 140 16 14 12 – – 175 11 9 7.
Type Motor Type Lead [mm] Horizontal / Vertical 16 Vertical SA7C 56P Horizontal 24 Vertical 1. Checking the Product Horizontal Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 40 40 35 28 27 140 40 40 35 28 27 280 40 38 35 25 24 420 35 25 20 15 10 560 25 20 15 10 6 700 20 15 10 5 3 840 – 9 4 2 2 980 – 4 – – – 0 8 8 8 – – 140 8 8 8 – – 280 8 8 8 – – 420 6 5 4.
1. Checking the Product [When high-output setting for motor reversing type is effective] Type Motor Type Lead [mm] 3 SA5R 42P 6 22 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.
Type Motor Type Lead [mm] SA5R 42P 20 1. Checking the Product 12 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 9 9 9 9 8 100 9 9 9 9 8 200 9 9 9 9 8 300 9 9 9 9 8 400 9 9 9 9 8 Horizontal 500 9 9 9 8 6.5 600 9 9 9 6 4 700 9 9 8 4 2.5 800 㧙 7 5 2 1 900 㧙 5 3 1 1 0 2.5 2.5 2.5 㧙 㧙 100 2.5 2.5 2.5 㧙 㧙 200 2.5 2.5 2.5 㧙 㧙 300 2.5 2.5 2.5 㧙 㧙 400 2.5 2.5 2.5 㧙 㧙 Vertical 500 2.5 2.5 2.5 㧙 㧙 600 2.5 2.5 2.5 㧙 㧙 700 2.5 2 1.5 㧙 㧙 800 㧙 1 0.
Motor Type 1. Checking the Product Type Lead [mm] 3 SA6R 42P 6 24 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 25 25 25 25 25 25 25 25 25 25 25 50 25 25 25 25 25 75 25 25 25 25 25 100 25 25 25 25 25 Horizontal 125 25 25 25 25 25 150 25 25 25 25 22.
Type Motor Type Lead [mm] SA6R 42P 20 1. Checking the Product 12 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 15 15 12.5 11 10 00 15 15 12.5 11 10 200 15 15 12.5 11 10 300 15 15 12.5 11 10 400 15 14 11 10 8.5 Horizontal 500 15 13 10 8 6.5 600 15 12 9 6 4 700 12 10 8 4 2.5 800 10 7 5 2 1 900 㧙 4 2 1 㧙 0 2.5 2.5 2.5 㧙 㧙 00 2.5 2.5 2.5 㧙 㧙 200 2.5 2.5 2.5 㧙 㧙 300 2.5 2.5 2.5 㧙 㧙 400 2.5 2.5 2.5 㧙 㧙 Vertical 500 2.5 2.5 2.5 㧙 㧙 600 2.5 2.5 2.
Motor Type 1. Checking the Product Type Lead [mm] 4 SA7R 56P 8 26 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.
Type Motor Type Lead [mm] SA7R 56P 24 1. Checking the Product 16 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 40 40 35 28 27 140 40 40 35 28 27 280 40 38 35 25 24 420 35 25 20 15 10 Horizontal 560 25 20 15 10 6 700 20 15 8 5 3 840 㧙 6 2 㧙 㧙 0 8 8 8 㧙 㧙 140 8 8 8 㧙 㧙 280 8 8 8 㧙 㧙 Vertical 420 6 5 4.5 㧙 㧙 560 5 4 3 㧙 㧙 700 3 2 1.
1. Checking the Product [When high-output setting for motor straight type is ineffective] Type Motor Type Lead [mm] 3 6 SA5C 42P 12 20 28 Payload capacity by acceleration/deceleration [kg] Horizontal / Velocity Vertical 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] 0 – 16 16 16 16 25 – 16 16 16 16 50 – 16 16 16 16 Horizontal 75 – 16 16 16 14 100 – 16 16 14 12 125 – 16 13 11 10 150 – 16 10 9 8 0 10 10 10 – – 25 10 10 10 – – 50 10 10 10 – – Vertical 75 10 10 10 – – 100 10 9 8 – – 125 7 6 6 – – 150 5 4.
Type Motor Type Lead [mm] Horizontal / Vertical 3 Vertical Horizontal 6 Vertical SA6C 42P Horizontal 12 Vertical Horizontal 20 Vertical 1. Checking the Product Horizontal Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] 0 – 19 19 19 19 25 – 19 19 19 19 50 – 19 19 19 19 75 – 19 19 19 19 100 – 19 16 14 12 125 – 18 14 11 10 150 – 16 13 10 9 0 10 10 10 – – 25 10 10 10 – – 50 10 10 10 – – 75 10 10 10 – – 100 10 9 8 – – 125 7 6 6 – – 150 5 4.
Motor Type 1. Checking the Product Type Lead [mm] Horizontal / Vertical Horizontal 4 Vertical Horizontal 8 Vertical SA7C 56P Horizontal 16 Vertical Horizontal 24 Vertical 30 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.2G 0.3G 0.5G 0.
[When high-output setting for motor reversing type is ineffective] Motor Type Lead [mm] 3 SA5R 42P 6 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] 0 㧙 16 16 16 16 25 㧙 16 16 16 16 50 㧙 16 16 16 16 Horizontal 75 㧙 16 16 16 14 100 㧙 16 16 14 12 125 㧙 16 13 11 10 150 㧙 16 10 9 8 0 10 10 10 㧙 㧙 25 10 10 10 㧙 㧙 50 10 10 10 㧙 㧙 Vertical 75 10 10 10 㧙 㧙 100 10 9 8 㧙 㧙 125 7 6 6 㧙 㧙 150 5 4.
Motor Type 1. Checking the Product Type Lead [mm] 12 SA5R 42P 20 32 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] 0 㧙 8 6 5.5 5 100 㧙 8 6 5.5 5 200 㧙 8 6 5.5 5 Horizontal 300 㧙 8 6 5.5 5 400 㧙 8 6 4 3.5 500 㧙 7 5 2 1.5 600 㧙 5 4 2 1.5 0 2 2 2 㧙 㧙 100 2 2 2 㧙 㧙 200 2 2 2 㧙 㧙 Vertical 300 2 2 2 㧙 㧙 400 2 2 1.5 㧙 㧙 500 1.5 1.5 1 㧙 㧙 600 1 0.5 0.5 㧙 㧙 0 㧙 5 4 3 3 160 㧙 5 4 3 3 320 㧙 5 4 3 3 Horizontal 480 㧙 4.5 4 3 3 640 㧙 4 3.5 2 2 800 㧙 3 2.
Type Motor Type Lead [mm] SA6R 42P 6 1. Checking the Product 3 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] 0 㧙 19 19 19 19 25 㧙 19 19 19 19 50 㧙 19 19 19 19 Horizontal 75 㧙 19 19 19 19 100 㧙 19 16 14 12 125 㧙 18 14 11 10 150 㧙 16 13 10 9 0 10 10 10 㧙 㧙 25 10 10 10 㧙 㧙 50 10 10 10 㧙 㧙 Vertical 75 10 10 10 㧙 㧙 100 10 9 8 㧙 㧙 125 7 6 6 㧙 㧙 150 5 4.
Motor Type 1. Checking the Product Type Lead [mm] 12 SA6R 42P 20 34 Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] 0 㧙 8.5 8.5 7 6 00 㧙 8.5 8.5 7 6 200 㧙 8.5 8.5 7 6 Horizontal 300 㧙 8.5 8.5 7 6 400 㧙 8 7 4 3.5 500 㧙 7 6 3 2 600 㧙 6 6 2 1.5 0 2 2 2 㧙 㧙 00 2 2 2 㧙 㧙 200 2 2 2 㧙 㧙 Vertical 300 2 2 2 㧙 㧙 400 2 2 1.5 㧙 㧙 500 1.5 1.5 1 㧙 㧙 600 1 0.5 0.
Type Motor Type Lead [mm] Horizontal / Vertical 4 Vertical SA7R 56P Horizontal 8 Vertical Horizontal 16 Vertical SA7R 56P Horizontal 24 Vertical Caution: 1. Checking the Product Horizontal Payload capacity by acceleration/deceleration [kg] Velocity 0.1G 0.2G 0.3G 0.5G 0.
1. Checking the Product 1.2.3 Type Driving System • Position Detector Motor Type Lead No. of Encoder Pulses Ball Screw Type Type Diameter Accuracy Rolled I10mm C10 Rolled I10mm C10 Rolled I12mm C10 3 SA5C SA5R 42P 6 12 20 3 SA6C SA6R 42P 6 12 800 20 4 SA7C SA7R 56P 8 16 24 1.2.4 Type Positioning Precision Item Tolerance ±0.02mm Positioning repeatability 3, 6, 12 0.1mm or less Backlash SA5C SA5R ±0.03mm Positioning repeatability 20 0.1mm or less Backlash ±0.
1.2.5 Current Limit Value and Pressing Force Ɣ SA5C, SA6C, SA5R, SA6R Lead 20 16 24 32 40 48 56 [N] 1. Checking the Product 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.
Ɣ SA7C, SA7R 1. Checking the Product Current Limit Value Lead 4 Lead 8 Lead 16 20% 192 96 48 30% 288 144 72 40% 385 192 96 50% 481 240 120 60% 577 288 144 70% 673 336 168 * These are the reference values at 20mm/s of pressing speed.
1.2.6 Allowable Load Moment of Actuator Static load moment [Nxm] Allowable load moment [Nxm] Allowable overhang load [L] Ma Mb Mc Ma Mb Mc SA5C SA5R 18.6 26.6 47.5 4.9 6.8 11.7 Ma direction: 150mm Mb or Mc direction: 150mm SA6C SA6R 38.3 54.7 81.0 8.9 12.7 18.6 Ma direction: 220mm Mb or Mc direction: 220mm SA7C Ma direction: 230mm 50.4 71.9 138.0 13.9 19.9 38.
1. Checking the Product 1.2.7 Duty Ratio in Continuous Operation Continuous operation is available with the duty ratio 100%. Duty ratio is the rate of operation expressed in % that presents the time of the actuator being operated in 1 cycle of operation.
1.3 Brake Type (Model No. : B) The brake is a mechanism designed to prevent the slider from dropping on a vertically installed actuator when the power or servo is turned OFF. Use the brake to prevent the installed load, etc., from being damaged due to the falling slider. 1.3.2 Reversed-home Specification (Model No. : 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. Checking the Product 1.4 Motor • Encoder Cables 1.4.1 Motor • Encoder Integrated Cables CB-CA-MPAƑƑƑ 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.
1.4.2 Motor • Encoder Integrated Cables Robot Type CB-CA-MPAƑƑƑ-RB (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.
2. 2. Installation 2.1 Installation Transportation [1] Handling of Robot When transporting the unassembled actuator alone, pay attention to the items specified below. (1) Handling of the Packed Product Please handle packages carefully during transport to ensure that product is not damaged by bumping or dropping. x Never attempt to move heavy packages by yourself. x Always set packages down on a level surface. x Never climb on top of packages.
[2] Handling in Assembled Condition When transporting the actuator with its axes already assembled, take note of the following items. 2. Installation (1) Shipping from IAI Already Assembled After assembly at IAI, your machine undergoes a shipping inspection, is packed in a crate with skids, and finally shipped. If any of the combined actuators is a slider, the slider is securely fastened in place to prevent unexpected movement during shipping.
2.2 Installation and Storage • Preservation Environment 2. Installation [1] Installation Environment 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 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).
2. Installation 2.3.2 Installation of Main Unit The surface to mount the main unit should be a machined surface or a plane that possesses an equivalent accuracy and the flatness should be within 0.05mm. Also, the platform should have a structure stiff enough to install the unit so it would not generate vibration or other abnormality. 䎃 Also consider enough space necessary for maintenance work such as actuator replacement and inspection. There are datum surfaces for attachment on the base.
[2] Using the Through Holes on the Top of the Base Model Name Through Holes Mounting Screw SA5C SA5R I4.5 drilled hole, I8 counter boring depth 4.5 M4 SA6C SA6R I4.5 drilled hole, I8 counter boring depth 4.5 M4 SA7C SA7R I6 drilled hole, I9.5 counter boring depth 5.5 M5 Tightening Torque 1.76N㨯m (0.18kgf㨯m) 1.76N㨯m (0.18kgf㨯m) 3.42N㨯m (0.35kgf㨯m) 䎃 Tightening screws x Use hexagonal socket head bolts for the male threads for installing the base.
2. Installation [3] When Utilizing Attachment Holes on the Bracket for Motor-Reversed Type There are tapped holes prepared on the reversing bracket. (See the table below for the detailed dimensions.) 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 SA5R SA6R SA7R Model Name Attachment Holes Attachment Hole Depth Tightening Torque SA5R M5 15mm 3.42N䱏m (0.35kgf䱏m) SA6R M5 15mm 3.42N䱏m (0.35kgf䱏m) SA7R M6 14mm 5.36 N䱏m (0.
51 2. Installation Availability of installation for each installation posture is as shown below: 䎃 䎃 䎃 䎃 䎃 䎃 䎃 Horizontal ᳓ᐔ 䎃 䎃 䎃 䎃 Installation Posture 䎃 Supports Horizontal Vertical Mount 䎃 䎃 With No Supported u u u 䎃 { { With Support u 䎃 䎃 䎃 䎃 䎃 Mount ု⋥ ᄤษ Vertical 䎃 䎃 When using the unit in the horizontal or vertical orientation, have a pedestal to support the body to avoid external force being applied to the unit.
[4] Attachment of Transported Object 2. Installation 䎃 x There are tapped holes on the top surface of the slider. Affix the work part (transported object) here. x The way to affix follows the installation of the main unit. x There are two reamed holes on the top surface of the slider. Use these reamed holes if repeatability of attaching and detaching is required. Also, if small tuning such as perpendicularity is required, use one of the reamed holes for the tuning.
䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 Datum surface Datum surface Because the side and bottom faces of the base provide reference surfaces for slider travel as shown in the above diagram, conduct installation based on the position of these sides when precision is required. 䎃 Follow the diagram below when installing the device using the reference surface. 䎃 䎃 䎃 䎃 䎃 䎃 䎃 R0.3 or less Model Name SA5/6 A Dimensions (mm) 2 to 4 or less SA7 2 to 5 or less 53 2.
2. Installation 2.4 Clean-Room Type x Cleanroom type can have the performance to comply with Cleanroom Class 10 (0.1ȝm) by vacuuming the air at the two vacuum joints. The table below shows the reference of vacuuming capacity at the maximum speed for each model. Have the pipe layout to make the vacuum performance at the two points get even. x Have all the base attachment holes at the bottom of the unit closed when using the unit. If there is a through hole on the body, it can drop the cleanliness. 2.4.
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.
3. Connecting with Controller 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. • 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. Maintenance Inspection 4.1 Inspection Items and Schedule Follow the maintenance inspection schedule below. It is assumed that the equipment is operating 8 hours per day. If the equipment is running continuously night and day or otherwise running at a high operating rate, inspect more often as needed.
4.4 Internal Inspections 4. 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 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.
4.6 Grease Supply 4.6.1 What Grease to Use on the Standard Type [1] What Grease to Use on the Guides IAI uses the following grease in our plant. Guide Idemitsu Kosan Daphne Eponex Grease No. 2 Showa Shell Oil Albania Grease No. 2 Mobil Oil Mobilax 2 Warning: Never use anything other than synthetic poly- olefin grease. Mixing poly- grease with other grease not only reduces the performance of the grease, it may even cause damage to the actuator.
4.6.3 How to apply grease (1) Remove the screws and detach the side covers on both sides. Side Cover Attachment Screws 4. Maintenance Inspection Side Cover Attachment Screws Opposite Side of the Motor Motor Side Side Cover After Side Covers are Detached (2) On the guide part, insert a spatula between the slider and the base or apply grease with a grease injector while moving the slider back and forth. Apply grease on both sides. Wipe off the excess grease at the end.
(3) To grease ball screws, first clean, then put some grease on your finger and apply while moving the slider back and forth. In this process, pay attention to the stainless steel sheet so that you would not touch and make it deformed. When finished, wipe off excess grease. 4. Maintenance Inspection (4) Attach the side covers after grease supply is finished.
4.7 Procedure for Stainless Steel Sheet Replacement and Adjustment In this section, explains how to replace and adjust the stainless steel sheet. The screws and other components detached for the replacement will be necessary when rebuild the product. Prepare a storage box beforehand to keep the components in it. 4. Maintenance Inspection 4.7.
4.7.2 Procedure for Replacement and Tuning (1) Move the slider to the middle of the actuator (2) Remove the screws affixing the slider cover. For SA5C and SA5R there is a plate spring. Remove the spring. Standard Type (RCP4-SA5C, SA6C, SA7C, SA5R, SA6R, SA7R) Condition with Slider Covers Detached (the condition that the plate spring is also removed for SA5C and SA5R) 4.
(5) Adjust the stainless steel sheet tension. 4. Maintenance Inspection 1) Adjust the tension of stainless steel sheet by moving back and forth. For Clean Type, make the roller pressed down to touch the side covers. It is not necessary for Standard Type since there is no roller.
4.8 Procedure for Belt Replacement and Tuning Applicable Untis : RCP4-SA5R, SA6R, SA7R 4.8.1 Inspection of the Belt For inspection work, detach the pulley cover with 1.5mm-sized hex wrench and carry it out by visual. 4. 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.
4.8.3 Replacement of the Belt [Items Required for Replacemet Work] 4. Maintenance Inspection x Belt for Replacement x Hex wrench 1.5mm, 2.5mm (SA5R/SA6R) or 3mm (SA7R) - sized x Tension gauge (that is available for pulling with 80N) x Long cable band (thin string) [Procedures] 1) Remove the three screws holding the pulley cover with a 1.5mm-sized hex wrench to detach the pulley cover. Pulley Cover Screw 2) Loosen the four screws holding the pulley on the motor side with a 2.
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 (SA5R/SA6R) or 3mm-sized (SA7R) hex wrench to hold the unit in the place.
4.9 4.9.1 Motor Replacement Process RCP4-SA5C, SA6C, SA7C, RCP4CR-SA5C, SA6C, SA7C [Items required for replacing the motor] 4. Maintenance Inspection x Motor Unit for Replacement x Hex wrench set 3mm-sized [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.
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 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. Tightening Torque : 350 N • cm 71 4. Maintenance Inspection Make the projection and slit matched with each other.
4.9.2 RCP4-SA5R, SA6R, SA7R [Items Required for Replacement Work] 4. Maintenance Inspection x Motor Unit for Replacement x Hex Wrench Set 3mm-sized [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.
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 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. Fixing screw for actuator and motor unit Tightening Torque : 350 N • cm 73 4. Maintenance Inspection Make the projection and slit matched with each other.
5. External Dimensions 5.1 RCP4-SA5C 2-φ4 H7 depth 6 15.5 9 15.5 4-M4 depth 9 20 (300) (13) Datum Surface (27) 26 (Reamer pitch ±0.02) φ4.5 3 5 4.5 φ8 32 6 20 30 K 18 6 Affixing Cable Allowable Bending = R50 ±0.02 L Datum Point for Ma and Mc Moments Offset 98 (138) Stroke 94 19 3 3 SE ME 40 50 39 26 ME SE 57.5 X 50 52 H-Oblong Hole, depth 5.5 (from bottom of base) 2.5 F-φ4.5, Through φ8 Counterbore, depth 4.5 (from other side) B×100P D-M depth 7 +0.
5.2 RCP4-SA6C 2- φ5H7 depth 6 19.5 21 19.5 20 4-M5 depth 9 (300) (13) Datum Surface 5 φ4.5 31 (Reamer pitch ±0.02) 5 (27) 4.5 φ8 Detail: X (Attachment hole and datum surface) 3 SE ME 40 28 SE 43 53 18.5 3 8 ME X 56 22.5 58 47 E-φ4H7, depth 5.5 (from bottom of base) B × 100P D-M5 depth 9 0 5.5 F-φ4.5, Through φ8 Counterbore, depth 4.5 (from other side) H-Oblong Hole, depth 5.5 (from bottom of base) +0.012 Grounding Tap, M3, depth 6 (Same on opposite side) 5 31 4 59.
5.3 RCP4-SA7C 20 20 20 4-M5 depth 10 2-φ5 H7 depth 10 Datum Surface 20 (300) (13) 39 (Reamer pitch ±0.02) 6 (27) 5.5 φ9.5 5.5 φ6 Datum Point for Ma and Mc Moments Offset Affixing Cable Allowable Bending = R50 ±0.02 50 L 133 (183) K 21.5 48 30 9 22 126 Stroke 3 9 3 SE ME X 21 76 64 50 43 ME SE 71 32 73 D-M5 depth 9 6 E- φ4H7 depth 6 (from bottom of base) B ×100P 40 4 5 Grounding Tap, M3, depth 6 (Same on opposite side) F-φ 6, Through φ 9.5 Counterbore, depth 5.
5.4 RCP4-SA5R 18 27.5 19 94 Stroke 30 3 2-φ4 H7 depth 6 4-M4 depth 9 19 ±0.02 15.5 3 9 15.5 SE ME (13) ME SE 26 (Reamer pitch ±0.02) L K Datum Point for Ma and Mc Moments Offset 20 116 (156) Grounding Tap, M3, depth 6 (Same on opposite side) 4-M5 depth 15 37 26 50 40 39 47 0.5 6 (32.5) (300) (10) 56.5 37 φ4H7 depth 5.5 (from bottom of base) H-Oblong Hole, depth 5.5 (from bottom of base) 118.5 F-φ4.5 Through φ8 Counterbore, depth 4.
5.5 RCP4-SA6R 18 27.5 115 Stroke 3 2-φ5H7 depth 6 ME SE 3 SE ME 32 ±0.02 19.5 19.5 21 20 116 (156) (28) (28.5) (13) 4-M5 depth 9 Affixing Cable Allowable Bending = R50 8 4-M5 depth 15 58 37 28 47 (7) 56 4.5 X (300) 1.5 23 40 53 8 Grounding Tap, M3, depth 6 (Same on opposite side) (32.5) Datum Point for Ma and Mc Moments Offset 39 43 56.5 37 F-φ4.5 Through φ8 Counterbore, depth 4.5 (from other side) H-Oblong Hole, depth 5.5 (from bottom of base) 121.5 E-φ4H7 depth 5.
5.6 RCP4-SA7R L K 126 3 2-φ5H7 depth 10 20 20 Affixing Cable Allowable Bending = R50 (300) 20 Grounding Tap, M3, depth 6 (Same on opposite side) 148.5(198.5) 4-M6 depth 14 0.5 9 33 48 61 43 X (7.75) 71 73 48 2.5 75.25 F-φ6 Through φ9.5 Counterbore, depth 5.5 (from other side) 156 D-M5 depth 9 E-φ4H7 depth 6 (from bottom of base) H-Oblong Hole, depth 5.
5.7 RCP4CR-SA5C 15.5 2-φ4 H7 depth 6 9 15.5 4-M4 depth 9 20 (13) (300) (28) 4.5 φ8 26 (Reamer pitch ±0.02) φ4.5 3 5 Datum Surface Detail: X (Attachment hole and datum surface) Datum Point for Ma and Mc Moments Offset 20 L 6 98(138) 90 21 3 Fitting Location : Opposite Side 3 SE Fitting Location : Standard ME 39 26 SE 40 50 30 Stroke ME 57.5 Ø 40 50 X 52 18.9 33 D-M4 depth 7 +0.012 0 22.5 Range of joint rotation 32 H-Oblong Hole, depth 5.
5.8 RCP4CR-SA6C 2-φ5 H7 depth 6 19.5 21 19.5 4-M4 depth 9 (13) (300) 20 Datum Surface 5 φ4.5 31 (Reamer pitch ±0.02) 5 (28) 4.5 φ8 Detail: X (Attachment hole and datum surface) Datum Point for Ma and Mc Moments Offset 18 3 98(138) 8 115 18.5 Fitting Location : Opposite Side 3 Fitting Location : Standard SE ME 40 28 ME SE 43 53 L Stroke 56 X Ø 40 18.9 58 22.5 Range of joint rotation 32 D-M5 depth 9 F-φ4.5, Through φ8 Counterbore, depth 4.5 (from other side) 5.
5.9 RCP4CR-SA7C 20 20 20 2-φ5 H7 depth 10 Datum Surface (13) (300) 20 4-M5 depth 10 6 (28) 5.5 φ9.5 39 (Reamer pitch ±0.02) 5.5 φ6 Detail: X (Attachment hole and datum surface) 5. External Dimensions Datum Point for Ma and Mc Moments Offset 20.5 48 8 32 8 3 32 Affixing Cable Allowable Bending = R50 ±0.02 50 L K 133(183) 128 Stroke 3 Fitting Location : Standard SE ME 21 50 64 43 ME SE 76 Fitting Location : Opposite Side 21 X 71 (25.5) 73 φ 46 D-M5 depth 9 40.
6. Life The mechanical life of the actuator is represented by that of the guide receiving the greatest moment load. The “rated load” is one factor that relates to the traveling life. There are two types of “rated load,” namely “static rated load” and “dynamic rated load.” x “Static rated load” : Load which, when applied to a stationary actuator, leaves a minor pressure mark on the contract surface.
7. 7.1 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 7. Warranty 7.2 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met.
7.5 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 Description of Revision September 2011 First edition November 2011 Second edition Pg. 31 Caution note added regarding cable January 2012 Third edition Pg. 1, 3, 4 Pg. 26 Change History February 2012 March 2012 Fourth edition Pg. 12 Graph added for stroke and maximum speed limits when high-output setting is ineffective Pg. 19 to 21 Graph added for maximum acceleration and transportable weight when high-output setting is ineffective Pg.
Manual No.: ME3717-6A (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.
