ROBO Cylinder RCS2/RCS3 Actuators Slider Type Operating Manual Eighteenth Edition Standard Type Motor Straight Type (Coupling Type): RCS2- SA4C, SA5C, SA6C, SA7C, SS7C, SS8C RCS3- SA8C, SS8C Standard Type Motor Straight Type (Built-in Type): RCS2- SA4D, SA5D, SA6D Standard Type Motor Reversing Type): RCS2- SA4R, SA5R, SA6R, SA7R, SS7R, SS8R RCS3- SA8R, SS8R Cleanroom Type Motor Straight Type(Coupling Type): RCS2CR- SA4C, SA5C, SA6C, SA7C, SS7C, SS8C RCS3CR- SA8C, SS8C Cleanroom Type Motor Straight
Please Read Before Use Thank you for purchasing our product. This Operation Manual describes all necessary info rmation to operate this product safely such as the operation procedure, structure and maintenance procedure. Before operation, read this manual carefully and fully understand it to operate this product safely. The enclosed CD or DVD in this product package includes the Operation Manual for this product.
Note Greasing Actuators of Cleanroom Specification For ROBO Cylinder actuators of cleanroom specification, use grease of low-dust-raising type for cleanroom applications. The grease specified in the maintenance/inspection sections of the Operating Manual is for actuators of standard specification. Using the grease for the standard actuators on the cleanroom actuators may generate dust. Recommended grease: C Grease by Kuroda Precision Industries Ltd.
Table of Contents Safety Guide ............................................................................................................................ 1 Handling Precautions............................................................................................................... 8 International Standards Compliances .....................................................................................13 Names of the Parts .............................................................................
7. Setting the Home............................................................................................................. 64 7.1 Home Return ..............................................................................................................................64 7.2 Fine-tuning the Home Position ...................................................................................................64 7.3 Changing the Direction of Home.................................................................
11.9 Reduction Belt [Motor Reversing Type] ....................................................................................102 11.9.1 Inspecting the Belt .....................................................................................................................102 11.9.2 Applicable Belt ...........................................................................................................................102 11.9.3 Adjusting the Belt Tension (SA4R, SA5R, SA6R)...............................
12.1.23 RCS2CR-SA6D..........................................................................................................................235 12.1.24 RCS3-SA8C, RCS3P-SA8C ......................................................................................................236 12.1.25 RCS3-SS8C, RCS3P-SS8C ......................................................................................................237 12.1.26 RCS3CR-SA8C, RCS3PCR-SA8C..............................................................
Safety Guide Note “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 Specification Products Greasing Actuators of Cleanroom The common safety precautions for the use of any of our robots in each operation. Operation No.
No. 2 Operation Description Transportation Note 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 Greasing each Actuators of Cleanroom Specification other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Note 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 Greasing coil Actuators Specification it around. Doof notCleanroom 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 Operation Description Installation and Start Note 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.
No. 6 Operation Description Trial Operation Note 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 Greasing one Actuators Specification step by one of stepCleanroom and then shift to the automatic operation.
No. 8 Operation Description Maintenance and Inspection Note 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.
Note 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 Greasing Actuators of and Cleanroom Specification Symbol Degree of Danger Damage This indicates an imminently hazardous situation which, if the Danger product is not handled correctly, will result in death or serious injury.
Handling Precautions 1. Do not set a speed or acceleration/deceleration exceeding the applicable rating. Do not set a speed or acceleration/deceleration exceeding the applicable rating. Doing so may result in vibration, failure or shorter life. If an acceleration/deceleration exceeding the rating is set, creep may occur or the coupling may slip. 2. Keep the load moments to within the allowable value. Keep the load moments to within the allowable value.
6. Perform operation with the duty ratio at the allowable value or less. Duty ratio is the operation rate, in time basis, of the actuator in 1 cycle that is indicated with “%” . Warning: If an overload error occurs, extend the stopped time to lower the duty or decrease the acceleration/deceleration speed. [How to Calculate Duty] Figure out the load rate and acceleration/deceleration speed time ratio by calculation and read the duty ratio from the graph.
7. Do Not Loosen the Mounting Screws of Micro-Switches or Bend the Switch Dogs. On actuators with a switch (option), the switch is stored inside the actuator body. (The switch can be accessed by removing the side covers.) Microswitch and switch dog are adjusted to the optimal positions before shipment. Do not loosen the mounting screws or bend the switch dog.
8. Transporting and Handling 8.1 Handling the Actuator 8.1.1 Handling the Packed Unit Unless otherwise specified, each actuator (axis) is shipped individually. Please take care that the shipping box is not dropped or subjected to strong impact during transport. The operator should not carry heavy shipping boxes by themselves. If the shipping box is left standing, it should be in a horizontal position. Do not climb on top of the shipping box. Do not place heavy objects on top of the shipping box. 8.1.
8.2 Handling the Actuator Assembly Pay attention to the following instructions when transporting an assembly of actuator axes. 8.2.1 Condition of Shipment from IAI (Assembled) The actuators you have ordered are assembled at IAI, after which the assembly receives a shipping inspection and is shipped in an outer frame with skids. The assembly is packed with the sliders securely affixed so that they will not move unexpectedly during transportation.
International Standards Compliances Note This actuator complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information. RoHS Directive CE Marking Optional Specification Greasing Actuators of Cleanroom For ROBO Cylinder actuators of cleanroom specification, use grease of low-dust-raising type for cleanroom applications.
Names of the Parts The names of the actuator parts are indicated below. The left and right sides are indicated by looking at the actuator from the motor end with the actuator set down horizontally. Front end means the side opposite the motor end. 1.
� Coupling Type (SA7C, SS7C, SS8C) Stainless Sheet Right Side Motor End Opposite Motor End Side Cover Left Side Slider Front Cover Slider Cover Encoder Cover Cable Base Motor Housing Caution: The cable directly connected to the actuator is not robot cable even when ordered with robot cable option. When designing, please be sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.
� Built-in Type (SA4D, SA5D, SA6D) Stainless Sheet Right Side Opposite Motor End Motor End Side Cover Left Side Slider Slider Cover Encoder Cover Cable Front Cover Base Motor Housing Caution: The cable directly connected to the actuator is not robot cable even when ordered with robot cable option. When designing, please be sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.
2.
3. Motor Straight Type (Cleanroom Specification) RCS2-CR � Coupling Type (SA4C, SA5C, SA6C, SA7C, SS7C, SS8C), Built-in Type (SA5D, SA6D) Side Cover Cable Right Side Stainless Sheet Motor End Opposite Motor End Plug Vacuum Tube Left Side Slider Front Cover Base Slider Cover Motor Cover Rear Cover Bearing Housing Caution: The cable directly connected to the actuator is not robot cable even when ordered with robot cable option.
4.
5. Motor Reversing Type RCS2 � SA4R, SA5R, SA6R, SA7R, SS7R, SS8R Side Cover Stainless Sheet Right Side Bearing Housing Opposite Motor End Motor End Left Side Cable Front Cover Slider Base Rear Cover Motor Cover Slider Cover Pulley Cover Caution: The cable directly connected to the actuator is not robot cable even when ordered with robot cable option. When designing, please be sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.
6. Motor Reversing Type (Standard) RCS3 (P) � SA8R Side Cover Stainless Sheet Slider Right Side Reversing Bracket Opposite Motor End Motor End Left Side Cable Front Bracket Motor Unit Base � SS8R Slider Cover Side Cover Stainless Sheet Right Side Slider Reversing Bracket Opposite Motor End Motor End Left Side Cable Motor Unit Front Bracket Base Caution: The cable directly connected to the actuator is not robot cable even when ordered with robot cable option.
7.
1. Checking the Product Caution: Check the packed items against the packing specification. Should you find a wrong model number or any missing item, please contact your IAI dealer or IAI. 1.1 Components No. 1 Name Actuator Model Refer to “How to Read the Model Nameplate” and “How to Read the Model Number.
1. SampleChecking the Product (2) XSEL-P/Q controllers No. 1 2 3 4 5 6 7 8 Name Operation Manual for XSEL-P/Q Controller Operation Manual for XSEL-P/Q/PX/QX RC Gateway Function Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW Operation Manual for Teaching Pendant SEL-T/TD/TG Operation Manual for Teaching Pendant IA-T-X/XD Operation Manual for DeviceNet Operation Manual for CC-Link Operation Manual for PROFIBUS Control No.
(4) SCON controllers Name Operation Manual for SCON Controller Operation Manual for PC Software RCM-101-MW/RCM-101-USB Operation Manual for Teaching Pendant CON-T/TG Operation Manual for Touch Panel Teaching Pendant CON-PT/PD/PG Operation Manual for Simple Teaching Pendant RCM-E Operation Manual for Data Setter RCM-P Operation Manual for Touch Panel Display RCM-PM-01 Operation Manual for DeviceNet Operation Manual for CC-Link Operation Manual for PROFIBUS Control No.
CE: 26 CE Marking 1.
1.
2. Specification 2. Specification (1) Maximum speed The maximum speed of the actuator is limited to prevent resonance of the ball screw shaft and also in consideration of the restrictions on motor speed. Observe the maximum speed limits specified below. [Cleanroom specification RCS2CR] Strokes and maximum speed limits (unit: mm/sec) Stroke [mm] Type SA4 SA5 Lead [mm] 2.
[RCS3 (P)] Strokes and maximum speed limits [unit: mm/s] Type Motor capacity [W] SA8 150 100 SS8 150 50 5 10 20 30 10 20 30 5 10 20 30 10 20 30 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 300 600 1200 1800 600 1200 1800 300 600 1200 1800 600 1200 1800 275 550 1105 1660 550 1105 1660 260 530 1070 1610 530 1070 1610 240 485 970 1460 485 970 1460 230 470 940 1420 470 940 1420 215 430 860 1295 430 860 1295 200 410 840 1260 410 840 1260 190 385 770 1155 385 77
(2) Maximum acceleration and loading capacity [RCS2] 2. Specification Type Motor capacity [W] Lead [mm] 2.
Type Motor capacity [W] Lead [mm] 2.5 SA4D 20 5 3 SA5D 20 6 12 3 SA6D 30 6 12 2.
Type 2. Specification SS7R Motor capacity [W] 60 100 SS8R 150 32 Lead [mm] 6 12 10 20 10 20 Maximum acceleration [G] Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical 0.3 0.3 0.3 0.3 0.3 0.
[Cleanroom specification RCS2CR] Type Motor capacity [W] Lead [mm] 2.
Type Motor capacity [W] Lead [mm] 3 2. Specification SA5D 20 6 12 3 SA6D 30 6 12 34 Maximum acceleration [G] Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical 0.2 0.3 0.3 0.2 0.3 0.3 Maximum loading capacity [kg] 12 4 8 2 4 1 18 6 12 3 6 1.
[RCS3(P) Cleanroom specification RCS3(P)CR] Type Motor capacity [W] Lead [mm] 5 10 20 30 SA8 10 150 20 30 5 100 10 20 30 SS8 10 150 20 30 Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Rated acceleration [G] 0.2 0.2 0.3 0.2 0.3 0.2 0.3 0.2 0.3 0.2 0.3 0.2 0.3 0.2 0.
(3) Rated Thrust 2. Specification [RCS2 Cleanroom specification RCS2CR] Type Motor capacity [W] SA4 20 SA5 20 RCS2-SA5C SA6 30 RCS2-SA6C SA7 60 SS7 60 SS8 36 100 150 Lead [mm] 2.5 5 10 3 6 12 20 3 6 12 20 4 8 16 6 12 10 20 10 20 Rated thrust [N] 78.4 39.2 19.6 65.7 33.3 16.7 10.7 96.8 48.4 24.2 15.8 255.0 127.5 63.8 170.0 85.0 169.0 84.9 256.0 128.
[RCS3/RCS3P Cleanroom specification RCS3CR/RCS3PCR] Type Motor capacity [W] 100 150 100 SS8 150 36 5 10 20 30 10 20 30 5 10 20 30 10 20 30 Rated thrust [N] 339.7 169.8 84.9 56.6 255.3 127.6 85.1 339.7 169.8 84.9 56.6 255.3 127.6 85.1 2.
(4) Driving method [RCS2 Cleanroom specification RCS2CR] 2. Specification Type Motor capacity [W] Lead Encoder pulses*1 2.5 5 10 3 SA5 6 20 12 RCS2-SA5C 20 3 SA6 6 30 12 RCS2-SA5C 20 4 SA7 60 8 16 6 SS7 60 12 10 100 20 SS8 10 150 20 *1. Number of pulses input to the controller.
(5) Cleanliness class of clean room type RCP2CR Item Cleanliness class Specification Class 10 (1 �m) when air is suctioned from the suction joint at an appropriate rate of suction 2. Specification (6) Common specifications [RCS2, Cleanroom specification RCS2CR] Item Positioning repeatability Lost motion Specification �0.02 mm 0.1 mm or less [RCS3(P), Cleanroom specification RCS3(P)CR] Item Specification Positioning repeatability �0.02 mm [�0.01 mm] Lost motion 0.1 mm or less [0.
(7) Load on the Actuator 2. Specification Do not exceed the load shown in the load specification column. Please make note of the slider moment, allowable overhang length and the load weight. [RCS2, Cleanroom specification RCS2CR] Dynamic allowable load moments Mb Model Ma Mc SA4 2.7 N�m (0.27 kgf�m) 3.9 N�m (0.4 kgf�m) 6.8 N�m (0.7 kgf�m) SA5 4.9 N�m (0.5 kgf�m) 6.8 N�m (0.7 kgf�m) 11.7 N�m (1.2 kgf�m) SA6 8.9 N�m (0.9 kgf�m) 12.7 N�m (1.3 kgf�m) 18.6 N�m (1.9 kgf�m) SA7 13.9 N�m (1.
� The allowable overhang lengths are based on a configuration where the center of gravity of the load mounted on the actuator corresponds to the center of the overhang length. �� Ma direction 2. Specification Mb, Mc directions � �� Directions of moment forces (Note) � �� Directions of allowable overhangs To calculate the moments in Ma and Mc directions, offset the reference position by L mm from the top surface of the slider, as shown in the figure below.
2. Specification (7) Actuator Precision [1] Actuator installation surface Parallelism of the actuator installation surface (bottom surface of the base) and load installation surface (top surface) at an arbitrary stroke position: 0.1 mm or less [2] *1 Traveling parallelism when the actuator is installed (affixed on a flat, smooth surface ): 0.05 mm/m or less Condition: The above values have been measured at 20�C. *1 Parallelism: 0.
3. Life One factor that affects the traveling life of an actuator is “Rated Load.” There are two types of rated loads: “Static Rated Load” and “Dynamic Rated Load.” � “Static Rated Load”: Load applied while the actuator is stopped, as a result of which minor pressure marks are left on the contact surface � “Dynamic Rated Load”: Load under which the actuator can travel for a specified distance and still meet a specified probability of survival defined by no damage to its guide.
4. Installation and Storage/Preservation Environment 4.1 Installation Environment 4.Installation and Storage/Preservation Environment The actuator should be set up in an environment, which meets the following criteria: � � � � � � � � � � Avoid direct sunlight. Avoid radiant heat from strong heat sources such as a furnace. Surrounding air temperature should be 0 ~ 40�C. The humidity should be less than 85% and there should be no condensation. Avoid exposure to corrosive or combustible gases.
5. Installation The method to install your actuator in a mechanical system is explained. 5.1 Installation Install the actuator as explained below, as a rule. Pay attention to these items when installing the actuator (except for custom-order models). : Installable Sideway installation Ceiling mount installation 5.
Stroke Distance A 400mm or more less than 800mm 5mm or more 800mm or more less than 1100mm 7mm or more A 60mm 5. Installation Caution: 1. When the unit is installed vertically oriented, attempt to put the motor up unless there is a special reason. Putting the motor on the lower side would not cause a problem in an ordinary operation.
5.2 Notes on Installation The stainless sheet is designed very thin (thickness: approx. 0.1 mm) in order to ensure flexibility. Therefore, the stainless sheet is easily dented or scratched. Once dented or scratched, the stainless sheet may break during use. When installing the stainless sheet, pay attention to the following points: 1. Do not press the sheet directly with hands 2. Protect the sheet from dents by paying attention not to drop tools and work parts onto the sheet. 5. Installation Dent 3.
5.3 Installing the Actuator The surface on which to install the actuator must be a machined surface or other flat surface having corresponding precision. 5. Installation The side and bottom faces of the actuator base have been adjusted for parallelism with the guide. If traveling precision is required, install the actuator using these surfaces as reference. Take note that the applicable installation method varies depending on the type.
5.3.1 Using the Tapped Holes at Back of the Base Tapped hole [RCS2 (CR)] Reamed hole Tapped hole OblongReamed hole hole � � 5. Installation Oblong hole Tapped holes are provided on the back of the base for mounting the actuator. Install the actuator using these tapped holes. The sizes and effective depths of tapped holes are listed below. Be careful not to let the ends of bolts project from the holes. If necessary, use the additional reamed holes that are provided for positioning purpose.
[RCS3(P) (CR)] Tapped hole Reamed hole Reamed hole Reamed hole 5. Installation Oblong hole Oblong hole Tapped holes are provided on the back of the base for mounting the actuator. Install the actuator using these tapped holes. The sizes and effective depths of tapped holes are listed below. Be careful not to let the ends of bolts project from the holes. If necessary, use the additional reamed holes that are provided for positioning purpose.
5.3.2 Using the Mounting Holes on Top of the Base (SA4 of 200 mm or Shorter Strokes/SA5 of 300 mm or Shorter Strokes) Mounting hole Mounting hole 1. 2. 3. 5. Installation Four through holes (two on the motor side and two on the counter-motor side) are provided in the base for installing the actuator on its top face. Use these mounting holes to install the actuator.
5.3.3 Using Foot Bases (Optional) Foot base Mounting hole � 5. Installation Mounting hole Foot base By using foot bases (optional), the actuator can be installed on its top face using the mounting holes in the foot bases. Foot bases provide an effective means for installing the SA4 models of strokes exceeding 200 mm, S5A models of strokes exceeding 300 mm, or all SA6 models.
5.4 Installation Surface � The mounting table should have sufficient rigidity to avoid generating vibration. � The surface where the actuator will be mounted should be machined or be equally level and the flatness tolerance between the actuator and the table should be within � 0.05 mm. � Provide enough space around the actuator to permit maintenance work to be done. 5.4.1 Using Side Faces of the Base as Reference Planes [RCS2 (CR)] 5.
[RCS3(P) (CR)] [SA8] 5. Installation Reference plane (side face of the base) [SS8] Reference plane Reference plane (side face of the base) (side face of the base) Caution: As shown above, the side faces of the base provide the reference planes for slider travel. When precision is required, use these surfaces as the reference planes for mounting. A When using the base as the reference planes for mounting the actuator to the machine frame, follow the machining dimensions shown below. R0.
5.4.2 Using Side Faces of the Foot Base as Reference Planes (If Equipped with Optional Foot Bases) � The side faces of the foot base provide the reference planes for slider travel. � When precision is required, use these surfaces as the reference planes for mounting. For position adjustment Dimension A SA4 9.5 mm SA5 11 mm SA6 12 mm 5.
5.5 Tightening Screws � The male screws for mounting the base should be M3 for SA4, M4 for SA5, M5 for SA6/SA7/SS7, and M8 for SS8. (Use hexagon socket-head bolts). � For the bolts, we recommend high strength bolts of ISO-10.9 or higher. � When using a foot base to attach to a mounting table, use the special washer made for high strength bolts that comes with the actuator if the bolt is M8 or larger. This is unnecessary for M6 or smaller bolts. Do not use a common spring washer. 5.
5.6 Installing the Load on the Slider 5.6.1 Using the Slider � The slider has tapped holes, so affix the load using these holes. The method of clamping varies according to how to mount the main body. � In case of moving actuator instead of slider, use the same tapped holes on the slider. � Please use two reamed holes on the slider when repeatability of mounting and dismounting is required. When fine adjustment of the squareness is necessary, use only one reamed hole to allow adjustment.
[RCS3(P) (CR)] [RCS3(P)-SA8 standard type] [RCS3(P)-SA8 CR type] 55 27.5 27.5 70 5. Installation 27.5 70 27.5 55 2-�6H7, depth 10 (tolerance for pitch between reamed holes: �0.02) 4-M6, depth 12 2-�6H7, depth 10 (tolerance for pitch between reamed holes: �0.02) 4-M6, depth 12 [RCS3(P)-SS8 standard type, RCS3(P)CR-SS8 CR type] 75 45 45 2-�8H7, depth 10 (tolerance for pitch between reamed holes: �0.
5.6.2 Using a Slider Spacer (Optional) (Optional for SA4 Type) For the SA4 type, a slider spacer is available as an option. The figure below shows the positions of load-mounting holes in actuators with a slider spacer. �� �� �� �� � �� �� �� 5.
5.7 Cleanroom Specification Caution: The clean room types listed below cannot be guaranteed to meet Cleanliness Class 10 if they are installed in the vertical orientation, the horizontally wall mounted orientation or in the ceiling mounted orientation since they do not possess a structure to grip the stainless steel sheet from the side cover. Please contact us if it is necessary to install the following models in an orientation other than the horizontal orientation.
6. Connection with Controllers 6.1 Wiring � In an application where the cable cannot be anchored, try to place the cable so that it sags only under its own weight or use self-standing type cable as large radial wire duct to limit the load on the cable. � Never cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length. � The cables supplied with the actuator offer excellent flexibility, but they are not robot cables.
When building an application system using actuators and controllers, inappropriate wiring and connection of cables may result in wire breakage, poor contact and other unexpected problems. Prohibited items regarding the handling of cables are explained below. � Do not cut to extend or shorten the cable or reconnect the cut cable. � If the cable cannot be secured in place, allow it to bend only within the range of deflection by its self-weight or use a self-supporting cable hose, etc.
When fixing the cable, provide a moderate slack and do not tension it too tight. Do not use a spiral tube where the cable flexes frequently. 6. Connection with Controllers Separate the I/O lines and communication lines from the power/drive lines. Do not bundle them together in the duct. Power line Signal lines (flat cable) Duct Follow the instructions below when using a cable track.
7. Setting the Home 7.1 Home Return Home return consists of the following operations: [1] When a home command is issued, the actuator moves in the direction set by the moving direction parameter. [2] The actuator detects the mechanical end via software. [3] At the mechanical end, the actuator reverses its direction and moves until a Z-phase signal is detected, where the reference point is set.
7.4 How to Use the Home Mark � Please affix these marks to the actuator as home markers as needed. Contents of sticker Home mark sticker x 1 sheet 7. Setting the Home Home mark scale x 4 Home mark x 4 (Scale: 1 mm graduation mark, 10 mm width) � Peel off the marks from the base sheet. Note 1. Every mark has sticky back. 2. Remove smear and stain from the surface. 3. Avoid label or nameplate as a marking location. Example of Use [1] Attach the seals as a guide for the direction of actuator home.
7.5 How to Set the Home Preset and Home Return Offset To correct a position deviation, change the home preset parameter if you are using an X-SEL or SSEL controller, or change the home return offset parameter if you are using a SCON controller. How to set these parameters is explained below. 7.5.1 X-SEL or SSEL Controller (1) Open the position edit screen. On the PC software screen, click screen will appear. , select [Select Position No.], and then click [OK]. The following 7.
(3) Click the parameter button. Click this button to open the parameter edit screen. (4) Select “Axis-specific Parameters.” Select “Axis-specific Parameters.” 7. Setting the Home (5) When the axis-specific parameter screen opens, select No. 12, “Home preset.” Select No. 12, “Home preset.” (6) Change the setting of Axis-specific Parameter No. 12 (home preset). Add or subtract the value measured in (2) to/from the value currently entered. The setting unit is 0.001 mm.
(8) Transfer the data to the controller. 7. Setting the Home (9) Click [OK]. (10) Write the data to the flash ROM. Select the “Parameters” check b (11) Restart the controller. Click [Yes (Y)].box.
7.5.2 ECON or SCON Controller (1) Open the position edit screen. On the PC software screen, click screen will appear. , select [Select Position No.], and then click [OK]. The following Click this button and select a desired position number on the position edit screen. 7. Setting the Home The current position is displayed here Point number (2) Compare the current position and the position of the desired position number you have selected. [2] Move the actuator in steps. [1] Select a desired position.
(3) Click the parameter button. Click this button to open the parameter edit screen. 7. Setting the Home (4) Open the user parameter screen. (5) Change the setting of User Parameter No. 22 (home return offset). * The setting unit is mm. Add or subtract the value measured in (2) to/from the value currently entered. Example: If the difference is “-0.5 mm”: Home return offset = Current setting – 0.
(6) Write the new data. Click the transfer to controller button, and then click [OK]. * Turn the power off after writing. Click the transfer to controller button. 7. Setting the Home Click [OK].
8. Slit for Position Adjustment A hole is provided in the front cover on the counter-motor side, with a slit machined on the ball screw shaft. Use this slit if you want to fine-tune the slider position (for direct teaching, etc.). Insert a screwdriver with an outer diameter of �8 mm or less into the slit, and turn the driver. [RCS2 (CR)] Slit for position adjustment. � 8 hole Supplied seal 8.
9. Options 9.1 Brake The brake is a retention mechanism that prevents the slider, when installed vertically, from dropping and thereby damaging the attached load when the power or servo is turned off. The brake option must be selected for every axis that will be used vertically. The model number for this option is “B,” “BE,” “BL” or “BR.” 9.2 Foot Bracket This bracket is used to secure the actuator from above using bolts. The applicable code for this option is “FT.
9.3 High Acceleration/Deceleration Option With this option, the maximum acceleration becomes 1.0 G (or 0.8 G on some models) instead of 0.2 G or 0.3 G on standard specification models. The actuator can operate at the maximum acceleration of 1.0 G (or 0.8 G on some models) while keeping the same payload capacity as its standard specification counterpart. To move an actuator with the high acceleration/deceleration option, a controller of high acceleration/deceleration specification is required.
9.8 Motor Reversed to Left, Motor Reversed to Right “ML” indicates that the motor is reversed to the left, while “MR” indicates that the motor is reversed to the right, as viewed from the motor. This option can be specified for the motor reversing types SA4R, SA5R, SA6R, SA7R, SS7R and SS8R. ML Left MR Right 9.9 Changing the Cable Exit Direction The cable exit direction is changed.
9.11 Suction Joint on Opposite Side Standard clean room actuators come with a suction joint set on the left side as viewed from the motor. With this option, this joint is set on the front (opposite) side. The model number for this option is “VR.” 9.12 No Suction Joint 9. Options No suction joint is provided. The applicable code for this option is “VN.
10. Motor/Encoder Cables Motor Cables/Motor Robot Cables Model number: CB-RCC-MA���/CB-RCC-MA���-RB �9 [1] (Front view) (Front view) Mechanical side Controller side Wire Signal Signal Wire (Crimping) Encoder Cables/Encoder Robot Cables (For X-SEL-J/K) Model number: CB-RCBC-PA���/CB-RCBC-PA���-RB 10. Motor/Encoder Cables �8 [2] (Front view) Controller side Wire Signal Mechanical side (Front view) Signal Wire (Crimping) (Crimping) Connect the shield to the hood using a clamp.
[3] Encoder Cables/Encoder Robot Cables (For SCON, SSEL and X-SEL-P/Q) Model number: CB-RCS2-PA���/CB-X2-PA��� (Front view) Wire Mechanical side Controller side Color (Front view) Signal Gray/White Brown/White Note 4 Note 1 (Soldered) Signal 10. Motor/Encoder Cables Pink Purple White Blue/Red Orange/White Green/White Blue Orange Black Yellow Green Brown Gray Red Connect the shield to the hood using a clamp.
11. Maintenance and Inspection 11.1 Inspection Items and 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.
11.3 Cleaning � � � � � Clean the exterior as needed. Wipe off dirt with a soft cloth. Do not use strong compressed air on the actuator as this may force dust into the crevices. Do not use petroleum-based solvent on plastic parts or painted surfaces. If the unit is badly soiled, apply a neutral detergent or alcohol to a soft cloth, and wipe gently. 11.4 Adjusting the Stainless Sheet 11. Maintenance and Inspection If the actuator stroke is 400 mm or more, check the stainless sheet for slacking, etc.
11.5 Interior Inspection Turn off the power, remove the side covers, and then visually inspect the interior. Check the following items during interior inspection. Body Loose mounting bolts? Guides Lubrication appropriate? Soiling? Ball screw Lubrication appropriate? Soiling? [RCS2 (CR)] How to inspect the interior: 1) Remove both side covers. Use an Allen wrench of 1.5 mm across flats.
[RCS3(P) -SA8] How to inspect the interior: 1) Use an Allen wench of 2 mm across flats to remove the four screws and take out the screw cover. Cover mounting bolts After the cover has been removed Cover 11. Maintenance and Inspection Actuator Make a visual check of the interior to see if there is any dust or foreign matter in the unit and check the lubrication. Even if the grease you see around the parts is brown, the lubrication is fine as long as the traveling surface appears shiny.
3) Use an Allen wench of 2 mm across flats to tighten the four screws to install the screw cover. Tightening Torque Cover mounting bolts 11. Maintenance and Inspection Caution: When checking the interior, be careful not to forcibly bend the screw cover or otherwise damage the cover. The front cover is supporting the ball screw, so do not disassemble the cover.
[Cleanroom specification RCS3(P) CR-SA8C] How to inspect the interior: 1) Use an Allen wench of 2 mm across flats to remove the two screws and turn up the stainless sheet. 11. Maintenance and Inspection Stainless-sheet retainer cover mounting bolt Make a visual check of the interior to see if there is any dust or foreign matter in the unit and check the lubrication. Even if the grease you see around the parts is brown, the lubrication is fine as long as the traveling surface appears shiny.
3) Use an Allen wench of 2 mm across flats to tighten the four screws to install the stainless sheet. The retainer cover is also affixing the side cover, so pay attention also to looseness of the side cover as you tighten the screws. Tightening Torque Stainless-sheet retainer cover mounting bolt 11. Maintenance and Inspection Caution: When checking the interior, be careful not to forcibly bend the screw cover or otherwise damage the cover.
[RCS3 (P) -SS8C, Cleanroom specification RCS3(P)CR-SS8C] How to inspect the interior: 1) Use an Allen wench of 2 mm across flats to remove the two screws and turn up the stainless sheet. 11. Maintenance and Inspection Stainless-sheet retainer cover mounting bolt Make a visual check of the interior to see if there is any dust or foreign matter in the unit and check the lubrication.
3) Use an Allen wench of 2 mm across flats to tighten the four screws to install the stainless sheet . Stainless-sheet retainer cover mounting bolt Caution: When checking the interior, be careful not to forcibly bend the screw cover or otherwise damage the cover. The front cover is supporting the ball screw, so do not disassemble the cover.
11.6 Internal Cleaning � Wipe off dirt with a soft cloth. � Do not use strong compressed air on the actuator as this may force dust into the crevices. � Do not use petroleum-based solvent, neutral detergent or alcohol. Caution: Do not use flushing oil, molybdenum grease or anti-rust lubricant. When grease is soiled with large amounts of foreign substances, wipe off the dirty grease and then apply new grease. 11.7 Adding Grease 11.7.
[Cleanroom Specification] (1) What grease to use on the guide and ball screw The following grease is used when we ship the unit. This grease is of low-dust-raising type. Kuroda Precision Industries C Grease Warning: Never use any fluorine-based grease. It will cause a chemical reaction when mixed with a lithium-based grease and may cause damage to the actuator. Caution: Never use grease for the standard specification. It may allow dust to generate. 11.
11.7.2 How to Apply Grease to RCS2 1) When greasing the guide, use a spatula or grease applicator to squeeze or inject grease into the space between the slider and base, and then move the slider back and forth several times to let the grease spread evenly. Apply grease on the guides on both sides. Remove excess grease. 11.
11.7.3 How to Apply Grease to the RCS3(P)(CR) You can apply grease to the RCS3(P) (CR)-SA8 and RCS3 (P) (CR)-SS8 from outside the actuator without removing the exterior parts. • For the RCS3 (P) (CR)-SA8, grease can be applied to the guide and ball screw from outside the actuator. • For the RCS3 (P) (CR)-SS8, grease can be applied only to the guide from outside the actuator.
(2) How to apply grease to the ball screw [RCS3(P) (CR)-SA8] [1] Use a grease gun to add grease into the grease nipple provided on the side face of the slider. [2] Move the slider back and forth several times by hand. [3] Repeat the above steps to apply grease. [4] Use a waste cloth, etc., to wipe off any grease that has overflowed from the slider. Slider Grease nipple holes Grease nipple holes Ball screw 11.
11.8 Replacing/Adjusting the Stainless Sheet 11.8.1 RCS2, RCS3(P)-SS8, RCS3(P)CR-SS8 [Items Required for Replacement] � Replacement stainless sheet � Clearance-checking tool (a regular slider cover with holes) (This tool is available from IAI’s Sales Engineering Section. If you are replacing the stainless sheet, please contact us to make a rental arrangement or purchase the tool.
[Procedure] 1) Remove the slider-cover affixing screws and remove the covers. After the slider covers have been removed [1] Standard specification (slider structure) � RCS2-SA4/SA5 Sheet slider � RCS2-SA6/SA7/SS7/SS8 Coil spring Coil spring Plate spring Coil spring Coil spring Sheet slider [2] Cleanroom specification, slider roller specification (option) (roller structure) � RCS2CR-SA4/SA5/SA6/SA7/SS7/SS8 11.
2) Remove the stainless-sheet retainer screws on both sides and pull out the stainless sheet. 3) Guide a new stainless sheet into the slider. 4) Hold the stainless sheet in place, and affix the retainer plates and screws. At this time, securely tighten the screws only on the motor side, and leave the screws on the counter-motor side loose. Sheet slider Stainless-sheet retainer plates and screws Securely tighten the screws only on the motor side, and leave the screws on the counter-motor side loose.
6) Adjust the tension of the stainless sheet. [1] While looking through the center opening in the clearance-checking tool, move the stainless sheet on the loose end in the directions of arrows until the clearance between the top face of the stainless sheet and the back of the clearance-checking tool falls within the specified range. Move the stainless sheet in the directions of arrows to adjust the tension.
[3] Move the slider and check the tension of the stainless sheet along the entire stroke. Checkpoint 1: Check if the clearance between the top face of the stainless sheet and the back of the clearance-checking tool falls within the specified range along the entire stroke. Checkpoint 2: Look through the peripheral openings and confirm that the stainless sheet edges do not contact the slider body.
11.8.2 RCS3(P)CR-SA8C [Items Required for Replacement] � � � � Replacement stainless sheet Allen wrench set Phillips screwdriver Measure [Note on Stainless Sheet Tension] Deterioration and wear of the stainless sheet is affected by its tension. If the stainless sheet is too tight, excessive clearances will be created between the sheet and slider covers and the sheet may undergo a fatigue failure.
[Procedure] 1) Remove the slider-cover affixing screws and remove the covers. After the slider covers have been removed Roller Roller 2) Remove the stainless-sheet retainer screws on both sides and pull out the stainless sheet. 3) Guide a new stainless sheet into the slider. 4) Hold the stainless sheet in place, and affix the retainer plates and screws. At this time, securely tighten the screws only on the motor side, and leave the screws on the counter-motor side loose. 11.
5) Adjust the tension of the stainless sheet. [1]Pass a scale or other flat object over the front and rear roller assemblies and move the loosened side of the stainless sheet in the directions of the arrows until the clearance between the stainless sheet and scale becomes approx. 1 mm. Be sure to visually confirm that the stainless sheet is not contacting any location other than the rollers. 11. Maintenance and Inspection (1) Move the stainless sheet in the directions of the arrows to adjust the tension.
[4] When proper clearances are obtained between the slider body and stainless sheet and an absence of contact between the two is confirmed, tighten the two screws on the loose end alternately, and then finally tighten all screws to a uniform torque to securely affix the stainless sheet. If the screws are not tightened uniformly, the sheet may meander or lift. Stainless-sheet retainer cover mounting bolt 11.
11.9 Reduction Belt [Motor Reversing Type] 11.9.1 Inspecting the Belt Remove the pulley cover and visually inspect the belt. Durability of the reduction belt is affected significantly by the operating condition, and there is no standard guideline as to when the belt should be replaced. Generally, the belt is designed to withstand several millions of flexing loads.
11.9.4 Adjusting the Belt Tension (RCS2-SA7R) Remove the pulley cover, loosen the four tension adjustment bolts, tension the belt by moving the motor to the left, and tighten the tension adjustment bolts. [Recommended tightening torque for adjustment bolts] (M4) 377 N � cm (38 kgf�cm) Tension: 8 kgf � 0.3 kgf Tension adjustment bolts M4x20 (4 pcs) Use an Allen wrench of 3 mm across flats.
11.9.6 Replacing the Belt of the Motor Reversing Type (RCS2-SA4R, SA5R, SA6R) [Items Required for Replacement] � Replacement belt � Allen wrenches � Phillips screwdriver � Tension gauge (capable of tensioning to 7 kgf or greater) � Strong string, looped (or long tie-band) � Scale � Oil-based marker pen � PC or teaching pendant [Overview of Replacement] 1) Move the slider to a position where Z-phase turns on (home position) (2 mm from the mechanical end).
[Procedure] 1) Remove the pulley cover using a Phillips screwdriver. Cross recessed screws: M3 2) Use a Phillips screwdriver to remove the bolts affixing the motor-end cap and attached cables. Affixing bolts at attached cable end (Cross recessed screws) Affixing bolts on motor-end cap (Cross recessed screws) 11. Maintenance and Inspection 3) Pull out the motor-end cap. Push in the cable end while pulling out the motor-end cap.
4) Pull out the motor-end cover to expose the motor. 11. Maintenance and Inspection 5) Move the slider to a position where Z-phase turns on (home position). On both standard actuators and actuators whose home is set on the opposite side, this position corresponds to 2 mm from the mechanical end. Return the slider 2 mm from the mechanical end. Return the slider 2 mm from the mechanical end. Draw a countermark with the slider contacting the mechanical end.
6) Loosen the motor-unit affixing bolts using an Allen wrench of 2.5 mm across flats. Slide the motor, and loosen and remove the belt. Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.) Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.) 7) Check the following points before restoring the home position: � The motor side should be aligned with the initial countermark. If the position is offset, adjust it to achieve proper alignment.
8) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque for adjustment bolts] 162 N�cm (16.5 kgf�cm) Tension: 2.5 kgf 11. Maintenance and Inspection Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.) 9) Insert the motor-end cover and cap.
10) Use a Phillips screwdriver to securely tighten the affixing bolts for motor-end cap and attached cables. Affixing bolts at attached cable end (Cross recessed screws) Affixing bolts on motor-end cap (Cross recessed screws) 11) Use a Phillips screwdriver to securely tighten the affixing bolts for pulley cover. Cross recessed screws: M3 107 109 11. Maintenance and Inspection 12) Connect a PC or teaching pendant to the controller to perform homing.
11.9.7 Replacing the Belt of the Motor Reversing Type (RCS2-SA7R) [Items Required for Replacement] � Replacement belt � Allen wrenches � Tension gauge (capable of tensioning to 8 kgf or greater) � Strong string, looped (or long tie-band) � PC or teaching pendant [Overview of Replacement] 1) Loosen the tension adjustment bolts and replace the belt. 2) Restore the home position.
3) Remove the eight bolts affixing the pulley cap and pulley housing, and remove the belt. 4) Install the pulley housing. (Install the pulley housing by making sure the angle of the projection on the coupling matches the angle of the mating hole.) Align the projection on the coupling with the mating hole. Example: When the return angle is 90 degrees � Initial countermark position Type SA7R-4 SA7R-8 SA7R-16 Return angle from countermark position 180 degrees 90 degrees 45 degrees 109 111 11.
6) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the adjustment bolts. [Recommenced tightening torque for adjustment bolts] (M4) 377 N�cm (38 kgf�cm) Caution: Carefully tighten them to the specified torque by making sure the pulleys on both sides do not move. Tension: 8 kgf � 0.3 kgf 11. Maintenance and Inspection 7) Install the pulley cover.
11.9.8 Replacing the Belt of the Motor Reversing Type (RCS2-SS7R, SS8R) [Items Required for Replacement] � Replacement belt � Allen wrenches � Tension gauge (capable of tensioning to 7 kgf or greater) � Strong string, looped (or long tie-band) � PC or teaching pendant [Overview of Replacement] 1) Loosen the tension adjustment bolts and replace the belt. 2) Restore the home position.
2) Loosen the tension adjustment bolts and move the motor bracket to slack and remove the belt. Tension adjustment bolts (Use an Allen wrench of 3 mm across flats for SS7R and of 4 mm across flats for SS8R.) Tension adjustment bolts (Use an Allen wrench of 3 mm across flats.) Remove by hand. Move the motor bracket. 11. Maintenance and Inspection 3) Make the adjustment to restore the home position. � Press the slider against the mechanical end on the home side and affix the slider in this position.
4) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the adjustment bolts.
11.10 Replacing the Motor 11.10.1 Replacing the Motor of the Motor Straight Type (Coupling Type) (Made by IAI) : RCS2-SA4C, SA5C, SA6C Example: Replacement motor (IAI encoder) [Items Required for Replacement] � Replacement motor � Coupling (with screws) � Allen wrenches � Phillips screwdriver � Scale � Oil-based marker pen � Grease Other than cleanroom specification Idemitsu Kosan Daphne Eponex Grease No.
[Procedure] 1) Move the slider to a position where Z-phase turns on (home position). On both standard actuators and actuators whose home is set on the opposite side, this position corresponds to 2 mm from the mechanical end. Return the slider 2 mm from the mechanical end. Return the slider 2 mm from the mechanical end. Draw a countermark with the slider contacting the mechanical end. Draw a countermark with the slider contacting the mechanical end on the counter-motor side. 11.
3) Pull out the motor-end cap. Push in the cable end while pulling out the motor-end cap. 11. Maintenance and Inspection 4) Pull out the motor-end cover to expose the motor.
5) Detach the attached cables. � Pull out the motor connector. � If the actuator has a brake, also detach the brake connector. � Remove the grounding wire using a Phillips screwdriver. 11. Maintenance and Inspection � While holding the motor with one hand, pull out the encoder cable. (The photograph bellow shows the motor (Encoder by IAI).
6) Detach the attached cables. 11. Maintenance and Inspection 7) Take out the motor. � Remove the two motor affixing bolts using an Allen wrench of 2.5 mm across flats.
8) Apply grease on the actuator coupling. Apply grease on the inside of the coupling. 9) Insert the replacement coupling (with screws) by aligning it with the current orientation of the actuator coupling. 11.
10) Mark the shaft and body of the replacement motor to prevent the motor shaft position from deviating. Mark the shaft and body of the replacement 11. Maintenance and Inspection 11) Insert the replacement motor into the actuator coupling, and secure with two motor affixing bolts. Insert the replacement motor. 120 122 Tighten two bolts at top and bottom using an Allen wrench of 2.5 mm across flats.
12) Tighten the screw on the coupling. Tighten the screw on the coupling using an Allen wrench of 2.0 mm across flats. 13) Slightly move the slider to expose the second screw on the coupling, and tighten the screw in the same manner. Slightly move the slider. 11. Maintenance and Inspection Tighten the screw on the coupling using an Allen wrench of 2.0 mm across flats.
14) Install the attached cables. � While holding the motor with one hand, insert the encoder cable. (The photograph bellow shows the motor (Encoder by IAI).) 11. Maintenance and Inspection � Install a grounding wire using a Phillips driver. � Plug the cables into the motor.
15) Insert the motor-end cover and cap. Store the connector inside the motor-end cap. Store the connector inside the motor-end cap. Pull out the cable end while pushing in the motor-end cap. 16) Use a Phillips screwdriver to securely tighten the affixing bolts for motor-end cap and attached cables. Affixing bolts on motor-end cap (Cross recessed screws). 17) Connect a PC or teaching pendant to the controller to perform homing.
11.10.2 Replacing the Motor of the Motor Straight Type (Coupling Type) (Not Made by IAI) : RCS2-SA4C, SA5C, SA6C Example: Replacement motor (Encoder by Tamagawa Motor) [Items Required for Replacement] Replacement motor Grease Coupling (with screws) Actuator cable Phillips screwdriver Allen wrenches Oil-based marker pen Scale Other than cleanroom specification Idemitsu Kosan Daphne Eponex Grease No.2 Cleanroom specification Kuroda Precision Industries C Grease Coupling (with screws) 11.
[Procedure] 1) Move the slider to a position where Z-phase turns on (home position). On both standard actuators and actuators whose home is set on the opposite side, this position corresponds to 2 mm from the mechanical end. Return the slider 2 mm from the mechanical end. Return the slider 2 mm from the mechanical end. Draw a countermark with the slider contacting the mechanical end. Draw a countermark with the slider contacting the mechanical end on the counter-motor side. 11.
3) Pull out the motor-end cap. Push in the cable end while pulling out the motor-end cap. 11. Maintenance and Inspection 4) Pull out the motor-end cover to expose the motor.
5) Detach the actuator cables. Pull out the motor connector. If the actuator has a brake, also detach the brake connector. Remove the grounding wire using a Phillips screwdriver. 11. Maintenance and Inspection While holding the motor with one hand, pull out the encoder cable. (The photograph bellow shows the motor (Encoder by IAI).
6) Disconnect the encoder relay cable from the actuator cable. The encoder relay cable will be attached to the actuator cable for replacement in Step 17). Encoder Relay Cable 7) Detach the motor cover from the actuator cable. 11.
8) Take out the motor. Remove the two motor affixing bolts using an Allen wrench of 2.5 mm across flats. Motor affixing bolt 11.
9) Apply grease on the actuator coupling. Apply grease on the inside of the coupling. 11. Maintenance and Inspection 10) Insert the replacement coupling (with screws) by aligning it with the current orientation of the actuator coupling.
11) Mark the shaft and body of the replacement motor to prevent the motor shaft position from deviating. Mark the shaft and body of the replacement 12) Insert the replacement motor into the actuator coupling, and secure with two motor affixing bolts. 130 11. Maintenance and Inspection Insert the replacement motor. Tighten two bolts at top and bottom using an Allen wrench of 2.5 mm across flats.
13) Tighten the screw on the coupling. Tighten the screw on the coupling using an Allen wrench of 2.0 mm across flats. 14) Slightly move the slider to expose the second screw on the coupling, and tighten the screw in the same manner. 11. Maintenance and Inspection Slightly move the slider. Tighten the screw on the coupling using an Allen wrench of 2.0 mm across flats. 15) Detach the screws on the end cap in the actuator cable for replacement with a phillips screwdriver.
16) Attach the motor cover on the actuator cable for replacement. Actuator Cable for Replacement Motor cover Actuator cable Encoder relay cable 135 11. Maintenance and Inspection 17) Attach the encoder relay cable that was taken off previously to the actuator cable for replacement.
18) Install the attached cables. While holding the motor with one hand, insert the encoder cable. (The photograph bellow shows the motor (Encoder by Tamagawa).) 11. Maintenance and Inspection Install a grounding wire using a Phillips driver. Plug the cables into the motor.
19) Insert the motor-end cover and cap. Store the connector inside the motor-end cap. Store the connector inside the motor-end cap. Pull out the cable end while pushing in the motor-end cap. 20) Use a Phillips screwdriver to securely tighten the affixing bolts for motor-end cap and attached cables. Affixing bolts on motor-end cap (Cross recessed screws). 21) Connect a PC or teaching pendant to the controller to perform homing.
11.10.3 Replacing the Motor of the Motor Straight Type (Coupling Type) : RCS2-SA7C [Items Required for Replacement] Replacement motor � Replacement motor � Allen wrench � Scale � Grease Other than cleanroom specification Idemitsu Kosan Daphne Eponex Grease No. 2 Cleanroom specifications KURODA Precision Industries C Grease � PC or teaching pendant Caution: When replacing the motor, handle the replacement motor with due care.
2) Pull out the motor-end cap. Push in the cable end while pulling out the motor-end cap. 3) Remove the grounding wire using an Allen wrench. 11.
11. Maintenance and Inspection 4) Remove the motor. Remove the 4 motor affixing bolts that can be seen in the back using an Allen wrench.
5) Apply grease on the coupling side of the actuator. Apply grease on the inside of the coupling. 6) Insert the replacement motor coupling by aligning it with the current orientation of the actuator coupling. 11.
7) Tighten the 4 motor affixing bolts using an Allen wrench. 11. Maintenance and Inspection 8) Install the grounding wires with screws using an Allen wrench. 9) Insert the motor-end cap.
10) Tighten the motor-end cap affixing bolts using an Allen wrench. 139 143 11. Maintenance and Inspection 11) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of absolute encoder specification, an absolute reset must be performed.) After performing homing, make corrections using home return offset distance of parameter No. 22 if using the SCON controller so that the width between the mechanical end and the home position will be 3 mm.
11.10.4 Replacing the Motor of the Motor Straight Type (Coupling Type) : RCS2-SS7C, SS8C � SS7C Type [Items Required for Replacement] � Replacement motor unit (with a coupling preinstalled on the motor shaft; see the photograph on the right) Note: Never remove the coupling. � Allen wrenches � Scale � Oil-based marker pen [Procedure] 1) Move the slider to a position where Z-phase turns on (reference home position).
3) Pull out the motor-end cap. Push in the cable end while pulling out the motor-end cap. 4) Remove the motor. Remove the two motor affixing bolts using an Allen wrench of 3 mm across flats. Motor affixing bolt Affixing bolts on motor-end cap Affixing bolts at attached cable end 141 145 11. Maintenance and Inspection 5) Using an Allen wrench of 2.5 mm across flats, remove the bolts affixing the end cap and attached cables on the replacement motor unit.
6) Pull out the motor-end cap. Push in the cable end while pulling out the motor-end cap. 7) Align the coupling position on the actuator side. Fine-adjust the coupling position until the projection on the coupling lies vertical, with the slit facing left. The projection on the coupling lies vertical. 11. Maintenance and Inspection The slit faces left.
9) Install the motor-end cap. � Carefully push in the motor-end cap by making sure the cables are not pinched. Carefully insert the motorend cap by making sure cables are not pinched � Tighten the bolts while securely holding the cable end by hand. Uniformly tighten the two hexagon socket-head bolts (M3x8) using an Allen wrench of 2.5 mm across flats. Pull out the cable end while pushing in the motor-end cap. � Affix the motor-end cap.
10) Correct the position deviation. [Incremental encoder] [1] Check the home position. Turn on the controller power. Use the PC software or teaching pendant to perform homing to check the home position. Repeat homing several times to confirm that the actuator returns to the same position every time. [2] Check the amount of position deviation. The home position may have shifted slightly after the motor replacement.
[Home Return Offset Distance (SCON) and Home Preset Value (SSEL and X-SEL) Correction Example] Initial Z-phase Z-phase after motor replacement Initial home Home after motor replacement Mechanical end � Home return offset distance (SCON) Distance from mechanical end to � Home preset value (SSEL Z-phase or X-SEL) 3 mm [Setting at shipping inspection] 2 mm [Setting at shipping inspection] Deviation: 0.1 mm If, after the motor replacement, the home position became deviated by 0.
SS8C Type (For Rigid Coupling Type) There is a cap attached as shown in the picture below for Rigid Coupling Type. If there is no cap, it is Oldham’s Coupling Type. Follow the procedures of replacement for Oldham’s Coupling Type stated after this instruction. Cap 11. Maintenance and Inspection [Items Required for Replacement] Replacement motor (with a coupling preinstalled on the motor shaft; see the photograph on the right) Note: Never remove the coupling.
2) Pull out the motor-end cap. Push in the cable end while pulling out the motor-end cap. 3) Remove the attached cables. Pull out the motor connector. 11. Maintenance and Inspection * Pull out the encoder connector. If the actuator is equipped with a brake, pull out the brake connector. Remove the bolts affixing the grounding and shield wires using an Allen wrench of 2.5 mm across flats. Remove the attached cables.
4) Take out the seal on the motor cover on the bottom so the bolt on the rigid coupling can be loosened. Seal 5) Move the slider to a point where the bolt can be seen in the hole. 11. Maintenance and Inspection Twist the bolt with using a 2.5mm Allen wrench to loosen it.
6) Remove the motor. Remove the four motor affixing bolts using an Allen wrench of 3 mm across flats. Motor affixing bolts [Structure of 150-watt type] Motor affixing bolt Allen wrench ［Standard specification］ Return the slider 2.5 mm from the mechanical end. 2.5mm Draw a countermark with the slider contacting the mechanical end. Warning: ［Specification with home set on opposite side］ Return the slider 2.5 mm from the mechanical end. 2.
8) Position the new motor so that the slit in the coupling points to the 12 o’clock position, and install the motor in this condition by engaging its coupling with the coupling on the actuator side. The slit in the coupling should point to the 12 o’clock position. Using an Allen wrench of 3 mm across flats, uniformly tighten the four hexagon socket-head bolts (M4×25) affixing the motor to secure the motor. Tightening torque: 176 N･cm (18.0 kgf･cm) 11.
10) Affix the grounding and shield wires for the attached cables. Tighten the hexagon socket head bolt (M3×8) using an Allen wrench of 2.5 mm across flats. 11) Connect the relay connectors (for the motor, encoder and brake). Store the motor connector into the space at the rear of the encoder protection cap above the cap. 11. Maintenance and Inspection Store the into the space at the rear of the encoder protection cap above the cap.
12) Install the motor-end cap. Carefully push in the motor-end cap by making sure the cables are not pinched. Carefully push in the motor-end cap by making sure the cables are not pinched. Tighten the bolts while securely holding the cable end by hand. 11. Maintenance and Inspection Uniformly tighten the two hexagon socket-head bolts (M3×8) using an Allen wrench of 2.5 mm across flats. Pull out the cable end while pushing in the motor-end cap. Affix the motor-end cap.
[Absolute encoder] [1] [2] [3] Check the home position. Turn on the controller power. When the controller is turned on for the first time after the motor has been replaced, a battery voltage low alarm should generate. Reset this alarm. Next, use the PC software or teaching pendant to perform homing, and then perform an absolutes reset. Thereafter, repeat homing several times to confirm that the actuator returns to the same position every time. Check the amount of position deviation.
SS8C Type (For Oldham’s Coupling Type) [Items Required for Replacement] Replacement motor (with a coupling preinstalled on the motor shaft; see the photograph on the right) Note: Never remove the coupling. Allen wrenches Scale Oil-based marker pen [Procedure] 1) Move the slider to a position where Z-phase turns on (reference home position). On both standard actuators and actuators whose home is set on the opposite side, this position corresponds to 2.5 mm from the mechanical end.
3) Pull out the motor-end cap. Push in the cable end while pulling out the motor-end cap. 4) Remove the attached cables. � Pull out the motor connector. 11. Maintenance and Inspection * � Pull out the encoder connector. If the actuator is equipped with a brake, pull out the brake connector. � Remove the bolts affixing the grounding and shield wires using an Allen wrench of 2.5 mm across flats. � Remove the attached cables.
5) Remove the motor. Remove the four motor affixing bolts using an Allen wrench of 3 mm across flats. Motor affixing bolts [Structure of 150-watt type] 11. Maintenance and Inspection Motor affixing bolt Allen wrench 6) Align the coupling position on the actuator side. Fine-adjust the coupling position until the projection on the coupling lies vertical, with the slit facing left. The projection on the coupling lies vertical. The slit faces left.
7) Position the new motor so that the slit in the coupling points to the 12 o’clock position, and install the motor in this condition by engaging its coupling with the coupling on the actuator side. The slit in the coupling should point to the 12 o’clock position. Using an Allen wrench of 3 mm across flats, uniformly tighten the four hexagon socket-head bolts (M4x25) affixing the motor to secure the motor. Tightening torque: 176 N�cm (18.
10) Install the motor-end cap. Carefully push in the motor-end cap by making sure the cables are not pinched. Carefully push in the motor-end cap by making sure the cables are not pinched. Tighten the bolts while securely holding the cable end by hand. 11. Maintenance and Inspection Uniformly tighten the two hexagon socket-head bolts (M3x8) using an Allen wrench of 2.5 mm across flats. Pull out the cable end while pushing in the motor-end cap. Affix the motor-end cap.
[Absolute encoder] [1] Check the home position. Turn on the controller power. When the controller is turned on for the first time after the motor has been replaced, a battery voltage low alarm should generate. Reset this alarm. Next, use the PC software or teaching pendant to perform homing, and then perform an absolutes reset. Thereafter, repeat homing several times to confirm that the actuator returns to the same position every time. [2] Check the amount of position deviation.
11.10.5 Replacing the Motor of the Motor Reversing Type: RCS2-SA4R, SA5R, SA6R [Items Required for Replacement] � Replacement motor � Allen wrenches � Phillips screwdriver � Tension gauge (capable of tensioning to 7 kgf or greater) � Strong string, looped (or long tie-band) � Scale � Oil-based marker pen � PC or teaching pendant Encoder 11.
[Overview of Replacement] 1) Loosen the motor-unit affixing bolts to remove the belt, and replace the motor. 2) Restore the home position. Affix the slider at a position 2 mm from the mechanical end on the home side, pass the belt, and adjust the belt to the specified tension. 3) Perform homing using a PC or teaching pendant and check for deviation from the initial home position. If there is a deviation when the SCON controller is being used, use home return offset distance to make the adjustments.
[Procedure] 1) Remove the pulley cover using a Phillips screwdriver. Cross recessed screws: M3 2) Use a Phillips screwdriver to remove the bolts affixing the motor-end cap and attached cables. 11. Maintenance and Inspection Affixing bolts at attached cable end (Cross recessed screws) 3) Pull out the motor-end cap. Push in the cable end while pulling out the motor-end cap.
4) Pull out the motor-end cover to expose the motor. 5) Detach the attached cables. � Pull out the motor connector. 11. Maintenance and Inspection � If the actuator has a brake, also detach the brake connector.
� Remove the grounding wire using a Phillips screwdriver. 11. Maintenance and Inspection � While holding the motor with one hand, pull out the encoder cable. (The photograph bellow shows the motor (Encoder by IAI).) 6) Detach the attached cables.
7) Loosen the motor-unit affixing bolts using an Allen wrench of 2.5 mm across flats. Slide the motor, and loosen and remove the belt. After the belt has been removed, remove the motor-unit affixing bolts. Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.) Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.) 8) Take out the motor. 11. Maintenance and Inspection 9) Install the replacement motor. Loosely tighten the motor-unit affixing bolts.
10) Move the slider to a position where Z-phase turns on (home position). On both standard actuators and actuators whose home is set on the opposite side, this position corresponds to 2 mm from the mechanical end. Return the slider 2 mm from the mechanical end. Return the slider 2 mm from the mechanical end. 2 mm 2 mm Draw a countermark with the slider contacting the mechanical end. Draw a countermark with the slider contacting the mechanical end on the counter-motor side. 11.
12) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque for adjustment bolts] 162 N�cm (16.5 kgf�cm) Tension: 2.5 kgf Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.) 11. Maintenance and Inspection Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.
13) Install the attached cables. � While holding the motor with one hand, insert the encoder cable. (The photograph bellow shows the motor (Encoder by IAI).) 11. Maintenance and Inspection � Install a grounding wire using a Phillips driver. � Plug the cables into the motor. � If the actuator has a brake, also plug in the brake connector.
14) Insert the motor-end cover and cap. Pull out the cable end while pushing in the motor-end cap. 15) Use a Phillips screwdriver to securely tighten the affixing bolts for motor-end cap and attached cables. Affixing bolts on motor-end cap (Cross recessed screws). Affixing bolts at attached cable end (Cross recessed screws) 11. Maintenance and Inspection 16) Use a Phillips screwdriver to securely tighten the affixing bolts for pulley cover.
11.10.6 Replacing the Motor of the Motor Reversing Type: RCS2-SA7R [Items Required for Replacement] � Replacement motor with pulley (See the photograph on the right) (Confirm that the motor has a countermark.) � PC or teaching pendant � Tension gauge (capable of tensioning to 8 kgf or greater) � Strong string, looped (or long tie-band) � Allen wrenches � Phillips screwdrivers � 5.5-mm spanner wrench or needle-nose pliers [Overview of Replacement] 11.
[Procedure] 1) Move the slider from the home position toward the mechanical end and check the rotating direction of the motor. (This check is necessary, because the rotating direction of the motor is different on actuators whose home is set on the opposite side.) � Remove the pulley cover. (Remove the four thin-head mounting screws using an Allen wrench.) 2) Loosen the four tension adjustment bolts and move the motor bracket to slack the belt. 11.
4) Remove the motor. Remove the four hexagon socket-head bolts using an Allen wrench. 5) Install the new motor. Loosely affix the four hexagon socket-head bolts (M4x20) using an Allen wrench of 3 mm across flats. 11. Maintenance and Inspection 6) Install the pulley housing. (Install the pulley housing by making sure the angle of the projection on the coupling matches the angle of the mating hole.) Align the projection on the coupling with the mating hole.
8) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the adjustment bolts. [Recommenced tightening torque for adjustment bolts] (M4) 377 N�cm (38 kgf�cm) Caution: Carefully tighten them to the specified torque by making sure the pulleys on both sides do not move. Tension: 8 kgf � 0.3 kgf 9) Install the pulley cover.
11.10.7 Replacing the Motor of the Motor Reversing Type: RCS3 (P)- SA8R, SS8R [Items Required for Replacement] � Replacement motor unit � Allen wrenches � Phillips screwdriver � Sound-wave tension gauge or tension gauge (capable of withstanding at least 15 kg of tension) � Long tie-band (thin string) � Measuring tape � Oil-based marker pen � PC or teaching pendant [Overview of Replacement] 1) Loosen the bolts securing the motor unit and replace the motor. 2) Restore the home position.
3) Mark the side cover at the “0 point (Z-phase ON)” position using the marker pen. Press the slider against the mechanical end on home side and mark the side cover at the corresponding position using the marker pen. From this position, move the actuator by 2 mm in the direction opposite home and mark again with the marker pen in the same manner. Mechanical end 0 point 4) Loosen the bolts securing the power lock. Applicable wrench : 2.
5) Install the new motor unit. Applicable wrench, bolt : Use the bolts and washers removed in 2). [1] Bring the slider to the 0 point you have marked earlier on the side cover. [2] Align the countermarks on the pulley on motor unit side and the flange surface and pass the belt by guiding it through the oblong holes in the bracket. (Turn the pulley on actuator side to adjust the angle until the pulley on motor unit side engages with the belt properly.
6) Tension the belt. � Here, two ways to tension the belts are explained: one using a sound-wave tension gauge (= tension method) and the other using a tension gauge (= pull method). If the actuator is of the high-precision specification or used with the high acceleration/deceleration option, use of the tension method is recommended because the tension can be adjusted more accurately. 6)-1 Tension method [1] Remove the screw on the side face of the bracket on the motor reversing side.
[3] Guide the hexagonal socket head bolt M3 x 15 through the hole left by the screw in [1] until it engages with the tapped hole in the motor unit flange. [4] Turn the tension bolt to gradually apply tension. Once the gap between the motor unit and actuator becomes approx. 3 mm, measure the tension at the center of the belt span. 11. Maintenance and Inspection Approx.
* Set the sound-wave tension gauge according to the operation manual for the applicable gauge. Setting items: Belt unit mass = 1.8 [g/mm] Belt width = 15 [mm] Span = 74 [mm] Tension: 55 to 60 [N] [5] Securely tighten the motor unit bolts. Tightening torque: 176 N�cm (18 kgf�cm) [6] Pull out the tension bolt and put the original screw back in to plug the hole. 6)-2 [1] Pull method Pass a long tie-band (thin string) over the motor unit and pull it with the tension gauge by applying the specified load.
11.10.8 Replacing the Motor of the Motor Reversing Type: RCS2-SS7R, SS8R [Items Required for Replacement] � Replacement motor with pulley (See the photograph on the right) (Confirm that the motor has a countermark.) � PC or teaching pendant � Tension gauge (capable of tensioning to 7 kgf or greater) � Strong string, looped (or long tie-band) � Allen wrenches � Phillips screwdrivers � 5.5-mm spanner wrench or needle-nose pliers 11.
[Procedure] 1) Move the slider from the home position toward the mechanical end and check the rotating direction of the motor. (This check is necessary, because the rotating direction of the motor is different on actuators whose home is set on the opposite side.) � Check the rotating direction of the motor shaft. � Remove the pulley cover. (Remove the three thin-head mounting screws using an Allen wrench of 1.5 mm across flats for SS7R and of 2 mm across flats for SS8R.
4) Pull out the relay connectors for the attached cables. � Motor connector � Encoder connector � If the actuator is equipped with a brake, also remove the brake connector. 11. Maintenance and Inspection 5) Remove the grounding and shield wires, and separate the attached cables. � Loosen the nut using a Phillips screwdriver and a 5.5-mm spanner wrench (or needle-nose pliers). Nut (M3) Grounding wire Shield wire Cross-recessed flat-head screw (M3x8) 6) Remove the motor cover.
7) Remove the motor. Remove the four hexagon socket-head bolts using an Allen wrench of 3 mm across flats. 8) Install the new motor. Tighten the four hexagon socket-head bolts (M4x15) uniformly using an Allen wrench of 3 mm across flats. Recommended tightening torque: 176 N�m (18 kgf�cm) 9) Install the motor cover. Tighten the four hexagon socket-head button bolts (M3x12) using an Allen wrench of 2 mm across flats. 10) Connect the relay connectors for the attached cables, grounding wires etc.
13) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the adjustment bolts.
11.10.9 Replacing the Motor of the Motor Straight Type (Coupling Type) : RCS3 (P)-SA8C, RCS3 (P) CR-SA8C Replacement motor [Items Required for Replacement] � Replacement motor � Allen wrenches � Phillips screwdriver � Scale � Oil-based marker pen � PC or teaching pendant Caution: When replacing the motor, handle the replacement motor with due care. The actuator has been shipped with the encode adjusted to an optimal position, so do not crush the encoder unit.
[Procedure] 1) Use an Allen wench of 2 mm across flats to remove the screws and take out the cover. [RCS3-SA8C] Cover mounting bolts After the cover has been removed Cover 11.
2) Move the slider to a position where Z-phase turns on (home position). On both standard actuators and actuators whose home is set on the opposite side, this position corresponds to 2 mm from the mechanical end. Return the slider 2 mm from the mechanical end. Return the slider 2 mm from the mechanical end. Draw a countermark with the slider contacting the mechanical end. Draw a countermark with the slider contacting the mechanical end on the counter-motor side. 3) Use an Allen wench of 2.
4) Pull out the motor-end cap. 11. Maintenance and Inspection 5) Pull out the motor-end cover to expose the motor. Caution: Caution: Never touch the encoder. Doing so may cause the encoder position to shift, in which case the encoder will no longer operate properly.
6) Detach the attached cables. Use an Allen wench of 2.5 mm across flats to disconnect the ground wire. 7) Use an Allen wench of 2.5 mm across flats to loosen the coupling screws on the motor end. 11. Maintenance and Inspection 8) Use an Allen wench of 3.0 mm across flats to remove the motor screws.
9) Take out the motor. Motor 10) Check if the countermarks are aligned on the replacement motor. If not, align the countermarks. 11. Maintenance and Inspection Motor countermarks 11) Pull out the end cap of the replacement motor.
12) Once the end cap of the replacement motor has been pulled out, the motor is exposed. Caution: Caution: Never touch the encoder. Doing so may cause the encoder position to shift, in which case the encoder will no longer operate properly. 13) Remove the supplied cable of the replacement motor. Use an Allen wench of 2.5 mm across flats to disconnect the ground wire. 11. Maintenance and Inspection 14) Install the replacement motor by aligning the cable direction.
15) Use an Allen wench of 3.0 mm across flats to loosely tighten the motor screws. (Tighten the screws by hand until they are roughly secured.) 16) With the motor loosely secured, use an Allen wench of 2.5 mm across flats to tighten the coupling screws on the motor end. 11.
17) Loosen the screws you have only loosely tightened, move the slider back and forth 3 to 4 times by hand (over as long an operation stroke as possible), move the slider to near the mechanical end on the motor side, and once the slider is at a position where the motor vibration becomes the smallest, securely tighten the screws on the motor unit. Use an Allen wench of 3.0 mm across flats to tighten the motor screws.
19) Install the motor end cap of the replacement motor. 20) Use an Allen wench of 2 mm across flats to tighten the motor end cap bolts. Use a screwdriver to tighten the ground terminal bolt. Ground terminal bolt Motor end cap bolt Tightening torque: 83 N�cm (8.47 kgf�cm) 11.
21) Use an Allen wench of 2 mm across flats to tighten the screws and install the cover. [RCS3-SA8C] Tightening Torque Cover mounting bolts [RCS3CR-SA8A] Tightening Torque 11.
11.10.10 Replacing the Motor of the Motor Straight Type (Coupling Type) : RCS3 (P)-SS8C Replacement motor [Items Required for Replacement] � Replacement motor � Allen wrenches � Phillips screwdriver � Scale � Oil-based marker pen � PC or teaching pendant Caution: When replacing the motor, handle the replacement motor with due care. The actuator has been shipped with the encode adjusted to an optimal position, so do not crush the encoder unit.
[Procedure] 1) Remove the screws and take out the slider cover. After the slider cover has been removed 2) Use an Allen wench of 2 mm across flats to remove the two screws and take out the stainless sheet on the motor end. 3) Remove the sheet slider from the slider, and then loop the stainless sheet and secure one side with tape, etc. 189 201 11.
4) Move the slider to a position where the sensor at Z-phase, which defines the home, turns ON. With both the standard specification and reversed-home specification, this is where the slider has been returned by 2 mm from the mechanical end. Return the slider by 2 mm from the mechanical end. Press the slider against the mechanical end and draw countermarks. 11.
6) Use an Allen wench of 2.5 mm across flats to remove the motor end cap bolts. Use a screwdriver to remove the ground terminal bolt. Ground terminal bolt Motor end cap bolts 7) Pull out the motor-end cap. 11. Maintenance and Inspection 8) Pull out the motor-end cover to expose the motor. Caution: Caution: Never touch the encoder. Doing so may cause the encoder position to shift, in which case the encoder will no longer operate properly.
9) Detach the attached cables. Use an Allen wench of 2.5 mm across flats to disconnect the ground wire. 11. Maintenance and Inspection 10) Use an Allen wench of 2.5 mm across flats to loosen the coupling screws on the ball screw end. 11) Use an Allen wench of 3.0 mm across flats to remove the motor screws.
12) Detach the attached cables. Motor 13) Check if the countermarks are aligned on the replacement motor. If not, align the countermarks. Motor countermarks 11. Maintenance and Inspection 14) Pull out the end cap of the replacement motor.
15) Once the end cap of the replacement motor has been pulled out, the motor is exposed. Caution: Caution: Never touch the encoder. Doing so may cause the encoder position to shift, in which case the encoder will no longer operate properly. 11. Maintenance and Inspection 16) Remove the supplied cable of the replacement motor. Use an Allen wench of 2.5 mm across flats to disconnect the ground wire. 17) Install the replacement motor by aligning the cable direction.
18) Use an Allen wench of 3.0 mm across flats to loosely tighten the motor screws. (Tighten the screws by hand until they are roughly secured.) 19) With the motor loosely secured, use an Allen wench of 2.5 mm across flats to tighten the coupling screws on the motor end. Tightening Torque 11.
20) Loosen the screws you have only loosely tightened, move the slider back and forth 3 to 4 times by hand (over as long an operation stroke as possible), move the slider to near the mechanical end on the motor side, and once the slider is at a position where the motor vibration becomes the smallest, securely tighten the screws on the motor unit. Use an Allen wench of 3.0 mm across flats to tighten the motor screws. Tightening Torque 11.
22) Install the motor rear cover of the replacement motor. 23) Use an Allen wench of 2 mm across flats to tighten the motor end cap bolts. Use a screwdriver to tighten the ground terminal bolt. Ground terminal bolt Motor end cap bolt Tightening torque: 83 N�cm (8.47 kgf�cm) 11. Maintenance and Inspection Motor end cap bolts 24) Use an Allen wench of 2 mm across flats to tighten the screws and install the cover.
25) Use an Allen wench of 2 mm across flats to tighten the two screws to install the stainless sheet. Tightening Torque Stainless sheet bolts 26) Install the clearance check jig to adjust the stainless sheet. Outer openings Install the clearance check jig in place for the slider cover. 11. Maintenance and Inspection Center opening 27) Adjust the tension of the stainless sheet.
[3] Move the slider and check the tension of the stainless sheet along the entire stroke. Checkpoint 1: Check if the clearance between the top face of the stainless sheet and the back of the clearance-checking tool falls within the specified range along the entire stroke. Checkpoint 2: Look through the peripheral openings and confirm that the stainless sheet edges do not contact the slider body.
11.10.11 Replacing the Motor of the Motor Straight Type (Built-in Type) 11. Maintenance and Inspection The motors of built-in type actuators cannot be replaced by the customer. If you need to replace the motor of any such actuator, please consult IAI.
12. Appendix 12.1 External Dimensions 12.1.1 RCS2-SA4C 2-�3.6 ��6.5, deep counterbore, depth 3.7 (for actuator installation) 4-M3, depth 7 (tolerance for reamed hole pitch �0.02 mm) Slit 2-�3H7, depth 5 �8 hole For position adjustment Cable joint connector End face of base End face of base Detail of slit for slider position adjustment End face of base Reference position for Ma moment offset At least 100 or more (162.
12.1.2 RCS2-SA5C 4-�4.5 �8, deep counterbore, depth 4.5 (for actuator installation) 4-M4, depth 9 (tolerance for reamed hole pitch �0.02 mm) Slit 2-�4H7, depth 6 �8 hole Cable joint connector For position adjustment Detail of slit for slider position adjustment End face of base End face of base At least 100 or more Reference position for Ma moment offset (138.
12.1.3 RCS2-SA6C 4-M5, depth 9 2-�5H7, depth 6 �8 hole (tolerance for reamed hole pitch �0.02 mm) Slit For position adjustment Cable joint connector Detail of slit for slider position adjustment Reference position for Ma moment offset End face of base At least 100 or more (153.
RCS2-SA7C (tolerance for reamed hole pitch �0.02 mm) 12.1.4 4-M5, depth 10 Cable joint connector End face of base 2-�5H7, depth 10 Stroke Reference position for Ma moment offset Home F-�6 through, �9.5 counterbore, depth 5.
12.1.5 RCS2-SS7C 4-M5, depth 10 Cable joint connector (tolerance for reamed hole pitch �0.
12.1.6 RCS2-SS8C 4-M8, depth 10 (tolerance for reamed hole pitch �0.
12.1.7 RCS2-SA4D (tolerance for reamed hole pitch �0.02 mm) Cable joint connector 4-M3, depth 7 4-�3.6 �6.5, deep counterbore, depth 3.
12.1.8 RCS2-SA5D (tolerance for reamed hole pitch �0.02 mm) Cable joint connector 4-�4.5, �8 deep counterbore, depth 4.
12.1.9 RCS2-SA6D (tolerance for reamed hole pitch �0.
12.1.10 RCS2-SA4R Slider height: 40.5 4-�3.6 �6.5, deep counterbore, depth 3.7 (for actuator installation) (tolerance for reamed hole pitch �0.02 mm) Reference position for Ma moment offset Detail view of A End face of base At least 100 or more For position adjustment Reference surface Cable joint connector End face of base Slit Detail of slit for slider position adjustment Detail of oblong hole End face of base m-M3, depth 5 Oblong hole, depth 5 from bottom surface of base 12.
12.1.11 RCS2-SA5R Slider height: 50 4-�4.5 �8, deep counterbore, depth 4.5 (for actuator installation) Home 4-M4, depth 9 (tolerance for reamed hole pitch �0.
12.1.12 RCS2-SA6R Slider height: 53 Home 2-�5H7, depth 6 4-M5, depth 9 (tolerance for reamed hole pitch �0.02 mm) Actuator width:58 Bottom surface of base Reference position for Ma moment offset Cable joint connector At least 100 or more (146 with brake) Slit For position adjustment Reference surface 5 �8 hole Detail of slit for slider position adjustment Detail view of A 12.
12.1.13 RCS2-SA7R Stroke Home 4-M5, depth 10 (tolerance for reamed hole pitch �0.02 mm) 2-�5H7, depth 10 Cable joint connector Brake Dimensions Reversing direction: Opposite D-�4H7 Depth 6 from bottom surface of base C-M5, depth 9 H- Oblong hole, depth 6 from bottom surface of base Note ME: Mechanical End, SE: Stroke End Detail of oblong hole 12. Appendix Stroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 100 350.2 150 400.2 200 450.2 250 500.2 300 550.2 350 600.2 400 650.2 450700.
12.1.14 RCS2-SS7R 4-M5, depth 10 2-�5H7, depth 10 Cable joint connector Home 4-�4H7 Depth 6 from bottom surface of base Oblong hole, depth 6 from bottom surface of base (3-�4H7 at stroke of 50, depth 6 from bottom surface of base) F-M5, depth 8 12.
12.1.15 RCS2-SS8R 4-M8, depth 10 2-�8H7, depth 10 Cable joint connector Home Brake Dimensions 4-�5H7 Depth 5 from bottom surface of base Oblong hole, depth 6 from bottom surface of base Detail of oblong hole (Pitch of reamed holes and oblong holes) E-M8, depth 10 (Pitch of reamed holes ) Stroke Stroke A 100 280 50330 100 380 C D 50 E D 50 F E 8 N F without 50 brake1 Weight N [kg] with brake 150 200 440 380 490 150 430 150 200 8 200 150 10 1 0 7.7 2 8.2 50100 8 100 50 8 1 100 6.7 1 7.
12.1.16 RCS2CR-SA4C 4-�3.6 �6.5, deep counterbore, depth 3.7 (for actuator installation) �8 hole For position adjustment Detail of slit for slider position adjustment Cable joint connector 4-M3, depth 7 (tolerance for reamed hole pitch �0.02 mm) Slit 2-�3H7, depth 5 End face of base Bottom surface of base Reference position for Ma moment offset Applicable tube outer diameter: �6 End face of base At least 100 or more with brake 162.
12.1.17 RCS2CR-SA5C Slit 2-�4H7, depth 6 Cable joint connector 4-M4, depth 9 (tolerance for reamed hole pitch �0.02 mm) 4-�4.5 �8, deep counterbore, depth 4.5 (for actuator installation) �8 hole For position adjustment Applicable tube outer diameter: �6 Detail of slit for slider position adjustment End face of base End face of base Reference position for Ma moment offset At least 100 or more with brake 138.
12.1.18 RCS2CR-SA6C (tolerance for reamed hole pitch �0.02 mm) Slit �8 hole For position adjustment Detail of slit for slider position adjustment Cable joint connector 4-M5 depth 9 2-�5H7, depth 6 Applicable tube outer diameter: �6 Reference position for Ma moment offset End face of base At least 100 or more (15.2 with brake) Slider height: 53 Home Actuator width:58 Bottom surface of base End face of base End face of base Reference surface Detail view of A 12.
12.1.19 RCS2CR-SA7C 2-�5H7, depth 10 4-M5 depth 10 Cable joint connector Applicable tube outer diameter: �8 (Inner diameter: �6) Reference position for Ma moment offset At least 100 or more Stroke F-�6 through, �9.5 counterbore, depth 5.
12.1.20 RCS2CR-SS7C 2-�5H7, depth 10 Cable joint connector (tolerance for reamed hole pitch �0.
12.1.21 RCS2CR-SS8C 2-�8H7, depth 10 Cable joint connector (tolerance for reamed hole pitch �0.02 mm) 4-M8 depth 10 Applicable tube outer diameter:12.
12.1.22 RCS2CR-SA5D Cable joint connector 4-M4 depth 9 (tolerance for reamed hole pitch �0.02 mm) 2-�4H7, depth 6 4-�4.5 through, �8 counterbore, depth 4.
12.1.23 RCS2CR-SA6D 4-M5 depth 9 2-�5H7, depth 6 (tolerance for reamed hole pitch �0.
12.1.24 RCS3-SA8C, RCS3P-SA8C 2-�6H7, depth 10 (tolerance for reamed hole pitch �0.
12.1.25 RCS3-SS8C, RCS3P-SS8C 4-M8 depth 10 2-�8H7, depth 10 (tolerance for reamed hole pitch �0.
12.1.26 RCS3CR-SA8C, RCS3PCR-SA8C (L-shaped suction joint specification) Applicable tube outer diameter: �10 (inner diameter: �6.5) Applicable tube outer diameter at suction joint: 10� (inner diameter: �6.5) 2-�6H7, depth 10 (tolerance for reamed hole pitch �0.
12.1.27 RCS3CR-SS8C, RCS3PCR-SS8C (L-shaped suction joint specification) Applicable tube outer diameter: �10 (inner diameter: �6.5) Applicable tube outer diameter at suction joint: �10 (inner diameter: �6.5) 4-M8 depth 10 (without break) 2-�8H7, depth 10 (tolerance for reamed hole pitch �0.02 mm) Reference position for Ma moment offset Applicable tube outer diameter: �10 (inner diameter: �6.
12.1.28 RCS3/RCS3P-SA8R ���� ���� �� �� ���� ���� �� ���� , depth 10 �� � � �� � 4-M6 depth 12 �� �� �� (tolerance for reamed hole pitch �0.
12.1.29 RCS3/RCS3P-SA8R Slider Roller Specification (Option Model Number: SR) ��� ���� �� �� ��� ���� � ����� , depth 10 2-�6 ��� � �� � 4-M6 depth 12 �� �� �� (tolerance for reamed hole pitch �0.
12.1.30 RCS3/RCS3P-SS8R �� ���� 2-�8 �� � � �� � , depth 10 (tolerance for reamed hole pitch �0.
& $&$ & 5# + = * "% 21 ( ) @< - ! %! # O!# # ! " % 1/1 & "% 21 % $% 211 !# !# % $% 211 !# !# ' & ! & & =#!& % # N! % & CN ! ! "% O#! N!%%! $&#O !O N $ !%%! $&#O !O N $ & S % N# Q G % N# Q S % !&% N# Q
13. Warranty 13.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from IAI 12 months after delivery to the specified location 2,500 hours of operation 13.2 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.
13.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
Change History Revision Date May 2010 Fifth edition Description of Revision Added information on RCS3 and RCS3CR actuators. June 2010 Sixth edition P. 25 P. 56 November 2010 Seventh edition Changed the maximum speed of RCS3 and RCS3CR at lead 30. 1800 mm/s 1790 mm/s Changed the rates of suction.
Revision Date December 2011 Description of Revision Twelfth edition Contents changed in Safety Guide Caution notes added for when working with two or more persons P. 44 to 58 Note added to state that RCS2CR-SA5D and RCS2CR-SA6D cannot be ensured for Cleanliness Class 10 in vertical orientation, horizontally oriented wall mount or in ceiling mount. March 2012 Thirteenth edition P. 1 to 7 Contents added and changed in Safety Guide P. 8 Handling Precautions added P.
249
Manual No.: ME3654-18A (April 2013) 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.
