Single Axis Robot RS Series Rotary Type Instruction Manual Third Edition RS-30, RS-60 IAI America, Inc.
Please Read Before Use Thank you for purchasing our product. This Instruction Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains Instruction Manuals for IAI products.
Table of Contents Safety Guide...................................................................................................................................1 Precautions.....................................................................................................................................8 Names of the Parts.........................................................................................................................9 1. Specifications Check .....................................
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ Perform the work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger product is not handled correctly, will result in death or serious injury.
Precautions 1. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings. If the actuator is operated at a speed or acceleration/deceleration exceeding the allowable value, abnormal noise or vibration, failure, or shorter life may result. 2. Set the load inertia and allowable load moment within the range of allowable range.
Names of the Parts [RS-30] Cover Actuator Cable Rotary Axis Cover Home Limit Switch [RS-60] Cover Rotary Axis Home Limit Switch Actuator Cable Cover 9
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1. 1.1 Specifications Check Product Check 1. Specifications Check The standard configuration of this product is comprised of the following parts. Check the packed items against the packing specification. Should you find a wrong model or any missing item, please contact your IAI dealer or IAI. 1.1.1 No. 1 Parts Name Main Body Accessories Motor • Encoder Cables 2 (Note 1) Model number Refer to “How to Read the Model Nameplate” and “How to Read the Model Number”.
1. Specifications Check (2) XSEL-P/Q Controller No. Name 1 XSEL-P/Q Controller Instruction Manual 2 XSEL-P/Q/PX/QX RC Gateway Function Instruction Manual 3 PC software IA-101-X-MW/IA-101-X-USBMW Instruction Manual 4 Teaching Pendant SEL-T/TD/TG Instruction Manual 5 Teaching Pendant IA-T-X/XD Instruction Manual 6 DeviceNet Instruction Manual 7 CC-Link Instruction Manual 8 PROFIBUS Instruction Manual Manual No. ME0148 ME0188 ME0154 ME0183 ME0160 ME0124 ME0123 ME0153 (3) SSEL Controller No.
1.1.
1.2 Specification 1. Specifications Check Model Deceleration ratio Operation area RS-30 1/50 1/100 rad (q) W Rated output Rated speed Rated torque Positioning repeatability Lost motion Number of encoder pulses Allowable thrust load rad/sec (q/sec) N•m (kgf•cm) 0 to 2S (360) 30 2S (360) 3.3 (34.1) ±4.9×10-4 (±0.028) rad (q) rad (q) P/R N (kgf) S (180) 6.65 (68.2) 8.7×10-4 (0.05) 4.35×10-4 (0.
(1) Transportable Weight [Refer to 4.2 Weight of the Loaded Object] Load inertia kg•m2 (kgf•cm•s2) 0.058 (0.59) 0.23 (2.35) 0.11 (1.1) 0.42 (4.3) Deflection of the output shaft (Fig. 2) mm 0.045 or less 0.066 or less (Fig. 2) 15 1. Specifications Check (2) Allowable Load Moment of Actuator Allowable load moment Deceleration (Fig. 1) Type ratio N•m (kgf•cm) 1/50 RS-30 9.8 (100) or less 1/100 1/50 RS-60 23.5 (240) or less 1/100 (Fig.
1. Specifications Check 1.3 Option 1.3.1 With keyway (Model code: K) 1.3.2 Home Limit Switch (Model code: L) It is available as an option with a keyway for positioning on the output shaft of rotary axis. In ordinary home-return operation, the “pressing method” is adopted in which the actuator is pressed against the stopper and detects the Z-phase after reversing.
1.4 Motor • Encoder Cables 1.4.1 Motor Cable (for XSEL-J/K/P/Q, SSEL, SCON) L (20) (10) (φ9) (21) (16) 1 (41) (18) 4 (Front View) 1 4 Mechanical end (Front View) Controller end Wiring Color Signal GN PE RD U 0.75sq WT V BK W 1.4.2 No. 1 2 3 4 No. Signal Color Wiring RD U 1 WT 0.75sq V 2 BK (Crimped) W 3 GN PE 4 Encoder Cable (for XSEL-J/K) CB-X-PAƑƑƑ (14) L (57) 1 (33) (25) (φ8) (36) (16) (8) (Front View) 9 Mechanical end Controller end Wiring Color – – – – – – 0.
1.4.3 Limit Switch Cable (for XSEL-J/K) CB-X-LCƑƑƑ L (18) (12) (30) (φ6) (8) 1 (18) (22) 1 (Front View) 6 6 (Front View) Mechanical end Controller end Wiring Color Signal No. LBL 24VOUT 6 N PK 5 LS GN 4 AWG24 OR CREEP 3 OT GY 2 1B/LBL RSV 1 No. Signal Color Wiring 1 24VOUT LBL N 2 PK LS 3 GN AWG24 CREEP OR (Crimped) 4 OT 5 GY RSV 1B/LBL 6 Note) 1B indicates one black dot mark. 1.4.
2. Installation 2.1 Transportation [1] Handling of the Robot (1) Handling of the Packed Product x Do not damage or drop. The package is not applied with any special treatment that enables it to resist an impact caused by a drop or crash. x An operator should never attempt to carry a heavy package on their own. Also, use an appropriate way for transportation. x If the shipping box is to be left standing, it should be in a horizontal position.
[2] Handling of Multi-Axes Type 2. Installation This is the case that this product is delivered with other actuators being combined. Multi-axes type will be delivered in a package with an outer case fixed to a wooden base. (1) Handling of the Packed Product x Do not damage or drop. The package is not applied with any special treatment that enables it to resist an impact caused by a drop or crash. x An operator should never attempt to carry a heavy package on their own.
2.
2.3 Installation This chapter explains how to install the actuator on your mechanical system. 2. Installation [1] Installation Follow the information below when installing the actuator, as a rule. Do pay attention to these items (except with custom-order models).
[2] Installation of the Main Unit Have the unit attached following the steps below; 1) Unscrew the flat-head screws on the sides of the unit cover and remove the cover. 2) There are 9mm through holes at 4 points on the main unit. Affix the unit with M8 screws. 3) Put the cover back on the unit and affix with the flat-head screws. 2.
[3] Attachment of the Arm and Tools 2. Installation Apply split tightening or shrink discs when attaching an arm or tools to the spindle (main shaft) on the main body. Tool attachment plate Power lock, etc.
3. Connecting with the Controller For the controller, only the dedicated controller manufactured by our company can be used. Using other controllers may cause a problem such as burning the product, ignition or generating heat. Use the dedicated cable enclosed in the package when connecting the actuator and the controller. [Connecting with XSEL-J/K Controller] 3.
When designing an application system, incorrect wiring or connection of each cable may cause unexpected problems such as a disconnected cable or poor contact. The following explains examples of prohibited handling of cables. 3. Connecting with the Controller Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly.
• Do not pull the cable with a strong force. 3. Connecting with the Controller • Pay attention not to concentrate the twisting force to one point on a cable. • Do not pinch, drop a heavy object onto or cut the cable. • When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much. Do not use spiral tube in any position where cables are bent frequently.
3. Connecting with the Controller • If using a cable track, arrange the wiring so that there is no entanglement or kink of the cables in the cable carrier or flexible tube, and do not bind the cables so that the cables are relatively free. (Arrange the wiring so the cables are not to be pulled when bent.) • The occupied volume rate for the cables, etc., inside the cable track should be 60% or less.
4. Operational Conditions 4.1 Load Inertia ٧ Calculation of the Load Inertia Load inertia is a specific value for an object determined by the weight and profile. It is to be calculated as; J = ³ r2dM r : Distance from center dM : Small mass For example, if the loaded work piece is offset from the rotary shaft, the following formula can be applied. J = M•r2 M : Mass of the loaded piece (kg) r : Distance from the center (Offset distance) (m) M (Loaded work piece) (Offset distance) r 29 4.
Shown below is the formula for the load inertial applied to a cylinder and rectangular parallelepiped. 1) Cylinder (including thin disc) 4.
4.2 Weight of the Loaded Object Take the following as a reference for the weight of the loaded work piece applied to the rotary axis output shaft. A For loaded object with a disc shape just below rotary axis shaft Mass of disc (kg) Mass of disc (kg) 50 50 RS-60 30 RS-30 20 10 10 10 20 RS-30 30 20 0 RS-60 40 30 40 4.
5. 5.1 Maintenance Inspection Inspection Items and Schedule Have an appearance check at the start of operation. 5.2 Appearance Check 5. Maintenance Inspection An appearance check should check the following things. Main Body Cables Overall 5.3 Ɣ Ɣ Ɣ Ɣ Ɣ Loose actuator mounting bolts, other loose items Scratches, proper connections Irregular noise, vibration Cleaning Clean exterior surfaces as necessary. Use a soft cloth to wipe away dirt and buildup.
6. External Dimensions RS-30 6 5×5 key 29 Dimensions for the keyway shaft 64.5 29.5 6.1 4-9 drill 8.5 25 101.5 50 Cable Joint Connector 11 φ14h7 20 11 56 29.5 25 Home Limit Switch (300) 160 22 2-φ8H7 Reamed, Depth 10 (from the opposite side) Weight RS-60 39 6.2 2.0kg 6 6×6 key 38 83 Dimensions for the keyway shaft 11.5 20 126.
7. Life 7. Life Accumulation of Rotational Angles per Minute [deg] Shown in the graph is the life of the main bearing and the speed reducer (reference). The graph shows the case in which a load of dynamic allowable moment is applied. Calculate the accumulation of rotational angles per minute to read the life (reference).
Accumulation of Rotational Angles per Minute [deg] 12000 10000 8000 Speed Reducer Main Bearing 6000 4000 2000 0 1,000 10,000 100,000 1,000,000 10,000,000 100,000,000 1,000,000,000 Estimated Life Time [Hours] 7.
8. 8.1 Warranty Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company y 12 months after delivery to the specified location y 2,500 hours of operation 8. Warranty 8.2 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met.
8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
Change History Revision Date Change History June 2012 38 Description of Revision Third edition Revised overall
Manual No.: ME3609-3A (June 2012) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
