Iai-america RCAW User Manual

ROBO CylinderRod Type RCA Actuators RCAW Actuators, Dustproof/Splash-proof Type Operating Manual Eighth Edition 䎰䏒䏗䏒䏕䎃䎶䏗䏕䏄䏌䏊䏋䏗䎃䎷䏜䏓䏈䎃䎋䎦䏒䏘䏓䏏䏌䏑䏊䎃䎷䏜䏓䏈䎌䎃

4No.OperationDescription Description 4 Installation and Start(4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clea

5. Appendix945.11 RCA-RGD3C ME: Mechanical End SE: Stroke End 4-C24-M5(through)892833729124-C275302020.520.520846327Bracket A Bracket BNut A Nut

5. Appendix955.12 RCA-RGD4C ME: Mechanical End SE: Stroke End 81101003729158826.5 20 26.5302050388104-M54-C24-C2Nut BNut ABracket ABracket A52.8

5. Appendix965.13 RCA-RGD3D ME: Mechanical End SE: Stroke End RCA-RGD3D type is no breake-equipped type. Stroke 50 100 150 200LWeight [kg]258.51

5. Appendix975.14 RCA-RGD4D ME: Mechanical End SE: Stroke End RCA-RGD4D type is no breake-equipped type. [Without Brake Type]52.8110100887320292

5. Appendix985.15 RCA-RGD3R ME: Mechanical End SE: Stroke End 50 100 150 200L2121281.42621781.53122281.73622781.8RCA-RGD3R (With brake)50 100 15

5. Appendix995.16 RCA-RGD4R ME: Mechanical End SE: Stroke End 388Nut APm26.520Bracket BBracket A311291001103020202930372073881001108826.52041st3

5. Appendix1005.17 RCAW-RA3C/RA3D/RA3R ME: Mechanical End SE: Stroke End 84.442.448.6(15.01)13546834327M26 × 1.5M35 × 1.5M8 × 1.25Air Inlet and

5. Appendix1015.18 RCAW-RA4C/RA4D/RA4R Nut A Dimensions Nut B DimensionsNut B Dimensions[RA4R]52.8501040.2388(19.6)176M10 × 1.25222222Lmst3 350377.

6. Life1026. Life The product life is estimated as 5000km (reference) under the condition that it is operated with maximum transportable weight, maxi

7. Warranty1037. Warranty 7.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company

5No.OperationDescription Description 6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader

7. Warranty1047.4 Limited Liability (1) We shall assume no liability for any special damage, consequential loss or passive loss such as a loss of e

Change History105Change History Revision Date Description of Revision April 2011 Fifth edition A page for CE Marking added March 2012 Sixth edition

Manual No.: ME3653-8A (November 2012)The information contained in this document is subject to change without notice for purposes of product improvemen

6No.OperationDescription Description 8 Maintenance and Inspection Ɣ When the work is carried out with 2 or more persons, make it clear who is to be

7Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

8Precautions1. Ensure use of the product in the specified conditions, environments and ranges. Operation out of the specified conditions could cause

9International Standards Compliances This actuator complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287

10Names of the Parts In this Operation Manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actuator

11 [RGS3C, RGS3D, RGS4C, RGS4D] RGS3D and RGS4C are non-brake-equipped types. [RGD3C, RGD3D, RGD4C, RGD4D] RGD3D and RGD4C are non-brake-equipped type

12Dust and Splash-Proof Type [RA3C, RA3D, RA4C, RA4D] RA3D and RA4D are non-brake-equipped types. [RA3R, RA4R] BellowsRightLeftMotor SideRod SideSucti

1. Specications Check131. Specifications Check 1.1 Checking the Product The standard configuration of this product is comprised of the following pa

1. Specications Check141.1.2 Instruction Manuals related to this product, which are contained in the CD/DVD. Shown below is a list of the instructio

1. Specications Check151.1.4 How to Read the Model Number Note 1 Identification for IAI use only : It may be displayed for IAI use. It is not a co

1. Specications Check161.2 Specification 1.2.1 Speed Speed limits (Unit: mm/s) Stroke [mm] Size MotorType Lead[mm]50 100 150 200 250 300 2.5

1. Specications Check171.2.2 Maximum Acceleration and Transportable Weight If the transportable weight is smaller than as specified, the acceleratio

1. Specications Check18Type Motor Type Lead [mm] Rated Acceleration [G] Transportable Weight [kg] Rated Thrust䈀N䈁Horizontal 0.2 18 3Vertical 0.2

1. Specications Check191.2.3 Driving System • Position Detector Type Motor Type Lead [mm] No. of Encoder Pulses [P/R] Drive System 2.5 200 5 200

1. Specications Check201.2.4 Positioning Precision Item Tolerance Positioning repeatability ±0.02mm Backlash 0.1mm or less Base Material : Alumi

1. Specications Check21z With single guide Model Name Motor Type Lead [mm] Rod DiameterRod Non-Rotation Accuracy 2.55RGS3C 20W 10I8mm ±0.05° 2.5

1. Specications Check221.2.6 Allowable Running Torque The allowable torque for each model is as shown below. Make sure to use the product within the

1. Specications Check231.2.8 Radial load and Tip Flexure Shown below is the correlation graph of the load applied to the guide tip and the flexure a

Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance

1. Specications Check241.2.9 Duty Ratio in Continuous Operation Perform an operation with the duty ratio below the allowable range. Duty ratio is th

1. Specications Check253) From the load ratio LF and the acceleration/deceleration time ratio tod that were used to figure out the duty ratio, read

1. Specications Check261.3 Options 1.3.1 Brake Type (Model No.: B) The brake is a mechanism designed to prevent the rod from dropping on a vertical

1. Specications Check271.3.7 Front Flange (Model No. : FL) This metal part is used for fixing the actuator from the actuator body side using the bol

1. Specications Check281.3.8 Rear Flange (Model No. : FLR) This metal fitting is used for fixing the actuator from the actuator rear side. 0.2544.53

1. Specications Check29st L1 L2120 218170 268220 318270 36842407026551884.442.431L1L2493116.52585.5φ35φ 42φ 32 RCA-FL-RA 3 50 100 150 200 Model code

1. Specications Check301.3.9 Foot (Model No. : FT) This metal part is used for fixing the actuator from the top side using the bolts. * Refer to th

1. Specications Check31SEME202222L119563st39.5m754066.460601016L210 2002 01<RGS4C/RGD4C><RA4C>mRCA20w 67.5 80.5 80.530w 82.5 95.5 95.5RCS

1. Specications Check321.3.10 Foot (Attached on the Right Side/Left Side) (Model No.: FT2 (Attached on the Right Side), FT4 (Attached on the Left Sid

1. Specications Check331.3.11 Knuckle Joint (Model No. : NJ) This metal part is used to give some degree of freedom (rotation) in the movement at the

1. Specications Check341.3.12 Clevis (Model No. : QR) This bracket is used to make the cylinder follow up when the movement of an object attached on

1. Specications Check351.3.13 Rear Attachment Plate (Model No. : RP) This plate is used to fix the rear side of the motor reversing rod type (RA3R/RA

1. Specications Check361.3.14 Front Trunnion (Model No. : TRF) This bracket is used to make the cylinder follow up when the movement of an object att

1. Specications Check371.3.15 Rear Trunnion (Model No. : TRR) This bracket is used to make the cylinder follow up when the movement of an object atta

1. Specications Check381.4 Motor • Encoder Cables 1.4.1 Motor cable CB-ACS-MA ƑƑƑ1.4.2 Encoder cable/robot encoder cable CB-ACS-PA ƑƑƑ/CB-ACS-PA Ƒ

1. Specications Check391.4.3 Motor/Encoder Integrated Cable for AMEC/ASEP CB-ASEP-MPA ƑƑƑController end Actuator end Width Cable Color Signal Name P

2. Installation402. Installation 2.1 Transportation [1] Handling of Robot Unless otherwise specified, the actuators are packaged individually. (1)

2. Installation41[2] Handling in Assembled Condition This is the case when the product is delivered from our factory under a condition that it is ass

2. Installation422.2 Installation and Storage • Preservation Environment [1] Installation Environment The actuator should be installed in a location

2. Installation432.3 How to Installation This chapter explains how to install the actuator on your mechanical system. 2.3.1 General Rules on Install

Table of Contents Safety Guide ·······················································································································

2. Installation442.3.2 Installation (1) Using screws on the rod or head side Install the actuator using screws set on the rod or head side of the ac

2. Installation45(2) Using screws on a flange (optional) An optional flange is available for installing the actuator. Use this flange, if necessary

2. Installation46 Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torque 12.3 N•m 5.4 N•m Reversing type Mountin

2. Installation47(3) Using screws on feet (optional) Optional feet are available for installing the actuator. Use these feet, if necessary. z Applica

2. Installation48(4) Using screws on a trunnion (optional) An optional trunnion is available for installing the actuator. Use this trunnion, if neces

2. Installation49 Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torque 12.3 N•m 5.4 N•m Caution: y When the o

2. Installation50(5) Using screws on a clevis (optional) An optional clevis is available for installing the actuator. Use this clevis, if necessary.

2. Installation51(6) Using screws on a rear mounting bracket (optional) An optional rear mounting bracket is available for installing the actuator. Us

2. Installation52(7) Double-guide type Use the tapped holes in the bracket for installing an actuator of the double-guide type. z Applicable models:

2. Installation53(8) Single-guide type Use the tapped holes in the bracket for installing an actuator of the single-guide type. z Applicable models:

3. Connecting with Controller·························································································· 55 4. Maintenance ··········

2. Installation542.3.3 Connecting the Air Tube of the RCAW Dustproof/Splash-proof Type Intake/exhaust port Install the air tube (outer diameter: 10

3. Connecting with Controller553. Connecting with Controller For the controller, only the dedicated controller manufactured by our company can be use

3. Connecting with Controller56Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipment, p

3. Connecting with Controller57• Do not pull the cable with a strong force. • Pay attention not to concentrate the twisting force to one point on a

3. Connecting with Controller58• If using a cable track, arrange the wiring so that there is no entanglement or kink of the cables in the cable carri

4. Maintenance594. Maintenance 4.1 Maintenance Schedule Perform maintenance work according to the schedule below. The schedule is set assuming eight

4. Maintenance604.4 Applying Grease to the Sliding Surface of the Rod (1) ApplicablegreaseKyodoYushi MultempLRL3 Warning: Never use any fluorine-b

4. Maintenance614.5 Reduction Belt [Motor Reversing Type] 4.5.1 Inspecting the Belt Remove the pulley cover and visually inspect the belt. Durabilit

4. Maintenance624.5.3 Adjusting the Belt Tension Remove the pulley case cover and loosen the four motor-unit affixing bolts. Pass a looped string (or

4. Maintenance634.5.4 Replacing the Belt of the Motor Reversing Type: RA3R/RA4R Types [Items Required for Replacement] y Replacement belt RA3R······

1Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read

4. Maintenance64[Procedure] 1) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. 2)

4. Maintenance653) 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

4. Maintenance665) 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

4. Maintenance676) Install the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. 7) Connect a

4. Maintenance684.6 Replacing the Motor 4.6.1 Replacing the Motor of the Motor Straight Type (Coupling Type): RA3C/RA4C Types [Items Required for Re

4. Maintenance69[Procedure] 1) Move the rod to a position where Z phase turns on (home position). This corresponds to a position where the rod projec

4. Maintenance703) Pull out the motor unit. Before pulling out the motor unit, apply a countermark on the cylinder tube at a position corresponding t

4. Maintenance715) Align the tab on the replacement motor unit with the countermark on the cylinder. With the motor unit and cylinder aligned properl

4. Maintenance726) Turn the coupling and motor shaft simultaneously until a setscrew on the coupling is seen through the hole. Thereafter, tighten th

4. Maintenance737) Return the coupling in the replacement motor unit to the initial motor position (Z phase position). Align the tab on the replaceme

2No.OperationDescription Description 2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment suc

4. Maintenance748) Carefully insert the replacement motor unit into the cylinder by ensuring that the couplings do not lose their alignment. 9) Usin

4. Maintenance754.6.2 Replacing the Motor of the Motor Reversing Type: RA3R/RA4R Types [Items Required for Replacement] y Replacement motor unit y A

4. Maintenance76[Procedure] 1) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. 2)

4. Maintenance773) Take out the motor. 4) Install the replacement motor. Loosely tighten the motor-unit affixing bolts. Replacement motor

4. Maintenance785) Move the rod to a position where Z phase turns on (home position). This corresponds to a position where the rod projects 2 mm from

4. Maintenance797) 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

4. Maintenance808) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. 9) Connect a

4. Maintenance814.7 Replacing the Bellows of the RCAW Dustproof/Splash-proof Type [Items Required for Replacement] y Replacement bellows unit : RA3 ·

4. Maintenance822) Apply grease evenly over the entire cylinder surface. 3) Install a metal fitting on the bellows. Apply grease evenly over the ent

4. Maintenance834) Install the replacement (new) bellows and tighten the screws of the front and rear metal fittings affixing the bellows. Tighten th

3No.OperationDescription Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for

5. Appendix845. Appendix 5.1 RCA-RA3C ME: Mechanical End SE: Stroke End 548.634M26 × 1.5M35 × 1.5M8 × 1.25(15.01)134687 3248.648.6201818M8 × 1.25

5. Appendix855.2 RCA-RA4C ME: Mechanical End SE: Stroke End [With Brake Type][Without Brake Type]6(19.6)1752.840.25038M10 × 1.258M40 × 1.5M30 × 1.

5. Appendix865.3 RCA-RA3D ME: Mechanical End SE: Stroke End RCA-RA3D type is no breake-equipped type. L66.548.648.68 101440 (Width across Flats 35

5. Appendix875.4 RCA-RA4D ME: Mechanical End SE: Stroke End RCA-RA4D type is no breake-equipped type. 5020 (Rod diameters)Lm63752.852.847 (Width a

5. Appendix885.5 RCA-RA3R ME: Mechanical End SE: Stroke End 4214 (Width across Flats)3 318181884.442.484.442.431Lst 498 10P2585.53235(15.01)135732

5. Appendix895.6 RCA-RA4R ME: Mechanical End SE: Stroke End 374850Pm50.598.550.598.53 3L33569 1026202022(19.6)173886Nut AstSEMENut BNut A3750Pm3 3

5. Appendix905.7 RCA-RGS3C ME: Mechanical End SE: Stroke End 462415 37.57052.530.5144-C28 85.517L5(st + 12)53Shaft overhang at SE positionMEHome(s

5. Appendix915.8 RCA-RGS4C ME: Mechanical End SE: Stroke End 55442615815936.5505081Bracket ABracket B16937Lm191(st + 11)635030(st + 74)HomeShaft o

5. Appendix925.9 RCA-RGS3D ME: Mechanical End SE: Stroke End RCA-RGS3D type is no breake-equipped type. 3542462415 37.57052.530.5148 66.517L5(st +

5. Appendix935.10 RCA-RGS4D ME: Mechanical End SE: Stroke End RCA-RGS4D type is no breake-equipped type. (st + 74)Shaft overhang at SE position3