Iai-america RCP2W-RA10C User Manual

ROBO CylinderRCP2/RCP2W ActuatorRod TypeOperation ManualNinth EditionIAI America, Inc.Motor straight typesStandard typesRCP2-RA2CxRA3CRA4CxRA6CxRA8CRA

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

9413. Appendix13.1.4 RCP2-RA6CDETAIL: A8 22(25.4)M14s1.519255019325064 226468(4.8) 4ST 52 112L1130.542 6 4ij 3M14s1.5ME SE HomeME6.510.52.6 8ASecure a

9513. Appendix13.1.5 RCP2-RA8C4st435 (effective threaded length)(67)st+124.5 34.5 111(2.6)LF40 (Rod Diameter)1512 (Square block part)40MEHomeSEMEM20×1

9613. Appendix13.1.6 RCP2-RA10CST+1153737 (effective threaded length)Width across flat = 26L117.5(200)52.59580Width across flat = 32M22s1.537134-M10 D

9713. Appendix13.1.7 RCP2-RA3RDimensions for Accessory Nut to Attach17(19.6)6M10s1.25ST(2.3)20.2y39zL35.1MEHomeSEME20 50 202717.513.5 14.2103350.5(27.

9813. Appendix13.1.8 RCP2-RA4RDimensions for AccessoryNut to Attach17(19.6)6AST(2.3)20.2y39zL39.1SEMEMEHome191417344547.524.514344768.5124.5247.534341

9913. Appendix13.1.9 RCP2-RA6R8 2225.4Dimensions for AccessoryNut to AttachM4u1.5Secure at least 100M14u1.54ST4.80.2y52z47.1LMESEHome ME17192550641950

10013. Appendix13.1.10 RCP2-RA8Rst+171.5674768.520.5111247Width across flat = 27(Square block part)4-M8 Depth 164st435 (effective threaded length)40 1

10113. Appendix13.1.11 RCP2-RGS4Cst69st14 (Shaft length at SE position)st146.53020(For mounting of main body)T-groove Pitch : 17902.5802305 30MEHome

10213. Appendix13.1.12 RCP2-RGS6C16st14.5st72Home MESEME6-M6 Depth 15(for work attachment)0.5Body width : 64630.51100.5956.5405 404030(For mounting

10313. Appendix13.1.13 RCP2-RGD3CMEHomeSEME(240)stst5833st(2.3)2L33 8 90.543Secure at least 100(For mounting of main body)4-M410597832323 233535Body

5No.Operation Description 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

10413. Appendix13.1.14 RCP2-RGD4Cst69stHomeMESEME2(2.3)st 4157.5Secure at least 10033 8L86.54.37.34.31.86.5st141361261053030 30(For mounting of main

10513. Appendix13.1.15 RCP2-RGD6Cst72MEHomeSEME4(4.8)st 54stSecure at least 100L44 10 1127510.56.52.6 8st14.5 161925F12F361567.513.5105513.510 5568(

10613. Appendix13.1.16 RCP2W-RA4C724.3Detail : AADimensions for AccessorySquare Nut to Attach on T-groove(4 pieces attachment)ƑDimensions for Accesso

10713. Appendix13.1.17 RCP2W-RA6CRod Diameter I309.5 (Square block part)Intake and Exhaust Port(360q rotation available)Cable Joint ConnectorActuator

10813. Appendix13.1.18 RCP2W-RA10CST+1153737 (effective threaded length)Width across flat = 26L117.5(2m)52.59580Width across flat = 32M22× 1.537134-M1

10914. Warranty14. Warranty14.1 Warranty PeriodOne of the following periods, whichever is shorter:18 months after shipment from our factory12 months a

11014. Warranty14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., (1) If our product is combined with another product or any

111Cange HistoryChange HistoryRevision Date Revision Description2010.012010.072011.042011.072011.082012.022012.022012.03First EditionSecond EditionThi

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

Manual No.: ME3652-9A (March 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvement.Co

7Alert Indication 7KHVDIHW\SUHFDXWLRQVDUHGLYLGHGLQWR³'DQJHU´³:DUQLQJ´³&DXWLRQ´DQG³1RWLFH´DFFRUGLQJWRWKHZDUQLQJOHYHODVIROO

8Precautions in Handling1. Do not set the speed or acceleration/deceleration settings beyond the rated values.Please do not set the speed or accelerat

95. Transportation5.1 Handling a Single ActuatorPlease adhere to the following when handling a single actuator.5.1.1 Handling the Packed UnitUnless ot

104. Names of the Parts The names of the actuator parts are indicated below. In this manual, the right and left are determined by viewing the horizont

11RA4C typeRA6C typeCable joint connectorGrease supply port(thin head screw)Motor end capRightFrontLeftMotor bracketMotor sideRod tip adapterAluminum

12RA10C typeBrake type specificationWire coverTie rodBaseFront bracketRear coverRightFrontLeftMotor bracketMotor sideMotor coverRodCableRod tip fittin

13RCP2RA3R typeRightLeftFrontMotor sideGrease supply port(thin head screw)Reversing bracketEnd plateRod tip adapterCable joint connectorCableWire cove

14RCP2RA4R typeRA6R type Grease supply port(thin head screw)Cable joint connectorEnd plateReversingbracketWire coverMotor coverMotor end coverAluminum

15Grease supply port(thin head screw)RA8R typeAluminum frameRodRightLeftRod tip adapterMotor coverWire coverCableMotor end coverReversing bracketEnd p

16RGD3C typeRGD4C typeRGD6C type(Double guide type)Mounting bracketGuide bracketRightFrontLeftMotor sideGuide bearingGuide rodGrease supply port(thin

17x Connect a tube to the intake/exhaust port and extend the other end of the tube to a location not subject to water, etc. Internal structure of i

18Connect a tube to the intake/exhaust port and extend the other end of the tube to a location notsubject to water, etc. (Note) There is no grease sup

191. Product Check1. Product CheckThis product is comprised of the following parts if it is of standard configuration.Caution: Check the packing list

201. Product Check1.2 Operation Manuals for Controllers Supported by This Product No. Name Manual No.1 Operation Manual for PSEL Controller ME01722 Op

211. Product Check1.4 How to read the model No.1.4.1 RCP2R C P 2 - R A 2C - I - 2 0 P - 1 - 5 0 - P 1 - P - F L<Series Name> Standard Type

222. Specifications2. Specifications(1) Maximum SpeedThe maximum speed for the actuator is limited due to the resonance of the ball screw axis and the

232. Specifications[Motor Reversing]Restriction in Stroke and Maximum Speed (unit: mm/s)Type Motor TypeLead(mm)Stroke (mm)50 100 150 200 250 300RCP2-R

Please Read Before UseThank you for purchasing our product.This Operation Manual explains the handling methods, structure and maintenance of this prod

242. Specifications[With double guides]Restriction in Stroke and Maximum Speed (unit: mm/s)Type Motor TypeLead(mm)Stroke (mm)50 100 150 200 250 300RCP

252. Specifications(2) Speed and Transportable Weight Caution: Since RCP2 Series apply the pulse motor, the thrust would drop when it reaches the maxi

262. Specifications[RCP2-RA6C]00 100 200 300 400 500 600 70010203040506070Horizontal5535Lead 4Lead 4Lead 8Lead 8Lead 16Lead 16Acceleration at Horizont

272. SpecificationsƔ0RWRU5HYHUVLQJ[RCP2-RA3R]Velocity (mm/s)Velocity (mm/s)Load capacity (kg)Load capacity (kg)Horizontal0510152025300 50 100 150 20

282. Specifications[RCP2-RA8R]Velocity (mm/s) Velocity (mm/s)0406080100120020100 200 300020304050607080010100 200 300Acceleration at Horizontal Mount

292. SpecificationsƔ:LWK'RXEOHJXLGH[RCP2-RGD3C]Velocity (mm/s)Velocity (mm/s)00 50 100 150 200 250 300 350510152025303542Lead 2.5Lead 2.5Lead

302. SpecificationsƔ6SODVK3URRI7\SH[RCP2W-RA4C]Acceleration at Horizontal Mount : 0.2GVelocity (mm/s)Velocity (mm/s)00 100 200 300 400 500 600 7001

312. Specifications(3) Drive systemType Motor Type LeadNumber of Encoder Pulses*1Drive systemRCP2-RA2C 20P 1800Ball screwI6mmRolled C10RCP2-RA3CRCP2-R

322. SpecificationsƔ0RWRU5HYHUVLQJType Motor Type Lead Rod DiameterRod Non-rotating AccuracyRCP2-RA3R 28P2.5I22mmr1.5q5RCP2-RA4R 42P2.5I22mmr1.5q510

332. SpecificationsƔ6SODVK3URRI7\SHType Motor Type Lead Rod DiameterRod Non-rotating AccuracyRCP2W-RA4C 42P2.5I22mmr1.5q510RCP2W-RA6C 56P4I30mmr1.0

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

342. Specifications(7) Relationship of Current-limiting Value and Push ForceƔ6WDQGDUGCurrent Limit Value (Ratio %)Pressing Force (N)[RCP2-RA2C] [RCP2

352. SpecificationsƔ0RWRU5HYHUVLQJ[RCP2-RA3R] [RCP2-RA4R]Current Limit Value (Ratio %)1001201401606080402020 30 40 50 60 701000Lead 2.5Lead 5Current

362. SpecificationsƔ:LWK'RXEOHJXLGH[RCP2-RGD3C] [RCP2-RGD4C]Current Limit Value (Ratio %)8010020012014016018060402020 30 40 50 60 701000Lead 2

373. Product Life3. Product Life3.1 RCP2/RCP2W Rod Type for other than RCP2-RA8C, RA8R, RA10C and RCP2W-RA10CThe life is 5,000km (reference) under the

384. Installation Environment, Storage and Preservation Environment6. Operating and Storage Environment 6.1 Operating Environment The actuator should

395. Installation5. Installation5.1 Installing the Main Body(1) Using tapped mounting holes at back[A] Applicable models: RA2C, RA3C, RA3R, RGD3C type

405. Installation(2) Using T-grooves and square nuts Applicable models: RA4C, RA6C, RGS4C, RGS6C, RGD4C, RGD6C types T grooves are provided on the ac

415. Installation(3) Using mounting feet [A] Applicable models: RA2C, RA3C, RGD3C types [2] Install the mounting feet to the mounting frame with bo

425. Installation[B] Applicable models: RA4C, RA6C, RGS4C, RGS6C, RGD4C, RGD6C types [2] Install the mounting feet to the mounting frame with bolts.

435. Installation[C] Applicable models: RA10C (optional) [1] Install mounting feet using the tapped mounting holes at the back of the actuator. [2]

Table of ContentsSafety Guide...1Prec

445. Installation(4) Using tapped holes on datum surface[A] Applicable models: RA2C, RA3C, RA4C, RA6C, RA3R, RA4R, RA6R, RA10C types

455. InstallationFor RCP2-RA4R, RA6R, RA8R 50st equipped with the brake, the motor cover/motor-end cover exceed the datum surface line. Pay attention

465. Installation(5) Using a flange [A] Applicable models: RA3C, RA4C, RA6C, RGD4C, RGD6C types [B] Applicable models: RA10C (optional) Install a f

475. InstallationWhen mounting the unit in the horizontal orientation using the flange, have a support base as shown in the figure below.Support base

485. Installation(6) Method to Use Tapped Holes on BackApplicable model : RA3R, RA4R, RA6R, RA8RThere are tapped holes on the back for attachment. Uti

495. InstallationWhen mounting the unit in the horizontal orientation using the tapped holes on the back surface, have a support base as shown in the

506. Connecting the Controller6. Connection the controller6.1 WiringƔ ,QDXVHRIWKHDFWXDWRUZLWKWKHFDEOHVQRWIL[HGFRQVLGHUWRHDVHWKHORDGW

516. Connecting the ControllerWhen constructing an application system using the actuators and controllers, inappropriate wiring and connection of the

526. Connecting the ControllerƔWhen fixing the cable, provide a moderate slack and do not tension it too tight.Do not use spiral tube in any positio

537. Cautions in Operation7. Cautions in Operation7.1 Load on the ActuatorThe actual load should not exceed the value specified in the catalog.Be sure

10.4 Applying Grease to the Ball Screw and Rod Slide Surface...6710.4.1 Grease for Ball Screw ...

547. Cautions in Operation7.2 Caution for when setting to 60% or more of RCP2-RA8 pressing current limit valueWhen the pressing current limit value, w

557. Cautions in Operation2) Condition 2 The continuous operation torque of the cycle should be 2.08N•m or less.Calculate the torque for continuous

567. Cautions in OperationRead the values for To and Tw from Table 2 and Graph 5.1.01.21.41.61.82.02.22.42.630 40 50 60 70Motor Torque [N•m]Pressing/S

577. Cautions in Operation(2) Example of calculation and operation availability judgmentAs an example of a calculation, let's see if the continuo

587. Cautions in Operation3) Condition 3 Confirmation of the stop or pressing that the current limit value greater than 60% is only 1 time in 1 cyc

598. Option8. Option8.1 BrakeThis is a function to protect the object attached to the actuator from being damaged when the slider is dropped at the po

608. Option8.2 Flange BracketIt is a flanged metal plate to fix the main body of the actuator on the rod side. The model code is expressed with “FL”.9

618. Option8.3 Foot BracketIt is a metal component to fix the main body of the actuator with screws from top.The model code is expressed with “FT”.25S

628. Option8.4 Single GuideThe position of the rod for each model equipped with the single guide is as shown below:• Attached on Right : Model GS2• A

639. Motor • Encoder Cables9. Motor • Encoder Cables9.1 Cable for PMEC and PSEP Controllers1)Motor • Encoder Integrated Cable CB-PSEP-MPA***123456910

1Safety Guide³6DIHW\*XLGH´KDVEHHQZULWWHQWRXVHWKHPDFKLQHVDIHO\DQGVRSUHYHQWSHUVRQDOLQMXU\RUSURSHUW\GDPDJHEHIRUHKDQG0DNHVXUHWRUHDG

649. Motor • Encoder Cables9.2 Cable for PCON and PSEL Controllers1)Motor cable CB-RCP2-MA***AVMMBAVMMBAVMMABVMMBI-1318119-3SLP-06VM CableCN3 CN1A1A2

659. Motor • Encoder Cables4)Encoder cable CB-RFA-PA***Encoder Robot Cable CB-RFA-PA***-RB(For RCP2-RA8C, RA8R, RA10C and RCP2W-RA10C)LCN2CN4(5) (8)

6610. Maintenance10. Maintenance 10.1 Maintenance Schedule Perform maintenance work according to the schedule below. The schedule is set assuming eigh

6710. Maintenance10.4 Applying Grease to the Ball Screw and Rod Slide Surface10.4.1 Grease for Ball ScrewThe dedicated grease specified below has been

6810. Maintenance[2] Before applying grease, move therod by more than a half the stroke.To apply grease to the ball screw,spray grease into the screw

6911. Belt Replacement and Adjustment11. Belt Replacement and AdjustmentApplicable Unit : RCP2-RA8R11.1 Belt InspectionRemove the end plate and check

7011. Belt Replacement and Adjustment11.3 Replacement Belt[Requirements for Replacement]Ɣ 5HSODFHPHQW%HOWƔ +H[:UHQFK:LGWKDFURVVIODW PPPP

7111. Belt Replacement and Adjustment3) Replace the belt and adjust the belt tension.Dropping tools to be used : Hex Wrench (Width across flat = 5mm),

7212. Process for Motor Replacement12. Process for Motor Replacement12.1 Process to replace motor for RA8C and RA8R12.1.1 Process to replace motor for

7312. Process for Motor Replacement3) Untighten the hex socket head cap screw (M3 × 5) using a 1.5mm sized hex wrench.(Note) Do not forget to turn off

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

7412. Process for Motor Replacement6) Remove the 4 screws retaining the motor cover using a Phillips screwdriver.The motor cover will come off.7) Disc

7512. Process for Motor Replacement9) Pull out the motor.10) Insert the key on the new motor for replacement to the key groove.11) Place the key groov

7612. Process for Motor Replacement12) Insert the motor after confirming that the key groove on the main unit and the key on the motor are in the same

7712. Process for Motor Replacement15) Attach the motor cover.Pay attention to the power cables so they would not get into the screw guides.Also avoid

7812. Process for Motor Replacement18) Pull the rod further. In the range of lead length, you will find the second hex socket head cap screw (M3 × 5)

7912. Process for Motor Replacement12.1.2 Process to replace motor for RA8R[Requirements for Replacement]Ɣ +H[:UHQFKƔ 3KLOOLSVVFUHZGULYHUƔ 1HZPR

8012. Process for Motor Replacement3) Untighten the hex socket head cap screw (M3 × 5) using a 1.5mm sized hex wrench.(Note) Do not forget to turn off

8112. Process for Motor Replacement7) Disconnect the motor connector and encoder connector.Pay special attention to the encoder PCB so you would not t

8212. Process for Motor Replacement10) Insert the key on the new motor for replacement to the key groove.11) Place the key groove on the coupling of t

8312. Process for Motor Replacement13) Tighten the 4 screws (M4 × 14) using a 3mm sized hex wrench to hold the motor.Tightening Torque : 176N·cm (18.0

3No.Operation Description Description (2) Cable Wiring Ɣ8VHRXUFRPSDQ\¶VJHQXLQHFDEOHVfor connecting between the actuator and controller, and for

8412. Process for Motor Replacement16) Hold the motor cover with 4 screws and tighten them with a Phillips screwdriver.17) You will be able to see the

8512. Process for Motor Replacement19) Untighten the hex socket head cap screw (M3 × 5) using a 1.5mm sized hex wrench.Tightening Torque : 85N·cm (8.7

8612. Process for Motor Replacement12.2 Process to replace motor for RA10C[Requirements for Replacement]Ɣ +H[:UHQFKƔ 0RWRUIRUUHSODFHPHQWVKRZQEH

8712. Process for Motor Replacement3) Disconnect the encoder connector shown with an arrow.4) Slide the motor cover away from the motor to disconnect

8812. Process for Motor Replacement7) Attach the motor to the motor bracket with the screws (M5).Tightening Torque : 727N·cm (74.2kgf·cm)8) Connect th

8912. Process for Motor Replacement10) Confirm that the motor cable connector is in the position as shown on the left.Connect the encoder connector.11

9012. Process for Motor Replacement(2) Brake-equipped TypeFor the brake-equipped type, the replacement is done with the whole unit of the motor ass’y

9113. Appendix13. Appendix13.1 External Dimensions13.1.1 RCP2-RA2C4-M3, effectivedepth 5141910PHome PositionSEMEME(1)1Stroke1210Lp161Secure at least 1

9213. Appendix13.1.2 RCP2-RA3CDimensions for Accessory Nut to Attach on Rod Tipn-M4 Depth 66(19.6)17M10s1.251428351.5 1.51417.528353814.50.542.54-M4 D

9313. Appendix13.1.3 RCP2-RA4CDETAIL: ADimensions for AccessoryNut to Attach on Rod Tip6(19.6)17M10s1.254.37.31.8 4.3141734452.5 2.514344724.510.51350