Iai-america RCP4-RA6R User Manual

1IAI America, Inc.ROBO CylinderRadial Cylinder RCP4 ActuatorRod Type Operation Manual Seventh Edition Motor straight type RA5C, RA6C Motor Reve

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

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

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

8 Precautions 1. Do not attempt to establish the settings for the speed and acceleration/deceleration above the allowable range. An operation with

9Names 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

1. Checking the Product101. Specifications Check 1.1 Checking the Product The standard configuration of this product is comprised of the following p

1. Checking the Product11 1.1.4 How to Read the Model Number RCP4 í RA5C í I í 42P í 3 í 50 í P3 í P í B í **Note 1 Identification for IAI use only

1. Checking the Product121.2 Specification 1.2.1 Speed [When high–output setting is effective] Speed limits (Unit: mm/s) Stroke [mm] SizeMotorType L

1. Checking the Product13 [When high–output setting is ineffective]Strokes and maximum speed limits (Unit: mm/s)Stroke [mm] SizeMotorType Lead[mm]H

1. Checking the Product141.2.2 Maximum Acceleration and Transportable Weight If the transportable weight is smaller than as specified, the accelerati

1. Checking the Product15Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.3G 0.

1. Checking the Product16Payload capacity by acceleration/deceleration [kg]Type Motor TypeLead[mm]Horizontal / VerticalVelocity [mm/s]0.1G 0.3G 0

1. Checking the Product17Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.3G 0.

1. Checking the Product18[When high–output setting for motor Reversing type is effective] Payload capacity by acceleration/deceleration [kg]Type Mo

1. Checking the Product19Payload capacity by acceleration/deceleration [kg]Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.3G

1. Checking the Product20Payload capacity by acceleration/deceleration [kg]Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.2G

1. Checking the Product21[When high–output setting for motor straight type is ineffective] Payload capacity by acceleration/deceleration [kg] Type Mo

1. Checking the Product22Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.2G 0.

1. Checking the Product23[When high–output setting for motor reversing type is ineffective] Payload capacity by acceleration/deceleration [kg] Type

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

1. Checking the Product24Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.2G 0.

1. Checking the Product251.2.3 Driving System • Position Detector Ball Screw Type Type Motor Type Lead No. of Encoder Pulses Type Diameter Accurac

1. Checking the Product261.2.5 Current Limit Value and Pressing Force Ɣ RA5C, RA5R [N]Current Limit Value Lead 3 Lead 6 Lead 12 Lead 20 20% 10

1. Checking the Product27Ɣ RA6C, RA6R [N]Current Limit Value Lead 4 Lead 8 Lead 16 Lead 24 20% 312 156 78 52 30% 469 234 117 78 40% 625

1. Checking the Product281.2.6 Allowable Load and Torque on Rod Tip Ɣ RCP4㵨RA5C/RA6C/RA5R/RA6R actuator possesses a built㵨in guide structure that ena

1. Checking the Product291.2.7 Rod Flexure (Reference) (Note) This is the flexure of the rod when the actuator is installed vertically. It does not i

1. Checking the Product30(Left Reversed) (Right Reversed)ML MR1.3 Options 1.3.1 Brake Type (Model: B) The brake is a mechanism designed to prevent t

1. Checking the Product311.4 Motor • Encoder Cables 1.4.1 Motor • Encoder Integrated Cables CB㵨CA㵨MPAƑƑƑSPND-002T-C0.5 (AWG26)SPND-001T-C0.5 (AWG22)

1. Checking the Product321.4.2 Motor • Encoder Integrated Cables Robot Type CB㵨CA㵨MPAƑƑƑ㵨RBSPND-002T-C0.5 (AWG26)SPND-001T-C0.5 (AWG22)Contact : 1827

2. Installation332. Installation 2.1 Transportation [1] Handling of Robot (1) Handling the Packed Unit Unless otherwise specified, the actuator is s

2. Installation34[2] Handling in Assembled Condition x When carrying the actuator, exercise caution not to bump it against nearby objects or structur

2. Installation352.2 Installation and Storage • Preservation Environment [1] Installation Environment The actuator should be installed in a location

2. Installation362.3 How to Installation This chapter explains how to install the actuator on your mechanical system. 2.3.1 General Rules on Install

2. Installation372.3.2 Installation of Main Unit The surface to mount the main unit should be a machined surface or a plane that possesses an equival

2. Installation38[2] Using the Mounting Holes on the Top of the Base There are through holes equipped on the base so the unit can be attached from th

2. Installation39[3] When using Tapped Holes on Front Housing 䎃There are tapped holes equipped on the front housing. Utilize these tapped holes for i

2. Installation40[4] When using Front Flange (Option) There are holes for attachment on the front flange. Utilize these holes for the installation. T

2. Installation41䃁 Caution for Installation using Front Housing and Front Flange Do not attempt to apply any external force to the body when installi

2. Installation42[5] When Utilizing Attachment Holes on the Bracket for Motor-Reversed Type䎃There are tapped holes prepared on the reversing bracket

2. Installation43Availability of installation for each installation posture is as shown below: (Note) When it is perpendicular installation without s

Table of Contents Safety Guide ...

2. Installation44[6] Attachment of Work Part (Transported Object) Utilize the threaded part on the rod tip to attach the work part (transported object

3. Connecting with Controller453. Connecting with Controller As the connection cable for the controller and RCP4 (this actuator), use the IAI-dedicat

3. Connecting with Controller46Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipment, p

3. Connecting with Controller47• Do not let the cable bend, kink or twist. • Do not pull the cable with a strong force. • Pay attention not to conc

3. Connecting with Controller48• PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them t

4. Caution for Operation494. Caution for Operation䎃x When the reaction force against the pressing operation is the side㵨way force, make sure it woul

4. Caution for Operation50x When using a stroke of more than 200 and the load is eccentric (offset), the rod may generate vibration in some operation

5. Maintenance Inspection515. Maintenance Inspection 5.1 Inspection Items and Schedule Follow the maintenance inspection schedule below. It is assum

5. Maintenance Inspection525.4 Internal Inspections Turn OFF the power, remove the side cover and have a visual inspection. When inspecting the inter

5. Maintenance Inspection535.5 Internal Cleaning Ɣ Use a soft cloth to wipe away dirt and buildup. Ɣ Do not blow too hard with compressed air as it

5.6 Grease Supply ...

5. Maintenance Inspection545.6.3 Grease to be applied on the Rod (Sliding Surface) The following grease is applied when the product is shipped out fr

5. Maintenance Inspection555.6.4 How to apply grease (1) With 2.5mm (RA5C, RA5R) or with 3mm (RA6C, RA6R) hex wrench, loosen the screws holding the

5. Maintenance Inspection56(3) After cleaning up the guide on both sides, apply the grease. Slide the rod back and forth to evenly apply the grease.

5. Maintenance Inspection57(5) If the unit is not equipped with the scraper (option), clean up the rod (sliding surface) and apply the grease with ha

5. Maintenance Inspection585.7 Procedure for Belt Replacement and Tuning Applicable Untis : RCP4-RA5R, RA6R 5.7.1 Inspection of the Belt For inspect

5. Maintenance Inspection595.7.3 Replacement of the Belt [Items Required for Replacemet Work] x Belt for Replacement x Hex wrench 1.5mm, 2.5mm (RA5R)

5. Maintenance Inspection603) Adjust the belt tension. Hand a cable band (thin string) on the edge of the motor unit and pull it on a tension gauge w

5. Maintenance Inspection615.8 Motor Replacement Process 5.8.1 RCP4-RA5C, RA6C [Items required for replacing the motor] x Motor Unit for Replaceme

5. Maintenance Inspection623) Make the profiles on the actuator side and motor unit side aligned so the projection matches to the slit. 4) Attach the

5. Maintenance Inspection635.8.2 RCP4-RA5R, SA6R [Items Required for Replacement Work] x Motor Unit for Replacement x Hex Wrench Set 3mm-sized[Proc

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

5. Maintenance Inspection643) Make the profiles on the actuator side and motor unit side aligned so the projection matches to the slit. 4) Attach the

5. Maintenance Inspection655.9 Procedure to Replace Scraper (Option) [Items required for replacing the motor] x Hex wrench set x Replacement Scraper

5. Maintenance Inspection663) Detach the scraper. Attach the scraper for replacement. Pay attention to the orientation of the scraper. 

6. External Dimensions676. External Dimensions6.1 RA5C Datum SurfaceDetail: X(Attachment hole and datum surface)4-M6 depth 12D-M4 depth 12Stroke41.5

6. External Dimensions686.2 RA6C Datum SurfaceWidth across Flats Section Detail: X(Attachment hole and datum surface)4-M8 depth 16StrokeO.D. RodAffi

6. External Dimensions696.3 RA5R XY33K41.5 L27.5MEME SE SE(28)(13)22 7.531.520(300)(32.5)(28.5)116(156)M10×1.25505229.55253P.C.D.3990° Distribution14

6. External Dimensions706.4 RA6R XY3 354K 33LMEME SESE(28)(13)30.54225(37)(55)148.5(198.5)20(300)M14×1.5P.C.D.4390° Distribution563358191945°60(14)75

7. Life717. Life The product life is estimated as 5000km (reference) under the condition that it is operated with maximum transportable weight, maxim

8. Warranty728. Warranty 8.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company

8. Warranty738.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with anoth

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

Change History74Change History Revision Date Description of Revision September 2011 November 2011 February 2012 March 2012 May 2012 July 2012 August

Manual No.: ME3718-7A (August 2012)The information contained in this document is subject to change without notice for purposes of product improvement.

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