Motor-reversing Short Rod Type
SRA4R, SRGS4R, SRGD4R
ROBO Cylinder
Short Type
RCP2/RCA Actuator
Motor-reversing Specification
Operating Manual
Fifth Edition
IAI America, Inc.
Please Read Before Use
Thank you for purchasing our product.
This Operation 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 Operation Manuals for IAI products.
When using the product, refer to the necessary portions of the applicable Operation manual by printing
them out or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this
product can reference it quickly when necessary.
[Important]
x This Operation Manual is original.
x The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI
shall assume no responsibility for the outcome of any operation not specified herein.
x Information contained in this Operation Manual is subject to change without notice for the purpose
of product improvement.
x If you have any question or comment regarding the content of this manual, please contact the IAI
sales office near you.
x Using or copying all or part of this Operation Manual without permission is prohibited.
x The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.
Table of Contents
Safety Guide ························································································································1
Precautions in Handling·······································································································8
International Standards Compliances ·················································································· 9
Names of the Parts (or option)···························································································10
1. Specifications Check··································································································· 13
1.1 Checking the Product ·····································································································13
1.1.1 Parts ··································································································································13
1.1.2 Instruction Manuals related to this product, which are contained in the CD/DVD.···········13
1.1.3 How to Read the Model Nameplate··················································································14
1.1.4 How to Read the Model Number·······················································································15
1.2 Specification····················································································································17
1.2.1 Speed································································································································17
1.2.2 Maximum Acceleration and Transportable Weight ···························································18
1.2.3 Driving System and Position Detector ··············································································18
1.2.4 Positioning Accuracy·········································································································18
1.2.5 Rod Non-Rotation Accuracy······························································································20
1.2.6 Relation Between Current Limit and Pressing Force························································21
1.2.7 Duty Ratio in Continuous Operation ·················································································23
1.3 Option ·····························································································································24
1.3.1 With Brake (Model No.: B) ································································································24
1.3.2 Flange Bracket (Front) (Model No.: FL)············································································24
1.3.3 Flange Bracket (Front) (Model No.: FLR) ·········································································24
1.3.4 Foot Brackets 1 (Model No.: FL)·······················································································25
1.3.5 Foot Brackets 2 (Model No.: FT2 (Attachment to the Right Side),
FT2 (Attachment to the Left Side))····················································································25
1.3.6 Low Power Consumption Type (Model No.: LA)·······························································25
1.3.7 Guide Oriented Direction (Model No. : GS2 to GS4)························································25
1.4 Motor • Encoder Cables··································································································26
2. Installation···················································································································28
2.1 Transportation·················································································································28
2.2 Installation and Storage • Preservation Environment······················································30
2.3 How to Installation···········································································································31
2.3.1 Installation of the Main Unit·······························································································31
2.3.2 Attachment Surface···········································································································31
2.3.3 Tightening Screws·············································································································31
3. Connecting with the Controller ····················································································32
4. Setting of Home Position ····························································································36
4.1 Fine-Tuning of Home Position ························································································36
4.2 Change the direction of the home···················································································36
5. Inspection ··················································································································· 37
5.1 Inspection Items and Inspection Schedule ·····································································37
5.2 Visual Inspection·············································································································37
5.3 Cleaning··························································································································37
5.4 Grease Supply················································································································38
5.4.1 Grease to Apply ················································································································38
5.4.2 Grease Supply ··················································································································38
5.5 Replacing the Motor and Belt ·························································································38
6. External Dimensions ··································································································· 39
6.1 RCP2-SRA4R/RCA-SRA4R ···························································································39
6.2 RCP2-SRGS4R/RCA-SRGS4R (Single guide (option) installed on the right) ················40
6.3 RCP2-SRGS4R/RCA-SRGS4R (Single guide (option) installed on the left) ··················41
6.4 RCP2-SRGS4R/RCA-SRGS4R (Single guide (option) installed at the bottom) ·············42
6.5 RCP2-SRGS4R/RCA-SRGS4R (Double guide (option)) ················································43
6.6 Flange Bracket (option) installed ····················································································44
6.7 Foot Bracket (option) installed ························································································45
7. Warranty ·····················································································································46
7.1 Warranty Period ··············································································································46
7.2 Scope of the Warranty ····································································································46
7.3 Honoring the Warranty····································································································46
7.4 Limited Liability ···············································································································47
7.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications··············································································································47
7.6 Other Items Excluded from Warranty··············································································47
Change History ··················································································································48
1
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.
Operation
Description
Description
1 Model Selection Ɣ This product has not been planned and designed for the application where high
level of safety is required, so the guarantee of the protection of human life is
impossible. Accordingly, do not use it in any of the following applications.
1) Medical equipment used to maintain, control or otherwise affect human life
or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Ɣ Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding the
specification range
4) Location where radiant heat is added from direct sunlight or other large heat
source
5) Location where condensation occurs due to abrupt temperature changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ For an actuator used in vertical orientation, select a model which is equipped
with a brake. If selecting a model with no brake, the moving part may drop
when the power is turned OFF and may cause an accident such as an injury or
damage on the work piece.
2
No.
Operation
Description
Description
2 Transportation 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.
Ɣ When in transportation, consider well about the positions to hold, weight and
weight balance and pay special attention to the carried object so it would not
get hit or dropped.
Ɣ Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts attached
or there are tapped holes to attach bolts. Follow the instructions in the
operation manual for each model.
Ɣ Do not step or sit on the package.
Ɣ Do not put any heavy thing that can deform the package, on it.
Ɣ When using a crane capable of 1t or more of weight, have an operator who has
qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a load
that weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the hook
in such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane.
Ɣ Do not leave a load hung up with a crane.
Ɣ Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
Ɣ The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
Ɣ Store the products with a consideration not to fall them over or drop due to an
act of God such as earthquake.
4 Installation and
Start
(1) Installation of Robot Main Body and Controller, etc.
Ɣ Make sure to securely hold and fix the product (including the work part). A fall,
drop or abnormal motion of the product may cause a damage or injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
Ɣ Do not get on or put anything on the product. Failure to do so may cause an
accidental fall, injury or damage to the product due to a drop of anything,
malfunction of the product, performance degradation, or shortening of its life.
Ɣ When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or chemical
droplets
3
No.
Operation
Description
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.
Ɣ Perform the wiring for the product, after turning OFF the power to the unit, so
that there is no wiring error.
Ɣ When the direct current power (+24V) is connected, take the great care of the
directions of positive and negative poles. If the connection direction is not
correct, it might cause a fire, product breakdown or malfunction.
Ɣ Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction of
the product.
Ɣ Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
4 Installation and
Start
(3) Grounding
Ɣ The grounding operation should be performed to prevent an electric shock or
electrostatic charge, enhance the noise-resistance ability and control the
unnecessary electromagnetic radiation.
Ɣ For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair cable with
wire thickness 0.5mm
2
(AWG20 or equivalent) or more for grounding work. For
security grounding, it is necessary to select an appropriate wire thickness
suitable for the load. Perform wiring that satisfies the specifications (electrical
equipment technical standards).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground resistance
100: or below).
4
No.
Operation
Description
Description
4 Installation and
Start
(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. When the robot
under operation is touched, it may result in death or serious injury.
Ɣ Make sure to install the emergency stop circuit so that the unit can be stopped
immediately in an emergency during the unit operation.
Ɣ Take the safety measure not to start up the unit only with the power turning ON.
Failure to do so may start up the machine suddenly and cause an injury or
damage to the product.
Ɣ Take the safety measure not to start up the machine only with the emergency
stop cancellation or recovery after the power failure. Failure to do so may result
in an electric shock or injury due to unexpected power input.
Ɣ When the installation or adjustment operation is to be performed, give clear
warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden
power input may cause an electric shock or injury.
Ɣ Take the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure safety.
Ɣ Do not insert a finger or object in the openings in the product. Failure to do so
may cause an injury, electric shock, damage to the product or fire.
Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution
not to pinch your hand or damage the work parts with the actuator dropped by
gravity.
5 Teaching 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 teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably inside
the safety protection fence, prepare the “Stipulations for the Operation” and
make sure that all the workers acknowledge and understand them well.
Ɣ When the operation is to be performed inside the safety protection fence, the
worker should have an emergency stop switch at hand with him so that the unit
can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so that
any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution
not to pinch your hand or damage the work parts with the actuator dropped by
gravity.
* Safety protection Fence : In the case that there is no safety protection fence,
the movable range should be indicated.
5
No.
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 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.
Ɣ When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Ɣ Make sure to perform the programmed operation check at the safety speed.
Failure to do so may result in an accident due to unexpected motion caused by
a program error, etc.
Ɣ Do not touch the terminal block or any of the various setting switches in the
power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Ɣ Check before starting the automatic operation or rebooting after operation stop
that there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral equipment is
in an automatic-operation-ready state and there is no alarm indication.
Ɣ Make sure to operate automatic operation start from outside of the safety
protection fence.
Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn OFF the
power switch. Failure to do so may result in a fire or damage to the product.
Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so may
cause an injury or damage to the product, due to a sudden motion of the
product in the recovery operation from the power failure.
6
No.
Operation
Description
Description
8 Maintenance
and Inspection
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. In the case that
the operation is to be performed unavoidably inside the safety protection fence,
prepare the “Stipulations for the Operation” and make sure that all the workers
acknowledge and understand them well.
Ɣ When the work is to be performed inside the safety protection fence, basically
turn OFF the power switch.
Ɣ When the operation is to be performed inside the safety protection fence, the
worker should have an emergency stop switch at hand with him so that the unit
can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so that
any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ For the grease for the guide or ball screw, use appropriate grease according to
the operation manual for each model.
Ɣ Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution
not to pinch your hand or damage the work parts with the actuator dropped by
gravity.
Ɣ The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an unnecessary
operation.
Ɣ Pay attention not to lose the cover or untightened screws, and make sure to
put the product back to the original condition after maintenance and inspection
works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection fence,
the movable range should be indicated.
9 Modification and
Dismantle
Ɣ Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
Ɣ When removing the actuator for disposal, pay attention to drop of components
when detaching screws.
Ɣ Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Ɣ Do not come close to the product or the harnesses if you are a person who
requires a support of medical devices such as a pacemaker. Doing so may
affect the performance of your medical device.
Ɣ See Overseas Specifications Compliance Manual to check whether complies if
necessary.
Ɣ For the handling of actuators and controllers, follow the dedicated operation
manual of each unit to ensure the safety.
7
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 Degree of Danger and Damage Symbol
Danger
This indicates an imminently hazardous situation which, if the product is
not handled correctly, will result in death or serious injury.
Danger
Warning
This indicates a potentially hazardous situation which, if the product is
not handled correctly, could result in death or serious injury.
Warning
Caution
This indicates a potentially hazardous situation which, if the product is
not handled correctly, may result in minor injury or property damage.
Caution
Notice
This indicates lower possibility for the injury, but should be kept to use
this product properly.
Notice
8
Precautions in Handling
1. Ensure use of the product in the specified conditions, environments and ranges.
Operation out of the specified conditions could cause a drop in performance or malfunction of the product.
2. Back and forth operation in short distance may wear out the oil film of the grease.
If the actuators are moved back and forth continuously over a short distance of 30 mm or less, grease film
may run out.
As a guide, move the actuators back and forth repeatedly for around 5 cycles over a distance of 50 mm or
more after every 5,000 to 10,000 cycles. Keep using the actuators with the grease worn out may cause
malfunction.
3. Do not attempt to apply a rotary torque the rod.
Make the rod axis center and the load movement direction are the same.
Doing so may damage the internal component such as the rod stopper, and may result in an operation
failure.
Make sure to hold the rod with a wrench sized 14 when tightening a nut on the tip of the rod.
4. Do not attempt to apply load more than allowable value (the value same as the
maximum pressing force) or impact load to the thrust direction.
Doing so may damage the internal component such as the rod stopper, and may result in an operation
failure.
5. Make sure to attach the actuator properly by following this operation manual.
Using the product with the actuator not being certainly retained or affixed may cause abnormal noise,
vibration, malfunction or shorten the product life.
9
International Standards Compliances
This actuator complies with the following overseas standards.
Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
RoHS Directive CE Marking
ż ż
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Names of the Parts (or option)
In this Operation Manual, the left and right sides are indicated by looking at the actuator from the motor end,
with the actuator placed horizontally, as shown in the figure below.
(1) Motor-reversing short rod type
• RCP2-SRA4R
• RCA-SRA4R
Right Left
Bottom
Tapped hole for installation on front face
Greasing port (thinhead screw)
Rod tip adapter
Opposite side
of the Motor
Motor side
Aluminum frame
Rod
Cable
Tapped hole for installation on bottom face
Tapped hole for
installation on side face
Tapped hole for
installation on rear face
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(2) Motor-reversing short rod type with single guide installed on the right (option)
• RCP2-SRGS4R
• RCA-SRGS4R
Guide rod
Guide bearing
Guide bracket
Opposite side
of the Motor
Motor side
(3) Motor-reversing short rod type with single guide installed on the left (option)
• RCP2-SRGS4R
• RCA-SRGS4R
Guide rod
Guide bearing
Guide bracket
Opposite side
of the Motor
Motor side
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