IAI RCP2-SA5R, RCP2-HS8C, RCP2-SA6R, RCP2-SA7R, RCP2-SS8R Operating Manual

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ROBO Cylinder

RCP2/RCP2CR Actuators

Slider Type

Operating Manual

Fifteen Edition

Standard type:

Cleanroom type:

Motor coupling type: RCP2-SA5C, SA6C,SA7C

SS7C, SS8C, HS8C

Motor reversing type:

Motor coupling type: RCP2CR-SA5C, SA6C, SA7C

RCP2-SA5R, SA6R, SA7R

SS7R, SS8R, HS8R

SS7C, SS8C, HS8C

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 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]

This Operation Manual is original. 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. Information contained in this Operation Manual is subject to change without notice for the purpose of product improvement. If you have any question or comment regarding the content of this manual, please contact the IAI sales office near you. Using or copying all or part of this Operation Manual without permission is prohibited. The company names, names of products and trademarks of each company shown in the sentences are registered trademarks.

CAUTION

BE SURE TO CHECK SCREW LENGTH.

DAMAGE CAN OCCUR IF TOO LONG OF SCREWS ARE USED!

Model Actuator Base Thread Depth

SA5 4 mm or more and 7 mm or less SA6 5 mm or more and 9 mm or less SA7 5 mm or more and 9 mm or less SS7 5 mm or more and 8 mm or less SS8 8 mm or more and 10 mm or less HS8 8 mm or more and 10 mm or less

Note

Greasing Actuators of Cleanroom Specification

For ROBO Cylinder actuators of cleanroom specification, use grease of low-dust-raising

type for cleanroom applications.

The grease specified in the maintenance/inspection sections of the Operating Manual is for

actuators of standard specification. Using the grease for the standard actuators on the cleanroom actuators may generate dust

Recommended grease: C Grease by Kuroda Precision Industries Ltd.

C Grease by Kuroda Precision Industries is applied to the cleanroom actuators before

shipment from IAI.

Table of Contents

Safety Guide .................................................................................................................................................................1

Handling Precautions....................................................................................................................................................8

Names of Parts ...........................................................................................................................................................12

1. Checking the Product..........................................................................................................................................16

1.1 Components ................................................................................................................................................16

1.2 Operation Manuals for Controllers Supported by This Product ..................................................................16

1.3 How to Read Model Nameplate ..................................................................................................................17

1.4 How to Read Model Number .......................................................................................................................17

2. Specification........................................................................................................................................................18

3. Life.......................................................................................................................................................................33

3.1 How to Calculate Operaition Life.................................................................................................................33

3.2 Operation Life ............................................................................................................................................ 34

4. Installation and Storage/Preservation Environment............................................................................................35

4.1 Installation Environment ..............................................................................................................................35

4.2 Storage/Preservation Environment .............................................................................................................35

5. Installation ...........................................................................................................................................................36

5.1 Installation ...................................................................................................................................................36

5.2 Notes on Installation....................................................................................................................................37

5.3 Installing the Main Body ..............................................................................................................................38

5.3.1 Using the Tapped Holes at Back of the Base (All Types) .....................................................................38

5.3.2 Using the Mounting Holes on Top of the Base (SA5C, SA6C, SA7C)..................................................39

5.4 Installing the Load to the Slider ...................................................................................................................40

5.5 Reference Surface and Mounting Surface ..................................................................................................41

5.6 Clamp Screws .............................................................................................................................................42

5.7 Cleanroom Specification .............................................................................................................................43

5.7.1 Recommended Suction Rate................................................................................................................. 43

5.7.2 Suction Joint ..........................................................................................................................................43

6. Connection with Controllers ................................................................................................................................44

6.1 Wiring ..........................................................................................................................................................44

7. Options................................................................................................................................................................48

7.1 Brake ...........................................................................................................................................................48

7.2 Reversed Home Specification .....................................................................................................................48

7.3 Motor Reversing at Left, Motor Reversing at Right.....................................................................................48

7.4 Slider Roller Specification ...........................................................................................................................48

7.5 Suction Joint on Opposite Side ...................................................................................................................48

8. Motor/Encoder Cable ..........................................................................................................................................49

8.1 PMEC/PSEP Controller Cables...................................................................................................................49

8.2 PCON/PSEL Controller Cables ...................................................................................................................50

9. Maintenance and Inspection ...............................................................................................................................52

9.1 Inspection Items and Schedule ...................................................................................................................52

9.2 Visual Inspection of the Machine Exterior ...................................................................................................52

9.3 Cleaning ......................................................................................................................................................53

9.4 Adjusting the Stainless Sheet......................................................................................................................53

9.5 Interior Inspection........................................................................................................................................54

9.6 Internal Cleaning .........................................................................................................................................55

9.7 Grease Suppiy.............................................................................................................................................55

9.7.1 Applicable Grease .................................................................................................................................55

9.7.2 How to Apply Grease.............................................................................................................................57

9.8 Replacing/Adjusting the Stainless Sheet ....................................................................................................58

9.9 Reduction Belt [Motor Reversing Type]: SA5R, SA6R, SA7R, SS7R, SS8R, HS8R...................................64

9.9.1 Inspecting the Belt .....................................................................................................................................64

9.9.2 Applicable Belt.......................................................................................................................................64

9.9.3 Adjusting the Belt Tension.....................................................................................................................64

9.9.4 Replacing the Belt : SA5R, SA6R, SA7R, SS7R, SS8R, HS8R ...........................................................66

9.10 Replacing the Motor ....................................................................................................................................74

9.10.1 Motor coupling Type ..............................................................................................................................74

9.10.2 Motor Reversing Type ...........................................................................................................................92

10. Appendix ...........................................................................................................................................................100

10.1 External Dimensions..................................................................................................................................100

10.1.1 RCP2-SA5C.........................................................................................................................................10 0

10.1.2 RCP2-SA6C.........................................................................................................................................101

10.1.3 RCP2-SA7C.........................................................................................................................................102

10.1.4 RCP2-SS7C.........................................................................................................................................103

10.1.5 RCP2-SS8C.........................................................................................................................................104

10.1.6 RCP2-HS8C ........................................................................................................................................105

10.1.7 RCP2-SA5R.........................................................................................................................................106

10.1.8 RCP2-SA6R.........................................................................................................................................107

10.1.9 RCP2-SA7R.........................................................................................................................................108

10.1.10 RCP2-SS7R.........................................................................................................................................109

10.1.11 RCP2-SS8R.........................................................................................................................................110

10.1.12 RCP2-HS8R ........................................................................................................................................111

10.1.13 RCP2-SA5C.........................................................................................................................................112

10.1.14 RCP2CR-SA6C ...................................................................................................................................113

10.1.15 RCP2CR-SA7C ...................................................................................................................................114

10.1.16 RCP2CR-SS7C ...................................................................................................................................115

10.1.17 RCP2CR-SS8C ...................................................................................................................................116

10.1.18 RCP2CR-HS8C ...................................................................................................................................117

10.2 How to use the home mark ........................................................................................................................100

11. Warranty............................................................................................................................................................119

11.1 ᴾᴾᴾ

11.2 ᴾᴾᴾ

11.3 ᴾᴾᴾ

11.4 ᴾᴾᴾ

11.5 ᴾᴾᴾ

11.6 ᴾᴾᴾ

Warranty Period Scope of Warranty

Honoring the Warranty Limited Liability

.................................................................................................................

.............................................................................................................................

.......................................................................................................................

...........................................................................................................

Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications

ᴾᴾᴾ

Other ltems Excluded from Warranty

...............................................................................................................

................................................................................................

.........

........

....

........

119 119

120 120

Change History ........................................................................................................................................................ 121

Safety Guide

When designing and manufacturing a robot system, ensure safety by following the safety precautions

“Safety Guide” has been written to use the machine safely and so prevent personal injury or property

provided below and taking the necessary measures.

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.

1 Model

2 Transportation When the work is carried out with 2 or more persons, make it clear who is to

3 Storage and

Operation

Description

No.

1 Model

Operation

Description

Selection

Preservation

Safety Precautions for Our Products

Description

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

Ɣ This product has not been planned and designed for the application where

life is impossible. Accordingly, do not use it in any of the following

high level of safety is required, so the guarantee of the protection of

applications.

human life is impossible. Accordingly, do not use it in any of the following

1) Medical equipment used to maintain, control or otherwise affect human life

applications.

or physical health.

1) Medical equipment used to maintain, control or otherwise affect human

2) Mechanisms and machinery designed for the purpose of moving or

life or physical health.

transporting people (For vehicle, railway facility or air navigation facility)

2) Mechanisms and machinery designed for the purpose of moving or

3) Important safety parts of machinery (Safety device, etc.)

transporting people (For vehicle, railway facility or air navigation facility)

Do not use it in any of the following environments.

3) Important safety parts of machinery (Safety device, etc.)

1) Location where there is any inflammable gas, inflammable object or

Ɣ Do not use the product outside the specifications. Failure to do so may

explosive

considerably shorten the life of the product.

2) Place with potential exposure to radiation

Ɣ Do not use it in any of the following environments.

3) Location with the ambient temperature or relative humidity exceeding the

1) Location where there is any inflammable gas, inflammable object or

specification range

explosive

4) Location where radiant heat is added from direct sunlight or other large

2) Place with potential exposure to radiation

heat source

3) Location with the ambient temperature or relative humidity exceeding

5) Location where condensation occurs due to abrupt temperature changes

the specification range

6) Location where there is any corrosive gas (sulfuric acid or hydrochloric

4) Location where radiant heat is added from direct sunlight or other large

acid)

heat source

7) Location exposed to significant amount of dust, salt or iron powder

5) Location where condensation occurs due to abrupt temperature

8) Location subject to direct vibration or impact

changes

6) Location where there is any corrosive gas (sulfuric acid or hydrochloric

Do not use the product outside the specifications. Failure to do so may

acid)

considerably shorten

7) Location exposed to significant amount of dust, salt or iron powder

8) Location subject to direct vibration or impact

be the leader and who to be the follower(s) and communicate well with each

Ɣ For an actuator used in vertical orientation, select a model which is

other to ensure the safety of the workers.

equipped with a brake. If selecting a model with no brake, the moving part

Consider well so that it is not bumped against anything or dropped during the

may drop when the power is turned OFF and may cause an accident such

transportation.

as an injury or damage on the work piece.

Transport it using an appropriate transportation measure. Do not step or sit on the package. Do not put any heavy thing that can deform the package, on it. When using a crane capable of 1t or more of weight, have an operator who

has qualifications for crane operation and sling work.

When using a crane or equivalent equipments, make sure not to hang a load

that weighs more than the equipment’ s capability limit.

Use a hook that is suitable for the load. Consider the safety factor of the hook

in such factors as shear strength. Do not get on the load that is hung on a crane. Do not leave a load hung up with a crane. Do not stand under the load that is hung up with a crane. The storage and preservation environment conforms to the installation

environment.

However, especially give consideration to the prevention of condensation.

Description

Operation

No.

4 Installation and

2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or

3 Storage and

4 Installation

Operation

Description

Start

Preservation

and Start

Description

(1) Installation of Robot Main Body and Controller, etc.

Make sure to securely hold and fix the product (including the work part). A fall,

utilize equipment such as crane.

drop or abnormal motion of the product may cause a damage or injury.

Ɣ When the work is carried out with 2 or more persons, make it clear who is

Do not get on or put anything on the product. Failure to do so may cause an

to be the leader and who to be the follower(s) and communicate well with

accidental fall, injury or damage to the product due to a drop of anything,

each other to ensure the safety of the workers.

malfunction of the product, performance degradation, or shortening of its life.

Ɣ When in transportation, consider well about the positions to hold, weight

When using the product in any of the places specified below, provide a

and weight balance and pay special attention to the carried object so it

sufficient shield.

would not get hit or dropped.

1) Location where electric noise is generated

Ɣ Transport it using an appropriate transportation measure.

2) Location where high electrical or magnetic field is present

The actuators available for transportation with a crane have eyebolts

3) Location with the mains or power lines passing nearby

attached or there are tapped holes to attach bolts. Follow the instructions

4) Location where the product may come in contact with water, oil or chemical

in the operation manual for each model.

droplets

Ɣ Do not step or sit on the package. Ɣ Do not put any heavy thing that can deform the package, on it.

(2) Cable Wiring

Ɣ When using a crane capable of 1t or more of weight, have an operator

Use our company’ s genuine cables for connecting between the actuator and

who has qualifications for crane operation and sling work.

controller, and for the teaching tool.

Ɣ When using a crane or equivalent equipments, make sure not to hang a

Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil

load that weighs more than the equipment’s capability limit.

it around. Do not insert it. Do not put any heavy thing on it. Failure to do so

Ɣ Use a hook that is suitable for the load. Consider the safety factor of the

may cause a fire, electric shock or malfunction due to leakage or continuity

hook in such factors as shear strength.

error.

Ɣ Do not get on the load that is hung on a crane.

Perform the wiring for the product, after turning OFF the power to the unit, so

Ɣ Do not leave a load hung up with a crane.

that there is no wiring error.

Ɣ Do not stand under the load that is hung up with a crane.

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

Ɣ The storage and preservation environment conforms to the installation

correct, it might cause a fire, product breakdown or malfunction.

environment. However, especially give consideration to the prevention of

Connect the cable connector securely so that there is no disconnection or

condensation.

looseness. Failure to do so may cause a fire, electric shock or malfunction of

Ɣ Store the products with a consideration not to fall them over or drop due to

the product.

an act of God such as earthquake.

Never cut and/or reconnect the cables supplied with the product for the

(1) Installation of Robot Main Body and Controller, etc.

purpose of extending or shortening the cable length. Failure to do so may

Ɣ Make sure to securely hold and fix the product (including the work part). A

cause the product to malfunction or cause fire.

fall, drop or abnormal motion of the product may cause a damage or injury.

(3) Grounding

Also, be equipped for a fall-over or drop due to an act of God such as earthquake.

Make sure to perform the grounding of type D (Former Type 3) for the

Ɣ Do not get on or put anything on the product. Failure to do so may cause

controller. The grounding operation should be performed to prevent an

an accidental fall, injury or damage to the product due to a drop of

electric shock or electrostatic charge, enhance the noise-resistance ability

anything, malfunction of the product, performance degradation, or

and control the unnecessary electromagnetic radiation.

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

Operation

No.

4 Installation and

4 Installation

5 Teaching When the work is carried out with 2 or more persons, make it clear who is to

Operation

Description

Start

and Start

Description

(4) Safety Measures

(2) Cable Wiring

When the work is carried out with 2 or more persons, make it clear who is to

Ɣ Use our company’s genuine cables for connecting between the actuator

be the leader and who to be the follower(s) and communicate well with each

and controller, and for the teaching tool.

other to ensure the safety of the workers.

Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not

When the product is under operation or in the ready mode, take the safety

coil it around. Do not insert it. Do not put any heavy thing on it. Failure to

measures (such as the installation of safety and protection fence) so that

do so may cause a fire, electric shock or malfunction due to leakage or

nobody can enter the area within the robot’ s movable range. When the robot

continuity error.

under operation is touched, it may result in death or serious injury.

Ɣ Perform the wiring for the product, after turning OFF the power to the unit,

Make sure to install the emergency stop circuit so that the unit can be

so that there is no wiring error.

stopped immediately in an emergency during the unit operation.

Ɣ When the direct current power (+24V) is connected, take the great care of

Take the safety measure not to start up the unit only with the power turning

the directions of positive and negative poles. If the connection direction is

ON. Failure to do so may start up the machine suddenly and cause an injury

not correct, it might cause a fire, product breakdown or malfunction.

or damage to the product.

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

Take the safety measure not to start up the machine only with the emergency

of the product.

stop cancellation or recovery after the power failure. Failure to do so may

Ɣ Never cut and/or reconnect the cables supplied with the product for the

result in an electric shock or injury due to unexpected power input.

purpose of extending or shortening the cable length. Failure to do so may

When the installation or adjustment operation is to be performed, give clear

cause the product to malfunction or cause fire.

warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an electric shock or injury.

(3) Grounding

Take the measure so that the work part is not dropped in power failure or

Ɣ The grounding operation should be performed to prevent an electric shock

emergency stop.

or electrostatic charge, enhance the noise-resistance ability and control

Wear protection gloves, goggle or safety shoes, as necessary, to secure

the unnecessary electromagnetic radiation.

safety.

Ɣ For the ground terminal on the AC power cable of the controller and the

Do not insert a finger or object in the openings in the product. Failure to do so

grounding plate in the control panel, make sure to use a twisted pair cable

may cause an injury, electric shock, damage to the product or fire.

with wire thickness 0.5mm

When releasing the brake on a vertically oriented actuator, exercise

work. For security grounding, it is necessary to select an appropriate wire

precaution not to pinch your hand or damage the work parts with the actuator

thickness suitable for the load. Perform wiring that satisfies the

dropped by gravity.

specifications (electrical equipment technical standards).

(AWG20 or equivalent) or more for grounding

Ɣ Perform Class D Grounding (former Class 3 Grounding with ground

be the leader and who to be the follower(s) and communicate well with each

resistance 100Ω or below).

other to ensure the safety of the workers.

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.

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.

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. Place a sign “Under Operation” at the position easy to see. 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.

Operation

No.

6 Trial Operation When the work is carried out with 2 or more persons, make it clear who is to

4 Installation

7 Automatic

Operation

Description

and Start

Operation

Description

(4) Safety Measures

be the leader and who to be the follower(s) and communicate well with each

Ɣ When the work is carried out with 2 or more persons, make it clear who is

other to ensure the safety of the workers.

to be the leader and who to be the follower(s) and communicate well with

After the teaching or programming operation, perform the check operation

each other to ensure the safety of the workers.

one step by one step and then shift to the automatic operation.

Ɣ When the product is under operation or in the ready mode, take the safety

When the check operation is to be performed inside the safety protection

measures (such as the installation of safety and protection fence) so that

fence, perform the check operation using the previously specified work

nobody can enter the area within the robot’s movable range. When the

procedure like the teaching operation.

robot under operation is touched, it may result in death or serious injury.

Make sure to perform the programmed operation check at the safety speed.

Ɣ Make sure to install the emergency stop circuit so that the unit can be

Failure to do so may result in an accident due to unexpected motion caused

stopped immediately in an emergency during the unit operation.

by a program error, etc.

Ɣ Take the safety measure not to start up the unit only with the power turning

Do not touch the terminal block or any of the various setting switches in the

ON. Failure to do so may start up the machine suddenly and cause an

power ON mode. Failure to do so may result in an electric shock or

injury or damage to the product.

malfunction.

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

Before the automatic operation is started up, make sure that there is nobody

do so may result in an electric shock or injury due to unexpected power

inside the safety protection fence.

input.

Before the automatic operation is started up, make sure that all the related

Ɣ When the installation or adjustment operation is to be performed, give

peripheral machines are ready for the automatic operation and there is no

clear warnings such as “Under Operation; Do not turn ON the power!” etc.

error indication.

Sudden power input may cause an electric shock or injury.

Make sure to perform the startup operation for the automatic operation, out of

Ɣ Take the measure so that the work part is not dropped in power failure or

the safety protection fence.

emergency stop.

In the case that there is any abnormal heating, smoke, offensive smell, or

Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure

abnormal noise in the product, immediately stop the machine and turn OFF

safety.

the power switch. Failure to do so may result in a fire or damage to the

Ɣ Do not insert a finger or object in the openings in the product. Failure to do

product.

so may cause an injury, electric shock, damage to the product or fire.

When a power failure occurs, turn OFF the power switch. Failure to do so

Ɣ When releasing the brake on a vertically oriented actuator, exercise

may cause an injury or damage to the product, due to a sudden motion of the

precaution not to pinch your hand or damage the work parts with the

product in the recovery operation from the power failure.

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

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.

Operation

No.

8 Maintenance

6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is

7 Automatic

9 Modification

Operation

Description

and Inspection

Operation

and Dismantle

Description

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

to be the leader and who to be the follower(s) and communicate well with

other to ensure the safety of the workers.

each other to ensure the safety of the workers.

Perform the work out of the safety protection fence, if possible. In the case

Ɣ After the teaching or programming operation, perform the check operation

that the operation is to be performed unavoidably inside the safety protection

one step by one step and then shift to the automatic operation.

fence, prepare the “Stipulations for the Operation” and make sure that all the

Ɣ When the check operation is to be performed inside the safety protection

workers acknowledge and understand them well.

fence, perform the check operation using the previously specified work

When the work is to be performed inside the safety protection fence, basically

procedure like the teaching operation.

turn OFF the power switch.

Ɣ Make sure to perform the programmed operation check at the safety

When the operation is to be performed inside the safety protection fence, the

speed. Failure to do so may result in an accident due to unexpected

worker should have an emergency stop switch at hand with him so that the

motion caused by a program error, etc.

unit can be stopped any time in an emergency.

Ɣ Do not touch the terminal block or any of the various setting switches in

When the operation is to be performed inside the safety protection fence, in

the power ON mode. Failure to do so may result in an electric shock or

addition to the workers, arrange a watchman so that the machine can be

malfunction.

stopped any time in an emergency. Also, keep watch on the operation so that

Ɣ Check before starting the automatic operation or rebooting after operation

any third person can not operate the switches carelessly.

stop that there is nobody in the safety protection fence.

Place a sign “Under Operation” at the position easy to see.

Ɣ Before starting automatic operation, make sure that all peripheral

For the grease for the guide or ball screw, use appropriate grease according

equipment is in an automatic-operation-ready state and there is no alarm

to the Operation Manual for each model.

indication.

Do not perform the dielectric strength test. Failure to do so may result in a

Ɣ Make sure to operate automatic operation start from outside of the safety

damage to the product.

protection fence.

When releasing the brake on a vertically oriented actuator, exercise

Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or

precaution not to pinch your hand or damage the work parts with the actuator

abnormal noise in the product, immediately stop the machine and turn

dropped by gravity.

OFF the power switch. Failure to do so may result in a fire or damage to

* Safety protection Fence : In the case that there is no safety protection fence,

the product.

Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so

Do not modify, disassemble, assemble or use of maintenance parts not

may cause an injury or damage to the product, due to a sudden motion of

specified based at your own discretion.

the product in the recovery operation from the power failure.

the movable range should be indicated.

10 Disposal When the product becomes no longer usable or necessary, dispose of it

properly as an industrial waste.

Do not put the product in a fire when disposing of it.

The product may burst or generate toxic gases.

No.

8 Maintenance

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.

Danger

Warning

Caution

Notice

9 Modification

10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it

11 Other Ɣ Do not come close to the product or the harnesses if you are a person

Operation

Description

Ɣ When the work is carried out with 2 or more persons, make it clear who is

and Inspection

This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

This indicates lower possibility for the injury, but should be kept to use this product properly.

and Dismantle

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,

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

Ɣ Do not modify, disassemble, assemble or use of maintenance parts not

specified based at your own discretion.

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.

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.

Alert Indication

Description

fence, the movable range should be indicated.

lobmyS egamaD dna regnaD fo eergeD leveL

Danger

Warning

Caution

Notice

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

Warning

Caution

Notice

This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

This indicates lower possibility for the injury, but should be kept to use this product properly.

Danger

Warning

Caution

Notice

Handling Precautions

1. Do not set a speed or acceleration/deceleration exceeding the applicable rating.

Do not set a speed or acceleration/deceleration exceeding the applicable rating. Doing so may result in vibration, failure or shorter life. If an acceleration/deceleration exceeding the rating is set, creep may occur or the coupling may slip.

2. Keep the load moments to within the allowable value.

Keep the load moments to within the allowable value. If a load exceeding the allowable load moment is applied, the life of the actuator may be reduced. In an extreme case, even flaking may occur.

3. Keep the overhang length to within the allowable value.

Keep the overhang length of the load to within the allowable value. If the overhang length exceeds the allowable value, vibration or noise may occur.

4. Grease film may run out after back-and-forth operations over a short distance.

Grease film may run out if the actuator is moved back and forth continuously over a distance of 30 mm or less. As a guide, perform a back-and-forth operation five times or over a distance of 50 mm or more after a back-and-forth operation over such short distance has been repeated 5,000 to 10,000 times. This will restore oil film.

5. Turn on the servo after making sure the slider or rod is away from the mechanical end.

If the servo is turned on when the slider or rod is positioned near the mechanical end, the pole phase may not be detected and a pole non-confirmation error or excitation detection error may occur. Accordingly, turn on the servo after making sure the slider or rod is away from the mechanical end.

6. 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.

7. Transporting and Handling

7.1 Handling the Actuator

7.1.1 Handling the Packed Unit

Unless otherwise specified, each actuator (axis) is shipped individually. Please make sure that the shipping box is not dropped or subjected to strong impact during transport.

• Operators should not carry heavy shipping boxes by themselves.

• If the shipping box is left standing, it should be in a horizontal position.

• Do not climb on top of the shipping box.

• Do not place heavy objects which may deform the shipping box or objects with concentrated loads on top of

the box.

7.1.2 Handling the Actuator after It is Unpacked

Lift the actuator up by the base to remove it from the packing.

• When carrying the actuator, make sure not to bump it. Take particular care with the front cover and motor

cover.

• Do not exert excessive force on any part of the actuator.

• Be careful not to cause the cables to receive a tensile force.

• Be careful when handling the stainless sheet

The stainless sheet is designed very thin (thickness: 0.1mm) in order to ensure flexibility. Therefore, the stainless sheet is easily dented or scratched. Once dented or scratched, the stainless sheet may break during use.

Caution: Do not press the sheet directly with hands.

* Please refer to “Name of Parts” for the names of the actuator parts.

7.2 Handling the Actuator Assembly

When transporting the actuator with its axes already assembled, take note of the following items.

7.2.1 Shipping from IAI Already Assembled

After assembly at IAI, your machine undergoes a shipping inspection, is packed in a crate with skids, and finally shipped. If any of the combined actuators is a slider, the slider is securely fastened in place to prevent unexpected movement during shipping. Combined units have the ends of their actuators fastened so as to prevent them from moving significantly due to external vibration.

• The crate is not designed to withstand dropping or collision. Please handle it carefully. It is also not built to

have items stacked on it, so please avoid placing heavy objects on top of the crate.

• When lifting the package using belts or the like, be sure to pass the belts around the reinforcement frames

under the skids. The same applies for lifting the package with a forklift; please ensure that the forks are placed under the skids.

• When setting the package down, do not let the package receive an impact upon contacting the floor.

7.2.2 Handling After Unpacking

Please adhere to the following instructions when handling the assembled unit, whether it was shipped pre-assembled at IAI or assembled on your site.

• Secure the slider so that it does not move unexpectedly during transport.

• If the end of the actuator is protruding, fasten it down properly so that it does not move significantly due to

external vibration.

• When transporting the assembly without the ends of the actuators fastened, do not subject the assembly to an

impact of 0.3 G or more.

• When using belts or the like to lift an assembly consisting of an actuator and peripheral equipment, make sure

the belts are not passed around the actuator itself or otherwise do not touch the actuator.

• Make sure the belts support the actuator load by its base by using appropriate cushioning materials.

• Lift the end of the Y-axis with a separate belt, ensuring that the assembly remains level. At this time, also

make sure the load is not placed on the screw cover.

• Make sure the load is not placed on the brackets, covers, or connector box.

Also make sure the cables are not pinched or deformed excessively.

International Standards Compliances

This actuator complies with the following overseas standards. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.

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Names of Parts

The names of the actuator parts are indicated below.

The left and right sides are indicated by looking at the actuator from the motor end with the actuator set down horizontally. Front end means the side opposite the motor end.

1. Motor Coupling Type (Standard) RCP2

SA5C, SA6C, SA7C

Opposite

Motor End

SS7C, SS8C, HS8C

Opposite

Motor End

Stainless Sheet

Front Cove

Base

Stainless Sheet

Side Cover

Right Side

Bearing Housing

Slider

Right Side

Left Side

Side Cover

Cable Joint Connector

Motor

End

ctuator Cable

Motor End Cap

Motor Cove

Cable Joint Connector

Motor

End

Front Cove

Caution: The cable directly connected to the actuator is not a robot cable even when

ordered with a robot cable option. When designing, please make sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.

Base

Slider

Left Side

Bearing Housing

ctuator Cable

Motor End Cap

Motor Cove

2. Motor Coupling Type (Cleanroom Specification) RCP2CR

SA5C, SA6C, SA7C

Opposite

Motor End

SS7C, SS8C, HS8C

Stainless Sheet

Front Cover

Base

Stainless Sheet

Side Cover

Right Side

Left Side

Bearing Housing

Slider

Right Side

ctuator Cable

Suction Joint

Motor Cover

Side Cover

Cable Joint Connector

Motor

End

Motor End Cap

Cable Joint Connector

Opposite

Motor End

Front Cover

Base

Left Side

Slider

Suction Joint

Bearing Housing

Motor Cover

ctuator Cable

Motor End Cap

Caution: The cable directly connected to the actuator is not a robot cable even when

ordered with a robot cable option. When designing, please make sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.

Motor

End

3. Motor Reversing Type

ƔSA5R, SA6R

Front Cove

Stainless Sheet

Side Cove

Mounting Flange

ƔSA7R

Opposite

Motor End

Front Cove

Right Side

Left Side

Motor End Cap

Slider

Stainless Sheet

Right Side

Base

Motor Cove

Side Cove

Pulley Cover

Motor End

Mounting Flange

Pulley Cover

Opposite

Motor End

Left Side

Motor End Cap

Slider

Motor Cove

Base

Motor Bracket

Motor End

Caution: The cable directly connected to the actuator is not a robot cable even when ordered with

a robot cable option. When designing, please make sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.

ƔSS7R, SS8R, HS8R

Front Cove

Opposite

Motor End

Stainless Sheet

Right Side

Left Side

Motor End Cap Motor Cover

Slider

Base

Side Cove

Mounting Flange

Pulley Cover

Motor Bracket

Caution: The cable directly connected to the actuator is not a robot cable even when

ordered with a robot cable option. When designing, please make sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.

Motor End

1. Checking the Product

If based on a standard configuration, this product consists of the items listed below.

Caution: Check the packed items against the packing specification. Should you find a wrong model

number or any missing item, please contact your IAI dealer or IAI.

1.1 Components

1. Checking the Product

1 Actuator

Accessories

2 Motor/Encoder Cable

3 Home Making Seals

4 Quick Step Guide

5 Operation Manual (CD/DVD)

6 Safety Guide

*1 The motor cable and encoder cable that come with the actuator vary depending on the controller used. [Refer

to 8, “Motor/Encoder Cables.” ]

1.2 Operation Manuals for Controllers Supported by This Product

1 Operation Manual for 2710EM rellortnoC LESP

2 Operation Manual for PCON-C/CG/CF Controller ME0170

3 Operation Manual for PCON-CY Controller ME0156

4 Operation Manual for PCON-SE Controller ME0163

5 Operation Manual for PCON 4610EM rellortnoC OP/LP-

6 Operation Manual for MEC Controller ME0245

7 Operation Manual for 6120EM rellortnoC PESA/PESP

8 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154

9 Operation Manual for PC Software RCM-101-MW/RCM-101-USB ME0155

10 Operation Manual for MEC PC Software ME0248

11 Operation Manual for Teaching Pendant SEL-T/TD ME0183

12 Operation Manual for Teaching Pendant CON-T/TG ME0178

13 Operation Manual for Touch Panel 7220EM GP/DP/TP-NOC tnadneP gnihcaeT

14 Operation Manual for Touch Panel Teaching Pend 7120EM TP-PES tna

Operation Manual for Simple Teaching Pendant RCM-E

Operation Manual for Data Setter RCM-P

Operation Manual for Touch Panel Display RCM-PM-01

skrameR rebmun ledoM emaN .oN

Refer to “How to Read the Model Nameplate” and “How to Read the Model Number.”

(DVD)

lortnoC emaN .oN No.

ME0174

ME0175

ME0182

1.3 How to Read Model Nameplate

Model numbe

Serial numbe

MODEL RCP2

MODELRCP2 SA5CI42P1250P1PBE

SERIALNo.600090266

1.4 How to Read Model Number

<Series> Standard type

RCP2

Cleanroom type

RCP2CR

<Type>

luminum ba

SA5C, SA6C, SA7C

Iron base SS7C, SS8C Iron base, high-speed type HS8C Aluminum base Motor reversing

SA5R, SA6R, SA7R Iron base Motor reversing

SS7R, SS8R

Iron base, high-speed type, motor reversing HS8R

1. Checking the Product

MADE IN JAPAN

B: Brake BE: Brake

(Wirings taken out from end)

BL: Brake

(Wirings taken out from left)

BR: Brake

(Wirings taken out from right) NM: Reversed-home specification ML: Motor reversing at left MR: Motor reversing at right SR Slider roller specification VR: Suction joint on opposite side

N: None P: 1 m S: 3 m M: 5 m X: Length specification R: Robot cable

<Encoder type> I: Incremental

<Motor type> 42P: 42 square 56P: 56 square 86P: 86 square

<Lead> 3: 3 mm 10: 10 mm 4: 4 mm 12: 12 mm 5: 5 mm 16: 16 mm 6: 6 mm 20: 20 mm 8: 8 mm 30: 30 mm

P1: PSEL

PCON-C/CG PCON-CY PCON-SE PCON-PL/PO

P3: PCON-CA

PMEC PSEP MSEL

2. Specification

(1) Maximum speed

The maximum speed of the actuator is limited to prevent resonance of the ball screw shaft and also in consideration of the restrictions on motor speed. Observe the maximum speed limits specified below.

2. Specification

Mode

SA5C SA5R

SA5C 42P 20

SA6C SA6R

SA6C 42P 20

SA7C SA7R

Motor

type

42P

56P

Strokes and maximum speed limits (unit: mm/sec)

Lead

(mm)

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 3 135 115 100 90 75 6 295 270 230 200 180 150

12 300 460 540 460 400 360 300

380 540 660 770 860 940 1000 980 850 740 650 580

380 540 660 770 800 (stroke 250 to 600, installed vertically) 740 650 580 3 150 135 115 100 90 75 6 295 300 270 230 200 180 150

12 300 460 600 540 460 400 360 300

380 540 660 770 860 940 980 850 740 650 580

380 540 660 770 800 (stroke 250 to 600, installed vertically) 740 650 580 4 133 120 8 266 240

16 380 533 480

Stroke (mm)

Caution: Do not set any speed or acceleration/deceleration exceeding the rated speed or

acceleration/deceleration. Doing so may result in vibration, failure or shorter life. When combining multiple axes and synchronizing their operations, the speed and acceleration/deceleration to be set should correspond to the highest speed and largest acceleration/deceleration among those of the combined axes. In particular, exercise caution because setting an acceleration/deceleration exceeding the rated acceleration/deceleration may cause the actuator to suffer creep or the coupling to slip.

(2) Acceleration and payload capacity

Caution: 1. The payload capacities at different accelerations, other than those at the rated

accelerations of 0.2 G and 0.3 G, are provided for reference purposes only. Use these values only as a rough guide, as they are not guaranteed.

2. Even when the acceleration is below the rated acceleration, the payload capacity will not exceed beyond the value at the rated acceleration.

[Controller (without “H” at the end of the model number)]

(Note) With the SA5C type and SA6C type (except for models of lead 20), the specific performance varies

depending on the controller.

RCP2CRSA5C

It is the payload when operating with the rated acceleration below:

Horizontal

Lead 3 Rated acceleration : 0.2 G, when horizontal,

0.2 G when vertical

Lead 6

Lead 3

Payload (kg) Payload (kg) Payload (kg) Payload (kg)

Lead 6

Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 12 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Speed (mm/s)

Vertical

2. Specification

RCP2CRSA6C

It is the payload when operating with the rated acceleration below: Lead 3 Rated acceleration : 0.2 G, when horizontal,

0.2 G when vertical

Lead 6 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 12 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 3

Lead 6 Lead 12

Lead 3

Lead 12

Speed (mm/s)

Horizontal

Lead 6

Lead 12

Speed (mm/s)

Vertical

Lead 6

Speed (mm/s)

[Controller (with “H” at the end of the model number)]

(Note) With the SA5C type and SA6C type (except for models of lead 20), the specific performance varies

depending on the controller.

RCP2 (CR)-SA5C Lead 3 Rated acceleration: 0.2 G, when horizontal,

0.2 G when vertical Maximum acceleration: 0.7 G, when horizontal,

0.3 G when vertical

Lead 6 Rated acceleration: 0.2 G, when horizontal,

0.2 G when vertical Maximum acceleration: 0.7 G, when horizontal,

0.3 G when vertical

2. Specification

Horizontal

0.2G

0.3G

0.5G

0.7G

Payload (kg)

Speed (mm/s)

Vertical

0.1G

0.2G

Payload (kg)

0.3G

Speed (mm/s)

Lead 12 Rated acceleration: 0.3 G, when horizontal,

0.2 G when vertical Maximum acceleration: 0.7 G, when horizontal,

0.3 G when vertical

Horizontal Horizontal

Horizontal

0.2G

0.3G

Payload (kg)

0.5G

0.7G

Speed (mm/s)

Vertical

0.1G

0.2G

Payload (kg)

0.3G

Speed (mm/s)

Lead 20 Rated acceleration: 0.3 G, when horizontal,

0.2 G when vertical Maximum acceleration: 0.7 G, when horizontal,

0.2 G when vertical

Payload (kg)

Speed (mm/s) Speed (mm/s)

Vertical Vertical

Payload (kg)

Speed (mm/s) Speed (mm/s)

0.2G

0.3G

0.5G

0.7G

0.1G

0.2G

0.3G

Payload (kg) Payload (kg)

0.1G

0.2G

0.3G

0.5G

0.7G

[Controller (with “H” at the end of the model number)]

(Note) With the SA5C type and SA6C type (except for models of lead 20), the specific performance varies depending on the controller.

RCP2 (CR)-SA6C Lead 3 Rated acceleration: 0.2 G, when horizontal,

0.2 G when vertical Maximum acceleration: 0.7 G, when horizontal,

0.3 G when vertical

Lead 6 Rated acceleration: 0.3 G, when horizontal,

0.2 G when vertical Maximum acceleration: 0.7 G, when horizontal,

0.3 G when vertical

2. Specification

Horizontal

0.2G

0.3G

0.5G

0.7G

Payload (kg)

Speed (mm/s) Speed (mm/s)

Vertical Vertical

0.1G

Payload (kg)

0.2G

0.3G

Speed (mm/s) Speed (mm/s)

Lead 12 Rated acceleration: 0.3 G, when horizontal,

0.2 G when vertical Maximum acceleration: 0.7 G, when horizontal,

0.3 G when vertical

Horizontal

Payload (kg) Payload (kg)

Lead 20 Rated acceleration: 0.3 G, when horizontal,

0.2 G when vertical Maximum acceleration: 0.7 G when horizontal, 0.2 G when vertical

0.2G

0.3G

0.5G

0.7G

0.1G

0.2G

0.3G

Horizontal

Payload (kg)

Speed (mm/s) Speed (mm/s)

Vertical Vertical

Payload (kg)

Speed (mm/s)

0.2G

0.3G

0.5G

0.7G

0.1G

0.2G

0.3G

Payload (kg) Payload (kg)

Horizontal

Speed (mm/s)

0.1G

0.2G

0.3G

0.5G

0.7G

[Controller (with “H” at the end of the model number)]

RCP2SA5R

2. Specification

It is the payload when operating with the rated acceleration below: Lead 3 Rated acceleration : 0.2 G, when horizontal,

0.2 G when vertical

Lead 6 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 12 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

RCP2SA6R

It is the payload when operating with the rated acceleration below: Lead 3 Rated acceleration : 0.2 G, when horizontal,

0.2 G when vertical

Lead 6 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 12 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 3

Payload (kg)

Lead 3

Payload (kg)

Lead 6 Lead 12

Lead 3

Payload (kg)

Horizontal

Lead 6

Lead 12

Speed (mm/s)

Vertical

Speed (mm/s)

Horizontal

Lead 6

Lead 12

Speed (mm/s)

Vertical

Lead 3

Payload (kg)

Lead 12

Lead 6

Speed (mm/s)

RCP2(CR)-SA7C

It is the payload when operating with the rated acceleration below: Lead 4 Rated acceleration : 0.2 G, when horizontal,

0.2 G when vertical

Lead 8 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 16 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

RCP2(CR)-SS7C

It is the payload when operating with the rated acceleration below: Lead 3 Rated acceleration : 0.2 G, when horizontal,

0.2 G when vertical

Lead 6 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 12 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 4

Payload (kg)

0100200300400500600700

Lead 4

Payload (kg)

0 100 200 300 400 500 600 700

Lead 3

Payload (kg)

0 100 200 300 400 500 600 70

Lead 3

Payload (kg)

0 100 200 300 400 500 600 70

Lead 8

Lead 6

Horizontal

Lead 8

Speed (mm/s)

Vertical

Lead 16

Speed (mm/s)

Horizontal

Lead 6

Speed (mm/s)

Vertical

Speed (mm/s)

Lead 16

Lead 12

2. Specification

RCP2(CR)-SS8C

It is the payload when operating with the rated acceleration below: Lead 5 Rated acceleration : 0.2 G, when horizontal,

0.2 G when vertical

Lead 10 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 20

2. Specification

Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

RCP2(CR)-HS8C

It is the payload when operating with the rated acceleration and maximum acceleration below: Lead 3 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical Maximum acceleration : 0.5 G, when horizontal,

0.2 G when vertical

Lead 5

Payload (kg)

0 100 200 300 400 500 6 00 7 00

Lead 5

Payload (kg)

0100200300400500600700

Payload (kg) Payload (kg)

(Minimum speed: 100 mm/s)

0 200 400 600 800 1000 1200 1400

0 100 200 300 400 500 600 700 800

Lead 10

0.5

Acceleration: 0.5 G

0.5G

Acceleration:

Horizontal

Speed (mm/s)

Vertical

Lead 20

Speed (mm/s)

Horizontal

Acceleration: 0.3 G

Speed (mm/s)

Vertical

0.2G0.2G

Speed (mm/s)

Lead 20

0.3G

0.5

2 1

RCP2-SA7R

It is the payload when operating with the rated acceleration below: Lead 4 Rated acceleration : 0.2 G, when horizontal,

0.2 G when vertical

Lead 8 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 16 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 4

Payload (kg)

0 1 00 2 00 3 00 4 00 5 00 600 70 0

Lead 4

Payload (kg)

0 1 00 2 00 3 00 4 00 5 00 600 70 0

Horizontal

Lead 8

Speed (mm/s)

Vertical

Lead 8

1.5

Speed (mm/s)

Lead 16

2. Specification

RCP2-SS7R

It is the payload when operating with the rated acceleration below: Lead 3 Rated acceleration : 0.2 G, when horizontal,

0.2 G when vertical

Lead 6 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 12 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Payload (kg)

Lead 3

0 100 200 300 400 500 600 700

Lead 3

Lead 6

0100200300400500600700

1.5

Horizontal

Lead 6

2.5

Speed (mm/s)

Vertical

Lead 12

0.5 0.5

Speed (mm/s)

Lead 12

5.5

2. Specification

RCP2-SS8R

It is the payload when operating with the rated acceleration below: Lead 5 Rated acceleration : 0.2 G, when horizontal,

0.2 G when vertical

Lead 10 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 20 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

1.5

Lead 10

Horizontal

Lead 20

Speed (mm/s)

Vertical

0.5

Speed (mm/s)

Lead 20

0.5

Lead 5

Payload (kg)

0100200300400500600700

Payload (kg)

0 50 1 00 1 50 200 250 300 35 0

Lead 10

323

Lead 5

0.5

RCP2-HS8R

It is the payload when operating with the rated acceleration and maximum acceleration below: Lead 30 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical Maximum acceleration : 0.5 G, when horizontal,

0.2 G when vertical

Acceleration: 0.5 G

Payload (kg) Payload (kg)

(Minimum speed: 100 mm/s)

0 200 400 600 800 1000 1200 140

0 1 00 200 3 00 4 00 500 6 00 7 00 8 00

Acceleration: 0.2 G

Horizontal

Acceleration: 0.3 G

Speed (mm/s)

Vertical

Speed (mm/s)

RCP2CR-SA7C

It is the payload when operating with the rated acceleration below: Lead 4 Rated acceleration : 0.2 G, when horizontal,

0.2 G when vertical

Lead 8 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 16 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

RCP2CR-SS7C

Lead 4

Payload (kg)

0 100 200 300 400 500 600 700

Lead 4

Lead 8

Payload (kg)

0 100 200 300 400 500 600 700

Horizontal

Lead 8

Lead 16

Speed (mm/s)

Vertical

Lead 16

Speed (mm/s)

2. Specification

It is the payload when operating with the rated acceleration below: Lead 3 Rated acceleration : 0.2 G, when horizontal,

0.2 G when vertical

Lead 6 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 12 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 3

Payload (kg)

0 100 200 300 400 500 600 70

Lead 3

Payload (kg)

0 100 200 300 400 500 600 70

Lead 6

10.5

Horizontal

Lead 12

Speed (mm/s)

Vertical

Lead 12

Speed (mm/s)

RCP2CR-SS8C

2. Specification

RCP2CR-HS8C

It is the payload when operating with the rated acceleration below: Lead 5 Rated acceleration : 0.2 G, when horizontal,

0.2 G when vertical

Lead 10 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 20 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical

Lead 5

Payload (kg)

0 100 200 300 400 500 600 700

Lead 5

Payload (kg)

0100200300400500600700

Lead 10

Horizontal

Lead 10

Speed (mm/s)

Vertical

Lead 20

0.50.5

Speed (mm/s)

Lead 20

0.5

It is the payload when operating with the rated acceleration and maximum acceleration below: Lead 30 Rated acceleration : 0.3 G, when horizontal,

0.2 G when vertical Maximum acceleration : 0.5 G, when horizontal,

0.2 G when vertical

Acceleration: 0.3 G

Payload (kg)

(Minimum speed: 100 mm/s)

Acceleration: 0.5 G

Acceleration: 0.2 G

Payload (kg)

Horizontal

Speed (mm/s)

Vertical

Speed (mm/s)

(3) Driving method

Type Motor type Lead [mm] Encoder pulses

2.5

SA5C, SA5R 42P

SA5C 42P 20

SA6C, SA6R 42P

SA6C 42P 20

SA7C, SA7R 56P

SA7C, SS7R 42P

SS8C, SS8R 56P

10 20

HS8C, HS8R 86P 30

800

Driving method

Ball screw

10 mm



Ball screw

10 mm



Ball screw

10 mm



Ball screw

10 mm



Ball screw

10 mm



Ball screw

10 mm



Ball screw

16 mm



Ball screw

16 mm



Rolled, C10

*1. Number of pulses input to the controller.

2. Specification

(4) Cleanliness class of Cleanroom type RCP2CR

Item Specification

Cleanliness class

Class 10 (1 Pm) when air is suctioned from the suction joint at an appropriate rate of suction

(5) Common specifications

Item

Positioning repeatability

SA5C or SA6C, lead other than 20 mm SA5C or SA6C, lead 20 mm

0.02 mm

Specification

0.03 mm

Backlash 0.1 mm or less 0.1 mm or less *1. Default value

(6) Load on the Actuator

Do not exceed the load shown in the load specification column. Please note the slider moment, allowable overhang length and the load weight.

2. Specification

Dynamic Allowable Moments

cMbMaMledoM SA5C, R 5.81 N• m (0.59 kgf•m) SA6C, R SA7C, R SS7C, R SS8C, R HS8C, R

11.6 N• m (1.18 kgf•m)

20.7 N• m (2.11 kgf•m)

17.9 N• m (1.83 kgf•m)

43.4 N• m (4.43 kgf•m)

8.3 N• m (0.84 kgf•m) 14.8 N• m (1.51 kgf•m)

16.6 N• m (1.69 kgf•m)

29.6 N• m (3.02 kgf•m)

17.9 N• m (1.83 kgf•m)

43.4 N• m (4.43 kgf•m)

24.6 N• m (2.51 kgf•m)

56.7 N• m (5.77 kgf•m)

39.0 N• m (3.98 kgf•m)

90.9 N• m (9.28 kgf•m)

Static Allowable Moments

cMbMaMledoM SA5C, R 18.6 N• m (1.9 kgf•m) 26.6 N• m (2.7 kgf•m) 47.5 N• m (4.8 kgf•m) SA6C, R 38.3 N• m (3.9 kgf•m) 54.7 N• m (5.6 kgf•m) 81.0 N• m (8.3 kgf•m) SA7C, R 50.4 N• m (5.1 kgf•m) 71.9 N• m (7.3 kgf•m) 138.0 N• m (14.1 kgf•m) SS7C, R 79.4 N• m (8.1 kgf•m) 79.4 N• m (8.1 kgf•m) 172.9 N• m (17.6 kgf•m) SS8C, R 198.9 N• m (20.3 kgf•m) 198.9 N• m (20.3 kgf•m) 416.7 N• m (42.5 kgf•m) HS8C, R 198.9 N• m (20.3 kgf•m) 198.9 N• m (20.3 kgf•m) 416.7 N• m (42.5 kgf•m)

Allowable Overhang Length

cMbMaMledoM SA5C, R 150 mm or less 150 mm or less 150 mm or less SA6C, R 220 mm or less 220 mm or less 220 mm or less SA7C, R 230 mm or less 230 mm or less 230 mm or less SS7C, R 300 mm or less 300 mm or less 300 mm or less SS8C, R 450 mm or less 450 mm or less 450 mm or less HS8C, R 450 mm or less 450 mm or less 450 mm or less

The allowable overhang values are based on a configuration where the center of gravity of the load

mounted on the actuator corresponds to 1/2 of the overhang length.

0D0F

Directions of moment forces

Mb, Mc directions

Directions of allowable overhangs

Ma direction

(Note) To calculate the moments in Ma and Mc directions, offset the reference position by L mm from the top

surface of the slider, as shown in the figure below.

Reference position

SA5C, R 39 mm

SA6C, R 40 mm

SA7C, R 43 mm

SS7C, R 36 mm

SS8C, R 48 mm

HS8C, R 48 mm

2. Specification

Caution: Make sure the length of the load installed on the actuator does not exceed the allowable

overhang load length (L). If the allowable overhang load length is exceeded, vibration may generate or the settling time may become longer. If the actuator is used at load moments exceeding the allowable values, not only the life of the guide will become shorter, but other undesirable effect may occur, as well, such as vibration or longer settling time.

The body of the base warps easily when the actuator is used as the Y-axis in an X-Y overhang setup. In this case, use the actuator so that the Ma and Mc moments are kept to one-half the allowable moment or less (see the figure below).

2. Specification

Y-axis

X-axis

The Ma and Mc moments applied on this slider should be kept to one-half the allowable moment.

Caution: Allowing the slider to receive an excessive load moment will shorten the service life of the

guides. If the allowable overhang length is exceeded, vibration may generate or the service life of the guides may be reduced.

(7) Actuator Precision

[1] Actuator installation surface

Parallelism of the actuator installation surface (bottom surface of the base) and load installation surface (top surface) at an arbitrary stroke position: 0.1 mm or less

[2] Traveling parallelism when the actuator is installed (affixed on a flat, smooth surface

less

Condition: The above values have been measured at 20qC. *1 Parallelism: 0.05 mm/m or less

): 0.05 mm/m or

3. Life

The mechanical life of the actuator is represented by that of the guide receiving the greatest moment load.Operation life of the linear guide is to be determined by the total driving distance which can reach without having 90% flaking (peeling on rail surface). Operation life can be figured out with the calculation method shown below.

3.1 How to Calculate Operaition Life

For the operation life of the linear guide, use the dynamic allowable moment stated in 2. Specifications, and figure out with the formula below.

 

㻌㻌L =㻌 㻌㻌㻌  

㻌㻌㻌㻌L : Operaition life (km)㻌 C 㻌㻌㻌㻌M : Moment to work (N䡡m)㻌 URL : Standard rated life



In addition, have a calculation for the drop of life with the formula below if there is a concern that the life could drop due to the condition of vibration or way to be attached.

䞉URL

: Dynamic allowable moment (N䡡m)

3. Life

 

L = 㻌㻌㻌㻌䞉㻌㻌㻌㻌䞉㻌㻌㻌㻌㻌䞉URL

㻌㻌㻌㻌



䃐



㻌㻌㻌㻌L : Operaition life (km)㻌 C

M : Moment to work (N䡡m)㻌 f

:Load coefficient㻌 f䃐 : Attachment coefficient

: Dynamic allowable moment (N䡡m)

: Standard operational coefficient

㻌㻌㻌㻌URL : Standard rated life (km)

Explained below is regarding the standard operational coefficient f coefficient f

䃐 and Standard rated life URL.

Refer to the contents below to set them up.

[Standard operational coefficient f For ROBO Cylinders described in this manual, f

]

= 1.2. It is a coefficient defined for each model, some

models such as RCS3 high-speed type is 1.35.

, load coefficient fw, attachment

3. Life

[Load coefficient fw] It is a coefficient to consider the life drop due to operational conditions.

Load coefficient f

 Operation Condition

Reference for

acceleration/deceleration

1.0 to 1.5 Small vibration or impact in slow operation 0.7G or less



[Attachment coefficient f Attachment coefficient f

䃐]

䃐 is a coefficient to consider the life drop due to the condition of actuator

attachment.

Attachment

coefficient f

䃐

Attached condition

Attachment in whole area Attachment on both ends Attachment on spots

     

1.0 1.2 1.5

     

* As the figures are those in common for each manual, they are not for RCP2/RCP2CR Slider Type.

Replace to figures for RCP2/RCP2CR Slider Type and select the attachment coefficient.

* Even when in attachment in whole area, and the actuator is seated in the whole length of the product,

select 1.2 or 1.5 for the attachment coefficient depending on the position of screw fixing.

* For attachment in whole area, use all of the tapped holes (counterbored holes) on the seat surface to fix.



[Standard rated life URL]

The standard product rated life differs for each model.

Standard rated life URL Model

5,000km RCP2-SA5C, SA6C, SA7C, SA5R, SA6R, SA7R

RCP2CR-SA5C, SA6C, SA7C

10,000km RCP2-SS7C, SS8C, HS8C

RCP2CR-SS7C, SS8C, HS8C

3.2 Operation Life

The operation life depends on the moment to work. With light load, it will be longer than, the standard rated life. If taking 5,000km of the standard rated life as an example, with no consideration of vibration and attachment condition, the operation life is 40,000km according to the calculation with formula in the previous page under assumption that 0.5C It shows that it can be 8 times longer than the standard rated life, which is 5,000km.

(half of dynamic allowable moment) of moment is applied on.

4. Installation and Storage/Preservation Environment

4.1 Installation Environment

The actuator should be set up in an environment, which meets the following criteria:

Avoid direct sunlight.

•

Avoid radiant heat from strong heat sources such as a furnace.

•

Ambient temperature should be 0 ~ 40qC.

•

The humidity should be less than 85% and there should be no condensation.

•

Avoid exposure to corrosive or combustible gases.

•

The area should have very little dust and be suitable for normal assembly operations.

•

Avoid exposure to oil mist or fluids used in cutting.

•

The unit should not be subject to impacts or vibrations.

•

Avoid extreme electromagnetic waves, ultraviolet rays and radiation.

•

This product is not intended to be used in a chemical environment.

•

In general, the environment should be one in which an operator can work without protective gear.

Work space needed for maintenance/inspection

[Motor coupling type] [Motor reversing type]

4. Installation and Storage/Preservation Environment

4.2 Storage/Preservation Environment

The storage/preservation environment should be similar to the installation environment. In addition, you must take precautions against condensation if the unit is to be stored for a long period of time. Unless there are special instructions, we do not include moisture absorption agents when shipping the unit. If you are storing the unit where condensation might occur, then you must treat the entire package or treat the unit itself after it is unpacked to prevent condensation. The unit can withstand up to 60°C during a short storage/preservation interval but only up to 50°C if the storage/preservation period is longer than one month.

5. Installation

The method to install your actuator in a mechanical system is explained.

5.1 Installation

Install the actuator as explained below, as a rule. Pay attention to these items when installing the actuator (except for custom-order models).

{: Installable : Daily inspection is required x: Not installable

5. Installation

Installation postures

Horizontal installation

{{

latnoziroH

Vertical

installation

lacitreV

Sideway

installation

yawediS

Ceiling mount

installation

Ceiling mount

Caution: 1.

When the unit is installed vertically oriented, attempt to put the motor up unless there is a special reason. Putting the motor on the lower side would not cause a problem in an ordinary operation. However, it may rarely cause a problem, when it is not operated for a long period, depending on the surrounding environment (especially high temperature), caused by the grease being separated and the base oil flowing into the motor unit.

2. The clean room types listed below cannot be guaranteed to meet Cleanliness Class 10 if they are installed in the vertical orientation, the horizontally wall mounted orientation or in the ceiling mounted orientation since they do not possess a structure to grip the stainless steel sheet from the side cover. Please contact us if it is necessary to install the following models in an orientation other than the horizontal orientation. Actuator Model : RCP2CR-SA5C, RCP2CR-SA6C

3. Can be installed sideways or ceiling mount, but the actuators must be checked daily. If the actuator is installed sideways or ceiling mount, the stainless sheet may be slacked or displaced. If the actuator is used continuously while the stainless sheet is slacked or displaced, the stainless sheet may break or other problems may occur. Check the actuator daily and if the stainless sheet is found slacked or displaced, make installation adjustment of the stainless sheet. [Refer to 9,8 “Replacing/Adjusting the Stainless Sheet.” ]

5.2 Notes on Installation

The stainless sheet is designed very thin (thickness: approx. 0.1 mm) in order to ensure flexibility. Therefore, the stainless sheet is easily dented or scratched. Once dented or scratched, the stainless sheet may break during use. When installing the stainless sheet, pay attention to the following points:

1. Do not press the sheet directly with hands 2. Protect the sheet from dents by paying attention not to drop tools and work parts onto the sheet.

Dent

5. Installation

3. Do not allow powder dust or iron powder to generate around the stainless sheet.

If generation of powder dust/iron powder cannot be fully prevented, wipe the stainless sheet after the operation to remove all particles attached to the sheet. If the actuator is operated with the stainless sheet carrying foreign particles, the particles may enter the slider and damage the sheet or cause the sheet to deform, lift or present other problems. The stainless sheet is held in place by means of magnets. If ambient air contains iron powder or other magnetic substances, they may attach to the magnets and cause problems. Pay attention to the surrounding environment and take appropriate measures, if necessary.

5.3 Installing the Main Body

Mount the actuator to a machined surface or one of the flat surfaces of comparable precision.

The side faces and lower surface of the base run parallel with the guides. When traveling precision is required, use these as the reference planes for mounting.

5.3.1 Using the Tapped Holes at Back of the Base (All Types)

5. Installation

Type Tap Size Screw Effective Depth Reamed Hole

SA5C M4 4mm or more and 7mm or less

SA6C M5 5mm or more and 9mm or less

SA7C M5 5mm or more and 9mm or less

SS7C M5 5mm or more and 8mm or less

SS8C M8 8mm or more and 10mm or less

HS8C M8 8mm or more and 10mm or less

Tapped holes are provided on the back of the base for mounting the actuator. Install the actuator using these tapped holes. The effective depths of base mounting screws are listed below. Be careful not to let the ends of bolts project from the holes. If necessary, use the additional reamed holes that are provided for positioning purposes.

4H7, depth 5 mm or less



4H7, depth 5 mm or less



4H7, depth 5 mm or less



4H7, depth 5 mm or less



5H7, depth 5 mm or less



5H7, depth 5 mm or less



5.3.2 Using the Mounting Holes on Top of the Base (SA5C, SA6C, SA7C)

Through holes are provided in the base for installing the actuator on its top face. When installing the actuator, remove the side covers. (Remove the two thin-head screws [M3 x 6 mm] for mounting

the cover using an Allen wrench of 1. 5 mm across flats.) When securing with bolts, protect the stainless sheet from dents or damage by making sure not to drop bolts or tools onto the stainless sheet or contact them with it.

As for mounting bolts, use hexagon socket-head bolts conforming to the applicable specification in the table below in accordance with the machine frame material.

Type

SA5C M4 × 10 M4 × 15 

SA6C M4 × 10 M4 × 15 

SA7C M5 × 10 M4 × 15 

When the mating material is

steel

When the mating material is

aluminum

Mounting Hole (Reference)

4.5 drill, 8 counterbore depth 4.5

6 drill, 9.5 counterbore depth 5.5

Note: When reinstalling the side covers, do not let them contact the end faces of the stainless sheet.

This may damage or bend the stainless sheet, causing the sheet to deteriorate or wear quickly. Therefore, install the side covers and check for bending according to the procedure below.

[1] To prevent the side covers from contacting the

end faces of the sheet, insert a shim (approx.

0.1 to 0.2 mm) between the sheet and each cover to provide a slight allowance, and gently

[2] Remove the slider covers and check to see that

the right and left clearances between the slider and sheet are nearly equal and no bending is created.

push in the cover.

Slide

Sheet

5. Installation

[3] Finally, move the slider back and forth several times along the entire stroke to check that the slider does not

contact the sheet.

Right and left clearances

are nearly equal

5.4 Installing the Load to the Slider

• Tapped holes are provided on the slider for installing the load. The method of clamping varies according to how to mount the main body.

• In case of moving the main body with the slider secured, use the same tapped holes on the slider.

• Please use two reamed holes on the slider when repeatability of mounting and dismounting is required. When fine adjustment of the squareness is necessary, use only one reamed hole to allow adjustment.

Sizes and depths of tapped holes and reamed holes on slider

5. Installation

Model Tap size Depth of thread A B C Reamed hole size

SA5C M4 9 mm 30 mm 19 mm 26 mm

SA6C M5 9 mm 50 mm 32 mm 31 mm

SA7C M5 10 mm 50 mm 32 mm 39 mm

SS7C M5 10 mm 50 mm 32 mm 32 mm

SS8C M8 10 mm 75 mm 45 mm 45 mm

HS8C M8 10 mm 75 mm 45 mm 45 mm

4H7, depth 6 mm



5H7, depth 6 mm



5H7, depth 10 mm



5H7, depth 10 mm



8H7, depth 10 mm



8H7, depth 10 mm



Tapped hole Reamed hole

Caution: When installing the load, do not allow adhesives, paints or other viscous substances to

attach to the stainless sheet. Also, avoid applying a concentrated force that will dent the sheet. It may cause the slider to malfunction or damage the sheet.

5.5 Reference Surface and Mounting Surface

• The mounting table should have sufficient rigidity to avoid generating vibration.

• The surface where the actuator will be mounted should be machined or be equally level and the flatness tolerance between the actuator and the table should be within 0.05 mm.

• Provide sufficient space around the actuator to permit maintenance work to be performed.

• The side and bottom faces of the actuator base provide the reference planes for slider travel.

• When traveling precision is required, use these surfaces as the reference planes for mounting.

5. Installation

Reference plane

(Side face of the base)

Reference plane

(Side face of the base)

Caution: As shown above, the side faces of the base provide the reference planes for slider travel.

When precision is required, use these surfaces as the reference planes for mounting.

When using the base as the reference planes for mounting the actuator to the machine frame, follow the machining dimensions shown below.

R0.3 or less

Model Dimension A (mm)

SA5C 2 to 3.5

SA6C 2 to 3.5

SA7C 2 to 5

SS7C 2 to 5

SS8C 2 to 5

HS8C 2 to 5

5.6 Clamp Screws

• The male screws for mounting the base should be M4 for SA5C, M5 for SS7C/SA6C/SA7C, and M8 for SS8C/HS8C. (Use hexagon socket-head bolts.)

• For the bolts, we recommend high strength bolts of ISO-10.9 or higher.

• When using a foot base to attach to a mounting table, use the special washer made for high strength bolts that comes with the actuator if the bolt is M8 or larger. This is unnecessary for M6 or smaller bolts. Do not use a common spring washer.

• The recommended screw torque is given below.

Screw Nominal

5. Installation

Screw Torque

Diameter

When the bolt seating surface is steel When the bolt seating surface is aluminum

M4 3.6 N·m (0.38 kgf·m) 1.8 N·m (0.18 kgf·m)

M5 7.3 N·m (0.74 kgf·m) 3.4 N·m (0.35 kgf·m)

M6 30.0 N·m (3.1 kgf·m) 11.5 N·m (1.17 kgf·m)

5.7 Cleanroom Specification

This actuator can deliver performance which ensures its operation in conformance with the requirements of cleanliness class 10 (0.1 m) by suctioning air into the suction joint. The recommended suction rate of each model at the maximum speed is specified below.

The clean room types listed below cannot be guaranteed to meet Cleanliness Class 10 if they

on:

Cauti

are installed in the vertical orientation, the horizontally wall mounted orientation or in the ceiling mounted orientation since they do not possess a structure to grip the stainless steel sheet from the side cover. Please contact us if it is necessary to install the following models in an orientation other than the horizontal orientation. Actuator Model : RCP2CR-SA5C, RCP2CR-SA6C

5.7.1 Recommended Suction Rate

5. Installation

Model

SA5C, lead 20 mm 1000 mm/s 80

SA5C, lead 12 mm 600 mm/s 50

SA5C, lead 6 mm 300 mm/s 30

SA5C, lead 3 mm 150 mm/s 15

SA6C, lead 20 mm 1000 mm/s 80

SA6C, lead 12 mm 600 mm/s 50

SA6C, lead 6 mm 300 mm/s 30

SA6C, lead 3 mm 150 mm/s 15

• If there is suction equipment, check its capacity. If there is no suction equipment, select suction equipment such as a vacuum pump and blower by referring to the values above.

Maximum speed

Suction rate

(NI/min)

SA7C, lead 16 mm 533 mm/s

SA7C, lead 8 mm 266 mm/s

SA7C, lead 4 mm 133 mm/s 30

SS7C, lead 12 mm 600 mm/s 50

SS7C, lead 6 mm 300 mm/s 30

SS7C, lead 3 mm 150 mm/s 15

SS8C, lead 20 mm 666 mm/s 80

SS8C, lead 10 mm 333 mm/s 40

SS8C, lead 5 mm 165 mm/s 20

Model

C 8 S H 1200mm/s 180

Maximum speed

Suction rate

(NI/min)

5.7.2 Suction Joint

• As for the suction joint, a one-touch type is employed and its structure allows the joint to be easily connected with a commercial air tube.

Model Joint type Tube outer diameter

SA5C

SA6C

SA7C

SS7C

SS8C

HS8C

KAT08-U01 (SMC)

KAT12-U03 (SMC)

Air tube connecting port

6. Connection with Controllers

6.1 Wiring

In an application where the cable cannot be anchored, try to place the cable so that it sags only under its own weight or use self-standing type cable as large radial wire duct to limit the load on the cable. Never cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length. The cables supplied with the actuator offer excellent flexibility, but they are not robot cables. If the cables are to be stored in a movable cable duct (cable track, etc.), use robot cables.

For cable modification, please contact your IAI sales representative.

[Connection with PCON/PSEL Controllers]

RCP2 RCP2CR

Dedicated controllers

6. Connection with Controllers

PCON PSEL

(Except for PCON-CA)

Dedicated cables (Connecting the RCP2 and PCP2CR with a dedicated controller)

r r

Robot cable r = 54 mm or more (movable) Standard cable r = 75 mm or more (fixed) Use a robot cable for sections where the cable will move.

Dedicated cables

Motor cable (Robot cable) CB-RCC-MA For RCP2-HS8C, HS8R and RCP2CR-HS8C Motor cable CB-RFA-MA□□□ Encoder cable CB-RCS2-PB□□□ / Encoder cable • Robot cable CB-RCP2-PB□□□-RB For RCP2-HS8C, HS8R and RCP2CR-HS8C Encoder cable CB-RFA-PA□□□/ Encoder cable • Robot cable CB-RFA-PA□□□-RB □□□ indicates the cable length. A desired length up to 20 m can be specified. Example) 080 = 8 m

[Connection with PMEC/PSEP Controllers]

Dedicated cables (Connecting the RCP2 and PCP2CR with a dedicated controller)

RCP2 RCP2CR

r = 68 mm or more (movable)

Dedicated controllers PCON-CA, PMEC, PSEP, MSEP, MSEL

r = 34 mm or more (fixed)

Dedicated cables

Motor encoder cable CB-PSEP-MPA□□□

□□□ indicates the cable length. A desired length up to 20 m can be specified. Example) 080 = 8 m

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. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire.

• Use dedicated cables of IAI indicated in this operation manual. Contact us if you wish to have a change to the specifications of the dedicated cables.

• Make sure to turn the power off in the process of power line or cable connection or disconnection.

• Do not attempt to cut a dedicated cable with connectors on both ends to extend, shorten or re-joint it.

• Hold the dedicated cable to avoid mechanical force being applied to the terminals and connectors.

• Use a cable pipe or duct to have an appropriate protection when there is a possibility of mechanical damage on a dedicated cable.

• In case a dedicated cable is to be used at a moving part, make sure to lay out the cable without applying any force to pull the connector or extreme bend on the cable. Do not attempt to use the cable with a bending radius below the allowable value.

• Make certain that the connectors are plugged properly. Insufficient connection may cause an operation error, thus it is extremely risky.

• Do not lay out the cables to where the machine runs over them.

6. Connection with Controllers

• Pay attention to the cable layout so it would not hit peripherals during an operation. In case it does, have an appropriate protection such as a cable track.

• When a cable is used hanging on the ceiling, prevent an environment that the cable swings with acceleration or wind velocity.

• Make sure there is not too much friction inside the cable storage equipment.

• Do not apply radiated heat to power line or cables.

• Have a sufficient radius for bending, and avoid a bend concentrating on one point.

Steel Strap (Piano Wire)

Tie them up softly.

• Do not let the cable bend, kink or twist.

• Do not pull the cable with a strong force.

• 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.

6. Connection with Controllers

• 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.

• PIO line, communication line, power and driving lines are to be put separately from each

other and do not tie them together. Arrange so that such lines are independently routed in the duct.

Power Line

Duct

I/O Line (Flat Cable, etc.)

Follow the instructions below when using a cable track.

• If there is an indication to the cable for the space factor in a cable track, refer to the wiring

instruction given by the supplier when storing the cable in the cable track.

• Avoid the cables to get twined or twisted in the cable track, and also to have the cables

move freely and do not tie them up. (Avoid tension being applied when the cables are bent.) Do not pile up cables. It may cause faster abrasion of the sheaths or cable breakage.

6. Connection with Controllers

7. Options

7.1 Brake

The brake is a retention mechanism that prevents the slider, when installed vertically, from dropping and thereby damaging the attached load when the power or servo is turned off. The brake option must be selected for every axis that will be used vertically. The model number for this option is “B,” “BE,” “BL” or “BR.”

7.2 Reversed Home Specification

When the reversed home specification is selected, the home is set on the front side. The model number for this option is “NM.” To change the direction of home on the delivered actuator, the moving direction parameter, etc., must be adjusted. Consult IAI for details.

7.3 Motor Reversing at Left, Motor Reversing at Right

“ML” indicates that the motor reverses on the left side as viewed from the motor, while “MR” indicates that the motor reverses on the right side.

These options can be specified for motor reversing types such as the SA5R, SA6R, SA7R, SS7R, SS8R and

7. Options

HS8R.

Left

Right

7.4 Slider Roller Specification

The slider structure is changed to the same roller structure adopted by the clean room specification. The model number for this option is “SR.”

7.5 Suction Joint on Opposite Side

Standard clean room actuators come with a suction joint set on the left side as viewed from the motor. With this option, this joint is set on the front (opposite) side. The model number for this option is “VR.”

8. Motor/Encoder Cable

8.1 PCON-CA/PMEC/PSEP/MSEP/MSEL Controller Cables

[1] Integrated motor/encoder cable CB-PSEP-MPA□□□

Mechanical end

Terminal number

1 2 4 5 3

6 16 17

6 13 14

4 10 11

9 12 15

8 18

Black

White

Red Green Brown

Yellow

Orange

Gray

Black

Brown

White

Yellow

Red

Green

(identification tape)

Shield

VMM

/A /B

BK+

BKNC NC

LS+

LS-

A+

A-

B+

B-

White

Yellow

Red

Green

NC NC NC

VCC

VPS

GND

(Spare)

Controller side

Terminal number

1 2 3 4 5 6

9 10 11 12

8 13 14 15 16 17 18 19 20 21 22 23 24

Controller end

□□□ indicates the cable length.

Max. 20m.

Example) 080 = 8 m [Minimum bending radius] Movable: 84 mm Fixed: 42 mm

8. Motor/Encoder Cable

8.2 PCON(Except for PCON-CA)/PSEL Controller Cables

[1] Motor cable CB-RCP2-MA□□□

208

Controller end

[2] Motor cable CB-RFA-MA□□□

(for RCP2-HS8C, HS8R and RCP2CR-HS8C)

Controller end

8. Motor/Encoder Cable

[3] Encoder cable CB-RCP2-PB□□□

Encoder robot cable CB-RCP2-PB□□□-RB

CN3

(Front)

208

CN3

(Front)

5 8

(Front)

I-1318119-3

AMP

I-1318119-3

AMP

CN4

Orange

Gray

White

Yellow

Pink

Yellow (Green)

Orange

Gray

White

Yellow

Pink

Yellow (Green)

(Approx.

M cable

CN3 CN1

VMM

(Approx.

M cable

CN3 CN1

VMM

C N

(Front)

Mechanical end

1 2 3 4 5 6

VMM

A B

Gray

Orange

Yellow (Green)

Pink

White

SLP-06V

(JST)

Yellow

* □□□ indicates the cable length.

Max. 20m.

Example) 080 = 8 m [Minimum bending radius] Movable: 42 mm Fixed: 28 mm

C N

(Front)

Mechanical end

1 2 3 4 5 6

VMM

A B

Gray

Orange

Yellow (Green)

Pink

White

SLP-06V

(JST)

Yellow

* □□□ indicates the cable length.

Max. 20m.

Example) 080 = 8 m [Minimum bending radius] Movable: 47 mm Fixed: 31 mm

13 15

N 2

(Front)

CN4

Standard cable

Blue (red1)

Brown

Purple

(JST)

Yellow

SV61-RDHP

Orange

Ground Ground

Cable colo

White

Red

Gray

Green

Pink

Blue

Robot cable

Orange (Black 2)

Orange (Red 2)

Orange (Black 1)

Orange (Red 1)

Light Gra (Black 1)

Light Gra

(Red 1)

White (Black 1)

Orange (Red 1)

Yellow (Black 1)

Pink(Red 1)

Pink(Black 1)

Signal

code

LS LS BK BK

ENA ENA ENB ENB

VPS VBB

GND

N.C N.C N.C F.G

Mechanical end Controller end

No.

Signal

code

ENA ENA ENB ENB

GND VBB VPS

LS LS

BK BK

F.G

Cable color

Standard cable

Brown

Green

Brown

Pink

Blue

Orange

Yellow

Blue(Red1)

Yellow

Red

Gray

Robotcable

Light Gray (Black

Light Gray

(Red 1)

White(Black 1)

White(Red1)

Pink(Black 1)

Pink(Red1)

Yellow(Black 1)

Orange (Black 2)

Orange (Red2)

Orange (Black 2)

Orange (Red2)

GroundGround

CN2

(JST)

V81-PMX

* □□□ indicates the cable length.

Max. 20m.

Example) 080 = 8 m [Minimum bending radius] Robot cable Movable: 54 mm Standard cable Fixed: 75 mm

16 15 14 13 12 11 10

9 8 7 6 5 4 3 2 1

Shield cable

Ground wire

No.

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15 16 17 18

[4] Encoder cable CB-RFA-PA□□□

Encoder Robot Cable CB-RFA-PA□□□-RB (for RCP2-HS8C, HS8R and RCP2CR-HS8C)

(5) (8) (13) (15)

(35)

CN1

Cable Color

Signal

Name

10 11 12 13 14 15 16 17 18

Standard Cable

1 2 3 4 5 6 7 8 9

Housing : XMP-18V (J.S.T. Mfg.) Contact : BXA-001T-P0.6 Retainer : MS-09V

ENA ENA ENB ENB

GND

VPS

BK BK F.G

BR GN PL PK

YW OR

RD GY

Drain Drain

Mechanical side

Robot Cable

LGY(BK1)

LGY(RD1)

WT(BK1) WT(RD1)

PK(BK1)

YW(BK1) PK(RD1)

OR(BK1) OR(RD1)

C N

Signal Name

(Reserved) (Reserved)

BK ENA ENA ENB ENB

(Reserved)

VPS

GND

F.G

(9)

Name

16 15 14 13 12 11 10

9 8 7 6 5 4 3 2 1

CN4

(18)

(Front View) (Front View)

Controller side

CN2

Cable Color

Standard Cable

Robot Cable

OR(BK1)

OR(RD1)

LGY(BK1)

LGY(RD1)

WT(BK1)

WT(RD1)

YW(BK1)

PK(BK1)

PK(RD1)

Drain

Housing : PHDR-16VS (J.S.T. Mfg.) Contact : SPHD-001T-P0.5

* □□□ indicates the cable length.

Max. 20m.

Example) 080 = 8m

(25)

[Minimum bendable radius] Robot Cable Movable Use : 54mm Standard Cable Fixed Use : 75mm

8. Motor/Encoder Cable

9. Maintenance and Inspection

9.1 Inspection Items and Schedule

Perform maintenance and inspection at the intervals specified below. This schedule assumes that the actuator is operated eight hours a day. If the actuator is operated at a higher utilization, such as when the machine is used continuously day and night, reduce the inspection intervals accordingly.

Schedule External visual inspection Internal inspection Greasing

Start of work inspection

1 month inspection 3 month inspection 3 months after starting

operation 6 months inspection Every 6 month inspection

Note 1 Grease film may run out if the actuator is moved back and forth continuously over a distance

of 30mm or less. As a guide, perform a back-and-forth operation five times or so over a distance of 50mm or more after a back-and-forth operation over such short distance has been repeated 5,000 to 10,000 times. This will restore oil film.

Note 2 Check the condition of grease and wipe if off in case it is extremely dirty before supplying new

grease.

[Period of Grease Supply (reference)] Supply grease in the earlier timing of either the operation distance or months described in the table

below.

Max. velocity of use [mm/s]

0 to 750 or less 1,250km

Above 750 to 1,000 2,500km

9. Maintenance and Inspection

{ {

{

Depends on grease

{{ {{

Period of grease supply (reference)

Operation distance Months described

(Note 2)

supply timing

(reference)

12 months

(Note 1)

Warning: xThe grease may be degraded if the actuator has got stored for 6 months or more.

Supply grease before starting to use. [Reference to 9.7 Grease Supply]

xThe speed of grease degradation differs depending on the environment of use

(temperature, humidity and ambient environment). It is recommended to shorten the period of grease supply in case of use in bad environment with high temperature, high humidity, high rate of dust and so on. Also, it is recommended to improve the environment in case the color of the grease changes remarkably due to bad environmental condition.

9.2 Visual Inspection of the Machine Exterior

Check the following items when carrying out visual inspection.

Body Loose mounting bolts

Cables Damage to cables or connection to connector box

Stainless sheet Damage, foreign deposit or slacks

General Unusual noise or vibrations

• If the stainless sheet is slacked, make adjustment as deemed necessary to remove the slacks.

• As a rough guide, the stainless sheet will last for 5,000 km of traveled distance. However, the stainless sheet should be replaced earlier depending on the condition of use. The stainless sheet must be replaced at an IAI site (the actuator must be brought to IAI) or at the customer’s site by IAI’s service personnel, as a rule.

• If the actuator is fixed vertically, grease applied to the guide may drip depending on the environment. If this happens, clean and add grease as necessary.

9.3 Cleaning

• Clean the exterior as needed. Wipe off dirt with a soft cloth.

• Do not use strong compressed air on the actuator as this may force dust into the crevices.

• Do not use petroleum-based solvent on plastic parts or painted surfaces.

• If the unit is badly soiled, apply a neutral detergent or alcohol to a soft cloth, and wipe gently.

•

9.4 Adjusting the Stainless Sheet

If the actuator stroke is 400 mm or more, check the stainless sheet for slacking, etc., as needed. If the sheet is found slacked, adjust the stainless sheet. [For the procedure to adjust the stainless sheet, refer to 9.8, “Replacing/Adjusting the Stainless Sheet.”]

9. Maintenance and Inspection

9.5 Interior Inspection

Turn off the power, remove the side covers, and then visually inspect the interior. Check the following items during interior inspection.

Body Loose mounting bolts?

Guides Lubrication appropriate? Soiling?

Ball screw Lubrication appropriate? Soiling?

How to inspect the interior:

1) Remove both side covers.

Use an Allen wrench of 1.5mm across flats for SA5C/SA6C/SA7C/SS7C or an Allen wrench of 2.00mm across flats for SS8C/HS8C.

Make a visual check of the interior to see if there is any dust or foreign matter in the unit and check the lubrication. Even if the grease you see around the parts is brown, the lubrication is fine as long as the traveling surface appears shiny.

2) If the grease becomes dirty and dull or if the grease has worn away due to extended operating time, lubricate

the parts after cleaning them.

3) When the inspection/maintenance work is complete, install the side covers.

Tightening torque: SA5C/SA6C/SA7C/SS7C: Thin-head screw M3 × 6 - 87.2 N·cm (8.90 kgf·cm)

9. Maintenance and Inspection

Caution: When checking the interior, be careful not to bend or scratch the stainless sheet. Wear

protective gloves when handling the stainless sheet, because it has sharp edges that may cause accidental cuts. The front cover is supporting the ball screw; so do not disassemble the front cover. If the front cover is misaligned, the shaft centers may become offset, thus increasing the traveling resistance, reducing the service life of each part, or generating noise.

SS8C/HS8C: Thin-head screw M4 × 6 - 204 N·cm (20.8 kgf·cm)

When installing the side covers, do not let them contact the end faces of the stainless sheet. This may damage or bend the stainless sheet, causing the sheet to deteriorate or wear quickly. To prevent this problem, insert a shim (approx. 0.1 to

0.2mm) between the sheet and each cover between the sheet and each cover to provide a slight allowance, and gently push in the cover.

9.6 Internal Cleaning

• Wipe off dirt with a soft cloth.

• Do not use strong compressed air on the actuator as this may force dust into the crevices.

• Do not use petroleum-based solvent, neutral detergent or alcohol.

Caution: Do not use flushing oil, molybdenum grease or anti-rust lubricant.

When grease is soiled with a large amount of foreign substances, wipe off the dirty grease and then apply new grease.

9.7 Grease Supply

9.7.1 Applicable Grease

[Other than Cleanroom Specification]

1) What Grease to Use on the Guides

The following grease is used when we ship the unit.

Idemitsu Kosan Daphne Eponex Grease No.2

Other companies also sell a grease similar to this. If ordering from another maker, give the name of this product and request something comparable. Comparable products include the following:

Showa Shell Oil Albania Grease S2

Mobil Oil UNIREX N2

(2) What Grease to Use on the Ball Screw

The following grease is used when we ship the unit. This grease offers excellent properties such as low heat generation, and is suitable for lubricating ball screws.

Kyodo Yushi Multemp LRL3

Caution: Never use any fluorine-based grease. It will cause a chemical reaction when mixed with a

lithium-based grease and may cause damage to the actuator.

9. Maintenance and Inspection

[Cleanroom Specification]

(1) What Grease to Use on the Guide and Ball Screw

For guides and ball screw, a urea-based grease of low-dust-raising type which has stable torque characteristics and superior lubrication performance as well as the anti-rust effect equivalent to that of a lithium-based grease is used. The following grease is used when we ship the unit:

Kuroda Precision Industries C Grease

Warring: Never use any fluorine-based or lithium-based grease. It will cause the grease to lose its

lubrication performance and may damage the actuator or reduce cleanliness performance when mixed with an urea-based grease.

Caution: Never use grease for the standard specification. It may allow dust to generate.

9. Maintenance and Inspection

9.7.2 How to Apply Grease

1) When greasing the guide, use a spatula or grease applicator to squeeze or inject grease into the space

between the slider and base, and then move the slider back and forth several times to let grease spread evenly. Apply grease on the guides on both sides. Remove excess grease.

2) When greasing the ball screw, clean the ball screw, apply grease using a finger, and then move the slider

back and forth several times to let the grease spread evenly. At this time, be careful not to deform the stainless sheet by accidentally touching the sheet. Remove excess grease.

3) Install the side covers.

Tightening torque: SA5C/SA6C/SA7C/SS7C: Thin-head screw M3 × 6 87.2 N•cm (8.90 kgf•cm)

SS8C/HS8C: Thin-head screw M4 × 6 204 N•cm (20.8 kgf•cm)

Refer to 3) in 9.5, “Interior Inspection,” for notes on installing the side covers.

9. Maintenance and Inspection

Caution: In case the grease got into your eye, immediately go to see the doctor to get an appropriate

care. After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

9.8 Replacing/Adjusting the Stainless Sheet

[Items Required for Replacement]

• Replacement stainless sheet

• Clearance-checking tool (a regular slider cover with holes)

(This tool is available from IAI’s Sales Engineering Section. If you are replacing the stainless sheet, please contact us to make a rental arrangement or purchase the tool.)

• Allen wrench set • Phillips screwdriver • Scale

[Note on Stainless Sheet Tension]

Deterioration and wear of the stainless sheet is affected by its tension. If the stainless sheet is too tight, excessive clearances will be created between the sheet and slider covers and the sheet may undergo a fatigue failure. If the stainless sheet is too loose, the sheet will contact the back of the slider covers and generate shaving. Therefore, use a dedicated adjustment tool to properly adjust the tension of the stainless sheet so that the clearances between the stainless sheet and slider covers conform to the specified dimension.

[Names of Each Part]

Stainless-sheet

retainer plate

Slider-cover affixing screw

(flat countersunk-head

9. Maintenance and Inspection

Stainless-sheet

retainer screw

Stainless sheet Slider cover

screw)

Stainless-sheet

retainer screw

[Procedure]

1) Remove the slider-cover affixing screws and remove the covers.

After the slider covers have been removed

[1] Standard specification (slider structure)

• SA5C/SA6C • SA7C/SS7C/SS8C/HS8C

Sheet slider

Plate spring

Coil spring

Sheet slider

[2] Cleanroom specification (Slider roller specification (optional) (roller structure)

• SA5C/SA6C Spacer

Coil spring

Roller

Spacer

Coil spring

9. Maintenance and Inspection

Coil spring

• SA7C/SS7C/SS8C/HS8C

Roller

Coil spring

Caution: Remove the slider covers slowly and gently. If the actuator is installed on the ceiling or

oriented vertically or horizontally on its side, place a plastic bag, etc., underneath the slider covers so as not to lose the coil springs and spacers in case they drop off.

Sheet slider

Coil spring

Roller

Coil spring

Sheet slider

2) Remove the stainless-sheet retainer screws on both sides and pull out the stainless sheet.

3) Guide a new stainless sheet into the slider.

4) Hold the stainless sheet in place, and affix the retainer plates and screws. At this time, securely tighten the screws only on the motor side, and leave the screws on the counter-motor side loose.

Sheet slider

Stainless-sheet retainer plates and screws Securely tighten the screws only on the motor side, and leave the screws on the counter-motor side loose.

ƔHow to prevent the stainless sheet from lifting (SA5C/SA6C/SA7C)

Slightly bend the stainless sheet downward near the center of the mounting holes so that the sheet can be held securely.

Stainless sheet

Near the center of the mounting holes

9. Maintenance and Inspection

5) Install the clearance-checking tool.

Install the clearance-checking tool instead of the slider covers.

Slightly bend the sheet downward.

Peripheral

openings

Center

openings

6) Adjust the tension of the stainless sheet.

[1] While looking through the center opening in the clearance-checking tool, move the stainless sheet on the

loose end in the directions of arrows until the clearance between the top face of the stainless sheet and the back of the clearance-checking tool falls within the specified range.

Move the stainless sheet in the directions of arrows to adjust the tension.

While looking through the center opening, check the clearance between the top face of the stainless sheet and the back of the clearance-checking tool. (If the clearance is within the specified tolerance range, the tension is appropriate even when the clearance varies along the entire stroke or between right and left.)

SA5C/SA6C: 0.5 ~ 1.0 mm SA7C:2.0 ~ 3.0 mm (standard) SA7C: 3.0 ~ 4.0 mm (Cleanroom specification) Slider roller specification (optional) SS7C/SS8C/HS8C:0.5 ~ 1.5 mm

(Standard)

(Cleanroom specification)

[2] When the stainless sheet has been properly positioned, tighten the screws on the loose end to a level that the

stainless sheet no longer moves.

9. Maintenance and Inspection

[3] Move the slider and check the tension of the stainless sheet along the entire stroke.

Checkpoint 1: Check if the clearance between the top face of the stainless sheet and the back of the clearance-checking tool falls within the specified range along the entire stroke.

Checkpoint 2: Look through the peripheral openings and confirm that the stainless sheet edges do not contact the slider body. Move the slider back and forth at least three times over the entire stroke to ensure the edges do not contact the slider. The sheet may move during the slider strokes, but slight movement is acceptable as long as the offset does not increase and the sheet does not contact the slider. If the stainless sheet contacts the slider, repeat the adjustment from [1].

The stainless sheet is not perfectly straight, but it bends to the right and left slightly. It is impossible to adjust the right and left clearances perfectly uniform. Slight variation in clearance in the stroke direction or between the right and left is acceptable, as long as the stainless sheet edges do not contact the slider body over the entire stroke.

If the conditions in Checkpoints 1 and 2 are not satisfied, loosen the screws and readjust the position and tension

9. Maintenance and Inspection

of the stainless sheet again from [1].

Caution If the condition in Checkpoint 2 cannot be met after the readjustment, try installing the

stainless sheet in the reverse direction or placing it upside down. If the stainless sheet is still not adjusted properly, replace it with a new sheet.

Slider body Stainless sheet

Clearances between stainless sheet edges and slider body

[4] When proper clearances are obtained between the slider body and stainless sheet and an absence of contact

between the two is confirmed, tighten the two screws on the loose end alternately, and then finally tighten all screws to a uniform torque to securely affix the stainless sheet. If the screws are not tightened uniformly, the sheet may meander or lift.

Apply additional torque to the screws on both ends until the stainless sheet no longer moves. Tightening torque: SA5C/SA6C/SA7C/SS7C: 87.2 N·cm (8.90 kgf·cm) (Standard)

45.5 N·cm (4.64 kgf·cm) (Cleanroom specification, Slider roller specification (optional)) [Reference value]

SS8C/HS8C: 204 N·cm (20.8 kgf·cm) (Standard)

106 N·cm (10.8 kgf·cm) (Cleanroom specification, Slider roller specification (optional)) [Reference value]

[5] Remove the clearance-checking tool and install the slider covers.

9. Maintenance and Inspection

Caution: Again, make sure not to lose the coil springs and spacers.

9.9 Reduction Belt [Motor Reversing Type]:

SA5R, SA6R, SA7R, SS7R, SS8R, HS8R

9.9.1 Inspecting the Belt

Remove the pulley cover and visually inspect the belt. Durability of the reduction belt is affected significantly by the operating condition, and there is no standard guideline as to when the belt should be replaced. Generally, the belt is designed to withstand several millions of flexing loads. As a practical guideline, replace the reduction belt when any of the conditions listed below are observed:

• The teeth and end faces of the belt have worn significantly.

• The belt has swollen due to deposits of oil, etc.

• Cracks and other damages are found on the teeth or back of the belt.

• The belt has broken.

9.9.2 Applicable Belt

Supplier: Bando Chemical Industries

IAI Maintenance

Parts Model TB-RCP2-SA5RSA5R TB-RCP2-SA6RSA6R TB-RCP2-SA7RSA7R TB-RCP2-SA8RSA8R TB-RCP2-SS8RSS8R TB-RCP2-HS8RHS8R

60S2M184R 16mm wide: Rubber STS clean type specification 60S2M184R 16mm wide: Rubber STS clean type specification 150S3M255U 15mm wide: Polyurethane rubber specification 100S3M219U 150S3M252U 15mm wide: Polyurethane rubber specification 150S3M252U 15mm wide: Polyurethane rubber specification

10mm wide: Polyurethane rubber specification

Supplier ModelModel

9.9.3 Adjusting the Belt Tension

Remove the pulley cover and loosen the four tension adjusting bolts. Apply a tensile load to the belt by moving the motor to the left and tighten the tension adjusting bolts.

SA5R, SA6R

9. Maintenance and Inspection

Tension adjusting bolt tightening torque: 162N･cm (16.5Kgf･cm)

Move the motor cover.

Motor

Tensile load:

2.5Kgf

Tension adjusting bolts (4 pcs.)

Use an Allen wrench of 2.5mm across flats.

Motor-cover affixing bolts (2 pcs.)

SA7R

Motor bracket

Tensile load:

8Kgf

Tension adjusting bolts (4 pcs.)

Use an Allen wrench of 3mm across flats.

Tension adjusting bolt tightening torque:

323N･cm (33Kgf･cm)

9. Maintenance and Inspection

SS7R, SS8R, HS8R

Tension adjusting bolt tightening torque:

323N･cm (33Kgf･cm)

Motor bracket

Tensile load: SS7R: 7.3Kgf SS8R: 11.6Kgf

Tension adjusting bolts (4 pcs.)

Use an Allen wrench of 3mm across flats.

9.9.4 Replacing the Belt : SA5R, SA6R, SA7R, SS7R, SS8R, HS8R

ƔSA5R, SA6R

[Items Required for Replacement]

• Replacement reduction belt • Allen wrench set

• Tension gauge (Capable of tensioning to 3kgf or greater)

• Strong string, looped (or long tie-band)

[Procedure]

1) Remove the pulley cover. Remove the four affixing thin-head screws using an Allen wrench of 1.5mm across flats.

2) Pull out the two motor-cover affixing bolts and move the motor cover approx. 20mm. (Use an Allen wrench of 2.5mm across flats.)

9. Maintenance and Inspection

3) Loosen the four tension adjusting bolts to loosen the belt. 4) Remove the belt from the pulleys.

(Use an Allen wrench of 2.5mm across flats.)

5) Remove the pulley assembly. Remove the four affixing bolts using an Allen wrench

䈄

of 2.5mm across flats.

6) Remove the pulley cap. Remove the two affixing bolts using an Allen wrench

䈄

of 2.5mm across flats.

Pull out the assembly by hand.

䈄

9. Maintenance and Inspection

Pulley cap

7) Pull out the belt and insert a new belt.

Insert the belt into

this clearance.

8) Attach the pulley cap.

Tighten the hexagon socket-head bolts (M3 x 8mm, 2 pcs.) using an Allen wrench of 2.5mm across flats.

Tightening torque: 83 N·cm (8.47 kgf·cm)

9) Install the pulley assembly. Align the angles of projections and depressions on

䈄

the couplings.

• Tighten the hexagon socket-head screws (M3 × 22, 4 pcs.) using an Allen wrench of

2.5 mm across flats.

Align the angles of projections and depressions.

10) Loop the belt over the pulleys.

11) Pass a looped strong string (or long tie-band) around the motor-end flange and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the adjusting bolts (hexagon socket-head bolts: M3 × 10, 4 pcs.). (Use an Allen wrench of 2.5 mm across flats.)

9. Maintenance and Inspection

12) Install the motor cover. Tighten the hexagon socket-head screws (M3 × 12, 2 pcs.) using an Allen wrench of

2.5 mm across flats.

Tightening torque: 83 N·cm (8.47 kgf·cm)

Tension: 2.5 kgf Adjusting bolt tightening torque:

162 N·cm (16.5 kgf·cm)

13) Install the pulley cover. Tighten the thin-head screws (M3 × 6, 4 pcs.) using an Allen wrench of 1.5 mm across flats.

Tightening torque: 83 N·cm (8.47 kgf·cm) Tightening torque: 87.2 N·cm (8.90 kgf·cm)

ƔSA7R

[Items Required for Replacement]

• Replacement reduction belt • Allen wrench set

• Tension gauge (Capable of tensioning to 8kgf or greater)

• Strong string, looped (or long tie-band)

[Procedure]

1) Remove the pulley cover. Remove the four affixing thin-head screws using an Allen wrench of 1.5 mm across flats.

2) Loosen the four tension adjusting bolts to loosen the belt. (Use an Allen wrench of 3 mm across flats.)

4) Remove the pulley assembly. Remove the four affixing bolts using an Allen

䈄

wrench of 2.5 mm across flats.

3) Remove the belt from the pulleys.

Pull out the assembly by hand.

䈄

9. Maintenance and Inspection

5) Remove the pulley assembly.

• Remove the four affixing bolts using an Allen wrench of 2.5 mm across flats.

6) Pull out the belt and insert a new belt.

Pulley cap

Insert the belt into

this clearance.

9. Maintenance and Inspection

7) Install the pulley cap. Tighten the hexagon socket-head bolts (M3 × 10, 4 pcs.) using an Allen wrench of 2.5 mm across flats.

Tightening torque: 83 N·cm (8.47 kgf·cm)

8) Install the pulley assembly. Align the angles of projections and depressions on

䈄

the couplings.

• Tighten the hexagon socket-head screws (M3 × 40, 4 pcs.) using an Allen wrench of

2.5 mm across flats.

Align the angles of projections and depressions.

Tightening torque: 83 N·cm (8.47 kgf·cm)

9) Loop the belt over the pulleys.

10) Pass a looped strong string (or long tie-band) around the motor bracket and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the adjusting bolts (hexagon socket-head bolts: M4 × 20, 4 pcs.). (Use an Allen wrench of 3 mm across flats.)

Tension: 8 kgf Adjusting bolt tightening torque:

323 N·cm (33 kgf·cm)

11) Install the pulley cover. Tighten the thin-head screws (M3 × 6, 4 pcs.) using an Allen wrench of 1.5 mm across flats.

9. Maintenance and Inspection

Tightening torque: 87.2 N·cm (8.90 kgf·cm)

ƔSS7R, SS8R, HS8R

[Items Required for Replacement]

• Replacement reduction belt • Allen wrench set

• Tension gauge (Capable of tensioning to 12kgf or greater)

• Strong string, looped (or long tie-band)

[Procedure]

1) Remove the pulley cover.

Remove the four affixing thin-head screws using an Allen wrench of 2 mm across flats.

2) Loosen the four tension adjusting bolts to loosen the belt. (Use an Allen wrench of 3 mm across flats.)

9. Maintenance and Inspection

4) Loop a new belt over both pulleys.

5) Pass a looped strong string (or long tie-band) around the motor bracket and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the adjusting bolts (hexagon socket-head bolts: M4 × 20, 4 pcs.).

3) Remove the belt from the pulleys.

Tension: SS7R: 7.3 kgf SS8R/HS8R: 11.6 kgf Adjusting bolt tightening torque:

323 N·cm (33 kgf·cm)

6) Install the pulley cover. Tighten the thin-head screws (M4 × 6, 4 pcs.) using an Allen wrench of 2 mm across flats.

Tightening torque: 204 N·cm (20.8 kgf·cm)

9. Maintenance and Inspection

9.10 Replacing the Motor

9.10.1 Motor Coupling Type

SA5C, SA6C

[Items Required for Replacement]

• Replacement motor M-P2SA5C-IAP42N-MB-CO (for SA5C) M-P2SA6C-IAP42N-MB-CO (for SA6C)

(with a coupling on the motor shaft: see the photograph at the right)

• Allen wrench set

• Phillips screwdriver

• Grease (Kyodo Yushi’s Multemp LRL3 or equivalent)

[Procedure]

1) After removing the flat countersunk-head screws (M3 × 8, 2 pcs.) affixing the cable ends on the motor-end cap, remove the pan-head screws affixing the motor-end cap.

Coupling

• Flat countersunk-head screws (M3 × 8, 2 pcs.)

2) Push in the cable-end molding to create a slack along the inner cable

9. Maintenance and Inspection

3) Pull out the motor connector. 4) Pull out the encoder connector.

• Pan-head screws (M3 × 80, 4 pcs.)

Push in the molding as far as possible

Caution: Do not apply a force to the encoder

by touching it directly..

5) Remove the motor. Remove the affixing bolts (M3 × 50, 2 pcs.) using an

䈄

Allen wrench of 2.5 mm across flats.

• Pull out the motor by hand.

• Decoupled motor

Pilot alignment metal If this metal is attached on the decoupled motor, put it back to the pilot on the actuator side.

6) Apply grease to the coupling on the actuator side.

9. Maintenance and Inspection

Kyodo Yushi’s Multemp LRL3 has been applied before shipment.

Warning: Never use any fluorine-based

grease.It will chemically react with lithium-based grease and damage the actuator.

7) Install a new motor.

• After confirming that the angles of projections and depressions on the couplings are aligned, tighten the affixing bolts (M3 × 50, 2 pcs.). (Use an Allen wrench of 2.5 mm across flats.)

Tightening torque: 59 N·cm (6 kgf·cm)

8) Connect the encoder connector. 9) Connect the motor connector.

Caution: Do not apply a force to the encoder

by touching it directly

9. Maintenance and Inspection

10) Replace the cable-end molding in the original position, and affix it with the flat countersunk-head screws (M3 × 8, 2 pcs.).

11) Affix the motor end cap with the pan-head screws (M3 × 80, 4 pcs.). At this time, make sure not to pinch the cables.

Tightening torque: 61.5 N·cm (6.3 kgf·cm)

9. Maintenance and Inspection

SA7C

[Items Required for Replacement]

• Replacement motor M-P2SA7C-IAP56N-MB-CO (with a coupling on the motor shaft; see the photograph right.)

• Allen wrench set • Phillips screwdriver

• Grease (Kyodo Yushi’s Multemp LRL3 or equivalent)

Coupling

[Procedure]

1) After removing the flat countersunk-head screws (M3 × 8, 2 pcs.) affixing the cable ends on the motor end cap,

remove the pan-head screws (M3 × 105, 4 pcs.) affixing the motor end cap.

• Flat countersunk-head screws (M3 × 8, 2 pcs.)

9. Maintenance and Inspection

• Pan-head screws (M3 × 105, 4 pcs.)

2) Push in the cable-end molding to create a slack along the inner cable.

Push in the molding as far as possible.

3) Pull out the motor connector.

4) Pull out the encoder connector.

9. Maintenance and Inspection

Caution: Do not apply a force to the encoder

by touching it directly.

5) Remove the motor. Remove the affixing bolts (M4 × 15, 4 pcs.) using an Allen wrench of 3 mm across flats.

䈄

• Pull out the motor by hand.

9. Maintenance and Inspection

6) Apply grease to the coupling on the actuator side.

• Decoupled motor

Pilot alignment metal If this metal is attached on the decoupled motor, put it back to the pilot on the actuato side.

Kyodo Yushi’s Multemp LRL3 has been applied before shipment.

Warning: Never use any fluorine-based grease.

It will chemically react with lithium-based grease and damage the actuator

7) Install a new motor.

• After confirming that the angles of projections and depressions on the couplings are aligned, tighten the affixing bolts (M4 × 15, 4 pcs.). (Use an Allen wrench of 3 mm across flats.)

Tightening torque: 176 N·cm (18 kgf·cm)

8) Connect the encoder connector. 9) Connect the motor connector.

9. Maintenance and Inspection

Caution: Do not apply a force to the encoder

by touching it directly.

10) Replace the cable-end molding in the original position, and affix it with the flat countersunk-head screws (M3 × 8, 2 pcs.).

11) Affix the motor end cap with the pan-head screws (M3 × 105, 4 pcs.). At this time, make sure not to pinch the cables.

Tightening torque: 61.5 N·cm (6.3 kgf·cm)

9. Maintenance and Inspection

SS7C

[Items Required for Replacement]

• Replacement motor M-P2SS7C-IAP42N-MB-CO (with a coupling on the motor shaft; see the photograph right.)

• Allen wrench set • Phillips screwdriver

• Plastic hammer

[Procedure]

1) Remove the pan-head screws affixing the motor-end cap.

Coupling

• Pan-head screws (M3 × 95, 2 pcs.)

• Pan-head screws (M2 × 10, 2 pcs.)

2) Remove the motor cover.

The motor cover is engaged with a positioning pin. If the cover does not come off easily, use a plastic hammer to gently tap the motor cover from the side, and pull out the cover.

9. Maintenance and Inspection

Positioning pin

3) Push in the motor-end cap into the motor cover.

4) Pull out the motor connector.

9. Maintenance and Inspection

5) Pull out the encoder connector.

Caution: Do not apply a force to the encoder

by touching it directly.

6) Remove the motor. Remove the affixing bolts (M3 × 15, 2 pcs./M3 × 18, 2 pcs.) using an Allen wrench of 2.5 mm across

䈄

flats.

• Pull out the motor by hand.

• Remove the motor flange. Remove the affixing bolts (M3 × 8, 4 pcs.) using an Allen wrench of 2.5 mm across flats.

Motor flange

9. Maintenance and Inspection

• Decoupled motor

7) Install a new motor.

• Tighten the motor flange with the affixing bolts (M3 × 8, 4 pcs.).

• Confirm that the angles of projections and depressions on the couplings are aligned.

• Next, tighten the upper affixing bolts (M3 × 15, 2 pcs.) uniformly.

9. Maintenance and Inspection

8) Connect the encoder connector.

• First, tighten the right and left affixing bolts (M3 × 18, 2 pcs.) uniformly.

Tightening torque of M3 bolt: 83 N·cm (8.5 kgf·cm)

9) Connect the motor connector.

Caution: Do not apply a force to the encoder

by touching it directly.

10) Pull out the motor-end cap from the motor cover and affix it with the pan-head screws. At this time, make sure not to pinch the cables.

• Pan-head screws (M2 x 10, 2 pcs.)

• Pan-head screws (M3 × 105, 2 pcs.)

Tightening torque: 61.5 N·cm (6.3 kgf·cm)

11) Affix the motor cover.

• If the positioning pin does not go in smoothly, gently tap the motor-end cap using a plastic hammer to push in the pin.

Tightening torque: 16.9 N·cm (1.7 kgf·cm)

9. Maintenance and Inspection

SS8C, HS8C

[Items Required for Replacement]

• Replacement motor M-P2SS8C-IAP56N-MB-CO (for SS8C), M-P2HS8C-IAP56N-MB-CO (for HS8C) (with a coupling on the motor shaft; see the

photograph right.)

• Allen wrench set • Phillips screwdriver

• Plastic hammer

Coupling

[Procedure]

1) Remove the pan-head screws (M3 × 10,

4 pcs.) affixing the motor-end cap.

9. Maintenance and Inspection

3) Remove the motor cover. The motor cover is engaged with a positioning pin. If the cover does not come off easily, use a plastic hammer to gently tap the motor cover from the side, and pull out the cover.

2) Remove the pan-head screws (M3 × 10,

2 pcs.) affixing the motor cover.

Positioning pin

4) Push in the motor-end cap into the motor cover.

9. Maintenance and Inspection

5) Pull out the motor connector.

6) Pull out the encoder connector.

Caution: Do not apply a force to the encoder

by touching it directly.

7) Remove the motor. Remove the affixing bolts (M4 × 15, 4 pcs.) using an Allen wrench of 3 mm across flats.

䈄

• Decoupled motor • Pull out the motor by hand.

9. Maintenance and Inspection

8) Install a new motor.

• After confirming that the angles of projections and depressions on the couplings are aligned, tighten the affixing bolts (M4 × 15, 4 pcs.).

(Use an Allen wrench of 3 mm across flats.)

Tightening torque: 176 N·cm (18 kgf·cm)

9) Connect the encoder connector. 10) Connect the motor connector.

Caution: Do not apply a force to the encoder

by touching it directly.

11) Pull out the motor-end cap from the motor cover and affix it with the pan-head screws (M3 × 105, 4 pcs.). At this time, make sure not to pinch the cables.

Tightening torque: 61.5 N·cm (6.3 kgf·cm)

9. Maintenance and Inspection

12) Affix the motor cover.

• If the positioning pin does not go in smoothly,

gently tap the motor-end cap using a plastic hammer to push in the pin.

• Tighten the pan-head screws (M3 x 10, 2 pcs.)

Tightening torque: 61.5 N·cm (6.3 kgf·cm)

9.10.2 Motor Reversing Type

SA5R, SA6R

[Items Required for Replacement]

• Replacement motor M-P2SA5R-IAP42N-MB-PU (for SA5R), M-P2SA6R-IAP42N-MB-PU (for SA6R)

(with a coupling on the motor shaft; see the photograph at the right)

• Allen wrench set • Phillips screwdriver

• Tension gauge (capable of tensioning to 3 kgf or greater)

• Strong string, looped (or long tie-band)

[Procedure]

1) Remove the pulley cover. Remove the four affixing thin-head screws using an Allen wrench of 1.5 mm across flats.

Pulley

9. Maintenance and Inspection

2) Loosen the four tension adjusting bolts to loosen the belt. (Use an Allen wrench of 2.5 mm across flats.)

3) Remove the belt from the pulleys.

IAI RCP2-SA5R, RCP2-HS8C, RCP2-SA6R, RCP2-SA7R, RCP2-SS8R Operating Manual

Specifications and Main Features

Frequently Asked Questions

User Manual