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
4
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.
5
6
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
...............................................................................................................
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..
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119
119
119
119
120
120
Change History ........................................................................................................................................................ 121
Safety Guide
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.
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
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
1
Operation
No.
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
Description
Start
Preservation
and Start
Description
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
2
Operation
No.
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
Description
Start
and Start
Description
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).
2
(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.
3
Operation
No.
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
Description
and Start
Operation
Description
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
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
4
Operation
No.
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
Description
and Inspection
Operation
and Dismantle
Description
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.
5
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,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ For the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
Ɣ Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
Ɣ The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
Ɣ Pay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection
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.
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Danger
Warning
Caution
Notice
6
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
7
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.
8
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.
9
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.
10
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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11
Names of Parts
A
r
r
r
r
A
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.
12
Base
Slider
Left Side
Bearing Housing
ctuator Cable
Motor End Cap
Motor Cove
2. Motor Coupling Type (Cleanroom Specification) RCP2CR
A
A
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
13
3. Motor Reversing Type
r
r
r
r
r
r
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.
14
ƔSS7R, SS8R, HS8R
r
r
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
15
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
15
16
17
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.”
*1
(DVD)
lortnoC emaN .oN No.
ME0174
ME0175
ME0182
16
r
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1.3 How to Read Model Nameplate
A
s
Model numbe
Serial numbe
MODEL RCP2
MODELRCP2 SA5CI42P1250P1PBE
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
<Options>
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
<Cable length>
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
<Controller>
P1: PSEL
PCON-C/CG
PCON-CY
PCON-SE
PCON-PL/PO
P3: PCON-CA
PMEC
PSEP
MSEL
<Stroke>
17
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
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.
18
(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.
RCP2CRSA5C
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
RCP2CRSA6C
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 3
Lead 12
Speed (mm/s)
Horizontal
Lead 6
Lead 12
Speed (mm/s)
Vertical
Lead 6
Speed (mm/s)
19
[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)
20
0.2G
0.3G
0.5G
0.7G
0.1G
0.2G
0.3G
Payload (kg) Payload (kg)
0.1G
0.2G
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
0.2G
0.3G
0.5G
0.7G
21
[Controller (with “H” at the end of the model number)]
RCP2SA5R
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
RCP2SA6R
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
22
Lead 3
Payload (kg)
Lead 12
Lead 6
Speed (mm/s)
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