IAI America RCA2-SA6R User Manual

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ROBO Cylinder

RCA2 Actuator

Slider Type

Operating Manual

Eleventh Edition

Motor coupling types

Motor reversing types

SA2AC

SA2AR SA5R SA6R

SA3C SA4C SA5C SA6C

SA3R SA4R

IAI America, Inc.

Please Read Before Use

Thank you for purchasing our product.

This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely.

Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.

After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.

[Important]

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.

CE Marking

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

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

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

1. Part Names .......................................................................................................................... 11

2. External Dimensions ............................................................................................................13

2.1 RCA2-SA2AC............................................................................................................................ 13

2.2

RCA2-SA3C............................................................................................................................... 14

2.3 RCA2-SA3C- with Side Cover................................................................................................... 15

2.4 RCA2-SA4C............................................................................................................................... 16

2.5 RCA2-SA4C- with Side Cover................................................................................................... 17

2.6 RCA2-SA5C............................................................................................................................... 18

2.7 RCA2-SA5C- with Side Cover................................................................................................... 19

2.8 RCA2-SA6C............................................................................................................................... 20

2.9 RCA2-SA6C- with Side Cover................................................................................................... 21

2.10 RCA2-SA2AR ............................................................................................................................ 22

RCA2-SA3R, Reversing to Left (Right) ..................................................................................... 23

2.11

2.12 RCA2-SA3R- with Side Cover, Reversing to Left (Right).......................................................... 24

2.13 RCA2-SA4R, Reversing to Left (Right) ..................................................................................... 25

2.14 RCA2-SA4R- with Side Cover, Reversing to Left (Right).......................................................... 26

2.15 RCA2-SA5R, Reversing to Left (Right) ..................................................................................... 27

2.16 RCA2-SA5R- with Side Cover, Reversing to Left (Right).......................................................... 28

2.17 RCA2-SA6R, Reversing to Left (Right) ..................................................................................... 29

2.18 RCA2-SA6R- with Side Cover, Reversing to Left (Right

......................................................... 30

3. Cable Drawings .................................................................................................................... 31

3.1 AMEC, ASEP Controller Cables................................................................................................ 31

3.2 ACON, ASEL Controller Cables ................................................................................................ 32

4. Options ................................................................................................................................. 33

4.1 Brake Type ................................................................................................................................ 33

4.2 Power-saving Measure.............................................................................................................. 33

4.3 No-cover Specification............................................................................................................... 33

4.4 Reversed-home Specification.................................................................................................... 33

4.5 Changing the Cable Exit Direction ............................................................................................ 34

4.6

Motor Reversing to Left, Motor Reversing to Right .................................................................. 34

5. Checking after Unpacking .................................................................................................... 35

5.1 Included Items ........................................................................................................................... 35

5.2 Operation Manuals Relating to This Product............................................................................. 35

5.3 How to Read Model Nameplate ................................................................................................ 36

5.4 How to Read Model Number ..................................................................................................... 36

6. Specifications ....................................................................................................................... 37

7. Notes on Use Regarding Maximum Speed and Loading Mass............................................ 41

8. Installation and Storage/Preservation .................................................................................. 43

8.1 Installation Environment ............................................................................................................ 43

8.2 Storage/preservation Environment............................................................................................ 43

9. Installation ............................................................................................................................ 44

9.1 General Rules on Installation .................................................................................................... 44

9.2 Installation of Actuator............................................................................................................... 45

9.2.1 Installation of RCA2-SA2AC and SA2AR ................................................................... 45

9.2.2 Installation of RCA2-SA3C, SA4C, SA5C, SA6C, SA3R, SA4R, SA5R and SA6R.... 46

9.3 Mounting Surface .......................................................................................................................48

9.4 Installation of the Load .............................................................................................................. 49

10. Connecting with Controller ................................................................................................... 50

11. Notes on Operation .............................................................................................................. 54

11.1 Placing a Load on the Actuator .................................................................................................54

11.1.1

11.1.2 External force in axial direction.................................................................................... 57

11.2 Adjusting the Home Position ..................................................................................................... 58

11.3 Changing the Home Position Direction ..................................................................................... 58

11.4 Stainless Sheet Section............................................................................................................. 59

Allowable moment ...................................................................................................... 54

12. Life........................................................................................................................................ 60

13. Maintenance Inspection .......................................................................................................61

13.1 Inspection Items and Schedule ................................................................................................. 61

13.2 External Visual Inspection ......................................................................................................... 61

13.3 Cleaning..................................................................................................................................... 62

13.4 Adjusting the Stainless Sheet.................................................................................................... 62

13.5 Internal Inspections ................................................................................................................... 63

13.6 Internal Cleaning ....................................................................................................................... 64

13.7 Greasing Guides........................................................................................................................ 64

13.7.1 Applicable greases for guide ....................................................................................... 64

13.7.2 Applicable greases for ball screw................................................................................ 64

13.7.3 How to apply grease.................................................................................................... 65

13.8 Belt............................................................................................................................................. 67

13.8.1 Inspection of belt..........................................................................................................67

13.8.2 Applicable belt.............................................................................................................. 67

13.8.3 Adjustment of belt tension ........................................................................................... 67

13.9 Stainless Sheet Replacement (for models with slider cover) .................................................... 68

13.10 Replacement of Motor (AC Servo Motor: RCA2) ...................................................................... 70

13.11 Replacement of Belt and Motor for Reversing Type (AC Servo Motor: RCA2) ........................ 74

14. Warranty............................................................................................................................... 78

14.1 Warranty Period......................................................................................................................... 78

14.2 Scope of Warranty...................................................................................................................... 78

14.3 Honoring the Warranty............................................................................................................... 78

14.4 Limited Liability........................................................................................................................... 78

14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications .... 79

14.6 Other Items Excluded from Warranty.........................................................................................79

Appendix Using the home position marks ................................................................................. 80

Change History............................................................................................................................ 81

Safety Guide

“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.

No.

1 Model

Operation

Description

Selection

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

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

2) Mechanisms and machinery designed for the purpose of moving or transporting people (For vehicle, railway facility or air navigation facility)

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

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

considerably shorten the life of the product.

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

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

2) Place with potential exposure to radiation

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

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

5) Location where condensation occurs due to abrupt temperature changes

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

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

8) Location subject to direct vibration or impact

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

equipped with a brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.

No.

Operation

Description

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

utilize equipment such as crane.

 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.

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

and weight balance and pay special attention to the carried object so it would not get hit or dropped.

 Transport it using an appropriate transportation measure.

The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions

in the operation manual for each model.  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.

3 Storage and

Preservation

 The storage and preservation environment conforms to the installation

environment. However, especially give consideration to the prevention of

condensation.  Store the products with a consideration not to fall them over or drop due to

an act of God such as earthquake.

4 Installation

and Start

(1) Installation of Robot Main Body and Controller, etc.  Make sure to securely hold and fix the product (including the work part). A

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

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

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

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

anything, malfunction of the product, performance degradation, or

shortening of its life.  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

No.

Operation

Description

4 Installation

and Start

Description

(2) Cable Wiring  Use our company’s genuine cables for connecting between the actuator

and controller, and for the teaching tool.

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

coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.

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

so that there is no wiring error.

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

the directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.

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

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

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

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

cause the product to malfunction or cause fire. (3) Grounding  The grounding operation should be performed to prevent an electric shock

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

the unnecessary electromagnetic radiation.  For the ground terminal on the AC power cable of the controller and the

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

with wire thickness 0.5mm

(AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).

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

resistance 100: or below).

No.

4 Installation

Operation

Description

and Start

Description

(4) Safety Measures  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.

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

measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.

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

stopped immediately in an emergency during the unit operation.

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

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

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

emergency stop cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input.

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

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

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

emergency stop.

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

safety.

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

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

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

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

5 Teaching  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.

 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.

No.

Operation

Description

6 Trial Operation  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.

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

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

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

fence, perform the check operation using the previously specified work procedure like the teaching operation.

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

speed. Failure to do so may result in an accident due to unexpected motion caused by a program error, etc.

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

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

7 Automatic

Operation

 Check before starting the automatic operation or rebooting after operation

stop that there is nobody in the safety protection fence.

 Before starting automatic operation, make sure that all peripheral

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

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

protection fence.

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

abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.

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

may cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.

No.

8 Maintenance

Operation

Description

and Inspection

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 other to ensure the safety of the workers.

 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.

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

basically turn OFF the power switch.

 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,

 Place a sign “Under Operation” at the position easy to see.  For the grease for the guide or ball screw, use appropriate grease

according to the Operation Manual for each model.

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

damage to the product.

 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.

 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.

 Pay attention not to lose the cover or untightened screws, and make sure

to put the product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury.

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

fence, the movable range should be indicated.

9 Modification

and Dismantle

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

specified based at your own discretion.

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

properly as an industrial waste.

 When removing the actuator for disposal, pay attention to drop of

components when detaching screws.

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

The product may burst or generate toxic gases.

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

who requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.

 See Overseas Specifications Compliance Manual to check whether

complies if necessary.

 For the handling of actuators and controllers, follow the dedicated

operation manual of each unit to ensure the safety.

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 confirming that the slider or rod is away from the mechanical end.

If the servo is turned on when the slider or rod is near the mechanical end, pole phase detection may not be performed correctly and an pole non-confirmation error or excitation detection error may occur. Move the slider or rod away from the mechanical end before turning on the servo.

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. Transportation

7.1 Handling the Unassembled Actuator

When transporting the unassembled actuator alone, pay attention to the items specified below.

7.1.1 Handling the Packed Unit

Unless otherwise specified, single-axis actuators are shipped in individual packaging. Please handle packages carefully during transport to ensure that product is not damaged by bumping or dropping.

Never attempt to move heavy packages by yourself. Always set packages down on a level surface. Never climb on top of packages. Never place heavy objects or objects where the load is concentrated in one place on top of packages, as this may cause deformation.

7.1.2 Handling the Actuator After Unpacking

Do not carry an actuator by a cable or attempt to move it by pulling the cable.

When transporting the unassembled actuator, pay attention to the items specified below. When unpacking the actuator and handling it thereafter, always hold it by the base. Never hold an actuator by the stainless sheet.

Be careful not to bump the actuator into anything when moving it, paying particular care to the side covers. Do not attempt to force any part of the actuator. Take particular care not to force the stainless sheet.

Warning: Never hold the actuator by the stainless sheet.

Supplement) For the names of each part of the actuator,

refer to 1, "Part Names.”

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 preassembled 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.

7.3 Handling after Assembly with Peripheral Equipment

When the machine assembled at IAI is transported as an assembly, also follow the handling precautions in 5.2.2, “Handling after Unpacking.”

1. Part Names

The names of the actuator parts are indicated below. In this manual, the right and left are determined by viewing the actuator from the top and from the motor side. Also, the front side means the side opposite from the motor.

“Motor coupling types” : RCA2-SA2AC

1. Part Names

Stainless sheet

Opposite Side of the Motor

Slider cover

Front bracket

* Refer to 2, “External Dimensions” for details.

“Motor coupling types” : RCA2-SA3C/SA4C/SA5C/SA6C

Base

Right Side

Left Side

Side cover

Actuator cable

Motor side

Motor

Motor bracketSlider

Bare housing

Slider cover

Stainless sheet

Right Side

Opposite Side of the Motor

Left Side

Slider

* Refer to 2, “External Dimensions” for details. * The connector position shown above assumes that the cable exit direction has not been changed.

Motor unit

Connector

Motor side

“Motor reversing types” : RCA2-SA2AR

Right Side

1. Part Names

* Refer to 2, “External Dimensions” for details.

Slider coverStainless sheet

Left Side

Actuator cable

Opposite Side of the Motor

Front bracket

“Motor reversing types” : RCA2-SA3R/SA4R/SA5R/SA6R

Stainless sheet

Base

Right Side

Motor

Pulley cover

Slider

Bare housing

Slider cover

Slider

Reversing bracket

Motor side

Reversing bracket

Opposite Side of the Motor

Connector

* Refer to 2, “External Dimensions” for details.

Left Side

Motor side

Motor unit

2. External Dimensions

2.1 RCA2-SA2AC

18.94.4

0.2

0.22

Weight [kg]

468

0.23

2. External Dimensions

0.25

103

0.02)

4-M2, Depth 4

3 3

7.5

2H7, Depth 2

Secure at least 100

30st 22.5

SEME ORG

3H7, Depth 2

Slot, Depth 2

(25)

A×2530

123

117

174

199

255075

142

224

167

249

100

Reamer pitch tolerance

15 (

14.5

22.7

27.2

15.2

R1.5

B-M2, Depth 4

Scale 2:1

Detail view of Slot

3H7

2.2 RCA2-SA3C

]gk[thgieWL

With brake

brake

Without

2. External Dimensions

ABCDM

With brake

2H7, depth 5

4-M3, depth 6

2H7, depth 4 (from bottom face of base)

D-M3, depth 5

Without

brake

50 247.5 292 155. 5 84 0 4 84 0.5 0.7

100 297.5 342 205.5 34 1 6 134 0.6 0.8

150 347.5 392 255.5 84 1 6 184 0.6 0.8

200 397.5 442 305.5 34 2 8 234 0.7 0.9

250 447.5 492 355.5 84 2 8 284 0.7 0.9

300 497.5 542 405.5 34 3 10 334 0.8 1.0

Scale 5:1

Detail view of F

(from bottom face of base)

2H7, depth 4

(Side view of the motor when the cable exit direction has been changed (optional)

Brake type

2.3 RCA2-SA3C- with Side Cover

]gk[thgieWL

Without

ABCDM

With brake

brake

2. External Dimensions

Without

With brake

brake

50 247.5 292 155 .5 84 0 4 84 0.6 0.8

100 297.5 342 205.5 34 1 6 134 0.6 0.8

150 347.5 392 255.5 84 1 6 184 0.7 0.9

200 397.5 442 305.5 34 2 8 234 0.8 1.0

250 447.5 492 355.5 84 2 8 284 0.8 1.0

300 497.5 542 405.5 34 3 10 334 0.9 1.1

2H7, depth 4 (from bottom face of base)

2H7, depth 5

4-M3, depth 6

D-M3, depth 5

(Side view of the motor when the cable exit direction has been changed (optional)

Scale 5:1

Detail view of F

Brake type

2.4 RCA2-SA4C

]gk[thgieWL

With brake

brake

Without

2. External Dimensions

ABCDM

With brake

2.5H7, depth 5 (from bottom face of base) D-M3, depth 5

2.5H7, depth 5

Without

brake

50 274 314.5 165.5 91 0 4 91 0.8 1.1

100 324 364.5 215.5 41 1 6 141 0.9 1.2

150 374 414.5 265.5 91 1 6 191 1 1.3

200 434 464.5 315.5 41 2 8 241 1 1.3

250 474 514.5 365.5 91 2 8 291 1.1 1.4

300 524 564.5 415.5 41 3 10 341 1.2 1.5

350 574 614.5 465.5 91 3 10 391 1.3 1.6

400 624 664.4 515.5 41 4 12 441 1.3 1.6

450 674 714.5 565.5 91 4 12 491 1.4 1.7

500 724 764.5 615.5 41 5 14 541 1.5 1.8

4-M3, depth 6

(Side view of the motor when the cable exit direction has been changed (optional)

Scale 5:1

Detail view of F

Brake type

2.5 RCA2-SA4C- with Side Cover

]gk[thgieWL

With brake

2. External Dimensions

2.5H7, depth 5 (from bottom face of base)

brake

Without

ABCDM

With brake

brake

Without

D-M3, depth 5

50 274 314.5 165.5 91 0 4 91 0.9 1.2

100 324 364.5 215.5 41 1 6 141 1 1.3

150 374 414.5 265.5 91 1 6 191 1.1 1.4

200 434 464.5 315.5 41 2 8 241 1.1 1.4

250 474 514.5 365.5 91 2 8 291 1.2 1.5

300 524 564.5 415.5 41 3 10 341 1.3 1.6

350 574 614.5 465.5 91 3 10 391 1.4 1.7

400 624 664.4 515.5 41 4 12 441 1.5 1.8

450 674 714.5 565.5 91 4 12 491 1.5 1.8

500 724 764.5 615.5 41 5 14 541 1.6 1.9

2- 2.5H7, depth 5

4-M3, depth 6

Scale 5:1

Detail view of F

(from bottom face of base)

2.5H7, depth 5

(Side view of the motor when the cable exit direction has been changed (optional)

Brake type

Motor cover top: 51

2.6 RCA2-SA5C

]gk[thgieWL

With brake

brake

Without

2. External Dimensions

ABCDM

2.5H7, depth 5 (from bottom face of base) D-M4, depth 7

With brake

2- 2.5H7, depth 5

brake

Without

50 272.5 312 175 .5 96 0 4 96 1.1 1.5

100 322.5 362 225.5 46 1 6 146 1.3 1.7

150 372.5 412 275.5 96 1 6 196 1.4 1.8

200 422.5 462 325.5 46 2 8 246 1.5 1.9

250 472.5 512 375.5 96 2 8 296 1.6 2.0

300 522.5 562 425.5 46 3 10 346 1.7 2.1

350 572.5 612 475.5 96 3 10 396 1.8 2.2

400 622.5 662 525.5 46 4 12 446 1.9 2.3

450 672.5 712 575.5 96 4 12 496 2.0 2.4

500 722.5 762 625.5 46 5 14 546 2.1 2.5

550 772.5 812 675.5 96 5 14 596 2.2 2.6

600 822.5 862 725.5 46 6 16 646 2.3 2.7

650 872.5 912 775.5 96 6 16 696 2.4 2.8

700 922.5 962 825.5 46 7 18 746 2.5 2.9

750 972.5 1012 875.5 96 7 18 796 2.6 3.0

800 1022.5 1062 925.5 46 8 20 846 2.7 3.1

4-M4, depth 8

Scale 2:1

Detail view of F

(from bottom face of base)

2.5H7, depth 5

Brake type

(Side view of the motor when the cable exit direction has been changed (optional)

Motor cover top: 58

2.7 RCA2-SA5C- with Side Cover

2- 2.5H7, depth 5

4-M4, depth 8

2.5H7, depth 5 from bottom face of base

]gk[thgieWL

With brake

2. External Dimensions

brake

Without

ABCDM

D-M4, depth 7

Without

With brake

brake

50 272.5 312 175 .5 96 0 4 96 1.2 1.6

100 322.5 362 225.5 46 1 6 146 1.4 1.8

150 372.5 412 275.5 96 1 6 196 1.5 1.9

200 422.5 462 325.5 46 2 8 246 1.6 2.0

250 472.5 512 375.5 96 2 8 296 1.8 2.2

300 522.5 562 425.5 46 3 10 346 1.9 2.3

350 572.5 612 475.5 96 3 10 396 2.0 2.4

400 622.5 662 525.5 46 4 12 446 2.2 2.6

450 672.5 712 575.5 96 4 12 496 2.3 2.7

500 722.5 762 625.5 46 5 14 546 2.4 2.8

550 772.5 812 675.5 96 5 14 596 2.6 3.0

600 822.5 862 725.5 46 6 16 646 2.7 3.1

650 872.5 912 775.5 96 6 16 696 2.8 3.2

700 922.5 962 825.5 46 7 18 746 3.0 3.4

750 972.5 1012 875.5 96 7 18 796 3.1 3.5

800 1022.5 1062 925.5 46 8 20 846 3.2 3.6

Scale 2:1

Detail view of F

(from bottom face of base)

2.5H7, depth 5

(Side view of the motor when the cable exit direction has been changed (optional)

Brake type

Motor cover top: 58

2.8 RCA2-SA6C

]gk[thgieWL

With brake

brake

Without

2. External Dimensions

ABCDM

3H7, depth 5 (from bottom face of base)

2-M5, depth 8

2- 3H7, depth 5

Without

With brake

brake

50 292.5 332 180. 5 101 0 4 101 1.5 1.9

100 342.5 382 230.5 51 1 6 151 1.6 2.0

150 392.5 432 280.5 101 1 6 201 1.8 2.2

200 442.5 482 330.5 51 2 8 251 1.9 2.3

250 492.5 532 380.5 101 2 8 301 2.1 2.5

300 542.5 582 430.5 51 3 10 351 2.2 2.6

350 592.5 632 480.5 101 3 10 401 2.3 2.7

400 642.5 682 530.5 51 4 12 451 2.5 2.9

450 692.5 732 580.5 101 4 12 501 2.6 3.0

500 742.5 782 630.5 51 5 14 551 2.8 3.2

550 792.5 832 680.5 101 5 14 601 2.9 3.3

600 842.5 882 730.5 51 6 16 651 3.1 3.5

650 892.5 932 780.5 101 6 16 701 3.2 3.6

700 942.5 982 830.5 51 7 18 751 3.4 3.8

750 992.5 1032 880.5 101 7 18 801 3.5 3.9

800 1042.5 1082 930.5 51 8 20 851 3.7 4.1

4-M5, depth 10

Scale 2:1

(Side view of the motor when the cable exit direction has been changed (optional)

Detail view of F

Brake type

2.9 RCA2-SA6C- with Side Cover

2- 3H7, depth 5

4-M5, depth 10

3H7, depth 5 (from bottom face of base)

]gk[thgieWL

With brake

brake

Without

ABCDM

2. External Dimensions

D-M5, depth 8

With brake

brake

Without

50 292.5 332 180. 5 101 0 4 101 1.6 2.0

100 342.5 382 230.5 51 1 6 151 1.7 2.1

150 392.5 432 280.5 101 1 6 201 1.9 2.3

200 442.5 482 330.5 51 2 8 251 2.1 2.5

250 492.5 532 380.5 101 2 8 301 2.3 2.7

300 542.5 582 430.5 51 3 10 351 2.4 2.8

350 592.5 632 480.5 101 3 10 401 2.6 3.0

400 642.5 682 530.5 51 4 12 451 2.8 3.2

450 692.5 732 580.5 101 4 12 501 2.9 3.3

500 742.5 782 630.5 51 5 14 551 3.1 3.5

550 792.5 832 680.5 101 5 14 601 3.3 3.7

600 842.5 882 730.5 51 6 16 651 3.5 3.9

650 892.5 932 780.5 101 6 16 701 3.6 4.0

700 942.5 982 830.5 51 7 18 751 3.8 4.2

750 992.5 1032 880.5 101 7 18 801 4.0 4.4

800 1042.5 1082 930.5 51 8 20 851 4.1 4.5

(Side view of the motor when the cable exit direction has been changed (optional)

Scale 2:1

Detail view of F

Brake type

2.10 RCA2-SA2AR

0.2

0.22

Weight [kg]

468

0.23

0.25

2. External Dimensions

L2 32.5

4-M2, Depth 4

103

2H7, Depth 2

123

124.5

255075

117

149.5

142

174.5

167

199.5

100

5514.5 st 30

3H7, Depth 2

ORGME SE

A×25 15

(25)

0.02)

Secure at least 100

B-M2, Depth 4

Slot, Depth 2

Reamer pitch tolerance

15 (

23.9

22.7

27.2

15.2

(1.9)

2.9

20 16.2

R1.5

Scale 2:1

Detail view of Slot

3H7

2.11 RCA2-SA3R, Reversing to Left (Right)

With brake

Weight [kg]

brake

Without

2. External Dimensions

(with brake)

Brake type

50 162 143 84 0 4 0.6 0.8

ST L A B C D

100 212 193 34 1 6 0.7 0.9

150 262 243 84 1 6 0.7 0.9

200 312 293 34 2 8 0.8 1.0

250 362 343 84 2 8 0.8 1.0

2H7, depth 4 (from bottom face of base)

4-M3, depth 6

300 412 393 34 3 10 0.9 1.1

(without brake)

D-M3, depth 5

2- 2H7, depth 5

direction has been changed (optional)

(Side view of the motor when the cable exit

Scale 5:1

Detail view of F

2.12 RCA2-SA3R- with Side Cover, Reversing to Left (Right)

2. External Dimensions

Brake type

With brake

Weight [kg]

brake

Without

(with brake)

2H7, depth 4 from bottom face of base

4-M3, depth 6

50 162 143 84 0 4 0.7 0.9

ST L A B C D

100 212 193 34 1 6 0.7 0.9

150 262 243 84 1 6 0.8 1.0

200 312 293 34 2 8 0.9 1.1

250 362 343 84 2 8 0.9 1.1

300 412 393 34 3 10 1.0 1.2

(without brake)

D-M3, depth 5

2H7, depth 5

Scale 5:1

Detail view of F

direction has been changed (optional)

(Side view of the motor when the cable exit

2.13 RCA2-SA4R, Reversing to Left (Right)

(with brake)

Brake type

4-M3, depth 6

(without brake)

With brake

Weight [kg]

brake

Without

50 183 156.5 91 0 4 1.0 1.3

ST L A B C D

100 233 206.5 41 1 6 1.1 1.4

150 283 256.5 91 1 6 1.2 1.5

200 333 306.5 41 2 8 1.2 1.5

250 383 356.5 91 2 8 1.3 1.6

300 433 406.5 41 3 10 1.4 1.7

350 483 456.5 91 3 10 1.5 1.8

400 533 506.5 41 4 12 1.5 1.8

450 583 556.5 91 4 12 1.6 1.9

500 633 606.5 41 5 14 1.7 2.0

2. External Dimensions

D-M3, depth 5

2- 2.5H7, depth 5

2.5H7, depth 5 (from bottom face of base)

Scale 5:1

Detail view of F

direction has been changed (optional)

(Side view of the motor when the cable exit

2.14 RCA2-SA4R- with Side Cover, Reversing to Left (Right)

2. External Dimensions

With brake

Weight [kg]

brake

Without

(with brake)

Brake type

4-M3, depth 6

50 183 156.5 91 0 4 1.1 1.4

ST L A B C D

100 233 206.5 41 1 6 1.2 1.5

150 283 256.5 91 1 6 1.3 1.6

200 333 306.5 41 2 8 1.3 1.6

250 383 356.5 91 2 8 1.4 1.7

300 433 406.5 41 3 10 1.5 1.8

350 483 456.5 91 3 10 1.6 1.9

400 533 506.5 41 4 12 1.7 2.0

450 583 556.5 91 4 12 1.8 2.1

500 633 606.5 41 5 14 1.9 2.2

(without brake)

D-M3, depth 5

2- 2.5H7, depth 5

2.5H7, depth 5 (from bottom face of base)

Scale 5:1

Detail view of F

direction has been changed (optional)

(Side view of the motor when the cable exit

2.15 RCA2-SA5R, Reversing to Left (Right)

(with brake)

Brake type

4-M4, depth 8

(without brake)

With brake

Weight [kg]

brake

Without

50 189.5 163 96 0 4 1.4 1.8

ST L A B C D

100 239.5 213 46 1 6 1.6 2.0

150 289.5 263 96 1 6 1.7 2.1

200 339.5 313 46 2 8 1.8 2.2

250 389.5 363 96 2 8 1.9 2.3

300 439.5 413 46 3 10 2.0 2.4

350 489.5 463 96 3 10 2.1 2.5

400 539.5 513 46 4 12 2.2 2.6

450 589.5 563 96 4 12 2.3 2.7

500 639.5 613 46 5 14 2.4 2.8

550 689.5 663 96 5 14 2.5 2.9

600 739.5 713 46 6 16 2.6 3.0

650 789.5 763 96 6 16 2.7 3.1

700 839.5 813 46 7 18 2.8 3.2

750 889.5 863 96 7 18 2.9 3.3

800 939.5 913 46 8 20 3.0 3.4

2. External Dimensions

D-M4, depth 7

2- 2.5H7, depth 5

2.5H7, depth 5 (from bottom face of base)

Scale 2:1

Detail view of F

changed (optional)

(Side view of the motor when the cable exit direction has been

2.16 RCA2-SA5R- with Side Cover, Reversing to Left (Right)

Weight [kg]

(with brake)

With brake

Without

brake

2. External Dimensions

Brake type

50 189.5 163 96 0 4 1.5 1.9

ST L A B C D

100 239.5 213 46 1 6 1.7 2.1

150 289.5 263 96 1 6 1.8 2.2

200 339.5 313 46 2 8 1.9 2.3

250 389.5 363 96 2 8 2.1 2.5

300 439.5 413 46 3 10 2.2 2.6

350 489.5 463 96 3 10 2.3 2.7

400 539.5 513 46 4 12 2.5 2.9

450 589.5 563 96 4 12 2.6 3.0

500 639.5 613 46 5 14 2.7 3.1

550 689.5 663 96 5 14 2.9 3.3

600 739.5 713 46 6 16 3.0 3.4

650 789.5 763 96 6 16 3.1 3.5

700 839.5 813 46 7 18 3.3 3.7

750 889.5 863 96 7 18 3.4 3.8

800 939.5 913 46 8 20 3.5 3.9

4-M4, depth 8

(without brake)

D-M4, depth 7

2- 2.5H7, depth 5

2.5H7, depth 5 (from bottom face of base)

been changed (optional)

(Side view of the motor when the cable exit direction has

Scale 2:1

Detail view of F

2.17 RCA2-SA6R, Reversing to Left (Right)

(with brake)

Brake type

4-M5, depth 10

(without brake)

With brake

Weight [kg]

brake

Without

50 194.5 168 101 0 4 1.8 2.2

ST L A B C D

100 244.5 218 51 1 6 1.9 2.3

150 294.5 268 101 1 6 2.1 2.5

200 344.5 318 51 2 8 2.2 2.6

250 394.5 368 101 2 8 2.4 2.8

300 444.5 418 51 3 10 2.5 2.9

350 494.5 468 101 3 10 2.6 3.0

400 544.5 518 51 4 12 2.8 3.2

450 591.5 568 101 4 12 2.9 3.3

500 644.5 618 51 5 14 3.1 3.5

550 694.5 668 101 5 14 3.2 3.6

600 744.5 718 51 6 16 3.4 3.8

650 794.5 768 101 6 16 3.5 3.9

700 844.5 818 51 7 18 3.7 4.1

750 894.5 868 101 7 18 3.8 4.2

800 944.5 918 51 8 20 3.9 4.3

2. External Dimensions

2- 3H7, depth 5

D-M5, depth 8

3H7, depth 5 (from bottom face of base)

Scale 2:1

Detail view of F

been changed (optional)

(Side view of the motor when the cable exit direction has

2.18 RCA2-SA6R- with Side Cover, Reversing to Left (Right

2. External Dimensions

With brake

Weight [kg]

brake

Without

(with brake)

Brake type

50 194.5 168 101 0 4 1.9 2.3

ST L A B C D

100 244.5 218 51 1 6 2.0 2.4

150 294.5 268 101 1 6 2.2 2.6

200 344.5 318 51 2 8 2.4 2.8

250 394.5 368 101 2 8 2.6 3.0

300 444.5 418 51 3 10 2.7 3.1

350 494.5 468 101 3 10 2.9 3.3

400 544.5 518 51 4 12 3.1 3.5

450 591.5 568 101 4 12 3.2 3.6

500 644.5 618 51 5 14 3.4 3.8

550 694.5 668 101 5 14 3.6 4.0

600 744.5 718 51 6 16 3.8 4.2

650 794.5 768 101 6 16 3.9 4.3

700 844.5 818 51 7 18 4.1 4.5

750 894.5 868 101 7 18 4.3 4.7

800 944.5 918 51 8 20 4.5 4.9

4-M5, depth 10

(without brake)

2- 3H7, depth 5

D-M5, depth 8

3H7, depth 5 (from bottom face of base)

Scale 2:1

Detail view of F

been changed (optional)

(Side view of the motor when the cable exit direction has

3. Cable Drawings

(

)

3.1 AMEC, ASEP Controller Cables

Integrated motor/encoder cable (CB-APSEP-MPA***)

*** indicates the cable length (L). Up to 20m can be specified.

Example) 080 = 8 m

3. Cable Drawings

[1][2]

[5]

[6]

Model Nameplate

Lot number

[3][4]

No. Item Model number Manufacturer

1 Housing

2 Contact 3 Housing PADP-24V-1-S (white, 2.0-mm pitch, 24 poles) 4 Contact

5 Coupler cover TMS-4ZB008

6 ZUL2854-OHFRPCVVSW

D-1100D 1-1827863-1 (black, 2.0-mm pitch, 22 poles)

D-1 1827570-2 (AWG 22 to 18, 1.08 to 1.6 )

SPND-001T-C0.5 (AWG 26 to 22, 1.0 to 1.5 )

25AWG x 6P + 25AWG x 2C + 22AWG x 6C, TS08V0350

Terminal number on actuator side

[1] [3]

Wiring diagram

Black

White

Brown

Green

Yellow

Red

Orange

Gray

White

Yellow

Red

Green

Black

Brown

Black

identification ta

Brown

identification tape

Green

(identification tape)

Red

(identification tape)

White

(identification tape)

Yellow

(identification tape)

Terminal number on controller side

AMP

JST

TATSUTA ELECTRIC WIRE & CABLE TATSUTA ELECTRIC WIRE & CABLE

Shield

)

(

)

3.2 ACON, ASEL Controller Cables

RCA2 Integrated motor/encoder cable (CB-ACS-MPA***)

[1][2]

*** indicates the cable length (L). Up to 20m can be specified.

Example) 080 = 8 m

3. Cable Drawings

No. Item Model number Manufacturer

[1] Receptacle housing D-1100D 1-1827863-1 AMP [2] Receptacle contact D-1 1827570-2 AMP [3] Socket DF1E-3S-2.5C Hirose [4] Socket contact DF1E-2022SCF Hirose [5] Housing PHDR-18VR JST [6] Contact SPHD-001T-P0.5 JST

[7] UL2854-VVSWKA TS06V1200 (25AWG x 7P + 22AWG x 6C)

Terminal number on actuator side

[7]

Model Nameplate

Wiring diagram

Red

Yellow

Black

[3][4]

[7]

[5][6]

TATSUTA ELECTRIC WIRE & CABLE

Terminal number on controller side

[3]

Yellow (Redx) Yellow (Bluex)

[1]

Pink (Redx) Pink (Bluex)

White (Redx)

White (Bluex

Orange (Redx)

Orange (Bluex)

Gray (Redx)

Gray(Bluex

Orange (Red/continuous)

Orange (Blue/continuous)

Gray (Red/continuous)

Gray (Blue/continuous)

Shield

[5]

4. Options

4.1 Brake Type

The brake is a mechanism designed to prevent the slider from dropping on a vertically installed actuator when the power or servo is turned off. Use the brake to prevent the installed load, etc., from being damaged due to the falling slider. The applicable model number for this option is “B.”

4.2 Power-saving Measure

As shown in the table below, the maximum load current of the standard specification and high acceleration/deceleration specification can be lowered. The applicable model number for this option is “LA.” For details, refer to the section on power capacity in the manual for your ACON/ASEL controller.

Standard specification /

Model

SA3, SA5 4.4 A 2.5 A

SA6 4.0 A 2.2 A

SA4 5.1 A 3.4 A

High acceleration/deceleration specification

Maximum load current

Energy-saving measure

Maximum load current

4.3 No-cover Specification

Actuators of the no-cover specification have no side covers. The applicable model number for this option is “NCO.” (For the external dimensions of actuators with/without side covers, refer to 2, “External Dimensions.”)

4.4 Reversed-home Specification

The standard home position is on the motor side. However, the motor position will be reversed if it is desirable in view of the layout of the system, etc. (Note) The home position is adjusted at the factory before shipment. If you wish to change the home after

the delivery of your actuator, you must return the actuator to IAI for adjustment.

4. Options

4.5 Changing the Cable Exit Direction

If the cable exit direction is changed, the applicable part of the model number must also be changed. A desired direction can be selected from among the five options of top (CJT in the model number), right (CJR), left (CJL), bottom (CJB) and outer (CJO).

4. Options

Left: CJL

Top: CJT

Right: CJR

Top: CJT

Outer: CJO

BJC:mottoBBJC:mottoB

Straight type

Bottom: CJB

Motor-reversing type, reversed to left (ML)

Motor-reversing type, reversed to left (MR)

4.6 Motor Reversing to Left, Motor Reversing to Right

This option can be spesified for the motor reversing types SA2AR, SA2BR, SA3R, SA4R, SA5R and SA6R, “ML” indicates reversing to the left, while “MR” indicates reversing to the right, as viewed from the motor side.

(Left)

(Right)

5. Checking after Unpacking

After unpacking, check the product condition and the included items.

5.1 Included Items

metI.oN Model number

1 Actuator

Accessories

2 RCA integrated motor/encoder cable

3 First Step Guide 4 Operating Manual (CD/DVD) 5 Safety Guide

5.2 Operation Manuals Relating to This Product

1 Operation Manual for 5610JMrellortnoCLESA 2 Operation Manual for ACON-C/CG/CF Controller MJ0176 3 Operation Manual for ACON-CY Controller MJ0167 4 Operation Manual for ACON-SE Controller MJ0171 5 Operation Manual for ACON-PL/PO Controller MJ0166 6 Operation Manual for MEC Controller MJ0245 7 Operation Manual for PSSEP/ 6120JMrellortnoCPESA 8 Operation Manual for PC Software IA-101-X-X-MW/IA-101-X-USBMW MJ0154

9 Operation Manual for PC Software RCM-101MW/RCM-101-USB MJ0155 10 Operation Manual for MEC PC Software MJ0248 11 Operation Manual for Teaching Pendant SEL-T/TD MJ0183 12 Operation Manual for Teaching Pendant CON-T/TG MJ0178 13 Operation Manual for Touch Panel Teaching Pendant CON-PT/PD/PG MJ0227 14 Operation Manual for Dedicated ASEP/PSEP Touch Panel Teaching SEP-PT MJ0217 15 Operation Manual for Simple Teaching Pendant RCM-E MJ0174 16 Operation Manual for Data Setter RCM-P MJ0175 17 Operation Manual for Touch Panel Display RCM-PM-01 MJ0182

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

CB-APSEP-MPA : AMEC, ASEP type CB-ACS-MPA

: ACON, ASEL type

5. Checking after Unpacking

lortnoCemaN.oN No.

5.3 How to Read Model Nameplate

Model

Serial numbe

5.4 How to Read Model Number

<Type>

SA2AC SA3C SA4C SA5C SA6C

Motor reversing

SA2AR SA2AC SA4R

5. Checking after Unpacking

SA5R SA6R

I: Incremental

5 (5 W) : SA2AC, SA2AR 10 (10 W): SA3C, SA3R 20 (20 W): SA4C, SA4R

SA5C, SA5R

30 (30 W): SA6C, SA6R

B: With brake CJT: Different cable exit direction (top) CJR: Different cable exit direction (right) CJL: Different cable exit direction (left) CJB: Different cable exit direction (bottom) CJO: Different cable exit direction (outer) ML: Motor left reversing type MR: Motor right reversing type LA: Power-saving measure NCO: No-cover specification NM: Reversed-home s

N: None P: 1 m S: 3 m M: 5 m X

: Specified length

A1: ASEL

ACON-C/CG ACON-C/CG

ACON-CY ACON-SE ACON-PL/PO

A3: AMEC

ASEP

ecification

<Lead>

SA2AC, SA2AR

1/2/4

SA3C, SA3R

2/4/6

SA4C, SA4R

2.5/5/10

SA5C, SA5R

3/6/12

SA6C, SA6R

3/6/12

SA5C

SA6C, SA6R

3/6/12

SA6C

6. Specifications

(1) Maximum speed The maximum speed of this ROBO Cylinder is limited to prevent resonance of the ball screw shaft and also due to limitation of the motor speed. Observe the maximum speed limits specified in the table.

Strokes and Maximum Speed Limits (Unit: mm/s)

Mode

SA2A

SA3

SA4

SA5

SA5C

SA6

SA6C

Motor

Type

10W

20W

30W

Lead

(mm)

25 50 75 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

100

200

300

125

250

380

150

300

380

150

300

380

100

200

540

660

100

200

300

770

860

2.5

180

Stroke (mm)

125

250

500

150

300

600540

940

800 (stroke 250 to 650, installed vertically)

150

300

600

940

800 (stroke 250 to 650, installed vertically)

1000

140

285

570

140

285

570

120

245

490

910

120

245

490

910

105

210

425

790

105

210

425

790

185

370

690

185

370

690

165

330

610

165

330

610

(Note) The maximum speed may not be reached depending on the acceleration/deceleration setting.

Caution: 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.

6. Speciﬁcations

(2) Acceleration and payloads

6. Speciﬁcations

Model Motor type

SA2A 10 W

SA3 10 W

SA4 20 W

SA5 20 W

SA5C 20 W

Lead (mm)

2.5

Rated acceleration

(G)

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

3.0

0.3

3.0

0.3

3.0

0.3

0.2

Maximum speed

(mm/s)

100

200

100

200

300

125

250

500

150

300

600

1000 2

800 (stroke 250 to 650,

installed vertically)

Payload

0.5

0.25

32.0

1.5

23.0

13.0

0.5

63.0

43.0

1.5

23.0

93.0

63.0

1.5

33.0

0.5

SA6 30 W

SA6C 30 W 20

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

0.2

0.3 1000 2

0.2

800 (stroke 250 to 650,

Note) Maximum speed may not be reached on all strokes.

The maximum speed of each model with a longer stroke will be less than the applicable maximum speed shown in the table. [Refer to (1), “Maximum speed.” ]

150

300

600

installed vertically)

013.0

73.0

43.0

1.5

0.5

(3) Rated thrust

Model Motor type

SA2A 5 W

SA3 10 W

SA4 20 W

SA5

20 W

SA5C

SA6

30 W

SA6C

Lead

(mm)

Rated thrust

(N)

1 85.5

2 42.3

4 21.4

285

443

628

2.5 136

568

10 34

368

634

12 17

20 10.1

3 105

653

12 26

20 16

6. Speciﬁcations

(4) Drive method

Model Motor type Lead Encoder pulses

SA2A 5 W

SA3 10 W

SA4 20 W

SA5

20 W

SA5C

SA6

30 W

SA6C

*1 Number of pulses input to the controller.

4 2

2.5

800

Drive method

Ball screw

4mm

Ball screw

6mm

Ball screw

8mm

Ball screw

10 mm

Ball screw

10 mm

Rolled, C10

(5) Common specifications

*1 Default value

6. Speciﬁcations

Specification

Item

Positioning repeatability

Backlash

SA5C, SA6C – Lead

other than 20 mm

SA5C, SA6C – Lead 20 mm

r0.02 mm r0.03 mm

0.1 mm or less

Base Material: Aluminum with special alumite treatment

7. Notes on Use Regarding Maximum Speed and Loading Mass

[1] Maximum speed, loading mass

Determine which models you can choose from by the maximum speed and payload capacity. x AC servo motor (Graph 1)

How to decide: If your maximum speed and payload capacity are within the usage range in the graph, you can use the model.

7. Notes on Use Regarding Maximum Speed and Loading Mass

Graph 1 Servo Motor: RCA2

ࠉ

Horizontal

Correlation of speed and payload (Horizontal)

Lead 2

Vertical

Correlation of speed and payload (Vertical)

Lead 4

SA3

Lead 6

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

Correlation of speed and payload (Horizontal)

Lead 2.5

Lead 5

SA4

Correlation of speed and payload (Horizontal)

SA5

100 200 300 400 500 600 700 800 900 1000

(Note) The line of “Lead 20” applies to the SA5C only.

Correlation of speed and payload (Horizontal)

7. Notes on Use Regarding Maximum Speed and Loading Mass

SA6

100 200 300 400 500 600 700 800 900 1000

(Note) The line of “Lead 20” applies to the SA6C only.

Lead 3

Lead 6

Lead 3

Lead 6

Speed (mm/sec)

Lead 10

Lead 12

Lead 20

Lead 12

Lead 20

Lead 2

Lead 4

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

Speed (mm/sec) Speed (mm/sec)

Lead 6

Correlation of speed and payload (Vertical)

Lead 2.5

Lead 5

Speed (mm/sec) Speed (mm/sec)

Lead 10

Correlation of speed and payload (Vertical)

100 200 300 400 500 600 700 800 900 1000

(Note) The line of “Lead 20” applies to the SA5C only.

The maximum speed at a lead of 20 and stroke of 250 to 600 is 800 mm/sec.

Lead 3

Lead 6

Lead 12

Lead 20

Speed (mm/sec) Speed (mm/sec)

Correlation of speed and payload (Vertical)

(Note) The line of “Lead 20” applies to the SA5C only.

Lead 3

Lead 6

Lead 12

Lead 20

100 200 300 400 500 600 700 800 900 1000

The maximum speed at a lead of 20 and stroke of 250 to 600 is 800 mm/sec.

Speed (mm/sec)

8. Installation and Storage/Preservation

8.1 Installation Environment

Do not use this product in the following environment It is generally the environment where a worker can work without any protection gear. Also make sure to keep enough work space necessary for maintenance.

• Location exposed to radiant heat from a huge heat source such as the heat treatment

• Location where the surrounding air temperature exceeds the range of 0 to 40oC

• Location where condensation occurs due to abrupt temperature changes

• Location where relative humidity exceeds 85%RH

• Location exposed to direct sunlight

• Location exposed to corrosive gases or combustible gases

• Location exposed to significant amount of dust, salt or iron powder (Outside of ordinary assembly plant)

• Location where water, oil (includes oil mist and cutting fluid) or chemical is splashed

• Location where the product main body receives vibration or hit impact

When using the product in any of the locations specified below, provide a sufficient shield.

• Location subject to electrostatic noise

• Location where exposed to the influence of strong electric or magnetic field

• Location where exposed to the influence of ultraviolet or radiant rays

Open space required for maintenance inspection

8. Installation and Storage/Preservation

250mm

300mm

8.2 Storage/preservation Environment

The storage and preservation environment should comply with the same standards as those for the installation environment. In particular, when the machine is to be stored for a long time, pay close attention to environmental conditions so that no dew condensation forms. Unless specially specified, moisture absorbency protection is not included in the package when the machine is delivered. In the case that the machine is to be stored and preserved in an environment where dew condensation is anticipated, take the condensation preventive measures from outside of the entire package, or directly after opening the package. For storage and preservation temperature, the machine withstands temperatures up to 60oC for a short time, but in the case of the storage and preservation period of 1 month or more, control the temperature to 50oC or less.

Storage and preservation should be performed in the horizontal condition. In the case it is stored in the packaged condition, follow the posture instruction if any displayed on the package.

9. Installation

This chapter explains how to install the actuator on your mechanical system.

9.1 General Rules on Installation

Follow the information below when installing the actuator, as a rule. Do pay attention to these items (except when custom-order models).

: Possible : Daily inspection is required x: Not possible

Model

SA3 SA4 SA5 SA6

Installation posture

Horizontal installation

Vertical installation Sideway installation

Vertical Sideways Ceiling mountHorizontal

Ceiling mount installation

9. Installation

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. 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 sbe 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 13.9 Replacement (for models with slider cover).]

9.2 Installation of Actuator

9.2.1 Installation of RCA2-SA2AC and SA2AR

This actuator has the screw holes for mounting so it can be fixed from the rear side. Also, there are a reamed hole and a slotted hole for positioning pins.

3H7, Depth 2

Slot, Depth 2

B-M2, Depth 4

R1.5

3H7

Detail view of Slot

R1.5

(25)

A×2530

100

Scale 2:1

Screw diameter

and max. screw

mating depth

M2, depth 4 M2 0.42 N-m (0.043 kgf-m) 0.25 N-m (0.026 kgf-m)

Mounting

bolt

screw

Bolt bearing surface is

steel

Tightening torque

Bolt bearing surface is

aluminum

174

199

224

249

117

142

167

Reamed hole (mm)

3H7, depth 2

from bottom face of base

9. Installation

Slot

Refer to the diagram

9.2.2 Installation of RCA2-SA3C, SA4C, SA5C, SA6C, SA3R, SA4R, SA5R and SA6R

The surface to mount the main unit should be a machined surface or a plane that possesses an equivalent accuracy and the flatness should be within 0.05mm. Also, the platform should have a structure stiff enough to install the unit so it would not generate vibration or other abnormality.

This actuator has the screw holes for mounting so it can be fixed from the rear side. (Note that tap hole size depends on model. Please see diagrams below and 2, "External Dimensions.") The actuator also contains reamed holes for use with positioning pins.

9. Installation

Slider type

Screw diameter

Model

and max. screw

mating depth

SA3 M3, depth 5 M3 1.54 N-m (0.16 kgf-m) 0.83 N-m (0.085 kgf-m) 17

SA4 M3, depth 5 M3 1.54 N-m (0.16 kgf-m) 0.83 N-m (0.085 kgf-m) 21

SA5 M4, depth 7 M4 3.59 N-m (0.37 kgf-m) 1.76 N-m (0.18 kgf-m) 26

SA6 M5, depth 8 M5 7.27 N-m (0.74 kgf-m) 3.42 N-m (0.35 kgf-m) 31

Mounting

bolt

screw

Bolt bearing surface is

steel

Tightening torque

Bolt bearing surface is

A (mm) Reamed hole (mm)

aluminum

2H7, depth 4

from bottom face of base

2.5H7, depth 5

from bottom face of base

2.5H7, depth 5

from bottom face of base

3H7, depth 5

from bottom face of base

Tightening screws

Use hexagonal socket head bolts for the male threads for installing the base. Use of high-tension bolts meeting at least ISO 10.9 is recommended. The length of thread engagement should be 1.8 times more than the nominal diameter, and pay attention not to stick the screw out inside the actuator.

Caution: Be careful when selecting the bolt length. If bolts of inappropriate lengths are used, the

tapped holes may be damaged, actuator mounting strength may become insufficient, or contact with driving parts may occur, resulting in lower precision or unexpected accidents.

9. Installation

9.3 Mounting Surface

The platform to install the actuator should possess a structure that ensures enough stiffness,

and should be free from vibration.

RCA2-SA3C, SA4C, SA5C, SA6C, SA3R, SA4R, SA5R, SA6R

The side and bottom faces of the base provide reference surfaces for slider travel. When it is necessary that the slider moves in a highly precise fashion, ensure that the device is installed at the direction that is based on the position of these surfaces.

9. Installation

Follow the diagram below when installing the device using the reference surface.

Reference

surface

Slider type

Caution: Because the side and bottom faces of the base provide reference surfaces for slider travel

as shown in the above diagram, conduct installation based on the position of this side when precision is required.

R0.3 or less

Reference

surface

Model Length of A (mm)

Slider type 2 to 4 or less

9.4 Installation of the Load

Please attach the load to the device using the tap holes in the slider. The process for attaching these to the main unit is similar to the installation process of the main unit. Use of high-tension bolts meeting at least ISO-10.9 standard is recommended for mounting. The table below shows the recommended tightening torque. There are two reamed holes on the slider, so if you need to be able to secure and detach the load multiple times, please use these holes. Also, if you require precision in your attachment, such as a right angle, use one of the reamed holes to make fine adjustments. * When using reamed holes, we recommend using an H7 pin. Also, do not force the pin into

the hole. Instead, press it gently in until it fits.

For exact thread depth and reamed hole depth, please see the table below. Do not tighten the mounting screws to a torque beyond the applicable torque specified in the table below. Doing so may damage the tapped holes.

RCA2-SA2AC/SA2AR

Reamer pitch tolerance p0.02)

15 (

103

2-F2H7, Depth 2

7.557.5

3 3

4-M2, Depth 4

RCA2-SA3C/SA4C/SA5C/SA6C/SA3R/SA4R/SA5R/SA6R

Model A B C D E

9. Installation

reamed pitch: 0.02)

Mounting bolt

Nominal thread size Tightening torque

SA3 17 11 17

SA4 20 14 21

SA5 26 14 22

SA6 31 15 25

2H7,

depth 5

2.5H7,

depth 5

2.5H7,

depth 5

3H7,

depth5

M3 D6 M3

M4 D8 M4

M5 D10 M5

0.83 N-m

(0.085 kgf-m)

0.83 N-m

(0.085 kgf-m)

1.76 N-m

(0.18 kgf-m)

3.42 N-m

(0.35 kgf-m)

10. Connecting with Controller

Both for the controller itself and for the connection cable between the controller and actuator (RCA2), use a dedicated IAI controller and dedicated connection cable. This section explains the wiring method for a single axis.

If the dedicated connection cable cannot be secured, reduce the load on the cable by allowing it to deflect only by the weight of the cable or wire it in a self-standing cable hose, etc., having a large radius. Do not cut and reconnect the dedicated connection cable for extension or shorten the cable. Do not pull on the dedicated connection cable or bend it forcibly.

Please consult with IAI if you require a different kind of cable than the one supplied.

Dedicated controller

10. Connecting with Controller

RCA2-XX

AMEC

ASEP

Dedicated connection cable (connects controller and RCA2)

r=68 mm min. (unfastened) r=34 mm min. (fastened)

Dedicated connection cable

Servo motor cable: CB-APSEP-MPA***

*) *** indicates the cable length. Up to 20m can be specified.

Example) 080 = 8 m

(Note) RCA2-SA2AC and SA2AR cannot be run with AMEC controller.

Dedicated controller

ASEL ACON

Dedicated connection cable

Servo motor cable: CB-ACS-MPA***

*) *** indicates the cable length. Up to 20m can be specified.

Example) 080 = 8 m

Dedicated connection cable (connects controller and RCA2)

r=84 mm min. (unfastened) r=42 mm min. (fastened)

10. Connecting with Controller

(Note) RCA2-SA2AC and SA2AR cannot be run with ASEL or ACON controller.

When building an application system using the actuator and controller, incorrect wiring or connection of each cable may cause broken wire, poor contact or other unexpected problem. The prohibited items relating to cable wiring are explained below.

● Do not cut and reconnect the cable to extend or shorten the cable.

● If the cable cannot be secured, reduce the load on the cable by allowing it to deflect only by the weight of the cable or wire it in a self-standing cable hose, etc., having a large radius.

● Prevent the cable from bending at the same point.

Steel band (piano wire)

Bundle loosely.

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

● Do not pull the cable with a strong force.

● Do not let the cable receive a turning force at a single point.

10. Connecting with Controller

● Do not pinch, drop a heavy object onto or cut the cable.

x When fixing the cable, provide a moderate slack and do not tension it too tight.

Do not use a spiral tube where the cable flexes frequently.

x Separate the IO and communication lines from the power and drive lines. Do not wire them together in

the same duct.

Power line

Duct

I/O lines (flat cable)

x Pay attention to the following points when using a cable track. x Do not let the cable get tangled or kinked in a cable track or flexible tube. When bundling the cable,

keep a certain degree of flexibility (so that the cable will not become too taut when bent).

x Do not cause the cables to occupy more than 60% of the space in the cable track.

Cable track

Cable

Warning

z Always turn off the controller power before connecting/disconnecting cables. If cables are

connected/disconnected while the power is still supplied, the actuator may malfunction and a serious injury or equipment damage may occur.

z Loose connectors may cause the actuator to malfunction and create a dangerous situation. Be sure

to confirm that all connectors are securely connected.

10. Connecting with Controller

11. Notes on Operation

11.1 Placing a Load on the Actuator

11.1.1 Allowable moment

Do not exceed the load ratings given in the specification table below. In particular, be careful not to exceed the load moment, overhang load length, and maximum payload capacity for the slider. (See diagram below.)

Allowable dynamic load moment Unit: N·m (kgf·m)

cMbMaM

SA2A 0.18 (0.018) 0.16 (0.016) 0.23 (0.023)

SA3

SA4 3.04 (0.31) 4.31 (0.44) 5.00 (0.51)

SA5 3.92 (0.40) 5.58 (0.57) 8.53 (0.87)

SA6 4.31 (0.44) 6.17 (0.63) 10.98 (1.12)

Allowable static load moment Unit: N·m (kgf·m)

SA2A 2.3 (0.23) 1.9 (0.19) 2.9 (0.30)

SA3 5.0 (0.51) 7.1 (0.72) 7.9 (0.81)

SA4 6.8 (0.69) 9.7 (0.99) 13.3 (1.36)

SA5 10.2 (1.04) 14.6 (1.49) 22.4 (2.29)

1.96 (0.2) 2.84 (0.29) 3.14 (0.32)

cMbMaM

Make sure that the load on the table front plate does not exceed the moment Ma if operating a slider type. When calculating the load moment, see 11.1.1, "Positioning the guide to calculate the load moment" below.

11. Notes on Operation

Load moment direction

"Slider type"

SA6 17.6 (1.80) 25.2 (2.57) 44.5 (4.54)

Allowable overhang lengths

Model Ma direction Mb direction Mc direction

SA2A 40 mm or less 40 mm or less 40 mm or less

SA3

100 mm or less 100 mm or less 100 mm or less

SA4 120 mm or less 120 mm or less 120 mm or less

SA5 130 mm or less 130 mm or less 130 mm or less

SA6 150 mm or less 150 mm or less 150 mm or less

Overhangload length direction

Mb, Mc direction Ma direction

11. Notes on Operation

(Note) When calculating the moment in Ma or Mc direction, offset the reference position by l mm from

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

“Slider type”

Ma, Mc moment

guide offset distance

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

11. Notes on Operation

Model SA2A SA3 SA4 SA5 SA6

A (mm) 23.5 29.5 36.5 43.5 47

(L). If the load exceeds the allowable overhang load length, vibration may occur or the settling time may become longer. Also note that if the allowable load moment is exceeded, not only the life of the guide will become shorter but other problems may also occur such as vibration and longer settling time.

11.1.2 External force in axial direction

Be careful not to subject the actuator to an external force or an impact load in the axial or thrust direction in excess of allowable capacity. Subjecting the actuator to an external force or an impact load at levels above the allowable capacity may damage or destroy internal components.

Allowable external force in thrust direction

Unit: N (kgf)

SA3 50 (5.1)

SA4 160 (16.3)

SA5 220 (22.4)

SA6 220 (22.4)

“Motor unit type”

Thrust direction

Move the slider by observing the cautionary information below.

[Low-lead type] Sometimes the slider may not move even when an external force is applied. In this case, do not forcibly move the slider, but use the PC software or teaching pendant to jog the slider.

Caution: If the slider does not move, do not move it forcibly. If an excessive force is applied,

actuator damage may occur such as broken nut.

11. Notes on Operation

11.2 Adjusting the Home Position

The actuator home position can be adjusted by changing parameter please do the following.

[1] Verify the home position by performing a home return operation. [2] Move the actuator to the desired position, verify the distance between the old and new positions, and

adjust the parameter accordingly. The parameter can be set to a positive value in the direction of movement. (It cannot be set to a negative value.)

[3] Increasing the offset amount restricts the movement range by the amount of the increase. If you set an

offset greater than 1 mm, please reset the stroke soft limit. *1 ACON controller: No. 22, home return offset distance

ASEL controller: Parameter No. 12 for each axis, home preset value ASEP controller: No. 16, home return preset value

AMEC controller: No. 16, home return preset value

. In order to make adjustments,

11.3 Changing the Home Position Direction

To change the home position direction after delivery, it is necessary to change the movement direction parameter. Please contact with IAI if you need to do this.

Warning: The encoder serves not only to detect the actuator’s position and the home position signal, it also plays a crucial role in phase switching for the AC servo power line, and its phase is adjusted precisely. Never touch the encoder in order to change the home position.

11. Notes on Operation

11.4 Stainless Sheet Section

x The stainless sheet is attached by absorbtion to the side cover. If the environment contains high levels

of iron filings or other magnetic matter, this may become absorbed between the stainless sheet and the rubber and cause malfunction. For that reason, avoid usage in such an environment.

x Keep adhesive, paint, and other viscous material off the stainless sheet. Such material sticking to the

stainless sheet can lead to defective slider operation and stainless sheet damage.

x Be careful to avoid localized force on the stainless sheet. Such force could deform the stainless sheet

and cause malfunctions. Also, during installation and transport, do not hold on to or press on the stainless sheet. Doing so could damage the stainless sheet.

11. Notes on Operation

12. Life

One factor that affects the traveling life of an actuator is “Rated Load.” There are two types of rated loads: “Static Rated Load” and “Dynamic Rated Load.” x “Static Rated Load”: Load applied while the actuator is stopped, as a result of which minor

pressure marks are left on the contact surface

x “Dynamic Rated Load”: Load under which the actuator can travel for a specified distance and still

meet a specified probability of survival defined by no damage to its guide.

Manufacturers of guides indicate the life of each guide by a dynamic rated load based on a probability of survival (no damage to the guide) of 90% after 50 km of traveling. With industrial equipment, however, dynamic rated loads must be defined based on longer traveling distance of 5,000 km to 10,000 km given the moving speed, operating ratios and other operating conditions of these equipment. Also note that guides are generally designed with a sufficient life against radial loads. Moment loads that are applied at positions away from the guide center are most damaging to guides.

The traveling life is calculated by assuming that the actuator travels 5,000 km while receiving the allowable load moment, based on a load coefficient of 1.2. [For the allowable dynamic load moment, refer to 6, “Specifications.”] The formula for calculating the allowable dynamic load moment corresponding to a traveling life of 5,000 km is shown below.

12. Life

Calculate the life at the applicable moment using the formula below:

· ¸

¸ ¹

km50

¨ ©

km5000x

· ¸

km5000

IA: Allowable dynamic load moment

C :fW: Load factor (= 1.2)

50: Rated dynamic moment based on a

survival probability of 50% after 50 km of traveling

L: Traveling life (survival probability of 90%)

IA: Allowable dynamic moment

C P: Applicable moment

13. Maintenance Inspection

13.1 Inspection Items and Schedule

Follow the maintenance inspection schedule below. It is assumed that the equipment is operating 8 hours per day. If the equipment is running continuously night and day or otherwise running at a high operating rate, inspect more often as needed.

External visual inspection Internal inspection Greasing*2

Start of work inspection

1-month inspection

6-month inspection

12-month inspection

Every 6 months thereafter

Every 12 months thereafter

*1 If grease is found degraded as a result of interior check, add grease *2 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 so 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.

13.2 External Visual Inspection

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An external visual inspection should check the following things.

Main unit Loose actuator mounting bolts, other loose items, buildup

Cables Scratches, proper connections

Stainless sheet Scratches, slacked

Overall Irregular noise, vibration

y If the stainless sheet is slacked, make adjustment to remove the slack as necessary. y As a rule of thumb, the stainless sheet should last for about 5000 km of slider motion. However, under

certain conditions, the stainless sheet may need to be replaced earlier. Generally, replacing the stainless sheet will require that you bring the unit to our plant or have one of our technicians come to your plant to perform the replacement.

y If the actuator is installed vertically, certain conditions may cause grease to drip from the guide. Please

ensure that proper cleaning is performed and grease is replenished.

13. Maintenance Inspection

13.3 Cleaning

y Clean exterior surfaces as necessary. y Use a soft cloth to wipe away dirt and buildup. y Do not blow too hard with compressed air as it may cause dust to get in through the gaps. y Do not use oil-based solvents as they can harm lacquered and painted surfaces. y To remove severe buildup, wipe gently with a soft cloth soaked in a neutral detergent or alcohol.

13.4 Adjusting the Stainless Sheet

If the actuator stroke is 400 mm or more, check the stainless sheet for slacking, etc., as necessary. If the stainless sheet is found slacked, adjust the stainless sheet. [For the stainless sheet adjustment procedure, refer to 13.9, “Replacing/Adjusting the Stainless Sheet.”]

13. Maintenance Inspection

13.5 Internal Inspections

Turn off the power and inspect visually after turning up or removing the stainless sheet in the case of stainless sheet types. With reversing types, inspect visually after removing the reversing bracket. When inspecting the interior, check the following items.

Main unit Loose mounting bolts, other loose items

Guide section Lubrication, buildup

Belt

(Reversing type)

Visually inspect the interior of the equipment. Check whether dust or other foreign matter has gotten inside and check the lubrication state. The lubrication may have turned brown. This is not a problem as long as the travel surfaces shine as though they are wet. If the grease is mixed with dust and does not have a shiny appearance, or if the grease has lost its efficacy due to prolonged use, then clean each section and reapply grease. The procedure for internal inspections is outlined below. Refer to 13.8 for inspection and adjustment of the belt.

"Slider type" --- Steps [2] through [5] are only necessary if the cover is attached. If you do not have a cover, only do step [1].

[1] Move the slider to the home position side. [2] Remove the cover. [3] Remove the sheet retainer screws. [4] Peek under the stainless sheet and check the interior. [5] When the checks are completed, reassemble the parts by following the same procedure in reverse.

Cautions for attached cover:

When checking inside the equipment, be careful not to forcibly bend the stainless sheet or scratch it. Do not tug on the stainless sheet or in any way attempt to reposition it. If the sheet is repositioned, it may not be even which may shorten its service life. Should this happen, adjust the stainless sheet by referring to the replacement instructions. Keep in mind that the edges of the stainless sheet can cause injuries. Always wear gloves when working on it.

Belt wear, damage

13. Maintenance Inspection

13.6 Internal Cleaning

Use a soft cloth to wipe away dirt and buildup. Do not blow too hard with compressed air as it may cause dust to get in through the gaps. Do not use oil-based solvents, neutral detergent or alcohol.

13.7 Greasing Guides

13.7.1 Applicable greases for guide

The grease initially used is lithium-based grease. IAI uses the following grease in our plant.

Idemitsu Kosan Daphne Eponex Grease No. 2

Other companies also sell similar types of grease. For details, give the above grease name to the manufacturer you want to purchase from and ask what corresponding product they have available. Here are some examples of similar products.

Showa Shell Oil Albania Grease No. 2

Mobil Oil Mobilax 2

Warning: Never use anything other than synthetic polynot only reduces the performance of the grease, it may even cause damage to the actuator.

13.7.2 Applicable greases for ball screw

The grease initially used is lithium-based grease. IAI uses the following grease in our plant. (Excludes SA3C type)

13. Maintenance Inspection

Kyodo Yushi Multitemp LRL 3

* RCA2-SA2AC, SA2AR, SA3C type uses the following grease.

Idemitsu Kosan Daphne Eponex Grease No. 2

olefin grease. Mixing poly- grease with other grease

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.

13.7.3 How to apply grease

When side cover and stainless sheet are present, remove these before beginning.

Pinch in the direction of the arrows to remove ball screw cover

Ball screw cover

(1) For the guide section, apply the grease by moving the slider back and forth and spreading it out,

either by pushing a scraper between the slider and base or by lubricating with a grease injector. Grease the guides on both sides. When complete, wipe away any excess grease.

(Note) There is no side cover for RA2AC and RA2AR. Remove the stainless steel sheet and apply grease to the guide from upper side.

Slider type Slider type

13. Maintenance Inspection

(2) To grease ball screws, first clean, then put some grease on your finger and apply while moving the

slider back and forth. When finished, wipe off excess grease.

(Note) There is no side cover for RA2AC and RA2AR. Remove the stainless steel sheet and apply grease to the guide from upper side.

If the side cover and stainless sheet are present, put them back on.

Caution: When moving the slider back and forth by hand, be certain never to apply force in excess

of the thrust direction external force capacity (see 11.1.2). (If the slider will not move, operate it using a jog function.)

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.

13. Maintenance Inspection

13.8 Belt

13.8.1 Inspection of belt

When inspecting the belt, remove the pulley cover and check the belt visually. Although the durability of the belt is affected significantly by the operating conditions, generally a belt has a flex line of several million times. As a reference for determining when to actually replace the belt, replace the belt if any of the following conditions is found:

x Significant wear of the teeth or end face of the belt x Swelling of the belt due to attached oil, etc. x Cracking or other damage of the teeth or back of the belt x Breaking of the belt

13.8.2 Applicable belt

Manufacturer: Bando Chemical Industries, Ltd.

Belt model (type) Model

40S2M138R, 4-mm wide (clean rubber type) SA3R

60S2M152R, 6-mm wide (clean rubber type) SA4R

60S2M180R, 6-mm wide (clean rubber type) SA5R

60S2M180R, 6-mm wide (clean rubber type) SA6R

13.8.3 Adjustment of belt tension

Remove the pulley cover, loosen the tension adjustment bolts (4 locations), and shift the motor as shown below to tension the belt. When finished, tighten the tension adjustment bolts.

Tension SA3R: 1.5 r 0.1 kgf Other than SA3R: 2.5 r 0.1 kgf

Tension adjustment bolt

Model

SA3R M2.6

SA4R M3

SA5R/SA6R M4

Nominal

thread size

Tightening

torque

0.46 N-m

(0.047 kgf-m)

0.83 N-m

(0.085 kgf-m)

1.76 N-m

(0.18 kgf-m)

13. Maintenance Inspection

13.9 Stainless Sheet Replacement (for models with slider cover)

It is possible to replace the stainless sheet without removing the slider cover. [Items required for replacing the stainless sheet]

y Replacement stainless sheet y Hex wrench set y Cellophane tape

[Part names]

[Procedure]

Stainless sheet

retainer plates

Stainless sheet

Slider cover

[1] With a 1.5 mm hex wrench, remove the four screws securing the stainless sheet and the two

stainless sheet retainer plates.

[2] Pull out the old stainless sheet.

13. Maintenance Inspection

[3] Apply cellophane tape to one side of the new stainless sheet.

Cellophane tape

Stainless sheet

Apply the cellophane tape as though sandwiching the stainless sheet, leaving about 3 mm of tape sticking out from the stainless sheet. Cut off the excess tape.

[4] Slide the stainless sheet, taped end first, in through the gap under the slider cover.

Do not let stainless sheet fall in this hole.

[5] Fasten the two stainless sheet retainer plates with the four screws. Use a 1.5 mm hex wrench.

Two grooves

are cut into the main unit to serve as guides for attaching the stainless sheet. Install the stainless sheet so that it comes to the center of the two grooves. Be careful not to install it in a position where it bends.

13. Maintenance Inspection

[6] After fastening the stainless sheet retainer plate, move the slider by hand a full stroke and ensure

that the stainless sheet neither floats up nor is warped. If there is a problem, go back to step [5].

Caution: When moving the slider back and forth by hand, be certain never to apply force in excess

of the thrust direction external force capacity (see 11.1.2). (If the slider will not move, operate it using a jog function.)

13.10 Replacement of Motor (AC Servo Motor: RCA2)

* Refer to 12.10 for the reversing type.

[Items required for replacing the motor] y Replacement motor unit

Axis type

RCA2 (brown encoder cable connector)

y Hex wrench set

y Dedicated replacement jig

(Optional)

Model number Applicable model

RCA2-JG-1 RCA2-SA3 RCA2-JG-2 RCA2-SA4 RCA2-JG-3 RCA2-SA5/SA6

Slider type

SA3C RCA2-MU1A RCA2-MU1A-B SA4C RCA2-MU2A RCA2-MU2A-B SA5C RCA2-MU3A RCA2-MU3A-B

SA6C RCA2-MU4A RCA2-MU4A-B

Without brake With brake

Model number

[Procedure] [1] Disconnect the cable from the motor unit, then use a 2 mm hex wrench to remove the screw which

holds together the actuator unit and the motor unit.

[2] Detach the motor unit.

13. Maintenance Inspection

Actuator-motor unit connecting screw

Disconnect the cable.

[3] Take out the coupling hub and coupling spacer from the detached motor unit. Twist the coupling hub

or coupling spacer on the motor side to align the screw holes with the hole for the tool to go through. Then remove two screws with a 2 mm hex wrench. * If there is only a coupling hub on the motor unit side, then there is a coupling spacer on the actuator

side which can be removed by pulling.

* If both coupling hub and coupling spacer are present, pull them apart.

(They should separate with a gentle pull.)

Coupling hub

Pull apart

Hole for tool

Coupling spacer

[4] Fit the protruding part of the coupling hub into the groove of the replacement jig (large), and

temporarily hold them together with two M 3x3 Allen screws (tighten just enough so that the coupling hub does not fall off).

Replacement jig (large)

Line up holes in center

[5] Turn the shaft to move the slider about 0.5 mm to 1 mm from the mechanical end on the home

position side.

13. Maintenance Inspection

[6] Fit the groove of the replacement jig (large) assembled in [4] over the protrusion of the actuator.

Fit groove over

protrusion

[7] Align the marking on the motor shaft with the point indicated and insert the replacement motor unit

into the actuator.

Motor shaft

Top view

Alignment mark

[8] Take out the motor unit and the replacement jig (large). (Do not allow the jig to turn.)

[9] In order to keep the jig from turning, draw a mark using a pen or marker.

[10] Insert the replacement jig (small) in such a way that its protrusion is aligned with the groove in the

motor shaft.

13. Maintenance Inspection

Replacement jig (small)

[11] Turn the replacement jig (large) and the replacement jig (small) by the same amount. When the

coupling fastening screws appear through the tool holes, tighten them with a 2 mm hex wrench. (There are two fastening screws.)

Tighten with hex wrench

Rotate same amount to keep aligned

[12] Align the marks

made in [9]. After the marks are aligned, remove the replacement jig (large) and the

replacement jig (small).

[13] Apply the specified grease (TL101Y grease made by NOK) to the coupling spacer (front and rear),

then install the coupling spacer on the actuator side.

[14] Install the replacement motor unit on the actuator side, then tighten the fastening screws with a 2 mm

hex wrench.

(The actuator side groove and replacement motor unit protrusion should have been aligned in [12], but if not, align them here.)

13. Maintenance Inspection

Tighten with hex wrench

13.11 Replacement of Belt and Motor for Reversing Type (AC Servo Motor: RCA2)

[Items required for replacing the motor] y Replacement motor unit of reversing type

Model number

Model

number

RCA2 (brown encoder cable connector)

Axis type

Slider type

SA3R RCA2-MU1B RCA2-MU1B-B SA4R RCA2-MU2B RCA2-MU2B-B SA5R RCA2-MU3B RCA2-MU3B-B

SA6R RCA2-MU4B RCA2-MU4B-B

Without brake With brake

y Belt Manufacturer: Bando Chemical Industries, Ltd.

Belt model (type)

40S2M138R, 4-mm wide(clean rubber type) SA3R 60S2M152R, 6-mm wide (clean rubber type) SA4R 60S2M180R, 6-mm wide (clean rubber type) SA5R 60S2M180R, 6-mm wide (clean rubber type) SA6R

y Tension gauge y Hex wrench set

[Procedure] [1] Remove the pulley cover.

Remove the mounting screws. (2 pcs for the SA3R, 3 pcs for other models)

[2] Loosen the tension adjustment bolts (4 pcs) and slack the belt.

13. Maintenance Inspection

Mounting screw

Model Nominal

thread size SA3R/SA4R M2.5 1.5 mm across flats SA5R/SA6R M3 2 mm across flats

Tightening adjustment bolt

Model Nominal

thread size SA3R M2.6 2 mm across flats SA4R M3 2.5 mm across flats

SA5R/SA6R M4 3 mm across flats

Applicable Allen

wrench

Applicable hex wrench

[3] Remove the belt from the pulleys. When replacing the belt, proceed to step [7].

[4] Remove the tension adjustment bolts and pull out the motor unit.

[5] Install the replacement motor unit.

As shown below, install the motor unit by making sure its specified surface faces the actuator base. Loosely secure the motor unit using the tension adjustment bolts.

Install the motor unit by making sure the base surface of the actuator faces the motor unit surface with two holes.

The surface with no gaps should face the motor unit surface with two holes.

13. Maintenance Inspection

[6] Move the slider or table by 0.5 to 1 mm from the mechanical end on the home side.

[7] Move the motor unit in the direction of the arrow shown below, and then install the belt.

Align the motor unit with the countermark on the actuator. When replacing the belt, install the replacement belt.

[8] Pass around the base of the motor unit a strong string (or long tie band) that has been looped, and

pull the loop with a tension gauge. When the specified tension is achieved, tighten the tension adjustment bolts uniformly.

13. Maintenance Inspection

Tension gauge

Tension SA3R: 1.5 r 0.1 kgf Other than SA3R: 2.5 r 0.1 kgf

Tension adjustment bolt

Model Nominal thread size Tightening torque

SA3R M2.6

SA4R M3

SA5R/SA6R M4

0.46 Nxm

(0.047 kgfxm)

0.83 Nxm

(0.085 kgfxm)

1.76 Nxm

(0.18 kgfxm)

[9] Install the pulley cover.

Mounting screws (2 pcs for the SA3R, 3 pcs for other models)

[10] Connect a PC or teaching pendant to the controller and perform a home return.

Check for displacement with the original home position and if there is a displacement, make correction using the following parameter:

ACON Parameter No. 22: Home return offset distance

ASEL Parameter No. 12: Home preset value If your actuator is of the absolute encoder specification, perform a home return after the parameter has been changed, and then execute an absolute reset.

13. Maintenance Inspection

14. Warranty

14.1 Warranty Period

One of the following periods, whichever is shorter:

18 months after shipment from IAI 12 months after delivery to the specified location 2,500 hours of operation

14.2 Scope of Warranty

Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge:

(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized

dealer.

(2) The breakdown or problem in question occurred during the warranty period.

(3) The breakdown or problem in question occurred while the product was in use for an appropriate

purpose under the conditions and environment of use specified in the operation manual and catalog.

(4) The breakdown or problem in question was caused by a specification defect or problem, or by the

poor quality of our product.

Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:

[1] Anything other than our product [2] Modification or repair performed by a party other than us (unless we have approved such

modification or repair)

[3] Anything that could not be easily predicted with the level of science and technology available at

the time of shipment from our company [4] A natural disaster, man-made disaster, incident or accident for which we are not liable [5] Natural fading of paint or other symptoms of aging [6] Wear, depletion or other expected result of use [7] Operation noise, vibration or other subjective sensation not affecting function or maintenance

14. Warranty

Note that the warranty only covers our product as delivered and that any secondary loss arising from a breakdown of our product is excluded from the scope of warranty.

14.3 Honoring the Warranty

As a rule, the product must be brought to us for repair under warranty.

14.4 Limited Liability

(1) We shall assume no liability for any special damage, consequential loss or passive loss such as a

loss of expected profit arising from or in connection with our product.

(2) We shall not be liable for any program or control method created by the customer to operate our

product or for the result of such program or control method.

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

(1) If our product is combined with another product or any system, device, etc., used by the customer,

the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc. In such a case we will not be liable for the conformance of our product with the applicable standards, etc.

(2) Our product is for general industrial use. It is not intended or designed for the applications specified

below, which require a high level of safety. Accordingly, as a rule our product cannot be used in these applications. Contact us if you must use our product for any of these applications:

[1] Medical equipment pertaining to maintenance or management of human life or health [2] A mechanism or mechanical equipment intended to move or transport people (such as a vehicle, railway facility or aviation facility) [3] Important safety parts of mechanical equipment (such as safety devices) [4] Equipment used to handle cultural assets, art or other irreplaceable items

(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that

differs from what is specified in the catalog or operation manual.

14.6 Other Items Excluded from Warranty

The price of the product delivered to you does not include expenses associated with programming, the dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during the warranty period:

[1] Guidance for installation/adjustment and witnessing of test operation [2] Maintenance and inspection [3] Technical guidance and education on operating/wiring methods, etc. [4] Technical guidance and education on programming and other items related to programs

14. Warranty

Appendix

Using the home position marks

 As necessary, affix these marks to the product to mark the home position of the actuator.

Stickers Included

Home position mark tickers

Mark stickers with scales x 4 Mark stickers x 4 (10 mm wide with 1 mm scales)

x Peel from backing and attach.

Notes: 1. Rear surface is adhesive

2. Ensure surface is clean before attaching sticker

3. Do not paste over slider precaution/name plate

× 1 sheet

Appendix

Example

[1] To mark the home position

Attach to slider

Motor

Attach to base

x Attach both stickers when actuator is stopped in home position

[2] To show different movement positions

Attach to slider

Motor

Attach to movement positions

Change History

First edition

Description of RevisionRevision Date

March 2007

March 2010

September 2010

November 2010

April 2011

Second edition

Third edition

Forth edition

Fifth edition

Sixth edition

Corrected clerical errors.

P. 25, 26:

P. 9:

P. 30~31: P. 34:

P. 35~39:

P. 41:

P. 43: P. 56:

P. 58: P. 60:

A page for CE Marking added

Added “High-acceleration/deceleration specification.”

Added an “item to note regarding the position when the servo is turned on” under “Handling Precautions.”

Longest cable length: 10 m → 20 m Added “Operation Manual for MEC Controller” and “Operation Manual for MEC PC Software” under “Operation Manuals Relating to This Product.”

Added “SA5C, SA6C – Lead 20 mm” under 5.4, “How to Read the Model Number” and 6, Specifications.”

Added lines for SA5C/SA6C of lead 20 mm to the graphs under 7, “Notes on Use Regarding Maximum Speed and Loading Mass.”

Changed the text of “Caution.” Added 11.2, “Fine-tuning the Home Position” and “AMEC Controller.”

Added 12, “Life.” Added 13.4, “Adjusting the Stainless Sheet.”

June 2011

July 2011

March 2012

Seventh edition

Eighth edition

Ninth edition

Tenth edition

P.43:

P.46:

P.76~77:

Added SA2AC and SA2AR

Contents changed in Safety Guide Caution notes added for when working with two or more persons P.46:

P.47:

Contents of caution for vertically oriented mount changed.

Change in ceiling installation availability (×: Not possible → : Daily inspection is required) Contents changed. in 14. Warranty

Note added to tell platform should have a structure with enough stiffness Note changed to 1.8 times more of the nominal diameter for the length of thread engagement on

aluminum

Change History

Description of RevisionRevision Date

March 2012 Eleventh edition P.1~7:

P.8:

P.13~30: P.64~66:

Contents added and changed in Safety Guide Note “Make sure to attach the actuator properly by

following this operation manual.” added in Caution in Handling Weight added to external dimensions Warning notes added such as in case the grease got into your eye, immediately go to see the doctor for an appropriate care.

Change History

Manual No.: ME3669-11A (March 2012)

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan

TEL +81-54-364-5105 FAX +81-54-364-2589

website: www.iai-robot.co.jp/

Technical Support available in USA, Europe and China

Head Office: 2690 W. 237th Street, Torrance, CA 90505

TEL (310) 891-6015 FAX (310) 891-0815

Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143

TEL (630) 467-9900 FAX (630) 467-9912

Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066

TEL (678) 354-9470 FAX (678) 354-9471

website: www.intelligentactuator.com

Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany

TEL 06196-88950 FAX 06196-889524

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China

TEL 021-6448-4753 FAX 021-6448-3992

website: www.iai-robot.com

12.03.000

IAI America RCA2-SA6R User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

CE Marking

Table of Contents

Safety Guide

Handling Precautions

1. Part Names

2.1 RCA2-SA2AC

2. External Dimensions

2.2 RCA2-SA3C

2.3 RCA2-SA3C- with Side Cover

2.4 RCA2-SA4C

2.5 RCA2-SA4C- with Side Cover

2.6 RCA2-SA5C

2.7 RCA2-SA5C- with Side Cover

2.8 RCA2-SA6C

2.9 RCA2-SA6C- with Side Cover

2.10 RCA2-SA2AR

2.11 RCA2-SA3R, Reversing to Left (Right)

2.12 RCA2-SA3R- with Side Cover, Reversing to Left (Right)

2.13 RCA2-SA4R, Reversing to Left (Right)

2.14 RCA2-SA4R- with Side Cover, Reversing to Left (Right)

2.15 RCA2-SA5R, Reversing to Left (Right)

2.16 RCA2-SA5R- with Side Cover, Reversing to Left (Right)

2.17 RCA2-SA6R, Reversing to Left (Right)

3.1 AMEC, ASEP Controller Cables

3. Cable Drawings

3.2 ACON, ASEL Controller Cables

4. Options

4.1 Brake Type

4.2 Power-saving Measure

4.3 No-cover Specification

4.4 Reversed-home Specification

4.5 Changing the Cable Exit Direction

4.6 Motor Reversing to Left, Motor Reversing to Right

5.1 Included Items

5.2 Operation Manuals Relating to This Product

5. Checking after Unpacking

5.3 How to Read Model Nameplate

5.4 How to Read Model Number

6. Specifications

7. Notes on Use Regarding Maximum Speed and Loading Mass

8.1 Installation Environment

8. Installation and Storage/Preservation

8.2 Storage/preservation Environment

9.1 General Rules on Installation

9. Installation

9.2 Installation of Actuator

9.3 Mounting Surface

9.4 Installation of the Load

10. Connecting with Controller

11. Notes on Operation

11.1 Placing a Load on the Actuator

11.2 Adjusting the Home Position

11.3 Changing the Home Position Direction

11.4 Stainless Sheet Section

12. Life

13. Maintenance Inspection

13.2 External Visual Inspection

13.3 Cleaning

13.4 Adjusting the Stainless Sheet

13.5 Internal Inspections

13.6 Internal Cleaning

13.7 Greasing Guides

13.8 Belt

13.9 Stainless Sheet Replacement (for models with slider cover)

13.10 Replacement of Motor (AC Servo Motor: RCA2)

13.11 Replacement of Belt and Motor for Reversing Type (AC Servo Motor: RCA2)

14. Warranty

14.1 Warranty Period

14.2 Scope of Warranty

14.3 Honoring the Warranty

14.4 Limited Liability

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

14.6 Other Items Excluded from Warranty

Appendix

Change History