IAI America RCAW User Manual

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ROBO Cylinder

Rod Type

RCA Actuators

RCAW Actuators, Dustproof/Splash-proof Type

Operating Manual

Eighth Edition

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IAI America, Inc.

Please Read Before Use

Thank you for purchasing our product.

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

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

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

[Important]

x This Operation Manual is original. x The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI

shall assume no responsibility for the outcome of any operation not specified herein.

x Information contained in this Operation Manual is subject to change without notice for the purpose

of product improvement.

x If you have any question or comment regarding the content of this manual, please contact the IAI

sales office near you.

x Using or copying all or part of this Operation Manual without permission is prohibited. x The company names, names of products and trademarks of each company shown in the sentences

are registered trademarks.

Safety Guide ························································································································1

Precautions·························································································································· 8

International Standards Compliances ·················································································· 9

Names of the Parts ············································································································10

1. Specifications Check··································································································· 13

1.1 Checking the Product ·····································································································13

1.1.1 Parts ··································································································································13

1.1.2 Instruction Manuals related to this product, which are contained in the CD/DVD.···········14

1.1.3 How to Read the Model Nameplate··················································································14

1.1.4 How to Read the Model Number·······················································································15

1.2 Specification····················································································································16

1.2.1 Speed································································································································16

1.2.2 Maximum Acceleration and Transportable Weight ···························································17

1.2.3 Driving System • Position Detector ···················································································19

1.2.4 Positioning Precision·········································································································20

1.2.5 Rod Non-Rotation Accuracy······························································································20

1.2.6 Allowable Running Torque ································································································22

1.2.7 Relation of Allowable Tip Load and Running Life ·····························································22

1.2.8 Radial load and Tip Flexure ······························································································23

1.2.9 Duty Ratio in Continuous Operation ·················································································24

1.2.10 Protection class·················································································································25

1.3 Options ···························································································································26

1.3.1 Brake Type························································································································26

1.3.2 High Acceleration/Deceleration Type················································································26

1.3.3 Home-Position Check Sensor···························································································26

1.3.4 Power Saving Type ···········································································································26

1.3.5 Motor Left Reversed, Motor Right Reversed (Model No. : ML, MR)·································26

1.3.6 Guide Attachment Directions (Only for Single guide type) ···············································26

1.3.7 Front Flange (Model No. : FL)···························································································27

1.3.8 Rear Flange (Model No. : FLR)·························································································28

1.3.9 Foot (Model No. : FT)········································································································30

1.3.10 Foot (Attached on the Right Side/Left Side) ·····································································32

1.3.11 Knuckle Joint (Model No. : NJ) ·························································································33

1.3.12 Clevis (Model No. : QR)····································································································34

1.3.13 Rear Attachment Plate (Model No. : RP) ··········································································35

1.3.14 Front Trunnion (Model No. : TRF)·····················································································36

1.3.15 Rear Trunnion (Model No. : TRR)·····················································································37

1.4 Motor • Encoder Cables··································································································38

1.4.1 Motor cable ·······················································································································38

1.4.2 Encoder cable/robot encoder cable CB-ACS-PAƑƑƑ/CB-ACS-PA-ƑƑƑ-RB··············································································38

1.4.3 Motor/Encoder Integrated Cable for AMEC/ASEP····························································39

2. Installation···················································································································40

2.1 Transportation·················································································································40

2.2 Installation and Storage • Preservation Environment······················································42

2.3 How to Installation···········································································································43

2.3.1 General Rules on Installation····························································································43

2.3.2 Installation ·························································································································44

2.3.3 Connecting the Air Tube of the RCAW Dustproof/Splash-proof Type·······························54

3. Connecting with Controller ··························································································55

4. Maintenance ··············································································································· 59

4.1 Maintenance Schedule ···································································································59

4.2 Visual Inspection of the Machine ····················································································59

4.3 Cleaning··························································································································59

4.4 Applying Grease to the Sliding Surface of the Rod ························································60

4.5 Reduction Belt [Motor Reversing Type] ··········································································61

4.5.1 Inspecting the Belt ············································································································61

4.5.2 Applicable Belt ··················································································································61

4.5.3 Adjusting the Belt Tension·································································································62

4.5.4 Replacing the Belt of the Motor Reversing Type: RA3R/RA4R Types ·····························63

4.6 Replacing the Motor········································································································68

4.6.1 Replacing the Motor of the Motor Straight Type (Coupling Type): RA3C/RA4C Types ···········································································································68

4.6.2 Replacing the Motor of the Motor Reversing Type: RA3R/RA4R Types ··························75

4.7 Replacing the Bellows of the RCAW Dustproof/Splash-proof Type ································81

5. Appendix ·····················································································································84

5.1 RCA-RA3C ·····················································································································84

5.2 RCA-RA4C ·····················································································································85

5.3 RCA-RA3D ·····················································································································86

5.4 RCA-RA4D ·····················································································································87

5.5 RCA-RA3R ·····················································································································88

5.6 RCA-RA4R ·····················································································································89

5.7 RCA-RGS3C···················································································································90

5.8 RCA-RGS4C···················································································································91

5.9 RCA-RGS3D···················································································································92

5.10 RCA-RGS4D ·················································································································93

5.11 RCA-RGD3C··················································································································94

5.12 RCA-RGD4C ·················································································································95

5.13 RCA-RGD3D ·················································································································96

5.14 RCA-RGD4D ·················································································································97

5.15 RCA-RGD3R ·················································································································98

5.16 RCA-RGD4R ·················································································································99

5.17 RCAW-RA3C/RA3D/RA3R··························································································100

5.18 RCAW-RA4C/RA4D/RA4R··························································································101

6. Life ····························································································································102

7. Warranty ··················································································································· 103

7.1 Warranty Period············································································································103

7.2 Scope of the Warranty ··································································································103

7.3 Honoring the Warranty··································································································103

7.4 Limited Liability ·············································································································104

7.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications············································································································104

7.6 Other Items Excluded from Warranty············································································104

Change History ················································································································105

Safety Guide

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

Safety Precautions for Our Products

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

No.

Operation

Description

1 Model Selection Ɣ This product has not been planned and designed for the application where high

level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications.

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

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

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

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

considerably shorten the life of the product.

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

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

2) Place with potential exposure to radiation

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

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

5) Location where condensation occurs due to abrupt temperature changes

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

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

8) Location subject to direct vibration or impact

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

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

No.

Operation

Description

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

equipment such as crane.

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

the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

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

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

Ɣ Transport it using an appropriate transportation measure.

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

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

qualifications for crane operation and sling work.

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

that weighs more than the equipment’s capability limit.

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

in such factors as shear strength.

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

3 Storage and

Preservation

Ɣ The storage and preservation environment conforms to the installation

environment. However, especially give consideration to the prevention of condensation.

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

act of God such as earthquake.

4 Installation and

Start

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

drop or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake.

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

accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.

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

sufficient shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

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

No.

Operation

Description

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

controller, and for the teaching tool.

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

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

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

that there is no wiring error.

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

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

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

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

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

purpose of extending or shortening the cable length. Failure to do so may cause the product to malfunction or cause fire.

4 Installation and

Start

(3) Grounding Ɣ The grounding operation should be performed to prevent an electric shock or

electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.

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

grounding plate in the control panel, make sure to use a twisted pair cable with wire thickness 0.5mm

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

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

100: or below).

No.

Operation

Description

4 Installation and

Start

(4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be

the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

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

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

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

immediately in an emergency during the unit operation.

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

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

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

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

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

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

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

emergency stop.

Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure safety. Ɣ Do not insert a finger or object in the openings in the product. Failure to do so

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

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

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

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

the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ Perform the teaching operation from outside the safety protection fence, if

possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

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

worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

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

addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution

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

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

the movable range should be indicated.

No.

Operation

Description

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

the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

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

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

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

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

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

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

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

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

7 Automatic

Operation

Ɣ Check before starting the automatic operation or rebooting after operation stop

that there is nobody in the safety protection fence.

Ɣ Before starting automatic operation, make sure that all peripheral equipment is

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

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

protection fence.

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

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

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

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

No.

Operation

Description

8 Maintenance

and Inspection

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

the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

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

the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

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

turn OFF the power switch.

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

worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

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

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

the Operating manual for each model.

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

damage to the product.

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

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

Ɣ The slider or rod may get misaligned OFF the stop position if the servo is

turned OFF. Be careful not to get injured or damaged due to an unnecessary operation.

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

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

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

the movable range should be indicated.

9 Modification and

Dismantle

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

specified based at your own discretion.

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

properly as an industrial waste.

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

when detaching screws.

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

The product may burst or generate toxic gases.

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

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

Ɣ See Overseas Specifications Compliance Manual to check whether complies if

necessary.

Ɣ For the handling of actuators and controllers, follow the dedicated Operating

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 Operating manual for each model.

Level Degree of Danger and Damage Symbol

Danger

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

Danger

Warning

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

Warning

Caution

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

Caution

Notice

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

Notice

Precautions

1. Ensure use of the product in the specified conditions, environments and ranges.

Operation out of the specified conditions could cause a drop in performance or malfunction of the product.

2. Set the allowable load of the move on rod tip within the allowable range.

An operation with the load beyond the allowable load of the move on rod tip may cause an abnormal noise, vibration, malfunction or shortened life. If it is extreme, flaking may occur on the guide.

3. If back and forth operations are performed repeatedly in short distance, it may wear out the film of grease.

Continuous back and forth operation within a distance less than 30mm may cause wear of grease. As a reference, have approximately 5 cycles of back and forth operation in a distance more than 50mm in every 5,000 to 10,000 cycles to regenerate the oil film. Keep using the actuator with the grease worn out may cause malfunction. If it is extreme, flaking may occur on the guide.

4. Do not apply any rotation torque on the rod.

Doing so may damage the internal component such as the rod stopper, and may result in an operation failure.

International Standards Compliances

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

RoHS CE Marking

{ {

Names of the Parts

In this Operation Manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actuator placed horizontally, as shown in the figure below.

[RA3C, RA4C]

[RA3D, RA4D]

[RA3R, RA4R]

Rod Cover

Motor Unit

Head Cover

Cylinder Tube

Right

Left

Motor SideRod Side

Rod

Rod-Tip Adapter

Cable

Brake Unit

Head Cover

Cylinder Tube

Right

Left

Motor Side

Rod Side

Rod Cover

Motor Unit

Cable

Rod-Tip Adapter

Rod

Right

Left

Motor SideRod Side

Brake Unit

Cable

Pulley Case

Head Cover

Cylinder Tube

Rod Cover

Rod

Rod-Tip Adapter

Brake Unit

[RGS3C, RGS3D, RGS4C, RGS4D] RGS3D and RGS4C are non-brake-equipped types.

[RGD3C, RGD3D, RGD4C, RGD4D] RGD3D and RGD4C are non-brake-equipped types.

[RGD3R, RGD4R]

Right

Left

Motor SideRod Side

Guide Bearing

Guide Rod

Head Cover

Motor Unit

Cable

Cylinder Tube

Rod Cover

Rod

Guide Bracket

Brake Unit

Right

Left

Guide Bracket

Guide Bearing

Guide Rod

Head Cover

Motor Unit

Motor Side

Rod Side

Rod

Rod Cover

Cylinder Tube

Cable

Brake Unit

Right

Left

Guide Bearing

Guide Bracket

Guide Rod

Head Cover

Motor Unit

Rod Cover

Rod

Cable

Motor Side

Rod Side

Brake Unit

Dust and Splash-Proof Type

[RA3C, RA3D, RA4C, RA4D] RA3D and RA4D are non-brake-equipped types.

[RA3R, RA4R]

Bellows

Right

Left

Motor SideRod Side

Suction/Exhaust Port

Cylinder Tube

Head Cover

Motor Unit

Cable

Rod Cover

Rod

Rod-Tip Adapter

Brake Unit

Bellows

Right

Left

Suction/Exhaust Port

Cable

Motor Unit

Rod

Rod-Tip Adapter

Cylinder Tube

Rod Cover

Pulley Case

Head Cover

Motor Side

Rod Side

Brake Unit

1. Specifications Check

1.1 Checking the Product

The standard configuration of this product is comprised of the following parts.

Caution: Check for the enclosed components referring to the component list. If you find any fault or

missing part, contact your local IAI distributor or our company.

1.1.1 Parts

No. Part Name Model Quantity Remarks

1 Actuator Main Body

Refer to “1.1.3 How to Read the Model Nameplate”, “1.1.4 How to Read the Model Number”

Accessories

Motor • Encoder Cable

Note1

1 3 Nut Refer to list below 4 First Step Guide 1 5 Instruction Manual (CD/DVD) 1 6 Safety Guide 1

Model No.

Nut A

M26•1.5

Nut B

M35•1.5

Nut C

M8•1.5

Nut A

M30•1.5

Nut B

M40•1.5

Nut C

M10•1.5 RCA-RA3C 1 1 1 RCA-RA4C 1 1 1 RCA-RA3D 1 1 1 RCA-RA4D 1 1 1 RCA-RA3R 2 1 RCA-RA4R 2 1 RCA-RGS3C 1 1 RCA-RGS4C 1 1 RCA-RGS3D 1 1 RCA-RGS4D 1 1 RCA-RGD3C 1 1 RCA-RGD4C 1 1 RCA-RGD3D 1 1 RCA-RGD4D 1 1 RCA-RGD3R 2 RCA-RGD4R 2

Note1 The motor • encoder cables supplied vary depending on the controller used.

[Refer to 1.4, “Motor • Encoder Cables.”]

1. Specications Check

1.1.2 Instruction Manuals related to this product, which are contained in the CD/DVD.

Shown below is a list of the instruction manuals for the controllers related to this product which is recorded in Instruction Manual (CD/DVD).

No. Name Control No.

1 ASEL Controller Operation Manual ME0165 2 ACON-C/CG Controller Operation Manual ME0176 3 ACON-CY Controller Operation Manual ME0167 4 ACON-SE Controller Operation Manual ME0171 5 ACON-PL/OP Controller Operation Manual ME0166 6 AMEC Controller Operation Manual ME0245 7 ASEP/PSEP Controller Operation Manual ME0216 8 MSEP Controller Operation Manual ME0299 9 PC software IA-101-X-MX/ IA-101-X-USBMW Operation Manual ME0154

10 PC software RCM-101MW/RCM-101-USB Operation Manual ME0155

11 MEC PC Software Operation Manual ME0248 12 Teaching pendant SEL-T/TD Operation Manual ME0183 13 Teaching pendant CON-T/TD Operation Manual ME0178 14 Touch Panel Teaching CON-PT/PD/PG Operation Manual ME0227 15 Touch Panel Teaching CON-PTA/PDA/PGA Operation Manual ME0295 16 Touch Panel Teaching SEP-PT Operation Manual ME0217 17 Simplified Teaching pendant RCM-E Operation Manual ME0174 18 Data setter RCM-P Operation Manual ME0175 19 Data setter RCM-PM-01 Operation Manual ME0182

1.1.3 How to Read the Model Nameplate

Model

Serial numbe

MODEL RCA-RA3C-I-20-10-50-A1-P-B-**

SERIAL No.600090266 MADE IN JAPAN

1.1.4 How to Read the Model Number

Note 1 Identification for IAI use only : It may be displayed for IAI use. It is not a code to show the model

type.

<Series Name> Standard Type RCA Dust and Splash-Proof Type RCAW

<Type> Standard Type Coupling Type RA3C, RA4C Built-in Type RA3D, RA4D Motor-Reversing Type RA3R, RA4R Single-Guide Type Coupling Type RGS3C, RGS4C Built-in Type RGS3D, RGS4D Double-Guide Type

Coupling Type RGD3C, RGD4C Built-in Type RGD3D, RGD4D Motor-Reversing Type RGD3R, RGD4R Short Length Type SRA4R Short Length Type

With Single Guide SRGS4R Short Length Type

With Double Guide SRGD4R

R C A - R A 3 C - I - 2 0 - 1 0 - 5 0 - A 1 - P - B - * *

Identification for IAI use onl

<Option> B : Brake FT : Foot Bracket FT2 : Foot Bracket (right attached) FT4 : Foot Bracket (left attached) GS2 : Single Guide, right attached FL : Flange Bracket (front) FLR : Flange Bracket (rear) HA : High Accel/Decel Type HS : Home-Check Sensor LA : Power Saving Type NJ : Knuckle Joint NM : Reversed-Home Type TRF : Trunnion Bracket (front) TRR : Trunnion Bracket (rear) QR : Clevis Bracket RP : Rear Attachment Plate

<Cable Length> N : None P : 1m S : 3m M : 5m XƑƑ : Specified Length RƑƑ : Robot Cable

<Controller> A1: ASEL ACON-C/CG ACON-CY ACON-SE ACON-PL/PO A3: AMEC ASEP

<Encoder Type> I : Incremental A : Absolute

<Motor Type> 20 :20W 30 :30W

<Lead>

2.5 :2.5mm 3 : 3mm 5 : 5mm 6 : 6mm 10 :10mm 12 :12mm

1. Specications Check

1.2 Specification

1.2.1 Speed

Speed limits (Unit: mm/s)

Stroke [mm]

Size

Motor

Type

Lead [mm]

50 100 150 200 250 300

2.5 125

5 250

RA3C RA3D

RA3R RGD3C RGD3D RGD3R RGS3C RGS3D

20W

10 500

3 150

6 300

RA4C

RA4D

RA4R RGD4C RGD4D RGD4R RGS4C RGS4D

20W

12 600

3 150

6 300

RA4C

RA4D

RA4R RGD4C RGD4D RGD4R RGS4C RGS4D

30W

12 600

(Note) The speed may not reach the maximum in some ways of the acceleration/deceleration settings.

1.2.2 Maximum Acceleration and Transportable Weight

If the transportable weight is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level.

Type Motor Type Lead [mm] Rated Acceleration [G]

Transportable

Weight [kg]

Rated Thrust [N]

Horizontal 0.2 18

2.5 Vertical 0.2 6.5

144.8

Horizontal 1 9

Vertical 1 3

72.4

Horizontal 1 4

RA3C 20W

Vertical 1 1.5

36.2

Horizontal 0.2 18

2.5 Vertical 0.2 6.5

144.8

Horizontal 0.3 9

Vertical 0.3 3

72.4

Horizontal 0.3 4

RA3D RA3R

20W

Vertical 0.3 1.5

36.2

Horizontal 0.2 18

2.5 Vertical 0.2 6.2

144.8

Horizontal 1 9

Vertical 1 2.7

72.4

Horizontal 1 4

RGD3C RGS3C

20W

Vertical 1 1.2

36.2

Horizontal 0.2 18

2.5 Vertical 0.2 6.2

144.8

Horizontal 0.3 9

Vertical 0.3 2.7

72.4

Horizontal 0.3 4

RGD3D RGD3R RGS3D

20W

Vertical 0.3 1.2

36.2

Horizontal 0.2 12

Vertical 0.2 4

75.4

Horizontal 0.3 6

Vertical 0.3 2

37.7

Horizontal 0.3 3

RA4C RA4D RA4R

20W

Vertical 0.3 1

18.9

Horizontal 0.2 12

Vertical 0.2 3.5

75.4

Horizontal 0.3 6

Vertical 0.3 1.5

37.7

Horizontal 0.3 3

RGD4C RGD4D RGD4R RGS4C RGS4D

20W

Vertical 0.3 0.5

18.9

1. Specications Check

Type Motor Type Lead [mm] Rated Acceleration [G]

Transportable

Weight [kg]

Rated Thrust䈀N䈁

Horizontal 0.2 18

Vertical 0.2 6.5

113.1

Horizontal 1 9

Vertical 1 3

56.6

Horizontal 1 4

RA4C 30W

Vertical 1 1.5

28.3

Horizontal 0.2 18

Vertical 0.2 6.5

113.1

Horizontal 0.3 9

Vertical 0.3 3

56.6

Horizontal 0.3 4

RA4D RA4R

30W

Vertical 0.3 1.5

28.3

Horizontal 0.2 18

Vertical 0.2 6

113.1

Horizontal 1 9

Vertical 1 2.5

56.6

Horizontal 1 4

RGD4C RGS4C

30W

Vertical 1 1

28.3

Horizontal 0.2 18

Vertical 0.2 6

113.1

Horizontal 0.3 9

Vertical 0.3 2.5

56.6

Horizontal 0.3 4

RGD4D RGD4R RGS4D

30W

Vertical 0.3 1

28.3

Caution: Do not set accelerations/decelerations equal to or greater than the respective ratings. Doing

so may result in vibration, failure or shorter life.

1.2.3 Driving System • Position Detector

Type Motor Type Lead [mm]

No. of Encoder

Pulses [P/R]

Drive System

2.5 200

5 200

RA3C RA3D

RA3R RGD3C RGD3D RGD3R RGS3C RGS3D

20W

10 200

Ball Screw

Rolled C10

3 200

6 200

20W

12 200

3 200

6 200

RA4C

RA4D

RA4R RGD4C RGD4D RGD4R RGS4C RGS4D

30W

12 200

Ball Screw

I10

Rolled C10

1. Specications Check

1.2.4 Positioning Precision

Item Tolerance

Positioning repeatability ±0.02mm

Backlash 0.1mm or less

Base Material : Aluminum Anodizing treatment

This is an option already attached when it is shipped out from the factory. It does not include the consideration of time-dependent change as it is used.

1.2.5 Rod Non-Rotation Accuracy

z Standard

Model Name Motor Type Lead [mm] Rod Diameter

Rod Non-Rotation

Accuracy

2.5 5

RA3C 20W

I8mm ±1.0°

2.5 5

RA3D 20W

I8mm ±1.0°

3 6

RA4C RA4D

20W

I10mm ±1.0°

3 6

RA4C 30W

I10mm ±1.0°

3 6

RA4D 30W

I10mm ±1.0°



z Motor Reversing

Model Name Motor Type Lead [mm] Rod Diameter

Rod Non-Rotation

Accuracy

2.5 5

RA3R 20W

I8mm ±1.0°

3 6

RA4R 20W

I10mm ±1.0°

3 6

RA4R 30W

I10mm ±1.0°

z With single guide

Model Name Motor Type Lead [mm] Rod Diameter

Rod Non-Rotation

Accuracy

2.5 5

RGS3C 20W

I8mm ±0.05°

2.5 5

RGS3D 20W

I8mm ±0.05°

3 6

RGS4C RGS4D

20W

I10mm ±0.05°

3 6

RGS4C 30W

I10mm ±0.05°

3 6

RGS4D 30W

I10mm ±0.05°

z With double guide

Model Name Motor Type Lead [mm] Rod Diameter

Rod Non-Rotation

Accuracy

2.5 5

RGD3C 20W

I8mm ±0.05°

2.5 5

RGD3D RGD3R

20W

I8mm ±0.05°

3 6

RGD4C RGD4D RGD4R

20W

I10mm ±0.05°

3 6

RGD4C 30W

I10mm ±0.05°

3 6

RGD4D RGD4R

30W

I10mm ±0.05°

1. Specications Check

1.2.6 Allowable Running Torque

The allowable torque for each model is as shown below. Make sure to use the product within the range specified below when applying running torque to the product. Also, please note that the single guide type is not capable to receive any running torque.

(1) Double guide

1.2.7 Relation of Allowable Tip Load and Running Life

The bigger the load on the tip of the guide gets, the shorter the life becomes.

(1) Single guide

* Single guide type is not capable

for any load except for those from the top and bottom.

(2) Double guide

Allowable Rotary Torque (N䍃m)

Stroke (mm)

Radial Load (N)

Operating Life (km)

Radial Load (N)

Operating Life (km)

1.2.8 Radial load and Tip Flexure

Shown below is the correlation graph of the load applied to the guide tip and the flexure at that time.

(1) Single guide

* Single guide type is not capable

for any load except for those from the top and bottom.

(2) Double guide

Double guide <Vertical> type Double guide <Horizontal> type

Flexure (mm)

Load (N)

Flexure (mm)

Load (N)

Flexure (mm)

Load (N)

1. Specications Check

1.2.9 Duty Ratio in Continuous Operation

Perform an operation with the duty ratio below the allowable range.

Duty ratio is the rate of operation expressed in % that presents the time of the actuator being operated in 1 cycle of operation.

Caution: If the overload error occurs, try either to reduce the duty by extending the stop time or to

reduce the acceleration/deceleration speed.

[How to Calculation Duty] Figure out the load ratio and acceleration/deceleration time ratio, and read the duty ratio from the graph. If the load ratio if less than 50%, operation with 100% of the duty ratio (continuous operation) is available.

1) Duty ratio LF The maximum transportable weight at the rated acceleration and the rated acceleration/deceleration speed are described in 1.2 Specifications.

Duty ratio:LF䋽 [%]

Max. Transportable Weight at Rated Acceleration : Mr [kg] Rated Acceleration/Deceleration Speed : Dr [G] Transported Weight during Operation : M [kg] Acceleration/Deceleration Speed during Operation : D [G]

2) Acceleration/Deceleration Time Ratio t

Acceleration/Deceleration Time Ratio t

Acceleration Time during Operation + Deceleration Time during

Operation

Deceleration time

[%]

Acceleration time =

Speed during Operation[mm/s]

Acceleration during Operation[mm/s

]

䌛Sec䌝

Deceleration time =

Speed during Operation [mm/s]

Deceleration during Operation [mm/s

]

䌛Sec䌝

Acceleration [mm/s

] = Acceleration [G] u 9,800mm/s

Deceleration [mm/s

] = Deceleration [G] u 9,800mm/s

M×D

Mr×D

3) From the load ratio LF and the acceleration/deceleration time ratio tod that were used to figure out the duty ratio, read the duty ratio. e.g.) When the load ratio LF = 80% and the acceleration/deceleration time ratio t

= 80%, the

reference for the duty is approximately 75%.

1.2.10 Protection class

RCAW-RA3C/RA3D/RA3R/RA4C/RA4D/RA4R 㧩 IP54

Reference for Operation Duty

Acceleration/Deceleration Time Ratio t

About

72 %

Less than 50 %

High Accel/Decel Type

1. Specications Check

1.3 Options

1.3.1 Brake Type (Model No.: B)

The brake is a mechanism designed to prevent the rod 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 rod. The model code should be expressed with B.

1.3.2 High Acceleration/Deceleration Type (Model No.: HA)

This is an option to upgrade the rated acceleration (0.3G) of the standard type to 1G. This enables the operation with the transported weight same as at 0.3G even with 1G of the acceleration. Since the setting of the controller is different from that for the standard type, it is necessary also to have the controller made applicable for the high acceleration/deceleration type when operating with high acceleration/deceleration. The model code should be expressed with HA.

1.3.3 Home-Position Check Sensor (Model No.: HS)

This is a sensor to monitor the rod to see if it is certainly moved to the home position when a home-return is executed. * This cannot be used for the home reversed type. The model code should be expressed with HS.

1.3.4 Power Saving Type (Model No.: LA)

This is an option to reduce the power domain in the controller. For standard type / high acceleration/deceleration type, if the power saving type is selected, the power consumption can be dropped down to 3.4A at maximum, which the maximum is 5.1A in normal use. (The maximum value may differ depending on the model. Refer to the power capacity of ACON/ASEL Controller for the detail.) The model code should be expressed with LA.

1.3.5 Motor Left Reversed, Motor Right Reversed (Model No.: NM)

From the view of the motor side, the type with the motor reversed to the left is ML, and the motor reversed to the right is MR.

The model code should be expressed with NM.

1.3.6 Guide Attachment Directions (Only for Single guide type) (Model No. : Attached on the right (GS2), attached on the bottom (GS3) and

attached on the left (GS4).)

The rod attachment position for the Single Guide type, can be selected from “Attachment on the Right”, “Attachment on the Bottom” and “Attachment on the Left”.

1.3.7 Front Flange (Model No. : FL)

This metal part is used for fixing the actuator from the actuator body side using the bolts.

49st

48.6

RCA / RCAW-RA3 □

RCA -FL-RA 3

Model code of single product

(Effective screw range = 16)

(Effective screw range = 15.5)

(ROD O/D)

4 - φ6.8

Nut A

Nut C

Home

Flange

14 (Width across Flats)

32 (Width across Flats)

M8×1.25

M26×1.5

52.8

RCA /

RA 4 □

RCAW /

RA 4 □

RCA -FL-RA 4

Model code of single product

(Effective screw range = 20)

(Effective screw range = 17.5)

(ROD O/D)

4 - φ6.8

Nut

Home

Flange

19 (Width across Flats)

36(Width across Flats)

M10×1.25

M30×1.5

1. Specications Check

1.3.8 Rear Flange (Model No. : FLR)

This metal fitting is used for fixing the actuator from the actuator rear side.

0.25

44.5

5.25

RCA-SRA 4 R

-FL-S RA4

4-φ6.6, through

Model code of single product RCA

85 70

85.5

17 14

L149

st L1

RCA -FL R-RA3

Model code of single product

Home

Flange

40(Width across Flats)

4 - φ6.8

50 100 150 200

132 182 232 282

RCA / RCAW-RA3C, RA3D

st 50 100 150 200 250 300

L1 137 187 237 287 337 487

RCA

20w

67.5

80.5

30w

82.5

95.5

RCS2

90 75

m56 19L1

RCA -FL R-RA4

Model code of single product

Flange

Home

Nut B

4 - φ6.8

m Dimensions

Incremental

Absolute Incremental• Absolute

47(Width across Flats)

RCA / RCAW-RA4C, RA4D

st L1 L2

120 218 170 268 220 318 270 368

84.4

42.4

31L1

116.5 25

85.5

φ 42

φ 32

RCA -FL-RA 3

50 100 150 200

Model code of single product

*The front flange and the rear

flange can be used in common for the motor reversing type.

Flange

4 - φ6.8

M8, Depth 15

RCA / RCAW-RA3R

st L1 L2

50 125 234 100 175 284 150 225 334 200 275 384 250 325 434 300 375 484

82.5

115.5

50.5

98.5

33L156

9.5

φ 42

φ 50

φ 37

RCA -FL-RA 4

Model code of single product

*The front flange and the rear

flange can be used in common for the motor reversing type.

Flange

Home

4 - φ6.8

M10, Depth 18

RCA / RCAW-RA4R

1. Specications Check

1.3.9 Foot (Model No. : FT)

This metal part is used for fixing the actuator from the top side using the bolts.

* Refer to the attachment pitch size in the drawing for each actuator, for the attachment pitch between

the foot metal parts.

st+10

105

RCA -SRA 4 R

Model code of single product RCA-FT-SRA4

4-φ6.6, through

50 100 150 200

140 190 240 290

176.8

226.8

276.8

326.8

L1st L2

9.5

59.3

85.5

10 20

02 01

50 100 150 200

132 182 232 282

168.8

218.8

268.8

318.8

ts 1L L2

<RA3C>

RCA -RA3 C / RG S 3 C / RGD 3 C

Model code of single product RCA-FT-RA3

2 - φ6.8 2 - φ6.8

Home

9.5

66.4

10 20

02 01

<RA4C>

RCA

20w

67.5

80.5

30w

82.5

95.5

RCS2

50 100 150 200 250 300

145 195 245 295 345 495

181.8

231.8

281.8

331.8

381.8

431.8

ts 1L L2

50 100 150 200 250 300

137 187 237 287 337 487

173.8

223.8

273.8

323.8

373.8

423.8

ts 1L L2

RCA -RA 4 C / RGS 4 C / RG D4 C

Model code of single product RCA-FT-RA4

Home

2 - φ6.8

m Dimensions

Incremental Absolute Incremental•

Absolute

128 178 228 278

50 100 150 200

199 249 299 349

9.5

85.5

116.5

49st

3 3

L2 1010

34 70

98.2

42.4

120 170 220 270

50 100 150 200

191 241 291 341

<RA3R>

RCA / RA 3 R / RGS 3 R / RG D 3 R

Model code of single product RCA-FT-RA3R

Home

2 - φ6.8

Model code of single product RCA-FT-RA4R

Home

2 - φ6.8

50 100 150 200 250 300

133 183 233 283 333 383

206 256 306 356 406 456

L1st L2

ME SE

9.5

82.5

115.5

39 75

113.2

50.5

20 20

50 100 150 200 250 300

125 175 225 275 325 375

198 248 298 348 398 448

ts 1L L2

<RA4R>

RCA -RA 4 R / RGS 4 R / RG D4 R

Nut A

2 - φ6.8

1. Specications Check

1.3.10 Foot (Attached on the Right Side/Left Side) (Model No.: FT2 (Attached on the Right Side), FT4 (Attached on the Left Side)

This metal part is used for fixing the actuator from the top side using the bolts. For RCA-SRA4R, the actuator can be attached also to the side.

st+10

121

107

RCA-S RA 4 R

4 - φ6.6, through

Model code of single product RCA-FTS-SRA4

1.3.11 Knuckle Joint (Model No. : NJ)

This metal part is used to give some degree of freedom (rotation) in the movement at the rod end of the actuator when Clevis or trunnion part is used.

25 25 10

Joint Pin

Joint S

Joint W

Nut

M8×1.25 Depth 11

For RCA-RA3□

Model code of single product RCA-NJ-RA3

30 30 11

Joint Pin

Joint S

Joint W

Nut

M10×1.25 Depth 13

For RCA-RA4□

Model code of single product RCA-NJ-RA4

1. Specications Check

1.3.12 Clevis (Model No. : QR)

This bracket is used to make the cylinder follow up when the movement of an object attached on the tip of the rod is different from the direction of rod movement. Attach on the rod.

3 3

9.5

85.5

18 18

116.5

42.4

22.4

103.2

50 100 150 200

120 170 220 270

227 277 327 377

RCA-RA3 R

Model code of single product RCA-QR-RA3

2 - φ6.8

Nut A

Nut B

Home

32 (Width across Flats)

14 (Width across Flats)

Clevis

115.5

9.5

9 10

82.5

50.5

26.4

98.5

50 100 150 200 250 300

125 175 225 275 325 375

242 292 342 392 442 492

RCA -R A 4 R

Model code of single product RCA-QR-RA4

2 - φ9

Nut A

Nut B

Home

32 (Width across Flats)

14 (Width across Flats)

φ42φ

Clevis

(ROD O/D)

Caution: Attach the external guide so that any load is not given to the rod other than in the forward

direction, when the Clevis bracket is attached and rod is moved.

1.3.13 Rear Attachment Plate (Model No. : RP)

This plate is used to fix the rear side of the motor reversing rod type (RA3R/RA4R) onto the system.

3 3

8 10

9.5

85.5 25

116.5

31 2.5

42.4

4-M4

84.4

Model code of single product RCA-RP-RA3

Home

26h9 (-0.052)

16(ROD O/D)

14(Width across Flats)

32(Width across Flats)

Nut A

Nut B

For RCA-RA3R

9.5

82.5

115.5 26

33 2.5 50.5

4-M4

98.5

Model code of single product RCA-RP-RA4

Home

30h9 (-0.052)

20(ROD O/D)

14(Width across Flats)

32(Width across Flats)

Nut A

Nut B

For RCA-RA4R

1. Specications Check

1.3.14 Front Trunnion (Model No. : TRF)

This bracket is used to make the cylinder follow up when the movement of an object attached on the tip of the rod is different from the direction of rod movement. Attach on the rod.

Model code of single product RCA-TRF-RA3

14(Width across Flats)

32(Width across Flats)

Nut A

For RCA-RA3□

9.5

64.3 40

M8×1.25 (Effective screw range = 16)

M35×1.5 (Effective screw range = 17.5)

16 (ROD O/D)

2-φ6.8

40(Width across Flats)

Home

Nut C

Bracket A

Ring

Bracket B

20 (ROD O/D)

55610

9.5

66.4 40

M10×1.25 (Effective screw range = 20)

M40×1.25 (Effective screw range = 19.5)

19(Width across Flats)

36(Width across Flats)

47(Width across Flats)

Home

Nut C

Bracket A

Ring

Bracket B

Model code of single product RCA-TRF-RA4

For RCA-RA4□

Caution: Use the guide equipped type or attach the external guide so that any load is given to the rod

other than in the forward direction, when the trunnion is attached and the rod is moved.

1.3.15 Rear Trunnion (Model No. : TRR)

This bracket is used to make the cylinder follow up when the movement of an object attached on the tip of the rod is different from the direction of rod movement. Attach on the rod.

9.5

49st

103

64.3

Model code of single product RCA-TRR-RA3

For RCA-RA3□

Bracket A

Bracket B

2-φ6.8

M26×1.5 (Effective screw range = 15.5)

M8×1.25 (Effective screw range = 16)

16 (ROD O/D)

14(Width across Flats)

32(Width across Flats)

Nut A

40(Width across Flats)

Home

Nut C

9.5

107

66.5

Model code of single product RCA-TRR-RA4

For RCA-RA4□

20 (ROD O/D)

M10×1.25 (Effective screw range = 20)

M40×1.25 (Effective screw range = 17.5)

36(Width across Flats)

47(Width across Flats)

Nut A

19(Width across Flats)

Home

Nut C

Caution: Use the guide equipped type or attach the external guide so that any load is given to the rod

other than in the forward direction, when the trunnion is attached and the rod is moved.

1. Specications Check

1.4 Motor • Encoder Cables

1.4.1 Motor cable

CB-ACS-MA ƑƑƑ

1.4.2 Encoder cable/robot encoder cable

CB-ACS-PA ƑƑƑ/CB-ACS-PA ƑƑƑ-RB

Controller end

Actuator end

Width

Cable Color

Signal Name

No.

Red U 1 1 U Red

White V 2 2 V White

AWG22

(crimped)

Black W 3 3 W Black

AWG22

(crimped)

1 3

Width

Cable

Color

Signal

Name

No.

Controller end

Actuator end

AWG26

(

crimped

)

White/purple

White

purple

White/gray

Yellow

Blue

White/blue

White/yellow

White/red

White/black

Orange

Green

Purple

Gray

Red

Black

Drain

Black

Gray

Red

LS +

LS -

BK +

BK -

A +

A -

B +

B -

SD/Z +

SD/Z -

BAT +

BAT -

VCC

GND

A +

A -

B +

B -

LS + LS +

FG FG

Z +

Z -

/PS

BAT +

BAT -

SD +

SD -

VCC

GND

VCC

GND

LS -

BK +

BK -

LS -

BK +

BK -

AWG26

(crimped)

18 17

2 1

9 18

1 10

Width

Cable

Color

Signal Name

No.

Pin No.

Width

Cable

Color

Signal Name

For ABZ For Serial

Drain

1.4.3 Motor/Encoder Integrated Cable for AMEC/ASEP

CB-ASEP-MPA ƑƑƑ

Controller end

Actuator end

Width

Cable Color

Signal

Name

Pin No.

Identification Tape

BK+

BK-

LS+

LS-

A+

A-

B+

B-

Z+

Z-

VCC

VPS

GND

Spare

AWG22

(crimped)

AWG26

(crimped)

Red

Yellow

Black

Orange

Gray

Black

Brown

White

Yellow

Red

Green

Black

Brown

White

Yellow

Red

Green

Width

Cable Color

Signal Name

No.

BK+

BK-

LS+

LS-

A+

A-

B+

B-

Z+

Z-

VCC

VPS

GND

Spare

AWG22

(crimped)

AWG26

(crimped)

Red

Yellow

Black

Orange

Gray

Black

Brown

White

Yellow

Red

Green

Black

Brown

White

Yellow

Red

Green

Identification Tape

1. Specications Check

2. Installation

2.1 Transportation

[1] Handling of Robot

Unless otherwise specified, the actuators are packaged individually.

(1) Handling the Packed Unit

y Do not damage or drop. The package is not applied with any special treatment that enables it to resist

an impact caused by a drop or crash.

y Transport a heavy package with at least more than two operators. Consider an appropriate method for

transportation.

y Keep the unit in horizontal orientation when placing it on the ground or transporting. Follow the

instruction if there is any for the packaging condition.

y Do not step or sit on the package. y Do not put any load that may cause a deformation or breakage of the package.

(2) Handling the Actuator After Unpacking

y Do not attempt to carry the actuator with holding a cable or move it by pulling a cable. y Hold either the base part or the bracket part when transporting the actuator main body. y Do not hit or drop the actuator during transportation. y Do not carry an actuator by motor unit and a cable or attempt to move it by pulling the cable.

[2] Handling in Assembled Condition

This is the case when the product is delivered from our factory under a condition that it is assembled with other actuators. The combined axes are delivered in a package that the frame is nailed on the lumber base. The rods are fixed so they would not accidently move. The actuators are also fixed so the tip of it would not shake due to the external vibration.

(1) How to Handle in Package

y Do not hit or drop the package. No special treatment is conducted on this package to endure a drop or

impact on it.

y Do not attempt to carry a heavy package with only one worker. Also, have an appropriate method for

transportation.

y When hanging up with ropes, support on the reinforcement frame on the bottom of the lumber base.

When bringing up the package with a forklift, also support on the bottom of the lumber base.

y Handle with care when putting the package down to avoid impact or bounce. y Do not step on the package. y Do not put anything on the package that could deform or damage it.

(2) How to Handle after Unpackaged

y Fix the rod so they would not accidently move during transportation. y If the tip of an actuator is overhanging, have an appropriate way to fix it to avoid shake due to the

external vibration. In the transportation without the tip being fixed, do not apply any impact with 0.3G or more.

y When hanging up with ropes, have appropriate cushioning to avoid any deformation of the actuator

body. Also keep it in stable horizontal orientation. Make a fixture utilizing the attachment holes and the tapped holes on the actuator body if necessary.

y Do not attempt to apply load on the actuators or the connector box. Also pay attention not to pinch

cables and bend or deform them forcefully.

[3] Handling in Condition of being assembled in Machinery Equipment (System)

This is some caution notes for when transporting the actuator being assembled in the machinery equipment (system).

y Fix the cables so they would not move during transportation. y If the tip of an actuator is overhanging, have an appropriate way to fix it to avoid shake due to the

external vibration. In the transportation without the tip being fixed, do not apply any impact with 0.3G or more.

y When hanging up the machinery equipment (system) with ropes, do not attempt to apply load on the

actuators or the connector box. Also pay attention not to pinch cables and bend or deform them forcefully.

2. Installation

2.2 Installation and Storage • Preservation Environment

[1] Installation Environment

The actuator should be installed in a location other than those specified below. In general, the installation environment should be one in which an operator can work without protective gear. Also provide sufficient work space required for maintenance inspection.

y Where the actuator receives radiant heat from strong heat sources such as heat treatment furnaces y Where the ambient temperature exceeds the range of 0 to 40qC y Where the temperature changes rapidly and condensation occurs y Where the relative humidity exceeds 85% RH y The product will possess water-proof performance of the protection structure of IP65 if air purge is

conducted.

y Where the actuator receives direct sunlight y Where the actuator is exposed to corrosive or combustible gases y Where the ambient air contains a large amount of powder dust, salt or iron (at level exceeding what

is normally expected in an assembly plant)

y Where the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or chemical

solutions

y Where the actuator receives impact or vibration

If the actuator is used in any of the following locations, provide sufficient shielding measures:

y Where noise generates due to static electricity, etc. y Where the actuator is subject to a strong electric or magnetic field y Where the actuator is subject to ultraviolet ray or radiation

[2] Storage • Preservation Environment

y 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.

y 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.

y For storage and preservation temperature, the machine withstands temperatures up to 60qC for a

short time, but in the case of the storage and preservation period of 1 month or more, control the temperature to 50qC or less.

y 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.

2.3 How to Installation

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

2.3.1 General Rules on Installation

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

{: Available u : Not available

Horizontally Oriented Mount Vertical Mount

ż ż

Caution: 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. Installation

2.3.2 Installation

(1) Using screws on the rod or head side

Install the actuator using screws set on the rod or head side of the actuator. z Applicable models: All models

Type MA MB

RA3 type

M26u1.5 M35u1.5

RA4 type

M30u1.5 M40u1.5

Straight type

Rod cove

Cylinder tube

Head cove

Motor unit

Reversing type

Pulley case

Rod

Rod cove

Cylinder tube Head cove

(2) Using screws on a flange (optional)

An optional flange is available for installing the actuator. Use this flange, if necessary. z Applicable models: All models

Mating material is steel Mating material is aluminum

Screw size M6 M6

Tightening torque 12.3 N•m 5.4 N•m

Straight type

Mounting hole

Affixing nut

Flange

Straight type

Mounting hole

Affixing nut

Flange

2. Installation

Mating material is steel Mating material is aluminum

Screw size M6 M6

Tightening torque 12.3 N•m 5.4 N•m

Reversing type

Mounting hole

Affixing nut

Flange

Mounting hole

Affixing nut

Flange

Reversing type

(3) Using screws on feet (optional)

Optional feet are available for installing the actuator. Use these feet, if necessary. z Applicable models: All models

Mating material is steel Mating material is aluminum

Screw size M6 M6

Tightening torque 12.3 N•m 5.4 N•m

Caution: Affix the actuator using two feet (optional), one in the front and the other in the back.

If affixed using only one foot in the front or back, the actuator may be negatively affected due to insufficient rigidity.

Straight type

Mounting hole

Affixing nut

Foot A

Affixing nut

Mounting hole

Foot B

Reversing type

Mounting hole

Affixing nut

Foot

2. Installation

(4) Using screws on a trunnion (optional)

An optional trunnion is available for installing the actuator. Use this trunnion, if necessary. z Applicable models: RA3C, RA3D, RA4C, RA4D

Mating material is steel Mating material is aluminum

Screw size M6 M6

Tightening torque 12.3 N•m 5.4 N•m

Straight type

Mounting hole

Affixing nut

Trunnion ring

Straight type

Mounting hole

Affixing nut

Bracket B

Bracket A

Trunnion ring

Bracket A

Bracket B

Mating material is steel Mating material is aluminum

Screw size M6 M6

Tightening torque 12.3 N•m 5.4 N•m

Caution: y When the optional Clevis, Trunnion or commercially available free joint is attached

and the actuator is installed horizontally, take the greatest care because the weight of the actuator is given to the rod. Otherwise, the bush might be worn out earlier or inside mechanism might be damaged. Add the guide mechanism, etc., so that the weight of the actuator is not given to the rod.

y For the load given to the optional Clevis or Trunnion fulcrum shaft, only the radial

load is allowed. In the case of the conditions that the backlash is not allowed or thrust load is given, the user should design the bearing structure.

y The optional Clevis or Trunnion has the structure that the bearing selects the fulcrum

shaft. Apply grease onto the fulcrum shaft.

Mounting hole

Affixing nut

Trunnion ring

Bracket A

Bracket B

Reversing type

2. Installation

(5) Using screws on a clevis (optional)

An optional clevis is available for installing the actuator. Use this clevis, if necessary. z Applicable models: Motor reversing type RCA-RA3R, RCA-RA4R

Mating material is steel Mating material is aluminum

Screw size M8 M8

Tightening torque 30 N•m 12 N•m

Caution: y When the optional Clevis, Trunnion or commercially available free joint is attached

y For the load given to the optional Clevis or Trunnion fulcrum shaft, only the radial

load is allowed. In the case of the conditions that the backlash is not allowed or thrust load is given, the user should design the bearing structure.

y The optional Clevis or Trunnion has the structure that the bearing selects the fulcrum

shaft. Apply grease onto the fulcrum shaft.

Mounting hole

Reversing type

Stopper ring

Clevis bracket

(6) Using screws on a rear mounting bracket (optional)

An optional rear mounting bracket is available for installing the actuator. Use this rear mounting bracket, if necessary. z Applicable models: Motor reversing type RCA-RA3R, RCA-RA4R

Type Tapped hole diameter Tapped depth Tightening torque

RA3 type M4 6 mm 1.8 N•m

RA4 type M4 7 mm 1.8 N•m

Reversing type

Tapped mounting hole

2. Installation

(7) Double-guide type

Use the tapped holes in the bracket for installing an actuator of the double-guide type. z Applicable models: Double-guide type RGD3, RGD4

Type Tapped hole diameter Tapped depth Tightening torque

RA3 type M5 8 mm 3.4 N•m

RA4 type M5 8 mm 3.4 N•m

Tapped mounting hole

Bracket A

Bracket B

(8) Single-guide type

Use the tapped holes in the bracket for installing an actuator of the single-guide type. z Applicable models: Double-guide type RGD3, RGD4

Type Tapped hole diameter Tapped depth Tightening torque

RA3 type M5 8 mm 3.4 N•m

RA4 type M5 8 mm 3.4 N•m

Tapped mounting hole

Bracket A

Bracket B

2. Installation

2.3.3 Connecting the Air Tube of the RCAW Dustproof/Splash-proof Type

Intake/exhaust port

Install the air tube (outer diameter: 10 mm, inner diameter: 6.5 mm) on the intake/exhaust port and guide the air tube to a location where the external environment assures the tube will not come in contact with water.

(Applicable tube) Shown below is a representative model of air tube that can be installed on the RCAW:

• TU1065: Polyurethane tube (Manufacturer: SMC)

Caution: The air tube should not be more than 3 m long.

2. Installation

3. Connecting with Controller

For the controller, only the dedicated controller manufactured by our company can be used. Usage of an undedicated controller may cause accidents such as burnout, ignition or heat generation. For the connection between the actuator and controller, use the attached dedicated connection cable.

[Connection to the ACON, ASEL controller]

Dedicated Connection Cable

y Motor Cable (Robot Cable) CB-RCP2-MA*** y Encoder Cable CB-RCP2-PB***/Encoder Cable Robot Cable CB-RCP2-PB***-RB

*** shows the cable length. The max. length should be 20m. Example) 080=8m

[Connection to the AMEC, ASEP controller]

Dedicated Connection Cable y Motor Encoder Cable CB-ASEP-MPA*** *** shows the cable length. The max. length should be 20m. Example) 080=8m

RCA, RCACR, RCAW

r r

Dedicated Controller

ACON

ASEL

Dedicated Connection Cable (Connect RCA, RCACR or RCAW with the dedicated controller.)

Robot Cable r = 54mm or more (Movable Use) Standard Cable r = 75mm or more (Fixed Use)

Use robot cables if the cables tend to move.

Dedicated Controller

AMEC, ASEP

RCA, RCACR, RCAW

r = 68mm or more (Movable Use) r = 34mm or more (Fixed Use)

Dedicated Connection Cable (Connect RCA, RCACR or RCAW with the dedicated controller.)

3. Connecting with Controller

Warning: For wiring, please follow the warnings stated below. When constructing a system

as the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire.

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

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

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

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

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

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

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

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

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

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

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

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

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

Steel Strap (Piano Wire)

Tie them up softly.

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

• Do not pull the cable with a strong force.

• Pay attention not to concentrate the twisting force to one point on a cable.

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

• When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much.

Do not use spiral tube in any position where cables are bent frequently.

• PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them together. Arrange so that such lines are independently routed in the duct.

Power Line

Duct

I/O Line (Flat Cable, etc.)

3. Connecting with Controller

• If using a cable track, arrange the wiring so that there is no entanglement or kink of the cables in the cable carrier or flexible tube, and do not bind the cables so that the cables are relatively free. (Arrange the wiring so the cables are not to be pulled when bent.)

• The occupied volume rate for the cables, etc., inside the cable track should be 60% or less.

Cable

Cable Track

3. Connecting with Controller

4. Maintenance

4.1 Maintenance Schedule

Perform maintenance work according to the schedule below. The schedule is set assuming eight hours of operation a day. When the operation time is long such as 24-hour operation, shorten the maintenance intervals as needed.



Visual inspection Grease supply



Start of operation

{



After 1 month of operation

{



After 3 months of operation

{



Every 3 months thereafter

{

{ (Sliding surface of the rod)



After 3 years of operation, or upon reaching 5,000 km in traveled distance

{

{ (Sliding surface of the rod)



Every year thereafter

{



*1 Apply grease to the sliding surface of the rod at the startup check if grease has been consumed, or

every three months. For the RCAW dustproof/splash-proof type, apply grease when the bellows is changed.

4.2 Visual Inspection of the Machine

Exterior Check the following items visually.

Body Loose mounting bolts? Cables Damage to cables or connection to connector box? General Unusual noise or vibrations?

4.3 Cleaning

y Clean the exterior as needed. y Wipe off dirt with a soft cloth. y Do not use strong compressed air on the actuator as this may force dust into the crevices. y Do not use petroleum-based solvent on plastic parts or painted surfaces. y If the unit is badly soiled, apply a neutral detergent or alcohol to a soft cloth, and wipe gently.

4. Maintenance

4.4 Applying Grease to the Sliding Surface of the Rod

(1) Applicablegrease

KyodoYushi MultempLRL3

Warning: Never use any fluorine-based grease.

It will cause a chemical reaction when mixed with a lithium-based grease and may cause damage to the actuator.

(2) How to apply grease

Apply grease over the entire surface of the rod.

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.

4.5 Reduction Belt [Motor Reversing Type]

4.5.1 Inspecting the Belt

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

y The teeth and end faces of the belt have worn significantly. y The belt has swollen due to deposits of oil, etc. y Cracks and other damages are found on the teeth or back of the belt. y The belt has broken.

4.5.2 Applicable Belt

y RA3R ········60S2M124R Rubber, cleanroom type (Bando Chemical Industries) 6 mm wide y RA4R ········60S2M154R Rubber, cleanroom type (Bando Chemical Industries) 6 mm wide

4. Maintenance

4.5.3 Adjusting the Belt Tension

Remove the pulley case cover and loosen the four motor-unit affixing bolts. Pass a looped string (or long tie-band) around the motor unit, and pull the string to the specified tension using a tension gauge. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque of adjustment bolts] 162 N•cm (16.5 kgf•cm)

Tension: 2.5 kgf

Motor-unit affixing bolts

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

Motor-unit affixing bolts

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

4.5.4 Replacing the Belt of the Motor Reversing Type: RA3R/RA4R Types

[Items Required for Replacement]

y Replacement belt

RA3R······60S2M124R Rubber, cleanroom type (Bando Chemical Industries) 6 mm wide RA4R······60S2M152R Rubber, cleanroom type (Bando Chemical Industries) 6 mm wide

y Allen wrenches y Tension gauge (capable of tensioning to 7 kgf or greater) y Strong string, looped (or long tie-band) y Scale y Oil-based marker pen y PC or teaching pendant

[Overview of Replacement]

1) Move the rod to a position where Z phase turns on (home position) (2 mm from the mechanical end). In this position, loosen the motor-unit affixing bolts and replace the belt.

2) Restore the home position. Affix the rod at a position 2 mm from the mechanical end on the home side, pass the belt, and adjust the belt to the specified tension.

3) Perform homing using a PC or teaching pendant and check for deviation from the initial home position. If there is a deviation, adjust the home offset

if you are using an ACON controller. If you are using an

ASEL controller, adjust the home preset

Home position

Z phase ON position

Mechanical end

Approx. 2 mm

The countermark on the motor aligns with this position.

Set by the home offset parameter (ACON) or home preset parameter (ASEL). (The above value indicates the factory setting.)

1 mm

4. Maintenance

[Procedure]

1) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats.

2) Move the rod to a position where Z phase turns on (home position). This corresponds to a position where the rod projects 2 mm from the mechanical end. Apply countermarks in this position.

Warning: If the actuator is installed vertically, move it after turning on the controller power and

forcibly releasing the brake. At this time, beware of danger as the actuator may drop suddenly. Always provide a support to brace the actuator hand to prevent sudden drop, so as not to pinch fingers or damage the load.

M3 hexagon socket head screws

M4 hexagon socket head screws

Cause the rod to project 2 mm from the mechanical end.

Apply countermarks once the rod has projected 2 mm from the mechanical end.

3) Loosen the motor-unit affixing bolts using an Allen wrench of 2.5 mm across flats. Slide the motor, and loosen and remove the belt.

4) Check the following points before restoring the home position: y The motor side should be aligned with the initial countermark. If the position is offset, adjust it to

achieve proper alignment.

y The ball-screw side should be at a position where the rod projects 2 mm from the mechanical end.

After the check, attach a new belt while holding the pulleys on both sides in position.

Motor-unit affixing bolts

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

Motor-unit affixing bolts

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

Motor side

Ball-screw side

Initial countermark position

Corresponding to a position where the rod projects 2 mm from the mechanical end

4. Maintenance

5) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque for adjustment bolts] 162 N•cm (16.5 kgf•cm)

Tension: 2.5 kgf

Motor-unit affixing bolts

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

Motor-unit affixing bolts

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

6) Install the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats.

7) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of absolute encoder specification, an absolute reset must be performed.) Check for deviation from the initial home position. If there is a deviation, adjust parameter No. 22, “Home offset

” if you are using an ACON controller.

If you are using an ASEL controller, adjust axis-specific parameter No. 12, “Home preset

.” If your controller is of absolute encoder specification, perform homing after changing the parameter, and then perform an absolute reset.

M3 hexagon socket head screws

M4 hexagon socket head screws

4. Maintenance

4.6 Replacing the Motor

4.6.1 Replacing the Motor of the Motor Straight Type (Coupling Type): RA3C/RA4C Types

[Items Required for Replacement]

y Replacement motor unit y Coupling (with screws) y Allen wrenches y Scale y Oil-based marker pen y Grease

Idemitsu Kosan Daphne Eponex Grease No.2

y PC or teaching pendant

[Overview of Replacement]

1) Move the rod to a position where Z phase turns on (home position) (2 mm from the mechanical end). In this position, replace the motor.

2) Perform homing using a PC or teaching pendant and check for deviation from the initial home position. If there is a deviation, adjust the home offset

if you are using an ACON controller. If you are using an

ASEL controller, adjust the home preset.

Replacement motor unit

Coupling (with screws)

Home position

Z phase ON position

Mechanical end

Approx. 2 mm

The countermark on the motor aligns with this position.

Set by the home offset parameter (ACON) or home preset parameter (ASEL). (The above value indicates the factory setting.)

1 mm

[Procedure]

1) Move the rod to a position where Z phase turns on (home position). This corresponds to a position where the rod projects 2 mm from the mechanical end. Apply countermarks in this position.

Warning: If the actuator is installed vertically, move it after turning on the controller power and

2) Using an Allen wench of 2 mm across flats, remove the two motor-unit affixing bolts on the right and left.

Cause the rod to project 2 mm from the mechanical end.

Apply countermarks once the rod has projected 2 mm from the mechanical end.

2 affixing bolts on the motor-end cap (right and left) (hexagon socket head setscrews)

4. Maintenance

3) Pull out the motor unit. Before pulling out the motor unit, apply a countermark on the cylinder tube at a position corresponding to the tab on the motor unit, so that the motor unit and cylinder can be aligned in the correct position later on.

4) Apply grease on the actuator coupling.

Tab on the motor unit

Apply a countermark at a position corresponding to the tab on the motor unit.

Apply grease on the inside of the coupling.

5) Align the tab on the replacement motor unit with the countermark on the cylinder. With the motor unit and cylinder aligned properly, insert the coupling into the replacement motor unit by aligning the orientation of this coupling with that of the actuator coupling (adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end). Apply countermarks to identify the current motor position (phase Z position) and coupling.

Align the tab on the replacement motor unit with the countermark on the cylinder.

Position the couplings.

Coupling

Replacement motor unit

After the coupling has been inserted, apply countermarks on the replacement motor unit and coupling.

4. Maintenance

6) Turn the coupling and motor shaft simultaneously until a setscrew on the coupling is seen through the hole. Thereafter, tighten the hexagon socket head setscrew using an Allen wrench of 2 mm across flats. Similarly, turn the coupling and motor shaft simultaneously until the other screw is seen through the hole, and tighten the setscrew.

Coupling setscrew hole

Turn the coupling and motor shaft simultaneously until a setscrew on the coupling is seen through the hole. Thereafter, tighten the hexagon socket head setscrew using an Allen wrench of 2 mm across flats.

7) Return the coupling in the replacement motor unit to the initial motor position (Z phase position). Align the tab on the replacement motor unit with the countermark on the cylinder. With the motor unit and cylinder positioned this way, confirm that the orientation of the actuator coupling (adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end) corresponds to the position of the coupling in the replacement motor unit.

Apply countermarks on the replacement motor unit and coupling.

Coupling

Replacement motor unit

Align the tab on the replacement motor unit with the countermark on the cylinder.

Confirm that the coupling positions correspond.

4. Maintenance

8) Carefully insert the replacement motor unit into the cylinder by ensuring that the couplings do not lose their alignment.

9) Using an Allen wench of 2 mm across flats, tighten the two motor-unit affixing bolts on the right and left.

10) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of absolute encoder specification, an absolute reset must be performed). Check for deviation from the initial home position. If there is a deviation, adjust parameter No. 22, “Home offset

” if you are using an ACON controller. If

you are using an ASEL controller, adjust axis-specific parameter No. 12, “Home preset

.” If your controller is of absolute encoder specification, perform homing after changing the parameter, and then perform an absolute reset.

2 affixing bolts on the motor-end cap (right and left) (hexagon socket head setscrews)

4.6.2 Replacing the Motor of the Motor Reversing Type: RA3R/RA4R Types

[Items Required for Replacement]

y Replacement motor unit y Allen wrenches y Tension gauge (capable of tensioning to 7 kgf or greater) y Strong string, looped (or long tie-band) y Scale y Oil-based marker pen y PC or teaching pendant

[Overview of Replacement]

1) Loosen the motor-unit affixing bolts to remove the belt, and replace the motor.

2) Restore the home position. Affix the rod at a position 2 mm from the mechanical end on the home side, pass the belt, and adjust the belt to the specified tension.

3) Perform homing using a PC or teaching pendant and check for deviation from the initial home position. If there is a deviation, adjust the home offset

if you are using an ACON controller. If you are using an

ASEL controller, adjust the home preset

Replacement motor unit

Z phase ON position

Mechanical end

Home position

Approx. 2 mm

The countermark on the motor aligns with this position.

Set by the home offset parameter (ACON) or home preset parameter (ASEL). (The above value indicates the factory setting.)

1 mm

4. Maintenance

[Procedure]

1) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats.

2) Loosen the motor-unit affixing bolts using an Allen wrench of 2.5 mm across flats. Slide the motor, and loosen and remove the belt. After the belt has been removed, remove the motor-unit affixing bolts.

M3 hexagon socket head screws

M4 hexagon socket head screws

Motor-unit affixing bolts

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

Motor-unit affixing bolts

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

3) Take out the motor.

4) Install the replacement motor. Loosely tighten the motor-unit affixing bolts.

Replacement motor

4. Maintenance

5) Move the rod to a position where Z phase turns on (home position). This corresponds to a position where the rod projects 2 mm from the mechanical end. Apply countermarks in this position.

Warning: If the actuator is installed vertically, move it after turning on the controller power and

6) Check the following points before restoring the home position: y The motor side should be aligned with the initial countermark. If the position is offset, adjust it to

achieve proper alignment.

y The ball-screw side should be at a position where the rod projects 2 mm from the mechanical

end.

After the check, attach a new belt while holding the pulleys on both sides in position.

Cause the rod to project 2 mm from the mechanical end.

Apply countermarks once the rod has projected 2 mm from the mechanical end.

Initial countermark position

Corresponding to a position where the rod projects 2 mm from the mechanical end

Motor side Ball-screw side

7) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque for adjustment bolts] 162 N•cm (16.5 kgf•cm)

Tension: 2.5 kgf

Motor-unit affixing bolts

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

Motor-unit affixing bolts

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

4. Maintenance

8) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats.

9) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of absolute encoder specification, an absolute reset must be performed.) Check for deviation from the initial home position. If there is a deviation, adjust parameter No. 22, “Home offset

” if you are using an ACON controller. If

you are using an ASEL controller, adjust axis-specific parameter No. 12, “Home preset

.” If your controller is of absolute encoder specification, perform homing after changing the parameter, and then perform an absolute reset.

M3 hexagon socket head screws

M4 hexagon socket head screws

4.7 Replacing the Bellows of the RCAW Dustproof/Splash-proof Type

[Items Required for Replacement]

y Replacement bellows unit

: RA3 ······ JB-RA3- (stroke) : RA4 ······ JB-RA4- (stroke)

y Phillips screwdriver y Torque driver y Grease

Kyodo Yushi Multemp LRL3

[Procedure]

1) Loosen the front and rear metal fittings affixing the bellows and remove the bellows.

Bellows

Loosening of front metal fitting Loosening of rear metal fitting

Removal of bellows Bellows has been removed

4. Maintenance

2) Apply grease evenly over the entire cylinder surface.

3) Install a metal fitting on the bellows.

Apply grease evenly over the entire surface.

Bellows

Install a metal fitting on the bellows.

4) Install the replacement (new) bellows and tighten the screws of the front and rear metal fittings affixing the bellows. Tighten the screws to the specified torque using a torque driver.

Tightening torque: 2 N-m

Installation of bellows

Tightening of rear metal fitting Tightening of front metal fitting

4. Maintenance

5. Appendix

5.1 RCA-RA3C

ME: Mechanical End SE: Stroke End

48.6

M26 × 1.5

M35 × 1.5

M8 × 1.25

(15.01)

468

7 32

48.6

M8 × 1.25

(Effective screw range 16)

M26 × 1.5 (Effective screw range 15.5)

16 (Rod diameters)

14 (Width across Flats)

8 10 14

40 (Width across Flats)

32 (Width across Flats)

Secure at least 100

85.517

Nut B

Nut A

Nut C

Home

3 3

8 10 14

40 (Width across Flats)

Nut B

3 3

( 35)

( 42)

124.5

[With Brake Type]

[Without Brake Type]

Cable Joint Connector

50 100 150 200

322.5 132

0.9

372.5 182

1.0

422.5 232

1.1

472.5 282

1.2

RCA-RA3C (With brake)

50 100 150 200

283.5 132

0.7

333.5 182

0.8

383.5 232

0.9

433.5 282

1.0

RCA-RA3C (Without brake)

16 (Rod diameters)

14 (Width across Flats)

32 (Width across Flats)

Nut A

Nut C

Home

Nut A Dimensions Nut B Dimensions Nut C Dimensions

Stroke

Weight [kg]

M35 × 1.5

(Effective screw range 17.5)

from the directions other than the rod operating directions. The force in the vertical or rotational direction of the rod may damage the stopper.

Caution

5.2 RCA-RA4C

ME: Mechanical End SE: Stroke End

[With Brake Type]

[Without Brake Type]

(19.6)

52.8

40.2

M10 × 1.25

M40 × 1.5

M30 × 1.5

52.8

Incremental Type 42

Absolute Type 48

47 (Width across Flats)

16109

56 19

Nut B

Home

109

56 19

Nut B

ME SE

Nut A Nut B

Nut C

Secure at least 100

Cable Joint Connector

50 100 150 200 250 300

20W

30W

279.5

292.5

294.5

307.5 137

1.1

379.5

392.5

394.5

407.5 237

1.4

479.5

492.5

494.5

507.5 337

1.7

329.5

342.5

344.5

357.5 187

1.2

429.5

442.5

444.5

457.5 287

1.5

529.5

542.5

544.5

557.5 387

1.8

67.5

80.5

82.5

95.5

20W

30W

RCA-RA4C (Without brake)

50 100 150 200 250 300

20W

30W

322.5

335.5

337.5

350.5 137

1.3

422.5

435.5

437.5

450.5 237

1.6

522.5

535.5

537.5

550.5 337

1.9

372.5

385.5

387.5

400.5 187

1.4

472.5

485.5

487.5

500.5 287

1.7

572.5

585.5

587.5

600.5 387

2.0

110.5

123.5

125.5

138.5

20W

30W

RCA-RA4C (With brake)

M10 × 1.25

(Effective screw range 20)

M30 × 1.5

(Effective screw range 17.5)

M40 × 1.5

(Effective screw range 19.5)

20 (Rod diameters)

36 (Width across Flats)

Nut A

19 (Width across Flats)

Nut C

( 50)

Incremental Type 42

Absolute Type 48

47 (Width across Flats)

Home

20 (Rod diameters)

36 (Width across Flats)

Nut A

19 (Width across Flats)

Nut C

Stroke

Weight [kg]

Incremental Absolute Incremental Absolute

Stroke

Weight [kg]

Incremental Absolute Incremental Absolute

from the directions other than the rod operating directions. The force in the vertical or rotational direction of the rod may damage the stopper.

Caution

5. Appendix

5.3 RCA-RA3D

ME: Mechanical End SE: Stroke End

RCA-RA3D type is no breake-equipped type.

66.5

48.6

8 10

40 (Width across Flats

Nut B

Nut A

(15.01)

468

7 32

Nut C

3 3

Secure at least 100

Cable Joint Connector

50 100 150 200

264.5 132

0.7

314.5 182

0.8

364.5 232

0.9

414.5 282

1.0

RCA-RA3D (Without brake)

M8 × 1.25

M26 × 1.5

M35 × 1.5

14 (Width across Flats)

32 (Width across Flats)

M26 × 1.5

48.6

M35 × 1.5

M8 × 1.25

Stroke

Caution

5.4 RCA-RA4D

ME: Mechanical End SE: Stroke End

RCA-RA4D type is no

breake-equipped type.

20 (Rod diameters)

52.8

47 (Width across Flats)

36 (Width across Flats)

19 (Width across Flats)

16109

56 19

(19.6)

388

M40 × 1.5

M30 × 1.5

Nut A

Nut C

Nut B

Home

ME SE

Nut A Nut B

Nut C

Secure at least 100

Cable Joint Connector

50 100 150 200 250 300

257.5

270.5

272.5

285.5 137

1.0

357.5

370.5

372.5

385.5 237

1.3

457.5

470.5

472.5

485.5 337

1.6

307.5

320.5

322.5

335.5 187

1.2

407.5

420.5

422.5

435.5 287

1.5

507.5

520.5

522.5

535.5 387

1.8

45.5

58.5

60.5

73.5

RCA-RA4D

M10 × 1.25

M30 × 1.5

M40 × 1.5

52.8

40.2

M10 × 1.25

Incremental Absolute Incremental Absolute

Caution

5. Appendix

5.5 RCA-RA3R

ME: Mechanical End SE: Stroke End

14 (Width across Flats)

3 3

181818

84.4

42.4

84.4

42.4

st 49

8 10

2585.5

(15.01)

135

Nut A

Nut B

Home

ME SE

3 3

31st

8 10

25124.5

Nut A

Cable Joint Connector

50 10 0 150 200

218 120

1.0

268 170

1.1

155.5

318 220

1.2

368 270

1.3

RCA-RA3R (With brake)

50 10 0 150 200

218 120

0.8

268 170

0.9

116.5

318 220

1.0

368 270

1.1

RCA-RA3R (Without brake)

[Without Brake Type]

[With Brake Type]

M8 × 1.25 (Effective screw range 16)

M26 × 1.5

(Effective screw range 15. 5)

M26 × 1.5 (Effective screw range 15. 5)

16 (Rod diameters)

32 (Width across Flats)

Nut A

Secure at least 100

M8, depth 15

14 (Width across Flats)

Nut B

32 (Width across Flats)

Nut A

16 (Rod diameters)

Home

Nut A Dimensions Nut B Dimensions

M26 × 1.5

M8 × 1.25

Stroke

Weight [kg]

Do not apply any external force to the rod from the directions other than the rod operating directions. The force in the vertical or rotational direction of the rod may damage the stopper.

Caution

5.6 RCA-RA4R

ME: Mechanical End SE: Stroke End

50.5

98.5

50.5

98.5

3 3

3356

9 10

(19.6)

388

Nut A

Nut B

Nut A

3 3

3356

9 10

Nut A

Cable Joint Connector

50 100 150 200 250 300

234 234 234 234 125

1.2

334 334 334 334 225

1.5

434 434 434 434 325

1.8

284 284 284 284 175

1.4

384 384 384 384 275

1.7

484 484 484 484 375

2.0

67.5

80.5

82.5

95.5

100.5

113.5

115.5

128.5

RCA-RA4R

50 100 150 200 250 300

234 234 234 234 125

1.4

334 334 334 334 225

1.7

434 434 434 434 325

2.0

284 284 284 284 175

1.6

384 384 384 384 275

1.9

484 484 484 484 375

2.2

110.5

123.5

125.5

138.5

143.5

156.5

158.5

171.5

RCA-RA4R

M10 × 1.25

M30 × 1.5

Nut A

Nut B

40.2

M10 × 1.25

M30 × 1.5

M10 × 1.25

36 (between 2 flat faces)

Secure at least 100

19 (Width across Flats)

Home

Nut B

19 (Width across Flats)

36 (Width across Flats)

M10 × 1.25,

Incremental Absolute Incremental Absolute

Incremental Absolute Incremental Absolute Incremental Absolute Incremental Absolute

Incremental Absolute Incremental Absolute

Incremental Absolute Incremental Absolute Incremental Absolute Incremental Absolute

Caution

5. Appendix

5.7 RCA-RGS3C

ME: Mechanical End SE: Stroke End

4624

15 37.5

52.5

30.5

4-C2

8 85.517

5(st + 12)53

Shaft overhang at SE position

ME Home

(st + 65)

12 st 3

35st

4-M5

41.5

19.5

30.5

Bracket B

Bracket A

4-C2

10 20.5

52.5

30.5

6-M4 through

32 (Width across Flats)

Nut B

Nut A

Home

8 46

48.6

14 43

124.5

5(st+12)

Secure at

least 100

Bracket B

Bracket A

Cable Joint Connector

50 100 150 200

316.5 140

1.1

366.5 190

1.3

416.5 240

1.4

466.5 290

1.5

RCA-RGS3C (With brake)

Stroke 50 100 150 200

Weight [kg]

277.5 140

0.9

327.5 190

1.1

377.5 240

1.2

427.5 290

1.3

RCA-RGS3C (Without brake)

M35 × 1.5

(Effective screw range 17.5)

40 (Width across Flats)

14 (Width across Flats)

40 (Width across Flats)

Bracket B

Bracket A

32 (Width across Flats)

Nut B

Nut A

14 (Width across Flats)

M35 × 1.5

M26 × 1.5

Nut A

Nut B

Stroke

Weight [kg]

5.8 RCA-RGS4C

ME: Mechanical End SE: Stroke End

36.5

Bracket A

Bracket B

m19

(st + 11)

(st + 74)

Home

Shaft overhang at SE position

3st11

Home

52.8

388

4-M5

4-C2

36.526

5022

15 36.5

4-C2

10 10 26.5

Secure at

least 100

( 50)

16 47

m19

(st + 11)

Cable Joint Connector

100 150 200 250 300

272.5

285.5

287.5

300.5 145

1.5

372.5

385.5

387.5

400.5 245

1.8

472.5

485.5

487.5

500.5 345

2.2

322.5

335.5

337.5

350.5 195

1.6

422.5

435.5

437.5

450.5 295

2.0

522.5

535.5

537.5

550.5 395

2.4

67.5

80.5

82.5

95.5

RCA-RGS4C

50 100 150 200 250 300

315.5

328.5

330.5

343.5 145

1.7

415.5

428.5

430.5

443.5 245

2.0

515.5

528.5

530.5

543.5 345

2.4

365.5

378.5

380.5

393.5 195

1.8

465.5

478.5

480.5

493.5 295

2.2

565.5

578.5

580.5

593.5 395

2.6

110.5

123.5

125.5

138.5

RCA-RGS4C

Caution

M40 × 1.5

(Effective screw range 19.5)

Nut A

Nut B

36 (Width across Flats)

19 (Width across Flats)

47 (Width across Flats)

Bracket A

Bracket B

Nut A

Nut B

36 (Width across Flats)

19 (Width across Flats)

6-M4 through

Bracket B

Bracket A

40.2

M40 × 1.5

M30 × 1.5

Nut A

Nut B

Stroke

Incremental Absolute Incremental Absolute

Stroke

Incremental Absolute Incremental Absolute

5. Appendix

5.9 RCA-RGS3D

ME: Mechanical End SE: Stroke End

RCA-RGS3D type is no breake-equipped type.

4624

15 37.5

52.5

30.5

8 66.517

5(st + 12)53

Shaft overhang at SE position

(st + 65)

12 st 3

35st

4-C2

4-M5

41.519.5 70

30.5

4-C2

10 20.510

52.5

30.5

8 46

327

50 100 150 200

258.5 140

0.9

308.5 190

1.1

358.5 240

1.2

408.5 290

1.3

RCA-RGS3D (Without brake)

M35 × 1.5

(Effective screw range 17.5)

Bracket B

Bracket A

32 (Width across Flats)

Nut B

Nut A

Secure at

least 100

Cable Joint Connector

40 (Width across Flats)

14 (Width across Flats)

6-M4 through

Bracket B

Bracket A

48.6

M35 × 1.5

M26 × 1.5

Nut A

Nut B

Stroke

5.10 RCA-RGS4D

ME: Mechanical End SE: Stroke End

RCA-RGS4D type is no

breake-equipped type.

(st + 74)

Shaft overhang at SE position

3st11

4-M5

4-C2

36.526

5022

15 36.5

4-C2

10 10 26.5

36.5

388

Bracket A

19 (Width across Flats)

Nut A

Nut B

(st + 11)63

Cable Joint Connector

50 100 150 200 250 300

250.5

263.5

265.5

278.5 145

1.3

350.5

363.5

365.5

378.5 245

1.7

450.5

463.5

465.5

478.5 345

2.1

300.5

313.5

315.5

328.5 195

1.5

400.5

413.5

415.5

428.5 295

1.9

500.5

513.5

515.5

528.5 395

2.3

45.5

58.5

60.5

73.5

RCA-RGS4D

M40 × 1.5 (Effective screw range 19.5)

Home

Bracket B

36 (Width across Flats)

Secure at

least 100

47 (Width across Flats)

6-M5 through

Bracket B

Bracket A

52.8

40.2

M40 × 1.5

M30 × 1.5

Nut A

Nut B

Stroke

Incremental Absolute Incremental Absolute

5. Appendix

5.11 RCA-RGD3C

ME: Mechanical End SE: Stroke End

4-C2

4-M5 (through)

4-C2

20.5

Bracket A Bracket B

Nut A Nut B

928375

29 20

48.6

85.517

(st + 12)53

(st + 65)

12 st 3

35st

Nut B

Home

124.5

(st + 12)

( 35)

(

42)

50 100 150 200

316.5 140

1.3

366.5 190

1.4

416.5 240

1.6

466.5 290

1.7

RCA-RGD3C (With brake)

50 100 150 200

277.5 140

1.1

327.5 190

1.2

377.5 240

1.4

427.5 290

1.5

RCA-RGD3C (Without brake)

M35 × 1.5

Home

Secure at

least 100

Bracket B

Bracket A

Nut A

32(Width across Flats)

Bracket B

Bracket A

Nut A

8-M4 (through)

M35 × 1.5

M26 × 1.5

48.6

Stroke

(Width across Flats)

32(Width across Flats)

40(Width across Flats)

IAI America RCAW User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of Contents

Safety Guide

Precautions

International Standards Compliances

Names of the Parts

1. Specifications Check

1.1 Checking the Product

1.2 Specification

1.3 Options

1.4 Motor • Encoder Cables

2. Installation

2.1 Transportation

2.2 Installation and Storage • Preservation Environment

2.3 How to Installation

3. Connecting with Controller

4. Maintenance

4.1 Maintenance Schedule

4.2 Visual Inspection of the Machine

4.3 Cleaning

4.4 Applying Grease to the Sliding Surface of the Rod

4.5 Reduction Belt [Motor Reversing Type]

4.6 Replacing the Motor

4.7 Replacing the Bellows of the RCAW Dustproof/Splash-proof Type

5. Appendix

5.1 RCA-RA3C

5.2 RCA-RA4C

5.3 RCA-RA3D

5.4 RCA-RA4D

5.5 RCA-RA3R

5.6 RCA-RA4R

5.7 RCA-RGS3C

5.8 RCA-RGS4C

5.9 RCA-RGS3D

5.10 RCA-RGS4D

5.11 RCA-RGD3C