Thin and Small ROBO Cylinder
Mini Cylinder
RCD Actuator
Operation Manual
First Edition
Rod Type RA1D
IAI America, Inc.
1
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/DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
� This Operation Manual is original.
� The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall
assume no responsibility for the outcome of any operation not specified herein.
� Information contained in this Operation Manual is subject to change without notice for the purpose of product
improvement.
� If you have any question or comment regarding the content of this manual, please contact the IAI sales office
near you.
� Using or copying all or part of this Operation Manual without permission is prohibited.
� The company names, names of products and trademarks of each company shown in the sentences are
registered trademarks.
Table of Contents
Safety Guide ............................................................................................................................ 1
Caution in Handling ................................................................................................................. 6
Names of the Parts .................................................................................................................. 7
1. Product Check................................................................................................................... 8
1.1 Parts.......................................................................................................................................................8
1.2 Related Operation Manuals for the Each Controller Supported by this Product...................................8
1.3 How to Read the Model Nameplate.......................................................................................................8
1.4 How to Read the Model Number ...........................................................................................................9
2. Specification .................................................................................................................... 10
3. Product Life ..................................................................................................................... 12
4. Installation and Storage • Preservation Environment....................................................... 13
4.1 Installation Environment ......................................................................................................................13
4.2 Storage • Preservation Environment....................................................................................................13
5. Transportation ................................................................................................................. 14
5.1 Handling of Robot................................................................................................................................14
5.1.1 Handling the Packed Unit ....................................................................................................14
5.1.2 Handling the Actuator After Unpacking................................................................................14
5.2 Handling in Assembled Condition........................................................................................................15
6. Installation ....................................................................................................................... 16
6.1 Installation of Main Unit .......................................................................................................................16
6.2 Attachment of Work Piece (Object to Transport).................................................................................17
6.3 Precaution in Installation......................................................................................................................18
7. Connecting with Controller .............................................................................................. 19
8. Caution for Operation ...................................................................................................... 22
8.1 Load Applied to Actuator......................................................................................................................22
8.2 External Force Applied in Thrust Directions ........................................................................................23
9. Motor • Encoder Cables................................................................................................... 24
9.1 Motor • Encoder Integrated Cable Connection....................................................................................24
9.2 Motor • Encoder Integrated Cables Robot Type..................................................................................25
10. Maintenance Inspection................................................................................................... 26
10.1 Inspection Items and Schedule ...........................................................................................................26
10.2 External Visual Inspection ...................................................................................................................26
10.3 Cleaning...............................................................................................................................................26
10.4 Grease Supply .....................................................................................................................................27
10.4.1 Grease to be applied on Rod (Sliding Surface)...................................................................27
10.4.2 Applying the Grease on the Rod (Sliding Surface)..............................................................27
11. Appendix ......................................................................................................................... 28
11.1 External Dimensions............................................................................................................................28
12. Warranty.......................................................................................................................... 29
12.1 Warranty Period...................................................................................................................................29
12.2 Scope of Warranty...............................................................................................................................29
12.3 Honoring the Warranty.........................................................................................................................29
12.4 Limited Liability ....................................................................................................................................29
12.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ..............30
12.6 Other Items Excluded from Warranty ..................................................................................................30
Change History ...................................................................................................................... 31
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage
beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1 Model Selection � This product has not been planned and designed for the application where high
2 Transportation � Consider well so that it is not bumped against anything or dropped during the
3 Storage and
Operation
Description
Preservation
Precautions
level of safety is required, so the guarantee of the protection of human life is
impossible. Accordingly, do not use it in any of the following applications.
1) Medical equipment used to maintain, control or otherwise affect human life or
physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
� Do not
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
4) Location where radiant heat is added from direct sunlight or other large heat
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
� Do not
considerably shorten its life and cause a product breakdown or facility operation
stop.
transportation.
� Tr
� Do not step or sit on the package.
� Do not put any heavy thing that can deform the package, on it.
� When using a crane capable of 1t or more of weight, have an operator who has
qualifications for crane operation and sling work.
� When
weighs more than the equipment’s capability limit.
� Use a
such factors as shear strength.
� Do not
� Do not leave a load hung up with a crane.
� Do not stand under the load that is hung up with a crane.
� The storage and preservation environment conforms to the installation
environment.
However, especially give consideration to the prevention of condensation.
use it in any of the following environments.
specification range
source
use the product outside the specifications. Failure to do so may
ansport it using an appropriate transportation measure.
using a crane or equivalent equipments, make sure not to hang a load that
hook that is suitable for the load. Consider the safety factor of the hook in
get on the load that is hung on a crane.
1
No.
Operation
Description
4 Installation and
Start
Precautions
(1) Installation of Robot Main Body and Controller, etc.
� Make sure to securely hold and fix the product (including the work part). A fall,
drop or abnormal motion of the product may cause a damage or injury.
� D
o not get on or put anything on the product. Failure to do so may cause an
accidental fall, injury or damage to the product due to a drop of anything,
malfunction of the product, performance degradation, or shortening of its life.
� When
using the product in any of the places specified below, provide a sufficient
shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or chemical
droplets�
(2) Cable Wiring
� Use our company’s genuine cables for connecting between the actuator and
controller, and for the teaching tool.
� D
o not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it
around. Do not insert it. Do not put any heavy thing on it.
Failure to do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
� Perform the
wiring for the product, after turning OFF the power to the unit, so that
there is no wiring error.
� When
the direct current power (�24V) is connected, take the great care of the
directions of positive and negative poles. If the connection direction is not correct,
it might cause a fire, product breakdown or malfunction.
� Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction of the
product.
� Never cut
and/or reconnect the cables supplied with the product for the purpose
of extending or shortening the cable length. Failure to do so may cause the
product to malfunction or cause fire.�
(3) Grounding
� Make su
re to perform the grounding of type D (Former Type 3) for the controller.
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.�
2
No.
4 Installation and
Operation
Description
Start
Precautions
(4) Safety Measures
� When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that nobody
can enter the area within the robot’s movable range. When the robot under
operation is touched, it may result in death or serious injury.
� Make su
re to install the emergency stop circuit so that the unit can be stopped
immediately in an emergency during the unit operation.
� T
ake the safety measure not to start up the unit only with the power turning ON.
Failure to do so may start up the machine suddenly and cause an injury or
damage to the product.
� Take
the safety measure not to start up the machine only with the emergency stop
cancellation or recovery after the power failure. Failure to do so may result in an
electric shock or injury due to unexpected power input.
� Wh
en 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.
� Ta
ke the measure so that the work part is not dropped in power failure or
emergency stop.
� Wear protection gloves, goggle or safety shoes, as necessary, to secure safety.
� Do not
insert a finger or object in the openings in the product. Failure to do so
may cause an injury, electric shock, damage to the product or fire.
� When releasing the brake on a vertically oriented actuator, exercise precaution
not to pinch your hand or damage the work parts with the actuator dropped by
gravity.�
5 Teaching � Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably inside the
safety protection fence, prepare the “Stipulations for the operation” and make
sure that all the workers acknowledge and understand them well.
� When
the operation is to be performed inside the safety protection fence, the
worker should have an emergency stop switch at hand with him so that the unit
can be stopped any time in an emergency.
� When
the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be stopped
any time in an emergency. Also, keep watch on the operation so that any third
person can not operate the switches carelessly.
� Place a
sign “Under Operation” at the position easy to see.
� When releasing the brake on a vertically oriented actuator, exercise precaution
not to pinch your hand or damage the work parts with the actuator dropped by
gravity.
* Safety protection Fence : In the case that there is no safety protection fence, the
movable range should be indicated.
6 Trial Operation � After the teaching or programming operation, perform the check operation one
step by one step and then shift to the automatic operation.
� When
the check operation is to be performed inside the safety protection fence,
perform the check operation using the previously specified work procedure like
the teaching operation.
� Make su
re to perform the programmed operation check at the safety speed.
Failure to do so may result in an accident due to unexpected motion caused by a
program error, etc.
� Do not
touch the terminal block or any of the various setting switches in the power
ON mode. Failure to do so may result in an electric shock or malfunction.
3
No.
7 Automatic
Operation
Description
Operation
� Before the
automatic operation is started up, make sure that there is nobody
inside the safety protection fence.
Precautions
� Before the automatic operation is started up, make sure that all the related
peripheral machines are ready for the automatic operation and there is no error
indication.
� Make su
re to perform the startup operation for the automatic operation, out of the
safety protection fence.
� I
n the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn OFF the
power switch. Failure to do so may result in a fire or damage to the product.
� When a
power failure occurs, turn OFF the power switch. Failure to do so may
cause an injury or damage to the product, due to a sudden motion of the product
in the recovery operation from the power failure.
8 Maintenance and
Inspection
� P
erform the work out of the safety protection fence, if possible. In the case that
the operation is to be performed unavoidably inside the safety protection fence,
prepare the “Stipulations for the operation” and make sure that all the workers
acknowledge and understand them well.
� When the work is to be performed inside the safety protection fence, basically
turn OFF the power switch.
� When
the operation is to be performed inside the safety protection fence, the
worker should have an emergency stop switch at hand with him so that the unit
can be stopped any time in an emergency.
� When
the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be stopped
any time in an emergency. Also, keep watch on the operation so that any third
person can not operate the switches carelessly.
� Place a
sign “Under Operation” at the position easy to see.
� For the grease for the guide or ball screw, use appropriate grease according to
the Operation Manual for each model.
� D
o not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
� When releasing the brake on a vertically oriented actuator, exercise precaution
not to pinch your hand or damage the work parts with the actuator dropped by
gravity.
* Safety Protection Fence : In the case that there is no safety protection fence, the
movable range should be indicated.
9 Modification � Do not modify, disassemble, assemble or use of maintenance parts not specified
based at your own discretion.
� In such case, the warranty is not applied.
10 Disposal � When the product becomes no longer usable or necessary, dispose of it properly
as an industrial waste.
� Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
4
Applicable Modes of IAI’s Industrial Robot
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level,
as follows, and described in the Operation Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
Warning
Caution
Notice
This indicates an imminently hazardous situation which, if the product is not
handled correctly, will result in death or serious injury.
This indicates a potentially hazardous situation which, if the product is not
handled correctly, could result in death or serious injury.
This indicates a potentially hazardous situation which, if the product is not
handled correctly, may result in minor injury or property damage.
This indicates lower possibility for the injury, but should be kept to use this
product properly
Danger
Warning
Caution
Notice
5
Caution in Handling
1. Do not set speeds and accelerations/decelerations equal to or greater than the respective
ratings.
If the actuator is operated at a speed or acceleration/deceleration exceeding the allowable value, abnormal
noise or vibration, failure, or shorter life may result.
In the case of interpolated operation of combined axes, the speed and acceleration/deceleration settings
should correspond to the minimum values among all combined axes.
2. In the case of moving it in low speed, the difference of the speed grows.
In the case of moving it with 10mm/s or less, note that the difference of the speed grows in addition.
3. When operating, the main body is likely to become a high temperature though.
Warning: When operating, the temperature of the main body is likely to become a high temperature
though.
Note that you may get burned and injured if you touch the actuator.
6
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