IAI America RCL-RA3L User Manual
ROBO Cylinder
Linear Servo Type
Rod Type
Instruction Manual
Third Edition
RCL-RA1L, RA2L, RA3L
IAI America, Inc.
Please Read Before Use
Thank you for purchasing our product.
This Instruction 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 instruction manuals for IAI products.
When using the product, refer to the necessary portions of the applicable instruction manual by
printing them out or displaying them on a PC.
After reading the Instruction Manual, keep it in a convenient place so that whoever is handling this
product can reference it quickly when necessary.
[Important]
x This Instruction Manual is original.
x This product is not to be used for any other purpose from what is noted in this Instruction Manual.
IAI shall not be liable whatsoever for any loss or damage arising from the result of using the
product for any other purpose from what is noted in the manual.
x The information contained in this Instruction Manual is subject to change without notice for the
purpose of production improvement.
x If you have any question or finding regarding the information contained in this Instruction Manual,
contact our customer center or our sales office near you.
x Using or copying all or a part of this Instruction Manual without permission is prohibited.
x 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 ·································································································8
International Standards Compliances ······································································9
Names of the Parts································································································ 10
1. Specifications Check······················································································· 11
1.1 Checking the Product························································································ 11
1.1.1 Components ······························································································· 11
1.1.2 Operating Manuals for the Controllers Related to this Product ·················· 11
1.1.3 How to Read the Model Nameplate ··························································· 12
1.1.4 How to Read the Model Number ································································12
1.2 Specification······································································································13
1.2.1 Speed ········································································································· 13
1.2.2 Relationship between Transportable Weight and Acceleration Speed ·······13
1.2.3 Rated Thrust and Transient Maximum Thrust ············································14
1.2.4 Encoder Resolution ····················································································14
1.2.5 No. of Encoder Pulses················································································14
1.2.6 Positioning Repeatability ············································································14
1.2.7 Relationship between Current Limiting Value and Pressing Force ············14
1.3 Option················································································································ 15
1.3.1 Brake (with brake box) (Model No. : B) ······················································15
1.3.2 Brake (with no brake box) (Model No. : BN)···············································15
1.4 Motor • Encoder Cables ····················································································16
1.4.1 Motor • Encoder Integrated Cables
(For AMEC, ASEP) CB-APSEP-MPAƑƑƑ ······································16
1.4.2 Motor • Encoder Integrated Cables (with brake cable)
(For AMEC, ASEP) CB-ACS-MPBAƑƑƑ ········································ 17
1.4.3 Motor • Encoder Integrated Cables
(For ACON, ASEL) CB-ACS-MPAƑƑƑ ···········································18
1.4.4 Motor • Encoder Integrated Cables (with brake cable)
(For ACON, ASEL) CB-ACS-MPBAƑƑƑ········································· 19
2. Installation······································································································· 20
2.1 Transportation ··································································································· 21
2.2 Installation and Storage • Preservation Environment ········································22
2.3 How to Install····································································································· 23
2.3.1 General Rules on Installation ·····································································23
2.3.2 Installing the Main Body ·············································································24
2.3.3 Attachment of Transported Objects····························································28
3. Connecting with the Controller········································································ 29
3.1 Brake Box Installation for Brake-Equipped Type···············································31
3.1.1 Brake Box RCB-110-RCLB-0 ··································································31
3.1.2 Procedures to Connect and Start Brake Box·············································· 32
4. Operational Conditions ··················································································· 36
4.1 Acceleration of the Setting ················································································36
4.2 Reference for Cycle Time··················································································37
4.3 Setting of Current Limit Value at Pressing Operation········································38
4.4 Vibration • Resonance Noise Control································································40
5. Maintenance Inspection··················································································41
5.1 Inspection Items and Schedule ·········································································41
5.2 External Visual Inspection·················································································41
5.3 Cleaning ············································································································ 41
6. External Dimensions·······················································································42
6.1 RCL-RA1L without brake type ········································································42
6.2 RCL-RA1L equipped with brake (option) ························································42
6.3 RCL-RA2L without brake type ········································································43
6.4 RCL-RA2L equipped with brake (option) ························································43
6.5 RCL-RA3L without brake type ········································································44
6.6 RCL-RA3L equipped with brake (option) ························································44
7. Life·················································································································· 45
8. Warranty ········································································································· 46
8.1 Warranty Period ································································································ 46
8.2 Scope of the Warranty·······················································································46
8.3 Honoring the Warranty ······················································································46
8.4 Limited Liability·································································································· 46
8.5 Conditions of Conformance with Applicable Standards/Regulations,
Etc., and Applications ······· 47
8.6 Other Items Excluded from Warranty ································································47
Change History······································································································ 48
1
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
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.
2
No.
Operation
Description
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 instruction 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
3
No.
Operation
Description
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
2
(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).
4
No.
Operation
Description
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.
5
No.
Operation
Description
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.
6
No.
Operation
Description
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 addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ For the grease for the guide or ball screw, use appropriate grease
according to the Instruction 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
instruction manual of each unit to ensure the safety.
7
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the Instruction 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
8
Caution in Handling
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.
䎃
2. Do not conduct any treatment or operation that is not stated in this instruction
manual.䎃
䎃
3. For the wiring of the controller and actuator, use the IAI product.䎃
䎃
4. Do not attempt to establish the settings for the speed and
acceleration/deceleration above the allowable range.䎃
If the robot is operated at a speed or acceleration/deceleration exceeding the allowable value,
abnormal noise or vibration, failure, or shorter life may result.
䎃
䎃
5. About load applied to actuator䎃
Avoid rotation torque from being applied to the rod.䎃
Install a guide so the load vertical to the rod moving directions (sideway load) would not be
applied.
䎃
䎃
䎃
䎃
䎃
6. Make sure to attach the actuator properly by following this operation manual.䎃
Using the product with the actuator not being certainly retained or affixed may cause abnormal
noise, vibration, malfunction or shorten the product life.
䎃
䎃
7. Pay attention to temperature rise.䎃
In case movement of rod is continuously conducted or pressing operation is continued for long
time, the temperature on the unit body and the rod will rise. Please be careful.
䎃
䎃
8. Make sure to keep the rod in stop condition for a short while (approx. 3sec)
straight after the power is turned on or software reset.䎃
There is a magnetic pole detection process of the motor when the power is turned on or at
software reset. It may get detected as an error if the rod moves during this magnetic pole
detection.
䎃
䎃
9. This actuator requires a home-return operation after startup.䎃
The home position is one point at the side of rod being pulled in. (Can not be changed.)
Make sure to construct the system with no interference around the home position.䎃
䎃
9
International Standards Compliances
This actuator complies with the following overseas standard.
Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
RoHS Directive CE Marking UL
c ¯ ¯
10
Names of the Parts
In this manual, the right and left sides of the actuator are expressed in the way it is placed
horizontally as shown in the figure below, and is looked at from the motor side.
Ɣ Without brake type
Rod
Width across flats
Pipe
Cable
Encoder cover
Front Rear
Ɣ With brake type
Rear
Front
Rod
Brake cable
Motor, Encoder cable
Width across flats Pipe
Encoder cover
11
1. Specifications Check
1.1 Checking the Product
The standard configuration of this product is comprised of the following parts.
See the component list for the details of the enclosed components. If you find any broken or
missing parts, contact your local IAI distributor.
1.1.1 Components
No. Name Model number Quantity Remarks
1 Main Unit
Refer to “How to Read the
Model Nameplate” and “How
to Read the Model Number.”
1
Accessories
2
Motor • encoder cables
(Note 1)
1 set
3 In-house made seals 1
4 First Step Guide
1
5 Instruction Manual (DVD)
1
6 Safety Guide
1
Note1 The motor • encoder cables differ between the standard model and robot cable.
[Refer to 1.4 “Motor • Encoder Cables.”]
1.1.2 Operating Manuals for the Controllers Related to this Product
No. Name Control No.
1 Instruction Manual for ACON-C/CG Controller ME0176
2 Instruction Manual for ACON-CY Controller ME0167
3 Instruction Manual for ACON-SE Controller ME0171
4 Instruction Manual for ACON-PL/PO Controller ME0166
5 Instruction Manual for ASEL Controller MJ0165
6 Instruction Manual for MEC Controller ME0245
7 Instruction Manual for PSEP/ASEP/DSEP Controller MJ0216
8 Instruction Manual for MSEP Controller ME0299
9
Instruction Manual for PC Software IA-101-X-MW/IA-101-X-USBMW
ME0154
10 Instruction Manual for PC Software RCM-101-MW/ RCM-101-USB ME0155
11 Instruction Manual for MEC Software ME0248
12 Instruction Manual for Teaching Pendant CON-T/TG ME0178
13
Instruction Manual for Teaching Pendant SEL-T/TD
ME0183
14 Instruction Manual for Touch Panel Teaching CON-PTA/PDA/PGA ME0295
15 Instruction Manual for Teaching Pendant CON-PT/PD/PG ME0227
16 Instruction Manual for Teaching Pendant SEP-PT ME0217
17 Instruction Manual for Simple Teaching Pendant RCM-E ME0174
18 Instruction Manual for Data Setter RCM-P ME0175
19 Instruction Manual for Touch Panel Display RCM-PM-01 ME0182
1. Specications Check
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