IAI America RCP2-SRGD4R User Manual

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Motor-reversing Short Rod Type

SRA4R, SRGS4R, SRGD4R

ROBO Cylinder

Short Type

RCP2/RCA Actuator

Motor-reversing Specification

Operating Manual

Fifth Edition

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 in Handling······································································································· 8

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

Names of the Parts (or option)··························································································· 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.···········13

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

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

1.2 Specification····················································································································17

1.2.1 Speed································································································································17

1.2.2 Maximum Acceleration and Transportable Weight ···························································18

1.2.3 Driving System and Position Detector ··············································································18

1.2.4 Positioning Accuracy·········································································································18

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

1.2.6 Relation Between Current Limit and Pressing Force························································21

1.2.7 Duty Ratio in Continuous Operation ·················································································23

1.3 Option ·····························································································································24

1.3.1 With Brake (Model No.: B) ································································································24

1.3.2 Flange Bracket (Front) (Model No.: FL)············································································24

1.3.3 Flange Bracket (Front) (Model No.: FLR) ·········································································24

1.3.4 Foot Brackets 1 (Model No.: FL)·······················································································25

1.3.5 Foot Brackets 2 (Model No.: FT2 (Attachment to the Right Side), FT2 (Attachment to the Left Side))····················································································25

1.3.6 Low Power Consumption Type (Model No.: LA) ·······························································25

1.3.7 Guide Oriented Direction (Model No. : GS2 to GS4)························································25

1.4 Motor • Encoder Cables··································································································26

2. Installation··················································································································· 28

2.1 Transportation·················································································································28

2.2 Installation and Storage • Preservation Environment······················································30

2.3 How to Installation···········································································································31

2.3.1 Installation of the Main Unit·······························································································31

2.3.2 Attachment Surface···········································································································31

2.3.3 Tightening Screws·············································································································31

3. Connecting with the Controller ····················································································32

4. Setting of Home Position ····························································································36

4.1 Fine-Tuning of Home Position ························································································36

4.2 Change the direction of the home···················································································36

5. Inspection ···················································································································37

5.1 Inspection Items and Inspection Schedule ·····································································37

5.2 Visual Inspection·············································································································37

5.3 Cleaning··························································································································37

5.4 Grease Supply ················································································································38

5.4.1 Grease to Apply ················································································································38

5.4.2 Grease Supply ··················································································································38

5.5 Replacing the Motor and Belt ·························································································38

6. External Dimensions ··································································································· 39

6.1 RCP2-SRA4R/RCA-SRA4R ···························································································39

6.2 RCP2-SRGS4R/RCA-SRGS4R (Single guide (option) installed on the right) ················40

6.3 RCP2-SRGS4R/RCA-SRGS4R (Single guide (option) installed on the left) ··················41

6.4 RCP2-SRGS4R/RCA-SRGS4R (Single guide (option) installed at the bottom) ·············42

6.5 RCP2-SRGS4R/RCA-SRGS4R (Double guide (option)) ················································43

6.6 Flange Bracket (option) installed ····················································································44

6.7 Foot Bracket (option) installed ························································································45

7. Warranty ·····················································································································46

7.1 Warranty Period··············································································································46

7.2 Scope of the Warranty ····································································································46

7.3 Honoring the Warranty····································································································46

7.4 Limited Liability ···············································································································47

7.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications··············································································································47

7.6 Other Items Excluded from Warranty··············································································47

Change History ··················································································································48

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 operation 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 operation manual for each model.

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

damage to the product.

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

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

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

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

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

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

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

manual of each unit to ensure the safety.

Alert Indication

The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the operation manual for each model.

Level Degree of Danger and Damage Symbol

Danger

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 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.

2. Back and forth operation in short distance may wear out the oil film of the grease.

If the actuators are moved back and forth continuously over a short distance of 30 mm or less, grease film may run out. As a guide, move the actuators back and forth repeatedly for around 5 cycles over a distance of 50 mm or more after every 5,000 to 10,000 cycles. Keep using the actuators with the grease worn out may cause malfunction.

3. Do not attempt to apply a rotary torque the rod.

Make the rod axis center and the load movement direction are the same. Doing so may damage the internal component such as the rod stopper, and may result in an operation failure. Make sure to hold the rod with a wrench sized 14 when tightening a nut on the tip of the rod.

4. Do not attempt to apply load more than allowable value (the value same as the maximum pressing force) or impact load to the thrust direction.

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

5. Make sure to attach the actuator properly by following this operation manual.

Using the product with the actuator not being certainly retained or affixed may cause abnormal noise, vibration, malfunction or shorten the product life.

International Standards Compliances

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

RoHS Directive CE Marking

ż ż

Names of the Parts (or option)

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.

(1) Motor-reversing short rod type

• RCP2-SRA4R

• RCA-SRA4R

Right Left

Bottom

Tapped hole for installation on front face

Greasing port (thinhead screw)

Rod tip adapter

Opposite side of the Motor

Motor side

Aluminum frame

Rod

Cable

Tapped hole for installation on bottom face

Tapped hole for installation on side face

Tapped hole for installation on rear face

(2) Motor-reversing short rod type with single guide installed on the right (option)

• RCP2-SRGS4R

• RCA-SRGS4R

Guide rod

Guide bearing

Guide bracket

Opposite side of the Motor

Motor side

(3) Motor-reversing short rod type with single guide installed on the left (option)

• RCP2-SRGS4R

• RCA-SRGS4R

Guide rod

Guide bearing

Guide bracket

Opposite side of the Motor

Motor side

(4) Motor-reversing short rod type with single guide installed at the bottom (option)

• RCP2-SRGS4R

• RCA-SRGS4R

Guide rod

Guide bearing

Guide bracket

Opposite side of the Motor

Motor side

(5) Motor-reversing short rod type with double guides (option)

• RCP2-SRGD4R

• RCA-SRGD4R

Guide rod

Guide bearing

Mounting bracket

Guide bracket

Opposite side of the Motor

Motor side

1. Specifications Check

1.1 Checking the Product

The standard configuration of this product is comprised of the following products. See the component list for the details of the enclosed components. If you find any fault or missing parts, contact your local IAI distributor.

1.1.1 Parts

No. Part Name Model Quantity Remarks

1 Actuator Main Body

Refer to How to Read the Model Nameplate, How to Read the Model Number

Accessories

2 Motor • Encoder Cable 1 3 Nut M10 • 1.25 Refer to list below 4 First Step Guide 1 5 Operation Manual (CD/DVD) 1 6 Safety Guide 1

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

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

[1] RCP2

No. Name Control No.

1 PSEL Controller Operation Manual ME0172 2 PCON-CA Controller Operation Manual ME0289 3 PCON-C/CG Controller Operation Manual ME0170 4 PCON-CY Controller Operation Manual ME0156 5 PCON-SE Controller Operation Manual ME0163 6 PCON-PL/OP Controller Operation Manual ME0164 7 PMEC/AMEC Controller Operation Manual ME0245 8 ASEP/PSEP Controller Operation Manual ME0216

9 MSEP Controller Operation Manual ME0299 10 PC software IA-101-X-MX/ IA-101-X-USBMW Operation Manual ME0154 11 PC software RCM-101MW/RCM-101-USB Operation Manual ME0155 12 MEC PC Software Operation Manual ME0248 13 Teaching pendant SEL-T/TD Operation Manual ME0183 14 Teaching pendant CON-T/TD Operation Manual ME0178 15 Touch Panel Teaching CON-PT/PD/PG Operation Manual ME0227 16 Touch Panel Teaching CON-PTA/PDA/PGA Operation Manual ME0295 17 Touch Panel Teaching SEP-PT Operation Manual ME0217 18 Simplified Teaching pendant RCM-E Operation Manual ME0174 19 Data setter RCM-P Operation Manual ME0175 20 Touch Panel Display RCM-PM-01 Operation Manual ME0182

1. Specications Check

[2] RCA

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 PMEC/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 Touch Panel Display RCM-PM-01 Operation Manual ME0182

1.1.3 How to Read the Model Nameplate

Model

Serial numbe

MODEL RCP2-SRA4R-I-35P-5-20-P1-P-B

SERIAL No.000090266 MADE IN JAPAN

1.1.4 How to Read the Model Number

[1] RCP2

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> RCP2

<Type> Short Type SRA4R Short Type With Single Guide SRGS4R Short Type With Double Guide SRGD4R

R C P 2 - S R A 4 R - I - 3 5 P - 5 - 2 0 - P 1 - P - B - * *

Identification for IAI use only

(Note1

)

<Option> B : Brake FL : Flange Bracket (front) FLR : Flange Bracket (rear)

FT : Foot Bracket 1

(bottom attached)

FT2/FT4 : Foot Bracket 2

(right/left attached)

GS2 to GS4 : Change in guide

oriented direction

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

<Controller> P1: PSEL PCON-CA PCON-C/CG PCON-CY PCON-SE PCON-PL/PO RPCON P3: PMEC PSEP

I : Incremental

35P : 35 frame

<Lead>

2.5 : 2.5mm 5 : 5mm

[1.2.1 Refer to Speed]

1. Specications Check

[2] RCA

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> RCA

<Type> Short Type SRA4R Short Type With Single Guide SRGS4R Short Type With Double Guide SRGD4R

R C P 2 - S R A 4 R - I - 2 0 - 5 - 2 0 - P 1 - P - B - * *

Identification for IAI use only

(Note1

)

<Option> B : Brake FL : Flange Bracket (front) FLR : Flange Bracket (rear)

FT : Foot Bracket 1

(bottom attached)

FT2/FT4 : Foot Bracket 2

(right/left attached)

LA : Low Power Consumption Type

GS2 to GS4 : Change in guide oriented

direction

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

<Controller> P1: ASEL ACON-C/CG ACON-CY ACON-SE ACON-PL/PO RACON P3: AMEC ASEP

I : Incremental

20P : 20W

<Lead>

2.5 : 2.5mm 5 : 5mm

[1.2.1 Refer to Speed]

1.2 Specification

1.2.1 Speed

[1] RCP2

Speed limits [Unit: mm/s]

Stroke [mm]

Type

Motor

Type

Lead [mm]

Horizontal/

Vertical

Min.

speed

20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200

Horizontal

2.5 Vertical

3.12 125

Horizontal

SRA4R SRGS4R SRGD4R

35P

Vertical

6.25 250

(Note) The stroke for the brake type is from 70mm.

[2] RCA

Speed limits [Unit: mm/s]

Stroke [mm]

Type

Motor

Type

Lead [mm]

Horizontal/

Vertical

Min.

speed

20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200

Horizontal

2.5 Vertical

3.12 125

Horizontal

SRA4R SRGS4R SRGD4R

20W

Vertical

6.25 250

(Note) The stroke for the brake type is from 70mm.

1. Specications Check

1.2.2 Maximum Acceleration and Transportable Weight

[1] RCP2

Due to the specification of the pulse motor, the transportable weight reduces as the speed goes up.



Type Motor Type Lead [mm]

Horizontal/

Vertical

Speed

[mm/s]

Acceleration/ Deceleration

[G]

Transportable

Weight

[kg]

Horizontal 125 0.2

It depends on

the table

below.

2.5

Vertical 125 0.2

It depends on

the table

below.

Horizontal 250 0.3

It depends on

the table

below.

SRA4R SRGS4R SRGD4R

35P

Vertical 250 0.2

It depends on

the table

below.

              

[2] RCA

Transportable weight would not reduce even if the speed goes up.



Type Motor Type Lead [mm]

Horizontal/

Vertical

Speed

[mm/s]

Acceleration/ Deceleration

[G]

Transportable

Weight

[kg]

Horizontal 125 0.2 18

2.5 Vertical 125 0.2 6.5

Horizontal 250 0.3 9

SRA4R SRGS4R SRGD4R

20W

Vertical 250 0.2 3

 

Caution: Do not have the settings of speed and acceleration/deceleration exceeding the

rated values. It may cause vibration, malfunction or shortened life. Setting of acceleration/deceleration above the ratings may cause creeping or slippage of the coupling.

Horizontal Mount Vertical Mount

Transportable Weight (kg)

Speed (mm/s) Speed (mm/s)

Lead 2.5mm Lead 5mm

1.2.3 Driving System and Position Detector

[1] RCP2

Ball Screw Type

Type Motor Type Lead

No. of Encoder

Pulses

Type Diameter Accuracy

2.5

SRA4R SRGS4R SRGD4R

35P

800 Rolled

I8mm

C10

[2] RCA

Ball Screw Type

Type Motor Type Lead

No. of Encoder

Pulses

Type Diameter Accuracy

2.5

SRA4R SRGS4R SRGD4R

20W

800 Rolled

I8mm

C10

1.2.4 Positioning Accuracy

[1] RCP2



Type Lead Item Performance

Positioning Repeatability

r0.02mm

SRA4R SRGS4R SRGD4R

2.5, 5 Lost Motion 0.1mm or less

The values shown above are the accuracy at the delivery from the factory. It does not include the consideration of time-dependent change as it is used.

[2] RCA



Type Lead Item Performance

Positioning Repeatability

r0.02mm

SRA4R

SRGS4R

SRGD4R

2.5, 5 Lost Motion 0.1mm or less

The values shown above are the accuracy at the delivery from the factory. It does not include the consideration of time-dependent change as it is used.

1. Specications Check

1.2.5 Rod Non-Rotation Accuracy

[1] RCP2



Type Lead [mm] Performance

SRA4R 2.5, 5 -

SRGS4R 2.5, 5 ±0.05°

SRGD4R 2.5, 5 ±0.05°

[2] RCA

Type Lead [mm] Performance

SRA4R 2.5, 5 -

SRGS4R 2.5, 5 ±0.05°

SRGD4R 2.5, 5 ±0.05°

1.2.6 Relation Between Current Limit and Pressing Force

Perform the pressing operation with RCP2 (stepping motor).

                



Caution: (1) The relation of the current limit and the pressing force is a reference  assuming when the speed is 20mm/s.

 (2) There will be a little variance in the actual pressing force. If the value of

current limit is small, the variance for the pressing force becomes big.

 (3) Use the product with the current limit within the range specified in the graph.

If used below 20%, the pressing force would not be stable. An operation may not be made in some cases. An operation cannot be made also when it is beyond 70%. If use in such a condition, it may extremely shorten the product life by the degradation of insulator in the motor coil due to heat generation.

(4) When the approaching speed (setting in the position table) to the pressing

start position is 20mm/s or less, the pressing operation will be made with the approaching speed. In this case, also, the pressing force would not be stable. In such cased, check in advance that the actuator can be used with no problem before start using.

RCP2 Pressing Force

Pressing Force (N)

Lead 2.5mm

Lead 5mm

Current-Limiting Value (Ratio %)

1. Specications Check

1.2.7 Duty Ratio in Continuous Operation

[1] RCP2

Operation can be performed with the duty ratio 100%. Duty ratio is the rate of operation expressed in % that presents the time of the actuator being operated in 1 cycle of operation.

[2] RCA

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

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

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%.

100

0 2 0 40 6 0 80 100

= 60%

LF LF

= 70%

= 80%

= 90% = 100%

Reference duty (%)

Approx.

75%

LF = Less than 50%

Acceleration/deceleration time ratio tod (%)

Load factor (%)

1. Specications Check

1.3 Option

1.3.1 With Brake (Model No.: B)

This is a function to hold the rod so it would not drop when the power or the servo is turned OFF in the condition that the actuator is installed in the vertical orientation. It is to be used to avoid damaging the attached objects by the rod being dropped.

1.3.2 Flange Bracket (Front) (Model No.: FL)

This is a metal component for flange to fix the unit on the rod side.

1.3.3 Flange Bracket (Later) (Model No.: FLR)

This is a flange bracket to affix the unit body at the back (motor) side.

(40.5)

0.25 44.5

345.25

RCP2/RCA-SRA4R Model code of single product RCP2-FL-SRA4

4-φ6.6 through

0.25 44.5

345.25

RCP2 / RCA-SRA4R Model code of single product RCP2-FL-SRA4

1.3.4 Foot brackets 1 (Model No.: FT)

It is a metal part to be attached on the bottom of the actuator to affix with screws from top side.

1.3.5 Foot brackets 2 (Model No.: FT2 (Attachment to the Right Side), FT2 (Attachment to the Left Side))

This is a foot bracket to fix the actuator unit from with screws.

1.3.6 Low Power Consumption Type (Model No.: LA)

RCA enables to drop the maximum load current of the standard type as shown in the table below. For more details, refer to the power capacity of ACON/ASEL controllers.

Standard Type Low Power Consumption Type Peak Load Electric Current 4.0A 2.2A

1.3.7 Guide Oriented Direction (Model No.: GS2 to GS4)

The rod position of the single guide type is either on right (GS2), bottom (GS3) or left (GS4). It will be attached on the top when there is no indication (Standard).

st+10

4-φ6.6 through

105

RCP2 / RCA-SRA4R Model code of single product RCP2-FT-SRA4

1. Specications Check

1.4 Motor • Encoder Cables

[1] RCP2

Model number: CB-PCS-MPAƑƑƑ ƑƑƑ indicates the cable length (L) (Example: 030=3m), Max.20m

(A11)

(A1)

(B11)

(B1)

Controller Side Actuator Side

Signal Name Pin No. Pin No. Signal Name

B1 A1

VMM A2 B1 VMM

I/A

A1 A2

I/A

B3 B2

VMM B2 A3 VMM

I/B

NC 3 A4 NC

NC 2 B4 NC

BK + 14 A5 BK +

BK - 13 B5 BK -

LS + 16 A6 LS +

LS - 15 B6 LS -

A + 12 A7 A +

A - 11 B7 A -

B + 10 A8 B +

B - 9 B8 B -

NC 8 A9 NC VPS 7 B9 VPS VPP 6 A10 VPP

GND 5 B10 GND

NC 4 A11 NC

Shield, FG 1 B11 Shield, FG

[2] RCA

Model number: CB-ACS-MPAƑƑƑ ƑƑƑ indicates the cable length (L) (Example: 030=3m), Max.20m

( A11)

( A1)

( B11)

( B1)

Controller Side Actuator Side

Signal Name Signal Name

For ABZ For Serial

Pin No. Pin No.

For ABZ For Serial

U U 1 A1 U U V V 2 B1 Seri V

W W 3

A2 W W

NC NC 4 B2 NC NC NC NC 3 A3 NC NC NC NC 2 B3 NC NC

BK + BK + 16 A4 BK + BK +

BK - BK - 15 B4 BK - BK -

LS + LS + 18 A5 LS + LS +

LS - LS - 17 B5 LS - LS -

A + - 14 A6 A + A - - 13 B6 A - -

B + - 12 A7 B + -

B - - 11 B7 B - Z + SD + 10 A8 Z + SD + Z - SD - 9 B8 Z - SD -

- BAT + 8 A9 - BAT +

/PS BAT - 7 B9 /PS BAT VCC VCC 6 A10 VCC VCC GND GND 5 B10 GND GND

- - - A11 NC NC

Shield,FG Shield,FG 1 B11 Shield,FG Shield,FG

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 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 the frame of the body 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 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 Installation of the Main Unit

Tapped holes are provided on the front face, rear face, right/left side faces and bottom face of the actuator so that the actuator can be installed from any of these five directions. The tapped hole size varies depending on the mounting surface. (Refer to 6, “External Dimensions.”)

Front face/rear face: M6, depth 12 Right/left side faces/bottom face: M4, depth 10

Caution: Select the bolt length carefully. If bolts of an inappropriate length are used, the tapped

holes may be damaged or sufficient actuator installation strength may not be achieved, resulting in lower precision or unexpected accidents.

2.3.2 Attachment Surface

• The mounting table should have sufficient rigidity to avoid generating vibration.

• The surface where the actuator will be mounted should be machined or be equally level and the flatness tolerance between the actuator and the table should be within 0.05mm.

• Provide enough space around the actuator to permit maintenance work to be done.

2.3.3 Tightening Screws

• Use hexagonal socket head bolts for mounting male threads.

• Use of high-strength bolts of ISO-10.9 or higher is recommended.

• Make sure to have the effective length of screw engagement described below or more for the tightening of a bolt and a female screw. When female screw is on steel ĺ thread length same as nominal diameter When female screw is on aluminum ĺ 1.8 times of nominal diameter

Recommended tightening torques are as follows.

Tightening Torque

Mounting Location

Nominal Thread

Size

Bolt bearing surface is made

of steel

Bolt bearing surface is made

of aluminum

Front face/rear face M4 3.59 N•m (0.37 kgf•m) 1.76N•m (0.18 kgf•m)

Right/left side

faces/bottom face

M6 12.34 N•m (1.26 kgf•m) 5.36N•m (0.55 kgf•m)

2. Installation

3. Connecting with the Controller

3 Connecting with the Controller

For the controller, only the dedicated controller manufactured by our company can be used. Using other controllers may cause a problem such as burning the product, ignition or generating heat. Use the dedicated cable enclosed in the package when connecting the actuator and the controller.

• In applications where the cable cannot be secured, keep the bending radius of the cable to a level resulting from natural deflection by the weight of the cable, or use a self-supporting cable hose or otherwise increase the wiring radius, to minimize the load applied to the cable.

• Never cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length.

• Do not pull or forcibly bend the cable.

* For cable modification, please contact IAI.

Controller

Dedicated Connection Cables r = 84mm or more (Movable Use) r = 42mm or more (Fixed Use)

Dedicated connection cables

• Cable for RCP2 short type: CB-PCS-MPAƑƑƑ

• Cable for RCA short type: CB-ACS-MPAƑƑƑ (*) ƑƑƑ indicates the cable length. 010: 1000mm 030: 3000mm 050: 5000mm

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.

3. Connecting with the Controller

• 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.)

Follow the instructions below when using a cable track.

• If there is an indication to the cable for the space factor in a cable track, refer to the wiring instruction given by the supplier when storing the cable in the cable track.

• Avoid the cables to get twined or twisted in the cable track, and also to have the cables move freely and do not tie them up. (Avoid tension being applied when the cables are bent.) Do not pile up cables. It may cause faster abrasion of the sheaths or cable breakage.

3. Connecting with the Controller

4. Setting of Home Position

4.1 Fine-Tuning of Home Position



It is approximately 3mm for the distance to stop at the home position after reversing at the mechanical end for home-return operation.



If the home-return direction is the same, the home position of the actuator can be fine-tuned by changing the parameter.



Follow the instruction below when a fine-tuning is necessary.

1) Perform the home-return operation.

2) Move the actuator to the desired home position with the jog operation, and adjust the parameter by the difference calculated from the operation. Parameter can be changed in the positive direction of the movement. (Setting of negative direction cannot be established.) Corresponding Parameter: ACON, PCON Controllers: No.22 Home Return Offset Level ACON, PCON Controllers: Each Axis Parameter No.12 Home Preset Value

3) If the offset is made big, the movement range will be limited. Reconstruction of the soft stroke limit is also required when an offset more than 1mm is indicated.

 

4.2 Change the direction of the home



In case the home direction needs to be changed after the product is delivered, changes to such as the movement direction parameters are required. Please contact us.

  

4. Setting of Home Position

5. Inspection

5.1 Inspection Items and Inspection Schedule

Have maintenance inspections following the intervals below. 8 hours per day is assumed as operation condition. Have inspections more frequently if the operation frequency is high for night and day continuous operation, etc.



Visual inspection Grease supply

Note 1



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

{



Note 1 Apply grease to the sliding surface of the rod at the startup check if grease has been

consumed, or every three months.

5.2 Visual Inspection

Exterior Check the following items visually.

Main unit Looseness of attachment screws

Cables Scratches, proper connection of connectors

General Irregular noise, vibration

5.3 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 lightly. y Do not use petroleum-based solvents, neutral detergents or alcohol to clean the interior.

Caution: Do not touch the encoder.

5. Inspection

5.4 Grease Supply

5.4.1 Grease to Apply

The actuator is shipped with lithium grease applied to the ball screw. The following dedicated grease is applied to the ball screw prior to the shipment from our factory.Apart from above, there are equivalent sorts of grease sold in the market.

Kyodo Yushi Multemp LRL No. 3

5.4.2 Grease supply

When performing maintenance, add grease from the greasing port using a spray-type lithium grease to lubricate the ball screw. Lubricate the ball screw after pulling the rod all the way to the stroke end. Stroke the rod several times back and forth over the entire stroke to let the grease spread evenly across the entire ball screw.

Caution: y Do not attempt to apply fluorine grease.

y When mixed with lithium grease, not only decrease the grease characteristics, but

also may damage the actuator.

y In case the grease got into your eye, immediately go see the doctor to get

appropriate care.

y After finishing the grease supply work, wash your hands carefully with water and

soap to rinse the grease off.

5.5 Replacing the Motor and Belt

If the motor or belt must be replaced, contact IAI.

5. Inspection

6. External Dimensions

* With brake type actuators (option), strokes of 70 mm or more are supported.

6.1 RCP2-SRA4R, RCA-SRA4R

Secure at least 100

22.5

4-M6 depth 12

31.5

4.8

4.2

7.5

(Between 2 flat faces)

M10×1.25

E-M4

depth 10

(Same on the opposite side)

ME SE

ORGN

40.5

D×50

4-M6

depth 12

E-M4

depth 10

D×50

6 17

M10×1.25

Enclosed nut size

(

19.6)

ORGNMESE

: Mechanical End

: Home

: Stroke End

: Stroke

with

brake

0.80

0.86

0.92

0.98

1.05

1.11

1.17

1.23

1.30

1.61

1.92

RCA

w/o

brake

0.78

0.84

0.90

0.96

1.03

1.09

1.15

1.21

1.27

1.59

1.90

with

brake

0.85

0.91

0.98

1.04

1.10

1.16

1.23

1.29

1.35

1.66

1.97

Weight [kg]

RCP2

w/o

brake

0.83

0.89

0.96

1.02

1.08

1.14

1.21

1.27

1.33

1.64

1.95

102

112

122

132

142

192

242

104

114

124

134

144

154

164

214

264

124.5

134.5

144.5

154.5

164.5

174.5

184.5

194.5

204.5

254.5

304.5

100

150

200

6. External Dimensions

6.2 RCP2-SRGS4R, RCA-SRGS4R

(Single guide (option) installed on the right)

Secure at least 100

50.5

D×50

C D×50

14.5

34.5 8

7.5

3434

22.5

0.5

45.5 45

SEME

st st+60

42.5

ORGN

90.5

3 3

φ10

φ345.5

880

45 1520

2.5

5 3

(Shaft travel from home-side ME position to home position)(Shaft overhang at SE position)

30 30 8

6-M5 depth 12

E-M4 depth 10

4-M6 depth 12

(Same on the opposite side)

ORGNMESE

: Mechanical End

: Home

: Stroke End

: Stroke

with

brake

1.17

1.23

1.30

1.37

1.44

1.51

1.58

1.64

1.71

2.05

2.40

RCA

w/o

brake

1.15

1.21

1.28

1.35

1.42

1.49

1.56

1.62

1.69

2.03

2.38

with

brake

1.22

1.29

1.36

1.43

1.50

1.56

1.63

1.70

1.77

2.11

2.45

Weight [kg]

RCP2

w/o

brake

1.20

1.27

1.34

1.41

1.48

1.54

1.61

1.68

1.75

2.09

2.43

102

112

122

132

142

192

242

104

114

124

134

144

154

164

214

264

126.5

136.5

146.5

156.5

166.5

176.5

186.5

196.5

206.5

256.5

306.5

100

150

200

6.3 RCP2-SRGS4R, RCA-SRGS4R

(Single guide (option) installed on the left)

35 3

st+60 st

42.5

(Shaft travel from home-side ME position to home position)

SE ME

ORGN

(Shaft overhang at SE position)

φ10

φ345.5

154520

90.5

45.545

2.5

50.50.5 44

14.522

1715

D×50

D×50 C 24

8 34.5

7.5

22.5

Secure at least 100

6-M5 depth 12

E-M4 depth 10

(Same on the opposite side)

E-M4

depth 10

4-M

6 depth 12

ORGNMESE

: Mechanical End

: Home

: Stroke End

: Stroke

with

brake

1.17

1.23

1.30

1.37

1.44

1.51

1.58

1.64

1.71

2.05

2.40

RCA

w/o

brake

1.15

1.21

1.28

1.35

1.42

1.49

1.56

1.62

1.69

2.03

2.38

with

brake

1.22

1.29

1.36

1.43

1.50

1.56

1.63

1.70

1.77

2.11

2.45

Weight [kg]

RCP2

w/o

brake

1.20

1.27

1.34

1.41

1.48

1.54

1.61

1.68

1.75

2.09

2.43

102

112

122

132

142

192

242

104

114

124

134

144

154

164

214

264

126.5

136.5

146.5

156.5

166.5

176.5

186.5

196.5

206.5

256.5

306.5

100

150

200

6. External Dimensions

6.4 RCP2-SRGS4R, RCA-SRGS4R

(Single guide (option) installed at the bottom)

Secure at least 100

42.5

34.5 8 A

B 22

C17 15

24 8C D×50

D×50

st×60

3 3

ORGN

140.5

45 50

8 80

45 2015

22.5

45.5

6-M5 depth 12

E-M4 depth 10

(Shaft overhang

at SE position)

φ10

φ34

5.5

(Shaft travel from home-side

ME position to home position)

E-M4 depth 10

4-M6 depth 12

(Same on the opposite side)

ORGNMESE

: Mechanical End

: Home

: Stroke End

: Stroke

with

brake

1.17

1.23

1.30

1.37

1.44

1.51

1.58

1.64

1.71

2.05

2.40

RCA

w/o

brake

1.15

1.21

1.28

1.35

1.42

1.49

1.56

1.62

1.69

2.03

2.38

with

brake

1.22

1.29

1.36

1.43

1.50

1.56

1.63

1.70

1.77

2.11

2.45

Weight [kg]

RCP2

w/o

brake

1.20

1.27

1.34

1.41

1.48

1.54

1.61

1.68

1.75

2.09

2.43

102

112

122

132

142

192

242

104

114

124

134

144

154

164

214

264

126.5

136.5

146.5

156.5

166.5

176.5

186.5

196.5

206.5

256.5

306.5

100

150

200

6.5 RCP2-SRGD4R, RCA-SRGD4R

(Double guide (option))

Secure at least 100

45.5 45

3 3 3

5 (Shaft overhang

(Shaft travel from home-side

ME position to home position

at SEposition)

st+60

SE ORGN ME

42.5

3030 30

105

126

136

34D×50

D×50

34.5 8

14.5

45.5

4-M5

E-M4 depth 10

4-M6 depth 12

8-M5 depth 12

50.5

φ 10

φ 345.5

15.5 15.57.5 7.545 45

0.5

22.5

(For installing actuator)

(For installing load)

ORGNMESE

: Mechanical End

: Home

: Stroke End

: Stroke

with

brake

1.44

1.51

1.58

1.66

1.73

1.81

1.88

1.96

2.03

2.40

2.77

RCA

w/o

brake

1.42

1.49

1.56

1.64

1.71

1.79

1.86

1.94

2.01

2.38

2.75

with

brake

1.49

1.57

1.64

1.72

1.79

1.86

1.94

2.01

2.09

2.46

2.83

Weight [kg]

RCP2

w/o

brake

1.47

1.55

1.62

1.70

1.77

1.84

1.92

1.99

2.07

2.44

2.81

102

112

122

132

142

192

242

104

114

124

134

144

154

164

214

264

126.5

136.5

146.5

156.5

166.5

176.5

186.5

196.5

206.5

256.5

306.5

100

150

200

6. External Dimensions

6.6 Flange Bracket (option) installed

4-φ6.6 through

44.50.25

(40.5)

Datail view when flange bracket is installed (at the front)

5.25

4-φ6.6 through

Datail view when flange bracket is installed (at the rear)

44.5

0.25

5.25

6.7 Foot Bracket (option) installed

st+10

φ6.6 through

121

107

Detail view when foot brackets are installed (on the right or the left) (Foot brackets can be installed on either the right side or the left side.)

φ6.6 through

st+10

105

Detail view when foot brackets are installed

6. External Dimensions

7. Warranty

7.1 Warranty Period

One of the following periods, whichever is shorter:

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

7.2 Scope of the Warranty

Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized

dealer. (2) The breakdown or problem in question occurred during the warranty period. (3) The breakdown or problem in question occurred while the product was in use for an appropriate

purpose under the conditions and environment of use specified in the Operation Manual and catalog. (4) The breakdown or problem in question was caused by a specification defect or problem, or by the

poor quality of our product.

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

[1] Anything other than our product

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

modification or repair)

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

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

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

7.3 Honoring the Warranty

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

7.4 Limited Liability

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

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

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

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

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

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

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

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

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

[1] Medical equipment pertaining to maintenance or management of human life or health [2] A mechanism or mechanical equipment intended to move or transport people (such as a

vehicle, railway facility or aviation facility) [3] Important safety parts of mechanical equipment (such as safety devices) [4] Equipment used to handle cultural assets, art or other irreplaceable items

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

differs from what is specified in the catalog or Operation Manual.

7.6 Other Items Excluded from Warranty

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

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

7. Warranty

Change History

Revision Date Description of Revision

April 2011

Third edition

A page for CE Marking added



September 2011

Fourth edition

Change in pressing force graph in Pg.16

November 2012

Fifth edition

Revised overall

Change History

Manual No.: ME3665-5A (November 2012)

12.11.000

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

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

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

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

TEL 06196-88950 FAX 06196-889524

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

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

website: www.iai-robot.com

Technical Support available in USA, Europe and China

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

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

Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143

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

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

website: www.intelligentactuator.com

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

IAI America RCP2-SRGD4R User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of Contents

Safety Guide

Precautions in Handling

International Standards Compliances

Names of the Parts (or option)

1. Specifications Check

1.1 Checking the Product

1.2 Specification

1.3 Option

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 the Controller

4. Setting of Home Position

4.1 Fine-Tuning of Home Position

4.2 Change the direction of the home

5. Inspection

5.1 Inspection Items and Inspection Schedule

5.2 Visual Inspection

5.3 Cleaning

5.4 Grease Supply

5.5 Replacing the Motor and Belt

6. External Dimensions

6.1 RCP2-SRA4R, RCA-SRA4R

6.6 Flange Bracket (option) installed

6.7 Foot Bracket (option) installed

7. Warranty

7.1 Warranty Period

7.2 Scope of the Warranty

7.3 Honoring the Warranty

7.4 Limited Liability

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

7.6 Other Items Excluded from Warranty

Change History