IAI America RCP3-RA2BR User Manual
ROBO Cylinder
RCP3 Actuator
Rod Type
Operating Manual
Fourth Edition
Motor coupling types
Motor reversing types
[Slim Small ROBO Cylinders] RA2AC/RA2BC
[Slim Small ROBO Cylinders] RA2AR/RA2BR
IAI America, Inc.
Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among
others, providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein
to ensure safe use of the product.
The CD or DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing
them out or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product
can reference it quickly when necessary.
[Important]
• This Operation Manual is original.
• The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI
shall assume no responsibility for the outcome of any operation not specified herein.
• Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
• If you have any question or comment regarding the content of this manual, please contact the IAI
sales office near you.
• Using or copying all or part of this Operation Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.
CE Marking
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.
Table of Contents
Safety Guide.................................................................................................................................. 1
Handling Precautions .................................................................................................................... 8
1. Part Names .......................................................................................................................... 12
2. External Drawings ................................................................................................................ 13
2.1 RCP3-RA2AC (Lead Screw, Ball Screw) .................................................................... 13
2.2 RCP3-RA2BC (Lead Screw, Ball Screw) .................................................................... 14
2.3 RCP3-RA2AR, Reversing to Right (Lead Screw, Ball Screw) .................................... 15
2.4 RCP3-RA2BR, Reversing to Right (Lead Screw, Ball Screw) .................................... 16
3. Cable Drawings .................................................................................................................... 17
3.1 PMEC, PSEP Controller Cables ................................................................................. 17
3.2 PCON Controller Cable............................................................................................... 18
4. Options ................................................................................................................................. 19
4.1 Brake Type.................................................................................................................. 19
4.2 Motor Reversing to Left, Motor Reversing to Right ..................................................... 19
5. Checking after Unpacking .................................................................................................... 20
5.1 Included Items............................................................................................................. 20
5.2 Operation Manuals Relating to This Product .............................................................. 20
5.3 How to Read Model Nameplate .................................................................................. 20
5.4 How to Read Model Number....................................................................................... 21
6. Specifications ....................................................................................................................... 22
7. Operation.............................................................................................................................. 24
7.1 Operational Conditions for Positioning Operation ...................................................... 24
7.2 Operational Conditions for Pressing Operation .......................................................... 28
7.2.1 RA2AC, RA2AR, RA2BC, RA2BR (Lead Screw) .......................................................28
7.2.2 RA2AC, RA2AR, RA2BC, RA2BR (Ball Screw) .........................................................29
8. Installation Environment and Storage Environment ............................................................. 30
8.1 Installation Environment.............................................................................................. 30
8.2 Storage/Preservation Environment ............................................................................. 30
9. Installation ............................................................................................................................ 31
9.1 Installation of Actuator................................................................................................. 31
9.2 Installation Surface...................................................................................................... 32
10. Connection with Controller ...................................................................................................33
11. Notes on Operation .............................................................................................................. 37
11.1 Loads Received by the Actuator ................................................................................. 37
11.1.1 Loads applied to RA2AC, RA2AR, RA2BC and RA2BR actuators ............................ 37
11.1.2 External force in thrust directions................................................................................ 37
12. Life........................................................................................................................................ 38
12.1 Life of Actuator Using Ball Screws .............................................................................. 38
12.2 Life of Actuator Using Slide-screws ............................................................................ 38
12.2.1 Relationship of Cycle Time and Product Life.............................................................. 38
13. Maintenance and Inspection ................................................................................................ 40
13.1 Inspection Items and Schedule................................................................................... 40
13.2 Visual Inspection of Exterior........................................................................................ 40
13.3 Cleaning...................................................................................................................... 40
13.4 Inspection of Interior.................................................................................................... 41
13.5 Internal Cleaning ......................................................................................................... 41
13.6 Greasing...................................................................................................................... 42
13.6.1 Applicable Grease....................................................................................................... 42
13.6.2 How to Apply Grease .................................................................................................. 43
13.7 Belt
..............................................................................................................................
13.7.1 Inspection of Belt.........................................................................................................44
13.7.2 Applicable Belt ............................................................................................................ 44
13.7.3 Adjustment of Belt Tension.......................................................................................... 44
44
13.8 Motor Replacement (Pulse Motor: RCP3)................................................................... 45
13.9 Replacement of Belt and Motor for Reversing Type (Pulse Motor: RCP3) ................. 47
14. Warranty............................................................................................................................... 50
14.1 Warranty Period...........................................................................................................
50
14.2 Scope of Warranty....................................................................................................... 50
14.3 Honoring Warranty.......................................................................................................50
14.4 Limited Liability............................................................................................................50
14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications..........................................................................................................
51
14.6 Other Items Excluded from Warranty...........................................................................51
Change History............................................................................................................................ 52
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1 Model
Operation
Description
Selection
Description
This product has not been planned and designed for the application where
high level of safety is required, so the guarantee of the protection of
human life is impossible. Accordingly, do not use it in any of the following
applications.
1) Medical equipment used to maintain, control or otherwise affect human
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving part
may drop when the power is turned OFF and may cause an accident such
as an injury or damage on the work piece.
1
No.
Operation
Description
Description
2 Transportation When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions
in the operation manual for each model.
Do not step or sit on the package.
Do not put any heavy thing that can deform the package, on it.
When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Do not get on the load that is hung on a crane.
Do not leave a load hung up with a crane.
Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
Store the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
Make sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
2
No.
Operation
Description
4 Installation
and Start
Description
(2) Cable Wiring
Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Perform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
When the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is
not correct, it might cause a fire, product breakdown or malfunction.
Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction
of the product.
Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
(3) Grounding
The grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise-resistance ability and control
the unnecessary electromagnetic radiation.
For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair cable
with wire thickness 0.5mm
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).
Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100 or below).
3
No.
4 Installation
Operation
Description
and Start
Description
(4) Safety Measures
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range. When the
robot under operation is touched, it may result in death or serious injury.
Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
Take the measure so that the work part is not dropped in power failure or
emergency stop.
Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
4
No.
Operation
Description
Description
6 Trial Operation When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Check before starting the automatic operation or rebooting after operation
stop that there is nobody in the safety protection fence.
Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm
indication.
Make sure to operate automatic operation start from outside of the safety
protection fence.
In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.
5
No.
8 Maintenance
Operation
Description
and Inspection
Description
When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Perform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
For the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
Pay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing so
may affect the performance of your medical device.
See Overseas Specifications Compliance Manual to check whether
complies if necessary.
For the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.
6
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the Operation Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
Warning
Caution
Notice
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, may result in minor injury or property
damage.
This indicates lower possibility for the injury, but should be kept to
use this product properly.
Danger
Warning
Caution
Notice
7
Handling Precautions
1. Do Not Set Speed and Acceleration/Deceleration Higher Than the Rated Values.
Do not set speed and acceleration/deceleration higher than the rated values. It causes vibration, failure, or
shortening of life. If acceleration/deceleration higher than the rated value is set, creeping phenomenon or
coupling slide may occur.
2. Do Not Apply External Force on the Rod from Directions Other Than the Rod
Traveling Direction.
Do not apply external force (radial load) on the rod from directions other than the rod traveling direction. If
force in the perpendicular or rotating direction is applied on the rod, the actuator may be damaged or
malfunction.
If external force from directions other than the traveling direction is applied, mount external guide or similar.
3. Oil Film of Grease May Run Out If Short-distance Reciprocating Operation is Performed.
When performing continuous reciprocating operation of a distance of 30 mm or shorter, oil film of grease
may run out. To recover oil film, perform approximately five cycles of a distance of 50 mm or longer, every
5,000 to 10,000 cycles, as a guideline
Make sure to attach the Horizontal Articulated Robot properly by following this
4.
operation manual.
Using the product with the Horizontal Articulated Robot not being certainly retained or affixed may cause
abnormal noise, vibration, malfunction or shorten the product life.
8
5. Transportation
5.1 Handling a Single Actuator
Please adhere to the following when handling a single actuator.
5.1.1 Handling the Packed Unit
Unless otherwise specified, the actuator is shipped with each axis packaged separately.
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.
Transport a heavy package with at least more than two operators. Consider an appropriate
method for transportation.
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.
Do not step or sit on the package.
Do not put any load that may cause a deformation or breakage of the package.
5.1.2 Handling the Actuator After Unpacking
Do not carry an actuator by a cable or attempt to move it by pulling the cable.
Hold the body base when transporting the actuator.
Be careful not to bump the actuator into anything when moving it.
Do not apply an excessive force to each part of the actuator. In particular, prevent the motor unit
and rear bracket from receiving an unnecessary force.
Supplement) For the names of each part of the actuator, refer to 1, "Part Names".
9
5.2 Handling the Actuator Assembly
When carrying the actuator, exercise caution not to bump it against nearby objects or structures.
Secure the sliders to prevent sudden movement during transport.
If any end of the actuator is overhanging, secure it properly to avoid significant movement due to
external vibration.
When transporting the assembly without the ends of the actuators fastened, do not subject the
assembly to an impact of 0.3 G or more.
When suspending the mechanical equipment (system) with ropes, avoid applying force to actuator,
connector box, etc. Also, avoid the cables being pinched or caused an excessive deformation.
10
11
1. Part Names
The names of the actuator parts are indicated below.
In this manual, the right and left are determined by viewing the actuator from the top and from the motor
side.
1. Part Names
z “Motor coupling type” RA2AC/RA2BC(Lead screw, ball screw)
Motor unit with brake
Rod cover
Other side
Rod end bracket
Right
Left
Rod
* Refer to 2, “External Dimensions” for details.
z “Motor reversing type” RA2AR/RA2BR (Lead screw, ball screw)
Reversing bracket
Right
Motor unit
Motor side
Motor unit with brake
Reversing plate
Pulley cover
Left
Other side
* Refer to 2, “External Dimensions” for details.
12
Motor side
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