IAI America RCP4CR-SA7C User Manual
ROBO Cylinder
Radial Cylinder
RCP4 Actuator
Slider Type
Operation Manual
Sixth Edition
Standard type Motor straight type, RCP4-RA5C, RA6C, RA7C
Standard type Motor reversing type, RCP4-RA5R, RA6R, RA7R
Clean Room type Motor straight type, RCP4CR-SA5C, SA6C SA7C
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.
Table of Contents
Safety Guide..................................................................................................................................................1
Caution in Handling .......................................................................................................................................8
Names of the Parts........................................................................................................................................9
1. Specification Check.............................................................................................................................. 11
1.1 Checking the Product ................................................................................................................. 11
1.1.1 Parts ............................................................................................................................11
1.1.2 Related Operation Manuals for the Each Controller Supported by this Product .......... 11
1.1.3 How to Read the Model Nameplate............................................................................. 11
1.1.4 How to Read the Model Number .................................................................................12
1.2 Specification ...............................................................................................................................13
1.2.1 Speed ..........................................................................................................................13
1.2.2 Maximum Acceleration and Transportable Weight.......................................................16
1.2.3 Driving System • Position Detector ..............................................................................36
1.2.4 Positioning Precision ...................................................................................................36
1.2.5 Current Limit Value and Pressing Force ......................................................................37
1.2.6 Allowable Load Moment of Actuator ............................................................................39
1.2.7 Duty Ratio in Continuous Operation ............................................................................40
1.3 Options .......................................................................................................................................41
1.3.1 Brake Type (Model No. : B) .........................................................................................41
1.3.2 Reversed-home Specification (Model No. : NM)..........................................................41
1.3.3 Motor Left Reversed, Motor Right Reversed (Model No. : ML, MR) ............................41
1.3.4 Vacuum Joint on Other Side (Model No. : VR) ............................................................41
1.4 Motor • Encoder Cables..............................................................................................................42
1.4.1 Motor • Encoder Integrated Cables..............................................................................42
1.4.2 Motor • Encoder Integrated Cables Robot Type ..........................................................43
2. Installation ............................................................................................................................................44
2.1 Transportation.............................................................................................................................44
2.2 Installation and Storage • Preservation Environment ..................................................................46
2.3 Installation ..................................................................................................................................47
2.3.1 General Rules on Installation.......................................................................................47
2.3.2 Installation of Main Unit ...............................................................................................48
2.4 Clean-Room Type.......................................................................................................................54
2.4.1 Reference for Vacuuming Capacity .............................................................................54
2.4.2 Vacuum Joint ...............................................................................................................54
3. Connecting with Controller ...................................................................................................................55
4. Maintenance Inspection .......................................................................................................................59
4.1 Inspection Items and Schedule...................................................................................................59
4.2 External Visual Inspection ..........................................................................................................59
4.3 Cleaning .....................................................................................................................................59
4.4 Internal Inspections ....................................................................................................................60
4.5 Internal Cleaning ........................................................................................................................60
4.6 Grease Supply............................................................................................................................61
4.6.1 What Grease to Use on the Standard Type .................................................................61
4.6.2 What Grease to Use on the Clean Room Type............................................................61
4.6.3 How to apply grease....................................................................................................62
4.7 Procedure for Stainless Steel Sheet Replacement and Adjustment............................................64
4.7.1 Preparation..................................................................................................................64
4.7.2 Procedure for Replacement and Tuning ......................................................................65
4.8 Procedure for Belt Replacement and Tuning..............................................................................67
4.8.1 Inspection of the Belt ...................................................................................................67
4.8.2 Belts to be used...........................................................................................................67
4.8.3 Replacement of the Belt ..............................................................................................68
4.9 Motor Replacement Process ......................................................................................................70
4.9.1 RCP4-SA5C, SA6C, SA7C, RCP4CR-SA5C, SA6C, SA7C........................................70
4.9.2 RCP4-SA5R, SA6R, SA7R..........................................................................................72
5. External Dimensions ............................................................................................................................74
5.1 RCP4-SA5C ...............................................................................................................................74
5.2 RCP4-SA6C ...............................................................................................................................75
5.3 RCP4-SA7C ...............................................................................................................................76
5.4 RCP4-SA5R ...............................................................................................................................77
5.5 RCP4-SA6R ...............................................................................................................................78
5.6 RCP4-SA7R ...............................................................................................................................79
5.7 RCP4CR-SA5C ..........................................................................................................................80
5.8 RCP4CR-SA6C ..........................................................................................................................81
5.9 RCP4CR-SA7C ..........................................................................................................................82
6. Life .......................................................................................................................................................83
7. Warranty...............................................................................................................................................84
7.1 Warranty Period..........................................................................................................................84
7.2 Scope of the Warranty................................................................................................................84
7.3 Honoring the Warranty................................................................................................................84
7.4 Limited Liability ...........................................................................................................................84
7.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ......85
7.6 Other Items Excluded from Warranty..........................................................................................85
Change History............................................................................................................................................86
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1 Model Selection Ɣ This product has not been planned and designed for the application where high
Operation
Description
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.
Description
1
No.
Operation
Description
Description
2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize
equipment such as crane.
Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the
leader and who to be the follower(s) and communicate well with each other to
ensure the safety of the workers.
Ɣ When in transportation, consider well about the positions to hold, weight and
weight balance and pay special attention to the carried object so it would not get hit
or dropped.
Ɣ Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts attached or
there are tapped holes to attach bolts. Follow the instructions in the 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
2
No.
Operation
Description
4 Installation and
Start
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.
(3) Grounding
Ɣ The grounding operation should be performed to prevent an electric shock or
electrostatic charge, enhance the noise-resistance ability and control the
unnecessary electromagnetic radiation.
Ɣ For the ground terminal on the AC power cable of the controller and the grounding
plate in the control panel, make sure to use a twisted pair cable with wire thickness
0.5mm
2
(AWG20 or equivalent) or more for grounding work. For security
grounding, it is necessary to select an appropriate wire thickness suitable for the
load. Perform wiring that satisfies the specifications (electrical equipment technical
standards).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground resistance
100: or below).
3
No.
4 Installation and
Operation
Description
Start
Description
(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.
4
No.
Operation
Description
Description
6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the
leader and who to be the follower(s) and communicate well with each other to
ensure the safety of the workers.
Ɣ After the teaching or programming operation, perform the check operation one
step by one step and then shift to the automatic operation.
Ɣ When the check operation is to be performed inside the safety protection fence,
perform the check operation using the previously specified work procedure like the
teaching operation.
Ɣ Make sure to perform the programmed operation check at the safety speed.
Failure to do so may result in an accident due to unexpected motion caused by a
program error, etc.
Ɣ Do not touch the terminal block or any of the various setting switches in the power
ON mode. Failure to do so may result in an electric shock or malfunction.
7 Automatic
Operation
Ɣ Check before starting the automatic operation or rebooting after operation stop
that there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral equipment is in
an automatic-operation-ready state and there is no alarm indication.
Ɣ Make sure to operate automatic operation start from outside of the safety
protection fence.
Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn OFF the
power switch. Failure to do so may result in a fire or damage to the product.
Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so may
cause an injury or damage to the product, due to a sudden motion of the product in
the recovery operation from the power failure.
5
No.
8 Maintenance
Operation
Description
and Inspection
Description
Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the
leader and who to be the follower(s) and communicate well with each other to
ensure the safety of the workers.
Ɣ Perform the work out of the safety protection fence, if possible. In the case that the
operation is to be performed unavoidably inside the safety protection fence,
prepare the “Stipulations for the Operation” and make sure that all the workers
acknowledge and understand them well.
Ɣ When the work is to be performed inside the safety protection fence, basically turn
OFF the power switch.
Ɣ When the operation is to be performed inside the safety protection fence, the
worker should have an emergency stop switch at hand with him so that the unit
can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be stopped
any time in an emergency. Also, keep watch on the operation so that any third
person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ For the grease for the guide or ball screw, use appropriate grease according to the
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.
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
Caution in Handling
1. Do not attempt to establish the settings for the speed and acceleration/deceleration
above the allowable range.
An operation with speed and acceleration/deceleration beyond the allowable range may cause an
abnormal noise, vibration, malfunction or shortened life.
2. Set the allowable load moment within the allowable range.
An operation with the load beyond the allowable load moment may cause an abnormal noise, vibration,
malfunction or shortened life. If it is extreme, flaking may occur on the guide.
3. Set the overhang length within the allowable range.
Attaching a load with an overhang length above the allowable range may cause vibration and abnormal
noise.
4. If back and forth operations are performed repeatedly in short distance, it may wear
out the film of grease.
Continuous back and forth operation within a distance less than 30mm may cause wear of grease.
As a reference, have approximately 5 cycles of back and forth operation in a distance more than 50mm
in every 5,000 to 10,000 cycles to regenerate the oil film. Keep using the actuator with the grease worn
out may cause malfunction. If it is extreme, flaking may occur on the guide.
5. Do not attempt to hit the slider against an abstacle with high speed.
It may destroy the coupling.
6. Make sure to attach the actuator properly by following this instruction manual.
Using the product with the actuator not being certainly retained or affixed may cause abnormal noise,
vibration, malfunction or shorten the product life.
7. Ensure use of the product in the specified conditions, environments and ranges.
An operation out of the specified conditions may cause a drop in performance or malfunction of the
product.
8
Names of the Parts
In this Operation Manual, the left and right sides are indicated by looking at the actuator from the motor end,
with the actuator placed horizontally, as shown in the figure below.
1. Standard Type Motor Straight Type RCP4
Stainless Steel Sheet
Opposite Side
of the Motor
Side Cover
Front Cover Slider Cover
Right Side
Left Side
Slider
Base
2. Standard Type Motor Reversing Type RCP4
Right Side
Reversing Bracket
Motor Side
Motor Unit
Screw for motor unit attachment
Actuator Cable
Tapped hole for ground cable connection
Pulley Cover
Left Side
Front Cover
Motor Unit
Screw for Motor Unit Attachment
Pulley Bracket
Actuator Cable
Base
The direction of the motor is either left reversed: ML (shown in figure above) or right reversed: MR.
9
3. Clean Room Type Motor Straight Type RCP4CR
Screw for motor unit attachment
Stainless Steel Sheet
Motor Unit
Motor Side
Front Cover Slider Cover
Base
Slider
Actuator Cable
Air Vacuum Joint
10
1. Specification Check
r
1.1 Checking the Product
The standard configuration of this product is comprised of the following parts.
See the component list for the details of the enclosed components. If you find any fault or missing parts,
contact your local IAI distributor.
1.1.1 Parts
No. Name Model number Quantity Remarks
Refer to “How to Read the Model
1 Actuator
Accessories
2 Motor • encoder cables
3 In-house made seals 1
4 First Step Guide 1
5 Operation Manual (CD/DVD) 1
6 Safety Guide 1
Note 1 The motor • encoder cables supplied vary depending on the controller used. [Refer to 1.4, “Motor •
Encoder Cables.”]
(Note 1)
Nameplate” and “How to Read the Model
Number.”
1
1.1.2 Related Operation Manuals for the Each Controller Supported by this Product
1
1. Checking the Product
Shown below is a list of the instruction manuals for the controllers related to this product which is recorded in
Instruction Manual (DVD).
No. Name Control No.
1 Operation Manual for PCON-CA Controller ME0289
2 Operation Manual for RC PC Software RCM-101-MW/RCM-101-USB ME0155
3 Operation Manual for CON-PTA/PDA/PGA ME0295
1.1.3 How to Read the Model Nameplate
Model
Serial numbe
MODEL RCP4-SA5C-I-42P-3-50-P3-P-B
SERIAL No.000090266 MADE IN JAPAN
11
1.1.4 How to Read the Model Number
<Series name>
Standard Type
RCP4
Clean Room Type
RCP4CR
<Type>
Motor straight type
1. Checking the Product
SA5C
SA6C
SA7C
Motor reversing type
SA5R
SA6R
SA7R
<Encoder type>
I : Incremental
<Motor type>
42P : 42Ƒ
56P : 56Ƒ
RCP4 í SA5C í I í 42P í 3 í 50 í P3 í P í B í **
Identification for IAI use only
(Note 1)
<Options>
B : Brake
NM : Reversed-home specification
ML : Motor Left Reversed
MR : Motor Right Reversed
VR : Air Vacuum Joint on Other Side
<Cable length>
N : None
P : 1m
S : 3m
M : 5m
XƑƑ : Length specification
RƑƑ : Robot cable
<Controller>
P3 : PCON-CA
<Stroke>
[Refer to 1.2 Specification]
<Lead>
SA5C, SA6C
SA5R, SA6R
3/6/12/20
SA7C, SA7R
4/8/16/24
Note 1 Identification for IAI use only : It may be displayed for IAI use. It is not a code to show the model
type.
12
1.2 Specification
1.2.1 Speed
[When high-output setting is effective]
Motor
Lead
Type
Type
SA5C 42P
SA6C 42P
SA7C 56P
SA5R 42P
SA6R 42P
Horizontal
[mm]
/ Vertical
Horizontal 225 195 165 140 120 105 90 80
3
Vertical 225 195 165 140 120 105 90 80
Horizontal 450 395 335 285 245 215 185 165
6
Vertical 450 395 335 285 245 215 185 165
Horizontal 900 795 665 570 490 425 375 330
12
Vertical 900 795 665 570 490 425 375 330
Horizontal 1440 1225 1045 900 785 690 610
20
Vertical 1280 1225 1045 900 785 690 610
Horizontal 225 195 165 140 120 105 90 80
3
Vertical 225 195 165 140 120 105 90 80
Horizontal 450 395 335 285 245 215 185 165
6
Vertical 450 395 335 285 245 215 185 165
Horizontal 900 795 670 570 490 430 375 335
12
Vertical 900 795 670 570 490 430 375 335
Horizontal 1440 1230 1045 905 785 690 615
20
Vertical 1280 1230 1045 905 785 690 615
Horizontal 245 215 185 160 145 125
4
Vertical 210 185 160 145 125
Horizontal 490 430 375 325 290 255
8
Vertical 490 430 375 325 290 255
Horizontal 980 865 750 655 580 515
16
Vertical 840 750 655 580 515
Horizontal 1200 1155 1010 890 790
24
Vertical 1200 1155 1010 890 790
Horizontal 225 195 165 140 120 105 90 80
3
Vertical 225 195 165 140 120 105 90 80
Horizontal 450 395 335 285 245 215 185 165
6
Vertical 450 395 335 285 245 215 185 165
Horizontal 900 795 665 570 490 425 375 330
12
Vertical 800 795 665 570 490 425 375 330
Horizontal 1440 1225 1045 900 785 690 610
20
Vertical 1120 1045 900 785 690 610
Horizontal 225 195 165 140 120 105 90 80
3
Vertical 225 195 165 140 120 105 90 80
Horizontal 450 395 335 285 245 215 185 165
6
Vertical 450 395 335 285 245 215 185 165
Horizontal 900 795 670 570 490 430 375 335
12
Vertical 900 795 670 570 490 430 375 335
Horizontal 1280 1230 1045 905 785 690 615
20
Vertical 1280 1230 1045 905 785 690 615
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
1. Checking the Product
Speed limits (Unit: mm/s)
Stroke [mm]
13
Motor
Lead
Type
Type
SA7R 56P
Horizontal
[mm]
/ Vertical
Horizontal 210 185 160 145 125
4
Vertical 210 185 160 145 125
Horizontal 490 430 375 325 290 255
8
Vertical 490 430 375 325 290 255
Horizontal 840 750 655 580 515
16
Vertical 700 655 580 515
Horizontal 1000 890 790
24
Vertical 1000 890 790
1. Checking the Product
Stroke [mm]
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
14
[When high-output setting is ineffective]
Motor
Lead
Type
Type
SA5C 42P
SA6C 42P
SA7C 56P
SA5R 42P
SA6R 42P
SA7R 56P
Horizontal
[mm]
/ Vertical
Horizontal 150 140 120 105 90 80
3
Vertical 150 140 120 105 90 80
Horizontal 300 285 245 215 185 165
6
Vertical 300 285 245 215 185 165
Horizontal 600 570 490 425 375 330
12
Vertical 600 570 490 425 375 330
Horizontal 960 900 785 690 610
20
Vertical 960 900 785 690 610
Horizontal 150 140 120 105 90 80
3
Vertical 150 140 120 105 90 80
Horizontal 300 285 245 215 185 165
6
Vertical 300 285 245 215 185 165
Horizontal 600 570 490 430 375 335
12
Vertical 600 570 490 430 375 335
Horizontal 960 905 785 690 615
20
Vertical 960 905 785 690 615
Horizontal 140 125
4
Vertical 140 125
Horizontal 280 255
8
Vertical 280 255
Horizontal 560 515
16
Vertical 560 515
Horizontal 1000 890 790
24
Vertical 800 790
Horizontal 150 140 120 105 90 80
3
Vertical 150 140 120 105 90 80
Horizontal 300 285 245 215 185 165
6
Vertical 300 285 245 215 185 165
Horizontal 600 570 490 425 375 330
12
Vertical 600 570 490 425 375 330
Horizontal 960 900 785 690 610
20
Vertical 800 785 690 610
Horizontal 150 140 120 105 90 80
3
Vertical 150 140 120 105 90 80
Horizontal 300 285 245 215 185 165
6
Vertical 300 285 245 215 185 165
Horizontal 600 570 490 430 375 335
12
Vertical 600 570 490 430 375 335
Horizontal 960 905 785 690 615
20
Vertical 960 905 785 690 615
Horizontal 140 125
4
Vertical 140 125
Horizontal 280 255
8
Vertical 280 255
Horizontal 560 515
16
Vertical 560 515
Horizontal 600
24
Vertical 400
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
Speed limits (Unit: mm/s)
Stroke [mm]
1. Checking the Product
15
1.2.2 Maximum Acceleration and Transportable Weight
If the transportable weight is smaller than as specified, the acceleration/deceleration can be raised beyond
the applicable level.
[When high-output setting for motor straight type is effective]
Type Motor Type
1. Checking the Product
SA5C 42P
Lead
[mm]
3
6
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
25 20 20 18 18 14
50 20 20 18 18 14
75 20 20 18 18 14
100 20 18 18 16 12
125 20 18 18 16 12
150 20 18 18 12 10
175 20 18 14 10 6
200 20 18 8 – –
225 20 6 – – –
25 12 12 12 – –
50 12 12 12 – –
75 12 12 12 – –
100 12 12 12 – –
125 12 12 12 – –
150 12 11 10 – –
175 11 9 8 – –
200 9 7 6 – –
225 6 5 – – –
50 18 18 14 14 12
100 18 18 14 14 12
150 18 18 14 14 12
200 18 18 14 14 12
250 18 18 14 14 12
300 18 18 14 14 10
350 18 18 12 11 8
400 18 14 10 7 6
450 16 10 6 4 2
50 6 6 6 – –
100 6 6 6 – –
150 6 6 6 – –
200 6 6 6 – –
250 6 6 5.5 – –
300 6 5.5 5 – –
350 6 4.5 4 – –
400 4.5 3.5 3 – –
450 3.5 2 2 – –
0.1G 0.3G 0.5G 0.7G 1.0G
0 20 20 18 18 14
0 12 12 12 – –
0 18 18 14 14 12
0 6 6 6 – –
16
Type Motor Type
SA5C 42P
Lead
[mm]
12
20
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
100 9 9 9 9 8
200 9 9 9 9 8
300 9 9 9 9 8
400 9 9 9 9 8
500 9 9 9 8 6.5
600 9 9 9 6 4
700 9 9 8 4 2.5
800 䋭 7 5 2 1
900 䋭 5 3 1 1
100 2.5 2.5 2.5 – –
200 2.5 2.5 2.5 – –
300 2.5 2.5 2.5 – –
400 2.5 2.5 2.5 – –
500 2.5 2.5 2.5 – –
600 2.5 2.5 2.5 – –
700 2.5 2.5 2 – –
800 – 1.5 1 – –
900 –
160 6.5 6.5 5 5 4
320 6.5 6.5 5 5 4
480 6.5 6.5 5 5 4
640 6.5 6.5 5 5 4
800 6.5 6.5 5 4 3
960 – 6.5 5 3 2
1120 – 6 3 2 1.5
1280 – – 1 1 1
1440 – – 1 0.5 –
160 1 1 1 – –
320 1 1 1 – –
480 1 1 1 – –
640 1 1 1 – –
800 1 1 1 – –
960 – 1 1 – –
1120 – 0.5 0.5 – –
1280 – – 0.5 – –
1440 – – 䋭 – –
0.1G 0.3G 0.5G 0.7G 1.0G
0 9 9 9 9 8
0 2.5 2.5 2.5 – –
0.5 0.5 – –
0 6.5 6.5 5 5 4
0 1 1 1 – –
1. Checking the Product
17
Type Motor Type
1. Checking the Product
SA6C 42P
Lead
[mm]
3
6
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
25 25 25 25 25 25
50 25 25 25 25 25
75 25 25 25 25 25
100 25 25 25 25 25
125 25 25 25 25 25
150 25 25 25 25 22.5
175 25 25 25 20 19
200 25 25 20 18 16
225 25 18 16 15 12
25 12 12 12 – –
50 12 12 12 – –
75 12 12 12 – –
100 12 12 12 – –
125 12 12 12 – –
150 12 11 10 – –
175 11 9 8 – –
200 9 7 6 – –
225 6 5 – –
50 25 25 20 16 14
100 25 25 20 16 14
150 25 25 20 16 14
200 25 25 20 16 14
250 25 25 20 16 14
300 25 25 20 15 11
350 25 20 14 12 9
400 25 16 10 8 6.5
450 18 12 6 5 2.5
50 6 6 6 – –
100 6 6 6 – –
150 6 6 6 – –
200 6 6 6 – –
250 6 6 5.5 – –
300 6 5.5 5 – –
350 6 4.5 4 – –
400 4.5 3.5 3 – –
450 3.5 2 2 – –
0.1G 0.3G 0.5G 0.7G 1.0G
0 25 25 25 25 25
0 12 12 12 – –
0 25 25 20 16 14
0 6 6 6 – –
–
18
Type Motor Type
SA6C 42P
Lead
[mm]
12
20
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
100 15 15 12.5 11 10
200 15 15 12.5 11 10
300 15 15 12.5 11 10
400 15 14 11 10 8.5
500 15 13 10 8 6.5
600 15 12 9 6 4
700 12 10 8 4 2.5
800 10 7 5 2 1
900 – 5 3 1 1
100 2.5 2.5 2.5 – –
200 2.5 2.5 2.5 – –
300 2.5 2.5 2.5 – –
400 2.5 2.5 2.5 – –
500 2.5 2.5 2.5 – –
600 2.5 2.5 2.5 – –
700 2.5 2.5 2 – –
800 2 1.5 1 – –
900 – 0.5 0.5 –
160 10 10 9 7 6
320 10 10 9 7 6
480 10 10 9 7 6
640 10 10 8 6 5
800 10 9 6.5 4.5 3
960 – 8 5 3.5 2
1120 – 6.5 3 2 1.5
1280 – – 1 1 1
1440 – – 1 0.5 –
160 1 1 1 – –
320 1 1 1 – –
480 1 1 1 – –
640 1 1 1 – –
800 1 1 1 – –
960 – 1 1 – –
1120 – 0.5 0.5 – –
1280 – – 0.5 – –
1440 – – – – –
0.1G 0.3G 0.5G 0.7G 1.0G
0 15 15 12.5 11 10
0 2.5 2.5 2.5 – –
0 10 10 9 7 6
0 1 1 1 – –
1. Checking the Product
–
19
Type Motor Type
1. Checking the Product
SA7C 56P
Lead
[mm]
4
8
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
35 45 45 45 40 40
70 45 45 45 40 40
105 45 45 45 40 35
140 45 45 35 30 25
175 45 30 18 – –
210 45 8 – – –
245 35 – – – –
35 25 25 25 – –
70 25 25 25 – –
105 22 20 19 – –
140 16 14 12 – –
175 11 9 7.5 – –
210 8 – – – –
245 – – – – –
70 45 45 45 40 40
140 45 45 40 38 35
210 45 40 35 30 24
280 40 30 25 20 15
350 35 20 9 4 –
420 25 7 – – –
490 15 – – – –
70 16 16 16 – –
140 16 16 16 – –
210 11 10 9.5 – –
280 9 8 7 – –
350 7 5 4 – –
420 5 2 – – –
490 2 – – – –
0.1G 0.3G 0.5G 0.7G 1.0G
0 45 45 45 40 40
0 25 25 25 – –
0 45 45 45 40 40
0 16 16 16 – –
20
Type Motor Type
SA7C 56P
Lead
[mm]
16
24
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
140 40 40 35 28 27
280 40 38 35 25 24
420 35 25 20 15 10
560 25 20 15 10 6
700 20 15 10 5 3
840 – 9 4 2 2
980 – 4 – – –
140 8 8 8 – –
280 8 8 8 – –
420 6 5 4.5 – –
560 5 4 3 – –
700 4 3 2 – –
840 – 1 – – –
980 – – – – –
200 20 20 18 16 14
400 20 20 18 16 14
600 20 16 15 10 9
800 16 12 10 7 4
1000 – 8 4.5 4 2
1200 – 5.5 2 2 1
200 3 3 3 – –
400 3 3 3 – –
600 3 3 3 – –
800 – 3 2.5 – –
1000 – 2 1.5 – –
1200 – 1 1 – –
0.1G 0.3G 0.5G 0.7G 1.0G
0 40 40 35 28 27
0 8 8 8 – –
0 20 20 18 16 14
0 3 3 3 – –
1. Checking the Product
21
[When high-output setting for motor reversing type is effective]
Type Motor Type
1. Checking the Product
SA5R 42P
Lead
[mm]
3
6
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
25 20 20 18 18 14
50 20 20 18 18 14
75 20 20 18 18 14
100 20 18 18 16 12
125 20 18 18 16 12
150 20 18 18 12 10
175 20 18 14 10 6
200 20 18 8 㧙 㧙
225 20 6 㧙 㧙 㧙
25 12 12 12 㧙 㧙
50 12 12 12 㧙 㧙
75 12 12 12 㧙 㧙
100 12 12 12 㧙 㧙
125 12 12 12 㧙 㧙
150 12 11 10 㧙 㧙
175 11 9 8 㧙 㧙
200 9 7 6 㧙 㧙
225 5 3 㧙 㧙 㧙
50 18 18 14 14 12
100 18 18 14 14 12
150 18 18 14 14 12
200 18 18 14 14 12
250 18 18 14 14 12
300 18 18 14 14 10
350 18 18 12 11 8
400 18 14 10 7 6
450 16 10 6 4 2
50 6 6 6 㧙 㧙
100 6 6 6 㧙 㧙
150 6 6 6 㧙 㧙
200 6 6 6 㧙 㧙
250 6 6 5.5 㧙 㧙
300 6 5.5 5 㧙 㧙
350 5.5 4.5 4 㧙 㧙
400 4.5 3.5 3 㧙 㧙
450 2.5 2 1.5 㧙 㧙
0.1G 0.3G 0.5G 0.7G 1.0G
0 20 20 18 18 14
0 12 12 12 㧙 㧙
0 18 18 14 14 12
0 6 6 6 㧙 㧙
22
Type Motor Type
SA5R 42P
Lead
[mm]
12
20
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
100 9 9 9 9 8
200 9 9 9 9 8
300 9 9 9 9 8
400 9 9 9 9 8
500 9 9 9 8 6.5
600 9 9 9 6 4
700 9 9 8 4 2.5
800 㧙 7 5 2 1
900 㧙 5 3 1 1
100 2.5 2.5 2.5 㧙 㧙
200 2.5 2.5 2.5 㧙 㧙
300 2.5 2.5 2.5 㧙 㧙
400 2.5 2.5 2.5 㧙 㧙
500 2.5 2.5 2.5 㧙 㧙
600 2.5 2.5 2.5 㧙 㧙
700 2.5 2 1.5 㧙 㧙
800 㧙 1 0.5 㧙 㧙
900 㧙 㧙 㧙 㧙 㧙
160 6.5 6.5 5 5 4
320 6.5 6.5 5 5 4
480 6.5 6.5 5 5 4
640 6.5 6.5 5 5 4
800 6.5 6.5 5 4 3
960 㧙 6.5 5 3 2
1120 㧙 6 3 2 1.5
1280 㧙 㧙 1 1 1
1440 㧙 㧙 1 0.5 㧙
160 1 1 1 㧙 㧙
320 1 1 1 㧙 㧙
480 1 1 1 㧙 㧙
640 1 1 1 㧙 㧙
800 1 1 1 㧙 㧙
960 㧙 1 1 㧙 㧙
1120 㧙 0.5 0.5 㧙 㧙
1280 㧙 㧙 㧙 㧙 㧙
1440 㧙 㧙 㧙 㧙 㧙
0.1G 0.3G 0.5G 0.7G 1.0G
0 9 9 9 9 8
0 2.5 2.5 2.5 㧙 㧙
0 6.5 6.5 5 5 4
0 1 1 1 㧙 㧙
1. Checking the Product
23
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