IAI America RCP4CR-SA7C User Manual

ROBO Cylinder

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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.

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

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

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

Standard Type

RCP4

Clean Room Type

RCP4CR

<Type>

Motor straight type

1. Checking the Product

SA5C SA6C SA7C

Motor reversing type

SA5R SA6R SA7R

I : Incremental

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)

B : Brake NM : Reversed-home specification ML : Motor Left Reversed MR : Motor Right Reversed VR : Air Vacuum Joint on Other Side

N : None P : 1m S : 3m M : 5m XƑƑ : Length specification RƑƑ : Robot cable

P3 : PCON-CA

[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

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

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

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

Type Motor Type

1. Checking the Product

SA6R 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 12 225 25 18 16 6 4

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 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 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 25 25 25 25 25

0 12 12 12 㧙㧙

0 25 25 20 16 14

0 6 6 6 㧙㧙

24

Type Motor Type

SA6R 42P

Lead [mm]

12

20

Horizontal

/ Vertical

Horizontal



Vertical

Horizontal



Vertical

Payload capacity by acceleration/deceleration [kg]

Velocity

[mm/s]

00 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 㧙 4 2 1 㧙

00 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 2.5 1.5 㧙㧙 800 2 1 0.5 㧙㧙 900 㧙㧙㧙㧙㧙

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 㧙 8 5 3.5 2

1120 㧙 6 3 2 1.5 1280 㧙㧙 1 0.5 0.5

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

0.1G 0.3G 0.5G 0.7G 1.0G

0 15 15 12.5 11 10

0 2.5 2.5 2.5 㧙㧙

0 10 10 9 7 6

0 1 1 1 㧙㧙

1. Checking the Product

25

Type Motor Type

1. Checking the Product

SA7R 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 16 㧙㧙

210 40 㧙㧙㧙㧙

35 25 25 25 㧙㧙

70 25 25 25 㧙㧙 105 22 20 19 㧙㧙 140 16 14 12 㧙㧙 175 11 7 5 㧙㧙 210 4 㧙㧙㧙㧙

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 㧙

420 25 7 㧙㧙㧙 490 13 㧙㧙㧙㧙

70 16 16 16 㧙㧙 140 16 16 16 㧙㧙 210 11 10 9.5 㧙㧙 280 9 8 7 㧙㧙 350 7 5 4 㧙㧙 420 5 1 㧙㧙㧙 490 1 㧙㧙㧙㧙

0.1G 0.3G 0.5G 0.7G 1.0G

0 45 45 45 40 40

0 25 25 25 㧙㧙

0 45 45 45 40 40

0 16 16 16 㧙㧙

26

Type Motor Type

SA7R 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 8 5 3 840 㧙 6 2 㧙㧙

140 8 8 8 㧙㧙 280 8 8 8 㧙㧙 420 6 5 4.5 㧙㧙 560 5 4 3 㧙㧙 700 3 2 1.5 㧙㧙 840 㧙㧙㧙㧙㧙

200 20 20 18 16 14 400 20 20 18 16 14 600 20 16 15 10 9 800 16 12 10 6 4

1000 㧙 8 4.5 2 1

200 3 3 3 㧙㧙 400 3 3 3 㧙㧙 600 3 3 3 㧙㧙 800 㧙 3 2.5 㧙㧙

1000 㧙 1 1 㧙㧙

0.1G 0.3G 0.5G 0.7G 1.0G

0 40 40 35 28 27

0 8 8 8 㧙㧙

0 20 20 18 16 14

0 3 3 3 㧙㧙

1. Checking the Product

27

[When high-output setting for motor straight type is ineffective]

Type Motor Type

1. Checking the Product

SA5C 42P

Lead [mm]

3

6

12

20

Horizontal /

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Payload capacity by acceleration/deceleration [kg]

Velocity

[mm/s]

25 – 16 16 16 16

50 – 16 16 16 16

75 – 16 16 16 14 100 – 16 16 14 12 125 – 16 13 11 10 150 – 16 10 9 8

25 10 10 10 – –

50 10 10 10 – –

75 10 10 10 – – 100 10 9 8 – – 125 7 6 6 – – 150 5 4.5 3 – –

50 – 13 13 13 12 100 – 13 13 13 12 150 – 13 13 13 12 200 – 13 13 13 12 250 – 13 10 8 7 300 – 13 9 5 4

50 5 5 5 – – 100 5 5 5 – – 150 5 5 5 – – 200 5 4.5 4 – – 250 4 4 3 – – 300 3 2.5 2 – –

100 – 8 6 5.5 5 200 – 8 6 5.5 5 300 – 8 6 5.5 5 400 – 8 6 4 3.5 500 – 7 5 2 1.5 600 – 5 4 2 1.5

100 2 2 2 – – 200 2 2 2 – – 300 2 2 2 – – 400 2 2 1.5 – – 500 1.5 1.5 1 – – 600 1 1 0.5 – –

160 – 5 4 3 3 320 – 5 4 3 3 480 – 4.5 4 3 3 640 – 4 3.5 2 2 800 – 3 2.5 1 1 960 – 2 2 1 0.5

160 0.5 0.5 – – – 320 0.5 0.5 – – – 480 0.5 0.5 – – – 640 0.5 0.5 – – – 800 0.5 0.5 – – – 960 – 0.5 – – –

0.1G 0.2G 0.3G 0.5G 0.7G

0 – 16 16 16 16

0 10 10 10 – –

0 – 13 13 13 12

0 5 5 5 – –

0 – 8 6 5.5 5

0 2 2 2 – –

0 – 5 4 3 3

0 0.5 0.5 – – –

28

Type Motor Type

SA6C 42P

Lead [mm]

3

6

12

20

Horizontal /

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Payload capacity by acceleration/deceleration [kg]

Velocity

[mm/s]

0 – 19 19 19 19 25 – 19 19 19 19 50 – 19 19 19 19 75 – 19 19 19 19

100 – 19 16 14 12 125 – 18 14 11 10 150 – 16 13 10 9

0 10 10 10 – – 25 10 10 10 – – 50 10 10 10 – – 75 10 10 10 – –

100 10 9 8 – – 125 7 6 6 – – 150 5 4.5 3 – –

0 – 16 15 13 12 50 – 16 15 13 12

100 – 16 15 13 12 150 – 16 15 13 12 200 – 16 15 13 12 250 – 15 12 10 7 300 – 13 12 6 4

0 5 5 5 – – 50 5 5 5 – –

100 5 5 5 – – 150 5 5 5 – – 200 5 4.5 4 – – 250 4 4 3 – – 300 3 2.5 2 – –

0 – 8.5 8.5 7 6 00 – 8.5 8.5 7 6

200 – 8.5 8.5 7 6 300 – 8.5 8.5 7 6 400 – 8 7 4 3.5 500 – 7 6 3 2 600 – 6 6 2 1.5

0 2 2 2 – – 00 2 2 2 – –

200 2 2 2 – – 300 2 2 2 – – 400 2 2 1.5 – – 500 1.5 1.5 1 – – 600 1 1 0.5 – –

0 – 6 6 4 4

160 – 6 6 4 4 320 – 6 6 4 4 480 – 5 5 3 3 640 – 4 4 2 2 800 – 3 3 1 1 960 – 2 2 1 0.5

0 0.5 0.5 – – –

160 0.5 0.5 – – – 320 0.5 0.5 – – – 480 0.5 0.5 – – – 640 0.5 0.5 – – – 800 0.5 0.5 – – – 960 – 0.5 – – –

0.1G 0.2G 0.3G 0.5G 0.7G

1. Checking the Product

29

Type Motor Type

1. Checking the Product

SA7C 56P

Lead [mm]

4

8

16

24

Horizontal /

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Horizontal

Vertical

Payload capacity by acceleration/deceleration [kg]

Velocity

[mm/s]

0 – 40 – – – 35 – 40 – – – 70 – 40 – – –

105 – 40 – – – 140 – 40 – – –

0 – 15 – – – 35 – 15 – – – 70 – 15 – – –

105 – 10 – – – 140 – 5 – – –

0 – – 40 – – 70 – – 40 – –

140 – – 40 – – 210 – – 25 – – 280 – – 10 – –

0 – 10 – – – 70 – 10 – – –

140 – 7 – – – 210 – 4 – – – 280 – 1.5 – – –

0 – – 35 – –

140 – – 35 – – 280 – – 25 – – 420 – – 15 – – 560 – – 7 – –

0 – 5 – – –

140 – 5 – – – 280 – 3 – – – 420 – 1.5 – – – 560 – 0.5 – – –

0 – – 18 – –

200 – – 18 – – 400 – – 18 – – 600 – – 10 – – 800 – – 5 – –

1000 – – 1.5 – –

0 – 2 – – –

200 – 2 – – – 400 – 2 – – – 600 – 1.5 – – – 800 – 1 – – –

1000 – – – – –

0.1G 0.2G 0.3G 0.5G 0.7G

30

[When high-output setting for motor reversing type is ineffective]

Type Motor Type

SA5R 42P

Lead [mm]

3

6

Horizontal

/ Vertical

Horizontal



Vertical

Horizontal

Vertical



Payload capacity by acceleration/deceleration [kg]

Velocity

[mm/s]

25 㧙 16 16 16 16 50 㧙 16 16 16 16

75 㧙 16 16 16 14 100 㧙 16 16 14 12 125 㧙 16 13 11 10 150 㧙 16 10 9 8

25 10 10 10 㧙㧙

50 10 10 10 㧙㧙

75 10 10 10 㧙㧙 100 10 9 8 㧙㧙 125 7 6 6 㧙㧙 150 5 4.5 3 㧙㧙

50 㧙 13 13 13 12 100 㧙 13 13 13 12 150 㧙 13 13 13 12 200 㧙 13 13 13 12 250 㧙 13 10 8 7 300 㧙 13 9 5 4

50 5 5 5 㧙㧙 100 5 5 5 㧙㧙 150 5 5 5 㧙㧙 200 5 4.5 4 㧙㧙 250 4 4 3 㧙㧙 300 2.5 2 1.5 㧙㧙

0.1G 0.2G 0.3G 0.5G 0.7G

0 㧙 16 16 16 16

0 10 10 10 㧙㧙

0 㧙 13 13 13 12

0 5 5 5 㧙㧙

1. Checking the Product

31

Type Motor Type

1. Checking the Product

SA5R 42P

Lead [mm]

12

20

Horizontal

/ Vertical

Horizontal

Vertical

Horizontal

Vertical



Payload capacity by acceleration/deceleration [kg]

Velocity

[mm/s]

100 㧙 8 6 5.5 5 200 㧙 8 6 5.5 5 300 㧙 8 6 5.5 5 400 㧙 8 6 4 3.5 500 㧙 7 5 2 1.5 600 㧙 5 4 2 1.5

100 2 2 2 㧙㧙 200 2 2 2 㧙㧙 300 2 2 2 㧙㧙 400 2 2 1.5 㧙㧙 500 1.5 1.5 1 㧙㧙 600 1 0.5 0.5 㧙㧙

160 㧙 5 4 3 3 320 㧙 5 4 3 3 480 㧙 4.5 4 3 3 640 㧙 4 3.5 2 2 800 㧙 3 2.5 1 1 960 㧙 2 2 1 0.5

160 0.5 0.5 㧙㧙㧙 320 0.5 0.5 㧙㧙㧙 480 0.5 0.5 㧙㧙㧙 640 0.5 0.5 㧙㧙㧙 800 0.5 0.5 㧙㧙㧙

0.1G 0.2G 0.3G 0.5G 0.7G

0 㧙 8 6 5.5 5

0 2 2 2 㧙㧙

0 㧙 5 4 3 3

0 0.5 0.5 㧙㧙㧙

32

Type Motor Type

SA6R 42P

Lead [mm]

3

6

Horizontal

/ Vertical

Horizontal

Vertical

Horizontal

Vertical

Payload capacity by acceleration/deceleration [kg]

Velocity

[mm/s]

25 㧙 19 19 19 19

50 㧙 19 19 19 19

75 㧙 19 19 19 19 100 㧙 19 16 14 12 125 㧙 18 14 11 10 150 㧙 16 13 10 9

25 10 10 10 㧙㧙

50 10 10 10 㧙㧙

75 10 10 10 㧙㧙 100 10 9 8 㧙㧙 125 7 6 6 㧙㧙 150 5 4.5 3 㧙㧙

50 㧙 16 15 13 12 100 㧙 16 15 13 12 150 㧙 16 15 13 12 200 㧙 16 15 13 12 250 㧙 15 12 10 7 300 㧙 13 12 6 4

50 5 5 5 㧙㧙 100 5 5 5 㧙㧙 150 5 5 5 㧙㧙 200 5 4.5 4 㧙㧙 250 4 4 3 㧙㧙 300 2.5 2 1.5 㧙㧙

0.1G 0.2G 0.3G 0.5G 0.7G

0 㧙 19 19 19 19

0 10 10 10 㧙㧙

0 㧙 16 15 13 12

0 5 5 5 㧙㧙

1. Checking the Product

33

Type Motor Type

1. Checking the Product

SA6R 42P

Lead [mm]

12

20

Horizontal

/ Vertical

Horizontal

Vertical

Horizontal

Vertical

Payload capacity by acceleration/deceleration [kg]

Velocity

[mm/s]

00 㧙 8.5 8.5 7 6 200 㧙 8.5 8.5 7 6 300 㧙 8.5 8.5 7 6 400 㧙 8 7 4 3.5 500 㧙 7 6 3 2 600 㧙 6 6 2 1.5

00 2 2 2 㧙㧙 200 2 2 2 㧙㧙 300 2 2 2 㧙㧙 400 2 2 1.5 㧙㧙 500 1.5 1.5 1 㧙㧙 600 1 0.5 0.5 㧙㧙

160 㧙 6 6 4 4 320 㧙 6 6 4 4 480 㧙 5 5 3 3 640 㧙 4 4 2 2 800 㧙 3 3 1 1 960 㧙 2 1.5 0.5 㧙

160 0.5 0.5 㧙㧙㧙 320 0.5 0.5 㧙㧙㧙 480 0.5 0.5 㧙㧙㧙 640 0.5 0.5 㧙㧙㧙 800 0.5 0.5 㧙㧙㧙 960 㧙㧙㧙㧙㧙

0.1G 0.2G 0.3G 0.5G 0.7G

0 㧙 8.5 8.5 7 6

0 2 2 2 㧙㧙

0 㧙 6 6 4 4

0 0.5 0.5 㧙㧙㧙

34

Type Motor Type

SA7R 56P

Lead [mm]

4

8

16

24

Horizontal

/ Vertical

Horizontal

Vertical



Horizontal

Vertical



Horizontal

Vertical

Horizontal

Vertical

Payload capacity by acceleration/deceleration [kg]

Velocity

[mm/s]

35 㧙 40 㧙㧙㧙

70 㧙 40 㧙㧙㧙 105 㧙 40 㧙㧙㧙 140 㧙 22 㧙㧙㧙

35 㧙 15 㧙㧙㧙

70 㧙 15 㧙㧙㧙 105 㧙 10 㧙㧙㧙 140 㧙 3 㧙㧙㧙

70 㧙㧙 40 㧙㧙 140 㧙㧙 40 㧙㧙 210 㧙㧙 25 㧙㧙 280 㧙㧙 6 㧙㧙

70 㧙 10 㧙㧙㧙 140 㧙 7 㧙㧙㧙 210 㧙 4 㧙㧙㧙 280 㧙 1 㧙㧙㧙

140 㧙㧙 35 㧙㧙 280 㧙㧙 25 㧙㧙 420 㧙㧙 15 㧙㧙 560 㧙㧙 4 㧙㧙

140 㧙 5 㧙㧙㧙 280 㧙 3 㧙㧙㧙 420 㧙 1.5 㧙㧙㧙 560 㧙 0.5 㧙㧙㧙

200 㧙㧙 18 㧙㧙 400 㧙㧙 9 㧙㧙 600 㧙㧙 1 㧙㧙

200 㧙 2 㧙㧙㧙 400 㧙 1.5 㧙㧙㧙

0.1G 0.2G 0.3G 0.5G 0.7G

0 㧙 40 㧙㧙㧙

0 㧙 15 㧙㧙㧙

0 㧙㧙 40 㧙㧙

0 㧙 10 㧙㧙㧙

0 㧙㧙 35 㧙㧙

0 㧙 5 㧙㧙㧙

0 㧙㧙 18 㧙㧙

0 㧙 2 㧙㧙㧙

1. Checking the Product

Caution: Do not attempt to establish the settings for the acceleration/deceleration above the

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

35

1.2.3 Driving System • Position Detector

Type Motor Type Lead

SA5C SA5R

1. Checking the Product

SA6C SA6R

SA7C SA7R

1.2.4 Positioning Precision

42P

56P

3

6

12

20

3

6

12

20

4

8

16

24

No. of

Encoder

Pulses

800

Ball Screw Type

Type Diameter Accuracy

Rolled

I10mm

I12mm

C10

Type lead Item Tolerance

SA5C SA5R

SA6C SA6R

SA7C SA7R

It is the accuracy when product is shipped out from the factory. It does not include the consideration of time-dependent change.

3, 6, 12

20

3, 6, 12

20

4, 8, 16

24

Positioning repeatability

Backlash

Positioning repeatability

Backlash

Positioning repeatability

Backlash

Positioning repeatability

Backlash

Positioning repeatability

Backlash

Positioning repeatability

Backlash

±0.02mm

0.1mm or less ±0.03mm

0.1mm or less ±0.02mm

0.1mm or less ±0.03mm

0.1mm or less ±0.02mm

0.1mm or less ±0.03mm

0.1mm or less

36

1.2.5 Current Limit Value and Pressing Force

Ɣ SA5C, SA6C, SA5R, SA6R

Current Limit Value Lead 3 Lead 6 Lead 12 Lead 20

20% 106 53 26 16 30% 159 79 40 24 40% 211 106 53 32 50% 264 132 66 40 60% 317 159 79 48 70% 370 185 93 56

* These are the reference values at 20mm/s of pressing speed.

SA5C/SA6C/SA5R/SA6R Current Limiting Values and Pressing Force

400

350

300

250

200

150

Pressing Force [N]

100

50

Lead 3

Lead 6

Lead 12

Lead 20

[N]

1. Checking the Product

0

0 10 20 30 40 50 60 70 80

Current-Limiting Value [%]

37

Ɣ SA7C, SA7R

Current Limit Value Lead 4 Lead 8 Lead 16 Lead 24

* These are the reference values at 20mm/s of pressing speed.

1. Checking the Product

800

700

600

500

400

300

Pressing Force [N]

200

[N]

20% 192 96 48 32 30% 288 144 72 48 40% 385 192 96 64 50% 481 240 120 80 60% 577 288 144 96 70% 673 336 168 112

SA7C/SA7R Current Limiting Values and Pressing Force

Lead 4

Lead 8

Lead 16

100

Lead 24

0

0 10 20 30 40 50 60 70 80

Current-Limiting Value [%]

Caution: (1) The relation of the pressing force and current limiting value is a reference. There will be a

little variance in the actual pressing force. (2) If the current limiting value is low, the pressing force may largely vary. (3) The movement speed at the pressing operation is fixed to 20mm/s.

The graph shows the values when pressing with 20mm/s, and it differs if the speed

changes.

38

1.2.6 Allowable Load Moment of Actuator

Type

Allowable overhang load [L]

Ma Mb Mc Ma Mb Mc

Static load moment [Nxm] Allowable load moment [Nxm]

SA5C SA5R

SA6C SA6R

SA7C SA7R

18.6 26.6 47.5 4.9 6.8 11.7

38.3 54.7 81.0 8.9 12.7 18.6

50.4 71.9 138.0 13.9 19.9 38.3

Ma direction: 150mm

Mb or Mc direction: 150mm

Ma direction: 220mm

Mb or Mc direction: 220mm

Ma direction: 230mm

Mb or Mc direction: 230mm

For the dynamic allowable load moment, provided under assumption that the operation life is 5,000km. [Refer to 6. Life]

Ma direction

Mb direction

Mc direction

Ma direction

Direction of moment

Mb or Mc direction

L

Direction of allowable overhang

L

1. Checking the Product

For the calculation of Ma and Mc moments, consider the position indicated with an arrow as the datum point.

 

SA5C SA6C SA7C



52

39

58

40

73

43

 

Caution: An operation beyond the allowable moment and overhang load length would not only

generate abnormal noise and vibration, but also may shorten the life of actuator extremely.



39

1.2.7 Duty Ratio in Continuous Operation

Continuous operation is available 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.

1. Checking the Product

40

1.3 Options

1.3.1 Brake Type (Model No. : B)

The brake is a mechanism designed to prevent the slider from dropping on a vertically installed actuator when the power or servo is turned OFF. Use the brake to prevent the installed load, etc., from being damaged due to the falling slider.

1.3.2 Reversed-home Specification (Model No. : NM)

The standard home position is on the motor side. However, the motor position will be reversed if it is desirable in view of the layout of the system, etc. (Note) The home position is adjusted at the factory before shipment. If you wish to change the home after the

delivery of your actuator, you must return the actuator to IAI for adjustment.

1.3.3 Motor Left Reversed, Motor Right Reversed (Model No. : ML, MR)

From the view of the motor side, the type with the motor reversed to the left is ML, and the motor reversed to the right is MR.

1. Checking the Product

ML MR

(Left Reversed) (Right Reversed)

1.3.4 Vacuum Joint on Other Side (Model No. : VR)

The joints are allocated on the right side of the body from the view of the motor side (which is the other side of the standard type). For the standard type, the joints are allocated on the left side of the body from the view of the motor side.

41

1.4 Motor • Encoder Cables

1.4.1 Motor • Encoder Integrated Cables

CB-CA-MPAƑƑƑ

Connector : 1-1827863-1

1. Checking the Product

Contact : 1827570-2

(25)(30)

L

Connection diagram

CN1

1-1827863-1(AMP)

Pin No. Pin No.

A1

B1 A2 B2 A3 B3 A4 B4 A6 B6 A7 B7 A8 B8 A5 B5 A9 B9

A10 B10

A11 B11

Symbol

φA/U

VMM/V

OR(AWG22/19) GN(AWG22/19)

φ_A/W

φB/-

BR(AWG22/19)

VMM/-

GY(AWG22/19)

φ_B/-

RD(AWG22/19)

LS+/BK+

LS-/BK-

-/A+

-/A-

A+/B+

A-/B-

B+/Z+

B-/ZBK+/LS+ BK-/LSLS_GND

VPS VCC

GND

―

FG

Color

BL(AWG22/19)

BK(AWG26) YW(AWG26) BL(AWG26) OR(AWG26) GN(AWG26) BR(AWG26) GY(AWG26) RD(AWG26) BL(AWG26) OR(AWG26) GN(AWG26) BR(AWG26) BR(AWG26) GY(AWG26) RD(AWG26)

―

BK

PADP-24V-1-S(JST)

1 2 5 3 4 6 7 8

11 12 13 14 15 16

9

10

20

18 17 19

21 22 23 24

CN2

Symbol

φA/U

BL(AWG22/19)

VMM/V

OR(AWG22/19) GN(AWG22/19)

φ_A/W

φB/-

BR(AWG22/19)

VMM/-

GY(AWG22/19)

φ_B/-

RD(AWG22/19)

LS+/BK+

BK(AWG26)

LS-/BK-

YW(AWG26) BL(AWG26)

-/A+

-/A-

OR(AWG26)

A+/B+

GN(AWG26)

A-/B-

BR(AWG26)

B+/Z+

GY(AWG26)

B-/Z-

RD(AWG26) BL(AWG26)

BK+/LS+ BK-/LS-

OR(AWG26)

LS_GND

GN(AWG26)

VPS

VCC

GY(AWG26)

GND

RD(AWG26) ― ― ―

FG

(25) (15) (30)

Color

― ― ―

BK

CN2CN1

Connector : PADP-24V-1-S Contact SPND-002T-C0.5 (AWG26) SPND-001T-C0.5 (AWG22)

42

1.4.2 Motor • Encoder Integrated Cables Robot Type

CB-CA-MPAƑƑƑ-RB

(30)

Connector :

1-1827863-1

Contact :

1827570-2

(25)

CN1

1-1827863-1(AMP)

Pin No.

Symbol

A1

φA/U

B1

VMM/V φ_A/W

A2 B2

φB/-

A3

VMM/-

φ_B/-

B3 A4

LS+/BK+

B4

LS-/BK-

A6

-/A+

B6

-/A-

A7

A+/B+

B7

A-/B-

A8

B+/Z+

B8

B-/Z-

A5

BK+/LS+

B5

BK-/LSLS_GND

A9 B9

VPS

A10

VCC

B10

GND

A11

―

B11

FG

Color

BK(AWG22/19) WT(AWG22/19) BR(AWG22/19) GN(AWG22/19) YW(AWG22/19)

RD(AWG22/19)

OR

(AWG25)

GY

(AWG25)

WT

(AWG25)

YW

(AWG25)

RD

(AWG25)

GN

(AWG25)

BK

(AWG25)

BR

(AWG25)

BK

(AWG25)

BR

AWG25)

GN

(AWG25)

RD

(AWG25)

WT

(AWG25)

YW

(AWG25)

―

L

Connection diagram

PADP-24V-1-S (

Pin No.

11 12 13 14 15 16

10 20 18 17 19 21 22 23 24

1 2 5 3 4 6 7 8

9

CN2

Symbol

φA/U

VMM/V

φ_A/W

φB/-

VMM/-

φ_B/-

LS+/BK+

LS-/BK-

-/A+

-/A-

A+/B+

A-/B-

B+/Z+

B-/ZBK+/LS+ BK-/LS-

LS_GND

VPS VCC GND

― ― ―

FG

(25) (15) (30)

JST)

Color

BK(AWG22/19) WT(AWG22/19) BR(AWG22/19) GN(AWG22/19) YW(AWG22/19)

RD(AWG22/19)

OR

(AWG25)

GY

(AWG25)

WT

(AWG25)

YW

(AWG25)

RD

(AWG25)

GN

(AWG25)

BK(AWG25)

BR

(AWG25)

BK

(AWG25)

BR

(AWG25)

GN

(AWG25)

RD

(AWG25)

WT

(AWG25)

YW

(AWG25)

― ― ―

Shield

CN2CN1

Connector :

PADP-24V-1-S

Contact

SPND-002T-C0.5 (AWG26) SPND-001T-C0.5 (AWG22)

1. Checking the Product

43

2. Installation

2.1 Transportation

[1] Handling of Robot

When transporting the unassembled actuator alone, pay attention to the items specified below.

2. Installation

(1) Handling of the Packed Product

Please handle packages carefully during transport to ensure that product is not damaged by bumping or dropping.

x Never attempt to move heavy packages by yourself. x Always set packages down on a level surface. x Never climb on top of packages. x Never place heavy objects or objects where the load is concentrated in one place on top of packages,

as this may cause deformation.

(2) Handling the Actuator After Unpacking

Do not carry an actuator by motor unit and a cable or attempt to move it by pulling the cable.

When transporting the unassembled actuator, pay attention to the items specified below. When unpacking the actuator and handling it thereafter, always hold it by the base. Never hold an actuator by the stainless sheet. x Be careful not to bump the actuator into anything when moving it, paying particular care to the side covers. x Do not attempt to force any part of the actuator. Take particular care not to force the stainless sheet.

Warning: Never hold the actuator by the stainless sheet.

Supplement) For the names of each part of the actuator,

refer to "Name of the Parts.”

44

[2] Handling in Assembled Condition

When transporting the actuator with its axes already assembled, take note of the following items.

(1) Shipping from IAI Already Assembled

After assembly at IAI, your machine undergoes a shipping inspection, is packed in a crate with skids, and finally shipped. If any of the combined actuators is a slider, the slider is securely fastened in place to prevent unexpected movement during shipping. Combined units have the ends of their actuators fastened so as to prevent them from moving significantly due to external vibration.

x

The crate is not designed to withstand dropping or collision. Please handle it carefully. It is also not built to have

items stacked on it, so please avoid placing heavy objects on top of the crate.

x When lifting the package using belts or the like, be sure to pass the belts around the reinforcement frames under

the skids. The same applies for lifting the package with a forklift; please ensure that the forks are placed under the skids.

x When setting the package down, do not let the package receive an impact upon contacting the floor.

(2) Handling After Unpacking

Please adhere to the following instructions when handling the assembled unit, whether it was shipped preassembled at IAI or assembled on your site.

x Secure the slider so that it does not move unexpectedly during transport. x If the end of the actuator is protruding, fasten it down properly so that it does not move significantly 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.

x When using belts or the like to lift an assembly consisting of an actuator and peripheral equipment, make

sure the belts are not passed around the actuator itself or otherwise do not touch the actuator.

x Make sure the belts support the actuator load by its base by using appropriate cushioning materials. x Lift the end of the Y-axis with a separate belt, ensuring that the assembly remains level. At this time, also

make sure the load is not placed on the screw cover. x Make sure the load is not placed on the brackets, covers, or connector box. Also make sure the cables are not pinched or deformed excessively.

2. Installation

[3] Handling after Assembly with Peripheral Equipment

When the machine assembled at IAI is transported as an assembly, also follow the handling precautions in

5.2.2, “Handling after Unpacking.”

45

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.

x Where the actuator receives radiant heat from strong heat sources such as heat treatment furnaces x Where the ambient temperature exceeds the range of 0 to 40qC

2. Installation

x Where the temperature changes rapidly and condensation occurs x Where the relative humidity exceeds 85% RH x Where the actuator receives direct sunlight x Where the actuator is exposed to corrosive or combustible gases x 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)

x Where the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or chemical

solutions

x Where the actuator receives impact or vibration

If the actuator is used in any of the following locations, provide sufficient shielding measures:

x Where noise generates due to static electricity, etc. x Where the actuator is subject to a strong electric or magnetic field x Where the actuator is subject to ultraviolet ray or radiation

[2] Storage • Preservation Environment

x 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.

x 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.

x 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.

x 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.

46

2.3 Installation

This chapter explains how to install the actuator on your mechanical system.

2.3.1 General Rules on Installation

Follow the information below when installing the actuator, as a rule. Do pay attention to these items (except with custom-order models).

{ : Possible U : Daily inspection is required u : Not possible

Model

SA5C, SA6C, SA7C SA5R, SA6R, SA7R

Horizontal Vertical Sideways Ceiling mount

Horizontal

installation

{ {

Vertical installation Sideway installation

2. Installation

Ceiling mount

installation

U U

Caution: 1. When the unit is installed vertically oriented, attempt to put the motor up unless there is a

special reason. Putting the motor on the lower side would not cause a problem in an ordinary operation. However, it may rarely cause a problem, when it is not operated for a long period, depending on the surrounding environment (especially high temperature), caused by the grease being separated and the base oil flowing into the motor unit.

2. Can be installed sideways or ceiling mount, but the actuators must be checked daily. If the actuator is installed sideways or ceiling mount, the stainless sheet may be slacked or displaced. If the actuator is used continuously while the stainless sheet is slacked or displaced, the stainless sheet may break or other problems may occur. Check the actuator daily and if the stainless sheet is found slacked or displaced, make installation adjustment of the stainless sheet. [Refer to 4.7 Procedure for Stainless Steel Sheet Replacement and Adjustment.]

47

2.3.2 Installation of Main Unit

䎃



The surface to mount the main unit should be a machined surface or a plane that possesses an equivalent accuracy and the flatness should be within 0.05mm. Also, the platform should have a structure stiff enough to install the unit so it would not generate vibration or other abnormality.

䎃

Also consider enough space necessary for maintenance work such as actuator replacement and inspection.

There are datum surfaces for attachment on the base. The flatness of the slider movement is designed to be 0.05mm/m at maximum to the datum surface.

2. Installation

On the rear side of the actuator, there are tapped holes and through holes for attachment and reamed hole and oblong hole for positioning. See the appearance drawings for the details of the position and diameters. [Refer to 5. External Dimensions] Utilize the reamed holes when repeatability in the attachment after detaching is required. However, when small tunings such as the perpendicularity is required, consider such things like to use one reamed hole.

[1] Using the Tapped Holes on the Bottom of the Base

This actuator has the tapped holes for mounting so it can be fixed from the bottom of the base. (Note that tapped hole size depends on the model. Please see the diagrams below and 13,1 "External Dimensions.") Also, there are reamed holes and a slotted hole for positioning pins.

Oblong Hole

Tapped Hole

Reamed Hole

Through Hole

Tightening Torque

Model

Name

SA5C SA5R

SA6C SA6R

SA7C SA7R

Tapped

Hole Size

M4 7mm

M5 9mm

Tapped Holes Depth

In the case that steel

is used for the bolt

seating surface:

3.59N㨯m

(0.37kgf㨯m)

7.27N㨯m

(0.74kgf㨯m)

7.27N㨯m

(0.74kgf㨯m)

In the case that

aluminum is used for

the bolt seating

surface:

1.76N㨯m

(0.18kgf㨯m)

3.42N㨯m

(0.35kgf㨯m)

3.42N㨯m

(0.35kgf㨯m)

Reamer Hole [mm]

I4H7 Depth 5.5

Tightening screws

x Use hexagonal socket head bolts for the male threads for installing the base. x Use of high-tension bolts meeting at least ISO 10.9 is recommended. x The length of thread engagement should be 1.8 times more than the nominal diameter, and pay attention

not to stick the screw out inside the actuator.

Caution: Be careful when selecting the bolt length. If bolts of inappropriate lengths are used, the

tapped holes may be damaged, actuator mounting strength may become insufficient, or contact with driving parts may occur, resulting in lower precision or unexpected accidents.

48

[2] Using the Through Holes on the Top of the Base

There are through holes equipped on the base so the unit can be attached from the top of the base. Detach the side covers on the sides when installing. (Remove 4 attachment screws (+) with a Philips screwdriver.) Attempt not to drop the bolts, tools, etc. on the stainless steel sheet when tightening the bolts. Please avoid making a dent mark or scratches.

䎃

Apply the socket head cap screw indicated in the table below suitable for the platform material.

䎃

Model

Name

SA5C SA5R

SA6C SA6R

SA7C SA7R

I4.5 drilled hole, I8 counter boring depth 4.5

I6 drilled hole, I9.5 counter boring depth 5.5

Through Holes Mounting Screw Tightening Torque

M4

M5

1.76N㨯m

(0.18kgf㨯m)

1.76N㨯m

(0.18kgf㨯m)

3.42N㨯m

(0.35kgf㨯m)

䎃

Tightening screws

x Use hexagonal socket head bolts for the male threads for installing the base. x Use of high-tension bolts meeting at least ISO 10.9 is recommended. x For the effective engagement length between the bolt and female thread, provide at least the applicable

value specified below: Female thread is made of steel material ĺ Same length as the nominal diameter Female thread is made of aluminum ĺ 1.8 times of nominal diameter

2. Installation

Caution: Be careful when selecting the bolt length. If bolts of inappropriate lengths are used, actuator

mounting strength may become insufficient, or contact with driving parts may occur, resulting in lower precision or unexpected accidents.

49

[3] When Utilizing Attachment Holes on the Bracket for Motor-Reversed Type

䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃



There are tapped holes prepared on the reversing bracket. (See the table below for the detailed dimensions.)

2. Installation

䎃

Tightening screws

x Use hexagonal socket head bolts for the male threads for installing the base. x Use of high-tension bolts meeting at least ISO 10.9 is recommended. x Make sure to have the effective length of thread engagement at least approximately 1.8 times of the

nominal diameter of bolts and screws.

䎃

Model Name

SA5R M5 15mm

SA6R M5 15mm

SA7R M6 14mm

Attachment

Holes

Attachment Hole

Depth

A B C

SA5R 37 26 M5 Depth 15 SA6R 37 28 M5 Depth 15 SA7R 48 33 M6 Depth 14

Tightening Torque

3.42N䱏m

(0.35kgf䱏m)

3.42N䱏m

(0.35kgf䱏m)

5.36 N䱏m

(0.55kgf䱏m)

Caution: Be careful when selecting the bolt length. If bolts of inappropriate lengths are used, the

attachment holes may be damaged, actuator mounting strength may become insufficient, or contact with driving parts may occur, resulting in lower precision or unexpected accidents.

䎃

[Caution for Installation]

Please note the following caution notes when installing the unit with using the tapped holes on the reversing bracket. Do not attempt to affix the unit only with the tapped holes on the reversing bracket. Do not apply external force to the main body. There may be caused vibration due to the operating condition or installation environment, which may result in operational failures or components malfunction.

50

᳓ᐔ

ု⋥ ᄤษ

Availability of installation for each installation posture is as shown below:

䎃

䎃䎃䎃䎃䎃䎃䎃

䎃

When using the unit in the horizontal or vertical orientation, have a pedestal to support the body to avoid

external force being applied to the unit.

䎃

䎃䎃䎃䎃䎃䎃

    

Installation Posture

Horizontal Vertical Mount

u u u

{ {

Horizontal

u

Supports

With No Supported

With Support

Vertical

Support Block

ᡰᜬบ

Mount

2. Installation

51

[4] Attachment of Transported Object

䎃

x There are tapped holes on the top surface of the slider. Affix the work part (transported object) here. x The way to affix follows the installation of the main unit. x There are two reamed holes on the top surface of the slider. Use these reamed holes if repeatability of

attaching and detaching is required. Also, if small tuning such as perpendicularity is required, use one of the reamed holes for the tuning.

x Refer to the following table for the screwed depth and reamed depth. Screwing further than indicated in

the table may destroy the tapped hole or lower the reinforcement of the attachment of the work part, result

2. Installation

in the drop of the accuracy or an unexpected accident.

䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃

䎃

Tightening screws

x Use hexagonal socket head bolts for the male threads for installing. x Use of high-tension bolts meeting at least ISO 10.9 is recommended. x Make sure to have the effective length of thread engagement at least approximately 1.8 times of the

nominal diameter of bolts and screws.

䎃

Reamed Hole Pitch Tolerance: ±0.02

Model Name A B C D E

SA5C SA5R SA6C SA6R SA7C SA7R

26 19 30

31 32 50

39 32 50

I4H7 depth 6

I5H7 depth 6.5

I5H7 depth 10

M4 depth 9 M4 1.76N㨯m (0.18kgf㨯m)

M5 depth 9 M5 3.42N㨯m (0.35kgf㨯m)

M5 depth 10 M5 3.42N㨯m (0.35kgf㨯m)

±0.02

Mounting screw

Mounting Screw Tightening Torque

Caution: Pay attention when selecting the screw length. Selection of inappropriate length of screws

may cause a breakage of tapped holes or insufficient strength of attachment for transportation.

52

[5] Mounting Surface

䎃䎃䎃䎃䎃䎃

䎃

x The platform to install the actuator should possess a structure that ensures enough stiffness, and should

be free from vibration.

x The surface where the actuator will be mounted should be a machined surface or that with an accuracy

equivalent to it, and the flatness should be 0.05mm/m or below.

x Ensure a room for maintenance work. x The side and bottom surfaces of the base on the actuator work as the datum surfaces for the side of the

slider.

x Use these surfaces as the datum surfaces for mounting.

䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃

Datum surface

2. Installation

Because the side and bottom faces of the base provide reference surfaces for slider travel as shown in the above diagram, conduct installation based on the position of these sides when precision is required.

䎃

Follow the diagram below when installing the device using the reference surface.

䎃

R0.3 or less

Model Name A Dimensions (mm)

SA5/6 2 to 4 or less

SA7 2 to 5 or less

53

2.4 Clean-Room Type

x Cleanroom type can have the performance to comply with Cleanroom Class 10 (0.1ȝm) by vacuuming the

air at the two vacuum joints. The table below shows the reference of vacuuming capacity at the maximum speed for each model. Have the pipe layout to make the vacuum performance at the two points get even.

x Have all the base attachment holes at the bottom of the unit closed when using the unit. If there is a

through hole on the body, it can drop the cleanliness.

2. Installation

2.4.1 Reference for Vacuuming Capacity

2.4.2 Vacuum Joint

A quick joint structure is applied to the vacuum joint so an air tube available in the market can be easily joined.

Model

RCP4CR-SA5C

RCP4CR-SA6C

RCP4CR-SA7C

Lead Vacuuming Capacity

[mm] Nl/min (L/min)

3 15 (16)

6 30 (32)

12 50 (54)

20 80 (86)

3 15 (16)

6 30 (32)

12 50 (54)

20 80 (86)

4 30 (32)

8 40 (43)

16 70 (75)

24 90 (97)

54

Model Air Tube Outer Diameter

RCP4CR-SA5C

RCP4CR-SA6C

RCP4CR-SA7C

I6

I8

3. Connecting with Controller

As the connection cable for the controller and RCP4 (this actuator), use the IAI-dedicated controller and dedicated connection cable. This section explains the wiring method for a single axis.

x If the dedicated connection cable cannot be secured, reduce the load on the cable by allowing it to deflect

only by the weight of the cable or wire it in a self-standing cable hose, etc., having a large radius.

x Do not cut and reconnect the dedicated connection cable for extension or shorten the cable. x Do not pull on the dedicated connection cable or bend it forcibly. x The actuator cable coming out of the motor unit is not meant to be bent. Fix the cable so it would not be

bent repeatedly.

Please consult with IAI if you require a different kind of cable than the one supplied.

Dedicated connection cable

RCP4-XX

(connects controller and RCP4)

3. Connecting with Controller

Dedicated controller

• PCON-CA

Robot cable

r=84mm or mere (Movable Use)

Standard cable

r=84mm or mere (Fixed Use)

Dedicated connection cable

Motor-encoder cable: CB-CA-MPA□□□ Motor-encoder cable robot cable: CB-CA-MPA□□□- RB

*) □□□ indicates the cable length. Up to 20m can be specified.

Example) 080 = 8 m

55

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.

3. Connecting with Controller

• 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.

• Do not bend the cable in the area from the connector tip inward to 150mm on both ends. CB-CA-MPAƑƑƑ, CB-CA-MPAƑƑƑ-RB

150mm 150mm

• Have a sufficient radius for bending, and avoid a bend concentrating on one point.

Steel Strap (Piano Wire)

Tie them up softly.

56

• Do not let the cable bend, kink or twist.

• Do not pull the cable with a strong force.

• Pay attention not to concentrate the twisting force to one point on a cable.

3. Connecting with Controller

• 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.

57

• 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.

• If using a cable track, arrange the wiring so that there is no entanglement or kink of the cables in the cable carrier or flexible tube, and do not bind the cables so that the cables are relatively free. (Arrange the wiring so the cables are not to be pulled when bent.)

3. Connecting with Controller

• The occupied volume rate for the cables, etc., inside the cable track should be 60% or less.

Power Line

Duct

I/O Line (Flat Cable, etc.)

Cable Track

Cable

58

4. Maintenance Inspection

4.1 Inspection Items and Schedule

Follow the maintenance inspection schedule below. It is assumed that the equipment is operating 8 hours per day. If the equipment is running continuously night and day or otherwise running at a high operating rate, inspect more often as needed.

External visual inspection Internal inspection Greasing

Start of work inspection

1-month inspection

6-month inspection

12-month inspection

Every 6 months thereafter

Every 12 months thereafter

{ { { { { { { { { { {

*1 Grease film may run out if the actuator is moved back and forth continuously over a distance of 30 mm or

less. As a guide, perform a back-and-forth operation five times or so over a distance of 50 mm or more after a back-and-forth operation over such short distance has been repeated 5,000 to 10,000 times. This will restore oil film.

4.2 External Visual Inspection

*1

4. Maintenance Inspection

An external visual inspection should check the following things.

Main unit Loose actuator mounting bolts, other loose items Cables Scratches, proper connections Stainless sheet Scratches Overall Irregular noise, vibration

Ɣ As a rule of thumb, the stainless sheet should last for about 5000 km of slider motion.

However, under certain conditions, the stainless sheet may need to be replaced earlier. Generally, replacing the stainless sheet will require that you bring the unit to our plant or have one of our technicians come to your plant to perform the replacement.

Ɣ If the actuator is installed vertically, certain conditions may cause grease to drip from the guide. Please

ensure that proper cleaning is performed and grease is replenished.

4.3 Cleaning

Ɣ Clean exterior surfaces as necessary. Ɣ Use a soft cloth to wipe away dirt and buildup. Ɣ Do not blow too hard with compressed air as it may cause dust to get in through the gaps. Ɣ Do not use oil-based solvents as they can harm lacquered and painted surfaces. Ɣ To remove severe buildup, wipe gently with a soft cloth soaked in a neutral detergent or alcohol.

59

4.4 Internal Inspections

Turn OFF the power, remove the side cover and have a visual inspection. When inspecting the interior, check the following items.

Main unit Loose mounting bolts, other loose items

Guide section Lubrication, buildup

Visually inspect the interior of the equipment. Check whether dust or other foreign matter has gotten inside and check the lubrication state. The lubrication may have turned brown. This is not a problem as long as the travel surfaces shine as though they are wet. If the grease is mixed with dust and does not have a shiny appearance, or if the grease has lost its efficacy due to prolonged use, then clean each section and reapply grease. The procedure for internal inspections is outlined below.

1) Loosen the screws on the side cover and detach the side cover.

2) Check inside.

4. Maintenance Inspection

3) After finishing the inspection, assemble back in the reverse order. When attaching the side cover, push up the stainless steel sheet firmly so excess force would not be applied to the stainless steel sheet.

Caution: When checking inside the equipment, be careful not to forcibly bend the stainless sheet or

scratch it. Do not tug on the stainless sheet or in any way attempt to reposition it. Change in the attached condition may cause the sheet to be mounted unevenly or impact the product life. In such cases, please contact IAI Sales Engineer Department. Keep in mind that the edges of the stainless sheet can cause injuries. Always wear gloves when working on it.

4.5 Internal Cleaning

Ɣ Use a soft cloth to wipe away dirt and buildup. Ɣ Do not blow too hard with compressed air as it may cause dust to get in through the gaps. Ɣ Do not use oil-based solvents, neutral detergent or alcohol.

60

4.6 Grease Supply

䎃

4.6.1 What Grease to Use on the Standard Type

[1] What Grease to Use on the Guides

IAI uses the following grease in our plant.

Guide Idemitsu Kosan Daphne Eponex Grease No. 2

Other companies also sell similar types of grease. For details, give the above grease name to the manufacturer you want to purchase from and ask what corresponding product they have available. Here are some examples of similar products.

Showa Shell Oil Albania Grease No. 2

Mobil Oil Mobilax 2

Warning: Never use anything other than synthetic poly- olefin grease. Mixing poly- grease with other

grease not only reduces the performance of the grease, it may even cause damage to the actuator.

4. Maintenance Inspection

[2] What Grease to Use on the Ball Screw

IAI uses the following grease in our plant.

Ball Screw Kyodo Yushi Multitemp LRL 3

Warning: Never use anything other than synthetic poly- olefin grease. Mixing poly- grease with other

grease not only reduces the performance of the grease, it may even cause damage to the actuator.

4.6.2 What Grease to Use on the Clean Room Type

On the guide and ball screws, the urea based grease that has great low particle-emission, stable torque characteristics, brilliant lubrication and anti-dust effect equivalent to the lithium based grease is applied. The grease described below is applied when the product is shipped out from our factory.

The following grease is applied when the product is shipped out from IAI factory.

Guide, Ball Screw Kuroda Precision Industries C Grease

Warning: Never use anything other than synthetic poly- olefin grease. Mixing poly- grease with other

grease not only reduces the performance of the grease, it may even cause damage to the actuator.

61

4.6.3 How to apply grease

(1) Remove the screws and detach the side covers on both sides.

Side Cover Attachment Screws

4. Maintenance Inspection

Side Cover Attachment Screws

Opposite Side of the Motor

Motor Side

Side Cover

After Side Covers are Detached

(2) On the guide part, insert a spatula between the slider and the base or apply grease with a grease

injector while moving the slider back and forth. Apply grease on both sides. Wipe off the excess grease at the end.

62

(3) To grease ball screws, first clean, then put some grease on your finger and apply while moving the slider

back and forth. In this process, pay attention to the stainless steel sheet so that you would not touch and make it deformed. When finished, wipe off excess grease.

(4) Attach the side covers after grease supply is finished.

If you touch the edge of the stainless sheet in the attaching process, the sheet may get damaged or wavy which result in shortening life or earlier wear-out. To avoid touching the edge of the sheet, insert a spacer (approximately 0.1 to 0.2mm) between the sheet and cover to push up the sheet, and then push in the cover.

4. Maintenance Inspection

Caution: x Do not damage the stainless steel sheet by bending it forcefully during the check inside.

Also you may get hurt on the edge of the stainless steel sheet. Wear gloves when you work on it. The front cover is supporting the ball screw. Do not detach it. If the front cover loses its tuned condition, it may cause an increase of slider resistance, shorten production life and abnormal noise due to the center of the axis being off the right position.

x In case the grease got into your eye, immediately go see the doctor to get appropriate care.

After finishing the gease supply work, wash your hands carefully with water and soap to rinse the grease off.

63

4.7 Procedure for Stainless Steel Sheet Replacement and Adjustment

In this section, explains how to replace and adjust the stainless steel sheet. The screws and other components detached for the replacement will be necessary when rebuild the product. Prepare a storage box beforehand to keep the components in it.

4.7.1 Preparation

(1) Items required for replacing the stainless sheet

x Replacement stainless sheet x Hex wrench x Scale

 

(2) Caution for the stainless steel sheet tension

Degradation and wear-out of the stainless steel sheet relies on its tension of attachment. If the stainless steel sheet is pulled with a huge force and the gap between the sheet and the slider cover is large, there is a risk of metal fatigue. On the other hand, if the tensile strength is too low, the stainless steel sheet would interfere with the

4. Maintenance Inspection

back side of the slider cover and make dust to be generated. Therefore it is necessary to have the dedicated tuning tool to adjust the tension of the stainless steel sheet to have the appropriate gap between the stainless steel sheet and slider cover.



(3) Names of the Parts

Stainless Sheet

Stainless Sheet Retainer Plates

Slider Cover

64

4.7.2 Procedure for Replacement and Tuning

(1) Move the slider to the middle of the actuator (2) Remove the screws affixing the slider cover.

For SA5C and SA5R there is a plate spring. Remove the spring.

Standard Type (RCP4-SA5C, SA6C, SA7C, SA5R, SA6R, SA7R)

Condition with Slider Covers Detached (the condition that the plate spring is also removed for SA5C and

SA5R)

Clean Room Type (RCP4CR-SA5C, SA6C, SA7C)

Condition with Slider Covers Detached

4. Maintenance Inspection

(3) With a screw driver, remove the 2 screws on each side and detach the holder plate and old stainless

steel sheet.

(4) Hold the new stainless steel sheet with the holder plate and the screws.

At this time, tighten the screws on the motor side properly and leave the other side loose.

Opposite Side of the Motor

Motor Side

Stainless Steel Sheet Holder Plate and Fixing Screws Tighten on the motor side properly and leave the other side loose.

65

(5) Adjust the stainless steel sheet tension.

1) Adjust the tension of stainless steel sheet by moving back and forth. For Clean Type, make the roller pressed down to touch the side covers. It is not necessary for Standard Type since there is no roller.

2) Tune the tension of the sheet so the distance between the peak of the sheet and the top surface of the slider become as shown in the figure below and temporarily tighten the screws on the opposite side of the motor to hold the stainless steel sheet.

Push down with approximately 2 to 2.5N (0.2 to 0.25kgf)

4. Maintenance Inspection

Distance between Peak of Stainless Steel Sheet and Slider Top Surface

(6) Slide the slider in the whole range of the stroke for several times to ensure there is no touch of the slider

to the stainless steel sheet, and check the tension at the same time. For those such as low lead type or brake-equipped type that cannot be moved with hand, turn on the power supply to the controller and move the slider in approximately 20mm/s using either the teaching pendant or PC software.

Standard Type

Clean Room Type

Distance between slider top surface and peak of stainless steel sheet (H)

Slider top surface

Type H [mm]

RCP4-SA5C, SA6C RCP4-SA5R, SA6R

0.5 to 1.0

RCP4-SA7C, SA7R 1.0 to 2.0

RCP4CR-SA5C, SA6C 0.5 to 1.0

RCP4CR-SA7C 2.0 to 3.0

Push down with approximately 2 to 2.5N (0.2 to 0.25kgf)

66

4.8 Procedure for Belt Replacement and Tuning

Applicable Untis : RCP4-SA5R, SA6R, SA7R

4.8.1 Inspection of the Belt

For inspection work, detach the pulley cover with 1.5mm-sized hex wrench and carry it out by visual.

Pulley Cover

Screw

The replacement period cannot be determined in general because the durability of the deceleration belt can be greatly influenced by the conditions of operation. It generally has life of hundreds of times for bending movement. The timing belt requires replacement regularly under the following conditions as a reference since degradation such as abrasion proceeds as the time passes for usage.

x When remarkable abrasion is confirmed on the teeth or edges of the belt x When the belt is swelled for such reasons as oil being attached on x When damage is confirmed such as crack on the tooth or back of the belt

Also, since it is difficult to confirm the degradation of the core wires to retain the strength of the teethed belt by visual or looseness caused by being elongated, it is recommended to set regular replacement periods in advance in case the product is used under such conditions that gives the core wires great fatigue due to high acceleration and deceleration speed.

4. Maintenance Inspection

4.8.2 Belts to be used

The following belt is applied when the product is shipped out from IAI factory.

SA5R/SA6R x 60S2M196GB Rubber Bare back type (Mitsuboshi Belting Ltd.) SA7R x 100S3M237GB Rubber Bare back type (Mitsuboshi Belting Ltd.)

67

4.8.3 Replacement of the Belt

[Items Required for Replacemet Work]

x Belt for Replacement x Hex wrench

1.5mm, 2.5mm (SA5R/SA6R) or 3mm (SA7R) - sized

x Tension gauge (that is available for pulling with 80N) x Long cable band (thin string)

[Procedures]

1) Remove the three screws holding the pulley cover with a 1.5mm-sized hex wrench to detach the pulley cover.

4. Maintenance Inspection

Pulley Cover

Screw

2) Loosen the four screws holding the pulley on the motor side with a 2.5mm-sized (SA5R/SA6R) or 3mm-sized (SA7R) hex wrench. If the belt is required to be replaced, replace it.

Belt

Screw

68

3) Adjust the belt tension.

Hand a cable band (thin string) on the edge of the motor unit and pull it on a tension gauge with the specified load (specified value of the belt tension). When the load reached the specified, tighten the screws with a 2.5mm-sized (SA5R/SA6R) or 3mm-sized (SA7R) hex wrench to hold the unit in the place.

Cable band (thin string)

Screw

Belt Tension

SA5R, SA6R 25 to 30N

SA7R 80 to 90N

SA5R, SA6R Tightening Torque : 152 N • cm

SA7R Tightening Torque : 323 N • cm

4) Tighten the three screws to hold the pulley cover with a 1.5mm-sized hex wrench to attach the pulley cover.

4. Maintenance Inspection

Tightening Torque : 25.4 N • cm

Pulley Cover

Screw

69

4.9 Motor Replacement Process

4.9.1 RCP4-SA5C, SA6C, SA7C, RCP4CR-SA5C, SA6C, SA7C

[Items required for replacing the motor]

x Motor Unit for Replacement x Hex wrench set

3mm-sized

4. Maintenance Inspection

[Procedure]

1) Remove the screw affixing the actuator and the motor unit with a 3mm hex wrench.

For Fixed screws actuator and Motor Unit

2) Detach the motor unit.



70

3) Make the profiles on the actuator side and motor unit side aligned so the projection matches to the slit.

4. Maintenance Inspection

Make the projection and slit matched with each other.

Apply grease to the coupling part. TL101Y grease made by NOK

4) Attach the motor unit for replacement with the projection being matched with the slit.



5) Tighten the screw to affix the motor unit to the actuator with 3mm hex wrench.



Tightening Torque : 350 N • cm

71

4.9.2 RCP4-SA5R, SA6R, SA7R

[Items Required for Replacement Work]

x Motor Unit for Replacement x Hex Wrench Set

3mm-sized

4. Maintenance Inspection

[Procedure]

1) Remove the screw affixing the actuator and the motor unit with a 3mm hex wrench.

Fixing screw for actuator and motor unit

2) Detach the motor unit.

72

3) Make the profiles on the actuator side and motor unit side aligned so the projection matches to the slit.

4. Maintenance Inspection

Make the projection and slit matched with each other.

Apply grease to the coupling part. TL101Y grease made by NOK

4) Attach the motor unit for replacement with the projection being matched with the slit.

5) Tighten the screw to affix the motor unit to the actuator with 3mm hex wrench.

Fixing screw for actuator and motor unit

Tightening Torque : 350 N • cm

73

5. External Dimensions

5.1 RCP4-SA5C

Datum Surface

Detail: X

32

20 66

50 52

φ8

φ4.5

5

3 4.5

(Attachment hole and datum surface)

Datum Point for Ma and Mc Moments Offset

50

57.5 40

X

5. External Dimensions

5

0+0.012

4

Detail Diagram Y

Scale 2 : 1

2-φ4 H7 depth 6

L

18

3

ME MESE SE

39

H-Oblong Hole, depth 5.5 (from bottom of base)

D-M depth 7

26

Y

Stroke

B×100P

J (Reamed hole and slotted hole)

A

G 106 (146)7

9 15.515.5

30

26

(Reamer pitch ±0.02)

94 19

4-M4 depth 9

19

±0.02

3

26

22.5

2- φ 4H7 depth 5.5

(from bottom of base)

F-φ4.5, Through φ8 Counterbore, depth 4.5 (from other side)

24

2050C×100P

62

20 (300) (13)

98 (138)K

Grounding Tap, M3, depth 6 (Same on opposite side)

Affixing Cable Allowable Bending = R50

47 2.52.5

(27)

L Mass [kg]

Stroke

w/o

Brake

With

Brake

A B C D F G H J K

50 279 319 73 0 0 4 4 166 0 0 181 1.5 1.7 100 329 359 100 0 0 4 4 216 1 85 231 1.6 1.9 150 379 419 100 0 1 4 6 266 1 85 281 1.8 2.0 200 429 469 200 1 1 5 6 316 1 185 331 1.9 2.1 250 479 519 200 1 2 6 8 366 1 185 381 2.1 2.3 300 529 569 300 2 2 8 8 416 1 285 431 2.2 2.4 350 579 619 300 2 3 8 10 466 1 285 481 2.4 2.6 400 629 669 400 3 3 10 10 516 1 385 531 2.5 2.7 450 679 719 400 3 4 10 12 566 1 385 581 2.6 2.9 500 729 769 500 4 4 12 12 616 1 485 631 2.8 3.0 550 779 819 500 4 5 12 14 666 1 485 681 2.9 3.2 600 829 869 600 5 5 14 14 716 1 585 731 3.1 3.3 650 879 919 600 5 6 14 16 766 1 585 781 3.2 3.5 700 929 969 700 6 6 16 16 816 1 685 831 3.4 3.5 750 979 1019 700 6 7 16 18 866 1 685 881 3.5 3.7 800 1029 1069 800 7 7 18 18 916 1 785 931 3.7 3.9

74

w/o

Brake

With

Brake

5.2 RCP4-SA6C

Datum Surface

φ8

5

φ4.5

(Attachment hole and datum surface)

59.5

Detail: X

Datum Point for Ma and Mc Moments Offset

53

43

X

0+0.012

4

Detail Diagram Y

Scale 2 : 1

5 4.5

39

23 88

40

56

58

H-Oblong Hole, depth 5.5

(from bottom of base)

D-M5 depth 9

5

2- φ5H7 depth 6

31

(Reamer pitch

18

3 3

ME

31

Y

Stroke

J (Reamed hole and slotted hole)

K

G 106 (146)7

L

B × 100P

C× 100P

21 19.519.5

50

±0.02)

115 18.5

75A

4-M5 depth 9

32

±0.02

98 (138)

MESE SE

28

22.5

Grounding Tap, M3, depth 6

(Same on opposite side)

F-φ4.5, Through φ8 Counterbore, depth 4.5 (from other side)

E-φ4H7, depth 5.5

(from bottom of base)

20

25

20 (300)

(13)

Affixing Cable Allowable Bending = R50

(27)

5. External Dimensions

47 5.55.5

Stroke

w/o

Brake

With

Brake

A B C D E F G H J K

w/o

Brake

50 299.5 339.5 0 0 1 4 2 4 186.5 0 0 201.5 2.0 2.2 100 349.5 389.5 100 0 1 6 3 4 236.5 1 85 251.5 2.1 2.3 150 399.5 439.5 100 0 2 6 3 6 286.5 1 85 301.5 2.3 2.5 200 449.5 489.5 200 1 2 8 3 6 336.5 1 185 351.5 2.4 2.6 250 499.5 539.5 200 1 3 8 3 8 386.5 1 185 401.5 2.6 2.8 300 549.5 589.5 300 2 3 10 3 8 436.5 1 285 451.5 2.7 3.0 350 599.5 639.5 300 2 4 10 3 10 486.5 1 285 501.5 2.9 3.1 400 649.5 689.5 400 3 4 12 3 10 536.5 1 385 551.5 3.0 3.3 450 699.5 739.5 400 3 5 12 3 12 586.5 1 385 601.5 3.2 3.4 500 749.5 789.5 500 4 5 14 3 12 636.5 1 485 651.5 3.4 3.6 550 799.5 839.5 500 4 6 14 3 14 686.5 1 485 701.5 3.5 3.7 600 849.5 889.5 600 5 6 16 3 14 736.5 1 585 751.5 3.7 3.9 650 899.5 939.5 600 5 7 16 3 16 786.5 1 585 801.5 3.8 4.1 700 949.5 989.5 700 6 7 18 3 16 836.5 1 685 851.5 4.0 4.2 750 999.5 1039.5 700 6 8 18 3 18 886.5 1 685 901.5 4.1 4.4 800 1049.5 1089.5 800 7 8 20 3 18 936.5 1 785 951.5 4.3 4.5

L Mass [kg]

With

Brake

75

5.3 RCP4-SA7C

Datum Surface

6

5.5 5.5

(Attachment hole and datum surface)

Datum Point for Ma and Mc Moments Offset

76

64

50

X

φ6

Detail: X

48

9 30 9

71

73

5. External Dimensions

5

0

+0.012

4

Detail Diagram Y

Scale 2 : 1

2-φ5 H7 depth 10

φ9.5

K

21.5

3 3

ME MESE SE

43

H-Oblong Hole, depth 5.5

(from bottom of base)

D-M5 depth 9

40

Y

10 143.5 (193.5)

Stroke

B ×100 P

C ×100P

J (Reamed hole and slotted hole)

G

39

(Reamer pitch ±0.02)

20 20 20

L

4-M5 depth 10

32

±0.02

50

126

80A

22

F-φ 6, Through φ 9.5 Counterbore, depth 5.5 (from other side)

30

133 (183)

21

Grounding Tap, M3, depth 6

32

(Same on opposite side)

E- φ4H7 depth 6

(from bottom of base)

25.5

20

Affixing Cable Allowable Bending = R50

(300)

(13)

(27)

61 66

Stroke

w/o

Brake

With

Brake

A B C D E F G H J K

50 352.5 402.5 0 0 1 4 2 4 199 0 0 219.5 3.4 3.9 100 402.5 452.5 100 0 1 6 3 4 249 1 85 269.5 3.6 4.1 150 452.5 502.5 100 0 2 6 3 6 299 1 85 319.5 3.8 4.3 200 502.5 552.5 200 1 2 8 3 6 349 1 185 369.5 4.1 4.6 250 552.5 602.5 200 1 3 8 3 8 399 1 185 419.5 4.3 4.8 300 602.5 652.5 300 2 3 10 3 8 449 1 285 469.5 4.6 5.1 350 652.5 702.5 300 2 4 10 3 10 499 1 285 519.5 4.8 5.3 400 702.5 752.5 400 3 4 12 3 10 549 1 385 569.5 5.1 5.6 450 752.5 802.5 400 3 5 12 3 12 599 1 385 619.5 5.3 5.8 500 802.5 852.5 500 4 5 14 3 12 649 1 485 669.5 5.6 6.1 550 852.5 902.5 500 4 6 14 3 14 699 1 485 719.5 5.8 6.3 600 902.5 952.5 600 5 6 16 3 14 749 1 585 769.5 6.1 6.5 650 952.5 1002.5 600 5 7 16 3 16 799 1 585 819.5 6.3 6.8 700 1002.5 1052.5 700 6 7 18 3 16 849 1 685 869.5 6.5 7.0 750 1052.5 1102.5 700 6 8 18 3 18 899 1 685 919.5 6.8 7.3 800 1102.5 1152.5 800 7 8 20 3 18 949 1 785 969.5 7.0 7.5

76

L Mass [kg]

w/o

Brake

With

Brake

5.4 RCP4-SA5R

Datum Point for

Ma and Mc Moments Offset

32

20 66

L

(300)

K

2-φ4 H7 depth 6

4-M4 depth 9

20

94

30

19

±0.02

9 15.515.5

(28.5)

116 (156)

18

3

(13)

(28)

0.5

Stroke

Affixing Cable Allowable Bending = R50

27.5

19

3

MESEME SE

Grounding Tap, M3, depth 6

(32.5)

(Same on opposite side)

26

(Reamer pitch ±0.02)

5. External Dimensions

4-M5 depth 15

39

50

40

50

X

(10)

52

56.5

118.5

47

2.5

H-Oblong Hole, depth 5.5

(from bottom of base)

D-M4 depth 7

Y

37

φ4H7 depth 5.5

(from bottom of base)

B×100P

26

C×100P 50 20

J (Reamed hole and slotted hole)

A

G7 35.5

F-φ4.5 Through φ8 Counterbore, depth 4.5 (from other side)

24

62

37

26

Mass [kg]

Stroke L A B C D F G H J K

w/o

Brake

With

Brake

50 208.5 73 0 0 4 4 166 0 0 181 1.5 1.7 100 258.5 100 0 0 4 4 216 1 85 231 1.6 1.9 150 308.5 100 0 1 4 6 266 1 85 281 1.8 2.0 200 358.5 200 1 1 6 6 316 1 185 331 1.9 2.1 250 408.5 200 1 2 6 8 366 1 185 381 2.1 2.3 300 458.5 300 2 2 8 8 416 1 285 431 2.2 2.4 350 508.5 300 2 3 8 10 466 1 285 481 2.4 2.6 400 558.5 400 3 3 10 10 516 1 385 531 2.5 2.7 450 608.5 400 3 4 10 12 566 1 385 581 2.6 2.9 500 658.5 500 4 4 12 12 616 1 485 631 2.8 3.0 550 708.5 500 4 5 12 14 666 1 485 681 2.9 3.2 600 758.5 600 5 5 14 14 716 1 585 731 3.1 3.3 650 808.5 600 5 6 14 16 766 1 585 781 3.2 3.5 700 858.5 700 6 6 16 16 816 1 685 831 3.4 3.6 750 908.5 700 6 7 16 18 866 1 685 881 3.5 3.7 800 958.5 800 7 7 18 18 916 1 785 931 3.7 3.9

77

5.5 RCP4-SA6R

39

23 88

40

53

43

X

56

58

121.5

5. External Dimensions

Datum Point for

Ma and Mc Moments Offset

1.5

(7)

56.5

4.5 47

H-Oblong Hole, depth 5.5 (from bottom of base)

18

3

ME SE

D-M4 depth 7

Y

L

Stroke

(28)

(13)

31

Affixing Cable

Allowable Bending = R50

F-φ4.5 Through φ8 Counterbore, depth 4.5 (from other side)

J (Reamed hole and slotted hole)

K

2-φ5H7 depth 6

4-M5 depth 9

(300) 116 (156)

B×100P

C×100P 20

A

G7 35.5

115 18.5

50

32

±0.02

21

19.5

20

(28.5)

75 25

27.5

3

SE ME

19.5

Grounding Tap, M3, depth 6

(32.5)

(Same on opposite side)

E-φ4H7 depth 5.5

(from bottom of base)

31

(Reamer pitch ±0.02)

4-M5 depth 15

37

28

37

Stroke L A B C D E F G H J K

w/o

Brake

50 229 0 0 1 4 2 4 186.5 0 0 201.5 2.0 2.2 100 279 100 0 1 6 3 4 236.5 1 85 251.5 2.1 2.3 150 329 100 0 2 6 3 6 286.5 1 85 301.5 2.3 2.5 200 379 200 1 2 8 3 6 336.5 1 185 351.5 2.4 2.6 250 429 200 1 3 8 3 8 386.5 1 185 401.5 2.6 2.8 300 479 300 2 3 10 3 8 436.5 1 285 451.5 2.7 3.0 350 529 300 2 4 10 3 10 486.5 1 285 501.5 2.9 3.1 400 579 400 3 4 12 3 10 536.5 1 385 551.5 3.0 3.3 450 629 400 3 5 12 3 12 586.5 1 385 601.5 3.2 3.4 500 679 500 4 5 14 3 12 636.5 1 485 651.5 3.4 3.6 550 729 500 4 6 14 3 14 686.5 1 485 701.5 3.5 3.7 600 779 600 5 6 16 3 14 736.5 1 585 751.5 3.7 3.9 650 829 600 5 7 16 3 16 786.5 1 585 801.5 3.8 4.1 700 879 700 6 7 18 3 16 836.5 1 685 851.5 4.0 4.2 750 929 700 6 8 18 3 18 886.5 1 685 901.5 4.1 4.4 800 979 800 7 8 20 3 18 936.5 1 785 951.5 4.3 4.5

Mass [kg]

With

Brake

78

5.6 RCP4-SA7R

Datum Point for

48

9 30 9

Ma and Mc Moments Offset

21.5

(13)

(28)

Stroke

2-φ5H7 depth 10

4-M5H7 depth 10

Affixing Cable

Allowable Bending = R50

K

L

32

20(300)

126

50

±0.02

20 20 20

148.5(198.5)

(55)

33

22

33

MESEME SE

(37)

Grounding Tap, M3, depth 6

(Same on opposite side)

39

(Reamer pitch ±0.02)

5. External Dimensions

4-M6 depth 14

43

64

50

156

(7.75)

75.25

2.5 61 0.5

H-Oblong Hole, depth 5.5

D-M5 depth 9

(from bottom of base)

B×100P

F-φ6 Through φ9.5 Counterbore, depth 5.5 (from other side)

E-φ4H7 depth 6

(from bottom of base)

X

71

73

40

Y

J (Reamed hole and slotted hole)

A

G10

30C×100P

80 25.5

43.5

Stroke L A B C D E F G H J K

50 252.5 0 0 1 4 2 4 199 0 0 219.5 3.4 3.9 100 302.5 100 0 1 6 3 4 249 1 85 269.5 3.6 4.1 150 352.5 100 0 2 6 3 6 299 1 85 319.5 3.8 4.3 200 402.5 200 1 2 8 3 6 349 1 185 369.5 4.1 4.6 250 452.5 200 1 3 8 3 8 399 1 185 419.5 4.3 4.8 300 502.5 300 2 3 10 3 8 449 1 285 469.5 4.6 5.1 350 552.5 300 2 4 10 3 10 499 1 285 519.5 4.8 5.3 400 602.5 400 3 4 12 3 10 549 1 385 569.5 5.1 5.6 450 652.5 400 3 5 12 3 12 599 1 385 619.5 5.3 5.8 500 702.5 500 4 5 14 3 12 649 1 485 669.5 5.6 6.1 550 752.5 500 4 6 14 3 14 699 1 485 719.5 5.8 6.3 600 802.5 600 5 6 16 3 14 749 1 585 769.5 6.0 6.5 650 852.5 600 5 7 16 3 16 799 1 585 819.5 6.3 6.8 700 902.5 700 6 7 18 3 16 849 1 685 869.5 6.5 7.0 750 952.5 700 6 8 18 3 18 899 1 685 919.5 6.8 7.3 800 1002.5 800 7 8 20 3 18 949 1 785 969.5 7.0 7.5

Mass [kg]

w/o

Brake

With

Brake

48

33

48

79

5.7 RCP4CR-SA5C

Datum Surface

Detail: X

32

20 66

50

52

5

Scale 2 : 1

φ8

φ4.5

18.9

5

3 4.5

(Attachment hole and datum surface)

Datum Point for Ma and Mc Moments Offset

50

57.5 40

X

0

+0.012

5. External Dimensions

4

Detail Diagram Y

2-φ4 H7 depth 6

19

26

(Reamer pitch ±0.02)

L

20

3

ME

SE

39

Ø 40

D-M4 depth 7

26

Y

Stroke

Range of joint rotation

H-Oblong Hole, depth 5.5

(from bottom of base)

J (Reamed hole and slotted hole)

C×100P

A

G 106(146)7

2- φ 4H7 depth 5.5

(from bottom of base)

B×100P

9 15.515.5

±0.02

30

90 21

2050

4-M4 depth 9

98(138)K

3

ME

SE

26

Grounding Tap, M3, depth 6

22.5

3332

F-φ4.5, Through φ8 Counterbore, depth 4.5 (from other side)

24

62

(Same on opposite side)

20

(300)

Affixing Cable Allowable Bending = R50

Fitting Location : Opposite Side

Fitting Location : Standard

* Tube outer diameters : φ6

(13)

(28)

47 2.52.5

Stroke

w/o

Brake

With

Brake

A B C D F G H J K

w/o

Brake

50 279 319 73 0 0 4 4 166 0 0 181 1.5 1.7 100 329 369 100 0 0 4 4 216 1 85 231 1.6 1.9 150 379 419 100 0 1 4 6 266 1 85 281 1.8 2.0 200 429 469 200 1 1 6 6 316 1 185 331 1.9 2.1 250 479 519 200 1 2 6 8 366 1 185 381 2.1 2.3 300 529 569 300 2 2 8 8 416 1 285 431 2.2 2.4 350 579 619 300 2 3 8 10 466 1 285 481 2.4 2.6 400 629 669 400 3 3 10 10 516 1 385 531 2.5 2.7 450 679 719 400 3 4 10 12 566 1 385 581 2.6 2.9 500 729 769 500 4 4 12 12 616 1 485 631 2.8 3.0 550 779 819 500 4 5 12 14 666 1 485 681 2.9 3.2 600 829 869 600 5 5 14 14 716 1 585 731 3.1 3.3 650 879 919 600 5 6 14 16 766 1 585 781 3.2 3.5 700 929 969 700 6 6 16 16 816 1 685 831 3.4 3.6 750 979 1019 700 6 7 16 18 866 1 685 881 3.5 3.7 800 1029 1069 800 7 7 18 18 916 1 785 931 3.7 3.9

L Mass [kg]

With

Brake

80

5.8 RCP4CR-SA6C

Datum Surface

φ8

5

φ4.5

(Attachment hole and datum surface)

59.5

Detail: X

Datum Point for Ma and Mc Moments Offset

53

43

X

0.012

0

+

4

Detail Diagram Y

Scale 2 : 1

5 4.5

39

23 88

40

56

18.9

58

5

18

3

ME

Ø 40

Range of joint rotation

H-Oblong Hole, depth 5.5

(from bottom of base)

D-M5 depth 9

31

Y

2-φ5 H7 depth 6

31

(Reamer pitch ±0.02)

Stroke

F-φ4.5, Through φ8 Counterbore, depth 4.5 (from other side)

J (Reamed hole and slotted hole)

K

B×100P

C×100P

G 106(146)7

21 19.519.5

4-M4 depth 9

32

±0.02

50

L

3332

20

25

75A

98(138)

18.5115 3

MESE SE

28

22.5

Grounding Tap, M3, depth 6

(Same on opposite side)

2- φ 4H7 depth 5.5

(from bottom of base)

20

(300)

Affixing Cable

Allowable Bending = R50

(13)

(28)

Fitting Location : Opposite Side

Fitting Location : Standard

47 5.55.5

* Tube outer diameters : φ6

5. External Dimensions

Stroke

w/o

Brake

With

Brake

A B C D E F G H J K

w/o

Brake

50 299.5 339.5 0 0 1 4 2 4 186.5 0 0 201.5 2.0 2.2 100 349.5 389.5 100 0 1 6 3 4 236.5 1 85 251.5 2.1 2.3 150 399.5 439.5 100 0 2 6 3 6 286.5 1 85 301.5 2.3 2.5 200 449.5 489.5 200 1 2 8 3 6 336.5 1 185 351.5 2.4 2.6 250 499.5 539.5 200 1 3 8 3 8 386.5 1 185 401.5 2.6 2.8 300 549.5 589.5 300 2 3 10 3 8 436.5 1 285 451.5 2.7 3.0 350 599.5 639.5 300 2 4 10 3 10 486.5 1 285 501.5 2.9 3.1 400 649.5 689.5 400 3 4 12 3 10 536.5 1 385 551.5 3.0 3.3 450 699.5 739.5 400 3 5 12 3 12 586.5 1 385 601.5 3.2 3.4 500 749.5 789.5 500 4 5 14 3 12 636.5 1 485 651.5 3.4 3.6 550 799.5 839.5 500 4 6 14 3 14 686.5 1 485 701.5 3.5 3.7 600 849.5 889.5 600 5 6 16 3 14 736.5 1 585 751.5 3.7 3.9 650 899.5 939.5 600 5 7 16 3 16 786.5 1 585 801.5 3.8 4.1 700 949.5 989.5 700 6 7 18 3 16 836.5 1 685 851.5 4.0 4.2 750 999.5 1039.5 700 6 8 18 3 18 886.5 1 685 901.5 4.1 4.4 800 1049.5 1089.5 800 7 8 20 3 18 936.5 1 785 951.5 4.3 4.5

L Mass [kg]

With

Brake

81

5.9 RCP4CR-SA7C

Datum Surface

6

5.5 5.5

8 32 8

50

0

+0.012

4

Detail Diagram Y

Scale 2 : 1

Detail: X

48

71

73

5

(Attachment hole and datum surface)

Datum Point for Ma and Mc Moments Offset

76

64

X

5. External Dimensions

(Reamer pitch ±0.02)

20 20 20

±0.02

32

L

2-φ5 H7 depth 10

φ9.5

φ6

39

20.5

3 3

ME MESE SE

43

(25.5)

D-M5 depth 9

40

Y

10 143.5 (193.5)

Stroke

φ 46

Range of joint rotation

H-Oblong Hole, depth 5.5

(from bottom of base)

J (Reamed hole and slotted hole)

B×100P

C×100P

G

4-M5 depth 10

50

40.540

F-φ6, Through φ9.5 Counterbore, depth 5.5 (from other side)

30

80A

133(183)K

21128

21

32

Grounding Tap, M3, depth 6 (Same on opposite side)

E- φ 4H7 depth 6

(from bottom of base)

25.5

(300)

20

Affixing Cable Allowable Bending = R50

(13)

(28)

Fitting Location : Opposite Side

Fitting Location : Standard

61 66

* Tube outer diameters : φ8

Stroke

w/o

Brake

With

Brake

A B C D E F G H J K

w/o

Brake

50 352.5 402.5 0 0 1 4 2 4 199 0 0 219.5 3.4 3.9 100 402.5 452.5 100 0 1 6 3 4 249 1 85 269.5 3.6 4.1 150 452.5 502.5 100 0 2 6 3 6 299 1 85 319.5 3.8 4.3 200 502.5 552.5 200 1 2 8 3 6 349 1 185 369.5 4.1 4.6 250 552.5 602.5 200 1 3 8 3 8 399 1 185 419.5 4.3 4.8 300 602.5 652.5 300 2 3 10 3 8 449 1 285 469.5 4.6 5.1 350 652.5 702.5 300 2 4 10 3 10 499 1 285 519.5 4.8 5.3 400 702.5 752.5 400 3 4 12 3 10 549 1 385 569.5 5.1 5.6 450 752.5 802.5 400 3 5 12 3 12 599 1 385 619.5 5.3 5.8 500 802.5 852.5 500 4 5 14 3 12 649 1 485 669.5 5.6 6.1 550 852.5 902.5 500 4 6 14 3 14 699 1 485 719.5 5.8 6.3 600 902.5 952.5 600 5 6 16 3 14 749 1 585 769.5 6.0 6.5 650 952.5 1002.5 600 5 7 16 3 16 799 1 585 819.5 6.3 6.8 700 1002.5 1052.5 700 6 7 18 3 16 849 1 685 869.5 6.5 7.0 750 1052.5 1102.5 700 6 8 18 3 18 899 1 685 919.5 6.8 7.3 800 1102.5 1152.5 800 7 8 20 3 18 949 1 785 969.5 7.0 7.5

L Mass [kg]

With

Brake

82

6. Life

The mechanical life of the actuator is represented by that of the guide receiving the greatest moment load. The “rated load” is one factor that relates to the traveling life. There are two types of “rated load,” namely “static rated load” and “dynamic rated load.” x “Static rated load” : Load which, when applied to a stationary actuator, leaves a minor pressure mark

on the contract surface.

x “Dynamic rated load” : Load which applies after a specified traveling distance under a load based on a

specific probability of survival at which the guide does not break

Guide manufacturers indicate the life of a guide using a dynamic rated load when the provability of survival after 50 km of traveling is 90%. In the case of general industrial machinery, however, you should understand the specific life also for the purpose of maintenance. Also, the life of a guide has a sufficient allowance relative to a radial load, and receives the greatest impact by a moment load offset from the center of the guide. The life is designed to ensure a traveling life of 5,000 km under a load corresponding to the allowable load moment and at a load coefficient of 1.2 (safety factor). [For the dynamic allowable load moment, refer to 2, “Specification”] The calculation formula for allowable load moment at a traveling life of 5,000 km is shown below:

C

: Allowable load moment

IA

f

: Load coefficient (= 1.2)

5000km

W

M50: Dynamic rated moment when the probability of survival after

50 km of traveling is 50%

6. Life

The life at the actual moment is calculated by the formula below:

L : Traveling live (probability of survival: 90%) C

5000km

: Allowable dynamic moment

IA

P : Actual moment

83

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.

84

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:

7. Warranty

[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

85

Change History

Revision Date Description of Revision

September 2011

November 2011

January 2012

February 2012

Change History

March 2012

First edition

Second edition

Pg. 31 Caution note added regarding cable

Third edition Pg. 1, 3, 4 Contents changed in Safety Guide. Caution notes added for when

working with two or more persons.

Pg. 26 Sideway installation { ĺ 䂦

Ceiling mount installation { ĺ 䂦

Fourth edition Pg. 12 Graph added for stroke and maximum speed limits when high-output

setting is ineffective

Pg. 19 to 21 Graph added for maximum acceleration and transportable weight

when high-output setting is ineffective

Pg. 51 to 53 Mass added

Fifth edition Pg. 7 Caution note added saying “Do not crash the slider to an obstacle with

high speed”

Pg. 31 Note added to tell platform should have a structure with enough

stiffness

Pg. 31, 32 Note changed to 1.8 times more of the nominal diameter for the length

of thread engagement on aluminum

August 2012

Sixth edition

Revised overall. Contents added in Standard type, Motor reversing type and Clean room type motor straight type.

86

Manual No.: ME3717-6A (August 2012)

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/

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

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

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

website: www.intelligentactuator.com

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

12.08.000

IAI America RCP4CR-SA7C User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of Contents

Safety Guide

Caution in Handling

Names of the Parts

1. Specification Check

1.1 Checking the Product

1.2 Specification

1.3 Options

1.4 Motor • Encoder Cables

2.1 Transportation

2. Installation

2.2 Installation and Storage • Preservation Environment

2.3 Installation

2.4 Clean-Room Type

3. Connecting with Controller

4.1 Inspection Items and Schedule

4.2 External Visual Inspection

4. Maintenance Inspection

4.3 Cleaning

4.4 Internal Inspections

4.5 Internal Cleaning

4.6 Grease Supply

4.7 Procedure for Stainless Steel Sheet Replacement and Adjustment

4.8 Procedure for Belt Replacement and Tuning

4.9 Motor Replacement Process

5.1 RCP4-SA5C

5. External Dimensions

5.2 RCP4-SA6C

5.3 RCP4-SA7C

5.4 RCP4-SA5R

5.5 RCP4-SA6R

5.6 RCP4-SA7R

5.7 RCP4CR-SA5C

5.8 RCP4CR-SA6C

5.9 RCP4CR-SA7C

6. Life

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