IAI America RCP4-RA6R User Manual
ROBO Cylinder
Radial Cylinder
RCP4 Actuator
Rod Type
Operation Manual
Seventh Edition
Motor straight type RA5C, RA6C
Motor Reversing type RA5R, RA6R
IAI America, Inc.
1
Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to
ensure safe use of the product.
The CD or DVD that comes with the product contains Operation Manuals for IAI products.
When using the product, refer to the necessary portions of the applicable Operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
x This Operation Manual is original.
x The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall
assume no responsibility for the outcome of any operation not specified herein.
x Information contained in this Operation Manual is subject to change without notice for the purpose of product
improvement.
x If you have any question or comment regarding the content of this manual, please contact the IAI sales office
near you.
x Using or copying all or part of this Operation Manual without permission is prohibited.
x The company names, names of products and trademarks of each company shown in the sentences are
registered trademarks.
Table of Contents
Safety Guide ............................................................................................................................ 1
Precautions.............................................................................................................................. 8
Names of the Parts .................................................................................................................. 9
1. Specifications Check ....................................................................................................... 10
1.1 Checking the Product ..........................................................................................................................10
1.1.1 Parts.....................................................................................................................................10
1.1.2 Related Operation Manuals for the Each Controller Supported by this Product .................10
1.1.3 How to Read the Model Nameplate.....................................................................................10
1.1.4 How to Read the Model Number ......................................................................................... 11
1.2 Specification.........................................................................................................................................12
1.2.1 Speed...................................................................................................................................12
1.2.2 Maximum Acceleration and Transportable Weight ..............................................................14
1.2.3 Driving System • Position Detector......................................................................................25
1.2.4 Positioning Precision ...........................................................................................................25
1.2.5 Current Limit Value and Pressing Force..............................................................................26
1.2.6 Allowable Load and Torque on Rod Tip...............................................................................28
1.2.7 Rod Flexure (Reference) .....................................................................................................29
1.3 Options.................................................................................................................................................30
1.3.1 Brake Type (Model: B) .........................................................................................................30
1.3.2 Reversed–home Specification (Model: NM) ........................................................................30
1.3.3 Flange Bracket (Front) (Model: FL) .....................................................................................30
1.3.4 Scraper (Model: SC) ............................................................................................................30
1.3.5 Motor Left Reversed, Motor Right Reversed (Model No. : ML, MR) ...................................30
1.4 Motor • Encoder Cables.......................................................................................................................31
1.4.1 Motor • Encoder Integrated Cables .....................................................................................31
1.4.2 Motor • Encoder Integrated Cables Robot Type..................................................................32
2. Installation ....................................................................................................................... 33
2.1 Transportation......................................................................................................................................33
2.2 Installation and Storage • Preservation Environment ..........................................................................35
2.3 How to Installation ...............................................................................................................................36
2.3.1 General Rules on Installation...............................................................................................36
2.3.2 Installation of Main Unit .......................................................................................................37
3. Connecting with Controller .............................................................................................. 45
4. Caution for Operation ...................................................................................................... 49
5. Maintenance Inspection................................................................................................... 51
5.1 Inspection Items and Schedule ...........................................................................................................51
5.2 External Visual Inspection ...................................................................................................................51
5.3 Cleaning...............................................................................................................................................51
5.4 Internal Inspections..............................................................................................................................52
5.5 Internal Cleaning..................................................................................................................................53
5.6 Grease Supply .....................................................................................................................................53
5.6.1 What Grease to Use on the Guides.....................................................................................53
5.6.2 What Grease to Use on the Ball Screw...............................................................................53
5.6.3 Grease to be applied on the Rod (Sliding Surface).............................................................54
5.6.4 How to apply grease ............................................................................................................55
5.7 Procedure for Belt Replacement and Tuning.......................................................................................58
5.7.1 Inspection of the Belt ...........................................................................................................58
5.7.2 Belts to be used ...................................................................................................................58
5.7.3 Replacement of the Belt ......................................................................................................59
5.8 Motor Replacement Process ...............................................................................................................61
5.8.1 RCP4-RA5C, RA6C.............................................................................................................61
5.8.2 RCP4-RA5R, SA6R .............................................................................................................63
5.9 Procedure to Replace Scraper (Option) ..............................................................................................65
6. External Dimensions........................................................................................................ 67
6.1 RA5C ...................................................................................................................................................67
6.2 RA6C ...................................................................................................................................................68
6.3 RA5R ...................................................................................................................................................69
6.4 RA6R ...................................................................................................................................................70
7. Life................................................................................................................................... 71
8. Warranty.......................................................................................................................... 72
8.1 Warranty Period...................................................................................................................................72
8.2 Scope of the Warranty.........................................................................................................................72
8.3 Honoring the Warranty.........................................................................................................................72
8.4 Limited Liability ....................................................................................................................................72
8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications..............73
8.6 Other Items Excluded from Warranty ..................................................................................................73
Change History ...................................................................................................................... 74
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1 Model
Operation
Description
Selection
Description
Ɣ This product has not been planned and designed for the application where
high level of safety is required, so the guarantee of the protection of human
life is impossible. Accordingly, do not use it in any of the following
applications.
1) Medical equipment used to maintain, control or otherwise affect human
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Ɣ Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving part
may drop when the power is turned OFF and may cause an accident such
as an injury or damage on the work piece.
1
No.
Operation
Description
Description
2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
Ɣ Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions in
the operation manual for each model.
Ɣ Do not step or sit on the package.
Ɣ Do not put any heavy thing that can deform the package, on it.
Ɣ When using a crane capable of 1t or more of weight, have an operator who
has qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane.
Ɣ Do not leave a load hung up with a crane.
Ɣ Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
Ɣ The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
Ɣ Store the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
Ɣ Make sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury.
Also, be equipped for a fall–over or drop due to an act of God such as
earthquake.
Ɣ Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
Ɣ When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
2
No.
Operation
Description
4 Installation
and Start
Description
(2) Cable Wiring
Ɣ Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do
so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Ɣ Perform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
Ɣ When the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is
not correct, it might cause a fire, product breakdown or malfunction.
Ɣ Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction
of the product.
Ɣ Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
(3) Grounding
Ɣ The grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise㵨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
Operation
Description
and Start
Description
(4) Safety Measures
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range. When the
robot under operation is touched, it may result in death or serious injury.
Ɣ Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Ɣ Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
Ɣ Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
Ɣ When the installation or adjustment operation is to be performed, give clear
warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
Ɣ Take the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Ɣ Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so
that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
4
No.
Operation
Description
Description
6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
Ɣ When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Ɣ Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected motion
caused by a program error, etc.
Ɣ Do not touch the terminal block or any of the various setting switches in the
power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Ɣ Check before starting the automatic operation or rebooting after operation
stop that there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral
equipment is in an automatic㵨operation㵨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
Precautions
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 of the move on rod tip within the allowable range.
An operation with the load beyond the allowable load of the move on rod tip may cause an abnormal noise,
vibration, malfunction or shortened life. If it is extreme, flaking may occur on the guide.
3. Set the load offset distance within the allowable range.
Attaching a load with an load offset distance 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 rod 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 guarantee 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. Motor Straight Type
Right Side
Opposite Side
of the Motor
Rod-Tip Adapter
Rod
Scraper (Oprtion equipped type)
Left Side
Front Housing
2. Motor Reversing Hollowed Shaft Type
Right Side
Left Side
Frame Cover
Base
Reversing Bracket
Motor Unit
Pulley Bracket
Screw for Motor Unit Attachment
Motor Side
Motor Unit
Screw for Motor Unit Attachment
Actuator Cable
Tapped Hole for Ground Cable Connection
Pulley Cover
Base
Actuator Cable
The direction of the motor is either left reversed: ML (shown in figure above) or right reversed: MR.
9
1. Specifications 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
1. Checking the Product
1 Actuator
Accessories
2 Motor • encoder cables
3 Homing stickers 1
4 Nut 1 Refer to list below
5 First Step Guide 1
6 Operation Manual (CD/DVD) 1
7 Safety Guide 1
Note1 The motor • encoder cables supplied vary depending on the controller used.
[Refer to 1.4, “Motor • Encoder Cables.”]
(Note1)
Refer to “How to Read the Model
Nameplate” and “How to Read the
Model Number.”
1
1
(List of Included Nut Type)
Model No.
RCP4–RA5C, RA5R 1
RCP4–RA6C, RA6R 1
Nut
(M10u1.25)
Nut
(M14u1.5)
1.1.2 Related Operation Manuals for the Each Controller Supported by this 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㵨CA Controller
2
Operation Manual for RC PC Software RCM㵨101㵨MW/RCM㵨101㵨USB
3
Operation Manual for CON㵨PTA/PDA/PGA
ME0289
ME0155
ME0295
1.1.3 How to Read the Model Nameplate
Model
Serial numbe
MODEL RCP4-RA5C-I-42P-3-50-P3-P-B
SERIAL No.000090266 MADE IN JAPAN
10
1.1.4 How to Read the Model Number
RCP4 í RA5C í I í 42P í 3 í 50 í P3 í P í B í **
Series name
<Type>
Motor straight type
RA5C
RA6C
Motor Reversing type
RA5R
RA6R
<Encoder type>
I : Incremental
<Motor type>
42P : 42Ƒ
56P : 56Ƒ
<Lead>
RA5C, RA5R
3/6/12/20
RA6C,RA6R
4/8/16/24
Identification for IAI use only
(Note1)
<Options>
B : Brake
NM : Reversed-home specification
FL : Flange bracket (Front)
SC : Scraper
ML : Motor Left Reversed
MR : Motor Right Reversed
<Cable length>
N : None
P : 1m
S : 3m
M : 5m
XƑƑ : Length specification
RƑƑ : Robot cable
<Controller>
P3 : PCON-CA
<Stroke>
[Refer to 1.2 Specification]
1. Checking the Product
Note 1 Identification for IAI use only : It may be displayed for IAI use. It is not a code to show the model type.
11
1.2 Specification
1.2.1 Speed
[When high–output setting is effective]
Size
1. Checking the Product
RA5C 42P
RA6C 56P
RA5R 42P
RA6R 56P
Motor
Type
Speed limits (Unit: mm/s)
Lead
Horizontal /
[mm]
Vertical
Horizontal 225
3
Vertical 225
Horizontal 450
6
Vertical 450
Horizontal 700
12
Vertical 700
Horizontal 800
20
Vertical 800
Horizontal 210
4
Vertical 210
Horizontal 420
8
Vertical 420
Horizontal 700
16
Vertical 560
Horizontal 800
24
Vertical 600
Horizontal 225
3
Vertical 225
Horizontal 450
6
Vertical 450
Horizontal 700
12
Vertical 700
Horizontal 800
20
Vertical 800
Horizontal 175
4
Vertical 175
Horizontal 420
8
Vertical 350
Horizontal 560
16
Vertical 560
Horizontal 800
24
Vertical 800
50 100 150 200 250 300 350 400 450 500
Stroke [mm]
12
[When high–output setting is ineffective]
Strokes and maximum speed limits (Unit: mm/s)
Motor
Size
RA5C 42P
RA6C 56P
RA5R 42P
RA6R 56P
Type
Lead
Horizontal /
[mm]
Vertical
Horizontal 125
3
Vertical 125
Horizontal 250
6
Vertical 250
Horizontal 500
12
Vertical 500
Horizontal 640
20
Vertical 640
Horizontal 140
4
Vertical 140
Horizontal 210
8
Vertical 210
Horizontal 420
16
Vertical 420
Horizontal 600
24
Vertical 400
Horizontal 125
3
Vertical 125
Horizontal 250
6
Vertical 250
Horizontal 500
12
Vertical 500
Horizontal 640
20
Vertical 640
Horizontal 140
4
Vertical 140
Horizontal 210
8
Vertical 210
Horizontal 420
16
Vertical 420
Horizontal 600
24
Vertical 400
Stroke [mm]
50 100 150 200 250 300 350 400 450 500
1. Checking the Product
13
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
RA5C 42P
Lead
[mm]
3
6
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
25 60 60 50 45 40
50 60 60 50 45 40
75 60 60 50 45 40
100 60 60 50 45 40
125 60 60 50 40 30
150 60 50 40 30 25
175 60 40 35 25 20
200 60 35 30 20 14
225 40 16 16 10 6
25 20 20 20 – –
50 20 20 20 – –
75 20 20 20 – –
100 20 20 20 – –
125 18 14 10 – –
150 14 10 6 – –
175 12 6 5 – –
200 8 5 4.5 – –
225 5 5 4 – –
50 40 40 35 30 25
100 40 40 35 30 25
150 40 40 35 25 25
200 40 40 30 25 20
250 40 40 27.5 22.5 18
300 40 35 25 20 14
350 40 30 14 12 10
400 30 18 10 6 5
450 25 8 3 – –
50 10 10 10 – –
100 10 10 10 – –
150 10 10 10 – –
200 10 10 10 – –
250 10 9 8 – –
300 6 6 6 – –
350 5 5 5 – –
400 4 3 3 – –
450 2 2 1 – –
0.1G 0.3G 0.5G 0.7G 1.0G
0 60 60 50 45 40
0 20 20 20 – –
0 40 40 35 30 25
0 10 10 10 – –
14
Type Motor Type
RA5C 42P
Lead
[mm]
12
20
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
100 25 25 18 16 12
200 25 25 18 16 10
300 25 25 18 12 8
400 20 20 14 10 6
500 15 15 8 6 4
600 10 10 6 3 2
700 – 6 2
100 4 4 4
200 4 4 4
300 4 4 4
400 4 4 4
500 4 3.5 3
600 4 3 2
700 – 2 1
160 6 6 6 5 5
320 6 6 6 5 3
480 6 6 6 5 3
640 – 6 4 3 2
800 – 4 3
160 1.5 1.5 1.5
320 1.5 1.5 1.5
480 1.5 1.5 1.5
640 – 1.5 1.5
800 – 1 1
0.1G 0.3G 0.5G 0.7G 1.0G
0 25 25 18 16 12
– –
0 4 4 4
0 6 6 6 5 5
0 1.5 1.5 1.5
– –
– –
– –
– –
– –
– –
– –
– –
– –
– –
– –
– –
– –
– –
– –
1. Checking the Product
15
Type Motor Type
1. Checking the Product
RA6C 56P
Lead
[mm]
4
8
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
35 80 80 70 65 60
70 80 80 70 65 60
105 80 80 60 50 40
140 80 50 30 20 15
175 50 15 – – –
210 20 – – – –
35 28 28 28 – –
70 28 28 28 – –
105 22 20 18 – –
140 16 12 10 – –
175 9 4 – – –
210 2 – – – –
70 60 60 50 45 40
140 60 60 50 45 40
210 60 60 40 31 26
280 60 34 22 15 11
350 60 14 5 1 –
420 15 1 – – –
70 18 18 18 – –
140 16 16 12 – –
210 10 10 9 – –
280 8 7 6 – –
350 3 3 2 – –
420 2 – – – –
0.1G 0.3G 0.5G 0.7G 1.0G
0 80 80 70 65 60
0 28 28 28 – –
0 60 60 50 45 40
0 18 18 18 – –
16
Type Motor Type
RA6C 56P
Lead
[mm]
16
24
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
140 50 50 40 35 30
280 50 50 35 25 20
420 50 25 18 14 10
560 12 10 5 3 2
700 3 2 – – –
140 8 8 8 – –
280 8 7 7 – –
420 6 4.5 4 – –
560 4 2 1 – –
700 – – – – –
200 20 20 18 15 12
400 20 20 18 15 10
600 15 14 9 7 4
800 – 5 1 1 –
200 3 3 3 – –
400 3 3 3 – –
600 3 3 2 – –
800 – – – – –
0.1G 0.3G 0.5G 0.7G 1.0G
0 50 50 40 35 30
0 8 8 8 – –
0 20 20 18 15 12
0 3 3 3 – –
1. Checking the Product
17
[When high–output setting for motor Reversing type is effective]
Type Motor Type
1. Checking the Product
RA5R 42P
Lead
[mm]
3
6
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
0.1G 0.3G 0.5G 0.7G 1.0G
0 60 60 50 45 40
25 60 60 50 45 40
50 60 60 50 45 40
75 60 60 50 45 40
100 60 60 50 45 40
125 60 60 50 40 30
150 60 50 40 30 25
175 60 40 35 25 20
200 60 35 30 20 14
225 40 16 16 10 6
0 20 20 20 – –
25 20 20 20 – –
50 20 20 20 – –
75 20 20 20 – –
100 20 20 20 – –
125 18 14 10 – –
150 14 10 6 – –
175 12 6 5 – –
200 8 5 4.5 – –
225 5 5 4 – –
0 40 40 35 30 25
50 40 40 35 30 25
100 40 40 35 30 25
150 40 40 35 25 25
200 40 40 30 25 20
250 40 40 27.5 22.5 18
300 40 35 25 20 14
350 40 30 14 12 10
400 30 18 10 6 5
450 25 8 3 – –
0 10 10 10 – –
50 10 10 10 – –
100 10 10 10 – –
150 10 10 10 – –
200 10 10 10 – –
250 10 9 8 – –
300 6 6 6 – –
350 5 5 5 – –
400 4 3 3 – –
450 2 2 1 – –
18
Type Motor Type
RA5R 42P
Lead
[mm]
12
20
Horizontal
/ Vertical
Horizontal
Vertical
Horizontal
Vertical
Payload capacity by acceleration/deceleration [kg]
Velocity
[mm/s]
0.1G 0.3G 0.5G 0.7G 1.0G
0 25 25 18 16 12
100 25 25 18 16 12
200 25 25 18 16 10
300 25 25 18 12 8
400 20 20 14 10 6
500 15 15 8 6 4
600 10 10 6 3 2
700 – 6 2 – –
0 4 4 4 – –
100 4 4 4 – –
200 4 4 4 – –
300 4 4 4 – –
400 4 4 4 – –
500 4 3.5 3 – –
600 4 3 2 – –
700 – 2 1 – –
0 6 6 6 5 5
160 6 6 6 5 5
320 6 6 6 5 3
480 6 6 6 5 3
640 – 6 4 3 2
800 – 4 3 – –
0 1.5 1.5 1.5 – –
160 1.5 1.5 1.5 – –
320 1.5 1.5 1.5 – –
480 1.5 1.5 1.5 – –
640 – 1.5 1.5 – –
800 – 1 1 – –
1. Checking the Product
19
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