IAI America RCP4W User Manual

ROBO Cylinder

RCP4W

Slider Type

Instruction Manual

Second Edition

IAI America, Inc.

Dustproof/Splash proof type (IP65), RCP4W-SA5C, SA6C, SA7C

Please Read Before Use

Thank you for purchasing our product.

This Instruction Manual describes all necessary information to operate this product safely such as the operation procedure, structure and maintenance procedure.

Before operation, read this manual carefully and fully understand it to operate this product safely. The CD or DVD that comes with the product contains instruction manuals for IAI products. For a use of the products, print out or display on your personal computer the necessary pages of the applicable Instruction Manuals.

After reading the Instruction Manuals, be sure to keep them in a convenient place easily accessible to the personnel using this product.

[Important]

x This Instruction Manual is original. x This product is not to be used for any other purpose from what is noted in this Instruction Manual.

IAI shall not be liable whatsoever for any loss or damage arising from the result of using the product for any other purpose from what is noted in the manual.

x The information contained in this Instruction Manual is subject to change without notice for the

purpose of production improvement.

x If you have any question or finding regarding the information contained in this Instruction Manual,

contact our customer center or our sales office near you.

x Using or copying all or a part of this Instruction Manual without permission is prohibited. x The company names, names of products and trademarks of each company shown in the

sentences are registered trademarks.

Safety Guide...................................................................................................................................1

Caution in Handling ........................................................................................................................8

Names of the Parts.........................................................................................................................9

1. Specifications Check.............................................................................................................. 11

1.1 Product Check ................................................................................................................ 11

1.1.1 Parts...................................................................................................................... 11

1.1.2 Instruction Manuals related to this product, which are contained in the DVD........ 11

1.1.3 How to read the model plate ................................................................................. 11

1.1.4 How to read the model No.....................................................................................12

1.2 Specification....................................................................................................................13

1.3 Option .............................................................................................................................19

1.3.1 Cable Exit Direction (Model: A1, A2) .....................................................................19

1.3.2 Food Grade Grease Indicated(Model: GE)..........................................................19

1.3.3 Reversed-home Type (Model: NM) .......................................................................19

1.3.4 Types of Installation (Model: TFL, TFR, HFL, HFR) ..............................................19

1.4 Motor • Encoder Cables ..................................................................................................20

1.4.1 Motor • Encoder Integrated Cables .......................................................................20

1.4.2 Motor • Encoder Integrated Cables Robot Cable................................................21

2. Installation..............................................................................................................................22

2.1 Transportation.................................................................................................................22

2.2 Installation and Storage • Preservation Environment......................................................24

2.3 How to Install ..................................................................................................................25

2.3.1 Attachment Orientation..........................................................................................25

2.3.2 Installation .............................................................................................................26

2.4 Air Purge.........................................................................................................................37

3. Connection to the Controller ..................................................................................................38

4. Maintenance Inspection .........................................................................................................41

4.1 Inspection Items and Inspection Schedule .....................................................................41

4.2 Visual inspection .............................................................................................................41

4.3 Cleaning .........................................................................................................................41

4.4 Inside Visual Inspection ..................................................................................................42

4.5 Internal Cleanup ............................................................................................................. 46

4.6 Grease Supply ................................................................................................................47

4.6.1 Applied Grease .....................................................................................................47

4.6.2 How to Apply Grease.............................................................................................48

4.7 Motor Replacement Process...........................................................................................49

4.7.1 SA5C, SA6C .........................................................................................................49

4.7.2 SA7C.....................................................................................................................63

4.8 Seal (opening) Replacement Process ............................................................................72

5. External Dimensions ..............................................................................................................76

6. Product Life............................................................................................................................85

7. Warranty.................................................................................................................................86

7.1 Warranty Period ..............................................................................................................86

7.2 Scope of the Warranty ....................................................................................................86

7.3 Honoring the Warranty....................................................................................................86

7.4 Limited Liability ...............................................................................................................86

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

and Applications..............................................................................................................87

7.6 Other Items Excluded from Warranty..............................................................................87

Change History............................................................................................................................. 88

Safety Guide

“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.

No.

Operation

Description

1 Model

Selection

Ɣ This product has not been planned and designed for the application where

high level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications.

1) Medical equipment used to maintain, control or otherwise affect human life or physical health.

2) Mechanisms and machinery designed for the purpose of moving or transporting people (For vehicle, railway facility or air navigation facility)

3) Important safety parts of machinery (Safety device, etc.)

Ɣ Do not use the product outside the specifications. Failure to do so may

considerably shorten the life of the product.

Ɣ Do not use it in any of the following environments.

1) Location where there is any inflammable gas, inflammable object or explosive

2) Place with potential exposure to radiation

3) Location with the ambient temperature or relative humidity exceeding the specification range

4) Location where radiant heat is added from direct sunlight or other large heat source

5) Location where condensation occurs due to abrupt temperature changes

6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid)

7) Location exposed to significant amount of dust, salt or iron powder

8) Location subject to direct vibration or impact

Ɣ For an actuator used in vertical orientation, select a model which is

equipped with a brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.

No.

Operation

Description

2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or

utilize equipment such as crane.

Ɣ When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ When in transportation, consider well about the positions to hold, weight

and weight balance and pay special attention to the carried object so it would not get hit or dropped.

Ɣ Transport it using an appropriate transportation measure.

The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the instruction manual for each model.

Ɣ Do not step or sit on the package. Ɣ Do not put any heavy thing that can deform the package, on it. Ɣ When using a crane capable of 1t or more of weight, have an operator who

has qualifications for crane operation and sling work.

Ɣ When using a crane or equivalent equipments, make sure not to hang a

load that weighs more than the equipment’s capability limit.

Ɣ Use a hook that is suitable for the load. Consider the safety factor of the

hook in such factors as shear strength.

Ɣ Do not get on the load that is hung on a crane. Ɣ Do not leave a load hung up with a crane. Ɣ Do not stand under the load that is hung up with a crane.

3 Storage and

Preservation

Ɣ The storage and preservation environment conforms to the installation

environment. However, especially give consideration to the prevention of condensation.

Ɣ Store the products with a consideration not to fall them over or drop due to

an act of God such as earthquake.

4 Installation

and Start

(1) Installation of Robot Main Body and Controller, etc. Ɣ Make sure to securely hold and fix the product (including the work part). A

fall, drop or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake.

Ɣ Do not get on or put anything on the product. Failure to do so may cause

an accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.

Ɣ When using the product in any of the places specified below, provide a

sufficient shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

4) Location where the product may come in contact with water, oil or chemical droplets

No.

Operation

Description

(2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator

and controller, and for the teaching tool.

Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not

coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.

Ɣ Perform the wiring for the product, after turning OFF the power to the unit,

so that there is no wiring error.

Ɣ When the direct current power (+24V) is connected, take the great care of

the directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.

Ɣ Connect the cable connector securely so that there is no disconnection or

looseness. Failure to do so may cause a fire, electric shock or malfunction of the product.

Ɣ Never cut and/or reconnect the cables supplied with the product for the

purpose of extending or shortening the cable length. Failure to do so may cause the product to malfunction or cause fire.

4 Installation

and Start

(3) Grounding Ɣ The grounding operation should be performed to prevent an electric shock

or electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.

Ɣ For the ground terminal on the AC power cable of the controller and the

grounding plate in the control panel, make sure to use a twisted pair cable with wire thickness 0.5mm

(AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).

Ɣ Perform Class D Grounding (former Class 3 Grounding with ground

resistance 100: or below).

No.

Operation

Description

4 Installation

and Start

(4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ When the product is under operation or in the ready mode, take the safety

measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.

Ɣ Make sure to install the emergency stop circuit so that the unit can be

stopped immediately in an emergency during the unit operation.

Ɣ Take the safety measure not to start up the unit only with the power turning

ON. Failure to do so may start up the machine suddenly and cause an injury or damage to the product.

Ɣ Take the safety measure not to start up the machine only with the

emergency stop cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input.

Ɣ When the installation or adjustment operation is to be performed, give

clear warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an electric shock or injury.

Ɣ Take the measure so that the work part is not dropped in power failure or

emergency stop.

Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure

safety.

Ɣ Do not insert a finger or object in the openings in the product. Failure to do

so may cause an injury, electric shock, damage to the product or fire.

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

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

5 Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ Perform the teaching operation from outside the safety protection fence, if

possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

Ɣ When the operation is to be performed inside the safety protection fence,

the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

Ɣ When the operation is to be performed inside the safety protection fence,

in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ When releasing the brake on a vertically oriented actuator, exercise

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

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

fence, the movable range should be indicated.

No.

Operation

Description

6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ After the teaching or programming operation, perform the check operation

one step by one step and then shift to the automatic operation.

Ɣ When the check operation is to be performed inside the safety protection

fence, perform the check operation using the previously specified work procedure like the teaching operation.

Ɣ Make sure to perform the programmed operation check at the safety

speed. Failure to do so may result in an accident due to unexpected motion caused by a program error, etc.

Ɣ Do not touch the terminal block or any of the various setting switches in the

power ON mode. Failure to do so may result in an electric shock or malfunction.

7 Automatic

Operation

Ɣ Check before starting the automatic operation or rebooting after operation

stop that there is nobody in the safety protection fence.

Ɣ Before starting automatic operation, make sure that all peripheral

equipment is in an automatic-operation-ready state and there is no alarm indication.

Ɣ Make sure to operate automatic operation start from outside of the safety

protection fence.

Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or

abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.

Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so

may cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.

No.

Operation

Description

8 Maintenance

and Inspection

Ɣ When the work is carried out with 2 or more persons, make it clear who is

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ Perform the work out of the safety protection fence, if possible. In the case

that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

Ɣ When the work is to be performed inside the safety protection fence,

basically turn OFF the power switch.

Ɣ When the operation is to be performed inside the safety protection fence,

the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

Ɣ When the operation is to be performed inside the safety protection fence,

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 Instruction 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

instruction manual of each unit to ensure the safety.

Alert Indication

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

Level Degree of Danger and Damage Symbol

Danger

This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

Danger

Warning

This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

Warning

Caution

This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

Caution

Notice

This indicates lower possibility for the injury, but should be kept to use this product properly.

Notice

Caution in Handling

1. This actuator is not conducted hygienic treatment to apply to food.

Have an appropriate protection when using the product in an environment related to food that requires the hygienic management so the actuator would not directly touch the food. In case the actuator has touched the food, do not treat it as selling goods.

2. 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.

3. 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.

4. 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.

5. 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.

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.

Names of the Parts

In this manual, actuators are shown in the way that it is placed horizontally, the opening comes to the bottom and left and right determined by the view from motor side.

[Standard Type]

Use the bracket to install the unit horizontally with the openings facing the bottom.

Bracket (Front) Base Slider Bracket (Rear) Motor Cover

Actuator Cable

Air Inlet φ6 for Air Purge

Bolt Cover (Front)

Side Cover

Front Cover

Grommet

Right

Left

Opening (with seal)

Bolt Cover (Rear)

䎃

䎃䎃䎃䎃

[Wall-hang Type]

Install the actuator horizontally on the wall with the opening on the bottom and with using the bracket.

Bolt Cover (Front) Bolt Cover (Rear)

Right

Left

Bracket (Front) Bracket (Rear)

Actuator Cable

Opening (with seal)

䎃

䎃䎃

[Ceiling Type]

Install the actuator handing on the ceiling with the opening on the bottom and with using the bracket.

Bracket (Front) Bolt Cover (Rear)

Right

Left

Bolt Cover (Front)

Bracket (Rear)

Opening (with seal)

Actuator Cable

䎃

1. Specifications Check

1.1 Product Check

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. Part Name Model Quantity Remarks

1 Main Body

Refer to “How to read the model plate” and “How to read the model No.”.

Accessories

Motor • Encoder Cable

(Note 1)

3 First Step Guide 1

4 Instruction Manual (DVD) 1

5 Safety Guide 1

Note 1 The motor • encoder cables differ between the standard model and robot cable.

[Refer to 1.4 Motor • Encoder Cables.]

1.1.2 Instruction Manuals related to this product, which are contained in the DVD.

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 Manual No.

1 PCON-CA Controller Instruction Manual ME0289

RC PC Software RCM-101-MW/RCM-101-USB Instruction Manual

ME0155

3 Touch Panel Teaching CON-PTA/PDA/PGA Instruction Manual ME0295

1.1.3 How to read the model plate

Model

Serial number

MODEL RCP4W-SA5C-I-35P-10-500-P3-M-A1

SERIAL No.000061911 MADE IN JAPAN

1. Specications Check

1.1.4 How to read the model No.

RCP4W – SA5C – I – 35P – 10 – 500 – P3 – M – A1 – **

Note 1 Identification for IAI use only : It may be displayed for IAI use. It is not a code to show the

model type.

Identification for IAI use only

(

Note1

)

A1 : Cable exit to the left side A3 : Cable exit to the right side GE : Food grade grease indicated NM : Reversed home type TFL : Wall mount to the left type TFR : Wall mount to the right type HFL : Ceiling mount to the left type HFR : Ceiling mount to the right type

N : No cable P : 1m S : 3m M : 5m XƑƑ : Specified length RƑƑ : Robot cable

P3: PCON-CA

<Stroke> [Refer to 1.2 Specification]

Series Name

<Type>

SA5C, SA6C SA7C

I: Incremental

35P: 35Ƒ 42P: 42Ƒ 56P: 56Ƒ

<Lead>

5: 5mm 6: 6mm 8: 8mm 10: 10mm 12: 12mm 16: 16mm

1.2 Specification

[1] Speed

Restriction on Speed (Unit: mm/s)

Stroke [mm]

Size

Motor

Type

Lead [mm]

Horizontal/

Vertical

Minimum

speed

100 150 200 250 300 350 400 450 500 550 600 650 700

5 Horizontal 6.25 165 – – – –

SA5C 35P

10 Horizontal 12.5 330 – – – –

6 Horizontal 7.5 200 – –

SA6C 42P

12 Horizontal 15 400 – –

8 Horizontal 10 265

SA7C 56P

16 Horizontal 20 530

[2] Maximum Acceleration and Transportable Weight

When the transported weight is low, the acceleration/deceleration speed can be increased. Installation with holding only one side on the bracket (rear) on the motor end of the actuator is restricted to the models of 150 or less for the stroke type.

Transportable Weight for Each Acceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Vertical

Two-sided Fix

One-sided Fix

Speed [mm/s]

0.3G 0.4G 0.5G 0.6G

Two-sided Fix 10 8 6 4

5 Horizontal

One-sided Fix

165

2 1.5 1.2 1

Two-sided Fix 5 4 3 2

SA5C 35P

10 Horizontal

One-sided Fix

330

1.5 1 0.7 0.5

Two-sided Fix 15 12 9 6

6 Horizontal

One-sided Fix

200

4.5 3.5 3 2.5

Two-sided Fix 7.5 5.5 4 3

SA6C 42P

12 Horizontal

One-sided Fix

400

3 2.5 2 1.5

Two-sided Fix 20 16 12 8

8 Horizontal

One-sided Fix

265

7 6 5 4

Two-sided Fix 10 8 6 4

SA7C 56P

16 Horizontal

One-sided Fix

530

4.5 4 3.5 3

*1 Two-sided Fix : Unit is held on the bracket (front) and bracket (rear). *2 One-sided Fix : Hold on bracket (rear) (only for the types with stroke 150mm or less), holding only

on the bracket (front) is prohibited.

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.

1. Specications Check

[3] Driving System • Position Detector

Ball Screw Type

Type Motor Type

Lead [mm]

No. of Encoder

Pulses

Type Diameter Accuracy

SA5C 35P

Rolled

I8mm

C10

SA6C 42P

Rolled

I10mm

C10

SA7C 56P

800

Rolled

I12mm

C10



[4] Positioning Accuracy

Type Lead [mm] Item Performance

Positioning Repeatability ±0.02mm

SA5C 5, 10

Lost Motion 0.1mm or less Positioning Repeatability ±0.02mm

SA6C 6, 12

Lost Motion 0.1mm or less Positioning Repeatability ±0.02mm

SA7C 8, 16

Lost Motion 0.1mm or less

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



[5] Relation between Current Limit and Pressing Force



x SA5C

Pressing Force [N]

Current Limit Value [%]

Ball Screw Lead

[mm]

20 30 40 50 60 70

5 42.3 63.4 84.5 105.6 126.8 147.9

10 38.2 47.8 57.3 66.9

SA5C Current Limit Value and Pressing Force

100

150

200

250

300

350

400

0% 10% 20% 30% 40% 50% 60% 70% 80%

Current Limit Value [%]

Pressing Force [N]

Lead 5

Lead 10



Caution: (1) The relation of the current limit and the pressing force is a reference assuming

when the speed is 20mm/s.

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

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

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

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

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

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

 

1. Specications Check

x SA6C

Pressing Force [N]

Current Limit Value [%]

Ball Screw Lead

[mm]

20 30 40 50 60 70

6 51.3 76.9 102.6 128.2 153.9 179.5

12 35.5 47.3 59.1 71.0 82.8

SA6C

Current Limit Value and Pressing Force

100

150

200

250

300

350

400

0% 10% 20% 30% 40% 50% 60% 70% 80%

Current Limit Value [%]

Pressing Force [N]

Lead 6

Lead 12

Caution: (1) The relation of the current limit and the pressing force is a reference assuming

when the speed is 20mm/s.

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

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

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

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

 

x SA7C

Pressing Force [N]

Current Limit Value [%]

Ball Screw Lead

[mm]

20 30 40 50 60 70

8 96.5 144.8 193.1 241.4 289.6 337.9

16 46.3 69.4 92.5 115.6 138.8 161.9

100

150

200

250

300

350

400

0% 10% 20% 30% 40% 50% 60% 70% 80%

SA7C

Current Limit Value and Pressing Force

Current Limit Value [%]

Pressing Force [N]

Lead 8

Lead 16

Caution: (1) The relation of the current limit and the pressing force is a reference assuming

when the speed is 20mm/s.

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

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

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

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

 

1. Specications Check

[6] 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.

[7] Protection Class

If air purge is conducted = IP65 [Refer to 2.4 Air Purge for the details.]

1.3 Option

1.3.1 Cable Exit Direction (Model: A1, A2)

Right side

Left side

Standard type

Right side

Left side

Cable Exit to the Left Side (AI) Cable Exit to the Right Side (AI)

Right side

Left side

1.3.2 Food Grade Grease Indicated(Model: GE)

Food grade grease (Medallion FM Grease No. 1) is to be applied.

1.3.3 Reversed-home Type (Model: NM)

For the standard type, the home position is set on the motor end. The home position for Home Reversed Type is on the opposite side (front cover side) of the motor. This is the type that the operation direction can be matched to the coordinates of the equipment that the actuator is to be installed. [Refer to 5. External Dimensions for the home position of Standard Type and Home Reversed Type.]

Caution: The home position is already set in the factory before delivered out. If changed to the

reversed type is required after the unit is delivered, it is necessary to return the unit to our factory for the setting change. Contact our sales office or agent near you.

1.3.4 Types of Installation (Model: TFL, TFR, HFL, HFR)

Left side

Right

side

Standard type

Left side

Right

side

Wall mount to the left type (TFL)

Left side

Right

side

Ceiling mount to the right type (HFR)

Wall mount to the right type (TFR)

Left side

Right

side

Left side

Right

side

Ceiling mount to the left type (HFL)

View from Side of Motor

1. Specications Check

1.4 Motor • Encoder Cables

1.4.1 Motor • Encoder Integrated Cables

CB-CA-MPAƑƑƑ

Contact : 1827570-2

CN2

CN1

(25) (15) (30)

Connector : 1-1827863-1

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

Connector : PADP-24V-1-S Contact

(25)(30)

1-1827863-1(AMP)

A11

B11

B10

A10

A9 B9

A7 B7

A3 B3

6 7

14 15

CN1

CN2

BL(AWG22/19) OR(AWG22/19) GN(AWG22/19) BR(AWG22/19)

GY(AWG22/19) RD(AWG22/19)

BK(AWG26)

YW(AWG26)

BL(AWG26)

OR(AWG26)

GN(AWG26)

BR(AWG26)

GY(AWG26)

RD(AWG26)

BL(AWG26)

OR(AWG26)

GN(AWG26)

GY(AWG26)

RD(AWG26)

BL(AWG22/19) OR(AWG22/19) GN(AWG22/19) BR(AWG22/19) GY(AWG22/19) RD(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)

―

Color

Pin No. Pin No.

Color

― ― ―

PADP-24V-1-S(JST)

Symbol

― ― ―

―

GND

VCC

VPS

LS_GND

BK-/LS-

BK+/LS+

B+/Z+

B-/Z-

A+/B+

A-/B-

-/A-

-/A+

LS-/BK-

LS+/BK+

φ_B/-

VMM/-

φB/-

φ_A/W

VMM/V

φA/U

GND

VCC

VPS

LS_GND

BK-/LS-

BK+/LS+

B+/Z+

B-/Z-

A+/B+

A-/B-

-/A-

-/A+

LS-/BK-

LS+/BK+

φ_B/-

VMM/-

φB/-

φ_A/W

VMM/V

φA/U

Symbol

Connection diagram

1.4.2 Motor • Encoder Integrated Cables Robot Cable

CB-CA-MPAƑƑƑ-RB

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

Contact :

1827570-2

Connector :

PADP-24V-1-S

CN2

CN1

(25) (15) (30)

Connector :

1-1827863-1

Contact

(25)

(30)

Symbol

PADP-24V-1-S (

JST)

Pin No.

―

CN2

CN1

1 2

11 12 13

A2 B2

A4 B4

A6 B6

A8 B8

A10 B10

B11

A11

A5 B5

3 4

1-1827863-1(AMP)

(AWG25)

BK(AWG25)

(AWG25)

Shield

― ― ―

(AWG25)

AWG25)

(AWG25)

Color

Symbol

Pin No.

Color

Connection diagram

―

GND

VCC

VPS

LS_GND

BK-/LS-

BK+/LS+

B+/Z+

B-/Z-

A+/B+

A-/B-

-/A-

-/A+

LS-/BK-

LS+/BK+

φ_B/-

VMM/-

φB/-

φ_A/W

VMM/V

φA/U

― ― ―

GND

VCC

VPS

LS_GND

BK-/LS-

BK+/LS+

B+/Z+

B-/Z-

A+/B+

A-/B-

-/A-

-/A+

LS-/BK-

LS+/BK+

φ_B/-

VMM/-

φB/-

φ_A/W

VMM/V

φA/U

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

RD(AWG22/19)

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

RD(AWG22/19)

1. Specications Check

2. Installation

2.1 Transportation

[1] Handling of the Robot

Unless otherwise specified, the actuators are wrapped individually when the product is shipped out.

(1) Handling of the Packed Product

x Do not damage or drop. The package is not applied with any special treatment that enables it to

resist an impact caused by a drop or crash.

x An operator should never attempt to carry a heavy package on their own. Also, use an appropriate

way for transportation.

x If the shipping box is to be left standing, it should be in a horizontal position. Follow the instruction if

there is any for the packaging condition.

x Do not step or sit on the package. x Do not put any load that may cause a deformation or breakage of the package.

(2) Handling after Unpackaged

x Do not carry the actuator by holding the cable, or do not move it by pulling the cable. x When transporting the actuator main unit, hold the base or bracket part. x Do not hit or drop the product while carrying. x Do not give any excessive force to any of the sections in the actuator.

[2] Handling of the Multi-Axes Type

This is the case that this product is delivered with other actuators being combined. Multi-axes type will be delivered in a package with an outer case fixed to a wooden base. Sliders are fixed so they would not accidently move while in transportation. The end of the actuator is also fixed to avoid it swinging by external vibration.

(1) Handling of the Packed Product

x Do not damage or drop. The package is not applied with any special treatment that enables it to

resist an impact caused by a drop or crash.

x An operator should never attempt to carry a heavy package on their own. Also, use an appropriate

way for transportation.

x When suspending the package using ropes, pass the ropes from underneath the reinforcement

frames at the bottom of the base. When lifting with a forklift, also place the forks underneath the base.

x Do not apply an impact on the package or let it bounce when putting it down. x Do not step or sit on the package. x Do not put any load that may cause a deformation or breakage of the package.

(2) Handling after Unpackaged

x Secure the sliders to prevent sudden movement during transport. x Appropriately fix the tip of the actuators if it is overhanging so it would not widely shake with external

vibration. If the actuator assembly is transported without the ends being secured, do not apply an impact of 0.3G or more.

x In the case that the actuator needs to be carried up with ropes or another method, be sure to use an

appropriate cushioning to avoid the robot being deformed or put on an excessive pressure. And also, be sure to keep the robot in a stable and horizontal posture. Make a tool to utilize the attachment holes and tapped holes on the actuator and attach it if necessary.

x Do not attempt to apply load to the actuator or connector box. Also, avoid the cables being pinched

or caused an excessive deformation.

[3] Handling of the Robot Mounted on Mechanical Equipment (System)

The following are the cautions for when transporting the actuators installed in the machinery equipment (system) in the whole system.

x Affix the slider so they would not move while transporting. x Appropriately fix the tip of the actuators if it is overhanging so it would not widely shake with external

vibration. If the actuator assembly is transported without the ends being secured, do not apply an impact of 0.3G or more.

x Do not attempt to apply load to actuators or connector box when hanging the machinery equipment

(system) with tools such as a rope. Also, avoid the cables being pinched or caused an excessive deformation.

2. Installation

+ 67 hidden pages

IAI America RCP4W 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. Specifications Check

1.1 Product Check

1.2 Specification

1.3 Option

1.4 Motor • Encoder Cables

2. Installation

2.1 Transportation