IAI America RCS2-A6R User Manual

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ROBO Cylinder

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Arm Type

RCA RCS2 Actuators

Operation Manual

Sixth Edition

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Arm Type: RCA Type: A4R, A5R, A6R

RCS2 Type: A4R, A5R, A6R

�

IAI America, Inc.

Please Read Before Use

Thank you for purchasing our product.

This Operation 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 DVD that comes with the product contains operation 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 Operation Manuals, be sure to keep them in a convenient place easily accessible to the personnel using this product.

[Important]

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

� The information contained in this Operation Manual is subject to change without notice for the

purpose of production improvement.

� If you have any question or finding regarding the information contained in this Operation Manual,

contact our customer center or our sales office near you.

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

sentences are registered trademarks.

Safety Guide ·················································································································· 1

Caution in Handling ·········································································································· 8

International Standards Compliances··············································································· 9

Names of the Parts········································································································· 10

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

1.1 Checking the Product ························································································ 11

1.1.1 Parts ··············································································································· 11

1.1.2 Operation Manuals for the Controllers Related to this Product ······················ 11

1.1.3 How to Read the Model Nameplate ·······························································13

1.1.4 How to Read the Model Number ···································································· 14

1.2 Specification ······································································································15

1.2.1 Speed ············································································································· 15

1.2.2 Maximum Acceleration and Transportable Weight ·········································15

1.2.3 Driving System • Position Detector································································· 16

1.2.4 Positioning Repeatability ················································································16

1.2.5 Lost Motion·····································································································16

1.2.6 Allowable Load Moments of the Actuator ·······················································17

1.3 Options··············································································································18

1.3.1 Brake Type (Model: B)···················································································· 18

1.3.2 Low Power Consumption Type (Model: LA) ··················································· 18

1.3.3 Reversed-home Type (Model:

NM) ······························································· 18

1.3.4 Motor Reversed Directions (Model: NM, ML, MR) ·········································18

1.3.5 CE Mark Complied (Model: CE) ····································································· 18

1.4 Motor • Encoder Cables ···················································································· 19

1.4.1 Motor • Encoder Integrated Cables for the RCA Actuator ······························19 [1]

Motor Cable Model : CB-ACS-MA��······························································19

[2]

Encoder Cable • Encoder Robot Cable

Model : CB-ACS-PA�� • CB-ACS-PA��-RB············································· 20

[3]

Motor • Encoder Integrated Cables for AMEC/ASEP

Model : CB-ASEP-MPA�� ·········································································21

1.4.2 Motor • Encoder Integrated Cables for the RCS2 Actuator ····························22 [1]

Motor Cable • Motor Robot Cable

Model : CB-RCC-MA�� • CB-RCC-MA��-RB ··········································22

[2] Encoder Cable • Encoder Robot Cable

[For SCON, SSEL, XSEL-P/Q]

Model : CB-RCS2-PA�� • CB-RCS2-PA��-RB ········································23

[3] Encoder Cable • Encoder Robot Cable [For XSEL-J/K]

Model : CB-RCBC-PA�� • CB-RCBC-PA��-RB·······································24

2. Installation······································································································· 25

2.1 Transportation ··································································································· 25

2.2 Installation and Storage • Preservation Environment ········································ 27

2.3 How to Install ·····································································································28

2.3.1 General Rules on Installation ·········································································28

2.3.2 Installation of the Main Unit ············································································ 29

2.3.3 Mounting Surface ···························································································30

2.3.4 Attachment of the Transported Object···························································· 31

3. Connecting with the Controller········································································ 32

4. Maintenance Inspection·················································································· 38

4.1 Inspection Items and Schedule ········································································· 38

4.2 External Visual Inspection ·················································································38

4.3 Cleaning ············································································································ 38

4.4 Interior Inspection ······························································································39

4.5 Internal Cleaning ······························································································· 40

4.6 Grease supply ··································································································· 40

4.6.1 Applicable greases ························································································· 40

4.6.2 How to Apply Grease······················································································41

4.7 Reduction Belt·······································································································42

4.7.1 Inspection of the Belt······················································································ 42

4.7.2 Applicable Belt································································································42

4.7.3 Adjusting the Belt Tension ·············································································· 43

4.7.4 Replacing the Motor of the Motor Reversing Type ········································· 44

4.8 Replacing the Motor ·························································································· 49

5. External Dimensions······················································································· 55

5.1 RCA-A4R··········································································································· 55

5.2 RCA-A5R··········································································································· 56

5.3 RCA-A6R··········································································································· 57

5.4 RCS2-A4R········································································································· 58

5.5 RCS2-A5R········································································································· 59

5.6 RCS2-A6R········································································································· 60

6. Life·················································································································· 61

7. Warranty ········································································································· 62

7.1 Warranty Period ······························································································· 62

7.2 Scope of the Warranty······················································································· 62

7.3 Honoring the Warranty ······················································································ 62

7.4 Limited Liability ··································································································62

7.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ························································································63

7.6 Other Items Excluded from Warranty ································································63

Change History·················································································································· 64

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

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

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

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

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

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

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

considerably shorten the life of the product.

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

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

2) Place with potential exposure to radiation

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

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

5) Location where condensation occurs due to abrupt temperature changes

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

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

8) Location subject to direct vibration or impact

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

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

No.

Operation

Description

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

utilize equipment such as crane.

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

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

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

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

� Transport it using an appropriate transportation measure.

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

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

has qualifications for crane operation and sling work. � When using a crane or equivalent equipments, make sure not to hang a

load that weighs more than the equipment’s capability limit. � Use a hook that is suitable for the load. Consider the safety factor of the

hook in such factors as shear strength. � Do not get on the load that is hung on a crane. � Do not leave a load hung up with a crane. � Do not stand under the load that is hung up with a crane.

3 Storage and

Preservation

� The storage and preservation environment conforms to the installation

environment. However, especially give consideration to the prevention of

condensation. � Store the products with a consideration not to fall them over or drop due to

an act of God such as earthquake.

4 Installation

and Start

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

fall, drop or abnormal motion of the product may cause a damage or injury.

Also, be equipped for a fall-over or drop due to an act of God such as

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

an accidental fall, injury or damage to the product due to a drop of

anything, malfunction of the product, performance degradation, or

shortening of its life. � When using the product in any of the places specified below, provide a

sufficient shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

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

No.

Operation

Description

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

and controller, and for the teaching tool.

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

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

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

so that there is no wiring error.

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

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

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

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

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

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

4 Installation

and Start

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

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

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

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

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

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

resistance 100� or below).

No.

Operation

Description

4 Installation

and Start

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

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

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

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

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

stopped immediately in an emergency during the unit operation.

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

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

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

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

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

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

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

emergency stop.

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

safety.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

fence, the movable range should be indicated.

No.

Operation

Description

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

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

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

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

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

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

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

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

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

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

7 Automatic

Operation

� Check before starting the automatic operation or rebooting after operation

stop that there is nobody in the safety protection fence.

� Before starting automatic operation, make sure that all peripheral

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

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

protection fence.

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

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

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

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

No.

Operation

Description

8 Maintenance

and Inspection

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

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

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

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

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

basically turn OFF the power switch.

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

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

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

� Place a sign “Under Operation” at the position easy to see. � For the grease for the guide or ball screw, use appropriate grease

according to the Operation Manual for each model.

� Do not perform the dielectric strength test. Failure to do so may result in a

damage to the product.

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

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

� The slider or rod may get misaligned OFF the stop position if the servo is

turned OFF. Be careful not to get injured or damaged due to an unnecessary operation.

� Pay attention not to lose the cover or untightened screws, and make sure

to put the product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury.

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

fence, the movable range should be indicated.

9 Modification

and Dismantle

� Do not modify, disassemble, assemble or use of maintenance parts not

specified based at your own discretion.

10 Disposal � When the product becomes no longer usable or necessary, dispose of it

properly as an industrial waste.

� When removing the actuator for disposal, pay attention to drop of

components when detaching screws.

� Do not put the product in a fire when disposing of it.

The product may burst or generate toxic gases.

11 Other � Do not come close to the product or the harnesses if you are a person who

requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.

� See Overseas Specifications Compliance Manual to check whether

complies if necessary.

� For the handling of actuators and controllers, follow the dedicated

operation manual of each unit to ensure the safety.

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

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. Ensure use of the product in the specified conditions, environments and ranges.

Operation out of the specified conditions could cause a drop in performance or malfunction of the product.

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.

If the robot is operated under a load equal to or greater than the allowable load moment, abnormal noise or vibration, failure, or shorter life may result. In an extreme case, flaking may occur. If it is extreme, flaking may occur on the guide.

4. Set the overhang length within the allowable range.

The overhang length above the allowable range may cause vibration or abnormal noise.

5. Back and forth operation in short distance may wear out the oil film of the grease.

If the actuators are moved back and forth continuously over a short distance of 30 mm or less, grease film may run out. As a guide, move the actuators back and forth repeatedly for around 5 cycles over a distance of 50 mm or more after every 5,000 to 10,000 cycles. Keep using the actuators 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 operation manual.

Using the product with the actuator not being certainly retained or affixed may cause abnormal noise, vibration, malfunction or shorten the product life.

�

International Standards Compliances

This actuator complies with the following overseas standards. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.

Model RoHS Directive CE Marking UL

RCA

� �

�

RCS2

�

Optional

�

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.

� �

Slider

Opposite Side of the Motor

Encoder Cover

Actuator Cable

Screw Cover

Base

Screw Cover Mounting Screw

Motor Bracket

Pulley Cover

Motor Housing

Motor Side

Right

Left

�

� � � � � � � � � � � � � � � � � � �

1. Specifications Check

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 faulty or missing parts, contact your local IAI distributor.

1.1.1 Parts

No. Name Model number Quantity Remarks

1 Actuator

Refer to “How to Read the Model Nameplate” and “How to Read the Model Number.”

Accessories

Motor • encoder cables

(Note1)

1 set

3 First Step Guide 1

4 Operation Manual (DVD) 1

5 Safety Guide 1

Note1 The motor • encoder cables differ between the standard model and robot cable.

[Refer to 1.4, “Motor • Encoder Cables.”]

1.1.2 Operation Manuals for the Controllers Related to this Product

[1] Manuals Related to Controllers for RCA Actuator

No. Name Control No.

1 Operation Manual for ASEL Controller ME0165 2 Operation Manual for ACON-C/CG Controller ME0176 3 Operation Manual for ACON-CY Controller ME0167 4 Operation Manual for ACON-SE Controller ME0171 5 Operation Manual for ACON-PL/PO Controller ME0166 6 Operation Manual for AMEC Controller ME0245 7 Operation Manual for ASEP/PSEP Controller ME0216 8 Operation Manual for MSEP Controller ME0299

9 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154 10 Operation Manual for PC Software RCM-101-MW/RCM-101-USB ME0155 11 Operation Manual for MEC PC Software ME0248 12 Operation Manual for Teaching Pendant SEL-T/TD ME0183 13 Operation Manual for Teaching Pendant CON-T/TG ME0178 14 Operation Manual for Touch Panel Teaching CON-PT/PD/PG ME0227 15 Operation Manual for Touch Panel Teaching CON-PTA/PDA/PGA ME0295 16 Operation Manual for Touch Panel Teaching SEP-PT ME0217 17 Operation Manual for Simple Teaching Pendant RCM-E ME0174 18 Operation Manual for Data Setter RCM-P ME0175 19 Operation Manual for Data Setter RCM-PM-01 ME0182

1. Specications Check

[2]

Manuals Related to Controllers for RCS2 Actuator

(1) Manuals Related to XSEL-J/K Controllers

No. Name Control No.

1 Operation Manual for XSEL-J/K Controller ME0116 2 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154 3 Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183 4 Operation Manual for Teaching Pendant IA-T-X/XD ME0160 5 Operation Manual for DeviceNet ME0124 6 Operation Manual for CC-Link ME0123 7 Operation Manual for PROFIBUS ME0153 8 Operation Manual for X-SEL EtherNet ME0140 9 Operation Manual for Multi-Point I/O Board ME0138

10 Operation Manual for Multi-Point I/O Board Dedicated Terminal Board ME0139

(2) Manuals Related to XSEL-P/Q Controllers

No. Name Control No.

1 Operation Manual for XSEL-P/Q Controller ME0148 2 Operation Manual for XSEL-P/Q/PX/QX RC Gateway Function� ME0188 3 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154 4 Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183 5 Operation Manual for Teaching Pendant IA-T-X/XD ME0160 6 Operation Manual for DeviceNet ME0124 7 Operation Manual for CC-Link ME0123 8 Operation Manual for PROFIBUS ME0153

(3) Manuals Related to SSEL Controllers

No. Name Control No.

1 Operation Manual for SSEL Controller ME0157 2 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW� ME0154 3 Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183 4 Operation Manual for Teaching Pendant IA-T-X/XD ME0160 5 Operation Manual for DeviceNet ME0124 6 Operation Manual for CC-Link ME0123 7 Operation Manual for PROFIBUS ME0153

(4) Manuals Related to SCON Controllers

No. Name Control No.

1 Operation Manual for SCON Controller ME0161 2 Operation Manual for SCON-CA Controller SCON-CA� ME0243 3 Operation Manual for PC Software RCM-101-MW/RCM-101-USB ME0155 4 Operation Manual for Teaching Pendant CON-T/TG ME0178 5 Operation Manual for Touch Panel Teaching CON-PT/PD/PG ME0227 6 Operation Manual for Simplified Teaching Pendant RCM-E ME0174 7 Operation Manual for Data setter RCM-P ME0175 8 Operation Manual for Touch Panel Display RCM-PM-01 ME0182 9 Operation Manual for DeviceNet ME0124

10 Operation Manual for CC-Link ME0123

11 Operation Manual for PROFIBUS ME0153

1.1.3 How to Read the Model Nameplate

Model

Serial Numbe

MODEL RCA-A4R-I-20-10-50-A1-P-B

SERIAL No.200090266 MADE IN JAPAN

1. Specications Check

1.1.4 How to Read the Model Number

R C A - A 4 R - I - 2 0 - 1 0 - 5 0 - A 1 - P - B -

  

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

the model type.

RCA RCS2

<Type> Arm Type

A4R A5R A6R

I : Incremental

A : Absolute

<Motor Type> 20 : 20W 30 : 30W

<Lead>

5 : 5mm 6 : 6mm 10 : 10mm 12 : 12mm

Identification for IAI use only

(Note1)

B : Brake LA : Low Power Consumption Type NM : Reversed-home type MB : Motor Bottom Reversed Type MR : Motor Right Reversed Type ML : Motor Left Reversed Type CE : CE Mark Complied

N : None P : 1m S : 3m M : 5m X�� : Length Specification R�� : Robot Cable

A1 : ACON-C/CG

ACON-CY ACON-SE ACON-PL/PO RACON ASEL

: AMEC

ASEP

: XSEL-J/K

: SCON

SSEL XSEL-P/Q

1.2 Specification

1.2.1 Speed

�

Speed limits (Unit: mm/s)�

Stroke [mm]�

Size Motor Type Lead [mm]

50 to 200 (Every 50mm)

10 330

A4R 20W

5 165

12 400

A5R 20W

6 200

12 400

A6R 30W

6 200

1.2.2 Maximum Acceleration and Transportable Weight

�

When the transported weight is low, the acceleration/deceleration and speed can be increased.

Type

Motor

Type

�

Lead [mm]

�

Acceleration/Deceleration

[

G]�

Transportable Weight

[

kg]

Rated Thrust�

[N]

10 2.5 39.2

A4R 20W

5 4.5 78.4

12 2 33.3

A5R 20W

6 4 65.7

12 3 48.4

A6R 30W

0.2

6 96.8

Caution: Do not have the settings of speed and acceleration/deceleration exceeding the

rated values. 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

1.2.3 Driving System • Position Detector

Ball Screw Type

Series Type

Motor

Type

Lead

No. of

Encoder

Pulses

Type Diameter Accuracy

A4R 20W

Rolled

�8

C10

A5R 20W

Rolled

�8

C10

RCA

A6R 30W

800

Rolled

�10

C10

A4R 20W

Rolled

�8

C10

A5R 20W

Rolled

�8

C10

RCS2

A6R 30W

16,384

Rolled

�10

C10

1.2.4 Positioning Repeatability

�

±0.02 [mm]

1.2.5 Lost Motion

�

0.1 [mm] or less

The values shown above are the accuracy at the delivery from the factory. It does not include the consideration of time-dependent change as it is used.

1.2.6 Allowable Load Moments of the Actuator

Allowable Dynamic Load Moment [Nm] ([kgfm])

Type

Ma Mb Mc

A4R 2.7 (0.28) 3.1 (0.32) 2.9 (0.30)

A5R 4.5 (0.46) 5.4 (0.55) 4.1 (0.42)

A6R 8.1 (0.83) 10.0 (1.02) 6.5 (0.66)

MaMc

Directions of the load moments

Thrust direction

1. Specications Check

1.3 Options

1.3.1 Brake Type (Model: B)

This is a protection structure not to damage the attached objects by the rod being dropped when the power of the servo is turned OFF in case the actuator is mounted vertically.

1.3.2 Low Power Consumption Type (Model: LA)

It is an option to decrease the power consumption of the controller.

By selecting the low power consumption type, the consumption drops to 3.4A at maximum, where it is 5.1A at maximum in Standard type/High acceleration and deceleration type.

1.3.3 Reversed-home Type (Model: NM)

Even though the home position is placed on the motor side in normal type, the home position can be set on the other side by the option when it is required due to a reason such as the layout of the equipment.

1.3.4 Motor Reversed Directions (Model: NM, ML, MR)

These symbols are the indication for the directions of the motor reversing in the motor reversed type.

From the view of the motor end, reversing on the bottom is MB, on the left is ML and on the right is MR. MB is the standard for the arm type.

1.3.5 CE Mark Complied (Model: CE)

It shows the compliance with CE Mark.

Actuator

(RIGHT)

(LEFT)

(BOTTOM)

1.4 Motor • Encoder Cables

1.4.1 Motor • Encoder Integrated Cables for the RCA Actuator

[1] Motor Cable

Model : CB-ACS-MA��

1 3

Controller Side Mechanical Side

Width

Electric

Wire

Color

Signal

Name

Pin No.

Signal Name

Electric

Wire

Color

Width

Red U 1

1 U Red

White� V 2 � � � � 2 V White�

AWG22

(Solderless)

Black� W 3

�

� � � 3 W Black�

AWG22

(Solderless)

1. Specications Check

[2] Encoder Cable • Encoder Robot Cable

Model : CB-ACS-PA�� • CB-ACS-PA��-RB

18 17

2 1

9 18

1 10

Controller Side Mechanical Side

Signal Name

Pin No.

For ABS For Serial

Electric Wire

Color

Width

Electric Wire

Colo

Signal

Name

Pin No.

1 A+ -

White/

Blue

White/Purple

LS+

2 A- -

White/

Yellow

White/Gray

LS-

3 B+ -

White/

Red

Yellow

BK+

4 B- -

White/

Black

Blue BK-

5 - - -

White/

Blue A+

6 - - -

White/Yellow

A-

7 LS+ LS+

White/Purple

White/

Red B+

8 - - -

White/

Black B-

9 FG FG Ground

Orange SD/Z

10 Z+ SD+ Orange

Green SD/Z

11 Z- SD- Green

Purple

BAT+

12 - BAT+

Purple

Gray

BAT-

13 /PS BAT-

Gray

Red VCC

14 VCC VCC Red

Black GND

15 GND GND Black

16 LS- LS-

White/Gray

17 BK- BK- Blue

18 BK+ BK+ Yellow

AWG26

(Solderless)

AWG26

(Solderless)

Ground FG

[3] Motor • Encoder Integrated Cables for AMEC/ASEP

Model : CB-ASEP-MPA��

Controller Side

Mechanical Side

Width

Electric

Wire Color

Signal Name

Pin No.

� � � �

Pin No.

Signal Name

Electric

Wire Color

Width

Red U 1

� � � �

1 U Red

Yellow V 2

� � � �

2 V Yellow

� � � �

3 NC

� � � �

4 NC

AWG22

(Solderless)

Black W 3

� � � �

5 W Black

AWG22

(Solderless)

� � � �

6 NC

Orange BK+ 18

� � � �

7 BK+ Orange

Gray BK- 17

� � � �

8 BK- Gray

Black LS+ 7

� � � �

9 LS+ Black

Brown LS- 16

� � � �

10 LS- Brown

White A+ 1

� � � �

11 A+ White

Yellow A- 2

� � � �

12 A- Yellow

Red B+ 3

� � � �

13 B+ Red

Green B- 4

� � � �

14 B- Green

Black

Z+ 10

� � � �

15 Z+

Black

Brown

Z- 11

� � � �

16 Z-

Brown

White

VCC 14

� � � �

17 VCC

White

Yellow

VPS 13

� � � �

18 VPS

Yellow

Red

GND 15

� � � �

19 GND

Red

Green

Identification Tape

Spare 6

� � � �

20 Spare

Green

Identification Tape

NC 5

� � � �

21 NC

� NC 8

� � � �

22 NC

� NC 12

� � � �

23 NC

AWG26

(Solderless)

� FG 9

� � � �

24 FG

AWG26

(Solderless)

1. Specications Check

1.4.2 Motor • Encoder Integrated Cables for the RCS2 Actuator

[1] Motor Cable • Motor Robot Cable

Model : CB-RCC-MA�� • CB-RCC-MA��-RB

(16) (20)

(41)

Controller side

Mechanical Side

(Front View)(Front View)

(

(21)

(20)

(10)

(18)

Width

Electric Wire

Color

Signal

Name

Pin No.

Signal Name

Electric Wire

Color

Width

Green

PE 1 1 U

Red

U 2 2 V White

White V 3 3 W Black

AWG18

Black W 4 4 PE Green

AWG18

(

Solderless

)

[2] Encoder Cable � Encoder Robot Cable [For SCON, SSEL, XSEL-P/Q]

Model : CB-RCS2-PA�� • CB-RCS2-PA��-RB

Controller side Mechanical Side

(Front View)(Front View)

(13)

(37)

(41)

(14)

(25)

(15)

1 10

Width

Electric Wire

Color

Signal

Name

Pin No.

- E24V

Gray/White

Brown

/White

CREEP

- OT

- RSV

- -

- - 18

- -

Pin No.

Signal Name

Electric Wire

Color

Width

Pink A+

1 A Pink

Purple A-

Purple

White B+

3 B White

Blue/Red B-

Blue/Red

Orange/White

Z+

5 Z

Orange/White

Green/White

Z-

Green/White

Blue SRD+

7 LS+ Brown

/White

Orange SRD-

8 - -

Black BAT+

9 FG Ground

Yellow BAT-

10 SD Blue

Green VCC

Orange

Brown GND

14 BAT+ Black

Gray BKR-

13 BAT- Yellow

Red BKR+

14 VCC Green

AWG26

(Soldered)

- -

15 GND Brown

The shield is clamped to the hood

16 LS-

Gray/White

17 BK- Gray

18 BK+ Red

AWG26

(Solderless)

Ground wire and braided shield wires

1. Specications Check

[3] Encoder Cable • Encoder Robot Cable [For XSEL-J/K]

Model : CB-RCBC-PA�� • CB-RCBC-PA��-RB

Controller side

Mechanical Side

1,10

9,18

(36)

(16)

(33)

(57)

(Front View)

(15)

(14)

(25)

(

(Front View)

Width

Electric Wire

Color

Signal Name

Pin No.

� � � �

Pin No.

Signal Name

Electric Wire

Color

Width

Pink A/U

� � � �

1 A/U Pink

Purple

A/U

� � � �

A/U

Purple

White B/V

� � � �

3 B/V White

Blue/Red

B/V

� � � �

B/V

Blue/Red

Orange/White

Z/W

� � � �

5 Z/W

Orange/White

Green/White

Z/W

� � � �

Z/W

Green/White

Blue SD 7

� � � �

7 - -

Orange

� � � �

8 - -

Black BAT+ 9

� � � �

9 FG Ground

Yellow BAT- 10

� � � �

10 SD Blue

Green VCC

� � � �

Orange

Brown GND 12

� � � �

12 BAT+ Black

Gray BK- 13

� � � �

13 BAT- Yellow

Red BK+ 14

� � � �

14 VCC Green

AWG25

(Soldered)

- - 15

� � � �

15 GND Brown

The shield is clamped to the hood

� � � � �

16 - -

�

� � � � �

17 BK- Gray

�

� � � � �

18 BK+ Red

AWG25

(Solderless)

1. Specications Check

2. Installation�

2.1 Transportation

[1] Handling of the Actuator

Unless otherwise specified, the actuator is shipped with 1 axis unit packaged separately.

(1) Handling the Packed Unit

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

resist an impact caused by a drop or crash.

� Transport a heavy package with at least more than two operators. Consider an appropriate

method for transportation.

� Keep the unit in horizontal orientation when placing it on the ground or transporting. Follow the

instruction if there is any for the packaging condition.

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

(2) Handling the Actuator After Unpacking

� Do not carry the actuator by its motor unit or its cable or attempt to move it by pulling the cable. � Hold the base part or bracket part of the body when transporting the actuator main body. � Do not hit or drop the actuator during transportation. � Do not attempt to force any part of the actuator.

2. Installation

[2] Handling in Assembled Condition

This is the case when the product is delivered from our factory under a condition that it is assembled with other actuators. The combined axes are delivered in a package that the frame is nailed on the lumber base. The rods are fixed so they would not accidently move. The actuators are also fixed so the tip of it would not shake due to the external vibration.

(1) How to Handle in Package

� Do not hit or drop the package. No special treatment is conducted on this package to

endure a drop or impact on it.

� Do not attempt to carry a heavy package with only one worker. Also, have an appropriate

method for transportation.

� When hanging up with ropes, support on the reinforcement frame on the bottom of the

lumber base. When bringing up the package with a forklift, also support on the bottom of the lumber base.

� Handle with care when putting the package down to avoid impact or bounce. � Do not step on the package. � Do not put anything on the package that could deform or damage it.

(2) How to Handle after Unpackaged

� Fix the rod so they would not accidently move during transportation. � If the tip of an actuator is overhanging, have an appropriate way to fix it to avoid shake due

to the external vibration. In the transportation without the tip being fixed, do not apply any impact with 0.3G or more.

� When hanging up with ropes, have appropriate cushioning to avoid any deformation of the

actuator body. Also keep it in stable horizontal orientation. Make a fixture utilizing the attachment holes and the tapped holes on the actuator body if necessary.

� Do not attempt to apply load on the actuators or the connector box. Also pay attention not

to pinch cables and bend or deform them forcefully.

[3] Handling in Condition of being assembled in Machinery Equipment (System)

This is some caution notes for when transporting the actuator being assembled in the machinery equipment (system).

� Fix the table so they would not move during transportation. � If the tip of an actuator is overhanging, have an appropriate way to fix it to avoid shake due

to the external vibration. In the transportation without the tip being fixed, do not apply any impact with 0.3G or more.

� When hanging up the machinery equipment (system) with ropes, do not attempt to apply

load on the actuators or the connector box. Also pay attention not to pinch cables and bend or deform them forcefully.

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.

� Where the actuator receives radiant heat from strong heat sources such as heat treatment

furnaces

� Where the ambient temperature exceeds the range of 0 to 40�C � Where the temperature changes rapidly and condensation occurs � Where the relative humidity exceeds 85% RH � This actuator possesses the water durability of IP67 protection structure. � Where the actuator receives direct sunlight � Where the actuator is exposed to corrosive or combustible gases � 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)

� Where the actuator receives impact or vibration

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

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

[2] Storage • Preservation Environment

� 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.

� 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.

� For storage and preservation temperature, the machine withstands temperatures up to

60�C for a short time, but in the case of the storage and preservation period of 1 month or more, control the temperature to 50�C or less.

� 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.

�

2. Installation

2.3 How to Install

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 � : Not possible

Horizontal

installation

Vertical

installation

Sideway

installation

Ceiling Mount

�

� �

Installation Orientation

Horizontal Vertical

Sideway

Ceiling Mount

2.3.2 Installation of Main Unit

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/m.

Install the main body as follows:

About Tightening Screws

� Use a hex socket head cap bolt for the attachment to the base. � It is recommended to use high-tensile bolts with ISO-10.9 or more. � Make sure to have the effective length of bolt engagement described below or more for the

tightening of a bolt and a female screw.

When female screw is on steel � Thread length same as nominal diameter

When female screw is on aluminum � Thread length 2 times longer them nominal diameter

Caution: Pay special attention when selecting the bolt length. In case that an inappropriate

length of a bolt is applied, it may cause a drop in the operation accuracy or an unexpected accident due to a damage, insufficient strength of actuator attachment or an interference with the operating area.

Pull out the slider to the stroke end. Remove four screw cover mounting screws with an Allen wrench of 1.5mm across flats to remove the screw cover.

If the actuator has a brake, connect this machine to the controller and pull out the slider to the stroke end after the brake has been released with the brake release switch. Then, turn OFF the controller power for safety.

Check to see that a 0.1mm thick gauge cannot be inserted at the mounting holes while this machine is left standing on the mounting surface.

2. Installation

Type

In the case that steel is used for

the bolt seating surface:

In the case that aluminum is used

for the bolt seating surface: A4R M3×8 M3×12 A5R M4×8 M4×12 A6R M5×10 M5×15

Caution: Pay special attention when selecting the bolt length. In case that an inappropriate

2.3.3 Mounting Surface

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

and should be free from vibration.

� 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.

� Have enough space for the maintenance work.

The side and bottom surfaces of the base on the actuator work as the datum surfaces for the side of the slider.

Secure the main body with the mounting holes on the base of this machine.

Use the hexagon socket head bolts shown below.

After securing the main body, reinstall the screw cover.

2.3.4 Attachment of the Transported Object

� Use four M4 screws to install the transported object to the slider.

Caution: Check to see that the workpiece seating surface is flat to prevent the slider from

becoming deformed when the workpiece is installed. Slider deformation may cause it to move rigidly or shorter its life.

Caution: Do not exceed the maximum mass capacity.

Please make note of the slider moment, allowable overhang length and load weight.

Tapped hole to install

the work

iece

Slider

Workpiece

Set the dimension of an overhang above the workpiece to the value shown below to prevent interference with the screw cover and workpiece.�

Type Size

A4R A=53mm A5R A=65mm A6R A=70mm

2. Installation

3. Connecting with the Controller

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

 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.

 Do not cut and reconnect the dedicated connection cable for extension or shorten the cable.  Do not pull on the dedicated connection cable or bend it forcibly.  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.

 

RCA Actuator

[Connection with the ACON, ASEL controller]

      

           

Dedicated cables

 Motor cable Robot cableCB-ACS-MA��  Encoder cable CB-ACS-PA�� / Robot encoder cable CB-ACS-PA��-RB

�� indicates the cable length. A desired length up to 20m can be specified. Example) 080 = 8m

Dedicated Connection Cable (Connect RCA with the dedicated controller.)

r r

Dedicated Controller

ACON

ASEL

Robot Cable r = 54mm or more (Movable Use) Standard Cable r = 75mm or more (Fixed Use)

Use robot cables if the cables tend to move.

[Connection with the AMEC, ASEP controller]

� � � � � �

� � � � � � � � � � �

Dedicated cables � Motor encoder cable�CB-ASEP-MA��

�� indicates the cable length. A desired length up to 20m can be specified. Example) 080 = 8m

� � � � �

r = 68mm or more (Movable Use) r = 34mm or more (Fixed Use)

Dedicated Controller

AMEC, ASEP

Dedicated Connection Cable (Connect RCA with the dedicated controller.)

3. Connecting with the Controller

RCS2 Actuator

[Connection with the SCON, SSEL controller]

� � � � � � � � �

�

Dedicated cables

� Motor cable�CB-RCC-MA�� / Robot motor cable CB-RCC-MA��-RB � Encoder cable CB-RCS2-PA�� / Robot encoder cable CB-X3-PA��

�� indicates the cable length. A desired length up to 30m can be specified. Example) 080 = 8m

�

[Connection with the X-SEL controller]

� � � � � � � �

�

Dedicated cables

� Motor cable CB-RCC-MA�� / Robot motor cable CB-RCC-MA��-RB � X-SEL-J/K encoder cable CB-RCBC-PA�� / X-SEL-J/K robot encoder cable

CB-RCBC-PA��-RB

� X-SEL-P/Q encoder cable CB-RCS2-PA�� / X-SEL-P/Q robot encoder cable CB-X3-PA��

�� indicates the cable length. A desired length up to 15m can be specified. For other cables, a desired length up to 20m can be specified. Example) 080 = 8m

Dedicated Connection Cable (Connect RCS2 with the dedicated controller.)

r r

Dedicated Controller

SCON

SSEL

Robot Cable r = 58mm or more (Movable Use) Standard Cable r = 93mm or more (Fixed Use)

Use robot cables if the cables tend to move.

Dedicated Connection Cable (Connect RCS2 with the dedicated controller.)

r r

Dedicated Controller

XSEL

Robot Cable r = 58mm or more (Movable Use) Standard Cable r = 93mm or more (Fixed Use)

Use robot cables if the cables tend to move.

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.

• 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.

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

Steel Strap (Piano Wire)

Tie them up softly.

3. Connecting with the Controller

• 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.

• 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.

• 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.

Follow the instructions below when using a cable track.

• If there is an indication to the cable for the space factor in a cable track, refer to the wiring instruction given by the supplier when storing the cable in the cable track.

• Avoid the cables to get twined or twisted in the cable track, and also to have the cables move freely and do not tie them up. (Avoid tension being applied when the cables are bent.) Do not pile up cables. It may cause faster abrasion of the sheaths or cable breakage.

Power line

I/O lines (flat cable)

Duct

3. Connecting with the Controller

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

��

� �

After 1 month of operation

�

� �

After 6 months of operation

� ��

�

After 1 year of operation

� ��

Every 6 months thereafter

�

Every 1 year

� � ��

4.2 External Visual Inspection

An external visual inspection should check the following things.�

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

�

4.3 Cleaning

� Clean the exterior as needed. � Wipe off dirt with a soft cloth. � Do not use strong compressed air on the actuator as this may force dust into the crevices. � Do not use petroleum-based solvents on plastic parts or painted surfaces since such solvents

damage them.

� If the unit is badly soiled, apply a neutral detergent or alcohol to a soft cloth, and wipe gently.

4.4 Interior Inspection

�

Turn off the power, remove the side covers, and then visually inspect the interior. Check the following items during interior inspection.

Main unit Loose mounting bolts Guides Lubrication appropriate, Soiling Ball screw Lubrication appropriate, Soiling

�

How to inspect the interior: (1) Remove both side covers.

Use an Allen wrench of 1.5mm across flats.

Make a visual check of the interior or to see if there is any dust or to see if there is any dust or foreign matter in the unit and check the lubrication. Even if the grease you see around the parts is brown, the lubrication is fine as long as the traveling surface appears shiny.

(2) If the grease becomes dirty and dull or if the grease has worn away due to extended operating

time, lubricate the parts after cleaning them.

(3) When the inspection/maintenance work is complete, install the side covers.

Tightening torque: Thin-head screw M3 × 6 87.2N·cm (8.90kgf·cm)

4. Maintenance Inspection

4.5 Internal Cleaning

� Use a soft cloth to wipe away dirt and buildup. � Do not use strong compressed air on the actuator as this may force dust into the crevices. � Do not use petroleum-based solvent, neutral detergent or alcohol.

Caution: Do not use flushing oil, molybdenum grease or anti-rust lubricant.

When grease is soiled with a large amount of foreign substances, wipe off the dirty grease and then apply new grease.

4.6 Grease supply

4.6.1 Applicable greases

(1) What Grease to Use on the Guides

IAI uses the following grease in our plant.

Idemitsu Kosan Daphne Eponex Grease No.2

Other companies also sell similar types of grease. Fordetails, 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

(2) Applicable greases for ball screw

IAI uses the following grease in our plant. This grease offers excellent properties such as low heat generation, and is suitable for lubricating ball screws.

Kyodo Yushi Multitemp LRL 3

Warning: Never use fluorine-based grease.

It will cause a chemical reaction when mixed with a lithium-based grease and may cause damage to the actuator.

4.6.2 How to Apply Grease

(1) When greasing the ball screw, apply grease using a finger and then move the slider back and

forth several times to let the grease spread evenly.

              

(2) When greasing the slider, apply grease directly on the bearing while the return cover is

removed from the guides.

               

(3) Install the side covers.

Tightening torque Thin-head screw

M3×6 87.2N • cm (8.90kgfcm)

 

Caution: In case the grease got into your eye, immediately go see the doctor to get

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

  

Return Cover

pply Grease

4. Maintenance Inspection

4.7 Reduction Belt

4.7.1 Inspection of the Belt

For inspection work, detach the cover of a pulley cover and carry it out visually.

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.

�

As a practical guideline, replace the reduction belt when any of the conditions listed below are observed:

�

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

��The belt has broken.�

� �

4.7.2 Applicable Belt

�

60S2M180R Rubber, cleanroom type (Bando Chemical Industries) 6mm wide

4.7.3 Adjusting the Belt Tension

Remove the pulley cover and loosen the four motor-unit affixing bolts. Pass a looped string (or long tie-band) around the motor housing, and pull the string to the specified tension using a tension gauge. In this condition, uniformly tighten the motor-unit affixing bolts.

[Recommended tightening torque of adjustment bolts] 162 N•cm (16.5 kgf•cm)

�

Motor-unit affixing bolts

(Use an Allen wrench of 3mm across flats.)

Tension: 2.5Kgf

Motor-unit affixing bolts

(Use an Allen wrench of 3mm across flats.)

4. Maintenance Inspection

Home position

Z phase ON

osition

Mechanical end

The countermark on the motor aligns with this position.

Set by the home offset parameter. (The above value indicates the factory setting.)

A6R: Approx. 0.7 mm

A5R

: Approx. 0.7 mm

A4R

: Approx. 0.6 mm

4.7.4 Replacing the Motor of the Motor Reversing Type

[Items Required for Replacement] � Replacement belt

60S2M180R Rubber, cleanroom type (Bando Chemical Industries) 6mm wide

� Allen wrenches � Tension gauge (capable of tensioning to 7 kgf or greater) � Strong string, looped (or long tie-band) � Scale � Oil-based marker pen � PC or teaching pendant

[Overview of Replacement] (1) Move the slider to a position where Z phase turns ON (home position) (A4R is 0.6mm, A5R

and A6R is 0.7mm from the mechanical end). In this position, loosen the motor-unit affixing bolts and replace the belt.

(2) Restore the home position.

Affix the slider at a position A4R is 0.6mm, A5R and A6R is 0.7mm from the mechanical end on the home side, pass the belt, and adjust the belt to the specified tension.

(3) Perform homing using a PC or teaching pendant and check for deviation from the initial home

position.

If there is a deviation, adjust the home offset if you are using a parameter.

[Procedure] (1) Remove the pulley cover using Allen wrenches, 2.5 mm across flats.

� � � � � � � � � � � � �

(2) Move the slider to a position where Z phase turns ON (home position).

This corresponds to a position where the rod projects A4R is 0.6mm, A5R and A6R is 0.7mm from the mechanical end. Apply countermarks in this position.

�

� � �

Warning: If the actuator is installed vertically, move it after turning on the controller

power and forcibly releasing the brake. At this time, beware of danger as the actuator may drop suddenly. Always provide a support to brace the actuator hand to prevent sudden drop, so as not to pinch fingers or damage the load.

� � �

M3 hexagon socket head screws

Cause the slider to project A4R is 0.6mm, A5R and A6R is 0.7mm from the mechanical end.

Apply countermarks once the slider has projected A4R is 0.6mm, A5R and A6R is 0.7mm from the mechanical end.

A4R: 0.6mm A5R and A6R: 0.7mm

4. Maintenance Inspection

(3) Loosen the motor-unit affixing bolts using an Allen wrench of 3mm across the flats.

� � � � � � � � � � � � � � � � � � � � �

(4) Check the following points before restoring the home position:

� The motor side should be aligned with the initial countermark. If the position is offset, adjust

it to achieve proper alignment.

� The ball screw side should be at a position where the slider projects A4R is 0.6mm, A5R

and A6R is 0.7mm from the mechanical end.

After the check, attach a new belt while holding the pulleys on both sides in position.

� � � � � �

Initial countermark position

Corresponding to the slider position of 0.6mm away from the mechanical end for A4R or 0.7mm away for A5R and A6R

Motor side Ball screw side

Motor-unit affixing bolts (Use an Allen wrench of 3mm across flats.)

(5) Adjust the belt tension.

Pass a looped string (or long tie-band) around the motor housing, and pull the string to the specified tension using a tension gauge. In this condition, uniformly tighten the motor-unit affixing bolts.

[Recommended tightening torque of adjustment bolts] 162 N•cm (16.5 kgf•cm)

� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �

Motor-unit affixing bolts

(Use an Allen wrench of 3mm across flats.)

Tension: 2.5Kgf

Motor-unit affixing bolts

(Use an Allen wrench of 3mm across flats.)

4. Maintenance Inspection

(6)

Remove the pulley cover using Allen wrenches, 2.5mm across flats.

� � � � � � � � � � � � � �

(7) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of

absolute encoder specification, an absolute reset must be performed.) Check for deviation from the initial home position. If there is a deviation, adjust the home offset if you are using a parameter.

�

M3 hexagon socket head screws

Home position

Z phase ON

osition

Mechanical end

The countermark on the motor aligns with this position.

Set by the home offset parameter. (The above value indicates the factory setting.)

A6R: Approx. 0.7 mm

A5R

: Approx. 0.7 mm

A4R

: Approx. 0.6 mm

4.8 Replacing the Motor

�

[Items Required for Replacement]

� Replacement motor unit � Allen wrenches � Tension gauge (capable of tensioning to 7 kgf or greater) � Strong string, looped (or long tie-band) � Scale � Oil-based marker pen � PC or teaching pendant

�

[Overview of Replacement] (1) Loosen the motor-unit affixing bolts to remove the belt, and replace the motor.

(2) Restore the home position.

Affix the slider at a position A4R is 0.6mm, A5R and A6R is 0.7mm from the mechanical end on the home side, pass the belt, and adjust the belt to the specified tension.

(3) Perform homing using a PC or teaching pendant and check for deviation from the initial home

position. If there is a deviation, adjust the home offset if you are using a parameter.

Replacement motor unit

4. Maintenance Inspection

[Procedure] (1) Remove the pulley cover using Allen wrenches, 2.5mm across flats.

� � � � � � � � � � � �

(2) Loosen the motor-unit affixing bolts using an Allen wrench of 3mm across the flats. Slider the

motor, and loosen and remove the belt. After the belt has been removed, remove the motor-unit affixing bolts.

� � � � � � � � � � � � � � � � � � �

(3) If the actuator has a brake, disconnect the brake cable and remove the motor.

� � � � � � � � � � � � � �

� � �

M3 hexagon socket head screws



Motor-unit affixing bolts (Use an Allen wrench of 3mm across flats.)

(4) Install the replacement motor unit. If the actuator has a brake, solder and connect the brake

cable. Cover the soldered portion of the cable with a vinyl tube and then temporarily secure it with the motor-unit affixing bolts.

�

(5) Move the slider to a position where Z phase turns ON.

This corresponds to a position where the rod projects A4R is 0.6mm, A5R and A6R is 0.7mm from the mechanical end. Apply countermarks in this position.

�

� �

� � �

Warning: If the actuator is installed vertically, move it after turning on the controller

�

Cause the slider to project A4R is 0.6mm, A5R and A6R is 0.7mm from the mechanical end.

Apply countermarks once the slider has projected A4R is 0.6mm, A5R and A6R is 0.7mm from the mechanical end.

A4R: 0.6mm A5R and A6R: 0.7mm

Solder and connect the brake cable. Replacement motor

4. Maintenance Inspection

(6) Check the following points before restoring the home position:

� The motor side should be aligned with the initial countermark. If the position is offset, adjust

it to achieve proper alignment.

� The ball screw side should be at a position where the slider projects A4R is 0.6mm, A5R

and A6R is 0.7mm from the mechanical end.

After the check, attach a new belt while holding the pulleys on both sides in position.

� � � � � �

Initial countermark position

Corresponding to the slider position of 0.6mm away from the mechanical end for A4R or 0.7mm away for A5R and A6R

Motor side Ball screw side

(7) Adjust the belt tension.

[Recommended tightening torque of adjustment bolts] 162 N•cm (16.5 kgf•cm)

� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �

Motor-unit affixing bolts

(Use an Allen wrench of 3mm across flats.)

Tension: 2.5Kgf

Motor-unit affixing bolts

(Use an Allen wrench of 3mm across flats.)

4. Maintenance Inspection

(8) Remove the pulley cover using Allen wrenches, 2.5mm across flats.

� � � � � � � � � � � � � �

(9) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of

absolute encoder specification, an absolute reset must be performed.) Check for deviation from the initial home position. If there is a deviation, adjust the home offset if you are using a parameter.

M3 hexagon socket head screws

4. Maintenance Inspection

5. External Dimensions

5.1 RCA-A4R

(2)

4-M4, depth 5

Home

E-3.6 drilled hole, 6.5 counterbored depth 3.3 (back side)

Datum Point for Moment

3 3 D90

B × C

LStroke

105

1.5

122.5(13)

Work Piece Attachment Area

3.6

6.5

2.2

(33.4)

Section of Base Attachment Hole

Detail: A

Work Piece Attachment Area

(2)

122.5

1.5

37 3

52 4635 30

105

(13)

Work Piece Attachment Area

(2)

122.5

1.5

37 3

52 4635 30

105

(13)

B × C

Motor Reversed on Bottom Side (Option Code: MB)

Motor Reversed on Left Side (Option Code: ML)

Motor Reversed on Right Side (Option Code: MR)

Cable Joint Connector

E-3.6 drilled hole, 6.5 counterbored depth 3.3 (back side)

4-M4, depth 5

Stroke

Home

4-M4, depth 5

Home

Stroke

E-3.6 drilled hole, 6.5 counterbored depth 3.3 (back side)

SE : Stroke endME : Mechanical end

Stroke 50 100 150 200

L 255 305 355 405

�

144 194 244 294

B × CP 1 × 19 1 × 50 2 × 50 2 × 50

D 35 54 54 104

E 4 4 6 6

Weight [kg] 1.7 1.8 2.0 2.1

5. External Dimensions

5.2 RCA-A5R

Section of Base Attachment Hole

Detail: A

3.5

4.5

(42.4)

Work Piece Attachment Area

(13)

449

113011

110

105

122.5

(2)

D32.7

122.5

449

30 11

(2)

110 D32.7

(13)

105

Work Piece Attachment Area

B × C

Cable Joint Connector

Work Piece Attachment Area

105

(13)

2.7 3 D110

(2)

122.5

B × C

Datum Point for Moment

Motor Reversed on Bottom Side (Option Code: MB)

Motor Reversed on Left Side (Option Code: ML)

Motor Reversed on Right Side (Option Code: MR)

4-M4, depth 5

Home

Stroke

E-4.5 drilled hole, 8 counterbored depth 4.5 (back side)

4-M4, depth 5

Home

Stroke

4-M4, depth 5

Home

Stroke

Cable Joint Connector

E-4.5 drilled hole, 8 counterbored depth 4.5 (back side)



Stroke 50 100 150 200

L 280 330 380 430



196 246 296 346

B × CP 1 × 30 1 × 50 2 × 50 2 × 50

D 56 86 86 136

E 4 4 6 6

Weight [kg] 2.2 2.4 2.6 2.8

5.3 RCA-A6R

137.5

(3)

107

70 (Work Piece Attachment Area)

130 D

(13)

3.5

14.5

53.5 56

10 205

(58)

Section of Base Attachment Hole

Detail: A

Work Piece Attachment Area

7.5

49.4

9.5

130 D

3.5

14.5

53.5

105

(58)

28 79

107 (3)

137.5(13)

130 D

3.5

14.5

53.5

105

(58)

2879

107(3)

137.5(13)

B × C

(53)

(54)

B × C

Motor Reversed on Bottom Side (Option Code: MB)

Motor Reversed on Left Side (Option Code: ML)

Motor Reversed on Right Side (Option Code: MR)

4-M4, depth 6

Home

E-φ6, φ9.5 counterbored depth 7 (back side)

Datum Point for Moment

B × C

Stroke

E-φ6, φ9.5 counterbored depth 7 (back side)

4-M4, depth 6

Home

Stroke

70 (Work Piece Attachment Area)

4-M4, depth 6

Home

E-φ6, φ9.5 counterbored depth 7 (back side)

Stroke

70 (Work Piece Attachment Area)



Stroke 50 100 150 200

L 300 350 400 450



216 266 316 366

B × CP 1 × 30 1 × 50 2 × 50 2 × 50

D 56 86 86 136

E 4 4 6 6

Weight [kg] 3.0 3.3 3.6 3.9

5. External Dimensions

5.4 RCS2-A4R

(2)

3 3 D90

105

1.5

122.5(13)

Work Piece Attachment Area

2.2

(33.4)

Section of Base Attachment Hole

Detail: A

Work Piece Attachment Area

(2)

122.5

1.5

37 3

52 4635 30

105

(13)

Work Piece Attachment Area

(2)

122.5

1.5

37 3

52 4635 30

105

(13)

B × C

Motor Reversed on Bottom Side (Option Code: MB)

Motor Reversed on Left Side (Option Code: ML)

Motor Reversed on Right Side (Option Code: MR)

4-M4, depth 5

Home

E-3.6 drilled hole, 6.5 counterbored depth 3.3 (back side)

Datum Point for Moment

B × C

Stroke

Cable Joint Connector

E-3.6 drilled hole, 6.5 counterbored depth 3.3 (back side)

4-M4, depth 5

Home

Stroke

Home

Stroke

4-M4, depth 5

E-3.6 drilled hole, 6.5 counterbored depth 3.3 (back side)

3.6

6.5



Stroke 50 100 150 200

L 255 305 355 405



144 194 244 294

B × CP 1 × 19 1 × 50 2 × 50 2 × 50

D 35 54 54 104

E 4 4 6 6

Weight [kg] 1.7 1.8 2.0 2.1

5.5 RCA-A5R

Section of Base Attachment Hole

Detail: A

3.5 4.5

(42.4)

Work Piece Attachment Area

(13)

449

113011

110

105

122.5

(2)

D32.7

122.5

449

11 30 11

(2)

110 D32.7

(13)

105

Work Piece Attachment Area

B × C

Work Piece Attachment Area

105

(13)

2.7 3 D110

(2)

49 4

122.5

B × C

Motor Reversed on Bottom Side (Option Code: MB)

Motor Reversed on Left Side (Option Code: ML)

Motor Reversed on Right Side (Option Code: MR)

B × C

Cable Joint Connector

Datum Point for Moment

4-M4, depth 5

Home

Stroke

E-4.5 drilled hole, 8 counterbored depth 4.5 (back side)

Home

Stroke

E-4.5 drilled hole, 8 counterbored depth 4.5 (back side)

4-M4, depth 5

Home

Stroke

E-4.5 drilled hole, 8 counterbored depth 4.5 (back side)

Cable Joint Connector

4.5



Stroke 50 100 150 200

L 280 330 380 430



196 246 296 346

B × CP 1 × 30 1 × 50 2 × 50 2 × 50

D 56 86 86 136

E 4 4 6 6

Weight [kg] 2.2 2.4 2.6 2.8

5. External Dimensions

5.6 RCA-A6R

137.5

(3)

107

70 (Work Piece Attachment Area)

130 D

(13)

3.5

14.5

53.5 56

105

(58)

Detail: A

Work Piece Attachment Area

7.5

49.4

70 (Work Piece Attachment Area)

130 D

3.5

14.5

53.5

105

(58)

28 79

107 (3)

137.5(13)

130 D

3.5

14.5

53.5

105

(58)

2879

107(3)

137.5(13)

B × C

(53)

(54)

B × C

Motor Reversed on Bottom Side (Option Code: MB)

Motor Reversed on Left Side (Option Code: ML)

Motor Reversed on Right Side (Option Code: MR)

4-M4, depth 6

Home

E-φ6, φ9.5 counterbored depth 7 (back side)

Datum Point for Moment

B × C

Stroke

4-M4, depth 6

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Stroke

E-φ6, φ9.5 counterbored depth 7 (back side)

4-M4, depth 6

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E-φ6, φ9.5 counterbored depth 7 (back side)

Stroke

70 (Work Piece Attachment Area)

Section of Base Attachment Hole

9.5



Stroke 50 100 150 200

L 300 350 400 450



216 266 316 366

B × CP 1 × 30 1 × 50 2 × 50 2 × 50

D 56 86 86 136

E 4 4 6 6

Weight [kg] 3.0 3.3 3.6 3.9

5. External Dimensions

6. Life

The product life is assumed to be 5,000km (reference) under the condition that it runs with maximum transportable weight and maximum acceleration/deceleration.

6. Life

7. Warranty

7.1 Warranty Period

One of the following periods, whichever is shorter:

� 18 months after shipment from IAI � 12 months after delivery to the specified location � 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 instruction manual and

catalog. (4) The breakdown of problem in question was caused by a specification defect or problem, or by a

quality issue with 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.

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 instruction 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:

[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

7. Warranty

Change History

Revision Date Description of Revision

April 2011

March 2012

August 2012

January 2013

First edition

Third edition

A page for CE Marking added

Fourth edition

CAUTION deleted Pg. 1 to 7 Contents added and changed in Safety Guide Pg. 8 Caution in Handling added Pg. 10, 11 Contents changed in 3. Warranty Pg. 25 Warning notes added such as in case the grease got

into your eye, immediately go to see the doctor for an appropriate care.

Pg. 40 to 45 External Dimensions added

Fifth edition

A page for CE Marking deleted. Pg. 9 International Standards Compliances added Pg. 1 to 7 Additions and Changes made in Safety Guide contents

Sixth edition

Revised overall

Change History

Manual No.: ME3655-6A (January 2013)

13.01.000

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/

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

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

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

website: www.intelligentactuator.com

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

IAI America RCS2-A6R User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of Contents

Safety Guide

Caution in Handling

International Standards Compliances

Names of the Parts

1. Specifications 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

3. Connecting with the Controller

4. Maintenance Inspection

4.1 Inspection Items and Schedule

4.2 External Visual Inspection

4.3 Cleaning

4.4 Interior Inspection

4.5 Internal Cleaning

4.6 Grease supply

4.7 Reduction Belt

4.8 Replacing the Motor

5. External Dimensions

5.1 RCA-A4R

5.2 RCA-A5R

5.3 RCA-A6R

5.4 RCS2-A4R

5.5 RCA-A5R

5.6 RCA-A6R

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