IAI America RCS2-A6R User Manual

ROBO Cylinder

�

Arm Type

RCA RCS2 Actuators

Operation Manual

Sixth Edition

�

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.

+ 50 hidden pages

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