IAI America RCS2-RTC12L User Manual
ROBO Cylinder
RCS2 Actuator
Rotary
Hollow Rotary
Operating Manual
Fourth Edition
Rotary, RT6, RT6R, RT7R
Hollow Rotary, RTC8L, RTC8HL, RT10L, RTC12L
IAI America, Inc.
Please Read Before Use
Thank you for purchasing our product.
This Operation Manual describes all necessary info rmation 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
enclosed CD or DVD in this product package includes the Operation Manual for this product.
For the operation of this product, print out the necessary sections in the Operation Manual or display them
using the personal computer.
After reading through this manual, keep this Manual at hand so that the operator of this
product
can read it whenever necessary.
Operation
[Important]
Operation
This
The product cannot be operated in any way unless expressly specified in this
IAI shall assume no responsibility for the outcome of any operation not specified herein.
Information contained in this
purpose of product improvement.
If you have any question or comment regarding the content of this manual, please contact the
IAI sales office near you.
Using or copying all or part of this
The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.
Manual is original.
Operation
Operation
Manual is subject to change without notice for the
Operation
Manual without permission is prohibited.
Manual.
Table of Contents
Safety Guide.................................................................................................................... 1
Handling Precautions ...................................................................................................... 8
International Standards Compliances
............................................................................ 10
Names of the Parts........................................................................................................ 11
1. Checking the Product .............................................................................................. 14
1.1 Components ............................................................................................................................... 14
1.2 Operation Manuals for Controllers Relating to This Product...................................................... 14
1.3 How to Read the Nameplate ...................................................................................................... 16
1.4 How to Read the Model Number................................................................................................ 16
2. Specifications .......................................................................................................... 17
2.1 Rotary......................................................................................................................................... 17
2.2 Hollow Rotary ............................................................................................................................. 18
3. Installation Environment, Storage/Preservation Environment.................................. 19
3.1 Installation Environment............................................................................................................. 19
3.2 Storage Environment/Preservation ............................................................................................ 19
4. Installation ............................................................................................................... 20
4.1 Rotary Type ................................................................................................................................ 20
4.1.1 Installing the Actuator.................................................................................................... 20
4.2 Hollow Rotary ............................................................................................................................. 22
4.2.1 Installing the Actuator and a Tool on the Output Shaft.................................................. 22
4.2.2 Installation Direction and Mounting Surface.................................................................. 25
4.2.3 Load Offset Distance..................................................................................................... 26
5. Connecting to the Controller.................................................................................... 27
5.1 Wiring ......................................................................................................................................... 27
6. Notes on Operation ................................................................................................. 30
6.1 Rotary......................................................................................................................................... 30
6.1.1 Backlash and Positioning Accuracy Repeatability.........................................................30
6.1.2 Operation Range and Home Return ............................................................................. 30
6.1.3 Conditions for Loads Installable to Shaft of Rotary ....................................................... 32
6.2 Hollow Rotary ............................................................................................................................. 33
6.2.1 Operation Range and Home Return ............................................................................. 33
6.2.2 Brake ............................................................................................................................. 34
7. How to Select a Hollow Rotary Actuator Model ....................................................... 35
8. Options.................................................................................................................... 37
8.1 Limit Switch ................................................................................................................................ 37
8.2 Brake .......................................................................................................................................... 37
8.3 Reversed-home Specification ....................................................................................................37
9. Motor/Encoder Cables............................................................................................. 38
10. Maintenance/Inspection .......................................................................................... 40
10.1 Inspection Items and Schedule.................................................................................................. 40
10.2 Visual Inspection of the Exterior................................................................................................. 41
10.3 Exterior Cleaning........................................................................................................................ 41
10.4 Adding Grease to the Hollow Rotary Gears............................................................................... 41
11. External Dimensions ............................................................................................... 44
11.1 Rotary ....................................................................................................................................... 44
11.2 Hollow Rotary............................................................................................................................. 47
12. Warranty.................................................................................................................. 50
Change History.............................................................................................................. 52
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1 Model
Operation
Description
Selection
Description
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.
1
No.
Operation
Description
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
2
No.
Operation
Description
4 Installation
and Start
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.
(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
2
(AWG20 or equivalent) or more for grounding
work. For security grounding, it is necessary to select an appropriate wire
thickness suitable for the load. Perform wiring that satisfies the
specifications (electrical equipment technical standards).
Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100: or below).
3
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
Description
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.
4
No.
Operation
Description
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.
5
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
Description
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,
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.
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.
6
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the Operation Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
Warning
Caution
Notice
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, may result in minor injury or property
damage.
This indicates lower possibility for the injury, but should be kept to
use this product properly.
Danger
Warning
Caution
Notice
7
Handling Precautions
1. Do not set speeds and accelerations/decelerations exceeding the respective ratings.
Do not set speeds and accelerations/decelerations exceeding the respective ratings. It may lead to
vibration, failure, or shorter life.
2. Keep the inertial moment, load moment and thrust load within their respective
allowable values.
Keep the inertial moment, load moment and thrust load within their respective allowable values. If a load is
applied that generates an inertial moment, load moment or thrust load exceeding its allowable value, the
life of the actuator may become shorter.
3. Do not operate the hollow rotary actuator repeatedly within a small range, as it may
cause grease to shift to and remain in certain areas.
If the hollow rotary actuator is operated repeatedly within a small range, grease may shift to and remain in
certain areas and a uniform coating of all areas will be lost. As a result, grease lubrication problems may
occur.
4. Do not let foreign matters enter between the output shaft (rotating part) and cylinder
(mounted part) of the hollow rotary actuator.
There is a gap of 1 mm between the output shaft (rotating part) and cylinder (mounted part) (see the figure
below), so do not let foreign matters, etc., enter this space. It may cause the actuator to fail.
Output shaft (rotating part)
Cylinder
(mounted part)
Gap
5. Do not let the cylinder of the hollow rotary actuator receive a large load.
The cylinder is made of a thin-walled pipe.
So that the cylinder will not receive a large load, design a tool to be installed on the output shaft or take
other appropriate measure.
8
6. Whenever possible, use the RTC8L and RTC8HL types at speeds of 100 deg/s or
more.
If these actuators are operated at low speeds below 100 deg/s, the actuators will move slightly as they
move.
Even when the operating speed is low, however, vibration will decrease as the speed increases in the lowspeed range. Check the actual vibration level at the speeds you intend to use.
Take note that the larger the tool, the greater the vibration becomes at ends.
7. Transportation
7.1 Handling the Packed Actuator
When transporting the packed actuator, exercise due caution not to apply impact on the package by
dropping it or hitting it against other object.
x A person should never attempt to carry a heavy package on his own.
x When setting down the package temporarily, keep it horizontal.
x Do not step onto the package.
x Do not place on the package a heavy object that may deform the package or article of a shape that
allows the load to be concentrated in one area.
7.2 Handling the Unpacked Actuator
Once the actuator is unpacked, handle the actuator by its frame.
x When transporting the actuator, be careful not to hit it against other object. In particular, pay attention
to the output shaft and cover.
x Do not apply an excessive force to the various parts of the actuator. Pay special attention to the cables.
x When unpacking the actuator, exercise due caution not to drop the actuator. It may cause injury or
damage the machine.
x Should you find any part of the actuator missing or damaged during transportation, please contact an
IAI Sales Representative immediately.
9
International Standards Compliances
This actuator complies with the following overseas standard.
Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
RoHS Directive CE Marking
Optional
10
Names of the Parts
The name of each part of the actuator is shown as follows.
1. Rotary
1.1 RT6
1.2 RT6R
Drive shaft
Frame
Motor encoder cable
Motor cover
Motor bracket Motor encoder cable
Motor cover
End cover
Flange
Drive shaft
Frame
Pulley cover
11
1.3 RT7R
Motor encoder cable
Motor cover
FrameDrive shaft
Pulley cover
Flange
12
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