IAI America RCS2-SD5N User Manual

Slim Small ROBO Cylinder

RCS2 Actuator

Rod Type

Operating Manual

Second Edition

Short types (nut affixing types) [Slim Small ROBO Cylinders] RN5N Short types (tapped-hole mounting types) [Slim Small ROBO Cylinders] RP5N Single guide types, [Slim Small ROBO Cylinders] GS5N

Double guide types, [Slim Small ROBO Cylinders] GD5N Slide unit types, [Slim Small ROBO Cylinders] SD5N

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 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 Operation Manual at hand so that the operator of this product can read it whenever necessary.

[Important]

x This Operating Manual is original. x The product cannot be operated in any way unless expressly specified in this Operation Manual.

IAI shall assume no responsibility for the outcome of any operation not specified herein. x Information contained in this Operation Manual is subject to change without notice for thepurpose of

product improvement.

x If you have any question or comment regarding the content of this manual, please contact theIAI

sales office near you.

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

are registered trademarks.

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

Handling Precautions .................................................................................................................... 7

International Standards Compliances ........................................................................................... 9

Part Names ................................................................................................................................. 10

1. Checking the Product ........................................................................................................... 13

1.1 Included Items............................................................................................................. 13

1.2 Operation Manuals for Controllers Supported by This Product................................... 13

1.3 How to Read the Model Nameplate ............................................................................ 14

1.4 How to Read the Model Number................................................................................. 15

2. Specifications ....................................................................................................................... 16

3. Life........................................................................................................................................ 18

3.1 RN5N, RP5N............................................................................................................... 18

3.2 GS5N, GD5N, SD5N................................................................................................... 18

4. Installation and Storage/Preservation Environment ............................................................. 20

4.1 Installation Environment.............................................................................................. 20

4.2 Storage/Preservation Environment ............................................................................. 20

5. Transportation ...................................................................................................................... 21

5.1 Handling the Actuator.................................................................................................. 21

5.1.1 Handling the Packed Unit ................................................................................ 21

5.1.2 Handling the Actuator after Unpacking............................................................ 21

5.2. Handling the Robot Assembly..................................................................................... 22

6. Installation ............................................................................................................................ 23

6.1 Short Types (Nut Affixing Types) ................................................................................ 23

6.1.1 Installation of Actuator ..................................................................................... 23

6.1.2 Installation of Detent........................................................................................ 24

6.1.3 Installation of Flange ....................................................................................... 32

6.1.4 Installation from Rear Side .............................................................................. 33

6.2 Short Types (Tapped-hole Mounting Types)............................................................... 34

6.2.1 Installation of Actuator ..................................................................................... 34

6.2.2 Installation of Detent........................................................................................ 35

6.2.3 Installation of Flange ....................................................................................... 43

6.2.4 Installation from Rear Side .............................................................................. 44

6.3 Single Guide Types..................................................................................................... 45

6.4 Double Guide Types ................................................................................................... 46

6.5 Slide Unit Types .......................................................................................................... 47

7. Connecting with the Controller ............................................................................................. 49

7.1 Wiring .......................................................................................................................... 49

7.2 Motor/Encoder Cables ................................................................................................ 52

8. Notes on Operation .............................................................................................................. 54

8.1 Placing a Load on the Actuator ................................................................................... 54

8.2 How to Move the Rod by Hand ................................................................................... 54

8.3 Notes on GS5N Type .................................................................................................. 55

8.4 Home Return............................................................................................................... 56

8.4.1 Home Return Operation .................................................................................. 56

9. Options ................................................................................................................................. 57

9.1 Changing the Connector Cable Exit Direction............................................................. 57

10. Maintenance and Inspection ................................................................................................ 58

10.1 Inspection Items and Schedule................................................................................... 58

10.2 Visual Inspection of the Exterior.................................................................................. 58

10.3 Cleaning...................................................................................................................... 59

10.4 Inspection of the Interior.............................................................................................. 59

10.5 Internal Cleaning......................................................................................................... 60

10.6 Greasing...................................................................................................................... 60

10.6.1 Applicable Grease ........................................................................................... 60

10.6.2 Greasing Method ............................................................................................. 61

10.7 How to Replace the Spiral Cover................................................................................ 62

11. Appendix .............................................................................................................................. 65

11.1 External Dimensions ................................................................................................... 65

11.1.1 RN5N............................................................................................................... 65

11.1.2 RP5N ............................................................................................................... 66

11.1.3 GS5N............................................................................................................... 67

11.1.4 GD5N............................................................................................................... 68

11.1.5 SD5N ............................................................................................................... 69

12. Warranty............................................................................................................................... 70

12.1 Warranty Period .......................................................................................................... 70

12.2 Scope of Warranty ...................................................................................................... 70

12.3 Honoring the Warranty................................................................................................ 70

12.4 Limited Liability............................................................................................................ 70

12.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and

Applications................................................................................................................. 71

12.6 Other Items Excluded from Warranty.......................................................................... 71

Change History............................................................................................................................ 72

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

Operation

Description

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

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

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

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

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

considerably shorten the life of the product.

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

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

2) Place with potential exposure to radiation

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

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

5) Location where condensation occurs due to abrupt temperature changes

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

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

8) Location subject to direct vibration or impact

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

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

Description

-1-

No.

Operation

Description

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

equipment such as crane.

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

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

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

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

Ɣ Transport it using an appropriate transportation measure.

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

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

qualifications for crane operation and sling work.

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

weighs more than the equipment’s capability limit.

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

such factors as shear strength.

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

3 Storage and

Preservation

Ɣ The storage and preservation environment conforms to the installation

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

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

God such as earthquake.

4 Installation and

Start

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

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

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

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

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

shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

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

-2-

No.

Operation

Description

4 Installation and

Start

4 Installation and

Start

Description

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

controller, and for the teaching tool.

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

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

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

there is no wiring error.

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

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

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

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

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

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

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

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

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

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

0.5mm

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

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

100: or below).

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

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

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

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

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

immediately in an emergency during the unit operation.

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

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

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

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

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

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

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

emergency stop.

Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure safety. Ɣ Do not insert a finger or object in the openings in the product. Failure to do so may

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

Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not

to pinch your hand or damage the work parts with the actuator dropped by gravity.

-3-

No.

Operation

Description

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

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

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

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

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

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

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

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

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not

to pinch your hand or damage the work parts with the actuator dropped by gravity.

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

movable range should be indicated.

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

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

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

by one step and then shift to the automatic operation.

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

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

Ɣ Make sure to perform the programmed operation check at the safety speed. Failure

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

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

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

7 Automatic

Operation

Ɣ Check before starting the automatic operation or rebooting after operation stop that

there is nobody in the safety protection fence.

Ɣ Before starting automatic operation, make sure that all peripheral equipment is in

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

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

fence.

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

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

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

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

-4-

No.

Operation

Description

8 Maintenance and

Inspection

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

leader and who to be the follower(s) and communicate well with each other to

Description

ensure the safety of the workers.

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

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

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

OFF the power switch.

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

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

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

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

Operation Manual for each model.

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

to the product.

Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not

to pinch your hand or damage the work parts with the actuator dropped by gravity.

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

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

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

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

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

movable range should be indicated.

9 Modification and

Dismantle

Ɣ Do not modify, disassemble, assemble or use of maintenance parts not specified

based at your own discretion.

10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it properly as

an industrial waste.

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

when detaching screws.

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

The product may burst or generate toxic gases.

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

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

Ɣ See Overseas Specifications Compliance Manual to check whether complies if

necessary.

Ɣ For the handling of actuators and controllers, follow the dedicated operation manual

of each unit to ensure the safety.

-5-

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

-6-

Handling Precautions

1. Do not set a speed or acceleration/deceleration exceeding the applicable rating.

Do not set a speed or acceleration/deceleration exceeding the applicable rating. Doing so may result in vibration, failure or shorter life. If an acceleration/deceleration exceeding the rating is set, creep may occur or the coupling may slip.

2. Oil film of grease may run out if short-distance reciprocating operation is performed.

When performing continuous reciprocating operation of a distance of 20 mm or shorter, oil film of grease may run out. To recover oil film, perform approximately five cycles of a distance of 50 mm or longer, every 5,000 to 10,000 cycles, as a guideline

3. Do not hit the spiral cover with tools or similar or squeeze with fingers.

The spiral cover is a thin panel rolled in spirals. Exercise caution because it is deformed if you hit the spiral cover with tools or squeeze with fingers.

Spiral cover

4. Do not apply external force on the rod from directions other than the rod traveling direction.

Do not apply external force (radial load) on the rod from directions other than the rod traveling direction. If force in the perpendicular or rotating direction is applied on the rod, the actuator may be damaged or malfunction. If external force from directions other than the traveling direction is applied, mount an actuator with guide or external guide.

5. Do not leave the product for a long time with the work piece attached on.

6. The slider for the actuator of Lead 10 may move when the servo is OFF even if there is no load applied on it.

7. The operation noise may get loud in some conditions of use.

-7-

8. With short (RP5N/RN5N) actuators, do not directly move the actuator rod back and forth without using a guide.

If the rod is moved back and forth directly without using a guide, the feed screw will receive an uneven load and may bend or cause damage to the internal mechanism.

Warning: Do not directly move the actuator rod back and forth without using a guide. The feed screw will

receive an uneven load and may cause damage to the actuator.

9. With a low-lead type (lead: 2.5 mm), do not move the actuator back and forth by forcibly pushing or pulling the rod side.

With a low-lead type, moving the actuator from the rod side generates strong resistance. If the actuator is forcibly moved, the load applied to the feed screw may cause malfunction or damage. Use a rotational tool (optional), etc., from the back side to turn the rotary shaft.

-8-

International Standards Compliances

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

CE Marking

Optional

-9-

Part Names

The names of the actuator parts are indicated below. In this manual, the right and left are determined by viewing the actuator from the top and from the motor side. Front refers to the side opposite the motor.

Short Types (Nut Affixing Types)

RN5N

Right

Front side

Rod end

bracket

* Refer to 11.1, “External Dimensions” for details.

Rear side

Left

Connector cover

Cable

Actuator (aluminum frame)

-10-

Short Types (Tapped-hole Mounting Types)

RP5N

Right

Front side

Rod end

bracket

Actuator (aluminum frame)

* Refer to 11.1, “External Dimensions” for details.

Single Guide Types

GS5N

Rear side

Left

Connector cover

Cable

Front side

Guide

bracket

Actuator (aluminum frame)

* Refer to 11.1, “External Dimensions” for details.

Right

Rear side

Left

Connector cover

Cable

-11-

Double Guide Types

GD5N

Guide

bracket

Actuator (aluminum frame)

* Refer to 11.1, “External Dimensions” for details.

Right

Rear side Front side

Left

Connector cover

Cable

Slide Unit Types

SD5N

Front side

Guide bracket

Cable

Right

Left

Connector cove

Rear side

Guide bracket

* Refer to 11.1, “External Dimensions” for details.

-12-

1. Checking the Product

If based on a standard configuration, this product consists of the items listed below.

Caution: Check the packed items against the packing specification. Should you find a wrong model

number or any missing item, please contact your IAI dealer or IAI.

1.1 Included Items

No. Item Model Number Remarks

1 Actuator

Accessories

2 Motor/Encoder Cable*1 3 First Step Guide 4 Operating Manual(CD/DVD) 5 Safety Guide

*1 Refer to the cables shown in 7.2, “Motor/Encoder Cables.”

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

1.2 Operation Manuals for Controllers Supported by This Product

(1) XSEL-P/Q controllers

No. Name Control No.

1 XSEL-P/Q Controller Operation Manual ME0148

2 XSEL Controller P/Q/PX/QX/RC Gateway Function Operation Manual ME0188

3 PC Software IA-101-X-MW/IA-101-X-USBMW Operation Manual ME0154

4 Teaching Pendant SEL-T/TD Operation Manual ME0183

5 Teaching Pendant IA-T-X-XD Operation Manual ME0160

6 DeviceNet Operation Manual ME0124

7 CC-Link Operation Manual ME0123

8 ProfiBus Operation Manual ME0153

1. Checking the Product

-13-

(2) SSEL controller

No. Name Control No.

1 SSEL Controller Operation Manual ME0157

2 PC Software IA-101-X-MW/IA-101-X-USBMW Operation Manual ME0154

3 Teaching Pendant SEL-T/TD Operation Manual ME0183

4 Teaching Pendant IA-T-X-XD Operation Manual ME0160

5 DeviceNet Operation Manual ME0124

6 CC-Link Operation Manual ME0123

7 ProfiBus Operation Manual ME0153

1. Checking the Product

(3) SCON controller

No. Name Control No.

1 SCON Controller Operation Manual ME0161

2 PC Software RCM-101-MW/RCM-101-USB Operation Manual ME0155

3 Teaching Pendant CON-T/TG Operation Manual ME0178

4 Touch Panel Teaching Pendant CON-PT/PD/PG Operation Manual ME0227

5 Simple Teaching Pendant RCM-E Operation Manual ME0174

6 Data Setter RCM-P Operation Manual ME0175

7 Touch Panel Display RCM-PM-01 Operation Manual ME0182

8 DeviceNet Operation Manual ME0124

9 CC-Link Operation Manual ME0123

10 ProfiBus Operation Manual ME0153

1.3 How to Read the Model Nameplate

Model numbe

Serial numbe

-14-

1.4 How to Read the Model Number

<Type>

Short types

(Nut affixing types) RN5N

Short types

(Tapped-hole mounting types) RP5N

Single guide types

GS5N

Double guide types

GD5N

Slide unit types

SD5N

RCS2-RN5N-I-60-2.5-50-T2-P-K1-**

1. Checking the Product

IAI’s internal identification code

K1: Cable exit from the left K2: Cable exit from the front K3: Cable exit from the right CE: CE Marking

N: None P: 1 m S: 3 m M: 5 m X: Specified length R: Robot cable

T2: SCON

SSEL XSEL-P/Q

I: Incremental

60 : 60W

<Lead>

2.5/5.0/10.0

*1 This code may be included due to manufacturing reasons.

(It does not indicate the manufactured model number.)

(Note) With the SD5N, the standard cable exit direction is front (K2). The cable cannot exit from the rear.

-15-

2. Specifications

(1) Maximum speed The maximum speed of the actuator is limited to prevent resonance of the ball screw shaft and also by the motor speed limit. Be sure to observe the applicable maximum speed shown in the table below.

Type

2. Specicationst

RN5N RP5N GS5N GD5N SD5N

(2) Maximum acceleration and payload capacity

Type

RN5N RP5N GS5N GD5N SD5N

Motor output

(W)

Motor output

(W)

Strokes and maximum speed limits (Unit: mm/s)

Lead (mm)

2.5

5.0

10.0

Lead (mm) Maximum acceleration (G)

2.5

5.0

10.0

Horizontal 0.2 20

Vertical 0.2 6

Horizontal 0.3 10

Vertical 0.2 3

Horizontal 0.3 5

Vertical 0.2 1.5

Horizontal/

Vertical

Horizontal 125 125

Vertical 125 125

Horizontal 250 250

Vertical 230 250

Horizontal 280 380

Vertical 230 330

Maximum speed

50 75

Maximum payload capacity

(kg)

(Note 1) For RN5N and RP5N, the values are those under the condition that the unit is equipped with a guide to

avoid the radial load and moment load applied on the tip. The life for GS5N, GD5N and SD5N may differ depending on the radial load applied on the tip. [Refer to 3. Life]

-16-

(3) Driving method

Type

Motor output

(W)

Lead (mm) Encoder pulses

Ball screw specification

RN5N

2.5

RP5N GS5N

5.0

1600 Rolled GD5N SD5N

10.0

(4) Common specifications

Item Specifications

Positioning repeatability

r0.02 mm

Backlash*1 0.1 mm or less

Backlash*1 0.05 mm or less

*1 Initial value

8 mm

C10

*1. Number of pulses input to the controller.

2. Specications

-17-

3. Life

3.1 RN5N, RP5N

As a rough guide, the table below shows the life of each actuator type when operated at the maximum payload capacity and maximum acceleration/deceleration. It is the product life under an assumption that a guide is attached on the product so there is no radial load or moment load applied on the rod.

3. Life

Stroke Life

50mm 5,000km or 50,000,000 times of back and forth operations

75mm 5,000km or 50,000,000 times of back and forth operations

3.2 GS5N, GD5N, SD5N

There difference for operation under the maximum acceleration and deceleration speeds may differ depending on the radial load applied on the tip. However, the reference for the product life is as shown in the table below even at the maximum.

Stroke Life

50mm 5,000km or 50,000,000 times of back and forth operations

75mm 5,000km or 50,000,000 times of back and forth operations

The relation between the radial load and the product life is as shown in the graph below:

[GS5N]

Radial load (N)

100 1000 10000

Operated distance (Km)

-18-

50st 75st

[GD5N]

[SD5N]

Radial load (N)

100 1000 10000

Operated distance (Km)

200

180

160

140

120

100

Radial load (N)

3. Life

50st 75st

100 1000 10000

Operated distance (Km)

-19-

4. Installation and Storage/Preservation Environment

4.1 Installation Environment

Install the actuator by avoiding the locations listed below. In general, the actuator should be installed in an environment where the operators can work without wearing protective gears. Also provide enough space to perform maintenance/inspection.

x Location subject to irradiated heat from a heat treatment equipment or other large heat source x Location where the ambient temperature exceeds a range of 0 to 40qC x Location where condensation occurs due to sudden temperature shift x Location where the relative humidity exceeds 85% RH x Location exposed to direct sunlight x Location subject to corrosive or flammable gases x Location there is a lot of dust or high level of salt or iron in air (except for normal assembly plants) x Location where the actuator may come in contact with splashed water, oil (including oil mist or cutting fluid) or

chemicals

x Location where the actuator may receive vibration or impact

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

x Location where noise generates due to electrostatics, etc. x Location subject to a strong electric or magnetic field x Location exposed to ultraviolet light or radiation

Open space required for maintenance inspection

4. Installation and Storage/Preservation Environment

4.2 Storage/Preservation Environment

The storage/preservation environment conforms to the installation environment. If the robot is to be stored/preserved for a prolonged period of time, be sure the robot will not be exposed to condensation. Unless otherwise specified, desiccant is not placed in the carton when shipped. If the robot is to be stored/preserved in an environment subject to condensation, provide preventive measures from over the carton or directly to the robot after unpacking. The maximum storage/preservation temperature is 60qC for a short storage period. If the robot is to be stored/preserved for more than a month, the temperature should not exceed 50qC. Store/preserve the actuator horizontally. When storing the actuator in a packed state, follow the indicated storage orientation, if any.

-20-

5. Transportation

5.1 Handling the Actuator

5.1.1 Handling the Packed Unit

Unless otherwise specified, actuators are shipped in individual packaging. x Do not drop the package or bump it against nearby objects or structures. The actuator is not packed in a

manner withstanding the impact of dropping or bumping.

x If the package is heavy, do not let one person carry the package on his/her own. Transport the package using

proper transporting means.

x When the package is left stationary or transported, keep it horizontal. If there is a special instruction regarding

the orientation of the package, follow the instruction.

x Do not step onto the package. x Do not put on the package any object that may cause the package to deform or suffer damage.

5.1.2 Handling the Actuator after Unpacking

x Do not carry an actuator by a cable or attempt to move it by pulling the cable.

5. Transportation

x Be careful not to bump the actuator into anything when moving it. x When transporting the actuator, do so by holding the base. x Do not attempt to force any part of the actuator.

Supplement) For the names of each part of the actuator, refer to "Part Names.”

-21-

5.2. Handling the Robot Assembly

x When carrying the assembly, be careful not to bump it against nearby objects or structures. x Secure the rod so that it will not move suddenly while the assembly is being transported. x If any end of the actuator is projecting, secure it properly to prevent the end from shaking significantly due to

external vibration.

x If the assembly is transported without its ends being secured, do not apply impact of 0.3 G or more. x When lifting the actuator system (consisting of mechanical devices) with ropes, etc., make sure the actuator,

connector box, etc., will not receive load. Also make sure the cables will not be pinched or receive undue forces that may cause deformation.

5. Transportation

-22-

6. Installation

6.1 Short Types (Nut Affixing Types)

RN5N

6.1.1 Installation of Actuator

Install the actuator by guiding it through a hole of approx. 5 to 10 mm provided in a smooth plate.

x Use the nut on the actuator rod to install the actuator onto the actuator mounting plate. x The base of the male thread on the actuator side has a tolerance of h8. Use this part as a pilot section.

Actuator mounting plate

Actuator

6. Installation

Nut

Type M Width across flats Maximum tightening torque

RN5N M35 x 1.5 46 50 Nxm

Caution: Do not tighten excessively beyond the maximum tightening torque.

The actuator may be damaged.

-23-

6.1.2 Installation of Detent

The short types (nut affixing types) have no detent on the rod. If you are using the RN5N without guide, install a detent, if necessary, by referring to the figure below.

Actuator mounting plate

End-bracket mounting hole

Detent

Actuator mounting hole

6. Installation

Caution: If you hear any abnormal noise from the actuator or find the grease on the screw darker within

several weeks after the start of operation, the concentricity or parallelism between the actuator mounting hole in the actuator mounting plate and end-bracket mounting hole in the guide-side bracket may not be appropriate. Make sure the concentricity is within 0.05 mm and parallelism, within 0.02 mm. Wipe off darkened grease and apply new grease. [Refer to 10.6, “Greasing.”]

-24-

Keep the concentricity between the actuator mounting hole in the actuator mounting hole and end-bracket

mounting hole in the guide-side bracket, to within 0.05 mm. Also keep the parallelism to within 0.02 mm.

Guide-side bracket

(prepared by the customer)

Detent guide

(prepared by the customer)

Flat nut

M8 nut

RN5 Guide-side bracket(without counterbore)

Flat washer

Front side

End bracket

Guide-side bracket

ctuator mounting plate

End bracket (13 mm across flats)

M8 nut

RN5 Guide-side bracket(with counterbore)

Flat washer

Guide-side bracket

Rear side

6. Installation

End bracket

Type Lead Guide-side bracket L

2.5

RN5N

5.10

Without counterbore

With counterbore

Without counterbore

With counterbore

Tightening torque for end clasp

Type Tightening torque

RN5N 7 Nxm

Caution: Do not join the actuator detent using a floating joint.

A radial load will be applied due to an eccentricity of the screw shaft, resulting in actuator malfunction or premature damage.

-25-

45.2r0.1

43.7r0.1

45.5r0.1

44.0r0.1

[Installation Procedure] [1] Check the preciseness of the brackets on the actuator side and load side.

[2] Install the actuator.

6. Installation

Adjust the bracket positions so that the preciseness will fall within the following ranges over the entire moving range of the load:

Bracket on the load side

Bracket on the actuator side

[3] Move the bracket on the load side and confirm once again that its position preciseness with respect to the

bracket at the end of the rod presents no problem. Confirm that the end bracket smoothly enters straight into the pilot hole in the bracket.

The end bracket must smoothly enter straight into the hole without making contact.

Caution: The position preciseness between the actuator and load must be within the specified ranges.

If not, abnormal noise or vibration may occur or malfunction or premature damage may result.

-26-

[4] Turn the shaft clockwise until the overall actuator dimension becomes the shortest and the mechanical

stopper is contacted. When the shaft is turned at the mechanical end, the cutout groove provided in the shaft on the rear side also turns.

[5] Turn the shaft clockwise until the cutout groove provided in the shaft on the rear side aligns with the marking

(positioning) sticker.

Cutout groove in shaft

Marking (orange)

6. Installation

Shaft position at detent installation

-27-

[6] While keeping this positioning relationship (the cutout groove provided in the shaft on the rear side is

[7] Use a spanner wrench to hold the width across flats of the end clasp in place and affix it with the guide-side

6. Installation

aligned with the marking sticker), turn the shaft counterclockwise to adjust L to the specified dimension.

bracket. (When affixing with the bracket, turn the nut while locking the spanner wrench applied to the end clasp. If the end clasp turns, the home position becomes offset.)

Tightening torque for end clasp

Type Tightening torque

RN5N 7 Nxm

-28-

[8] Confirm smooth movement over the entire stroke range of the load. If the resistance increases or actuator

gets caught in the middle, check the position preciseness again. (In the case of a small-lead actuator (having a lead of 2 or 5), use a turning jig (optional) to turn the rotary shaft from the rear to move the load.)

Turning jig (optional)

Caution: With small-lead actuators (having a lead of 2 or 5), do not directly move the load (rod) back and

forth. If the rod is forcibly moved, the feed screw will receive an undue load and may cause malfunction or damage.

6. Installation

-29-

[How to check and adjust the position of encoder Z-phase] Follow the procedures below to check if encoder Z-phase is at an appropriate position.

[Procedure 1] Checking the position of encoder Z-phase [1] Turn the shaft clockwise from the rear until the rod contacts the rear end.

6. Installation

[2] Check if the cutout groove on the shaft is within the plus/minus range with respect to the marking, as shown

Turning jig (optional)

in the figure below, when viewed from the rear. If the home position is significantly deviated or a home detection error generates, follow Procedure 2 to adjust the position of the notch by using the figure below as a reference:

Rough guide for position relationship of marking (orange) and cutout groove in shaft

Lead 2.5

Marking

(orange)

Marking

(orange)

Lead 5

Marking

(orange)

The marking position varies depending on the actuator.

-30-

Lead 10

[Procedure 2] Correcting the position of encoder Z-phase

If the cutout groove in the shaft is outside the allowable angle range, make corrections by following the procedure below: [1] Use a spanner wrench to hold the width across flats on the clasp at the end to keep it in position, and loosen

the lock nut slightly.

[2] Move the clasp at the end slightly in the rotating direction to correct the position.

x If the cutout groove in the shaft is deviated in the A (NG) direction:

Move the clasp at the end clockwise roughly by the correction angle T1 (as viewed from the front).

ppropriate position of

cutout groove in shaft

Cutout groove in shaft

Marking

(orange)

s viewed from the front

pply a spanner wrench.

x If the cutout groove in the shaft is deviated in the B (NG) direction:

Move the clasp at the end clockwise roughly by the correction angle T2 (as viewed from the front).

Marking

(orange)

6. Installation

Cutout groove in shaft

ppropriate position of

cutout groove in shaft

s viewed from the front

[3] After the correction, tighten the lock nut with the clasp at the end still held in position.

[Procedure 3] Confirming the Z-phase position again Finally, repeat [Procedure 1] to confirm the position of Z-phase again. If the position is inside the allowable angle, Z-phase has been corrected properly.

-31-

6.1.3 Installation of Flange

Provide a flange-shaped sheet and install the actuator onto this sheet from the back.

x Use the nut on the actuator rod to install the actuator onto the flange. x Secure the flange with the actuator mounting plate using screws.

If positioning is required, insert positioning pins. (Note) For the actuator mounting hole in the actuator mounting plate, provide a hole larger than the

RN5N

6. Installation

dimension of the nut so as to provide a clearance for the nut.

Type Nut diameter

48.6

ctuator mounting plate

Positioning pin hole (2 locations)

Actuator mounting hole

Flange

Positioning pin (2 pcs)

Positioning pin hole (2 locations)

Installation of actuator and flange

Type M Width across flats Maximum tightening torque

RN5N M35 x 1.5 46 50 Nxm

(Reference drawing of flange)

35H8

4-5.5 through

2-reamed hole

-32-

6.1.4 Installation from Rear Side

When installing the actuator from the rear side, provide a rear mounting plate of a slightly-projected circular column shape as shown below, to facilitate the positioning.

Rear mounting plate

RN5

41

-0.2

-0.3

6. Installation

-33-

6.2 Short Types (Tapped-hole Mounting Types)

RP5N

6.2.1 Installation of Actuator

Install the actuator by guiding it through a hole of approx. 5 to 10 mm provided in a smooth plate.

x Use the tapped hole on the actuator to install the actuator onto the actuator mounting plate. x The base of the male thread on the actuator side has a tolerance of h8. Use this part as a pilot section.

Actuator mounting plate

6. Installation

z RP5N

Actuator

Tapped mounting hole

Tightening torque

Type Tapped hole size

RP5N M5, depth 10 7.27 Nxm 3.42 Nxm

Plate is made of steel

material

-34-

Plate is made of

aluminum material

6.2.2 Installation of Detent

The short types (nut affixing types) have no detent on the rod. If you are using the RP5N without guide, install a detent, if necessary, by referring to the figure below.

Actuator mounting plate

End-bracket mounting hole

Detent

Actuator mounting hole

Caution: If you hear any abnormal noise from the actuator or find the grease on the screw darker within

6. Installation

-35-

[How to install the detent, and points to note]

[1] Keep the concentricity between the actuator mounting hole in the actuator mounting hole and end-bracket

mounting hole in the guide-side bracket, to within 0.05 mm. Also keep the parallelism to within 0.02 mm.

End bracket

13 mm across

flats

Guide-side bracket

(prepared by the customer)

Detent guide

(prepared by the customer)

ctuator mounting plate

6. Installation

RP5N

End bracket

M8 nut

Flat washer

Guide-side bracket

RP5 Guide-side bracket(without counterbore)

M8 nut

Flat washer

Guide-side bracket

RP5 Guide-side bracket(with counterbore)

End bracket

Type Lead Guide-side bracket L

2.5

5.10

Without counterbore

With counterbore

Without counterbore

With counterbore

26.7r0.1

25.2r0.1

27.0r0.1

25.5r0.1

Tightening torque for end clasp

Type Tightening torque

RP5N 7 Nxm

Caution: Do not join the actuator detent using a floating joint.

A radial load will be applied due to an eccentricity of the screw shaft, resulting in actuator malfunction or premature damage.

-36-

[Installation Procedure] [1] Check the preciseness of brackets on the actuator side and load side.

Adjust the bracket positions so that the preciseness will fall within the following ranges over the entire moving range of the load:

Bracket on the load side

Bracket on the actuator side

[2] Install the actuator.

6. Installation

[3] Move the bracket on the load side and confirm once again that its position preciseness with respect to the

bracket at the end of the rod presents no problem. Confirm that the end bracket smoothly enters straight into the pilot hole in the bracket.

The end bracket must smoothly enter straight into the hole without making contact.

Caution: The position preciseness between the actuator and load must be within the specified ranges.

If not, abnormal noise or vibration may occur or malfunction or premature damage may result.

-37-

[4] Turn the shaft clockwise until the overall actuator dimension becomes the shortest and the mechanical

[5] Turn the shaft clockwise until the cutout groove provided in the shaft on the rear side aligns with the marking

6. Installation

stopper is contacted. When the shaft is turned at the mechanical end, the cutout groove provided in the shaft on the rear side also turns.

(positioning) sticker.

Cutout groove in shaft

Shaft position at detent installation

Marking (orange)

-38-

[6] While keeping this positioning relationship (the cutout groove provided in the shaft on the rear side is

aligned with the marking sticker), turn the shaft counterclockwise to adjust L to the specified dimension.

[7] Use a spanner wrench, etc., to hold the width across flats of the end clasp in place and affix it with the

guide-side bracket. (When affixing with the bracket, turn the nut while locking the spanner wrench applied to the end clasp. If the end clasp turns, the home position becomes offset.)

End bracket

6. Installation

Tightening torque for end clasp

Type Tightening torque

RP5N 7 Nxm

-39-

[8] Confirm smooth movement over the entire stroke range of the load. If the resistance increases or actuator

Caution: With small-lead actuators (having a lead of 2 or 5), do not directly move the load (rod) back

6. Installation

Turning jig (optional)

and forth. If the rod is forcibly moved, the feed screw will receive an undue load and may cause malfunction or damage.

-40-

[How to check and adjust the position of encoder Z-phase] Follow the procedure below to check if encoder Z-phase is at an appropriate position.

[Procedure 1] Checking the position of encoder Z-phase [1] Turn the shaft clockwise

from the rear until the rod contacts the rear end.

Turning jig (optional)

6. Installation

[2] Check if the cutout groove on the shaft is within the plus/minus range with respect to the marking, based on

the reference on the opposite side as shown in the figure below, when viewed from the rear. If the home position is significantly deviated or a home detection error generates, follow Procedure 2 to adjust the position of the notch by using the figure below as a reference:

Rough guide for position relationship of marking (orange) and cutout groove in shaft

Lead 2.5

Marking

(orange)

Marking

(orange)

Lead 5

Marking

(orange)

Lead 10

The marking position varies depending on the actuator.

-41-

[Procedure 2] Correcting the position of encoder Z-phase

If the cutout groove in the shaft is outside the allowable angle range, make correction by following the procedure below: [1] Use a spanner wrench to hold the width across flats on the clasp at the end to keep it in position, and loosen

the lock nut slightly.

[2] Move the clasp at the end slightly in the rotating direction to correct the position.

x If the cutout groove in the shaft is deviated in the A (NG) direction:

Turn the clasp at the end in clockwise direction by using the amount of displacement T1 as a rough guide (when viewed from the front).

6. Installation

ppropriate position of

cutout groove in shaft

Cutout groove in shaft

Marking

(orange)

s viewed from the front

pply a spanner wrench.

x If the cutout groove in the shaft is deviated in the B (NG) direction:

Turn the clasp at the end in clockwise direction by using the amount of displacement T2 as a rough guide (when viewed from the front).

Marking

(orange)

Cutout groove in shaft

ppropriate position of

cutout groove in shaft

s viewed from the front

[3] After the correction, tighten the lock nut with the clasp at the end still held in position.

[Procedure 3] Confirming the Z-phase position again Finally, repeat [Procedure 1] to confirm the position of Z-phase again. If there is no longer displacement or error, the correction has been successful.

-42-

6.2.3 Installation of Flange

Provide a flange-shaped sheet and install the actuator onto this sheet from the back.

x Use the tapped hole on the actuator to install the actuator onto the flange using the M5 countersunk screw. x Secure the flange with the actuator mounting plate using screws.

If positioning is required, insert positioning pins.

ctuator mounting plate

ctuator mounting

hole

Positioning pin hole (2 locations)

Flange

Positioning pin (2 pcs)

Installation of actuator and flange

Tightening torque

Type Tapped hole size

Plate is made of steel

material

Plate is made of

aluminum material

RP5N M5, depth 10 7.28 Nxm 3.42 Nxm

6. Installation

(Reference drawing of flange)

5.5 through

Countersunk, for countersunk screw

4-5.5 through

(M5)

2-reamed hole

-43-

6.2.4 Installation from Rear Side

When installing the actuator from the rear side, provide a rear mounting plate of a slightly-projected circular column shape as shown below, to facilitate the positioning.

6. Installation

RP5

41

Rear mounting plate

-0.2

-0.3

-44-

6.3 Single Guide Types

GS5N

The actuator mounting surface should be machined or otherwise processed to a smooth surface of equivalent preciseness.

x The effective depth varies depending on the actuator model and mounting surface. Determine an appropriate

length for the screws to be used by referring to the figure below.

x Circular and long positioning pin holes are provided in each mounting surface. Use these holes if necessary.

The actuator is structured in such a way that it can be affixed on any of its four sides. The load can be installed only one side.

depth 5

4-M5, through

4-M5, depth 7.5

depth 5

(same on opposite side)

8-M5, depth 7.5

(same on opposite side)

depth 5

6. Installation

depth 5

th 5

Home

depth 5

(same on opposite side)

4-M5, depth 10

th 5

[Load mounting surface]

depth 5

Tightening torque

Tapped hole diameter Bolt bearing surface is steel Bolt bearing surface is aluminum

M5, depth 7.5 545 Nxcm (55.6 kgfxcm) 270 Nxcm (27.5 kgfxcm)

M5, depth 10, 12 727 Nxcm (74.2 kgfxcm) 342 Nxcm (34.9 kgfxcm)

About the tightening screws

x Use hexagonal socket head bolts for the male base mounting bolts. x It is recommended to use high-tension bolts of ISO 10.9 or higher strength. x Make sure the effective engagement length between the bolt and female thread is equal to or greater than

either of the following values, whichever is applicable: Female thread is made of aluminum Æ Twice the nominal diameter (If the depth is no more than twice the nominal diameter, the length shall not exceed the depth.)

Caution: Some tapped mounting holes are through holes. Never use long screws exceeding the effective

thread length. Such long screws may damage the internal mechanism or electrical parts.

-45-

6.4 Double Guide Types

x The effective depth varies depending on the actuator model and mounting surface. Determine an appropriate

length for the screws to be used by referring to the figure below.

x Circular and long positioning pin holes are provided in each mounting surface. Use these holes if necessary.

6. Installation

GD5N

The actuator mounting surface should be machined or otherwise processed to a smooth surface of equivalent preciseness.

depth 5

th 5

depth 5

4-M5, through

depth 5

8-M5, depth 10 (same on opposite side)

depth 5

Home

[Load mounting surface]

depth 5

4-M5, depth 10

depth 5

Tightening torque

Tapped hole diameter Bolt bearing surface is steel Bolt bearing surface is aluminum

M5 727 Nxcm (74.2 kgfxcm) 342 Nxcm (34.9 kgfxcm)

About the tightening screws

either of the following values, whichever is applicable: Female thread is made of aluminum Æ Twice the nominal diameter

Caution: Some tapped mounting holes are through holes. Never use long screws exceeding the effective

thread length. Such long screws may damage the internal mechanism or electrical parts.

-46-

6.5 Slide Unit Types

SD5N

The actuator mounting surface should be machined or otherwise processed to a smooth surface of equivalent preciseness.

x If the actuator lead is 2.5 or 5, both the actuator and brackets can be installed either horizontally or vertically.

If the lead is 10, the actuator/bracket can be installed horizontally, but not vertically. Note that if brackets are used to install the actuator, the payload capacity will decrease by 1.5 kg.

x The effective depth varies depending on the actuator model and mounting surface. Determine an appropriate

length for the screws to be used by referring to the figure below.

x Circular and long positioning pin holes are provided in each mounting surface. Use these holes if necessary.

The slide unit types can be installed in one of two ways: by affixing the actuator or affixing the guide brackets.

[Affixing the actuator]

6. Installation

Guide brackets

[Affixing the brackets]

Guide brackets

Load

Guide brackets

Actuator

Guide brackets

Actuator

-47-

The actuator is structured in such a way that it can be affixed on any of its three sides.

(

)

8-M5, depth 10

depth 5 (same on opposite side)

same on opposite side

6. Installation

About the tightening screws

either of the following values, whichever is applicable: Female thread is made of aluminum Æ Twice the nominal diameter

depth 5 (same on opposite side)

2x2-M6, depth 12

depth 5

Tightening torque

Tapped hole diameter Bolt bearing surface is steel Bolt bearing surface is aluminum

M5 727 Nxcm (74.2 kgfxcm) 342 Nxcm (34.9 kgfxcm)

M6 1234 Nxcm (126 kgfxcm) 536 Nxcm (54.7 kgfxcm)

Caution: Some tapped mounting holes are through holes. Never use long screws exceeding the effective

thread length. Such long screws may damage the internal mechanism or electrical parts.

-48-

7. Connecting with the Controller

7.1 Wiring

x In an application where the cable cannot be affixed, use the actuator in such a way that the cable will only

deflect by its dead weight or give consideration to minimizing the load received by the cable such as using a self-supporting cable hose or wiring the cable at a large radius.

x Do not cut and shorten the cable or reconnect the cut end to extend the cable. x The standard cable has excellent flexibility, but it is not a robot cable. x When storing the cable in a movable wire duct (such as a cable track), use a cable of robot specification.

If you wish to change the cable specification, contact IAI.

[Connection with XSEL-P/Q, SCON and SSEL controllers]

IAI’s dedicated connection cable (Connects the RCS2 and dedicated controller)

Robot cable

Dedicated controller

XSEL-P/Q SCON SSEL

r = 58 mm or more (movable) Standard cable r = 93 mm or more (fixed) Use a robot cable for the moving section.

7. Connecting with the Controller

Dedicated cables

x Motor cable CB-RCC-MA*** / Motor cable/robot cable CB-RCC-MA***-RB x Encoder cable CB-RCS2-PA*** / Encoder cable/robot cable CB-X3-PA***

*** indicates the cable length. Up to 30 m can be specified.

Example) 080 = 8 m

-49-

When building an application system using the actuator and controller, incorrect wiring or connection of each cable may cause broken wire, poor contact or other unexpected problem. The prohibited items relating to cable wiring are explained below.

x Do not cut and reconnect the cable to extend or shorten the cable. x If the 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.

x Prevent the cable from bending at the same point.

Steel band (piano wire)

Bundle loosely.

x Do not let the cable bend, kink or twist.

x Do not pull the cable with a strong force.

7. Connecting with the Controller

x Do not let the cable receive a turning force at a single point.

x Do not pinch, drop a heavy object onto or cut the cable.

-50-

x When fixing the cable, provide a moderate slack and do not tension it too tight.

Do not use a spiral tube where the cable flexes frequently.

x Separate the I/O and communication lines from the power and drive lines.

Do not wire them together in the same duct.

Power line

Duct

I/O lines (flat cable)

x Pay attention to the following points when using a cable track. x Do not let the cable get tangled or kinked in a cable track or flexible tube. When bundling the cable, keep a

certain degree of flexibility (so that the cable will not become too taut when bent).

7. Connecting with the Controller

x Do not cause the cables to occupy more than 60% of the space in the cable track.

Cable track

Cable

Warning:

z Always turn off the controller power before connecting/disconnecting cables. If cables are

connected/disconnected while the power is still supplied, the actuator may malfunction and a serious injury or equipment damage may occur.

z Loose connectors may cause the actuator to malfunction and create a dangerous situation. Be sure

to confirm that all connectors are securely connected.

-51-

7.2 Motor/Encoder Cables

)

[1] Motor cable/motor robot cable Model number: CB-RCC-MA***/CB-RCC-MA***-RB

* *** indicates the cable length. Up to 30 m can be specified. Example) 080 = 8 m

Robot cable r = 51 mm or more (movable) Standard cable r = 46 mm or more (mount

(Front views)

Controller end

7. Connecting with the Controller

Wiring

Sign

Actuator end

(Front views)

Wiring

(crimped)

-52-

[2] Encoder cable/encoder robot cable

(

)

Model number: CB-RCS2-PA***/CB-X2-PA***

* *** indicates the cable length. Up to 30 m can be specified. Example) 080 = 8 m

Robot cable r = 58 mm or more (movable) Standard cable r = 93 mm or more

mount

7. Connecting with the Controller

(Front views)

Wiring

(soldered)

The shield is clamped to the hood.

Controller end

Color

Gray/White

Brown/White

Pink

Purple

White

Blue/Red

Orange/White

Green/White

Blue

Orange

Black

Yellow

Green Brown

Gray Red

Sign

CREEP

Note 3

Note 4

Ground wire and braided shield wires

Note 1

Note 2

Sign

Actuator end

Color

Pink

Purple

White

Blue/Red

Orange/White

Green/White

Brown/White

Ground

Blue

Orange

Black

Yellow

Green Brown

Gray/White

Gray

Red

(Front views)

Wiring

(crimped)

-53-

8. Notes on Operation

8.1 Placing a Load on the Actuator

x Make sure the maximum payload capacity specified in 2, “Specifications” will not be exceeded. x Align the shaft center of the rod with the moving direction of the load.

8.2 How to Move the Rod by Hand

With the low-lead types whose lead is 2, 5, etc., the rod is too difficult to be moved by hand. To move the rod on these models, insert a turning jig (optional), etc., into the cutout groove provided in the shaft on the rear side and turn the groove.

(Note) The slide unit types have no cutout groove in the shaft. On these models, connect a controller to move

8. Notes on Operation

the rod.

Cutout groove in shaft

Marking (orange)

-54-

8.3 Notes on GS5N Type

x When the actuator is moved, the rod bracket may moves in a meandering motion. x The bracket angle T varies from one unit to another.

x If an actuator guide or guides is/are used, vibration may occur depending on the relationship of the traveling

speed and the work part.

8. Notes on Operation

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8.4 Home Return

8.4.1 Home Return Operation

[1] As the motor turns, the rod returns to the negative side (actuator frame side) and contacts the mechanical

stopper.

Z-phase detection sensor (mount side)

Mechanical stopper

Z-phase

Encoder disk (rotating side)

[2] The rod reverses and turns by rotating angle D to find the encoder Z-phase.

Z-phase detection sensor (mount side)

Rotating angle D

8. Notes on Operation

[3] The rod turns by rotating angle E from the position where the Z-phase was detected, and the attained offset

position (the offset conform to an applicable parameter value) is set as the home (points zero).

Z-phase detection sensor (mount side)

Rotatin

The distance from the mechanical stopper to the position where Z-phase is detected is as follows.

Lead 2.5 mm 5 mm, 10 mm

Distance 1.7 mm 2 mm

angle

The offset from the position where the Z-phase is detected to the home is 1.0 mm.

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9. Options

9.1 Changing the Connector Cable Exit Direction

The standard cable exit direction is the opposite side of the rod and guide bracket. On all models except for the slide unit type SD5N, the cable can exit from a different direction by specifying an applicable option model number, as shown below.

Bracket

Cable exit from the front: K2

9. Options

Cable exit from the left: K1

(View from the opposite side of the rod)

Cable exit from the right: K3

(View from the opposite side of the rod)

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10. Maintenance and Inspection

10.1 Inspection Items and Schedule

Perform maintenance and inspection at the schedules specified below. This schedule assumes 8 hours of operation a day. If the actuator is operated continuously day and night or at a higher utilization rate, shorten the inspection intervals according to the situation.

Visual inspection

of exterior

Startup inspection

1 month after startup

6 months after startup

12 months after startup

Every 6 months thereafter

Every 12 months

*1 If the actuator is operated back and forth repeatedly over a distance of 30 mm or less, the oil film created by

the grease may be broken. As a rough guide, move the actuator back and forth five times or so over a distance of 50 mm or more after every 5000 to 10000 cycles. This will restore oil film. (If your ROBO Cylinder has a stroke of less than 50 mm, move the actuator back and forth over a distance corresponding to the entire stroke.)

{

{ {

{ { {

{

{ { {

Inspection

of interior

Greasing

10.2 Visual Inspection of the Exterior

In the visual inspection of exterior, check the following items.

Actuator Loose actuator mounting bolts, etc.

Cables Scratches, connection at connectors

Spiral cover Scratches, dents, foreign attachments

Overall Abnormal noise, vibration

x The spiral cover is a consumable part. As a rough guide, expect it to last for 2 million cycles. For the method to

10. Maintenance and Inspection

replace the spiral cover, refer to 10.7, “How to Replace the Spiral Cover.”

(Note) The life of the spiral cover varies significantly depending on the use environment. If foreign matter (dust

or highly viscous oil) attaches to the surface of the spiral cover, the cover can no longer expand/contract and its life will be reduced. So that the spiral cover will last longer, clean the surface of the cover on a regular basis.

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10.3 Cleaning

x Clean exterior surfaces as necessary. x Use a soft cloth to wipe away dirt and buildup. x To clean the spiral cover, use a soft cloth, etc., to wipe off soiling by working from the large diameter side

toward the small diameter side.

x Do not blow too hard with compressed air as it may cause dust to get in through the gaps. x Do not use oil-based solvents as they can harm lacquered and painted surfaces. x To remove severe buildup, wipe gently with a soft cloth soaked in a neutral detergent or alcohol.

10.4 Inspection of the Interior

When inspecting the interior, check the items specified below.

Main unit Loose actuator mounting bolts, other loose items

Lead screw or ball screw Lubrication, buildup

Spiral cover

10. Maintenance and Inspection

To check the lead screw or ball screw, turn off the power, extend the rod, and pull the narrower end of the spiral cover toward the wider end (in the direction of the arrow) to expose the screw shaft and inspect the shaft visually. If the lead is too small and the rod does not move, insert a slotted screwdriver, etc., into the cutout groove provided in the shaft on the rear side and turn. [Refer to 8.2, “How to Move the Rod by Hand.”]

Visually check the lubrication condition of the lead screw or ball screw. Even when the grease is brown, the screw is lubricated property as long as the traveling surface looks wet and shiny. If the grease is mixed with dust and dirty or has no shiny appearance, or if the grease has lost its efficacy due to prolonged use, clean the applicable area and then replenish grease.

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10.5 Internal Cleaning

x Use a soft cloth to wipe away dirt and buildup. x Do not blow too hard with compressed air as it may cause dust to get in through the gaps. x Do not use oil-based solvents, neutral detergent or alcohol.

10.6 Greasing

10.6.1 Applicable Grease

Lithium grease has been applied to the ball screw prior to shipment. IAI uses the following grease in our plant.

Location Manufacturer Model number

Ball screw Kyodo Yushi Maltemp LRL No. 3

Warning: Never use any fluorine grease. Mixing with other greases not only reduces the performance

of the grease, it may even cause damage to the actuator.

10. Maintenance and Inspection

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10.6.2 Greasing Method

[1] Turn off the power and check the surface of the spiral cover for shavings, powder dust, etc. Use a rag, etc.,

to wipe off shavings, powder dust, if any.

[2] Extend the rod and pull the narrower end of the spiral cover toward the wider end (in the direction of the

arrow) to expose the screw shaft. If the lead is too small and the rod does not move, insert a slotted screwdriver, etc., into the cutout groove provided in the shaft on the rear side and turn. [Refer to 8.2, “How to Move the Rod by Hand.”]

Spiral cover

10. Maintenance and Inspection

[3] Wipe off grease attached to the lead screw or ball screw and then apply the specified grease.

[4] Install the spiral cover in the original condition and move the rod to spread the grease evenly.

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10.7 How to Replace the Spiral Cover

[Item required for replacement] x Replacement spiral cover

Stroke Model number 50 mm RCS2-SPC-50 75 mm RCS2-SPC-75

[Procedure] [1] Remove the spiral cover.

Pull out the base of the spiral cover toward you and roll the edge of the cover.

Spiral cover

[2] Gradually roll the spiral cover to remove it. .

10. Maintenance and Inspection

Screw shaft

Wipe off old grease on the screw shaft.

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[3] Pull out the thin side of the replacement spiral cover and take out the end hidden inside.

[4] Install the replacement spiral cove.

Hook the end of the replacement spiral cover you have taken out. Once the end is hooked, orient the cover so that the end faces the inside.

10. Maintenance and Inspection

[5] Push the end toward the shaft end while winding the cover a little.

Shaft end

The end should face

the inside.

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[6] Continue to wind the replacement spiral cover.

[7] Finally, orient the cover so that the end faces the outside, and push the cover into the actuator groove.

[8] Grease the screw shaft. [Refer to 10.6.2, “Greasing Method.”]

10. Maintenance and Inspection

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11. Appendix

11.1 External Dimensions

11.1.1 RN5N

1.0

1.1

Weight[kg]

133

193.5

108

168.5

2-M5, depth 10

Home position

adjustment sticke

Stroke

11. Appendix

Nut B

:LGWKDFURVVIODWV

Nut A

(Effective thread range 17.5)

Detail view of A

Scale : 1: 1

Detail view of A

Scale : 1: 1

0(IIHFWLYHWKUHDGOHQJWK

Home

Nut B

Nut A

-65-

11.1.2 RP5N

1.0

0.85

Weight[kg]

108

133

150

175

Home position

adjustment sticker

2-M5, depth 10

Stroke

11. Appendix

:LGWKDFURVVIODWV

Nut A

Home

Detail view of A

Scale : 1: 1

0(IIHFWLYHWKUHDGOHQJWK

4-M5, depth 10

Nut A

-66-

11.1.3 GS5N

1.3

1.4

4-M5, depth 10

Weight[kg]

Stroke

108

130

133

155

depth 5

8-M5, depth 7.5

(same on opposite side)

4-M5, depth 7.5

depth 5

4-M5, depth 10

(same on opposite side)

depth 5

11. Appendix

Home

depth 5

4-M5, through

-67-

11.1.4 GD5N

Weight[kg]

Stroke

1.6

108

130

1.9

133

155

6-M5, depth 10

11. Appendix

depth 5

4-M5, depth 10

depth 5

4-M5, through

8-M5, depth 10

(same on opposite side)

depth 5

Home

depth 5

4-M5, depth 10

depth 5

-68-

depth 5

11.1.5 SD5N

depth 5

2x2-M6, depth 12

depth 5 (same on opposite side)

depth 5

8-M5, depth 10

(same on opposite side)

Home

depth 5 (same on opposite side)

depth 5

11. Appendix

4-M5, depth 10

1.9

1.94

Weight[kg]

192

217

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Stroke

204

229

12. Warranty

12.1 Warranty Period

One of the following periods, whichever is shorter:

x 18 months after shipment from IAI x 12 months after delivery to the specified location x 2,500 hours of operation

12.2 Scope of 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 operation 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

12. Warranty

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.

12.3 Honoring the Warranty

As a rule, the product must be brought to us for repair under warranty.

12.4 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.

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12.5 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 operation manual.

12.6 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

12. SWarranty

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Change History

Revision Date Description of Revision

December 2011 First edition

September 2012 Second edition

Additions and Changes made in Safety Guide contents in Pg.1 to 6 International Standards Compliances added in Pg.9 CE: Complied with CE Mark added to “How to Read the Model Number” option in Pg.15 Weight added to “11.1 External Dimensions” added in Pg.65 to 69

Change History

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Manual No.: ME3714-2A (September 2012)

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/

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

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

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

website: www.intelligentactuator.com

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

12.09.000

IAI America RCS2-SD5N User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of Contents

Safety Guide

Handling Precautions

International Standards Compliances

Part Names

1. Checking the Product

1.1 Included Items

1.2 Operation Manuals for Controllers Supported by This Product

1.3 How to Read the Model Nameplate

1.4 How to Read the Model Number

2. Specifications

3. Life

3.1 RN5N, RP5N

3.2 GS5N, GD5N, SD5N

4. Installation and Storage/Preservation Environment

4.1 Installation Environment

4.2 Storage/Preservation Environment

5. Transportation

5.1 Handling the Actuator

5.2. Handling the Robot Assembly

6. Installation

6.1 Short Types (Nut Affixing Types)

6.2 Short Types (Tapped-hole Mounting Types)

6.3 Single Guide Types

6.4 Double Guide Types

6.5 Slide Unit Types

7. Connecting with the Controller

7.1 Wiring

7.2 Motor/Encoder Cables

8. Notes on Operation

8.1 Placing a Load on the Actuator

8.2 How to Move the Rod by Hand

8.3 Notes on GS5N Type

8.4 Home Return

9. Options

9.1 Changing the Connector Cable Exit Direction

10. Maintenance and Inspection

10.1 Inspection Items and Schedule

10.2 Visual Inspection of the Exterior

10.3 Cleaning

10.4 Inspection of the Interior

10.5 Internal Cleaning

10.6 Greasing

10.7 How to Replace the Spiral Cover

11. Appendix

11.1 External Dimensions

12. Warranty

12.1 Warranty Period

12.2 Scope of Warranty

12.3 Honoring the Warranty

12.4 Limited Liability

12.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications

12.6 Other Items Excluded from Warranty

Change History