IAI America RCS2-TFA5N User Manual
Thin and Small ROBO Cylinder
RCS2 Actuator
Table Type
Operating Manual
Second Edition
Short Types Compact Type TCA5N
Short Types Wide Type TWA5N
Short Types Flat Type TFA5N
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 thepurpose of
product improvement.
x If you have any question or comment regarding the content of this manual, please contact theIAI
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 thesentences
are registered trademarks.
Table of Contents
Safety Guide..................................................................................................................................1
Precautions ...................................................................................................................................8
International Standards Compliances ...........................................................................................9
Names of the Parts......................................................................................................................10
1. Short Types ..........................................................................................................................10
1.1 Compact types ............................................................................................................ 10
1.2 Wide types ..................................................................................................................10
1.3 Flat types.....................................................................................................................11
1. Checking the Product ...........................................................................................................12
1.1 Parts 12
1.2 Operation Manuals for the Controllers Supported by this Product ..............................12
1.3 How to Read the Model Nameplate ............................................................................13
1.4 How to Read the Model Number.................................................................................14
2. Specifications .......................................................................................................................15
3. Life........................................................................................................................................16
4. Installation and Storage/Preservation Environment .............................................................17
4.1 Installation Environment..............................................................................................17
4.2 Storage/Preservation Environment .............................................................................17
5. Transportation ......................................................................................................................18
5.1 Handling of Robot .......................................................................................................18
5.1.1 Handling of the Packed Product ......................................................................18
5.1.2 Handling of the Unpacked Product.................................................................. 18
5.2 Handling in Assembled Condition ...............................................................................19
6. Installation ............................................................................................................................20
6.1 Installation of Main Unit...............................................................................................20
6.1.1 TCA5N............................................................................................................. 20
6.1.2 TWA5N ............................................................................................................ 21
6.1.3 TFA5N .............................................................................................................22
6.2 Installation of the Load ................................................................................................ 23
6.2.1 TCA5N............................................................................................................. 23
6.2.2 TWA5N ............................................................................................................ 25
6.2.3 TFA5N .............................................................................................................27
7. Connecting with the Controller ............................................................................................. 29
7.1 Wiring 29
7.2 Motor • Encoder Cables ..............................................................................................32
8. Notes on Operation ..............................................................................................................34
8.1 Placing a Load on the Actuator ...................................................................................34
8.2 Maximum Load............................................................................................................36
8.3 How to Move the Table by Hand.................................................................................36
8.4 Home return ................................................................................................................ 37
8.4.1 Home-return Operation.................................................................................... 37
9. Options .................................................................................................................................38
9.1 Changing the Connector Cable Exit Direction............................................................. 38
10. Maintenance and Inspection ................................................................................................39
10.1 Inspection Items and Schedule ................................................................................... 39
10.2 Visual Inspection of the Exterior..................................................................................39
10.3 Cleaning ...................................................................................................................... 40
10.4 Inspection of the Interior..............................................................................................40
10.5 Internal Cleaning ......................................................................................................... 42
10.6 Greasing......................................................................................................................42
10.6.1 Applicable Grease ...........................................................................................42
10.6.2 Greasing Method .............................................................................................43
10.7 How to Replace the Spiral Cover ................................................................................ 45
11. Appendix ..............................................................................................................................48
11.1 External Dimensions ................................................................................................... 48
11.1.1 TCA5N............................................................................................................. 48
11.1.2 TWA5N ............................................................................................................ 49
11.1.3 TFA5N .............................................................................................................50
12. Warranty...............................................................................................................................51
12.1 Warranty Period .......................................................................................................... 51
12.2 Scope of Warranty ......................................................................................................51
12.3 Honoring the Warranty ................................................................................................ 51
12.4 Limited Liability............................................................................................................51
12.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and
Applications................................................................................................................. 52
12.6 Other Items Excluded from Warranty ..........................................................................52
Change History............................................................................................................................53
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
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
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
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).
Ɣ 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
Ɣ When the work is carried out with 2 or more persons, make it clear who is to be
Description
the leader and who to be the follower(s) and communicate well with each other
to ensure the safety of the workers.
Ɣ When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range. When the robot
under operation is touched, it may result in death or serious injury.
Ɣ Make sure to install the emergency stop circuit so that the unit can be stopped
immediately in an emergency during the unit operation.
Ɣ Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an injury or
damage to the product.
Ɣ Take the safety measure not to start up the machine only with the emergency
stop cancellation or recovery after the power failure. Failure to do so may result
in an electric shock or injury due to unexpected power input.
Ɣ When the installation or adjustment operation is to be performed, give clear
warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden
power input may cause an electric shock or injury.
Ɣ Take the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Ɣ Do not insert a finger or object in the openings in the product. Failure to do so
may cause an injury, electric shock, damage to the product or fire.
Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution
not to pinch your hand or damage the work parts with the actuator dropped by
gravity.
5 Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who is to be
the leader and who to be the follower(s) and communicate well with each other
to ensure the safety of the workers.
Ɣ Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably inside
the safety protection fence, prepare the “Stipulations for the Operation” and
make sure that all the workers acknowledge and understand them well.
Ɣ When the operation is to be performed inside the safety protection fence, the
worker should have an emergency stop switch at hand with him so that the unit
can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so that
any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution
not to pinch your hand or damage the work parts with the actuator dropped by
gravity.
* Safety protection Fence : In the case that there is no safety protection fence,
the movable range should be indicated.
4
No.
Operation
Description
Description
6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is to be
the leader and who to be the follower(s) and communicate well with each other
to ensure the safety of the workers.
Ɣ After the teaching or programming operation, perform the check operation one
step by one step and then shift to the automatic operation.
Ɣ When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Ɣ Make sure to perform the programmed operation check at the safety speed.
Failure to do so may result in an accident due to unexpected motion caused by
a program error, etc.
Ɣ Do not touch the terminal block or any of the various setting switches in the
power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Ɣ Check before starting the automatic operation or rebooting after operation stop
that there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral equipment is
in an automatic-operation-ready state and there is no alarm indication.
Ɣ Make sure to operate automatic operation start from outside of the safety
protection fence.
Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn OFF the
power switch. Failure to do so may result in a fire or damage to the product.
Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so may
cause an injury or damage to the product, due to a sudden motion of the
product in the recovery operation from the power failure.
5
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
Description
to ensure the safety of the workers.
Ɣ Perform the work out of the safety protection fence, if possible. In the case that
the operation is to be performed unavoidably inside the safety protection fence,
prepare the “Stipulations for the Operation” and make sure that all the workers
acknowledge and understand them well.
Ɣ When the work is to be performed inside the safety protection fence, basically
turn OFF the power switch.
Ɣ When the operation is to be performed inside the safety protection fence, the
worker should have an emergency stop switch at hand with him so that the unit
can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence, 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 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.
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
Precautions
1. Do not set speeds and accelerations/decelerations equal to or greater than the respective
ratings.
If the actuator is operated at a speed or acceleration/deceleration exceeding the allowable value, abnormal
noise or vibration, failure, or shorter life may result.
In the case of interpolated operation of combined axes, the speed and acceleration/deceleration settings
should correspond to the minimum values among all combined axes.
2. Keep the load moment within the allowable value.
If the actuator is operated under a load equal to or greater than the allowable load moment, abnormal noise
or vibration, failure, or shorter life may result. In an extreme case, flaking may occur.
3. Keep the overhang length to within the allowable value.
If the overhang length is equal to or greater than the allowable value, vibration or abnormal noise may occur.
4. Back and forth operation in a short distance may cause wear of grease.
If the actuator is moved back and forth continuously over a short distance of 30 mm or less, grease film may
run out. As a guide, move the actuator back and forth repeatedly for around 5 cycles over a distance of
50 mm or more after every 5,000 to 10,000 cycles.
5. Do not leave for a long term with the markings applied on.
6. The actuator of Lead 10 may move when servo is OFF in some cases even with no load
applied on it.
7. In some cases in operation the operations noise may get loud.
8. 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
Names of the Parts
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.
Also, the front side means the side opposite from the motor.
1. Short Types
1.1 Compact types
RCS2-TCA5N
Right Side
Table
Left Side
Connector cover
RearFront
Front Plate
* Refer to “External Dimensions” for details.
1.2 Wide types
RCS2-TWA5N
Table
Front Plate
Main Body (Aluminum Frame)
Right Side
Left Side
Main Body (Aluminum Frame)
Cable
Connector cover
RearFront
Cable
* Refer to “External Dimensions” for details.
10
1.3 Flat types
RCS2-TFA5N
Right Side
Table
Left Side
Front Plate
Connector cover
RearFront
Cable
Main Body (Aluminum Frame)
* Refer to “External Dimensions” for details.
Caution: When the table has moved away from its home position, there is a gap between the table
and the motor unit. Keep hands clear of gap.
11
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 or any missing item, please contact your IAI dealer or IAI.
1. Checking the Product
1.1 Parts
No. Item Model Number Remarks
1 Actuator
Accessories
2
Motor • Encoder Cable
3 First Step Guide
4 Operation Manual(CD/DVD)
5 Safety Guide
*1 Please refer to 8.2 Motor • Encoder Cable for the applicable cables.
1.2 Operation Manuals for the Controllers Supported by this Product
(1) XSEL-P/Q controllers
No. Name Control No.
1 XSEL-P/Q Controller Operation Manual ME0148
2 XSEL P/Q/PX/QX 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/TG 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
Refer to “How to Read the Model
Nameplate” and “How to Read the Model
Number.”
*1
12
(2) SSEL controller
r
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/TG 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
(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 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. Checking the Product
1.3 How to Read the Model Nameplate
Model
Serial numbe
MODEL RCS2-TCA5N-I-60-2.5-50-T2-P-K1
SERIAL No.100090267 MADE IN JAPAN
13
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