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 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.

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

1.4 How to Read the Model Number

<Series>

<Type>

Short Type

Compact Type

TCA5N

1. Checking the Product

Wide Type

TWA5N

Flat Type

TFA5N

<Encoder Type>

I : Incremental

<Motor Type>

60 : 60W

<Lead>

2.5/5.0/10.0

R C S 2







- T C A 5 N - I - 6 0 - 2. 5- 50 - T 2 - P - K 1 - **

Identification for IAI use only

<Option>

K1 : Cable Exit on Left Side
K2 : Cable Exit on Front Side
K3 : Cable Exit on Right Side
CE : CE Marking

<Cable Length>
N : None
P : 1m
S : 3m
M : 5m
XƑƑ : Specified Length
RƑƑ : Robot Cable

<Applicable Controller>
T2 : SCON

SSEL
XSEL-P/Q

<Stroke>

*1

*1 This may be displayed for the manufacturing reason.

(This is not to indicate the manufacturing model code.)

14

2. Specifications

(1) Maximum speed
The maximum speed for this Actuator is limited due to the resonance vibration of the ball screw shaft and the
limitation of motor rotation speed.
Do not exceed the maximum speed shown in the table below.

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

Type

TCA5N

TWA5N

TFA5N

(2) Maximum acceleration/deceleration and payload capacity

Type

TCA5N

TWA5N

TFA5N

Motor capacity

(W)

60

Motor capacity

(W)

60

Lead (mm)

2.5

5.0

10.0

Lead (mm)

2.5

5.0

10.0

Horizontal/

Vertical

Horizontal 125 125

Vertical 125 125

Horizontal 250 250

Vertical 230 250

Horizontal 280 380

Vertical 230 330

Maximum acceleration/deceleration

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

(G)

Maximum speed

50 75

Maximum payload

capacity (kg)

2. Specications

(3) Driving method

Type

TCA5N

TWA5N

TFA5N

(4) Common specifications

Positioning repeatability*1 ±0.02 mm

Lost motion 0.1 mm or less

Backlash*1 0.05 mm or less

*1 Initial value

Motor capacity

(W)

60

Item Specifications

Lead (mm)

2.5

5.0

10.0

Encoder

*1

pulses

1600 Rolled

Ball screw type

I8 mm

*1. Number of pulses input to the controller.

C10

15

3. Life

3. Life

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.

Type Stroke Life

TCA5N

TWA5N

TFA5N

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

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

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

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

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

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

16

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

250mm

4. Installation and Storage/Preservation

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 posture, if any.

17

5. Transportation

5.1 Handling of Robot

5.1.1 Handling of the Packed Product

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

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

impact caused by a drop or crash.

x Transport a heavy package with at least more than two operators. Consider an appropriate method for

transportation.

x Keep the unit in horizontal orientation when placing it on the ground or transporting. Follow the instruction if

there is any for the packaging condition.

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

5. Transportation

5.1.2 Handling of the Unpacked Product

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

x Be careful not to bump the actuator into anything when moving it.
x Hold the body base when transporting the actuator.
x Do not apply an excessive force to each part of the actuator.

Supplement) For the names of each part of the actuator, refer to “Name of the Parts”.

18

5.2 Handling in Assembled Condition

x When carrying the actuator, exercise caution not to bump it against nearby objects or structures.
x Secure the table to prevent sudden movement during transport.
x If any end of the actuator is overhanging, secure it properly to avoid significant movement due to external

vibration.

x When transporting the assembly without the ends of the actuators fastened, do not subject the assembly to an

impact of 0.3 G or more.

x When suspending the mechanical equipment (system) with ropes, avoid applying force to the actuator,

connector box, etc. Also, avoid the cables being pinched or caused an excessive deformation.

5. Transportation

19

6. Installation

For the installation of the unit, make sure that attachment surface is a machined surface or a surface with an
equivalent accuracy.

6.1 Installation of Main Unit

6.1.1 TCA5N

This actuator has tapped holes for mounting so it can be fixed from the rear side.
Also, there is a reamed hole and a long hole for positioning pins.
(Note) When installing the unit in the horizontally oriented wall mount, put the connector cover of the cable up.
(Note) There is Nylok applied to the tapped holes on the unit. Remove the Nylok when installing the unit.

6. Installation

+0.03

0

Long hole

depth 5

15 50

40

6

5

2810

4.5 37

33
46

Tapped hole

depth 7

4-M5

Reamed hole

+0.03

φ5

0

depth 5

6.5

A

B

Long hole

Top side of table

tap size and

maximum

screw-in depth

M5 depth 7 M5 2.7 Nxm (0.28 kgfxm) 2.7 Nxm (0.28 kgfxm) A: 5 B: 6 depth 5

Bolts to be used

Bolt bearing surface is

Tightening torque

steel

Bolt bearing surface is

aluminum

Top side of table

long hole

2-M5

depth 10

6.5

Top side of table

reamed hole

(mm)

I5 depth 5

Tightening screws

x For the male threads for installing the base, use hexagonal socket head bolts.
x Use of high-tension bolts meeting at least ISO-10.9 is recommended.
x The thread engagement length from 6.5 mm or more to 7 mm or less.

Caution: The tapped holes are through holes. Never use a screw longer than the effective screw

length. Internal mechanisms and electric components may be damaged.

20

6.1.2 TWA5N

This actuator has tapped holes for mounting so it can be fixed from the rear side.
Also, there is a reamed hole and a long hole for positioning pins.
(Note) When installing the unit in the horizontally oriented wall mount, put the connector cover of the cable up.
(Note) There is Nylok applied to the tapped holes on the unit. Remove the Nylok when installing the unit.

5

+ 0.03

0

Long hole

depth 5

4.5

37

15 50

40

6

6010

33
68

Tapped hole
4-M5

depth 8

Reamed hole

+ 0.03

φ5

depth 5

0

A

B

Long hole

Top side of table

tap size and

maximum

screw-in depth

M5 depth 8 M5 2.7 Nxm (0.28 kgfxm) 2.7 Nxm (0.28 kgfxm) A: 5 B: 6 depth 5

Bolts to be used

Bolt bearing surface is

Tightening torque

steel

Bolt bearing surface is

aluminum

Top side of table

long hole

4-M566depth 10

6. Installation

Top side of table

reamed hole

(mm)

I5 depth 5

Tightening screws

x For the male threads for installing the base, use hexagonal socket head bolts.
x Use of high-tension bolts meeting at least ISO-10.9 is recommended.
x The thread engagement length from 6.5 mm or more to 8 mm or less.

Caution: The tapped holes are through holes. Never use a screw longer than the effective screw

length. Internal mechanisms and electric components may be damaged.

21

6.1.3 TFA5N

This actuator has tapped holes for mounting so it can be fixed from the rear side.
Also, there is a reamed hole and a long hole for positioning pins.
(Note) When installing the unit in the horizontally oriented wall mount, put the connector cover of the cable up.
(Note) There is Nylok applied to the tapped holes on the unit. Remove the Nylok when installing the unit.

Long hole

5015

40

6

5

+ 0.030

0

depth 5

3-M5

depth 10

6. Installation

779

374.5

6.5

9

46.5 33

Tapped hole

depth 7.5

4-M 5

Reamed hole

+

0.03

φ5

depth 5

0

A

B

Long hole

Top side of table

tap size and

maximum

screw-in depth

M5 depth 7.5 M5 2.7 Nxm (0.27 kgfxm) 2.7 Nxm (0.27 kgfxm) A: 5 B: 6 depth 5

Bolts to be used

Bolt bearing surface is

Tightening torque

steel

Bolt bearing surface is

aluminum

Top side of table

long hole

6.5

Top side of table

reamed hole

(mm)

I5 depth 5

Tightening screws

x For the male threads for installing the base, use hexagonal socket head bolts.
x Use of high-tension bolts meeting at least ISO-10.9 is recommended.
x The thread engagement length from 6.5 mm or more to 7.5 mm or less.



Caution: The tapped holes are through holes. Never use a screw longer than the effective screw

length. Internal mechanisms and electric components may be damaged.

22

6.2 Installation of the Load

6.2.1 TCA5N

x Please attach the load to the device using the tapped holes in the front plate of the table type.
x There are also tapped holes and a reamed hole in the top surface of the table. Please use these to attach the

load.

x There is one reamed hole on the slider in the top surface of the table, so if you need to be able to secure and

detach the load multiple times, please use this hole. Also, if you require precision in your attachment, such as
a right angle, use the reamed hole to make fine adjustments.

x Follow the table below for the attachment screws and the tightening torque.



A

B

Long hole

Top side of table

tap size and

maximum

screw-in depth

M5 depth 8 M5 7.27 Nxm (0.74 kgfxm) 3.42 Nxm (0.35 kgfxm) A: 5 B: 6 depth 5

Bolts to be

used

Bolt bearing surface is



Tightening screws

x For the male threads, use hexagonal socket head bolts.
x Use of high-tension bolts meeting at least ISO-10.9 is recommended.
x The thread engagement length from 6.5 mm or more.

Tightening torque

steel

Bolt bearing surface is

aluminum

Top side of table

long hole

Top side of table

reamed hole

(mm)

I5 depth 5

6. Installation

x Mount a work part by holding the table as shown in the figure. If you hold only the main body and tighten the

work part, excessive moment is applied to the guide area and play may be generated.

Main body

* Pay attention to the thread length, because the threaded holes on the front table are through holes.

23

6. Installation

4- M5

φ5

+0.03

0

28 10

4-M 5

depth 12

depth 5

+0.03

φ

5

0

depth 8

36

16

Front plate

depth 5

11

26
48

6

depth 5

48

0

+ 0.03

5

26 35

69

71

6

76

5

+0.03

0

depth 5

48 56

Top side of table

Caution: x A work part shall be mounted on a machined plane or a plane with equivalent precision,

and the flatness shall be 0.01 mm/m or less.
If sufficient flatness is not secured, the table is deformed when mounting and fixing a work
part, causing malfunction.
Flatness refers to the height difference between the maximum value (peak) and minimum
value (trough) of surface distortion.

x The length of screws used to mount a work part must the effective screw depth described

here or less.
If a screw is screwed in more than the effective screw depth, the end may get into contact
with the guide rail and the table may be deformed, causing malfunction.

24

6.2.2 TWA5N

x Please attach the load to the device using the tapped holes in the front plate of the table type.
x There are also tapped holes and reamed holes in the top surface of the table. Please use these to attach the

load.

x There is one reamed hole on the slider in the top surface of the table, so if you need to be able to secure and

detach the load multiple times, please use this hole. Also, if you require precision in your attachment, such as
a right angle, use the reamed hole to make fine adjustments.

x Follow the table below for the attachment screws and the tightening torque.

A

B

Long hole

Top side of table

tap size and

maximum

screw-in depth

M5 depth 8 M5 2.7 Nxm (0.27 kgfxm) 2.7 Nxm (0.27 kgfxm) A: 5 B: 6 depth 5



Bolts to be used

Tightening torque

Bolt bearing surface is

steel

Bolt bearing surface is

aluminum

Top side of table

long hole

Top side of table



reamed hole

(mm)

I5 depth 5



Tightening screws

x For the male threads, use hexagonal socket head bolts.
x Use of high-tension bolts meeting at least ISO-10.9 is recommended.
x The thread engagement length from 6.5 mm or more.

x Mount a work part by holding the table as shown in the figure. If you hold only the main body and tighten the

work part, excessive moment is applied to the guide area and play may be generated.

6. Installation

Main body

* Pay attention to the thread length, because the threaded holes on the front table are through holes.

25

36

4- M5

+ 0.03

φ5

depth 12

depth 5

0

depth 5

0

+0.03

6

5

42

63

65

30 27

6. Installation

16

20 40

80

Front plate

+0.03

depth 5

φ5

4-M 5

depth 8

0

60 10

+0.03

depth 5

5

76

6

0

48 56

Top side of table

Caution: x A work part shall be mounted on a machined plane or a plane with equivalent precision,

and the flatness shall be 0.01 mm/m or less.
If sufficient flatness is not secured, the table is deformed when mounting and fixing a work
part, causing malfunction.
Flatness refers to the height difference between the maximum value (peak) and minimum

value (trough) of surface distortion.

x The length of screws used to mount a work part must the effective screw depth described

here or less.
If a screw is screwed in more than the effective screw depth, the end may get into contact
with the guide rail and the table may be deformed, causing malfunction.

26

6.2.3 TFA5N

x Please attach the load to the device using the tapped holes in the front plate of the table type.
x There are also tapped holes and a reamed hole in the top surface of the table. Please use these to attach the

load.

x There is one reamed hole on the slider in the top surface of the table, so if you need to be able to secure and

detach the load multiple times, please use this hole. Also, if you require precision in your attachment, such as
a right angle, use the reamed hole to make fine adjustments.

x Follow the table below for the attachment screws and the tightening torque.

A

B

Long hole

Top side of table

Tap size and

maximum

screw-in depth

M5 depth 8 M5 2.7 Nxm (0.27 kgfxm) 2.7 Nxm (0.27 kgfxm) A: 5 B: 6 depth 5

Bolts to be used

Bolt bearing surface is

Tightening torque

steel

Bolt bearing surface is

aluminum

Top side of table

Long hole

Top side of table

Reamed hole

(mm)

I5 depth 5

Tightening screws

x For the male threads, use hexagonal socket head bolts.
x Use of high-tension bolts meeting at least ISO-10.9 is recommended.
x The thread engagement length from 6.5 mm or more.

x Mount a work part by holding the table as shown in the figure. If you hold only the main body and tighten the

work part, excessive moment is applied to the guide area and play may be generated.

6. Installation

Main body

* Pay attention to the thread length, because the threaded holes on the front table are through holes.

27

46 3

2- M5

36

depth 12

38.5
φ5

+ 0.030

0

depth 5

26

16

20

44

49

6. Installation

4-M 5

16

depth 8

5728

91

95

Front plate

+0.030

φ

depth 5

5

0

76

48 56

Top side of table

6

5

+0.030

0

depth 5

24

6

5

+0.030

0

depth 5

Caution: x A work part shall be mounted on a machined plane or a plane with equivalent precision,

and the flatness shall be 0.01 mm/m or less.
If sufficient flatness is not secured, the table is deformed when mounting and fixing a work
part, causing malfunction.
Flatness refers to the height difference between the maximum value (peak) and minimum
value (trough) of surface distortion.

x The length of screws used to mount a work part must the effective screw depth described

here or less.
If a screw is screwed in more than the effective screw depth, the end may get into contact
with the guide rail and the table may be deformed, causing malfunction.

28

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 RCA2 and dedicated controller)

RCS2

r
r

Robot cable

Dedicated controller

XSEL-P/Q

SCON

SSEL

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

Use a robot cable for the moving section.

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

7. Connecting with the Controller

29

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.

30

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.

31

7.2 Motor • Encoder Cables

)

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

16

1616

* *** 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 (fixed

L

20

10

4

41

(Front view)

Controller end

7. Connecting with the Controller

1

Wiring

Signal

0.75sq 0.75sq

PE

U
V

W

9

φ

Wiring

No.

1
2

3
4

Signal

No.

1
2

3
4

21

Wiring Signal

Signal

U

V

W

PE

1

4

(Front view)

Mechanical end

Wiring

(crimped)

18

32

[2] Encoder cable/encoder robot cable

(

)

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

(41)

(13)

* *** 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

L

fixed

(14)

(15)

14

(37)

26

(Front view)

Controller end

Wiring

AWG26

(soldered)

The shield is clamped to the hood.

13

1

Sign

E24V

OV

LS

OT

RSV

-

-

A+

A-

B+
B­Z+

Z­SRD+
SRD­BAD+
BAD-

VCC

GND
BKR­BKR+

No.

10
11
12
13
26
25
24
23

18
19

14
15
16
17
20
21
22

9

Note 4

1
2
3
4
5
6
7
8

Color

- -

- -

-

GY/WT
BR/WT

-

CREEP

-

-

-

-

- -

PK
PL
WT

BL/RD
OR/WT
GN/WT

BL
OR
BK

YW
GN
BR
GY
RD

Note 3 Ground wire and braided shield wires

Note 1

Note 2

No.

10
11
12
13
14
15
16
17
18

1 10

7. Connecting with the Controller

(25)

9 18

(Front view)

Mechanicalnd

Sign

A

1

-

2

A

B

3

-

4

B
Z

5

Z

6

LS+

7

-

8

FG

9

SD

-

SD
BAD+
BAD­VCC
GND

LS-

BK-

BK+

Color

PK
PL

WT
BL/RD
OR/WT
GN/WT
BR/WT

-

Ground

BL

OR

BK

YW

GN

BR

GY/WT

GY

RD

Wiring

AWG26

(crimped)

33

8. Notes on Operation

8.1 Placing a Load on the Actuator

x Do not exceed the load ratings given in the specification table below.

Be careful not to exceed the load moment, extension load length and maximum loading capacity for the table.
(Refer to table below.)

x Allowable load moment Unit: Nxm (kgfxm)

Ma Mb Mc

TCA5N 15 (1.5) 15 (1.5) 7.1 (0.72)

TWA5N 15 (1.5) 15 (1.5) 25.5 (2.60)

TFA5N 15 (1.5) 15 (1.5) 7.1 (0.72)

(Note) Multiply the values above by 5/3 for the moment generated in acceleration and deceleration.

Make sure the Moment generated by gravity + 5/3 × Moment by acceleration  Dynamic allowable
moment.

TCA5N

Mb

8. Notes on Operation

TWA5N

Mc

Mc

Ma

Mb

Ma

34

TFA5N

Mb

Mc

[Overhung length]

Keep the overhang length within the range shown in the table below.
Select a material with high stiffness for the overhanging.



Ma Mb Mc

TCA5N

TWA5N

TFA5N

Ma

150 mm or less 150 mm or less 150 mm or less

8. Notes on Operation























Mb, Mc direction

L

Ma direction

L

35



8.2 Maximum Load

Be sure to check the allowable load moment.



20kg

8.3 How to Move the Table by Hand

10kg

For the low lead types such as Lead 2 or 5, the rod will not move manually by hand.
Insert a tool such as a screw driver (optional) into the cutout groove in the shaft at the rear side and twist it to

8. Notes on Operation

move the rod.

Cutout groove in shaft

36

8.4 Home return

E

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 (fixed side)

Mechanical stopper

Z-phase

Encoder disk (rotating side)

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

Z-phase detection sensor (fixed side)

Rotating angle D

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

3) The rod turns by rotating angle E from the position where Z-phase was detected, and the attained offset
position (the offset conforms to an applicable parameter value) is set as the home (points zero).

Z-phase detection sensor (fixed side)

Rotating angle

8. Notes on Operation

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

37

9. Options

9.1 Changing the Connector Cable Exit Direction

The standard cable exit direction is on 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.

9. Options

Cable exit from the front: K2

38

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)

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 operations 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 5,000 to 10,000 cycles. This will restore the 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

*1

10.2 Visual Inspection of the Exterior

In the visual inspection of the 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 If the actuator is fixed vertically, grease on the guide may drip depending on the environment. In this case,
clean the dirtied areas and add grease.
x The spiral cover is a consumable part. Its life is 2,000,000 cycles of back and forth operation as a reference.
Refer to 11.7 How to Replace Spiral Cover when replacing the spiral cover.

(Note) The life of the spiral cover varies due to the environment of use. Foreign object (dust, high-viscosity oil)

attached on the surface could disturb the expansion and contraction operation, which leads to a shorter
life. To obtain a longer life, clean the surface regularly.

10. Maintenance and Inspection

39

10.3 Cleaning

x Clean exterior surfaces as necessary.
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 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

Ball screw/guide rail Lubrication, buildup

[Internal inspection of ball screw]

Turn off the power and pull out the table.

10. Maintenance and Inspection

If the lead is too small to move the table, insert a screwdriver, etc., into the cutout groove provided in the shaft on
the rear side and turn. [Refer to “How to Move Table by Hand.”]

Visually check the lubrication condition of the 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 the grease.

Spiral cover

40

[Internal inspection of guide rail]

Actuator

Table

Guide rail V-groove (2 locations)

Front Rear

Table

Actuator

Guide rail V-groove (2 locations)

Turn off the power and pull out the table.
If the lead is too small to move the table, insert a screwdriver, etc., into the cutout groove provided in the shaft on
the rear side and turn. [Refer to “How to Move Table by Hand.”]

Visually check the table and actuator’s guide rail for lubrication condition.
Even when the grease is brown, the screw is lubricated property as long as the traveling surface looks wet and
shining. 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 the grease.

10. Maintenance and Inspection

41

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 Supplier 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

42

10.6.2 Greasing Method

[How to apply grease to the ball screw]

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) Pull the table 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 table does not move, insert a slotted screwdriver, etc., into the cutout groove
provided in the shaft on the rear side and turn. [Refer to “How to Move Table by Hand.”]

Spiral cover

10. Maintenance and Inspection

3) Wipe off the 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.

43

[How to apply grease for guide rail]

1) Turn off the power and pull out the table.

If the lead is too small to move the table, insert a screwdriver, etc., into the cutout groove provided in the
shaft on the rear side and turn. [Refer to “How to Move Table by Hand.”]

Actuator

Guide rail V-groove (2 locations)

Front Rear

Table

Actuator

Guide rail V-groove (2 locations)

Table

2) Wipe off the grease attached to the V-groove in the guide rail and apply the specified grease.

3) Move the table to spread the grease evenly

10. Maintenance and Inspection

44

10.7 How to Replace the Spiral Cover

[Item required for replacement]
x Replacement spiral cover

[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

45

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

4) Install the replacement spiral cover.
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.

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

10. Maintenance and Inspection

End of Shaft

Roll the cover so the tip
comes inside.

46

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.

47

11. Appendix

11.1 External Dimensions

11.1.1 TCA5N

11. Appendix

depth 5

0

+0.03

depth 8

φ5

4-M5

1.3

1.5

Weight[kg]

depth 10

2-M5

8

depth 4

2-M4

depth 5

0

+0.03

5

6

76

48 56

28 10

M

ST

N

ME

41 50

3

Home

6.5

46

33

4.5 37

6.5

Secure at least 150

depth 5

0

+0.03

5

L

6

40

15 50

10

12

M

89

L2

108

L1

126

L

130

50

Stroke

4-M5

depth 7

2810

105.5

133

151

155

75

+0.03

depth 5

0

φ5

48

depth 5

depth 5

depth 12

0

+0.03

φ5

4- M5

71
69

26 35

48

0

5

+0.03

6

48

2611

16

36

11.1.2 TWA5N

depth 5

0

+0.03

φ5

depth 8

4-M5

depth 10

4-M5

33

66

68

Weight[kg]

M

L2

1.7

89

108

2.0

105.5

133

37

4.5

L1

L

Stroke

126

130

50

151

155

75

Secure at least 150

depth 5

0

+0.030

5

M

L

N

depth 5

0

+0.030

5

11. Appendix

6

6

10

15 50

40

6010

depth 5

0

+0.030

depth 8

φ5

4-M5

76

48 56

ME

3

12

60 10

ST

Home

depth 5

depth 5

depth 12

0

+0.03

φ5

4-M5

65

63

30 27

42

0

5

+0.03

6

80

20 40

36

16

49

11.1.3 TFA5N

depth 10

3-M 5

6.5

6.5

46.5 33

Weight[kg]

M

L2

L1

1.4

89

108

126

1.6

105.5

133

151

11. Appendix

depth 5

0

+0.030

φ5

depth 8

4-M 5

5728

depth 5

0

+0.030

5

6

76

374.5

8

depth 4

2-M4

M

5041

N

3

depth 5

0

+0.030

φ5

38.5

ME

Home

49

44

20

16

26

48 56

ST

9

L

Secure at least 150

10

12

depth 5

0

+0.030

5

24

6

91

95

5015

depth 5

0

+0.030

5

40

6

L

130

155

50

75

Stroke

779

4-M5

depth 8

depth 5

0

+0.030

φ5

50

depth 12

2-M5

36
46 3

16

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 or problem in question was caused by a specification defect or problem, or by the poor

quality of 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. SWarranty

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.

51

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. Warranty

52

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 7
International Standards Compliances added in Pg.9
CE: Complied with CE Mark added to “How to Read the Model Number”
option in Pg. 14
Weight added to “11.1 External Dimensions” added in Pg. 48 to 50

53

Change History

Manual No.: ME3719-2A (September 2012)

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan

TEL [phone] FAX [phone]

website: www.iai-robot.co.jp/

Technical Support available in USA, Europe and China

Head Office: 2690 W. 237th Street, Torrance, CA 90505

TEL [phone] FAX [phone]

Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143

TEL [phone] FAX [phone]

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

TEL [phone] FAX [phone]

website: www.intelligentactuator.com

Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany

TEL [phone] FAX [phone]

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China

TEL [phone] FAX [phone]

website: www.iai-robot.com

The information contained in this document is subject to change without notice for purposes of
product improvement.
Copyright © 2012. Sep. IAI Corporation. All rights reserved.

12.09.000