IAI America RCS2W User Manual

Download

ROBO Cylinder

RCS2/RCS2W Actuators

Rod Type

Operation Manual

Eighth Edition

Standard Type Motor Straight Type (Coupling Type): Standard Type Motor Straight Type (Built-in Type):

Standard Type Motor Reversing Type: Standard Type Flat Type:

Dustproof/Splash-proof Type Motor Straight Type (Coupling Type): Dustproof/Splash-proof Type Motor Straight Type (Built-in Type): Dustproof/Splash-proof Type Motor Reversing Type:

RA4C, RA5C, RGS4C, RGS5C, RGD4C, RGD5C RA4D, RA7AD, SRA7BD, RA7BD, RGS4D,

RGS7AD, SRGS7BD, RGS7BD, RGD4D, RGD7AD, SRGD7BD, RGD7BD RA4R, RA5R, RGD4R

F5D

RA4C RA4D RA4R

IAI America, Inc.

Please Read Before Use

Thank you for purchasing our product.

This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product.

The CD or DVD that comes with the product contains Operation Manuals for IAI products. When using the product, refer to the necessary portions of the applicable Operation manual by printing them out or displaying them on a PC.

After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.

[Important]

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

assume no responsibility for the outcome of any operation not specified herein.

x Information contained in this Operation Manual is subject to change without notice for the purpose of product

improvement.

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

near you.

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

registered trademarks.

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

Precautions.............................................................................................................................. 8

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

Names of the Parts ................................................................................................................ 10

1. Specifications Check ....................................................................................................... 23

1.1 Checking the Product ..........................................................................................................................23

1.1.1 Parts.....................................................................................................................................23

1.1.2 Operation Manuals for the Controllers Related to this Product...........................................24

1.1.3 How to Read the Model Nameplate.....................................................................................25

1.1.4 How to Read the Model Number .........................................................................................25

1.2 Specification.........................................................................................................................................26

1.2.1 Speed...................................................................................................................................26

1.2.2 Maximum acceleration and transportable weight ................................................................27

1.2.3 Driving System • Position Detector......................................................................................34

1.2.4 Positioning Precision ...........................................................................................................34

1.2.5 Rod Non-Rotation Accuracy ................................................................................................35

1.2.6 Allowable Load Moment of Actuator....................................................................................36

1.2.7 Protection class ...................................................................................................................37

1.2.8 Duty Ratio in Continuous Operation ....................................................................................38

1.3 Option ..................................................................................................................................................38

1.3 Option ..................................................................................................................................................39

1.3.1 Brake Type (Model: B) .........................................................................................................39

1.3.2 Reversed–home Specification (Model: NM) ........................................................................39

1.3.3 Foot Bracket (Model: FT).....................................................................................................39

1.3.4 Flange Bracket (Front) (Model: FL) .....................................................................................40

1.3.5 Flange Bracket (Rear) (Model: FLR) ...................................................................................40

1.3.6 High Acceleration/Deceleration Type) (Model: HA) .............................................................41

1.3.7 Home Position Confirmation Sensor (Model: HS) ...............................................................41

1.3.8 Knuckle Joint (Model: NJ)....................................................................................................41

1.3.9 Trunnion Bracket (Front) (Model: TRF) ...............................................................................41

1.3.10 Trunnion Bracket (Rear) (Model: TRR)................................................................................42

1.3.11 Clevis Bracket (Model: QR) .................................................................................................42

1.3.12 Rear Attachment Plate (Model: RP).....................................................................................42

1.3.13 Difference in Connector Cable Orientation (Model: A1 to A3) .............................................43

1.3.14 Motor Reversing Type (Standard) (Model: ML), Motor Reversing Type (Model: MR).........43

1.3.15 Difference in Guide Attachment Orientation (Model: GS2 to GS4)......................................43

1.3.16 Rod Tip Extended Type (Model: RE) ...................................................................................43

1.3.17 CE Mark Complied (Model: CE) ..........................................................................................43

1.4 Motor • Encoder Cables.......................................................................................................................44

2. Installation ....................................................................................................................... 46

2.1 Transportation......................................................................................................................................46

2.2 Installation and Storage • Preservation Environment ..........................................................................48

2.3 How to Installation ...............................................................................................................................49

2.3.1 Installation of Main Unit .......................................................................................................49

2.4 Connecting the Air Tube of the RCS2W Dustproof/Splash-proof Type ...............................................63

3. Connecting with Controller .............................................................................................. 64

4. Maintenance Inspection................................................................................................... 68

4.1 Inspection Items and Schedule ...........................................................................................................68

4.2 External Visual Inspection ...................................................................................................................68

4.3 Cleaning...............................................................................................................................................68

4.4 Grease Supply .....................................................................................................................................69

4.4.1 Grease to be applied on Rod Sliding Surface .....................................................................69

4.4.2 Grease Applied on Ball Screw and Rod Sliding Surface [Applicable Units: RCS2-RA5C,

RA5R, RGS5C, RGD5C] .....................................................................................................69

4.4.3 How to apply grease ............................................................................................................70

4.5 Procedure for Belt Replacement and Tuning.......................................................................................74

4.5.1 Inspection of the Belt ...........................................................................................................74

4.5.2 Belts to be used ...................................................................................................................74

4.5.3 Adjusting the Belt Tension (RA4R Type)..............................................................................75

4.5.4 Adjusting the Belt Tension (RA5R Type)..............................................................................76

4.5.5 Replacing the Belt: RA4R Type ...........................................................................................77

4.5.6 Replacing the Belt: RA5R Type ...........................................................................................82

4.6 Replacing the Motor.............................................................................................................................85

4.6.1 Replacing the Motor of the Motor Straight Type (Coupling Type): RA4C Type ...................85

4.6.2 Replacing the Motor of the Motor Reversing Type: RA4R Type..........................................92

4.6.3 Replacing the Motor of the Motor Reversing Type: RA5R Type..........................................98

4.7 Replacing the Bellows of the RCS2W Dustproof/Splash-proof Type ................................................101

5. External Dimensions...................................................................................................... 104

5.1 RCS2-RA4C ......................................................................................................................................104

5.2 RCS2-RA4D ......................................................................................................................................105

5.3 RCS2-RA4R ......................................................................................................................................106

5.4 RCS2-RGS4C....................................................................................................................................107

5.5 RCS2-RGS4D....................................................................................................................................108

5.6 RCS2-RGD4C ...................................................................................................................................109

5.7 RCS2-RGD4D ................................................................................................................................... 110

5.8 RCS2-RGD4R ................................................................................................................................... 111

5.9 RCS2W-RA4C/RA4D ........................................................................................................................112

5.10 RCS2W-RA4R ...................................................................................................................................113

5.11 RCS2-RA5C ......................................................................................................................................114

5.12 RCS2-RGS5C.................................................................................................................................... 115

5.13 RCS2-RGD5C ...................................................................................................................................116

5.14 RCS2-RA5R ......................................................................................................................................117

5.15 RCS2-RA7AD ....................................................................................................................................118

5.16 RCS2-RGS7AD .................................................................................................................................119

5.17 RCS2-RGD7AD .................................................................................................................................120

5.18 RCS2-RA7BD ....................................................................................................................................121

5.19 RCS2-RGS7BD .................................................................................................................................122

5.20 RCS2-RGD7BD .................................................................................................................................123

5.21 RCS2-SRA7BD..................................................................................................................................124

5.22 RCS2-SRGS7BD...............................................................................................................................125

5.23 RCS2-SRGD7BD...............................................................................................................................126

5.24 RCS2-F5D .........................................................................................................................................127

6. Life................................................................................................................................. 128

6.1 Rod Type............................................................................................................................................128

6.2 Flat Type ............................................................................................................................................128

7. Warranty........................................................................................................................ 129

7.1 Warranty Period.................................................................................................................................129

7.2 Scope of the Warranty.......................................................................................................................129

7.3 Honoring the Warranty.......................................................................................................................129

7.4 Limited Liability ..................................................................................................................................129

7.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications............130

7.6 Other Items Excluded from Warranty ................................................................................................130

Change History .................................................................................................................... 131

Safety Guide

“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.

No.

1 Model

Operation

Description

Selection

Description

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

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

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

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

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

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.

No.

Operation

Description

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

utilize equipment such as crane.

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

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

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

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

Ɣ Transport it using an appropriate transportation measure.

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

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

has qualifications for crane operation and sling work.

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

load that weighs more than the equipment’s capability limit.

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

hook in such factors as shear strength.

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

3 Storage and

Preservation

Ɣ The storage and preservation environment conforms to the installation

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

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

an act of God such as earthquake.

4 Installation

and Start

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

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

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

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

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

sufficient shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

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

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㵨resistance ability and control

the unnecessary electromagnetic radiation. Ɣ For the ground terminal on the AC power cable of the controller and the

grounding plate in the control panel, make sure to use a twisted pair cable

with wire thickness 0.5mm

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

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

resistance 100: or below).

No.

4 Installation

Operation

Description

and Start

Description

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

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

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

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

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

stopped immediately in an emergency during the unit operation.

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

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

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

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

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

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

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

emergency stop.

Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure

safety.

Ɣ Do not insert a finger or object in the openings in the product. Failure to do

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

Ɣ When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

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.

No.

Operation

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㵨operation㵨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.

No.

8 Maintenance

Operation

Description

and Inspection

Description

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

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

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

basically turn OFF the power switch.

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

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

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

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

according to the Operation Manual for each model.

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

damage to the product.

Ɣ When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

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

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

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

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

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

fence, the movable range should be indicated.

9 Modification

and Dismantle

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

specified based at your own discretion.

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

properly as an industrial waste.

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

components when detaching screws.

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

The product may burst or generate toxic gases.

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

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

Ɣ See Overseas Specifications Compliance Manual to check whether

complies if necessary.

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

operation manual of each unit to ensure the safety.

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

Precautions

1. Do not attempt to establish the settings for the speed and acceleration/deceleration above the allowable range.

An operation with speed and acceleration/deceleration beyond the allowable range may cause an abnormal noise, vibration, malfunction or shortened life.

2. Back and forth operation in short distance may wear out the oil film of the grease.

If the actuators are moved back and forth continuously over a short distance of 30 mm or less, grease film may run out. As a guide, move the actuators back and forth repeatedly for around 5 cycles over a distance of 50 mm or more after every 5,000 to 10,000 cycles. Keep using the actuators with the grease worn out may cause malfunction. If it is extreme, flaking may occur on the guide.

3. Do not attempt to apply a rotary torque

Doing so may damage the internal component such as the rod stopper, and may result in an operation failure.

4. The allowable load moment for the flat type should be within the allowable range.

If the robot is operated under a load equal to or greater than the allowable load moment, abnormalnoise or vibration, failure, or shorter life may result. In an extreme case, flaking may occur. If it is extreme, flaking may occur on the guide.

5. For the model equipped with the home-position check sensor (Model: HS), do not attempt to have the home return speed setting faster than the initial setting at the time the product was delivered.

Because the home-position check sensor switch is stored inside the body on the motor end, it may get damaged if the setting is made faster than the initial.

6. Make sure to attach the actuator properly by following this instruction manual.

Using the product with the actuator not being certainly retained or affixed may cause abnormal noise, vibration, malfunction or shorten the product life.

7. Ensure use of the product in the specified conditions, environments and ranges.

An operation out of the guarantee may cause a drop in performance or malfunction of the product.

International Standards Compliances

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

RoHS Directive CE Marking

ż Optional

Names of the Parts

In this Operation Manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actuator placed horizontally, as shown in the figure below.

1. Motor Straight Type (Coupling Type): No Guide

z RCS2-RA4C

Right

Opposite side of the Motor

Caution: The cable directly connected to the actuator is not robot cable even when ordered

Left

Rod

Rod tip adapter

with robot cable option. When designing, please be sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.

Rod cover

Cylinder tube

Head cover

Motor unit

Cable

Motor side

2. Motor Straight Type (Built-in Type): No Guide

z RCS2-RA4D

Right

Opposite side of the Motor

Left

Head cover

Motor unit

Rod

Rod cover

Cylinder tube

Rod tip adapter

Caution: The cable directly connected to the actuator is not robot cable even when ordered

with robot cable option. When designing, please be sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.

Motor side

Cable

3. Motor Reversing Type: No Guide

z RCS2-RA4R

Right

Opposite side of the Motor

Rod tip adapter

Rod

Cable

Rod cove

Left

Motor unit

Cylinder tube

Motor side

Pulley case

Head cover

Caution: The cable directly connected to the actuator is not robot cable even when ordered

with robot cable option. When designing, please be sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.

4. Motor Straight Type (Coupling Type): Single-guide Type

z RCS2-RGS4C

Right

Opposite side

Motor side

of the Motor

Guide bracket

Guide bearing

Guide rod

Left

Head cover

Motor unit

Rod

Rod cover

Cylinder tube

Cable

Caution: The cable directly connected to the actuator is not robot cable even when ordered

with robot cable option. When designing, please be sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.

5. Motor Straight Type (Coupling Type): Double-guide Type

z RCS2-RGD4C

Guide bracket

Opposite side of

Guide bearing

Guide rod

Head cover

Right

Motor unit

Motor

side

the Motor

Left

Rod

Rod cover

Cylinder tube

Cable

Caution: The cable directly connected to the actuator is not robot cable even when ordered

with robot cable option. When designing, please be sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.

6. Motor Reversing Type: With Double Guides

z RCS2-RGD4R

Guide bearing

Guide bracket

Rod

Rod cove

Guide rod

Head cove

Motor unit

Opposite

Cable

side of the Motor

Motor side

Caution: The cable directly connected to the actuator is not robot cable even when ordered

with robot cable option. When designing, please be sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.

7. Motor Straight Type (Coupling Type): No Guide

z RCS2-RA5C

Right

Opposite side of the Motor

Rod

Rod tip adapter

8. Motor Reversing Type: No Guide

z RCS2-RA5R

Right

Aluminum frame

Motor housing

Left

Pulley cover

Motor side

Connector box

Encoder cover

Left

9. Motor Straight Type (Coupling Type): Single-guide Type

z RCS2-RGS5C

Right

Left

10. Motor Straight Type (Coupling Type): Double-guide Type

z RCS2-RGD5C

Mounting bracket

Right

Guide bearing

Guide rod

Guide bearing

Guide rod

Guide bracket

Left

luminum frame

11. Short Type (Standard)

z RCS2-SRA7BD

Opposite side of the Motor

Home position adjustment screws (2 locations) Never touch these screws.

Supplied nut (1 pc)

Right

Motor side

Left

12. Short Type: With Single Guide

z RCS2-SRGS7BD

Right

Left

Guide bearing

Guide rod

13. Short Type: With Double Guides

z RCS2-SRGD7BD

Mounting bracket

Guide bracket

Opposite side of the Motor

Right

Guide bearing

Motor side

Guide rod

14. Short Type

z RCS2-RA7A (B) D

Opposite side of the Motor

Anti-vibration screws (4 locations) Never touch these screws.

Rod tip adapter

Motor housing

RightRight

Motor side

Left

Connector box

Aluminum frame

Encoder cover

15. Flat Type

z RCS2-F5D

Right

Left

Slider

Motor housing

Connector box

Encoder cover

16. Dustproof/Splash-proof Motor Straight Type (Coupling Type)

z RCS2W-RA4C

Right

Opposite side of the Motor

Motor side

Left

Intake/exhaust port

Rod

Bellows

Rod cover

Cylinder tube

Head cove

Motor unit

Rod tip adapter

Cable

Caution: The cable directly connected to the actuator is not robot cable even when ordered

with robot cable option. When designing, please be sure not to give repeated bending loads to this cable. The robot cable is applicable only to the connecting cables.

1. Specifications Check

1.1 Checking the Product

The standard configuration of this product is comprised of the following parts. See the component list for the details of the enclosed components. If you find any fault or missing parts, contact your local IAI distributor.

1.1.1 Parts

No. Name Model number Quantity Remarks

Refer to “How to Read the Model

1 Actuator

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

Accessories

2 Motor • encoder cables

(Note1)

1 set

3 Nut Refer to list below

4 First Step Guide 1

5 Operation Manual (DVD) 1

6 Safety Guide 1

Note1 The motor • encoder cables differ between the standard model and robot cable.

[Refer to 1.4, Motor • Encoder Cables.]

[List of Included Nut Type]

Model No.

RCS2-RA7AD 1 RCS2-RA7BD 1 RCS2-SRA7BD 1 RCS2-RA5C

RCS2-RA5R 1

RCS2-RGD5C

Stroke 100mm or less: 4 pieces, stroke more than 100mm: 8 pieces

Nut

M10u1.25

Nut

M12u1.25

Nut

M14u1.5

Nut

M20u1.5

Nut

M22u1.5

Square Nut

6u6 M4

Square Nut

7u7 M4

4 or 8

Square Nut

10u10 M6

1. Specications Check

Model No.

RCS2-RA4C 1 1 1 RCS2-RA4D 1 1 1 RCS2-RA4R 2 1 RCS2-RGS4C 1 1 RCS2-RGS4D 1 1

Nut A

M26u1.5

Nut B

M35u1.5

Nut C

M8u1.5

Nut A

M30u1.5

Nut B

M40u1.5

Nut C

M10u1.5

1.1.2 Operation Manuals for the Controllers Related to this Product

(1) XSEL-J/K Controller

No. Name Control No.

1 Operation Manual for XSEL-J/K Controller ME0116 2 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154 3 Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183 4 Operation Manual for Teaching Pendant IA-T-X/XD ME0160 5 Operation Manual for DeviceNet ME0124 6 Operation Manual for CC-Link ME0123

1. Specications Check

7 Operation Manual for PROFIBUS ME0153 8 Operation Manual for X-SEL EtherNet ME0140 9 Operation Manual for Multi-Point I/O Board ME0138

10 Operation Manual for Multi-Point I/O Board Dedicated Terminal Board ME0139

(2) XSEL-P/Q Controller

No. Name Control No.

1 Operation Manual for XSEL-P/Q Controller ME0148 2 Operation Manual for XSEL-P/Q/PX/QX RC Gateway Function ME0188 3 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154 4 Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183 5 Operation Manual for Teaching Pendant IA-T-X/XD ME0160 6 Operation Manual for DeviceNet ME0124 7 Operation Manual for CC-Link ME0123 8 Operation Manual for PROFIBUS ME0153

(3) SSEL Controller

No. Name Control No.

1 Operation Manual for SSEL Controller ME0157 2 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154 3 Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183 4 Operation Manual for Teaching Pendant IA-T-X/XD ME0160 5 Operation Manual for DeviceNet ME0124 6 Operation Manual for CC-Link ME0123 7 Operation Manual for PROFIBUS ME0153

(4) SCON Controller and Related

No. Name Control No.

1 Operation Manual for SCON Controller ME0161 2 Operation Manual for SCON-CA Controller SCON-CA ME0243 3 Operation Manual for PC Software RCM-101-MW/RCM-101-USB ME0155 4 Operation Manual for Teaching Pendant CON-T/TG ME0178 5 Operation Manual for Touch Panel Teaching CON-PT/PD/PG ME0227 6 Operation Manual for Simplified Teaching Pendant RCM-E ME0174 7 Operation Manual for Data setter RCM-P ME0175 8 Operation Manual for Touch Panel Display RCM-PM-01 ME0182 9 Operation Manual for DeviceNet ME0124

10 Operation Manual for CC-Link ME0123

11 Operation Manual for PROFIBUS ME0153

1.1.3 How to Read the Model Nameplate

 

Model

Serial numbe

MODEL RCS-RA4C-I-20-12-50-T1-P-B

SERIAL No.000090266 MADE IN JAPAN

1.1.4 How to Read the Model Number

(1) RCS2 Actuator

R C S 2 - R A 4 C - I - 2 0 - 1 2 - 5 0 - T 1 - P - B -

<Series Name> Standard Type RCS2 Dustproof/Splash proof type RCS2W

<Type> Standard Type Coupling Type RA4C, RA5C Built-in Type RA4D, SRA7BD RA7AD, RA7BD Motor Reversing Type RA4R, RA5R RA13R With Single Guide Type Coupling Type RGS4C, RGS5C Built-in Type RGS4D, SRGS7BD RGS7AD, RGS7BD With Double Guides Type Coupling Type RGD4C, RGD5C Built-in Type RGD4D, SRGD7BD RGD7AD, RGD7BD Motor Reversing Type RGD4R Short Type SRA7BD With Single Guide Type SRGS7BD With Double Guides Type SRGD7BD

<Encoder type> I : Incremental A : Absolute TA : Absolute

<Motor Type> 20 : 20W 30 : 30W 60 : 60W 100 : 100W 150 : 150W 750 : 750W

<Lead>

1.25 : 1.25mm

2.5 : 2.5mm 3 : 3mm 4 : 4mm 6 : 6mm 8 : 8mm 12 : 12mm 16 : 16mm

T1 : XSEL-J/K T2 : SCON

SSEL XSEL-P/Q

Identification for IAI use only

<Options> B : Brake FT : Foot Bracket FL : Flange Bracket (Front) FLR : Flange Bracket (Back) HA : High Acceleration/Deceleration Type HS : Home Position Confirmation Sensor NJ : Knuckle Joint NM : Reversed-home type TRF : Trunnion Bracket (Front) TRR : Trunnion Bracket (Rear) QR : Clevis Bracket RP : Rear Attachment Plate A1 to A3: Difference in Connector Cable Orientation ML : Motor Reversing Type (Standard) MR : Motor Reversing Type GS2 to GS4: Difference in Guide Attachment Orientation RE : Rod Tip Extended Type CE : CE Mark Complied

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

(Note 1)

1. Specications Check

(2) Flat Type

R C S 2 - F 5 D - I - 6 0 - 1 6 - 5 0 - T 1 - P - B - * *

<Type>

<Encoder type> I : Incremental A : Absolute

<Motor Type> 60 : 60W 100 : 100W

<Lead> 4 : 4mm 8 : 8mm 16 : 16mm

Identification for IAI use only

<Options> B : Brake NM : Reversed-home type

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

<Controller> T1 : XSEL-J/K T2 : SCON : SSEL : XSEL-P/Q

(Note 1)

Note1 Identification for IAI use only: It may be displayed for IAI use. It is not a code to show the model type.

1.2 Specification

1.2.1 Speed



Type Motor Type Lead [mm]

RCS2-RA4C,

RA4D, RA4R,

RGS4C, RGS4D, RGD4C, RGD䋴D

RGD4R,

1. Specications Check

RCS2W-RA4C,

RA4D, RA4R

RCS2-RA5C,

RGS5C, RGD5C

RCS2-RA5R 60W

RCS2-RA7AD,

RGS7AD,

RGD7AD

RCS2-RA7BD,

RGS7BD,

RGD7BD

RCS2-SRA7BD,

SRGS7BD,

SRGD7BD

RCS2-F5D

20W 30W

60W

100W

60W

100W

150W

60W 100W 150W

60W 100W

Speed limits [Unit: mm/s]

Horizontal/

Vertical

Horizontal 150

Vertical 150

Horizontal 300

Vertical 300

Horizontal 600

Vertical 600

Horizontal 200 188

Vertical 200 188

Horizontal 400 377

Vertical 400 377

Horizontal 800 755

Vertical 800 755

Horizontal 200 188

Vertical 200 188

Horizontal 400 377

Vertical 400 377

Horizontal 800 755

Vertical 800 755

Horizontal 150 125

Vertical 150 125

Horizontal 300 250

Vertical 300 250

Horizontal 600 505

Vertical 600 505

Horizontal 300 250

Vertical 300 250

Horizontal 600 505

Vertical 600 505

Horizontal 200

Vertical 200

Horizontal 400

Vertical 400

Horizontal 800

Vertical 800

Horizontal 400

Vertical 400

Horizontal 800

Vertical 800

Horizontal 200

Vertical 200

Horizontal 400

Vertical 400

Horizontal 800

Vertical 800

Horizontal 200

Vertical 200

Horizontal 400

Vertical 400

Horizontal 800

Vertical 800

50 to 250 300

Stroke [mm]

1.2.2 Maximum acceleration and transportable weight

Type Motor Type Lead [mm]

20W

RCS2-RA4C

30W

20W

RCS2-RGS4C,

RGD4C

30W

20W

RCS2-RA4D,

RA4R,

RCS2W-RA4C,

RA4D, RA4R

30W

20W

RCS2-RGS4D,

RGD䋴D, RGD4R

30W

Maximum acceleration [G]

Horizontal/

Vertical

Horizontal 0.2 – 12.0 75.4

Vertical 0.2 – 4.0 75.4

Horizontal 0.3 1.0 6.0 37.7

Vertical 0.3 1.0 2.0 37.7

Horizontal 0.3 1.0 3.0 18.9

Vertical 0.3 1.0 1.0 18.9

Horizontal 0.2 – 18.0 113.1

Vertical 0.2 – 6.5 113.1

Horizontal 0.3 1.0 9.0 56.6

Vertical 0.3 1.0 3.0 56.6

Horizontal 0.3 1.0 4.0 28.3

Vertical 0.3 1.0 1.5 28.3

Horizontal 0.2 – 12.0 75.4

Vertical 0.2 – 3.5 75.4

Horizontal 0.3 1.0 6.0 37.7

Vertical 0.3 1.0 1.5 37.7

Horizontal 0.3 1.0 3.0 18.9

Vertical 0.3 1.0 0.5 18.9

Horizontal 0.2 – 18.0 113.1

Vertical 0.2 – 6.0 113.1

Horizontal 0.3 1.0 9.0 56.6

Vertical 0.3 1.0 2.5 56.6

Horizontal 0.3 1.0 4.0 28.3

Vertical 0.3 1.0 1.0 28.3

Horizontal 0.2 – 12.0 75.4

Vertical 0.2 – 4.0 75.4

Horizontal 0.3 – 6.0 37.7

Vertical 0.3 – 2.0 37.7

Horizontal 0.3 – 3.0 18.9

Vertical 0.3 – 1.0 18.9

Horizontal 0.2 – 18.0 113.1

Vertical 0.2 – 6.5 113.1

Horizontal 0.3 – 9.0 56.6

Vertical 0.3 – 3.0 56.6

Horizontal 0.3 – 4.0 28.3

Vertical 0.3 – 1.5 28.3

Horizontal 0.2 – 12.0 75.4

Vertical 0.2 – 3.5 75.4

Horizontal 0.3 – 6.0 37.7

Vertical 0.3 – 1.5 37.7

Horizontal 0.3 – 3.0 18.9

Vertical 0.3 – 0.5 18.9

Horizontal 0.2 – 18.0 113.1

Vertical 0.2 – 6.0 113.1

Horizontal 0.3 – 9.0 56.6

Vertical 0.3 – 2.5 56.6

Horizontal 0.3 – 4.0 28.3

Vertical 0.3 – 1.0 28.3

Standard

Type

High Acceleration/ Deceleration

Type

(Model: HA)

Transportable

Weight [kg]

Rated Thrust

[N]

1. Specications Check

Type Motor Type Lead [mm]

RCS2-RA5C

1. Specications Check

RCS2-RA5R 60W

RCS2-RGS5C,

RGD5C

RCS2-RA7AD

RCS2- RGS7AD

60W

100W

60W

100W

60W

100W

60W

100W

Maximum acceleration [G]

Horizontal/

Vertical

Horizontal 0.2 – 50.0 255.1

Vertical 0.2 – 11.5 255.1

Horizontal 0.3 1.0 25.0 127.5

Vertical 0.3 1.0 5.0 127.5

Horizontal 0.3 1.0 12.0 68.3

Vertical 0.3 1.0 2.0 68.3

Horizontal 0.2 – 60.0 424.3

Vertical 0.2 – 18.0 424.3

Horizontal 0.3 1.0 30.0 212.7

Vertical 0.3 1.0 9.0 212.7

Horizontal 0.3 1.0 15.0 105.8

Vertical 0.3 1.0 3.5 105.8

Horizontal 0.2 – 50.0 255.1

Vertical 0.2 – 11.5 255.1

Horizontal 0.3 – 25.0 127.5

Vertical 0.3 – 5.0 127.5

Horizontal 0.3 – 12.0 68.3

Vertical 0.3 – 2.0 68.3

Horizontal 0.2 – 50.0 255.1

Vertical 0.2 – 10.8 255.1

Horizontal 0.3 1.0 25.0 127.5

Vertical 0.3 1.0 4.3 127.5

Horizontal 0.3 1.0 12.0 68.3

Vertical 0.3 1.0 1.3 68.3

Horizontal 0.2 – 60.0 424.3

Vertical 0.2 – 17.3 424.3

Horizontal 0.3 1.0 30.0 212.7

Vertical 0.3 1.0 8.3 212.7

Horizontal 0.3 1.0 15.0 105.8

Vertical 0.3 1.0 2.8 105.8

Horizontal 0.05 – 40.0 340.1

Vertical 0.05 – 15.0 340.1

Horizontal 0.1 – 20.0 169.5

Vertical 0.1 – 7.0 169.5

Horizontal 0.15 – 10.0 85.3

Vertical 0.15 – 2.5 85.3

Horizontal 0.1 – 30.0 283.2

Vertical 0.1 – 12.5 283.2

Horizontal 0.2 – 15.0 141.1

Vertical 0.2 – 5.5 141.1

Horizontal 0.05 – 40.0 340.1

Vertical 0.05 – 14.5 340.1

Horizontal 0.1 – 20.0 169.5

Vertical 0.1 – 6.0 169.5

Horizontal 0.15 – 10.0 85.3

Vertical 0.15 – 1.5 85.3

Horizontal 0.1 – 30.0 283.2

Vertical 0.1 – 11.5 283.2

Horizontal 0.2 – 15.0 141.1

Vertical 0.2 – 4.5 141.1

Standard

Type

High Acceleration/ Deceleration

Type

(Model: HA)

Transportable

Weight [kg]

Rated Thrust

[N]

Type Motor Type Lead [mm]

60W

RCS2-RGD7AD

100W

RCS2-RA7BD

150W

100W

RCS2-RGS7BD

150W

100W

RCS2-RGD7AD

150W

Maximum acceleration [G]

Horizontal/

Vertical

Horizontal 0.05 – 40.0 340.1

Vertical 0.05 – 13.9 340.1

Horizontal 0.1 – 20.0 169.5

Vertical 0.1 – 5.4 169.5

Horizontal 0.15 – 10.0 85.3

Vertical 0.15 – 0.9 85.3

Horizontal 0.1 – 30.0 283.2

Vertical 0.1 – 10.9 283.2

Horizontal 0.2 – 15.0 141.1

Vertical 0.2 – 3.9 141.1

Horizontal 0.1 – 40.0 424.3

Vertical 0.1 – 19.5 424.3

Horizontal 0.17 – 22.0 212.7

Vertical 0.17 – 9.0 212.7

Horizontal 0.25 – 10.0 105.8

Vertical 0.25 – 3.5 105.8

Horizontal 0.2 – 35.0 318.5

Vertical 0.2 – 14.5 318.5

Horizontal 0.3 – 15.0 158.8

Vertical 0.3 – 6.5 158.8

Horizontal 0.1 – 40.0 424.3

Vertical 0.1 – 18.5 424.3

Horizontal 0.17 – 22.0 212.7

Vertical 0.17 – 8.0 212.7

Horizontal 0.25 – 10.0 105.8

Vertical 0.25 – 2.5 105.8

Horizontal 0.2 – 35.0 318.5

Vertical 0.2 – 13.5 318.5

Horizontal 0.3 – 15.0 158.8

Vertical 0.3 – 5.5 158.8

Horizontal 0.1 – 40.0 424.3

Vertical 0.1 – 17.9 424.3

Horizontal 0.17 – 22.0 212.7

Vertical 0.17 – 7.4 212.7

Horizontal 0.25 – 10.0 105.8

Vertical 0.25 – 1.9 105.8

Horizontal 0.2 – 35.0 318.5

Vertical 0.2 – 12.9 318.5

Horizontal 0.3 – 15.0 158.8

Vertical 0.3 – 4.9 158.8

Standard

Type

High Acceleration/ Deceleration

Type

(Model: HA)

Transportable

Weight [kg]

Rated Thrust

[N]

1. Specications Check

Type Motor Type Lead [mm]

1. Specications Check

RCS-SRA7BD

60W

100W

150W

60W

100W

150W

Horizontal/

Vertical

Horizontal 0.05 – 20.0 254

Vertical 0.05 – 10.0 254

Horizontal 0.15 – 10.0 127

Vertical 0.15 – 5.0 127

Horizontal 0.25 – 5.0 63

Vertical 0.25 – 2.0 63

Horizontal 0.1 – 40.0 414

Vertical 0.1 – 19.5 414

Horizontal 0.2 – 22.0 207

Vertical 0.2 – 9.0 207

Horizontal 0.3 – 10.0 103

Vertical 0.3 – 3.5 103

Horizontal 0.1 – 55.0 628

Vertical 0.1 – 22.5 628

Horizontal 0.2 – 35.0 314

Vertical 0.2 – 14.5 314

Horizontal 0.3 – 15.0 157

Vertical 0.3 – 6.5 157

Horizontal – 0.15 10.0 254

Vertical – 0.15 5.0 254

Horizontal – 0.25 5.0 127

Vertical – 0.25 2.5 127

Horizontal – 0.35 2.5 63

Vertical – 0.35 1.0 63

Horizontal – 0.2 20.0 414

Vertical – 0.2 9.0 414

Horizontal – 0.3 10.0 207

Vertical – 0.3 4.5 207

Horizontal – 0.4 5.0 103

Vertical – 0.4 1.5 103

Horizontal – 0.2 27.5 628

Vertical – 0.2 11.0 628

Horizontal – 0.3 17.5 314

Vertical – 0.3 7 314

Horizontal – 0.4 7.5 157

Vertical – 0.4 3.0 157

Acceleration [G]

Rated

acceleration

Maximum

acceleration

Transportable

Weight [kg]

Rated Thrust

[N]

Type Motor Type Lead [mm]

60W

100W

150W

RCS-SRGS7BD

60W

100W

150W

Horizontal/

Vertical

Horizontal 0.05 – 20.0 254

Vertical 0.05 – 9.5 254

Horizontal 0.15 – 10.0 127

Vertical 0.15 – 4.5 127

Horizontal 0.25 – 5.0 63

Vertical 0.25 – 1.5 63

Horizontal 0.1 – 40.0 414

Vertical 0.1 – 19.0 414

Horizontal 0.2 – 22.0 207

Vertical 0.2 – 8.5 207

Horizontal 0.3 – 10.0 103

Vertical 0.3 – 3.0 103

Horizontal 0.1 – 55.0 628

Vertical 0.1 – 22.0 628

Horizontal 0.2 – 35.0 314

Vertical 0.2 – 14.0 314

Horizontal 0.3 – 15.0 157

Vertical 0.3 – 6.0 157

Horizontal – 0.15 10.0 254

Vertical – 0.15 4.5 254

Horizontal – 0.25 5.0 127

Vertical – 0.25 2.0 127

Horizontal – 0.35 2.5 63

Vertical – 0.35 0.5 63

Horizontal – 0.2 20.0 414

Vertical – 0.2 8.5 414

Horizontal – 0.3 10.0 207

Vertical – 0.3 4.0 207

Horizontal – 0.4 5.0 103

Vertical – 0.4 1.0 103

Horizontal – 0.2 27.5 628

Vertical – 0.2 10.5 628

Horizontal – 0.3 17.5 314

Vertical – 0.3 6.5 314

Horizontal – 0.4 7.5 157

Vertical – 0.4 2.5 157

Acceleration [G]

Rated

acceleration

Maximum

acceleration

Transportable

Weight [kg]

Rated Thrust

[N]

1. Specications Check

Type Motor Type Lead [mm]

1. Specications Check

RCS2-F5D

Caution: Do not attempt to establish the settings for the acceleration/deceleration above the allowable

range. It may cause vibration, malfunction or shortened life.

60W

100W

Maximum acceleration [G]

Horizontal/

Vertical

Horizontal 0.2 –

Vertical 0.2 – 11.5 255.1

Horizontal 0.3 –

Vertical 0.3 – 5.0 127.5

Horizontal 0.3 –

Vertical 0.3 – 2.0 63.8

Horizontal 0.2 –

Vertical 0.2 – 18.0 424.3

Horizontal 0.3 –

Vertical 0.3 – 9.0 212.7

Horizontal 0.3 –

Vertical 0.3 – 3.5 105.8

Standard

Type

High Acceleration/ Deceleration

Type

(Model: HA)

Transportable

Weight [kg]

See the next

page

See the next

page

See the next

page

See the next

page

See the next

page

See the next

page

Rated Thrust

[N]

255.1

127.5

63.8

424.3

212.7

105.8

[Moment and Transportable Weight of Flat Type (F5D)] Shown in the table below is the allowable load on the tip calculated from Ma moment of each stroke.



Stroke 50 100 150 200 250 300

F5D Type

Distance from point of

action [m]

N 64.3 37.5 26.5 20.5 16.7 14.1

(kgf) 6.56 3.83 2.70 2.09 1.70 1.43

0.07 0.12 0.17 0.22 0.27 0.32

Distance from point of action

1. Specications Check

Point of Action

1.2.3 Driving System • Position Detector

Type Motor Type

RCS2-RA4C, A4D, RA4R,

RGS4C, RGS4D, GD4C,

RGD4, RGD4R, CS2W-RA4C,

RA4D, RA4R

RCS2-RA5C, RGS5C,

RGD5C

1. Specications Check

RCS2-RA5R 60W

RCS2-RA7AD,

RGS7AD,

RGD7AD

RCS2-RA7BD,

RGS7BD,

RGD7BD

RCS2-SRA7BD,

SRGS7BD, SRGD7BD

RCS2-F5D

20W 30W

60W

100W

60W

100W

150W

60W 100W 150W

60W 100W

Lead [mm]

4 8

3 6

4 8

No. of

Encoder

Pulses

16384

3072

16384 Bll Screw

Type Diameter Accuracy

Bll Screw

Ball Screw Type

I10mm

I12mm

I10mm

I12mm

C10

1.2.4 Positioning Precision

Type Lead [mm] Item Tolerance

RCS2-RA4C, RA4D, RA4R,

RGS4C, RGS4D, RGD4C,

RGD4, D4R, RCS2W-RA4C,

RA4D, RA4R RCS2-RA5C,

RA5R, RGS5C,

RGD5C

RCS2-RA7AD,

RGS7AD,

RGD7AD

RCS2-RA7BD,

RGS7BD,

RGD7BD

RCS2-SRA7BD,

SRGS7BD, SRGD7BD

RCS2-F5D

3 6

4 8

3 6

4 8

The values shown above are the accuracy at the delivery from the factory. It does not include the consideration of time-dependent change as it is used.

Positioning Repeatability ±0.02mm

Lost Motion 0.1mm or less

Positioning Repeatability ±0.02mm

Lost Motion 0.1mm or less

Positioning Repeatability ±0.02mm

Lost Motion 0.1mm or less

Positioning Repeatability ±0.02mm

Lost Motion 0.1mm or less

Positioning Repeatability ±0.02mm

Lost Motion 0.1mm or less

Positioning Repeatability ±0.02mm

Lost Motion 0.05 or less

1.2.5 Rod Non-Rotation Accuracy

Type Lead [mm] Tolerance

RCS2-RA4C,

RA4D, RA4R,

RCS2W-RA4C, RA4D,

RA4R

RCS2- RGS4C,

RGS4D

RGD4C, RGD䋴D

RCS2-RA5C,

RA5R

RCS2-RGS5C

RCS2-RGD5C

RCS2-RA7AD

RCS2-RGS7AD

RCS2-RGD7AD

RCS2-RA7BD

RCS2-RGS7BD

RCS2-RGD7BD

RCS2-SRA7AD

RCS2-SRGS7AD

RCS2-SRGD7AD

1. Specications Check

3 6

4 8

3 6

4 8

±1.0°

±0.05°

±0.7°

±0.1°

±0.08°

±0.7°

±0.1°

±0.08°

±0.7°

±0.1°

±0.08°

–

±0.1°

±0.08°

1.2.6 Allowable Load Moment of Actuator

(1) Rod Type

x The actual load should not exceed the value specified in the catalog. x Be sure to align the shaft center of the rod and the moving direction of the load.

x Lateral load may cause damage or breakdown of the actuator. x If the rod may receive lateral load, provide a guide or other appropriate mechanism to support the

actuator in the moving direction of the load.

1. Specications Check

x Do not allow the rod (slide shaft) to receive rotational torque.

* Doing so may damage the internal parts.

Tighten the nut at the tip of the rod, while securely holding the rod using a wrench of size 17 (RA4) or 22 (RA5).

(2) Flat Type 

Shown below is the dynamic allowable load moment when the driving life is 5000km.

1. Specications Check

Type

F5D 4.5 5.4 4.1

 

The point of action for the moment in directions Ma and Mb are as shown below.



Allowable Dynamic Load Moment [N•m]

Ma Mb Mc



F5D

          

         

44.5mm

Point of Action

1.2.7 Protection class

Type Performance

RCS2W-RA4C, RA4D, RA4R IP54

[Refer to 2.4 Connecting the Air Tube of the RCS2W Dustproof/Splash-proof Type for the details.]

1.2.8 Duty Ratio in Continuous Operation

]

Continuous operation is available with the duty ratio 100%. Duty ratio is the rate of operation expressed in % that presents the time of the actuator being operated in 1 cycle of operation.

Caution: If an overload error occurs, extend the stopped time to lower the duty or decrease

[How to Calculate Duty] Figure out the load rate and acceleration/deceleration speed time ratio by calculation and read the duty ratio

1. Specications Check

from the graph. When the load rate is less than 50%, an operation with 100% duty ratio (continuous operation) should be available.

1) Duty ratio LF It is descried in 2. Specifications regarding the maximum transportable weight at the rated acceleration and rated acceleration/deceleration.

theacceleration/deceleration speed.

Duty ratio: LF = [%]

M u D

Mr u Dr

Maximum transportable weight at the rated acceleration : Mr [kg] Rated acceleration/deceleration : Dr [G] Transferring mass during operation : M [kg] Acceleration/deceleration during operation : D [kg]

2) Acceleration/deceleration time ratio t

Acceleration/deceleration time ratio tod = [%]

Velocity at

operation [mm/s]

Acceleration time = [sec] Deceleration time = [sec]

Acceleration [mm/s

Acceleration during

eration[mm/s

] = Acceleration [G] u 9,800mm/s

Deceleration [mm/s2] = Deceleration [G] u 9,800mm/s

Acceleration time during operation

Deceleration time

during operation

Operation Time

Velocity at

operation [mm/s]

Deceleration during

operation [mm/s

]

3) Read the duty ratio from the load rate LF and the acceleration speed time ratio tod that were used to figure out the duty ratio. Example) If the load factor LF is 80% and acceleration/deceleration time ratio tod is 80%, the reference

duty is approx. 75%.

LF = Less than 50%

Approx

75%

50%

Reference of Operation Duty [%]

45 %

Acceleration/deceleration time ratio tod [%]

LF = 60%

LF = 70%

LF = 80% LF = 90%

LF = 100%

High Accel/Decel Type LF = 125%

High Accel/Decel Type LF = 150%

High Accel/Decel Type LF = 200%

High Accel/Decel Type

1.3 Option

1.3.1 Brake Type (Model: B)

The brake is a mechanism designed to prevent the rod from dropping on a vertically installed actuator when the power or servo is turned OFF. Use the brake to prevent the installed load, etc., from being damaged due to the falling rod.

1.3.2 Reversed–home Specification (Model: NM)

The standard home position is on the motor side. This is the type to indicate when the operation direction is required to be in the same as the coordinate system of the device that the actuator is mounted on.

Caution: The home position is adjusted at the factory before shipment. If you wish to change

the home after the delivery of your actuator, you must return the actuator to IAI for adjustment. Contact our sales office or an agent near you.

1.3.3 Foot Bracket (Model: FT)

It is a metal part to be attached on the bottom of the actuator to affix with screws from top side.

RCS2-RA4R/RGS4R/RGD4R

Model code of single product: RCA-FT-RA4R

113.2

2-φ6.8

50.5

39 75

Home

Nut A

115.5

82.5

9.5

2-φ6.8

[RA4R]

L1st L2

125

100

175

150

225

200

275

250

325

300

375

[RGS4R/RGD4R]

L1st L2

133

100

183

150

233

200

283

250

333

300

383

198 248 298 348 398 448

206 256 306 356 406 456

RCS2-RA5C/RA5R/RGS5C/RGD5C Model code of single product: RCS2-FT-RA5

84.5

1. Specications Check

RCS2-SRA7BD Model code of single product: RCS2-FT-SRA7

2×2-φ7

100

107

16.5

1.3.4 Flange Bracket (Front) (Model: FL)

This is a metal component for flange to fix the unit on the rod side.

RCS2-RA4□ RCS2W-RA4□

Model code of single product:

RCA-FL-RA4

1. Specications Check

52.8

RCS2-SRA7BD

Model code of single product: RCS2-FL-SRA7

4-φ9

M30×1.5 (Effective Thread Area = 17.5)

φ20

Rod O.D.

Nut

(Width across Flats)

Flange

RCS2-RA5□

Model code of single product: RCS2-FL-RA5

(55)

4-φ7

φ37

54.5

(55)

70 85

(55)

(72.5)

(52)

Home

(55)

M10×1.25 (Effective Thread Area = 20)

4-φ6.8

Home

(Width across Flats)

37.5

Nut

75 60

106

1.3.5 Flange Bracket (Rear) (Model: FLR)

This is a flange bracket to affix the unit body at the back (motor) side.

RCS2/RCS2W-RA4C/RA4D Model code of single product: RCA-FLR-RA4

m56 19L1

Home

4-φ6.8

Nut B

φ37

Flange

47 (Width across Flats)

φ50

φ42

Dimension M

RCA

RCS2

st 50 100 150 200 250 300

L1 137 187 237 287 337 487

Incremental Absolute Incremental/ Absolute

20w

67.5

80.5

30w

82.5

95.5

RCS2/RCS2W-RA4R Model code of single product: RCA-FL-RA4

Home

115.5

82.5

9.5

φ37

*The front flange and the rear flange can be used in common for the motor reversing type.

98.5

50.5

4-φ6.8

60 75

M10, Depth 18

st L1 L2 50 125 234 100 175 284 150 225 334 200 275 384 250 325 434 300 375 484

Flange

φ42

φ50

33L156

1.3.6 High Acceleration/Deceleration Type) (Model: HA)

The maximum acceleration (0.2G or 0.3G) for the standard type becomes 1.0G. At the maximum acceleration 1.0G, operation with the same transportable weight as the standard type can be performed. The dedicated controller is required when operating a high acceleration/deceleration type actuator. The controller differs from the standard type.

1.3.7 Home Position Confirmation Sensor (Model: HS)

A sensor to monitor the slider to see if it is certainly moved to the home position when a home-return is executed gets attached on the actuator.

1.3.8 Knuckle Joint (Model: NJ)

This is a metal joint to make free movement (rotation) on the tip of the rod for when using a clevis or trunnion bracket.



For RCS2-RA4□

Model code of single product: RCA-NJ-RA4

1. Specications Check

M10×1.25, Depth 13

Joint Pin

Joint S

30 30 11

Joint W

Nut

1.3.9 Trunnion Bracket (Front) (Model: TRF)

This is a bracket to make the cylinder follow when the movement of an object attached on the tip of the rod is different from the direction of rod movement. Attach on the rod.

For RCS2-RA4□

Model code of single product:

RCA-TRF-RA4

66.4 40

Bracket B

M10×1.25 (Effective Thread Area = 20)

Home

Nut C

19 (Width across Flats)

Bracket A

φ20

Rod O.D.

55610

Ring

36 (Width across Flats)

φ37

M40×1.25 (Effective Thread Area = 19.5)

47 (Width across Flats)

9.5

1.3.10 Trunnion Bracket (Rear) (Model: TRR)

This is a bracket to make the cylinder follow when the movement of an object attached on the tip of the rod is different from the direction of rod movement. Attach it on the back (motor) side.

1. Specications Check

1.3.11 Clevis Bracket (Model: QR)

This is a bracket to make the cylinder follow when the movement of an object attached on the tip of the rod is different from the direction of rod movement.

For RCS2-RA4□

Model code of single product:

RCA-TRR-RA4

M10×1.25 (Effective Thread Area = 20)

Home

Nut C

19 (Width across Flats)

36 (Width across Flats)

φ37

Nut A

RCS2-RA4R

Model code of single product: RCA-QR-RA4

Home SE

Nut B

14 (Width across Flats)

φ20 Rod O.D.

9 10

9.5

Nut A

32 (Width across Flats)

82.5

φ37

115.5

φ42

0 φ5

M30×1.5 (Effective Thread Area = 17.5)

φ20

Rod O.D.

47 (Width across Flats)

Clevis

2-φ9

9.5

107

26.4

50.5

66.5

98.5

100

150

200

250

300

125

175

225

275

325

375

242

292

342

392

442

492

1.3.12 Rear Attachment Plate (Model: RP)

This is a metal (plate) to affix the motor reversing type on the back side.

For RCS2-RA4R

Model code of single product: RCA-RP-RA4

Home

Nut B

14 (Width across Flats)

9 56

Nut A

φ20 Rod O.D.

32 (Width across Flats)

115.5

82.5

9.5

φ37

φ42

φ50

33 2.5 50.5

30h9 (-0.052)

98.5

4-M4

1.3.13 Difference in Connector Cable Orientation (Model: A1 to A3)

The direction of cable ejection is different.

Ejection on motor side (Standard)

■ No option indicated (Not Specified)

Left oriented ejection

■ Option indication:

1. Specications Check

(Complied with SRA7BD)

Ejection on rod side

■ Option indication: A2 (Complied with RA5C/RA5R/SRA7BD)

Right oriented ejection

■ Option indication:

(Complied with SRA7BD)

1.3.14 Motor Reversing Type (Standard) (Model: ML), Motor Reversing Type (Model: MR)

The direction of motor reversing is different. From the view of the motor side, the type with the motor reversed to the left is ML, and the motor reversed to the right is MR

1.3.15 Difference in Guide Attachment Orientation (Model: GS2 to GS4)

The position of the rod for the single guided type is different. They are attached on the right (GS2), attached on the bottom (GS3) and attached on the left (GS4).

1.3.16 Rod Tip Extended Type (Model: RE)

This is an adopter to extend the rod tip of RCS2-SRA7BD to have the same distance from the attachment hole to the rod tip for RCS2-SRA4BD and RCS2-RA7BD.

1.3.17 CE Mark Complied (Model: CE)

It shows the compliance with CE Mark

1.4 Motor • Encoder Cables

[1] Motor Cables/Motor Robot Cables

Model number: CB-RCC-MAƑƑƑ/CB-RCC-MAƑƑƑ-RB ƑƑƑ indicates the cable length (L) (Example: 030=3m), Max.20m

(16) (20)

(41)

1. Specications Check

(Front View)

[Bending Radius] When used under moving condition : 51mm (Robot Cable) When used in fixed condition : 34mm (Standard Cable)

[2] Encoder Cables/Encoder Robot Cables (For X-SEL-J/K)

Model number: CB-RCBC-PAƑƑƑ/CB-RCBC-PAƑƑƑ-RB ƑƑƑ indicates the cable length (L) (Example: 030=3m), Max.20m

(16)

(33)

Controller side

(57)

Width

0.75sq

(

Signal Name

No.

1 2 3 4

(

(21)

Signal Name

No.

(36)

Width

0.75sq

(Solderless)

(20)

Mechanical Side

1,10

(14)

(10)

(18)

(Front View)

(15)

(25)

(Front View)

Controller side

Width

Signal Name

A/U A/U B/V B/V Z/W

0.15sq

(Solderless)

The shield is clamped to the hood

Ground wire and braided shield wires

Z/W

SD SD

BAT+

BATVCC GND

BKBK+

―

No.

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

[Bending Radius] When used under moving condition : 90mm (Robot Cable) When used in fixed condition : 75mm (Standard Cable)

No.

10 11 12 13 14 15 16 17 18

1 2 3 4 5 6 7 8 9

Signal Name

A/U A/U B/V

B/V Z/W Z/W

―

― FG SD SD

BAT+

BAT-

VCC

GND

―

BK-

BK+

Width

0.15sq

(Solderless)

9,18

(Front View)

Mechanical Side

[3] Encoder Cables/Encoder Robot Cables (For SCON, SSEL and X-SEL-P/Q)

Model number: CB-RCS2-PAƑƑƑ/CB-X2-PAƑƑƑ ƑƑƑ indicates the cable length (L) (Example: 030=3m), Max.20m

(41)

(13)

1. Specications Check

(14)

(15)

(37)

Controller side Mechanical Side

Electric Wire Color

Signal Name

Width

AWG26

(Soldered)

The shield is clamped to the hood

― ―

E24V

0V LS

CLEEP

RSV

― ― ―

A+

A-

B+

B-

Z+

ZSRD+ SRDBAT+

BAT-

VCC GND BKR-

BKR+

―

Orange/White

― ― ―

Gray/White

Brown/White

― ― ― ― ― ―

Pink

Purple

White

Blue/Red

Green/White

Blue

Orange

Black Yellow Green Brown

Gray

Red

―

No.

10 11 12 13 26 25 24 23

18 19

14 15 16 17 20 21 22

1 10

(25)

(Front View)(Front View)

Electric Wire Color

1 2 3 4 5 6 7 8

Ground wire and braided shield wires

No.

1 2 3 4 5

Orange/White

Green/White

Brown/White 8 9

10 11 12 13 14 15 16 17 18

Purple

Blue/Red

Orange

Yellow

Brown

Gray/White

Pink

White

―

Drain

Blue

Black

Green

Gray

Red

Signal Name

A A

B B

Z Z

LS+

―

FG SD

BAT+

BATVCC GND

LSBK-

BK+

Width

AWG26

(Solderless)

[Bending Radius] When used under moving condition : 58mm (Robot Cable) When used in fixed condition : 93mm (Standard Cable)

2. Installation

2.1 Transportation

[1] Handling of Robot

(1) Handling the Packed Unit

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

2. Installation

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.

(2) Handling the Actuator After Unpacking

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

x Hold the body base when transporting the actuator. x Be careful not to bump the actuator into anything when moving it. x Do not apply an excessive force to each part of the actuator.Inparticular, prevent the motor unit and rear

bracket from receiving an unnecessary force.

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

[2] Handling in Assembled Condition

x When carrying the actuator, exercise caution not to bump it against nearby objects or structures. x Secure the rods 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 actuator, connector

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



2. Installation

2.2 Installation and Storage • Preservation Environment

[1] Installation Environment

The actuator should be installed in a location other than those specified below. In general, the installation environment should be one in which an operator can work without protective gear. Also provide sufficient work space required for maintenance inspection.

x Where the actuator receives radiant heat from strong heat sources such as heat treatment furnaces x Where the ambient temperature exceeds the range of 0 to 40qC

2. Installation

x Where the temperature changes rapidly and condensation occurs x Where the relative humidity exceeds 85% RH x Where the actuator receives direct sunlight x Where the actuator is exposed to corrosive or combustible gases x Where the ambient air contains a large amount of powder dust, salt or iron (at level exceeding what is normally

expected in an assembly plant)

x Where the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or chemical solutions x Where the actuator receives impact or vibration

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

x Where noise generates due to static electricity, etc. x Where the actuator is subject to a strong electric or magnetic field x Where the actuator is subject to ultraviolet ray or radiation

[2] Storage • Preservation Environment

x The storage and preservation environment should comply with the same standards as those for the installation

environment. In particular, when the machine is to be stored for a long time, pay close attention to environmental conditions so that no dew condensation forms.

x Unless specially specified, moisture absorbency protection is not included in the package when the machine is

delivered. In the case that the machine is to be stored and preserved in an environment where dew condensation is anticipated, take the condensation preventive measures from outside of the entire package, or directly after opening the package.

x For storage and preservation temperature, the machine withstands temperatures up to 60qC for a short time,

but in the case of the storage and preservation period of 1 month or more, control the temperature to 50�C or less.

x Storage and preservation should be performed in the horizontal condition. In the case it is stored in the

packaged condition, follow the posture instruction if any displayed on the package.

2.3 How to Installation

This chapter explains how to install the actuator on your mechanical system.

2.3.1 Installation of Main Unit

The surface to mount the main unit should be a machined surface or a plane that possesses an equivalent accuracy and the flatness should be within 0.05mm. Also, the platform should have a structure stiff enough to install the unit so it would not generate vibration or other abnormality.

䎃

Also consider enough space necessary for maintenance work such as actuator replacement and inspection. On the base there is a datum surface prepared for the attachment slotted holes. On the back side of the actuator, there are attachment tapped holes, through holes, positioning reamed holes and slotted holes. For the details of the positions and dimensions, check in the appearance drawings. [Refer to 6. External Dimensions.] When repeatability in re-attaching is required after it is detached, utilize the reamed holes. Please note, however, that a consideration is necessary such as to use only one point on the motor side of the reamed holes when a fine-tuning such as perpendicularity is required.

(1) Using screws on the rod or head side

Install the actuator using screws set on the rod or head side of the actuator. z Applicable model: RCS2-RA4

Straight type

Rod cover

Cylinder tube

Head cove

2. Installation

Reversing type

Motor unit

Rod

Rod cove

RA4 type

Cylinder tube

Type MA MB

M30 u 1.5 M40 u 1.5

Pulley case

Head cove

(2) Using screws on a flange (optional)

2. Installation

An optional flange is available for installing the actuator. Use this flange, if necessary. z Applicable model: RCS2-RA4

Straight type

Mounting hole

Affixing nut

Flange

Mounting hole

Tightening torque 12.3 N•m 5.4 N•m

Straight type

Affixing nut

Flange

Mating material is steel Mating material is aluminum

Screw size M6 M6

Affixing nut

Reversing type

2. Installation

Mounting hole

Flange

Reversing type

Affixing nut

Mounting hole

Flange

Mating material is steel Mating material is aluminum

Screw size M6 M6

Tightening torque 12.3 N•m 5.4 N•m

2. Installation

䃂 Applicable models: RCS2-SRA7BD

Short type

Mating material is steel Mating material is aluminum

Screw size M6 M6

Tightening torque 12.3 N•m 5.4 N•m

(3) Using screws on feet (optional)

Optional feet are available for installing the actuator. Use these feet, if necessary. z Applicable model: RCS2-RA4

Mounting hole

Straight type

Affixing nut

Foot A

Mounting hole

Affixing nut

Foot B

Reversing type

2. Installation

Mounting hole

Affixing nut

Foot

Mating material is steel Mating material is aluminum

Screw size M6 M6

Tightening torque 12.3 N•m 5.4 N•m

Foot

2. Installation

z Applicable model: RCS2-SRA7BD

Short type

Mating material is steel Mating material is aluminum

Screw size M6 M6

Tightening torque 12.3 N•m 5.4 N•m

Caution: Affix the actuator using two feet (optional), one in the front and the other in the

back. If affixed using only one foot in the front or back, the actuator may be negatively affected due to insufficient rigidity.

(4) Using screws on a trunnion (optional)

An optional trunnion is available for installing the actuator. Use this trunnion, if necessary. z Applicable model: RCS2-RA4

Straight type

Mounting hole

Affixing nut

Trunnion ring

2. Installation

Bracket B

Bracket A

Straight type

Mounting hole

Trunnion ring

Affixing nut

Bracket B

Bracket A

Mating material is steel Mating material is aluminum

Screw size M6 M6

Tightening torque 12.3 N•m 5.4 N•m

2. Installation

Trunnion ring

Reversing type

Mounting hole

Affixing nut

Bracket B

Caution: • Exercise caution when installing the actuator horizontally using the optional

Bracket A

Mating material is steel Mating material is aluminum

Screw size M6 M6

Tightening torque 12.3 N•m 5.4 N•m

clevis or trunnion or any commercially available free joint, because the rod will receive the actuator weight. As a result, the bush may wear quickly or internal mechanical parts may be damaged. If the actuator is installed horizontally using any of the aforementioned means, add a guide or other appropriate mechanism to prevent the rod from receiving the actuator weight.

• The optional clevis and trunnion are designed so that the fulcrum shaft can only receive radial load. In a condition where play is not permitted or thrust load is received, the customer must design a separate bearing structure.

• The optional clevis and trunnion provide structures whereby the bearing supports the fulcrum shaft. Apply grease to the fulcrum shaft.

(5) Using screws on a clevis (optional)

An optional clevis is available for installing the actuator. Use this clevis, if necessary. z Applicable model: Motor reversing type RCS2-RA4R

Reversing type

Stopper ring

2. Installation

Clevis bracket

Mounting hole

Mating material is steel Mating material is aluminum

Screw size M8 M8

Tightening torque 30 N•m 12 N•m

Caution: x Exercise caution when installing the actuator horizontally using the optional

x The optional clevis and trunnion are designed so that the fulcrum shaft can only

receive radial load. In a condition where play is not permitted or thrust load is received, the customer must design a separate bearing structure.

x The optional clevis and trunnion provide structures whereby the bearing supports

the fulcrum shaft. Apply grease to the fulcrum shaft.

(6) Using screws on a rear mounting bracket (optional)

2. Installation

An optional rear mounting bracket is available for installing the actuator. Use this rear mounting bracket, if necessary. z Applicable model: Motor reversing type RA4R

Reversing type

Tapped mounting hole

Type Tapped hole diameter Tapped depth Tightening torque

RA4 type M4 7 mm 1.8 N•m

(7) Double-guide type

Use the tapped holes in the bracket for installing an actuator of the double-guide type. z Applicable model: Double-guide type RGD4

Tapped mounting hole

2. Installation

Bracket A

Type Tapped hole diameter Tapped depth Tightening torque

RA4 type M5 8 mm 3.4 N•m

z Applicable model: SRGD7BD

Tapped mounting hole

Bracket B

Bracket A

Bracket B

Type Tapped hole diameter Tapped depth Tightening torque

SRGD7BD M6 9 mm or more 5.36 N•m

(8) Single-guide type

2. Installation

Use the tapped holes in the bracket for installing an actuator of the single-guide type. z Applicable model: Double-guide type RGD4

Tapped mounting hole

Bracket A

Bracket B

Type Tapped hole diameter Tapped depth Tightening torque

RA4 type M5 8 mm 3.4 N•m

(9) Using tapped mounting holes at the back

Applicable model: RA7 (excluding 50-mm stroke models) The RA7 type has tapped mounting holes at the back. Use these holes to install the actuator.

RA7

Shown below is the maximum screw-in depth of the tapping screws used for mounting the base. Be careful not to allow the tip of the bolt to project.

Type Tapped hole diameter Maximum screw-in depth

RA7 M5 15 mm

SRA7BD, SRGS7BD, SRGD7BD M5 12 mm

2. Installation

(10) Using T-grooves and square nuts

Applicable models: RA5C, RA5R, F5D The RA5 and F5 types have T-grooves. Insert square nuts in these T-grooves and install the actuator to the frame.

T-grooves

Square nuts

(11) Using feet

Applicable models: RA5, RA5R, RA7, SRA7BD, SRGS7BD, SRGD7BD (excluding flat types)

2. Installation

[1] On the RA7 type, attach feet using the

tapped mounting holes at the back.

Foot

Install the feet to the frame using bolts.

[2] On the RA5 type, attach feet using square

nuts inserted into the T-grooves.

Foot

(12) Using tapped holes on the reference surface

Applicable models: RA5, RA5R, RA7 (excluding flat types and guide types)

Type Tapped hole diameter Effective thread depth

RA5/RA5R M6 12 mm

RA7 M5 15 mm

SRA7BD M5 12 mm

2.4 Connecting the Air Tube of the RCS2W Dustproof/Splash-proof Type

Intake/exhaust port

Install the air tube (outer diameter: 10 mm, inner diameter: 6.5 mm) on the intake/exhaust port and guide the air tube to a location where the external environment assures the tube will not come in contact with water.

2. Installation

(Applicable tube) Shown below is a representative model of air tube that can be installed on the RCS2W: x TU1065: Polyurethane tube (Manufacturer: SMC)

Caution: The air tube should not be more than 3 m long.

3. Connecting with Controller

As the connection cable for the controller and RCS2 (this actuator), use the IAI-dedicated controller and dedicated connection cable. This section explains the wiring method for a single axis.

x If the dedicated connection 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 Do not cut and reconnect the dedicated connection cable for extension or shorten the cable. x Do not pull on the dedicated connection cable or bend it forcibly. x The actuator cable coming out of the motor unit is not meant to be bent. Fix the cable so it would not be bent

repeatedly.

Please consult with IAI if you require a different kind of cable than the one supplied.

[Connection with SCON/SSEL Controllers]

3. Connecting with Controller

Dedicated controllers

SCON

SSEL

Dedicated cables

x Motor cable CB-RCC-MA*** / Robot motor cable CB-RCC-MA***-RB x Encoder cable CB-RCS2-PA*** / Robot encoder cable CB-X3-PA***-RB

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

[Connection with X-SEL Controllers]

RCS2, RCS2W

Dedicated cables (Connecting the RCS2 or RCS2W with a dedicated controller)

r r

Robot cable r = 58 mm or more (movable) Standard cable r = 93 mm or more (fixed) Use a robot cable for sections where the cable will move.

Dedicated cables (Connecting the RCS2 or RCS2W with a dedicated controller)

r r

Robot cable

Dedicated controllers

XSEL

r = 58 mm or more (movable) Standard cable r = 93 mm or more (fixed) Use a robot cable for sections where the cable will move.

Dedicated cables

x Motor cable CB-RCC-MA*** / Robot motor cable CB-RCC-MA***-RB x X-SEL-J/K encoder cable CB-RCBC-PA*** / X-SEL-J/K robot encoder cable CB-RCBC-PA***-RB x X-SEL-P/Q encoder cable CB-RCS2-PA*** / X-SEL-P/Q robot encoder cable CB-X3-PA***-RB

*** indicates the cable length. A desired length up to 15 m can be specified. For other cables, a desired length up to 20 m can be specified. Example) 080 = 8 m

Warning: For wiring, please follow the warnings stated below. When constructing a system

as the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire.

• Use dedicated cables of IAI indicated in this instruction manual. Contact us if you wish to have a change to the specifications of the dedicated cables.

• Make sure to turn the power off in the process of power line or cable connection or disconnection.

• Do not attempt to cut a dedicated cable with connectors on both ends to extend, shorten or re-joint it.

• Hold the dedicated cable to avoid mechanical force being applied to the terminals and connectors.

• Use a cable pipe or duct to have an appropriate protection when there is a possibility of mechanical damage on a dedicated cable.

• In case a dedicated cable is to be used at a moving part, make sure to lay out the cable without applying any force to pull the connector or extreme bend on the cable. Do not attempt to use the cable with a bending radius below the allowable value.

• Make certain that the connectors are plugged properly. Insufficient connection may cause an operation error, thus it is extremely risky.

• Do not lay out the cables to where the machine runs over them.

3. Connecting with Controller

• Pay attention to the cable layout so it would not hit peripherals during an operation. In case it does, have an appropriate protection such as a cable track.

• When a cable is used hanging on the ceiling, prevent an environment that the cable swings with acceleration or wind velocity.

• Make sure there is not too much friction inside the cable storage equipment.

• Do not apply radiated heat to power line or cables.

• Have a sufficient radius for bending, and avoid a bend concentrating on one point.

Steel Strap (Piano Wire)

Tie them up softly.

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

• Do not pull the cable with a strong force.

• Pay attention not to concentrate the twisting force to one point on a cable.

3. Connecting with Controller

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

• When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much.

Do not use spiral tube in any position where cables are bent frequently.

• PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them together. Arrange so that such lines are independently routed in the duct.

Power Line

Duct

I/O Line (Flat Cable, etc.)

Follow the instructions below when using a cable track.

• If there is an indication to the cable for the space factor in a cable track, refer to the wiring instruction given by the supplier when storing the cable in the cable track.

• Avoid the cables to get twined or twisted in the cable track, and also to have the cables move freely and do not tie them up. (Avoid tension being applied when the cables are bent.) Do not pile up cables. It may cause faster abrasion of the sheaths or cable breakage.

3. Connecting with Controller

4. Maintenance Inspection

4.1 Inspection Items and Schedule

Follow the maintenance inspection schedule below. It is assumed that the equipment is operating 8 hours per day. If the equipment is running continuously night and day or otherwise running at a high operating rate, inspect more often as needed.

Visual inspection Grease supply

Start of operation

After 1 month of operation

After 3 months of operation

Every 3 months thereafter

After 3 years of operation, or upon

reaching 5,000 km in traveled distance

Every year thereafter

4. Maintenance Inspection

Note 1 Apply grease to the sliding surface of the rod at the startup check if grease has been consumed, or

every three months. For the RCS2W dustproof/splash-proof type, apply grease when the bellows is changed.

Note 2 [Applicable Units: RCS2-RA5C, RA5R, RGS5C, RGD5C, SR7BD, SRGS7BD, SRGD7BD]

4.2 External Visual Inspection

{

{ (Sliding surface of the rod

(Note 1)

, Ball screw

(Note 2)

)

An external visual inspection should check the following things.

Main unit Loose actuator mounting bolts, other loose items Rod Lubrication, dust, foreign object on sliding surfaces Cables Scratches, proper connections Overall Irregular noise, vibration

4.3 Cleaning

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

4.4 Grease Supply

䎃

4.4.1 Grease to be applied on Rod Sliding Surface

IAI uses the following grease in our plant.

Kyodo Yushi Multitemp LRL 3

Warning: Never use any fluorine-based grease. Mixing lithium-based grease with other grease not only

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

4.4.2 Grease Applied on Ball Screw and Rod Sliding Surface [Applicable Units: RCS2-RA5C, RA5R, RGS5C, RGD5C,SR7BD, SRGS7BD, SRGD7BD]

IAI uses the following grease in our plant.

Kyodo Yushi Multitemp LRL 3

This product is suitable for ball screws and has excellent properties such as low heat generation. Use a lithium grease spray for maintenance. Keep the spraying time to within 1 second per spray action.

Wako Chemical Grease spray No.A161 or equivalent

Warning: x Never use any fluorine-based grease. It will cause a chemical reaction when mixed with a

lithium-based grease and may cause damage to the actuator.

x Keep the spraying time to within 1 second, and do not spray continuously for more than 1

second or spray more than twice repeatedly. It may create problems.

4. Maintenance Inspection

4.4.3 How to apply grease

[1] Applying the Grease on the Rod Sliding Surface

Apply grease over the entire surface of the rod.

4. Maintenance Inspection

[2] Grease Supply on Ball Screw and Rod Sliding Surface

[Applicable Units: RCS2-RA5C, RA5R, RGS5C, RGD5C]

1) Remove the thin-head screw located at the position shown to below.

2) Move the rod by at least one half the stroke.

Apply grease to the ball screw by spraying grease through the screw hole (by keeping the spraying time to within 1 second). Use your finger to apply grease over the rod sliding surface.

3) After grease has been applied, move the rod back and forth to let the grease spread evenly.

4. Maintenance Inspection

4) Apply silicon to the thread of the screw removed in (1), and then put the screw back into its original place.

Caution: x Do not use spray oil when applying grease. Be sure to use spray grease instead. Keep the

spraying time to within 1 second, and do not spray continuously for more than 1 second or spray more than twice repeatedly. Also note that if an excess amount of grease is supplied, oil may flow into the electronic components and cause malfunction.

x In case the grease got into your eye, immediately go see the doctor to get appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

[3] Grease Supply to Rod Sliding Surface and Ball Screw

䎃

䎃䎃

[Applicable Units: RCS2-SRA7BD, SRGS7BD, SRGD7BD]

䎃

[Rod sliding surface]

䎃

1) Move the rod to the stroke end with such as JOG operation in advance.䎃

2) Turn the power off.䎃

3) Apply grease evenly on the rod sliding surface.䎃

䎃 At this time, apply grease with soft cloth so the rod sliding surface would not get damaged with scratches.䎃

4) Turn the power on, and run the rod back and forth for several times with such as JOG operation so the

grease spreads out to the whole area of the rod sliding surface.䎃

4. Maintenance Inspection

Rod sliding surface

[Ball Screw]

䎃

1) Move the rod in advance with such as JOG operation to get it in the position where the distance between the

end of the stopper spacer and the end of the aluminum flame is approximately 10mm.䎃

2) Turn the power off.䎃

3) Move the urethane stopper to the body end. (the urethane stopper can be moved with hand.)

4) A hole for grease supply can be seen in the rod.䎃

5) Remove the hex socket head cap screw that covers the grease supply hole with a 1.5mm-sized hex wrench.䎃

6) Insert the nozzle of the grease spray to the grease supply hole and spray it. The time to spray should be 1

second at maximum.䎃

7) Tighten the hex socket head cap screw to the rod with a 1.5mm-sized wrench, and move the urethane

stopper to the stopper spacer end.䎃

8) Push the rod firmly against the mechanical stopper on the other side of the home position (the side that the

rod comes out).䎃

9) Move the rod to the stroke range.䎃

10) Turn the power on, and run the rod back and forth for several times with such as JOG operation so the

grease spreads out to the whole area of the ball screw.䎃

䎃

Urethane stopper

Stopper spacer

Grease supply hole

4. Maintenance Inspection

Approx. 10mm

Aluminum frame

Hex socket head cap screw (M3)

Caution: x Do not use an oil spray when in grease supply. Make sure to use a grease spray.䎃

Time to spray should be 1 second at maximum. Do not attempt to spray more than 1 second in one shot, or spray 2 times or more at once. Excessive grease supply may cause the oil flow to the electrical components, which may lead to an unexpected operation.

x In case the grease got into your eye, immediately go see the doctor to get appropriate care.

After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off.

䎃

4.5 Procedure for Belt Replacement and Tuning

Applicable Untis : RCS2-RA4R, RA5R

4.5.1 Inspection of the Belt

For inspection work, detach the cover of a pulley case and carry it out by visual.

The replacement period cannot be determined in general because the durability of the deceleration belt can be greatly influenced by the conditions of operation. It generally has life of hundreds of times for bending movement. The timing belt requires replacement regularly under the following conditions as a reference since degradation such as abrasion proceeds as the time passes for usage.

x When remarkable abrasion is confirmed on the teeth or edges of the belt x When the belt is swelled for such reasons as oil being attached on x When damage is confirmed such as crack on the tooth or back of the belt

Also, since it is difficult to confirm the degradation of the core wires to retain the strength of the teethed belt by visual or looseness caused by being elongated, it is recommended to set regular replacement periods in advance in case the product is used under such conditions that gives the core wires great fatigue due to high acceleration

4. Maintenance Inspection

and deceleration speed.

4.5.2 Belts to be used

The following belt is applied when the product is shipped out from IAI factory.

x RA4R - 60S2M152R Rubber, cleanroom type (Bando Chemical Industries) 6 mm wide x RA5R - 100S3M219R Rubber, cleanroom type (Bando Chemical Industries) 10 mm wide

4.5.3 Adjusting the Belt Tension (RA4R Type)

Remove the pulley case cover and loosen the four motor-unit affixing bolts. Pass a looped string (or long tie-band) around the motor unit, and pull the string to the specified tension using a tension gauge. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque of adjustment bolts] 162 N•cm (16.5 kgf•cm)

Tension: 2.5 kgf

4. Maintenance Inspection

Motor-unit affixing bolts

(Use an Allen wrench of 2.5 mm across flats.)

Motor-unit affixing bolts

(Use an Allen wrench of 2.5 mm across flats.)

4.5.4 Adjusting the Belt Tension (RA5R Type)

4. Maintenance Inspection

Tension: 6 r 0.2 kgf

Motor-unit affixing bolts (Use an Allen wrench of 3 mm across flats.)

4.5.5 Replacing the Belt: RA4R Type

[Items Required for Replacement]

x Replacement belt

RA4R … 60S2M152R Rubber, cleanroom type (Bando Chemical Industries) 6 mm wide

x Allen wrenches x Tension gauge (capable of tensioning to 7 kgf or greater) x Strong string, looped (or long tie-band) x Scale x Oil-based marker pen x PC or teaching pendant

[Overview of Replacement]

1) Move the rod to a position where Z phase turns on (home position) (2 mm from the mechanical end). In this

position, loosen the motor-unit affixing bolts and replace the belt.

2) Restore the home position.

Affix the rod at a position 2 mm from the mechanical end on the home side, pass the belt, and adjust the belt to the specified tension.

3) Perform homing using a PC or teaching pendant and check for deviation from the initial home position.

If there is a deviation, adjust the home offset X-SEL controller, adjust the home preset

if you are using an SCON controller. If you are using an SSEL or

4. Maintenance Inspection

Home position

Set by the home offset parameter (SCON) or home preset parameter (SSEL, X-SEL). (The above value indicates the factory setting.)

Z phase ON

osition

1 mm

The countermark on the motor aligns with this position.

Approx. 2 mm

Mechanical end

[Procedure]

1) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm

across flats.

M4 hexagon socket head screws

M3 hexagon socket head screws

4. Maintenance Inspection

2) Move the rod to a position where Z phase turns on (home position).

This corresponds to a position where the rod projects 2 mm from the mechanical end. Apply countermarks in this position.

Warning: If the actuator is installed vertically, move it after turning on the controller power

Cause the rod to project 2 mm from the mechanical end.

2 mm

Apply countermarks once the rod has projected 2 mm from the mechanical end.

and forcibly releasing the brake. At this time, beware of danger as the actuator may drop suddenly. Always provide a support to brace the actuator hand to prevent sudden drop, so as not to pinch fingers or damage the load.

3) Loosen the motor-unit affixing bolts using an Allen wrench of 2.5 mm across flats. Slide the motor, and loosen

and remove the belt.

(Use an Allen wrench of 2.5 mm across flats.)

Motor-unit affixing bolts

(Use an Allen wrench of 2.5 mm across flats.)

4) Check the following points before restoring the home position:

x The motor side should be aligned with the initial countermark. If the position is offset, adjust it to achieve

proper alignment. x The ball-screw side should be at a position where the rod projects 2 mm from the mechanical end. After the check, attach a new belt while holding the pulleys on both sides in position.

4. Maintenance Inspection

Initial countermark position

Motor side

Corresponding to a position where the rod projects 2 mm from the mechanical end

Ball-screw side

5) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque for adjustment bolts] 162 N•cm (16.5 kgf•cm)

Tension: 2.5 kgf

4. Maintenance Inspection

Motor-unit affixing bolts

(Use an Allen wrench of 2.5 mm across flats.)

Motor-unit affixing bolts

(Use an Allen wrench of 2.5 mm across flats.)

6) Install the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats.

M4 hexagon socket head screws

M3 hexagon socket head screws

7) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of absolute encoder specification, an absolute reset must be performed.) Check for deviation from the initial home position. If there is a deviation, adjust parameter No. 22, “Home offset

” if you are using an SCON controller. If you are using an SSEL or X-SEL controller, adjust axis-specific parameter No. 12, “Home preset.” If your controller is of absolute encoder specification, perform homing after changing the parameter, and then perform an absolute reset.

4. Maintenance Inspection

4.5.6 Replacing the Belt: RA5R Type

[Items Required for Replacement]

x Replacement belt

RA5R … 100S3M219R Rubber, cleanroom type (Bando Chemical Industries) 10 mm wide

x Allen wrenches x Tension gauge (capable of tensioning to 8 kgf or greater) x Strong string, looped (or long tie-band) x Scale x Oil-based marker pen x PC or teaching pendant

[Overview of Replacement]

1) Move the rod to a position where Z phase turns on (home position) (2 mm from the mechanical end). In this position, loosen the motor-unit affixing bolts and replace the belt.

2) Restore the home position. Affix the rod at a position 4 mm from the mechanical end on the home side, pass the belt, and adjust the belt to the specified tension.

3) Perform homing using a PC or teaching pendant and check for deviation from the initial home position.

4. Maintenance Inspection

If there is a deviation, adjust the home offset X-SEL controller, adjust the home preset

if you are using an SCON controller. If you are using an SSEL or

Mechanical end

Home position

2 mm

Set by the home offset parameter (SCON) or home preset parameter (SSEL, X-SEL). (The above value indicates the factory setting.)

Z phase ON

osition

2 mm

The countermark on the motor aligns with this position.

[Procedure]

(

)

1) Move the slider from the home position toward the mechanical end and check the rotating direction of the motor shaft. (If the actuator has its home located on the opposite side to the standard specification, this check is always required because the motor shaft rotates in the different direction.) x Remove the pulley case cover.

(Remove the three thin-head screws using an Allen wrench of 2.5 mm across flats.)

Check the rotating direction of the motor shaft.

4. Maintenance Inspection

2) Loosen the four tension adjustment bolts to

3) Remove the belt from the pulleys.

slacken the belt.

Allen wrench of 3 mm across flats

4) Make the following adjustment to restore the home position:

x Move the slider to the mechanical end on the home side and keep it in contact with the mechanical end. x Turn the motor shaft by the specified amount from the countermark position toward the

return-to-mechanical-end direction (the direction checked at the beginning).

Type

RA5R-16

RA5R-8

RA5R-4

Amount returned from the

countermark position

67.5q

135q

230q

5) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the motor-unit affixing bolts. Recommended tightening torque for adjustment bolts: (M5) 763 N-cm (78 kgf-cm)

Caution: After tightening the bolts to the above torque, tighten them slightly further by making

sure that both pulleys do not move.

4. Maintenance Inspection

6) Install the pulley cover. Tighten the three hexagon socket head bolts (M3x22) using an Allen wrench of 2.5 mm across flats.

Tension: 6 r 0.2 kgf

7) Perform homing using a PC or teaching pendant. (If the actuator is of absolute encoder specification, an absolute reset must be performed). Check for deviation from the initial home position. If there is a deviation, adjust parameter No. 22, “Home offset

4.6 Replacing the Motor

4.6.1 Replacing the Motor of the Motor Straight Type (Coupling Type): RA4C Type

[Items Required for Replacement]

x Replacement motor unit x Coupling (with screws) x Allen wrenches x Scale x Oil-based marker pen x Grease

Idemitsu Kosan Daphne Eponex Grease No.2

x PC or teaching pendant

[Overview of Replacement]

1) Move the rod to a position where Z phase turns on (home position) (2 mm from the mechanical end). In this position, replace the motor.

2) Perform homing using a PC or teaching pendant and check for deviation from the initial home position. If there is a deviation, adjust the home offset X-SEL controller, adjust the home preset.

Home position

if you are using an SCON controller. If you are using an SSEL or

Z phase ON position

Mechanical end

Replacement motor unit

Coupling (with screws)

4. Maintenance Inspection

1 mm

The countermark on the motor aligns with this position.

Set by the home offset parameter (SCON) or home preset parameter (SSEL, X-SEL). (The above value indicates the factory setting.)

Approx. 2 mm

[Procedure]

1) Move the rod to a position where Z phase turns on (home position). This corresponds to a position where the rod projects 2 mm from the mechanical end. Apply countermarks in this position.

4. Maintenance Inspection

Cause the rod to project 2 mm from the mechanical end.

2 mm

Apply countermarks once the rod has projected 2 mm from the mechanical end.

Warning: If the actuator is installed vertically, move it after turning on the controller power

2) Using an Allen wench of 2 mm across flats, remove the two motor-unit affixing bolts on the right and left.

2 affixing bolts on the motor-end cap (right and left) (hexagon socket head setscrews)

3) Pull out the motor unit. Before pulling out the motor unit, apply a countermark on the cylinder tube at a position corresponding to the tab on the motor unit, so that the motor unit and cylinder can be aligned in the correct position later on.

Apply a countermark at a

Tab on the motor unit

position corresponding to the tab on the motor unit.

4. Maintenance Inspection

4) Apply grease on the actuator coupling.

Apply grease on the inside of the coupling.

5) Align the tab on the replacement motor unit with the countermark on the cylinder. With the motor unit and cylinder aligned properly, insert the coupling into the replacement motor unit by aligning the orientation of this coupling with that of the actuator coupling (adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end). Apply countermarks to identify the current motor position (phase Z position) and coupling.

Align the tab on the replacement motor unit with the countermark on the cylinder.

4. Maintenance Inspection

Coupling

Replacement motor unit

Position the couplings.

After the coupling has been inserted, apply countermarks on the replacement motor unit and coupling.

6) Turn the coupling and motor shaft simultaneously until a setscrew on the coupling is seen through the hole. Thereafter, tighten the hexagon socket head setscrew using an Allen wrench of 2 mm across flats. Similarly, turn the coupling and motor shaft simultaneously until the other screw is seen through the hole, and tighten the setscrew.

4. Maintenance Inspection

Coupling setscrew hole

Turn the coupling and motor shaft simultaneously until a setscrew on the coupling is seen through the hole. Thereafter, tighten the hexagon socket head setscrew using an Allen wrench of 2 mm across flats.

7) Return the coupling in the replacement motor unit to the initial motor position (Z phase position). Align the tab on the replacement motor unit with the countermark on the cylinder. With the motor unit and cylinder positioned this way, confirm that the orientation of the actuator coupling (adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end) corresponds to the position of the coupling in the replacement motor unit.

Coupling

Replacement motor unit

4. Maintenance Inspection

Apply countermarks on the replacement motor unit and coupling.

Align the tab on the replacement motor unit with the countermark on the cylinder.

Confirm that the coupling positions correspond.

8) Carefully insert the replacement motor unit into the cylinder by ensuring that the couplings do not lose their alignment.

9) Using an Allen wench of 2 mm across flats, tighten the two motor-unit affixing bolts on the right and left.

2 affixing bolts on the motor-end cap (right and left) (hexagon socket head setscrews)

4. Maintenance Inspection

10) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of absolute encoder

specification, an absolute reset must be performed). Check for deviation from the initial home position. If there is a deviation, adjust parameter No. 22, “Home offset

4.6.2 Replacing the Motor of the Motor Reversing Type: RA4R Type

[Items Required for Replacement]

x Replacement motor unit x Allen wrenches x Tension gauge (capable of tensioning to 7 kgf or greater) x Strong string, looped (or long tie-band) x Scale x Oil-based marker pen x PC or teaching pendant

4. Maintenance Inspection

Replacement motor unit

[Overview of Replacement]

1) Loosen the motor-unit affixing bolts to remove the belt, and replace the motor.

2) Restore the home position. Affix the rod at a position 2 mm from the mechanical end on the home side, pass the belt, and adjust the belt to the specified tension.

3) Perform homing using a PC or teaching pendant and check for deviation from the initial home position. If there is a deviation, adjust the home offset X-SEL controller, adjust the home preset

Home position

1 mm

Set by the home offset parameter (SCON) or home preset parameter (SSEL, X-SEL). (The above value indicates the factory setting.)

if you are using an SCON controller. If you are using an SSEL or

Z phase ON

osition

Approx. 2 mm

The countermark on the motor aligns with this position.

Mechanical end

IAI America RCS2W User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of Contents

Safety Guide

Precautions

International Standards Compliances

Names of the Parts

1. Specifications Check

1.1 Checking the Product

1.2 Specification

1.3 Option

1.4 Motor • Encoder Cables

2.1 Transportation

2. Installation

2.2 Installation and Storage • Preservation Environment

2.3 How to Installation

2.4 Connecting the Air Tube of the RCS2W Dustproof/Splash-proof Type

3. Connecting with Controller

4.1 Inspection Items and Schedule

4. Maintenance Inspection

4.2 External Visual Inspection

4.3 Cleaning

4.4 Grease Supply

4.5 Procedure for Belt Replacement and Tuning

4.6 Replacing the Motor