How it Works
IAI America
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RCS3PCR-SS8C
User Manual
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IAI America RCS3PCR-SS8C User Manual

ROBO Cylinder
RCS2/RCS3 Actuators
Slider Type
Operating Manual
Eighteenth Edition
Standard Type
Standard Type
Standard Type
Cleanroom Type
Cleanroom Type
High-precision Type
High-precision
Motor Straight Type
Motor Straight Type
Motor Reversing Type):
Motor Straight Type
Motor Straight Type
Cleanroom Type
(Coupling Type):
(Built-in Type):
(Coupling Type):
(Built-in Type):
Motor Straight Type
Motor Straight Type
(Coupling Type):
(Coupling Type):
RCS2- SA4D, SA5D, SA6D
RCS2- SA4R, SA5R, SA6R, SA7R, SS7R, SS8R RCS3- SA8R, SS8R
RCS2CR- SA4C, SA5C, SA6C, SA7C, SS7C, SS8C RCS3CR- SA8C, SS8C
RCS2CR- SA5D, SA6D
RCS3P- SA8C, SS8C, SA8R, SS8R
RCS3PCR- SA8C, SS8C
IAI America, Inc.

Please Read Before Use

Thank you for purchasing our product.
This Operation Manual describes all necessary info rmation to operate this product safely such as the
operation procedure, structure and maintenance procedure.
Before operation, read this manual carefully and fully understand it to operate this product safely. The
enclosed CD or DVD in this product package includes the Operation Manual for this product.
For the operation of this product, print out the necessary sections in the Operation Manual or display them
using the personal computer.
After reading through this manual, keep this Operation Manual at hand so that the operator of this
product
can read it whenever necessary.
[Important]
This Operation Manual is original.
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.
Information contained in this Operation Manual is subject to change without notice for the
purpose of product improvement.
If you have any question or comment regarding the content of this manual, please contact the
IAI sales office near you.
Using or copying all or part of this Operation Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.

Note

Greasing Actuators of Cleanroom Specification
For ROBO Cylinder actuators of cleanroom specification, use grease of low-dust-raising type for cleanroom applications.
The grease specified in the maintenance/inspection sections of the Operating Manual is for actuators of standard specification. Using the grease for the standard actuators on the cleanroom actuators may generate dust.
C Grease by Kuroda Precision Industries is applied to the cleanroom actuators before shipment from IAI.
Recommended grease: C Grease by Kuroda
Precision Industries Ltd.

Table of Contents

Safety Guide ............................................................................................................................ 1
Handling Precautions............................................................................................................... 8
International Standards Compliances
.....................................................................................13
Names of the Parts ................................................................................................................ 14
1. Checking the Product ...................................................................................................... 23
1.1 Components ...............................................................................................................................23
1.2 Operation Manuals for Controllers Supported by This Product...................................................23
1.3 How to Read the Model Nameplate............................................................................................25
1.4 How to Read the Model Number ................................................................................................26
1.4.1 RCS2............................................................................................................................................26
1.4.2 RCS3............................................................................................................................................27
2. Specification .................................................................................................................... 28
3. Life................................................................................................................................... 43
4. Installation and Storage/Preservation Environment ......................................................... 44
4.1 Installation Environment .............................................................................................................44
4.2 Storage/Preservation Environment.............................................................................................44
5. Installation ....................................................................................................................... 45
5.1 Installation ..................................................................................................................................45
5.2 Notes on Installation ...................................................................................................................47
5.3 Installing the Actuator .................................................................................................................48
5.3.1 Using the Tapped Holes at Back of the Base ..............................................................................49
5.3.2 Using the Mounting Holes on Top of the Base.............................................................................51
5.3.3 Using Foot Bases (Optional)........................................................................................................52
5.4 Installation Surface .....................................................................................................................53
5.4.1 Using Side Faces of the Base as Reference Planes...................................................................53
5.4.2 Using Side Faces of the Foot Base as Reference Planes...........................................................55
5.5 Tightening Screws ......................................................................................................................56
5.6 Installing the Load on the Slider .............................................................................................. ...57
5.6.1 Using the Slider............................................................................................................................57
5.6.2 Using a Slider Spacer (Optional)..................................................................................................59
5.7 Cleanroom Specification.............................................................................................................60
5.7.1 Suction Rate.................................................................................................................................60
5.7.2 Suction Joint.................................................................................................................................60
6. Connection with Controllers............................................................................................. 61
6.1 Wiring .........................................................................................................................................61
7.
Setting the Home............................................................................................................. 64
7.1 Home Return ..............................................................................................................................64
7.2 Fine-tuning the Home Position ...................................................................................................64
7.3 Changing the Direction of Home................................................................................................. 64
7.4 How to Use the Home Mark
7.5 How to Set the Home Preset and Home Return Offset ..............................................................66
7.5.1 X-SEL or SSEL Controller............................................................................................................66
7.5.2 ECON or SCON Controller ..........................................................................................................69
.......................................................................................................65
8. Slit for Position Adjustment.............................................................................................. 72
9. Options ............................................................................................................................ 73
9.1 Brake ..........................................................................................................................................73
9.2 Foot Bracket ................................................................................................................... ............73
9.3 High Acceleration/Deceleration Option.......................................................................................74
9.4 Home Check Sensor ............................................................
9.5 Reversed Home Specification ....................................................................................................74
9.6 Slider Roller Specification...........................................................................................................74
9.7 Slider Spacer..............................................................................................................................74
9.8 Motor Reversed to Left, Motor Reversed to Right ......................................................................75
9.9 Changing the Cable Exit Direction.............................................................................................. 75
9.10 Changing the Motor Reversing Direction (Left/Right) and Cable Exit Direction..........................75
9.11 Suction Joint on Opposite Side...................................................................................................76
9.12 No Suction J
oint .........................................................................................................................76
......................................................74
10. Motor/Encoder Cables..................................................................................................... 77
11. Maintenance and Inspection............................................................................................ 79
11.1 Inspection Items and Schedule.................................................................................................. .79
11.2 Visual Inspection of the Machine Exterior...................................................................................79
11.3 Cleaning .....................................................................................................................................80
11.4 Adjusting the Stainless Sheet.....................................................................................................80
11.5 Interior Inspection .......................................................................................................................81
11.6 Internal Cleaning ........................................................................................................................88
11.7 Adding Grease............................................................................................................................88
11.7.1 Applicable Grease........................................................................................................................88
11.7.2 How to Apply Grease to RCS2.....................................................................................................90
11.7.3 How to Apply Grease to the RCS3(P)(CR)..................................................................................91
11.8 Replacing/Adjusting the Stainless Sheet ....................................................................................93
11.8.1 RCS2, RCS3(P)-SS8, RCS3(P)CR-SS8 .....................................................................................93
11.8.2 RCS3(P)CR-SA8C.......................................................................................................................98
11.9 Reduction Belt [Motor Reversing Type] ....................................................................................102
11.9.1 Inspecting the Belt .....................................................................................................................102
11.9.2 Applicable Belt ...........................................................................................................................102
11.9.3 Adjusting the Belt Tension (SA4R, SA5R, SA6R)......................................................................102
11.9.4 Adjusting the Belt Tension (RCS2-SA7R)..................................................................................103
11.9.5 Adjusting the Belt Tension (RCS2-SS7R, SS8R) ......................................................................103
11.9.6 Replacing the Belt of the Motor Reversing Type (RCS2-SA4R, SA5R, SA6R).........................104
11.9.7 Replacing the Belt of the Motor Reversing Type (RCS2-SA7R)................................................110
11.9.8 Replacing the Belt of the Motor Reversing Type (RCS2-SS7R, SS8R) .................................... 113
11.10 Replacing the Motor ................................................................................................................. 116
11.10.1 Replacing the Motor of the Motor Straight Type
(Coupling Type) (Made by IAI) : RCS2-SA4C, SA5C, SA6C..................................................116
11.10.2 Replacing the Motor of the Motor Straight Type (Coupling Type) (Not Made by IAI).................126
11.10.3 Replacing the Motor of the Motor Straight Type (Coupling Type) ..............................................
11.10.4 Replacing the Motor of the Motor Straight Type (Coupling Type) : RCS2-SS7C, SS8C...........144
11.10.5 Replacing the Motor of the Motor Reversing Type: RCS2-SA4R, SA5R, SA6R .......................164
11.10.6 Replacing the Motor of the Motor Reversing Type: RCS2-SA7R ..............................................174
11.10.7 Replacing the Motor of the Motor Reversing Type: RCS3 (P)- SA8R, SS8R............................178
11.10.8 Replacing the Motor of the Motor Reversing Type: RCS2-SS7R, SS8R...................................184
11.10.9 Replacing the Motor of the Motor Straight Type
(Coupling Type) : RCS3 (P)-SA8C, RCS3 (P) CR-SA8C........................................................189
11.10.10 Replacing the Motor of the Motor Straight Type (Coupling Type) : RCS3 (P)-SS8C ..............200
11.10.11 Replacing the Motor of the Motor Straight Type (Built-in Type)...............................................212
138
12. Appendix ....................................................................................................................... 213
12.1 External Dimensions.................................................................................................................213
12.1.1 RCS2-SA4C...............................................................................................................................213
12.1.2 RCS2-SA5C...............................................................................................................................214
12.1.3 RCS2-SA6C...............................................................................................................................215
12.1.4 RCS2-SA7C...............................................................................................................................216
12.1.5 RCS2-SS7C...............................................................................................................................217
12.1.6 RCS2-SS8C...............................................................................................................................218
12.1.7 RCS2-SA4D...............................................................................................................................219
12.1.8 RCS2-SA5D...............................................................................................................................220
12.1.9 RCS2-SA6D...............................................................................................................................221
12.1.10 RCS2-SA4R...............................................................................................................................222
12.1.11 RCS2-SA5R...............................................................................................................................223
12.1.12 RCS2-SA6R...............................................................................................................................224
12.1.13 RCS2-SA7R...............................................................................................................................225
12.1.14 RCS2-SS7R...............................................................................................................................226
12.1.15 RCS2-SS8R...............................................................................................................................227
12.1.16 RCS2CR-SA4C..........................................................................................................................228
12.1.17 RCS2CR-SA5C..........................................................................................................................229
12.1.18 RCS2CR-SA6C..........................................................................................................................230
12.1.19 RCS2CR-SA7C..........................................................................................................................231
12.1.20 RCS2CR-SS7C..........................................................................................................................232
12.1.21 RCS2CR-SS8C..........................................................................................................................233
12.1.22 RCS2CR-SA5D..........................................................................................................................234
12.1.23
12.1.24 RCS3-SA8C, RCS3P-SA8C ......................................................................................................236
12.1.25 RCS3-SS8C, RCS3P-SS8C ......................................................................................................237
12.1.26 RCS3CR-SA8C, RCS3PCR-SA8C............................................................................................238
12.1.27 RCS3CR-SS8C, RCS3PCR-SS8C............................................................................................239
12.1.28 RCS3/RCS3P-SA8R..................................................................................................................240
12.1.29 RCS3/RCS3P-SA8R Slider Roller Specification (Option Model Number: SR).........................
12.1.30 RCS3/RCS3P-SS8R..................................................................................................................242
12.1.31 RCS3/RCS3P-SS8R Slider Roller Specification (Option Model Number: SR)..........................243
RCS2CR-SA6D..........................................................................................................................235
.241
13. Warranty........................................................................................................................ 244
13.1 Warranty Period
13.2 Scope of Warranty
13.3 Honoring Warranty
13.4 Limited Liability
13.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications
13.6 Other Items Excluded from Warranty
.............................................................................................................. ...
.............................................................................................................
..............................................................................................................
...............................................................................................................
... ..
..............................................................................................................
........................
...............................................................
.
........
...... ..
..... ..
.... ..
.... ..
244 244
244 244
245 245
Change History .................................................................................................................... 246

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.
1
No.
Operation
Description
Description
2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Ɣ When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it would not get hit or dropped.
Ɣ Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the operation manual for each model.
Ɣ Do not step or sit on the package. Ɣ Do not put any heavy thing that can deform the package, on it. Ɣ When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane. Ɣ Do not leave a load hung up with a crane. Ɣ Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
Ɣ The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of condensation.
Ɣ Store the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc. Ɣ Make sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake.
Ɣ Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.
Ɣ When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or chemical droplets
2
No.
Operation
Description
4 Installation
and Start
Description
(2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
Ɣ Perform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
Ɣ When the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.
Ɣ Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction of the product.
Ɣ Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire. (3) Grounding Ɣ The grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise-resistance ability and control
the unnecessary electromagnetic radiation. Ɣ For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair cable
with wire thickness 0.5mm
2
(AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100: or below).
3
No.
Operation
Description
4 Installation
and Start
(4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is
Description
to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Ɣ When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.
Ɣ Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Ɣ Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
Ɣ Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power input.
Ɣ When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
Ɣ Take the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Ɣ Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.
5 Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Ɣ Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
4
No.
Operation
Description
Description
6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
Ɣ After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
Ɣ When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work procedure like the teaching operation.
Ɣ Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected motion caused by a program error, etc.
Ɣ Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or malfunction.
7 Automatic
Operation
Ɣ Check before starting the automatic operation or rebooting after operation
stop that there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm indication.
Ɣ Make sure to operate automatic operation start from outside of the safety
protection fence.
Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.
Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.
5
No.
Operation
Description
8 Maintenance
and Inspection
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
Description
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 addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ For the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
Ɣ Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.
Ɣ The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an unnecessary operation.
Ɣ Pay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
Ɣ Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
Ɣ When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Ɣ Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Ɣ Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.
Ɣ See Overseas Specifications Compliance Manual to check whether
complies if necessary.
Ɣ For the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.
6
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
Warning
Caution
Notice
This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.
This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.
This indicates lower possibility for the injury, but should be kept to use this product properly.
Danger
Warning
Caution
Notice
7

Handling Precautions

1. Do not set a speed or acceleration/deceleration exceeding the applicable rating.
Do not set a speed or acceleration/deceleration exceeding the applicable rating. Doing so may result in vibration, failure or shorter life. If an acceleration/deceleration exceeding the rating is set, creep may occur or the coupling may slip.
2. Keep the load moments to within the allowable value.
Keep the load moments to within the allowable value. If a load exceeding the allowable load moment is applied, the life of the actuator may be reduced. In an extreme case, even flaking may occur.
3. Keep the overhang length to within the allowable value.
Keep the overhang length of the load to within the allowable value. If the overhang length exceeds the allowable value, vibration or noise may occur.
4. Grease film may run out after back-and-forth operations over a short distance.
Grease film may run out if the actuator is moved back and forth continuously over a distance of 30 mm or less. As a guide, perform a back-and-forth operation five times or over a distance of 50 mm or more after a back-and­forth operation over such short distance has been repeated 5,000 to 10,000 times. This will restore oil film.
Using the product with the actuator not being certainly retained or affixed may cause abnormal noise, vibration, malfunction or shorten the product life.
Make sure to attach the actuator properly by following this operation manual.
5.
8
6.
Warning: If an overload error occurs, extend the stopped time to lower the duty or decrease the
acceleration/deceleration speed.
[How to Calculate Duty]
Perform operation with the duty ratio at the allowable value or less.
Duty ratio is the operation rate, in time basis, of the actuator in 1 cycle that is indicated with “%” .
Figure out the load rate and acceleration/deceleration speed time ratio by calculation and read the duty ratio from the graph. When the load rate is less than 50%, an operation with 100% duty ratio should be available.
[2]
Acceleration/deceleration time ratio t
od
(%)
timeOperating
Acceleration time
during operation
Deceleration time
during operation
Acceleration/deceleration time ratio t
od
Acceleration (mm/s
2
) = Acceleration (G) × 9,800mm/s
2
Deceleration (mm/s
2
) = Deceleration (G) × 9,800mm/s
2
(sec.)
Acceleration time
Velocity at
operation (mm/s)
Acceleration during
operation
(mm/s2)
(sec.)
Deceleration time
Velocity at
operation
(mm/s)
Deceleration during
operation
(mm/s2)
(%)
Mr r
M
Load factor :LF
[1]
Load factor LF
It is descried in 2. Specifications regarding the maximum transportable weight at the rated acceleration and rated acceleration/deceleration.
Acceleration/deceleration during operation
Transferring mass during operation
Rated acceleration/deceleration
Maximum transportable weight at the rated acceleration
(kg) (G) (kg) (G)
Example) If the load factor LF is 80% and acceleration/deceleration time ratio todis 80%, the reference duty
is approx. 75%.
[3]
Read the duty ratio from the load rate LF and the acceleration speed time ratio t
od
that were used to figure
out the duty ratio.
LF = 100%
LF = 80%
LF = 60%
LF = Less than 50%
50%
75%
45%
LF = 125%
LF = 70%
LF = 90%
LF = 150%
LF = 200%
Acceleration/deceleration time ratio t (%)
Approx.
od
High Acceleration/Deceleration Type
High Acceleration/Deceleration Type
High Acceleration/Deceleration Type
Reference of Operation Duty (%)
LF = 330%
High Acceleration/Deceleration Type
9
Switch cables
Slider
Microswitch
Switch dog
Switch cables
Side cover
Base
If the home is set on the opposite side, pay attention to the stora
g
e of switch cables.
7. Do Not Loosen the Mounting Screws of Micro-Switches or Bend the Switch Dogs.
On actuators with a switch (option), the switch is stored inside the actuator body. (The switch can be accessed by removing the side covers.)
Microswitch and switch dog are adjusted to the optimal positions before shipment. Do not loosen the mounting screws or bend the switch dog. If the mounting screws are loosened or switch dog is bent, the optimal positions will be lost and the switch may not demonstrate its intended function.
Do not increase the homing speed beyond the default factory setting. If the homing speed is increased beyond the default, the switch may be damaged.
Do not move the slider toward the mechanical end from the home position other than during homing. If the actuator is moved manually or at high speed by jogging, etc., and the switch dog contacts the microswitch as a result, the switch may be damaged. When moving the slider manually toward the mechanical end during motor replacement, etc., move the slider slowly.
When changing the home direction after shipment (such as when a need arises to move the factory-set home position to the opposite side due to a specification change, etc.), the microswitch position and switch dog must be readjusted. Should you require such adjustment, contact the IAI sales office near you.
If the side covers were removed for maintenance, etc., be careful not to pinch the switch cables when reinstalling the covers. In particular, pay attention when the home is set on the opposite side, because the switch cables are stored in the space between a side cover and the base.
10
8. Transporting and Handling
8.1 Handling the Actuator
8.1.1 Handling the Packed Unit
Unless otherwise specified, each actuator (axis) is shipped individually. Please take care that the shipping box is not dropped or subjected to strong impact during transport.
The operator should not carry heavy shipping boxes by themselves. If the shipping box is left standing, it should be in a horizontal position. Do not climb on top of the shipping box. Do not place heavy objects on top of the shipping box.
8.1.2 Handling the Actuator After It is Unpacked
Lift the actuator up by the base to remove it from the packing.
When carrying the actuator, take care not to bump it. Take particular care with the front cover and motor cover. Do not exert excessive force on any part of the actuator. Be careful not to cause the cables to receive a tensile force.
Note on handling the stainless sheet The stainless sheet is designed very thin (thickness: Approx. 0.1 mm) in order to ensure flexibility. Therefore, the stainless sheet is easily dented or scratched. Once dented or scratched, the stainless sheet may break during use.
Warning: Do not press the sheet directly
with hands.
Supplement) Please refer to "Names of Parts" for the names of the actuator parts.
11
8.2 Handling the Actuator Assembly
Pay attention to the following instructions when transporting an assembly of actuator axes.
8.2.1 Condition of Shipment from IAI (Assembled)
The actuators you have ordered are assembled at IAI, after which the assembly receives a shipping inspection and is shipped in an outer frame with skids.
The assembly is packed with the sliders securely affixed so that they will not move unexpectedly during transportation. In the case of a combined unit, the actuator ends are secured to prevent swinging due to external vibration.
The package is not designed with special considerations for protection against impact due to dropping or collision, so please handle the package with care. Also, do not place any heavy object on the outer frame, as it is not strong enough to withstand loads. When suspending the package using ropes, etc., pass the ropes from underneath the reinforcement frames at the bottom of the skids. When lifting with a forklift, also place the forks underneath the skids. Set down the package carefully so as not to apply impact to the assembly or cause it to bounce.
After unpacking, handle the actuator assembly correctly by observing the instructions given below.
8.2.2 Handling after Assembly with Peripheral Equipment
When transporting the actuators that have been assembled with peripheral equipment either at IAI or on your site, observe the instructions given below.
Secure each slider to prevent unexpected movement during transportation. If any actuator end is protruding, secure it to prevent swinging due to external vibration. If the actuator ends are not secured, do not apply any impact force exceeding 0.3 G during transportation. When suspending the actuator-assembled peripheral equipment using ropes, etc., make sure the ropes do not contact the actuators directly. Pass the ropes over appropriate cushion materials, and make sure the loads from the ropes will be received by the base of each actuator. Secure the end of the Y-axis using a separate rope to maintain the axis in a stable horizontal position. At this time, be careful not to apply loads on the screw cover. Be careful not to allow the brackets, covers and connector box of each actuator to receive loads. Also protect the cables from pinching or excessive deformation.
12

International Standards Compliances

This actuator complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
RoHS Directive CE Marking
Optional
13
Bearing Housing
Stainless Sheet
Side Cover
Right Side
Opposite Motor End
Motor End
Base
Motor Cover
Slider
Left Side
Front Cover
Cable
Slider Cover

Names of the Parts

The names of the actuator parts are indicated below. The left and right sides are indicated by looking at the actuator from the motor end with the actuator set down horizontally. Front end means the side opposite the motor end.
1. Motor Straight Type (Standard) RCS2
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.
14
� Coupling Type (SA7C, SS7C, SS8C)
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.
Stainless Sheet
Side Cover
Right Side
Opposite Motor End
Motor End
Base
Encoder Cover
Slider
Left Side
Front Cover
Motor Housing
Cable
Slider Cover
15
Stainless Sheet
Side Cover
Right Side
Opposite Motor
End
Motor End
Base
Encoder Cover
Slider
Left Side
Front Cover
Motor Housing
Cable
Slider Cover
�
Built-in Type (SA4D, SA5D, SA6D)
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.
16
2. Motor Straight Type (Standard) RCS3(P)
�
Coupling Type (SA8)
� Coupling Type (SS8)
Stainless Sheet
Right Side
Opposite Motor End
Motor End
Left Side
Side Cover
Base
Bearing Housing
Slider
Motor Unit
Cable
Slider Cover
Front bracket
Side Cover
Right Side
Opposite Motor End
Motor End
Base
Left Side
Cable
Bearing Housing
Slider
Motor unit
Front bracket
Screw cover
17
Stainless Sheet
Side Cover
Right Side
Opposite Motor End
Motor End
Base
Motor Cover
Slider
Left Side
Front Cover
Bearing Housing
Cable
Plug
Vacuum Tube
Slider Cover
Rear Cover
3. Motor Straight Type (Cleanroom Specification) RCS2-CR
� Coupling Type (SA4C, SA5C, SA6C, SA7C, SS7C, SS8C), Built-in Type (SA5D, SA6D)
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.
18
Stainless Sheet
Right Side
Opposite Motor End
Motor End
Base
Left Side
Slider
Stainless Sheet
Right Side
Opposite Motor End
Motor End
Left Side
Base
Slider
Slider cover
Slider Cover
4. Motor Straight Type (Cleanroom specification) RCS3(P)-CR
� Coupling Type (SA8)
� Coupling Type (SS8)
Side Cover
Cable
Bearing Housing
Motor Unit
Side Cover
Bearing Housing
Motor Unit
Cable
Joint
Joint
Front bracket
Front bracket
19
Stainless Sheet
Side Cover
Right Side
Opposite Motor End
Motor End
Base
Motor Cover
Slider
Left Side
Front Cover
Bearing Housing
Cable
Pulley Cover
Slider Cover
Rear Cover
5. Motor Reversing Type RCS2
� SA4R, SA5R, SA6R, SA7R, SS7R, SS8R
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.
20
Stainless Sheet
Side Cover
Right Side
Opposite Motor End
Motor End
Left Side
Cable
Base
Slider
Stainless Sheet
Side Cover
Slider
Slider Cover
Right Side
Opposite Motor End
Motor End
Left Side
Cable
Base
Reversing Bracket
Reversing Bracket
Motor Unit
6. Motor Reversing Type (Standard) RCS3 (P)
� SA8R
� SS8R
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.
Front Bracket
Motor Unit
Front Bracket
21
Stainless Sheet
Side Cover
Right Side
Opposite Motor End
Motor End
Left Side
Cable
Slider
Slider Cover
Base
Stainless Sheet
Side Cover
Right Side
Opposite Motor End
Motor End
Left Side
Cable
Slider Cover
Base
Slider
Slider
Reversing Bracket
Reversing Bracket
7. Motor Reversing Type (Slider Roller Specification) RCS3 (P)
� SA8R (Option model number: SR)
� SS8R (Option model number: SR)
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 Unit
Front bracket
Motor Unit
Front Bracket
22
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