IAI America RCS3PCR-SS8C User Manual

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ROBO Cylinder

RCS2/RCS3 Actuators

Slider Type

Operating Manual

Eighteenth Edition

Standard Type

Cleanroom Type

High-precision Type

High-precision

Motor Straight Type

Motor Reversing Type):

Motor Straight Type

Cleanroom Type

(Coupling Type):

(Built-in Type):

(Coupling Type):

(Built-in Type):

Motor Straight Type

(Coupling Type):

RCS2- SA4C, SA5C, SA6C, SA7C, SS7C, SS8C RCS3- SA8C, SS8C

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.

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

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

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.

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-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.

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.

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-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.

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.

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

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.

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

(%)

timeOperating

Acceleration time

during operation

Deceleration time

during operation

Acceleration/deceleration time ratio t

Acceleration (mm/s

) = Acceleration (G) × 9,800mm/s

Deceleration (mm/s

) = Deceleration (G) × 9,800mm/s

(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

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

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.

High Acceleration/Deceleration Type

Reference of Operation Duty (%)

LF = 330%

High Acceleration/Deceleration Type

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

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.

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.

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.

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

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.

� 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

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.

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

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.

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

Front bracket

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.

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

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

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

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

1. Checking the Product

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

Caution: Ch eck the packed items against the packing specification. Should you find a wrong model number

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

1.1 Components

skrameRledoMemaN.oN

1 Actuator

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

seirosseccA

1*elbacredocnerotoM2

slaesgnikamemoH3

ediuGpetSkciuQ4

launaMnoitarepO

ediuGytefaS6

*1 The motor cable and encoder cable supplied with each actuator vary depending on the controller used with the actuator. [Refer to 10, “Motor/Encoder Cables.”]

1.2 Operation Manuals for Controllers Supported by This Product

(1) XSEL-J/K controllers

.oNlortnoCemaN.oN

6110EMrellortnoCK/J-LESXroflaunaMnoitarepO1

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

3810EMGT/DT/T-LEStnadnePgnihcaeTroflaunaMnoitarepO3 0610EMDX/X-T-AItnadnePgnihcaeTroflaunaMnoitarepO4 4210EMteNeciveDroflaunaMnoitarepO5 3210EMkniL-CCroflaunaMnoitarepO6 3510EMSUBIFORProflaunaMnoitarepO7 0410EMtenrehtELES-XroflaunaMnoitarepO8 8310EMdraoBO/Itniop-itluMroflaunaMnoitarepO9

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

(CD/DVD)

1. Checking the Product

(2) XSEL-P/Q controllers

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 controllers

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

1. SampleChecking the Product





(4) SCON controllers

No. Name Control No.

1 Operation Manual for SCON Controller ME0161

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

3 Operation Manual for Teaching Pendant CON-T/TG ME0178

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

5 Operation Manual for Simple Teaching Pendant RCM-E ME0174

6 Operation Manual for Data Setter RCM-P ME0175

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

8 Operation Manual for DeviceNet ME0124

9 Operation Manual for CC-Link ME0123

10 Operation Manual for PROFIBUS ME0153

1.3 How to Read the Model Nameplate

Model

Serial numbe

1. Checking the Product

1. SampleChecking the Product

CE: CE Marking

1. Checking the Product

2. Specification

(1) Maximum speed

The maximum speed of the actuator is limited to prevent resonance of the ball screw shaft and also in consideration of the restrictions on motor speed. Observe the maximum speed limits specified below.

[Cleanroom specification RCS2CR]

Strokes and maximum speed limits (unit: mm/sec)

Caution: Do not set any speed or acceleration/deceleration exceeding the rated speed or

acceleration/deceleration. Doing so may result in vibration, failure or shorter life. When combining multiple axes and synchronizing their operations, the speed and acceleration/deceleration to be set should correspond to the highest speed and largest acceleration/deceleration among those of the combined axes. In particular, exercise caution because setting an acceleration/deceleration exceeding the rated acceleration/deceleration may cause the actuator to suffer creep or the coupling to slip.

50 100 150 200 250 300 350 400 450 500 550 600 700 800 900 1000

SA4

5615.2 0335

56601

SA5

0910023 0830046 06700821

1300

800

SA6

5310610910023 0720230830046 045046067008

09906110031

800

SA7

0210610024 0420230048 08404600861

SS7

0036 00612

SS8

56201308308400501 515526567069000102

Stroke [mm]

Type

Lead [mm]

(installed horizontally)

(installed vertically)

(installed horizontally)

(installed vertically)

230 470

2. Specication

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100

SA8

100

5 300 260 230 200 180 170 150 135 120 110 10 600 530 470 410 370 340 310 270 250 230 20 1200 1070 940 840 750 670 610 550 500 460 30 1800 1610 1420 1260 1120 1010 910 830 760 690

150

10 600 530 470 410 370 340 310 270 250 230 20 1200 1070 940 840 750 670 610 550 500 460 30 1800 1610 1420 1260 1120 1010 910 830 760 690

SS8

100

5 300 275 240 215 190 170 150 140 125 � � 10 600 550 485 430 385 345 310 280 255 �

�

20 1200 1105 970 860 770 690 625 565 515 � � 30 1800 1660 1460 1295 1155 1035 935 850 775 � �

150

10 600 550 485 430 385 345 310 280 255 � � 20 1200 1105 970 860 770 690 625 565 515 � � 30 1800 1660 1460 1295 1155 1035 935 850 775 � �

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100

SA8

100

5 300 250 220 190 170 160 140 130 120 110 10 600 500 440 390 350 320 290 260 240 220 20 1200 1010 890 790 710 640 580 530 480 440 30 1800 1510 1340 1190 1070 960 870 790 720 660

150

10 600 500 440 390 350 320 290 260 240 220 20 1200 1010 890 790 710 640 580 530 480 440 30 1800 1510 1340 1190 1070 960 870 790 720 660

SS8

100

5 300 275 240 215 190 170 150 140 125 � � 10 600 550 485 430 385 345 310 280 255 � � 20 1200 1105 970 860 770 690 625 565 515 � � 30 1800 1660 1460 1295 1155 1035 935 850 775 � �

150

10 600 550 485 430 385 345 310 280 255 � � 20 1200 1105 970 860 770 690 625 565 515 � � 30 1800 1660 1460 1295 1155 1035 935 850 775 � �

[RCS3 (P)]

Strokes and maximum speed limits [unit: mm/s]

[RCS3 (P) CR Cleanroom Specification @@nuke@@

Strokes and maximum speed limits [unit: mm/s]

Type

Lead [mm]

Motor

capacity

[W]

Type

Lead [mm]

Motor

capacity

[W]

2. Specication

(2) Maximum acceleration and loading capacity

[RCS2]

Type

Motor capacity

[W]

Lead [mm]

Maximum acceleration [G]

Maximum loading

capacity [kg]

Horizontal 8

2.5 Vertical

0.2

High-acceleration/deceleration mode: 0.2

4.5

Horizontal 6

Vertical

0.3

High-acceleration/deceleration mode: 1.0

2.5

Horizontal 4

SA4C 20

Vertical

0.3

High-acceleration/deceleration mode: 1.0

Horizontal 12

Vertical

0.2

High-acceleration/deceleration mode: 0.2

Horizontal 8

Vertical

0.3

High-acceleration/deceleration mode: 0.8

Horizontal 4

SA5C 20

Vertical

0.3

High-acceleration/deceleration mode: 0.8

Horizontal 18

Vertical

0.2

High-acceleration/deceleration mode: 0.2

Horizontal 12

Vertical

0.3

High-acceleration/deceleration mode: 1.0

Horizontal 6

SA6C 30

Vertical

0.3

High-acceleration/deceleration mode: 1.0

1.5

Horizontal 40

Vertical

0.2

High-acceleration/deceleration mode: 0.2

Horizontal 25

Vertical

0.3

High-acceleration/deceleration mode: 1.0

Horizontal 12

SA7C 60

Vertical

0.3

High-acceleration/deceleration mode: 1.0

Horizontal 30

Vertical

0.3 8

Horizontal 15

SS7C 60

Vertical

0.3 4

Horizontal 40

Vertical

0.3 8

Horizontal 20

100

Vertical

0.3 4

Horizontal 60

Vertical

0.3

Horizontal 30

SS8C

150

Vertical

0.3 6

2. Specication

Type

Motor capacity

[W]

Lead [mm]

Maximum acceleration [G]

Maximum loading

capacity [kg]

Horizontal 8

2.5 Vertical

0.2

4.5

Horizontal 6

Vertical

0.3

2.5

Horizontal 4

SA4D 20

Vertical

0.3 1

Horizontal 12

Vertical

0.2 4

Horizontal 8

Vertical

0.3 2

Horizontal 4

SA5D 20

Vertical

0.3 1

Horizontal 18

Vertical

0.2 6

Horizontal 12

Vertical

0.3 3

Horizontal 6

SA6D 30

Vertical

0.3

1.5

Horizontal 8

2.5 Vertical

0.2

4.5

Horizontal 6

Vertical

0.3

2.5

Horizontal 4

SA4R 20

Vertical

0.3 1

Horizontal 12

Vertical

0.2 4

Horizontal 8

Vertical

0.3 2

Horizontal 4

SA5R 20

Vertical

0.3 1

Horizontal 18

Vertical

0.2 6

Horizontal 12

Vertical

0.3 3

Horizontal 6

SA6R 30

Vertical

0.3

1.5

Horizontal 40

Vertical

0.2

Horizontal 26

Vertical

0.3 6

Horizontal 12

SA7R 60

Vertical

0.3 3

2. Specication

Type

Motor capacity

[W]

Lead [mm]

Maximum acceleration [G]

Maximum loading

capacity [kg]

Horizontal 30

Vertical

0.3 8

Horizontal 15

SS7R 60

Vertical

0.3 4

Horizontal 40

Vertical

0.3 8

Horizontal 20

100

Vertical

0.3 4

Horizontal 60

Vertical

0.3

Horizontal 30

SS8R

150

Vertical

0.3 6

2. Specication

[Cleanroom specification RCS2CR]

Type

Motor capacity

[W]

Lead [mm]

Maximum acceleration [G]

Maximum loading

capacity [kg]

Horizontal 8

2.5 Vertical

0.2

4.5

Horizontal 6

Vertical

0.3

2.5

Horizontal 4

SA4C 20

Vertical

0.3 1

Horizontal 12

Vertical

0.2 4

Horizontal 8

Vertical

0.3 2

Horizontal 4

SA5C 20

Vertical

0.3 1

Horizontal 18

Vertical

0.2 6

Horizontal 12

Vertical

0.3 3

Horizontal 6

SA6C 30

Vertical

0.3

1.5

Horizontal 40

Vertical

0.2

Horizontal 25

Vertical

0.3 6

Horizontal 12

SA7C 60

Vertical

0.3 3

Horizontal 30

Vertical

0.3 8

Horizontal 15

SS7C 60

Vertical

0.3 4

Horizontal 40

Vertical

0.3 8

Horizontal 20

100

Vertical

0.3 4

Horizontal 60

Vertical

0.3

Horizontal 30

SS8C

150

Vertical

0.3 6

2. Specication

Type

Motor capacity

[W]

Lead [mm]

Maximum acceleration [G]

Maximum loading

capacity [kg]

Horizontal 12

Vertical

0.2 4

Horizontal 8

Vertical

0.3 2

Horizontal 4

SA5D 20

Vertical

0.3 1

Horizontal 18

Vertical

0.2 6

Horizontal 12

Vertical

0.3 3

Horizontal 6

SA6D 30

Vertical

0.3

1.5

2. Specication

[RCS3(P) Cleanroom specification RCS3(P)CR]

Loading capacity by acceleration [kg]

Type

Motor capacity

[W]

Lead [mm]

Installation

position

Rated

acceleration

[G]

0.2G 0.3G 0.5G 0.7G 1.0G

Horizontal 0.2 80 65 - - -

Vertical 0.2 16 12 - - -

Horizontal 0.3 40 40 20 - -

Vertical 0.2 8 8 4 - -

Horizontal 0.3 20 20 10 5 -

Vertical 0.2 4 4 2 1.5 -

Horizontal 0.3 8 8 6 4 1

100

Vertical 0.2 2 2 1.5 1 -

Horizontal 0.3 60 60 30 - -

Vertical 0.2 12 12 6 - -

Horizontal 0.3 30 30 15 7.5 -

Vertical 0.2 6 6 3 2 -

Horizontal 0.3 12 12 10 6 2

SA8

150

Vertical 0.2 3 3 2 1.5 -

Horizontal 0.2 80 65 - - -

Vertical 0.2 16 12 - - -

Horizontal 0.3 40 40 20 - -

Vertical 0.2 8 8 4 - -

Horizontal 0.3 20 20 10 5 -

Vertical 0.2 4 4 2 1.5 -

Horizontal 0.3 8 8 6 4 1

100

Vertical 0.2 2 2 1.5 1 -

Horizontal 0.3 60 60 30 - -

Vertical 0.2 12 12 6 - -

Horizontal 0.3 30 30 15 7.5 -

Vertical 0.2 6 6 3 2 -

Horizontal 0.3 12 12 10 6 2

SS8

150

Vertical 0.2 3 3 2 1.5 -

Caution: 1. The figures of loading capacity by acceleration other than those at the rated acceleration of 0.3

G are reference values and not guaranteed. Use these values only as a reference.

2. Even when the acceleration is less than the rated acceleration, the loading capacity will not exceed the loading capacity at the rated acceleration.

2. Specication

(3) Rated Thrust

[RCS2 Cleanroom specification RCS2CR]

Type Motor capacity [W] Lead [mm]

Rated thrust [N]

2.5 78.4 5 39.2

SA4 20

10 19.6

3 65.7 6 33.3

SA5

12 16.7

RCS2-SA5C

20 10.7

3 96.8 6 48.4

SA6

12 24.2

RCS2-SA6C

20 15.8

4 255.0 8 127.5

SA7

16 63.8

6 170.0

SS7 60

12 85.0 10 169.0

100

20 84.9 10 256.0

SS8

150

20 128.0

2. Specication

[RCS3/RCS3P Cleanroom specification RCS3CR/RCS3PCR]

Type Motor capacity [W] Lead [mm]

Rated thrust [N]

5 339.7 10 169.8 20 84.9

100

30 56.6 10 255.3 20 127.6

SA8

150

30 85.1

5 339.7 10 169.8 20 84.9

100

30 56.6 10 255.3 20 127.6

SS8

150

30 85.1

2. Specication

(4) Driving method

[RCS2 Cleanroom specification RCS2CR]

Type

Motor capacity

[W]

Lead Encoder pulses

Driving method

2.5 5

SA4 20

Ball screw

�8 mm

Rolled, C10

3 6

SA5

RCS2-SA5C

Ball screw

�10 mm

Rolled, C10

3 6

SA6

RCS2-SA5C

Ball screw

�10 mm

Rolled, C10

4 8

SA7 60

Ball screw

�12 mm

Rolled, C10

SS7 60

Ball screw

�10 mm

Rolled, C10

100

20 10

SS8

150

16384

Ball screw

�16 mm

Rolled, C10

*1. Number of pulses input to the controller.

[RCS3 (P) Cleanroom specification RCS3 (P) CR]

Type

Motor capacity

[W]

Lead Encoder pulses*1 Driving method

10 20

100

Ball screw

�16 mm

Rolled, C10

[Rolled, C5 or

equivalent]

10 20

SA8

150

Ball screw

�16 mm

Rolled, C10

[Rolled, C5 or

equivalent]

10 20

100

Ball screw

�16 mm

Rolled, C10

[Rolled, C5 or

equivalent]

10 20

SS8

150

16384

Ball screw

�16 mm

Rolled, C10

[Rolled, C5 or

equivalent]

*1. Number of pulses input to the controller.

2. Specication

(5) Cleanliness class of clean room type RCP2CR

Item Specification Cleanliness class

Class 10 (1 m) when air is suctioned from the suction joint at an appropriate rate of suction

(6) Common specifications

[RCS2, Cleanroom specification RCS2CR]

Item Specification

Positioning repeatability

0.02 mm

Lost motion 0.1 mm or less

[RCS3(P), Cleanroom specification RCS3(P)CR]

Item Specification

Positioning repeatability

0.02 mm [0.01 mm]

Lost motion 0.1 mm or less [0.05 mm or less]

The values in [ ] apply to the high-precision type.

2. Specication

(7) Load on the Actuator

Do not exceed the load shown in the load specification column. Please make note of the slider moment, allowable overhang length and the load weight.

[RCS2, Cleanroom specification RCS2CR]

Dynamic allowable load moments

Model Ma Mb Mc

SA4

2.7 N�m (0.27 kgf�m) 3.9 N�m (0.4 kgf�m) 6.8 N�m (0.7 kgf�m)

SA5

4.9 N�m (0.5 kgf�m) 6.8 N�m (0.7 kgf�m) 11.7 N�m (1.2 kgf�m)

SA6

8.9 N�m (0.9 kgf�m) 12.7 N�m (1.3 kgf�m) 18.6 N�m (1.9 kgf�m)

SA7

13.9 N�m (1.41 kgf�m) 19.9 N�m (2 kgf�m) 38.3 N�m (3.9 kgf�m)

SS7

14.7 N�m (1.49 kgf�m) 14.7 N�m (1.49 kgf�m) 33.3 N�m (3.39 kgf�m)

SS8

36.3 N�m (3.7 kgf�m) 36.3 N�m (3.7 kgf�m) 77.4 N�m (7.89 kgf�m)

Allowable overhang lengths

Model Ma direction Mb direction Mc direction

SA4 120 mm or less 120 mm or less 120 mm or less

SA5 150 mm or less 150 mm or less 150 mm or less

SA6 220 mm or less 220 mm or less 220 mm or less

SA7 230 mm or less 230 mm or less 230 mm or less

SS7 300 mm or less 300 mm or less 300 mm or less

SS8 450 mm or less 450 mm or less 450 mm or less

[RCS3(P), Cleanroom specification RCS3 (P) CR]

Dynamic allowable load moments

Model Motor capacity [W] Ma Mb Mc

100

23.1 N�m (2.35 kgf�m) 32.9 N�m (3.35 kgf�m) 54.1 N�m (5.52 kgf�m)

SA8

150

23.1 N�m (2.35 kgf�m) 32.9 N�m (3.35 kgf�m) 54.1 N�m (5.52 kgf�m)

100

36.3 N�m (3.7 kgf�m) 36.3 N�m (3.7 kgf�m) 77.4 N�m (7.9 kgf�m)

SS8

150

36.3 N�m (3.7 kgf�m) 36.3 N�m (3.7 kgf�m) 77.4 N�m (7.9 kgf�m)

Allowable overhang lengths

Model Motor capacity [W] Ma direction Mb direction Mc direction

100 390 mm 390 mm 390 mm

SA8

150 390 mm 390 mm 390 mm

100 450 mm 450 mm 450 mm

SS8

150 450 mm 450 mm 450 mm

2. Specication

Mb, Mc directions

Ma direction

Directions of moment forces

Directions of allowable overhangs

Reference position









RCS2 RCS2CR

SA4SS4 31.2mm SA5SS5 39.0mm SA6SS6 40.0mm

SA7 43.0mm SS7 36.0mm SS8 48.0mm

RCS3P RCS3PCR

SA8 44.0mm SS8 48.0mm

Y-axis

X-axis

The Ma and Mc moments applying on this slider should be kept to onehalf the allowable moment.

� The allowable overhang lengths are based on a configuration where the center of gravity of the load mounted

on the actuator corresponds to the center of the overhang length.

(Note) To calculate the moments in Ma and Mc directions, offset the reference position by L mm from the top

surface of the slider, as shown in the figure below.

If an actuator is used as the Y-axis in a cantilever system based on X-Y combination, its base deforms easily. Accordingly, keep the Ma and Mc moments to no more than one-half their respective ratings. (See the figure below.)

Caution: Allowing the slider to receive an excessive load moment will shorten the service

life of the guides. If the allowable overhang length is exceeded, vibration may generate or the service life of the guides may be reduced.

2. Specication

(7) Actuator Precision

[1] Actuator installation surface

Parallelism of the actuator installation surface (bottom surface of the base) and load installation surface (top surface) at an arbitrary stroke position: 0.1 mm or less

[2] Traveling parallelism when the actuator is installed (affixed on a flat, smooth surface

): 0.05 mm/m or

less

Condition: The above values have been measured at 20�C. *1 Parallelism: 0.05 mm/m or less

2. Specication

3. Life

One factor that affects the traveling life of an actuator is “Rated Load.” There are two types of rated loads: “Static Rated Load” and “Dynamic Rated Load.” � “Static Rated Load”: Load applied while the actuator is stopped, as a result of which minor pressure marks

are left on the contact surface

� “Dynamic Rated Load”: Load under which the actuator can travel for a specified distance and still meet a

specified probability of survival defined by no damage to its guide.

Manufacturers of guides indicate the life of each guide by a dynamic rated load based on a probability of survival (no damage to the guide) of 90% after 50 km of traveling. With industrial equipment, however, dynamic rated loads must be defined based on longer traveling distance of 5,000 km to 10,000 km given the moving speed, operating ratios and other operating conditions of these equipment. Also note that guides are generally designed with a sufficient life against radial loads. Moment loads that are applied at positions away from the guide center are most damaging to guides.

The traveling life is calculated by assuming that the actuator travels 5,000 km or 10,000 km while receiving the allowable load moment, based on a load coefficient of 1.2. [For the allowable dynamic load moment, refer to 2, “Specifications.”]

� Models with traveling life of 5,000 km RCS2- SA4C, SA5C, SA6C, SA7C, SA4D, SA5D, SA6D, SA4R, SA5R, SA6R, SA7 RRCS2CR- SA4C, SA5C, SA6C, SA7C, SA5D, SA6D � Models with traveling life of 10,000 km RCS2- SS7C, SS8C, SS7R, SS8R RCS2CR- SS7C, SS8C RCS3/RCS3P- SA8C, SS8C, SA8R, SS8R RCS3CR/RCS3PCR- SA8C, SS8C

The formula for calculating the allowable dynamic load moment corresponding to a traveling life of 5,000 km is shown below. If the traveling life is 10,000 km, replace “5000 km” in the formula with “10000 km”:

The life at the actual moment applied is calculated by the formula below:

CIA : Allowable dynamic load moment fw : Load coefficient (= 1.2) M

: Dynamic rated moment based on 50 km of traveling and

probability of survival of 50%

L : Traveling life (probability of survival: 90%) C

: Allowable dynamic moment

P : Actual moment applied

3. Life





4. Installation and Storage/Preservation Environment

4.1 Installation Environment

The actuator should be set up in an environment, which meets the following criteria:

 Avoid direct sunlight.  Avoid radiant heat from strong heat sources such as a furnace.  Surrounding air temperature should be 0 ~ 40C.  The humidity should be less than 85% and there should be no condensation.  Avoid exposure to corrosive or combustible gases.  The area should have very little dust and be suitable for normal assembly operations.  Avoid exposure to oil mist or fluids used in cutting.  The unit should not be subject to impacts or vibrations.  Avoid extreme electromagnetic waves, ultraviolet rays and radiation.  This product is not intended to be used in a chemical environment.

In general, the environment should be one in which an operator can work without protective gear.

Work space needed for maintenance/inspection

[Motor straight type] [Motor reversing type]

4.2 Storage/Preservation Environment

The storage/preservation environment should be similar to the installation environment. In addition, you must take precautions against condensation if the unit is to be stored for a long period of time. Unless there are special instructions, we do not include moisture absorption agents when shipping the unit. If you are storing the unit where condensation might occur, then you must treat the entire package or treat the unit itself after it is unpacked to prevent condensation. The unit can withstand up to 60C during a short storage/preservation interval but only up to 50C if the storage/preservation period is longer than one month.

4.Installation and Storage/Preservation Environment

5. Installation

The method to install your actuator in a mechanical system is explained.

5.1 Installation

Install the actuator as explained below, as a rule. Pay attention to these items when installing the actuator (except for custom-order models).

: Installable : Daily inspection is required x: Not installable

Type

SA4 SA5 SA6

SA7, SS7

SS8

SA8 (with stainless steel sheet)

SA8 (with screw cover)

Installation postures

Horizontal installation

Vertical

installation

Sideway

installation

Ceiling mount

installation

5. Installation

Horizontal Vertical Sideway

Ceiling mount

5. Installation

Caution: 1.

2. The clean room types listed below cannot be guaranteed to meet Cleanliness Class 10 if they are installed in the vertical orientation, the horizontally wall mounted orientation or in the ceiling mounted orientation since they do not possess a structure to grip the stainless steel sheet from the side cover. Please contact us if it is necessary to install the following models in an orientation other than the horizontal orientation.

3. The actuator with the stainless sheet can be installed sideways or ceiling mount, but it must

4. There is a concern that the screw cover may get warped and interfere with a work piece for

When the unit is installed vertically oriented, attempt to put the motor up unless there is a special reason. Putting the motor on the lower side would not cause a problem in an ordinary operation. However, it may rarely cause a problem, when it is not operated for a long period, depending on the surrounding environment (especially high temperature), caused by the grease being separated and the base oil flowing into the motor unit.

Actuator Model : RCS2CR-SA5D, RCS2CR-SA6D

be checked daily. If the actuator is installed sideways or ceiling mount, the stainless sheet may be slacked or displaced. If the actuator is used continuously while the stainless sheet is slacked or displaced, the stainless sheet may break or other problems may occur. Check the actuator

t daily and if the stainless sheet is found slacked or displaced, make installation adjustmen of the stainless sheet. [Refer to 11,8 “Replacing/Adjusting the Stainless Sheet.”]

RCS3(P)-SA8C and SA8R if they are installed in horizontally oriented wall mount or in ceiling mount. If the stroke exceeds 400mm, put a work piece that is to be attached away from the slider seat surface when attaching it.

Stroke Distance A

400mm or more less than 800mm

800mm or more less than 1100mm

60mm

[Sideway installation]

5mm or more

7mm or more

60mm

[Ceiling mount installation]

5.2 Notes on Installation

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. When installing the stainless sheet, pay attention to the following points:

1. Do not press the sheet directly with hands 2. Protect the sheet from dents by paying attention not to drop tools and work parts onto the sheet.

3. Do not allow powder dust or iron powder to generate around the stainless sheet.

If generation of powder dust/iron powder cannot be fully prevented, wipe the stainless sheet after the operation to remove all particles attached to the sheet. If the actuator is operated with the stainless sheet carrying foreign particles, the particles may enter the slider and damage the sheet or cause the sheet to deform, lift or present other problems. The stainless sheet is held in place by means of magnets. If surrounding air contains iron powder or other magnetic substances, they may attach to the magnets and cause problems. Pay attention to the surrounding environment and take appropriate measures, if necessary.

Dent

5. Installation

5.3 Installing the Actuator

The surface on which to install the actuator must be a machined surface or other flat surface having corresponding precision.

The side and bottom faces of the actuator base have been adjusted for parallelism with the guide. If traveling precision is required, install the actuator using these surfaces as reference. Take note that the applicable installation method varies depending on the type.

5. Installation

Oblong

Length of screw engagement

Maximum screw depth

5.3.1 Using the Tapped Holes at Back of the Base

[RCS2 (CR)]

Tapped holes are provided on the back of the base for mounting the actuator. Install the actuator using these tapped holes. The sizes and effective depths of tapped holes are listed below. Be careful not to let the ends of bolts project from the holes. If necessary, use the additional reamed holes that are provided for positioning purpose. (Two reamed holes are provided, one on the motor side and the other on the counter-motor side. One oblong hole is provided on the counter-motor side.)

Type Tap size

Maximum screw

depth

Minimum length of

screw engagement

Reamed hole Oblong hole

SA4C, D, R M3 5 mm 3 mm

�3H7, depth 5 mm or

less

A: 3H7, B: 4, depth

5 mm or less

SA5C, D, R M4 7 mm 4 mm

�4H7, depth 5 mm or

less

A: 4H7, B: 5, depth

5 mm or less

SA6C, R M5 8 mm 5 mm

�4H7, depth 5 mm or

less

A: 4H7, B: 5, depth

5 mm or less

SA6D M5 8 mm 5 mm

�4H7, depth 5 mm or

less

A: 4H7, B: 5, depth

5 mm or less

SA7C, R M5 9 mm 5 mm - -

SS7C, R M5 8 mm 5 mm - -

SS8C, R M8 10 mm 8 mm - -

Caution: When using an aluminum-based actuator

If the length of engagement

of the screw to be attached into the tapped hole is 5/8 or

smaller than the maximum screw depth

of the tapped hole, reduce the torque to 70 to 80%

of the specified torque before tightening the screws.





Oblong

Tapped hole

Reamed hole

Tapped hole

Reamed hole

5. Installation

Oblong hole

Tapped hole

Reamed hole

Oblong hole

Reamed hole

Length of screw engagement

Maximum screw depth

[RCS3(P) (CR)]

Pay attention when selecting the bolt length. If an inappropriate bolt is used, the tapping hole may be damaged, actuator installation strength may drop, or contact with the driving parts may occur, resulting in lower precision or unexpected accidents.

Type

Tap size

Pitch

(A)

Maximum screw

depth

Minimum length of

screw engagement

Reamed hole Oblong hole

RCS3(P)-SA8 M5 60 10 mm 5 mm

�5H7, depth 6 mm or

less

B: 5H7, C: 6, depth 6

mm or less

RCS3(P)CR-SA8 M5 60 10 mm 5 mm

�5H7, depth 6 mm or

less

B: 5H7, C: 6, depth 6

mm or less

RCS3(P)-SS8 M8 45 10 mm 8 mm

�5H7, depth 6 mm or

less

B: 5H7, C: 6, depth 6

mm or less

RCS3(P)CR-SS8 M8 45 10 mm 8 mm

�5H7, depth 6 mm or

less

B: 5H7, C: 6, depth 6

mm or less

Caution: When using an aluminum-based actuator

If the length of engagement

of the screw to be attached into the tapped hole is 5/8 or

smaller than the maximum screw depth

of the tapped hole, reduce the torque to 70 to 80%

of the specified torque before tightening the screws.

5. Installation

5.3.2 Using the Mounting Holes on Top of the Base

(SA4 of 200 mm or Shorter Strokes/SA5 of 300 mm or Shorter Strokes)

Four through holes (two on the motor side and two on the counter-motor side) are provided in the base for installing the actuator on its top face. Use these mounting holes to install the actuator. When installing the actuator using these mounting holes alone, take heed of the following points:

1. SA4: Applicable to models of 200 mm or shorter strokes only

2. SA5: Applicable to models of 300 mm or shorter strokes only

3. SA6: Mounting holes are not provided.

If any model other than those specified in 1 and 2 (longer stroke) is installed using the mounting holes alone, the base may deform and the slider may slide abnormally, generate noise or present other problems.

As for mounting bolts, use hexagon socket-head bolts conforming to the applicable specification in the table below in accordance with the machine frame material. If necessary, the reamed holes/oblong holes can be used as positioning pin holes. [Refer to 5.3.1.]

Type Mating material is steel Mating material is aluminum

SA4 M3, length 35 mm or more

SA5 M4, length 40 mm or more M4, length 45 mm or more

Mounting hole

5. Installation

Foot base

Mounting hole

�

5.3.3 Using Foot Bases (Optional)

By using foot bases (optional), the actuator can be installed on its top face using the mounting holes in the foot bases. Foot bases provide an effective means for installing the SA4 models of strokes exceeding 200 mm, S5A models of strokes exceeding 300 mm, or all SA6 models. As for mounting bolts, use hexagon socket-head bolts and flat washers conforming to the applicable specification in the table below in accordance with the machine frame material. If necessary, the reamed holes/oblong holes can be used as positioning pin holes. [Refer to 5.3.1.] The depth of reamed holes/oblong holes must conform to dimension A. (Dimension A considers the foot base thickness.)

Type Mating material is steel Mating material is aluminum Flat washer Dimension A

SA4 M4, length 8 mm or more M4, length 12 mm or more Nominal diameter 4 12 mm

SA5 M4, length 8 mm or more M4, length 12 mm or more Nominal diameter 4 13 mm

SA6 M5, length 10 mm or more M5, length 15 mm or more Nominal diameter 5 14 mm

5. Installation

�

5.4 Installation Surface

 The mounting table should have sufficient rigidity to avoid generating vibration.  The surface where the actuator will be mounted should be machined or be equally level and the flatness

tolerance between the actuator and the table should be within  0.05 mm.

 Provide enough space around the actuator to permit maintenance work to be done.

5.4.1 Using Side Faces of the Base as Reference Planes

[RCS2 (CR)]

 The side and bottom faces of the actuator base provide the reference planes for slider travel.  When precision is required, use these surfaces as the reference planes for mounting.

Caution: As shown above, the side faces of the base provide the reference planes for

slider travel. When precision is required, use these surfaces as the reference planes for mounting.

When using the base as the reference planes for mounting the actuator to the machine frame, follow the machining dimensions shown below.

Type Dimension A [mm]

SA4 2 to 3

SA5 2 to 4.5

SA6 2 to 4.5

SA7 2 to 5.5

SS7 2 to 4

SS8 2 to 4.5

(side face of the base)

R0.3 or less

Reference plane

(side face of the base)

Reference plane

For position

adjustment

5. Installation

[RCS3(P) (CR)]

[SA8] [SS8]

Caution: As shown above, the side faces of the base provide the reference planes for

slider travel. When precision is required, use these surfaces as the reference planes for mounting.

When using the base as the reference planes for mounting the actuator to the machine frame, follow the machining dimensions shown below.

Model Dimension A [mm]

RCS3(P) (CR)-SA8

RCS3(P) (CR)-SS8

2 to 4.5 or less

(side face of the base)

Reference plane

(side face of the base)

Reference plane

(side face of the base)

Reference plane

R0.3 or less

5. Installation

5.4.2 Using Side Faces of the Foot Base as Reference Planes

(If Equipped with Optional Foot Bases)

� The side faces of the foot base provide the reference planes for slider travel. � When precision is required, use these surfaces as the reference planes for mounting.

Type Dimension A

SA4 9.5 mm

SA5 11 mm

SA6 12 mm

Foot base

Reference plane

(side face of the base)

For position

adjustment

5. Installation

5.5 Tightening Screws

 The male screws for mounting the base should be M3 for SA4, M4 for SA5, M5 for SA6/SA7/SS7, and M8 for

SS8. (Use hexagon socket-head bolts).

 For the bolts, we recommend high strength bolts of ISO-10.9 or higher.  When using a foot base to attach to a mounting table, use the special washer made for high strength bolts

that comes with the actuator if the bolt is M8 or larger. This is unnecessary for M6 or smaller bolts. Do not use a common spring washer.

 The recommended tightening torque is given below.

Tightening Torque

Screw nominal

diameter

When the bolt seating surface is steel When the bolt seating surface is aluminum

1.5 Nm (0.15 kgfm) 0.8 Nm (0.08 kgfm)

3.6 Nm (0.37 kgfm) 1.8 Nm (0.18 kgfm)

7.3 Nm (0.74 kgfm) 3.4 Nm (0.35 kgfm)

30.0 Nm (3.05 kgfm) 11.5 Nm (1.17 kgfm)

5. Installation







Tapped hole

Reamed hole

5.6 Installing the Load on the Slider

5.6.1 Using the Slider

 The slider has tapped holes, so affix the load using these holes. The method of clamping varies according to

how to mount the main body.

 In case of moving actuator instead of slider, use the same tapped holes on the slider.  Please use two reamed holes on the slider when repeatability of mounting and dismounting is required. When

fine adjustment of the squareness is necessary, use only one reamed hole to allow adjustment.

[RCS2(CR)]

Sizes and depths of tapped holes and reamed holes on slider

Model Tap size Depth of thread A B C Reamed hole

SA4 M3 7 mm 24 mm 16 mm 20 mm

3 H7, depth 5 mm

SA5 M4 9 mm 30 mm 19 mm 26 mm



4 H7, depth 6 mm

SA6 M5 9 mm 50 mm 32 mm 31 mm

5 H7, depth 6 mm

SA7 M5 10 mm 50 mm 32 mm 39 mm

5 H7, depth 10 mm

SS7 M5 10 mm 50 mm 32 mm 32 mm

5 H7, depth 10 mm

SS8 M8 10 mm 75 mm 45 mm 45 mm



8 H7, depth 10 mm

Caution: When installing the load, do not let adhesives, paints or other viscous substances

attach the stainless sheet. Also, avoid applying a concentrated force that will dent the sheet. It may cause the slider to malfunction or damage the sheet.

5. Installation

27.5 27.5

[RCS3(P) (CR)]

[RCS3(P)-SA8 standard type] [RCS3(P)-SA8 CR type]

[RCS3(P)-SS8 standard type, RCS3(P)CR-SS8 CR type]

Caution: When installing the load, do not let adhesives, paints or other viscous substances

attach the stainless sheet. Also, avoid applying a concentrated force that will dent the sheet. It may cause the slider to malfunction or damage the sheet.

2-6H7, depth 10 (tolerance for pitch between reamed holes: 0.02)

6H7, depth 10 (tolerance for pitch between reamed holes: 0.02)

4-M6, depth 12

2-8H7, depth 10 (tolerance for pitch between reamed holes: 0.02)

4-M8, depth 10

5. Installation







 







2-�3H7, depth 5

4-M3, depth 7

5.6.2 Using a Slider Spacer (Optional)

(Optional for SA4 Type)

For the SA4 type, a slider spacer is available as an option. The figure below shows the positions of load-mounting holes in actuators with a slider spacer.

5. Installation

5.7 Cleanroom Specification

5.7.1 Suction Rate

Air inside the actuator must be suctioned to ensure that the actuator operates in conformance with the requirements of cleanliness class 10. Provide an air tube and connect it to a quick joint (outer diameter

6) provided at the suction section, and connect the other end of the tube to a vacuum pump, blower, ejector, etc., to suction at an applicable flow rate as specified below.

[RCS2CR]

Lead

2.5 mm/3 mm

5 mm/6 mm

10 mm/12 mm/16 mm

10 mm (SS8)

20 mm

[RCS3(P)CR]

daeL epyT

nim/IN 03 mm 5 8AS

mm 01 8AS

nim/IN 011 mm 02 8AS

30 mm (speed not exceeding

1500 mm/s)

30 mm (speed exceeding

nim/IN 03 mm 5 8SS

SS8

nim/IN 08 mm 01

SS8

nim/IN 021 mm 02

SS8

30 mm (speed not exceeding

1500 mm/s)

160 NI/min

SS8

30 mm (speed exceeding

1500 mm/s)

5.7.2 Suction Joint

Remove the plug from either quick joint and insert an air tube to suction air from either the motor side or countermotor side. Remember to cover the unused joint with a plug.

Plug

Quick joint

RCS2-SA4, SA5, SA6 Outer diameter 6 RCS2-SA7, SS7 Outer diameter

RCS2-SS8 Outer diameter

RCS3(P) CR-SA8 Outer diameter

RCS3(P) CR-SS8 Outer diameter

Air tube (provided by the customer)

suction rate

Recommended

15 NI/min

30 NI/min

50 NI/min

40 NI/min

80 NI/min

suction rate

Recommended

160 NI/min

190 NI/min

130 NI/min

60 NI/min

8AS

Caution:

The clean room types listed below cannot be guaranteed to meet Cleanliness Class 10 if they are installed in the vertical orientation, the horizontally wall mounted orientation or in the ceiling mounted orientation since they do not possess a structure to grip the stainless steel sheet from the side cover. Please contact us if it is necessary to install the following models in an orientation other than the horizontal orientation.

Actuator Model : RCS2CR-SA5D, RCS2CR-SA6D

5. Installation

SCON

SSEL

RCS2

RCS2CR RCS3

RCS3P RCS3CR RCS3PCR

6. Connection with Controllers

6.1 Wiring

� In an application where the cable cannot be anchored, try to place the cable so that it sags only under its own

weight or use self-standing type cable as large radial wire duct to limit the load on the cable.

� Never cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening

the cable length.

� The cables supplied with the actuator offer excellent flexibility, but they are not robot cables. � If the cables are to be stored in a movable cable duct (cable track, etc.), use robot cables.

For cable modification, please contact your IAI sales representative.

[Connection with SCON/SSEL Controllers]

Dedicated cables

� Motor cable CB-RCC-MA*** / Robot motor cable CB-RCC-MA***-RB � 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]

Dedicated cables

� Motor cable CB-RCC-MA*** / Robot motor cable CB-RCC-MA***-RB � X-SEL-J/K encoder cable CB-RCBC-PA*** / X-SEL-J/K robot encoder cable CB-RCBC-PA***-RB � 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

RCS2 RCS2CR RCS3 RCS3P RCS3CR RCS3PCR

Dedicated cables (Connecting the RCS2, RCS2CR, RCS3, RCS3P, RCS3CR or RCS3PCR with a dedicated controller)

Dedicated controllers

Dedicated cables (Connecting the RCS2, RCS2CR, RCS3, RCS3P, RCS3CR or RCS3PCR with a dedicated controller)

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 controllers

XSEL

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.

6. Connection with Controllers

When building an application system using actuators and controllers, inappropriate wiring and connection of cables may result in wire breakage, poor contact and other unexpected problems. Prohibited items regarding the handling of cables are explained below.

� Do not cut to extend or shorten the cable or reconnect the cut cable. � If the cable cannot be secured in place, allow it to bend only within the range of deflection by its self-weight or

use a self-supporting cable hose, etc., to ensure a large wiring radius in order to reduce the load applied to the cable.

� Do not let the cable bend sharply at a single location.

� Do not let the cable flex at a single point.

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

� Do not pull the cable with a strong force.

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

Steel band (piano wire)

Bundle loosely.

6. Connection with Controllers

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

Separate the I/O lines and communication lines from the power/drive lines. Do not bundle them together in the duct.

Warning:

necting any cable, be sure to turn off the controller power first. If a cable is connected or disconnected while the power is still supplied, the actuator may malfunction and a serious injury or equipment damage may result.

firmly in place, because any loose connector may

cause the actuator to malfunction and create a dangerous situation.

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

Power line

Signal lines (flat cable)

Duct

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.

6. Connection with Controllers

7. Setting the Home

7.1 Home Return

Home return consists of the following operations: [1] When a home command is issued, the actuator moves in the direction set by the moving direction

parameter. [2] The actuator detects the mechanical end via software. [3] At the mechanical end, the actuator reverses its direction and moves until a Z-phase signal is detected,

where the reference point is set. [4] The actuator moves further by the offset set by the applicable parameter, and the achieved position is set

as the home.

7.2 Fine-tuning the Home Position

How much the motor should turn after the stopper is contacted until a Z-phase signal generates has been adjusted prior to shipment. The table below lists standard values set on respective models for the distance travelled after the slider contacts and reverses its direction at the stopper, until it stops at the home.

Model name

Distance to home from mechanical stopper or

home sensor (approx.

value in mm)

SA4C, SA5C, SA6C, SA7C, SA4R, SA5R,

SA6R, SA7R, SA8C, SS8C

3 mm

SA4D 2.2 mm

SA5D, SA6D 3 mm

RCS2RCS2CR

SS7C, SS8C, SA7R, SS8R 5 mm

RCS3(P)RCS3(P)CR SA8C, SA8R, SS8C, SS8R 3 mm

As long as the direction of home return remains the same, the home position of each actuator can be fine-tuned by changing the parameter. Follow the procedure below to fine-tune the home position: [1] Perform home return to check the current home. [2] Next, move to a desired home, check the difference between the two homes, and then correct the home

preset parameter if you are using an XSEL or SSEL controller, or correct the home return offset parameter

if you are using a SCON controller, accordingly. Add or subtract the difference to/from the value currently set. [3] If a large offset is specified, the moving range will be reduced by the corresponding amount. If an offset beyond 1 mm is set, adjust the stroke limits.

7.3 Changing the Direction of Home

To change the direction of home on the delivered actuator, the moving direction parameter, and also the encoder’s Z-phase on some models, must be adjusted. Consult IAI for details.

7. Setting the Home

7.4 How to Use the Home Mark

� Please affix these marks to the actuator as home markers as needed.

Home mark sticker

Home mark scale x 4 Home mark x 4 (Scale: 1 mm graduation mark, 10 mm width)

� Peel off the marks from the base sheet.

Note 1. Every mark has sticky back.

2. Remove smear and stain from the surface.

3. Avoid label or nameplate as a marking location.

Example of Use

[1] Attach the seals as a guide for the direction of actuator home.

[2] Attach the seals as a guide for stop positions

[3] Attach the seals as a guide for position deviation check.

� Attach the two seals while the actuator is stopped at its home.

Contents of sticker

On the slider

On the base

Motor

On the slider

x 1 sheet

At home on the base

At stop positions on the base

On the slider

7. Setting the Home

7.5 How to Set the Home Preset and Home Return Offset

To correct a position deviation, change the home preset parameter if you are using an X-SEL or SSEL controller, or change the home return offset parameter if you are using a SCON controller. How to set these parameters is explained below.

7.5.1 X-SEL or SSEL Controller

(1) Open the position edit screen.

On the PC software screen, click , select [Select Position No.], and then click [OK]. The following screen will appear.

(2) Compare the current position and the position of the desired position number you have selected, to check

the difference between the two.

The current position is displayed here

Position number

[2] Click the [MV] button

[1] Select the position you want to

move the actuator to.

Click this button and select a desired position number on the position edit screen.

7. Setting the Home

(3) Click the parameter button.

(4) Select “Axis-specific Parameters.”

(5) When the axis-specific parameter screen opens, select No. 12, “Home preset.”

(6) Change the setting of Axis-specific Parameter No. 12 (home preset).

Add or subtract the value measured in (2) to/from the value currently entered. The setting unit is 0.001 mm. Example: If the difference is “-1 mm”: Home preset = Current setting – 1000

(7) Write the new data.

Click this button to open the parameter edit screen.

Select “Axis-specific Parameters.”

Select No. 12, “Home preset.”

Click the SEL button to write the new data to the controller.

7. Setting the Home

(8) Transfer the data to the controller.

(9) Click [OK].

(10) Write the data to the flash ROM.

(11) Restart the controller.

Select the “Parameters” check

Click [Yes (Y)].box.

7. Setting the Home

7.5.2 ECON or SCON Controller

(1) Open the position edit screen.

On the PC software screen, click , select [Select Position No.], and then click [OK]. The following screen will appear.

(2) Compare the current position and the position of the desired position number you have selected.

Click this button and select a desired position number on the

osition edit screen.

The current position is displayed here

Point number

[2] Move the actuator

in steps.

[1] Select a desired

position.

7. Setting the Home

(3) Click the parameter button.

(4) Open the user parameter screen.

(5) Change the setting of User Parameter No. 22 (home return offset).

* The setting unit is mm. Add or subtract the value measured in (2) to/from the value currently entered. Example: If the difference is “-0.5 mm”: Home return offset = Current setting – 0.5 mm

Click this button to open the parameter edit screen.

7. Setting the Home

(6) Write the new data.

Click the transfer to controller button, and then click [OK]. * Turn the power off after writing.

Click the transfer to controller button.

Click [OK].

7. Setting the Home

� 8 hole

Slit for position adjustment.

Front cover

Supplied seal

For position

adjustment

8. Slit for Position Adjustment

A hole is provided in the front cover on the counter-motor side, with a slit machined on the ball screw shaft. Use this slit if you want to fine-tune the slider position (for direct teaching, etc.). Insert a screwdriver with an outer diameter of �8 mm or less into the slit, and turn the driver.

[RCS2 (CR)]

[RCS3(P)(CR)]

Caution: Be sure to operate the slit when the servo is off.

Do not insert a finger or object in this hole while the slider is moving, as it is very dangerous. While the slit is not in use, attach the supplied seal or equivalent to cover the hole. If the hole remains exposed, a finger or object may enter accidentally, creating a very dangerous situation. With the cleanroom specification, leaving this hole open may cause dust and other particles inside the actuator to escape through the hole and affect the cleanliness of the operating room.

Cross-recessed countersunk head screw M3x5

End face cover

�8 slot for automatic adjustment

Front bracket

8. SampleSlit for Position Adjustment

9. Options

9.1 Brake

The brake is a retention mechanism that prevents the slider, when installed vertically, from dropping and thereby damaging the attached load when the power or servo is turned off. The brake option must be selected for every axis that will be used vertically. The model number for this option is “B,” “BE,” “BL” or “BR.”

9.2 Foot Bracket

This bracket is used to secure the actuator from above using bolts. The applicable code for this option is “FT.” If large moment loads will generate, install foot brackets at all mounting holes in the actuator to install the actuator. If there are not enough foot brackets, the actuator may deflect and its life may become shorter.

Actuator model number

* If the actuator option code “FT” is

specified, the actuator will come with two foot brackets.

* If the actuator option code “FT” is

specified, the actuator will come with two foot brackets.

* If the actuator option code “FT” is

specified, the actuator will come with two foot brackets.

Enlarged view of A

Reference surface of the

actuator

Reference surface of

the actuato

Reference surface of

the actuato

n – oblong hole (for installing the

9. Options

9.3 High Acceleration/Deceleration Option

With this option, the maximum acceleration becomes 1.0 G (or 0.8 G on some models) instead of 0.2 G or 0.3 G on standard specification models. The actuator can operate at the maximum acceleration of 1.0 G (or 0.8 G on some models) while keeping the same payload capacity as its standard specification counterpart. To move an actuator with the high acceleration/deceleration option, a controller of high acceleration/deceleration specification is required. This controller is different from a standard specification controller. The model number for this option is “HA.”

9.4 Home Check Sensor

The actuator comes with a sensor that checks if the slider has actually moved to the home position as a result of home return. The model number for this option is “HS.”

9.5 Reversed Home Specification

When the reversed home specification is selected, the home is set on the front side. The model number for this option is “NM.” To change the direction of home on the delivered actuator, the moving direction parameter, etc., must be adjusted. Consult IAI for details.

9.6 Slider Roller Specification

The slider structure is changed to the same roller structure adopted by the clean room specification. The model number for this option is “SR.”

9.7 Slider Spacer

When the spacer option is selected for the SA4 slider, the position of the slider’s top surface becomes higher than the motor position. The applicable code for this option is “SS.”

Actuator model number

2-�3H7, depth 5

�3M3, depth 7

9. Options

9.8 Motor Reversed to Left, Motor Reversed to Right

“ML” indicates that the motor is reversed to the left, while “MR” indicates that the motor is reversed to the right, as viewed from the motor. This option can be specified for the motor reversing types SA4R, SA5R, SA6R, SA7R, SS7R and SS8R.

9.9 Changing the Cable Exit Direction

The cable exit direction is changed. The model numbers are as follows:

� A1S: Cable exit from left side � A1E: Cable exit from rear left � A3S: Cable exit from right side � A3E: Cable exit from rear right

9.10 Changing the Motor Reversing Direction (Left/Right) and Cable Exit Direction

Whether the motor is reversed to the left or right, and the cable exit direction, is changed. The model numbers are shown below. The specified motor reversing types are RCS3/RCS3P-SA8R and SS8R.

Left

Right

Motor reversed to right Model number: MRE/MRS

Motor reversed to left Model number: MLE/MLS

Exit from right side Model number: MRS

Exit from right side Model number: MRE

Exit from left side Model number: MLE

Exit from left side Model number: MLS

Model number: A3S (exit from right side)

Model number: A3E (exit from rear right)

Model number: A1E (exit from rear left)

Model number: A1S (exit from left side)

(Cable exit direction) * All directions are

based on a top view.

9. Options

9.11 Suction Joint on Opposite Side

Standard clean room actuators come with a suction joint set on the left side as viewed from the motor. With this option, this joint is set on the front (opposite) side. The model number for this option is “VR.”

9.12 No Suction Joint

No suction joint is provided. The applicable code for this option is “VN.”

9. Options

(Front view)

Mechanical side

Controller side

(Front view)

Wire

Signal

WireSignal

(Crimping)

Connect the shield to the hood using a clamp.

Ground wire and braided

�8

10. Motor/Encoder Cables

[1] Motor Cables/Motor Robot Cables

Model number: CB-RCC-MA��/CB-RCC-MA��-RB

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

Model number: CB-RCBC-PA��/CB-RCBC-PA��-RB

�9

(Front view)

Mechanical side

Controller side

(Front view)

Wire

Signal

(Crimping)

Signal

10. Motor/Encoder Cables

(Front view)

Mechanical side

Controller side

(Front view)

Wire

Signal

(Crimping)

Connect the shield to the hood using a clamp.

Colo

Wire

Signal Colo

Note 4

Note 1

Note 2

Note 3

(Soldered)

Gray/White Brown/White

Pink

Purple

White

Blue/Red Orange/White Green/White

Blue

Orange

Black Yellow Green Brown

Gray

Red

Ground wire and braided

Pink

Purple

White

Blue/Red

Orange/White

Green/White

Brown/White

Ground

Blue

Orange

Black

Yellow

Green Brown

Gray/White

Gray

Red

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

Model number: CB-RCS2-PA��/CB-X2-PA��

10. Motor/Encoder Cables

11. Maintenance and Inspection

11.1 Inspection Items and Schedule

Perform maintenance work according to the schedule below.

The schedule is set assuming eight hours of operation a day. When the operation time is long such as 24-hour operation, shorten the maintenance intervals as needed.

Visual inspection Check interior Grease supply

Start of operation

�

After 1 month of operation

�

After 6 months of operation

� �

�

After 1 year of operation

� � �

Every 6 months thereafter

�

Every 1 year

� � �

*1 If grease is found degraded as a result of interior check, add grease. *2 If continuous back-and-forth operations are performed over a distance of 30 mm or less, grease film may be

broken. As a guide, operate the actuator back and forth five times or so over a distance of 50 mm or more after every 5,000 to 10,000 cycles.

11.2 Visual Inspection of the Machine Exterior

Check the following items when carrying out visual inspection.

Body Loose mounting bolts?

Cables Damage to cables or connection to connector box?

Stainless sheet Damage, foreign deposit or slacks?

General Unusual noise or vibrations?

• If the stainless sheet is slacked, make adjustment as deemed necessary to remove the slacks.

• As a rough guide, the stainless sheet will last for 5,000 km of traveled distance. However, the stainless sheet should be replaced earlier depending on the condition of use. The stainless sheet must be replaced at an IAI site (the actuator must be brought to IAI) or at the customer’s site by IAI’s service personnel, as a rule.

• If the actuator is fixed vertically, grease applied to the guide may drip depending on the environment. If this happens, clean and add grease as necessary.

11. Maintenance and Inspection

11.3 Cleaning

� Clean the exterior as needed. � Wipe off dirt with a soft cloth. � Do not use strong compressed air on the actuator as this may force dust into the crevices. � Do not use petroleum-based solvent on plastic parts or painted surfaces. � If the unit is badly soiled, apply a neutral detergent or alcohol to a soft cloth, and wipe gently.

11.4 Adjusting the Stainless Sheet

If the actuator stroke is 400 mm or more, check the stainless sheet for slacking, etc., as needed. If the sheet is found slacked, adjust the stainless sheet. [For the procedure to adjust the stainless sheet, refer to 11.8, “Replacing/Adjusting the Stainless Sheet.”]

11. Maintenance and Inspection

11.5 Interior Inspection

Turn off the power, remove the side covers, and then visually inspect the interior. Check the following items during interior inspection.

Body Loose mounting bolts?

Guides Lubrication appropriate? Soiling?

Ball screw Lubrication appropriate? Soiling?

[RCS2 (CR)]

How to inspect the interior:

1) Remove both side covers. Use an Allen wrench of 1.5 mm across flats.

2) If the grease becomes dirty and dull or if the grease has worn away due to extended operating time, lubricate the parts after cleaning them.

3) When the inspection/maintenance work is complete, install the side covers. Tightening torque: Thin-head screw M3 x 6 – 87.2 N�cm (8.90 kgf�cm)

Caution: � When checking the interior, be careful not to bend or scratch the stainless sheet.

Wear protective gloves when handling the stainless sheet, because it has sharp edges that may cause accidental cuts. The front cover is supporting the ball screw; so do not disassemble the front cover. If the front cover is misaligned, the shaft centers may become offset, thus increasing the traveling resistance, reducing the service life of each part, or generating noise.

� If the actuator is equipped with a microswitch (optional), carefully install the side

covers so that the switch cables are not pinched.

Make a visual check of the interior to see if there is any dust or foreign matter in the unit and check the lubrication. Even if the grease you see around the parts is brown, the lubrication is fine as long as the traveling surface appears shiny.

When installing the side covers, do not let them contact the end faces of the stainless sheet. It may damage or bend the stainless sheet, causing the sheet to deteriorate or wear quickly. To prevent this problem, insert a shim (approx. 0.1 to 0.2 mm) between the sheet and each cover to provide an allowance, and gently push in the cover.

11. Maintenance and Inspection

[RCS3(P) -SA8]

How to inspect the interior:

1) Use an Allen wench of 2 mm across flats to remove the four screws and take out the screw cover.

2) If the grease becomes dirty and dull or if the grease has worn away due to extended operating time, lubricate the parts after cleaning them.

Cover

Cover mounting bolts

After the cover has been removed

Actuator

11. Maintenance and Inspection

3) Use an Allen wench of 2 mm across flats to tighten the four screws to install the screw cover.

Caution: When checking the interior, be careful not to forcibly bend the screw cover or otherwise

damage the cover. The front cover is supporting the ball screw, so do not disassemble the cover. If a proper adjustment of the front cover is lost, misalignment of the center of axis may cause higher traveling resistance, shorter life of each part or generation of abnormal noise.

Tightening Torque

Cover mounting bolts

11. Maintenance and Inspection

[Cleanroom specification RCS3(P) CR-SA8C]

How to inspect the interior:

1) Use an Allen wench of 2 mm across flats to remove the two screws and turn up the stainless sheet.

2) If the grease becomes dirty and dull or if the grease has worn away due to extended operating time, lubricate the parts after cleaning them.

Stainless-sheet retainer cover mounting bolt

11. Maintenance and Inspection

3) Use an Allen wench of 2 mm across flats to tighten the four screws to install the stainless sheet. The retainer cover is also affixing the side cover, so pay attention also to looseness of the side cover as you tighten the screws.

Caution: When checking the interior, be careful not to forcibly bend the screw cover or otherwise

Stainless-sheet retainer cover mounting bolt

Tightening Torque

11. Maintenance and Inspection

[RCS3 (P) -SS8C, Cleanroom specification RCS3(P)CR-SS8C]

How to inspect the interior:

1) Use an Allen wench of 2 mm across flats to remove the two screws and turn up the stainless sheet.

2) If the grease becomes dirty and dull or if the grease has worn away due to extended operating time, lubricate the parts after cleaning them.

Stainless-sheet retainer cover mounting bolt

11. Maintenance and Inspection

3) Use an Allen wench of 2 mm across flats to tighten the four screws to install the stainless sheet .

Caution: When checking the interior, be careful not to forcibly bend the screw cover or otherwise

Stainless-sheet retainer cover mounting bolt

11. Maintenance and Inspection

11.6 Internal Cleaning

� Wipe off dirt with a soft cloth. � Do not use strong compressed air on the actuator as this may force dust into the crevices. � Do not use petroleum-based solvent, neutral detergent or alcohol.

Caution: Do not use flushing oil, molybdenum grease or anti-rust lubricant. When grease is soiled with large amounts of foreign substances, wipe off the dirty grease

and then apply new grease.

11.7 Adding Grease

11.7.1 Applicable Grease

[Other than Cleanroom Specification]

(1) What Grease to Use on the Guides

The following grease is used when we ship the unit.

Idemitsu Kosan Daphne Eponex Grease No.2

Other companies also sell a grease similar to this. If ordering from another maker, give the name of this product and request something comparable. Comparable products include the following:

Showa Shell Oil Albania Grease No. 2

Mobil Oil Mobilux 2

(2) What Grease to Use on the Ball Screw

The following grease is used when we ship the unit. This grease offers excellent properties such as low heat generation, and is suitable for lubricating ball screws.

Kyodo Yushi Multemp LRL3

Warning: 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.

11. Maintenance and Inspection

[Cleanroom Specification]

(1) What grease to use on the guide and ball screw

The following grease is used when we ship the unit. This grease is of low-dust-raising type.

Kuroda Precision Industries C Grease

Warning: 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.

Caution: Never use grease for the standard specification. It may allow dust to generate.

11. Maintenance and Inspection

11.7.2 How to Apply Grease to RCS2

1) When greasing the guide, use a spatula or grease applicator to squeeze or inject grease into the space between the slider and base, and then move the slider back and forth several times to let the grease spread evenly. Apply grease on the guides on both sides. Remove excess grease.

2) When greasing the ball screw, clean the ball screw, apply grease using a finger, and then move the slider back and forth several times to let the grease spread evenly. At this time, be careful not to deform the stainless sheet by accidentally touching the sheet. Remove excess grease.

3) Install the side covers. Tightening torque: Thin-head screw M3 x 6 – 87.2 N cm (8.90 kgf cm) Refer to 3) in 11.5 “Interior Inspection,” for notes on installing the side covers.

Caution:

In case the grease got into your eye, immediately go to see the doctor to get an appropriate care. After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease OFF.

If the actuator is equipped with a microswitch (optional), carefully install the side covers so that the switch cables are not pinched.

11. Maintenance and Inspection

11.7.3 How to Apply Grease to the RCS3(P)(CR)

You can apply grease to the RCS3(P) (CR)-SA8 and RCS3 (P) (CR)-SS8 from outside the actuator without removing the exterior parts.

• For the RCS3 (P) (CR)-SA8, grease can be applied to the guide and ball screw from outside the actuator.

• For the RCS3 (P) (CR)-SS8, grease can be applied only to the guide from outside the actuator.

(1) How to apply grease to the guide (Common to RCS3 (P) (CR)-SA8 and SS8)

Remove the end face cover from the front bracket on the counter-motor side to expose grease nipples on the right and left. Use these grease nipples to apply grease. [1] Remove the end face cover. [2] Move the slider all the way to the end on the counter-motor side. [3] Insert a grease gun into the hole in the front bracket and add grease while keeping the slider in place. * The right and left grease nipples are connected to different greasing circuits, respectively, so be sure to

add grease into both nipples. [4] Move the slider back and forth several times by hand. [5] Repeat the above steps to apply grease. [6] Use a waste cloth, etc., to wipe off any grease that has overflowed from the slider.

�11 grease nipple holes

Cross-recessed countersunk head screw M3x5

End face cover

Front bracket

Caution:

11. Maintenance and Inspection

(2) How to apply grease to the ball screw [RCS3(P) (CR)-SA8]

[1] Use a grease gun to add grease into the grease nipple provided on the side face of the slider. [2] Move the slider back and forth several times by hand. [3] Repeat the above steps to apply grease. [4] Use a waste cloth, etc., to wipe off any grease that has overflowed from the slider.

[RCS3(P) (CR)-SS8]

1) Turn up one side of the stainless sheet to expose the interior.

2) Clean the ball screw, apply grease by hand, and then move the slider back and forth to let the grease

spread evenly.

Be careful not to let the ball screw contact, and deform, the stainless sheet.

Finally, wipe off any excess grease.

3) Install the stainless sheet.

Slider

Grease nipple holes

Ball screw

Caution:

11. Maintenance and Inspection

IAI America RCS3PCR-SS8C User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Note

Table of Contents

Safety Guide

Handling Precautions

International Standards Compliances

Names of the Parts

1.1 Components

1.2 Operation Manuals for Controllers Supported by This Product

1. Checking the Product

1.3 How to Read the Model Nameplate

2. Specification

3. Life

4.1 Installation Environment

4.2 Storage/Preservation Environment

4.Installation and Storage/Preservation Environment

5.1 Installation

5. Installation

5.2 Notes on Installation

5.3 Installing the Actuator

5.4 Installation Surface

5.5 Tightening Screws

5.6 Installing the Load on the Slider

5.7 Cleanroom Specification

6.1 Wiring

6. Connection with Controllers

7.1 Home Return

7.2 Fine-tuning the Home Position

7.3 Changing the Direction of Home

7. Setting the Home

7.4 How to Use the Home Mark

7.5 How to Set the Home Preset and Home Return Offset

8. Slit for Position Adjustment

9.1 Brake

9.2 Foot Bracket

9. Options

9.3 High Acceleration/Deceleration Option

9.4 Home Check Sensor

9.5 Reversed Home Specification

9.6 Slider Roller Specification

9.7 Slider Spacer

9.8 Motor Reversed to Left, Motor Reversed to Right

9.9 Changing the Cable Exit Direction

9.10 Changing the Motor Reversing Direction (Left/Right) and Cable Exit Direction

9.11 Suction Joint on Opposite Side

9.12 No Suction Joint

10. Motor/Encoder Cables

11. Maintenance and Inspection

11.1 Inspection Items and Schedule

11.2 Visual Inspection of the Machine Exterior

11.3 Cleaning

11.4 Adjusting the Stainless Sheet

11.5 Interior Inspection

11.6 Internal Cleaning

11.7 Adding Grease