SMC Networks ROBO Cylinder RCS2, ROBO Cylinder RGD5C, ROBO Cylinder RGS7BD, ROBO Cylinder RA4D, ROBO Cylinder RGS4D, ROBO Cylinder RGS4C, ROBO Cylinder RGD7BD, ROBO Cylinder RGD4D, ROBO Cylinder RA7BD, ROBO Cylinder RA5C, ROBO Cylinder RGS7AD, ROBO Cylinder RA4C, ROBO Cylinder RA7AD, ROBO Cylinder RGD4C, ROBO Cylinder RGD7AD, ROBO Cylinder RGS5C User Manual

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ROBO Cylinder

Rod Type

RCS2 Actuators

Motor Straight Type (Coupling Type): RA4C, RA5C, RGS4C, RGS5C, RGD4C and RGD5C

Motor Straight Type (Built-inType):

RA4D, RA7AD, RA7BD, RGS4D and RGS7AD

 

RGS7BD, RGD4D, RGD7AD and RGD7BD

Motor Reversing Type:

RA4R and RA5R

Flat Type

F5D

RCS2W Actuators, Dustproof/Splash-proofSpecification

Motor Straight Type (Coupling Type): RA4C

Motor Straight Type (Built-inType):

RA4D

Motor Reversing Type:

RA4R

Operating Manual

Third Edition

IAI America, Inc.

Safety Precautions (Please read before using the product.)

Before installing, operating, maintaining or inspecting this product, please peruse this operating manual as well as the operating manuals and other related documentations for all equipment and peripheral devices connected to this product in order to ensure the correct use of this product and connected equipment/devices. Those performing installation, operation, maintenance and inspection of the product must have sufficient knowledge of the relevant equipment and their safety. The precautions provided below are designed to help you use the product safely and avoid bodily injury and/or property damage.

In this operating manual, safety precautions are classified as “Danger,” “Warning,” “Caution” and “Note,” according to the degree of risk.

Danger

Failure to observe the instruction will result in an imminent danger leading to

death or serious injury.

 

 

 

 

 

 

 

 

 

 

Warning

Failure to observe the instruction may result in death or serious injury.

 

 

 

 

 

 

Caution

Failure to observe the instruction may result in injury or property damage.

 

 

 

 

 

 

Note

The user should take heed of this information to ensure the proper use of the

product, although failure to do so will not result in injury.

 

 

 

 

 

 

 

It should be noted that the instructions under the

 

 

and

 

headings may also lead to

 

Caution

Note

serious consequences, if unheeded, depending on the situation.

All instructions contained herein provide vital information for ensuring safety. Please read the contents carefully and handle the product with due caution.

Please keep this operating manual in a convenient place for quick reference whenever needed, and also make sure that the manual will get to the end-user.

Danger

[General]

zDo not use this product for 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

3.Important safety parts of machinery

This product has not been planned or designed for applications requiring high levels of safety. Use of this product in such applications may jeopardize the safety of human life. The warranty covers only the product as it is delivered.

[Installation]

zDo not use this product in a place exposed to ignitable, inflammable or explosive substances. The product may ignite, burn or explode.

zWhen installing the product, be sure to securely support and affix it (including the work). Failure to do so may cause the product to tip over, drop or malfunction, resulting in injury.

zAvoid using the product in a place where the main unit or controller may come in contact with water or oil droplets.

zNever cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length. Doing so may result in fire.

[Operation]

zDo not enter the machine’s range of operation while the product is operating or standing by. The actuator may move suddenly, causing injury.

zDo not pour water onto the product. Spraying water over the product, washing it with water or using it in water may cause the product to malfunction, resulting in injury, electric shock, fire, etc.

[Maintenance, Inspection, Repair]

zNever modify the product. Unauthorized modification may cause the product to malfunction, resulting in injury, electric shock, fire, etc.

zDo not disassemble and reassemble the components relating to the basic structure of the product or its performance and function. Doing so may result in injury, electric shock, fire, etc.

Warning

[General]

zDo not use the product outside the specifications. Using the product outside the specifications may cause it to fail, stop functioning or sustain damage. It may also significantly reduce the service life of the product. In particular, observe the maximum loading capacity and speed.

[Installation]

zIf the machine will stop in the case of system problem such as emergency stop or power failure, design a safety circuit or other device that will prevent equipment damage or injury.

zBefore supplying power to and operating the product, always check the operation area of the equipment to ensure safety. Supplying power to the product carelessly may cause electric shock or injury due to contact with the moving parts.

zWire the product correctly by referring to the operation manual. Securely connect the cables and connectors so that they will not be disconnected or come loose. Failure to do so may cause the product to malfunction or cause fire.

[Operation]

zBefore operating the moving parts of the product by hand (for the purpose of manual positioning, etc.), confirm that the servo is turned off (using the teaching pendant). Failure to observe this instruction may result in injury.

zDo not scratch the cables. Scratching, forcibly bending, pulling, winding, crushing with heavy object or pinching a cable may cause it to leak current or lose continuity, resulting in fire, electric shock, malfunction, etc.

zTurn off the power to the product in the event of power failure. Failure to do so may cause the product to suddenly start moving when the power is restored, thus resulting in injury or product damage.

zIf the product is generating heat, smoke or a strange smell, turn off the power immediately. Continuing to use the product may result in product damage or fire.

zIf noise or abnormally high vibration is detected, stop the operation immediately. Continuing to use the product may result in product damage, malfunction due to damage, runaway machine, etc.

zIf any of the product’s protective functions (alarms) has actuated, turn off the power immediately. Continuing to use the product may result in injury due to product malfunction, or cause product breakdown or damage. After the power has been cut off, identify and remove the cause of the problem, and then reconnect the power.

zDo not step on the product, use it as a footstool or place any object on it. You may slip and fall or the product may tip over or drop, resulting in injury. Malfunction, runaway product, etc., may also result due to product breakdown or damage.

[Maintenance, Inspection, Repair]

zBefore commencing maintenance/inspection, servicing, replacement or any other work on the product, be sure to completely cut off the power supply to the product. Also take heed of the following precautions:

1.Put up a sign bearing “WORK IN PROGRESS. DO NOT TURN ON POWER” or other warning statement to that effect, to prevent a bystander from accidentally turning on the power.

2.If multiple operators work together to perform maintenance/inspection work, the operators should always give verbal cues to one another to ensure safety before turning on/off the power or moving any axis.

[Disposal]

z Do not throw the product into flames. The product may explode or toxic gases may generate.

Caution

[Installation]

zDo not use the product in a place exposed to direct sunlight (ultraviolet ray), dusty place or place where air contains salt or iron powder, humid place, or in any ambience where the product may come in contact with organic solvent, hydraulic oil containing phosphate ester, etc. If used in theses places/ambiences, the product may lose its function over a short period of time or suffer rapid performance deterioration, or the service life of the product may be reduced.

zDo not use the product in an ambience where it may come in contact with corrosive gases (sulfuric acid, hydrochloric acid, etc.). The product may lose its strength due to rust.

zProvide sufficient shielding measures if the product is used in any of the following places. If proper measures are not taken, the product may malfunction:

1.Place where large current or strong magnetic field generates

2.Place where arc discharge occurs due to welding work, etc.

3.Place where noise generates due to electrostatic, etc.

4.Place where the product may come in contact with radiation

zDo not install the product in a place subject to vibration or shock.

zProvide an emergency stop device in an easily accessible position so the device can be immediately actuated should danger occur during operation. Failure to do so may result in injury.

zProvide sufficient maintenance space when installing the product. If sufficient space is not available, daily inspection, maintenance and other necessary work cannot be carried out, resulting in system shutdown or product damage.

zWhen transporting or installing the product, support the product using a lift or suspension equipment or carry it with multiple operators working together, and exercise due caution to ensure safety.

zWhen installing the product, do not hold the moving parts or cables of the product. Doing so may result in injury.

zUse IAI’s genuine cables to connect the actuator and controller. Also use IAI’s genuine components for the actuator, controller, teaching pendant, etc.

zThe brake mechanism is designed to prevent the slider from dropping upon turning off the power when the actuator is installed vertically. Do not use the brake mechanism as a safety brake.

zWhen installing, adjusting or carrying out any other work on the actuator, put up a sign bearing “WORK IN PROGRESS. DO NOT TURN ON POWER” or other warning statement to that effect, to prevent the product from being powered on accidentally. If the power is turned on accidentally, injury may result due to electric shock or sudden movement of the actuator.

[Operation]

zTurn on the power to individual equipment one by one, starting from the equipment at the highest level in the system hierarchy. Failure to do so may cause the product to start suddenly, resulting in injury or product damage.

zDo not insert a finger or object in the openings in the product. It may cause fire, electric shock or injury.

zDo not step on the product, use it as a footstool or place any object on it. It may cause scoring, dents or deformation of the driving part, resulting in product damage, unintended stopping due to damage, or performance drop.

[Maintenance, Inspection, Repair]

zWear protective goggles when applying grease to the actuator. Failure to do so may result in eye inflammation due to spattered grease.

Note

[Installation]

zIf the product is used in a vertical setup, be sure to use the vertical specification (with brake).

zProtection covers or other guards must be provided for the moving parts of the equipment to avoid direct contact with the operators.

zDo not configure a control circuit that will cause the work to drop in case of power failure. Configure a control circuit that will prevent the table or work from dropping when the power to the machine is cut off or an emergency stop is actuated.

zThe following conditions must be met in order to improve the straightness of the table movement and ensure the smooth movement of the ball screw and linear guides:

1.Flatness of the mounting surface must be within 0.05 mm.

2.The mounting surface area must be large enough to ensure the rigidity of the actuator.

[Installation, Operation, Maintenance]

zWhen handling the product, wear protective gloves, protective goggles, safety shoes or other necessary gear to ensure safety.

[Maintenance, Inspection, Repair]

zWhen performing maintenance, apply the specified grease to the guides and ball screw. Pay special attention not to let fluoride grease mix with lithium grease. The machine may be damaged due to poor lubrication, increased resistance, etc.

[Disposal]

zWhen the product becomes no longer usable or necessary, dispose of it properly as an industrial waste.

Others

IAI shall not be liable whatsoever for any loss or damage arising from a failure to observe the items specified in “Safety Precautions.”

Prohibited Handling of Cables

When designing an application system using IAI’s actuators and controllers, incorrect wiring or connection of each cable may cause unexpected problems such as a disconnected cable or poor contact, or even a runaway system. This section explains prohibited handling of cables. Read the information carefully to connect the cables properly.

1.

2.

Do not let the cable flex at a single point.

Do not let the cable bend, kink or twist.

Steel band (piano wire)

Bundle loosely.

3. Do not pull the cable with a strong force.

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

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

Use a curly cable.

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

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

7. Notes on using cable bearers

zThe supplied cables are not robot cables. Accordingly, never store the cables in a cable bearer.

z Always use a robot cable

 

for each relay cable.

Bending radius (r)

zUse a cable bearer with a bending radius (r) of 50 mm or greater.

zDo not let the cable get tangled or kinked in a cable bearer or flexible tube. When bundling the cable, keep a certain degree of flexibility (so that the cable will not become too taut when bent).

zDo not cause the cables to occupy more than 60% of the space in the cable bearer.

zDo not lay signal lines together with circuit lines that create a strong electric field.

Cable bearer

 

 

Power line

 

Cable

 

Duct

 

Signal lines (flat cable)

 

 

 

 

 

 

Table of Contents

 

1. Foreword ............................................................................................................................................

1

2. Safety Precautions .............................................................................................................................

1

2.1

Basic Operating Instructions ...........................................................................................

1

2.2

Maintenance and Inspection ...........................................................................................

1

3. Warranty .............................................................................................................................................

2

3.1

Warranty Period...............................................................................................................

2

3.2

Scope of Warranty...........................................................................................................

2

4. Names of the Parts.............................................................................................................................

3

4.1

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

3

 

z RCS2-RA4C................................................................................................................

3

4.2

Motor Straight Type (Built-inType): No Guide................................................................

4

 

z RCS2-RA4D................................................................................................................

4

4.3

Motor Reversing Type: No Guide....................................................................................

5

 

z RCS2-RA4R................................................................................................................

5

4.4

Motor Straight Type (Coupling Type): Single-guideType ..............................................

6

 

z RCS2-RGS4C .............................................................................................................

6

4.5

Motor Straight Type (Coupling Type): Double-guideType .............................................

7

 

z RCS2-RGD4C.............................................................................................................

7

4.6

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

8

 

z RCS2-RA5C................................................................................................................

8

4.7

Motor Reversing Type: No Guide....................................................................................

8

 

z RCS2-RA5R................................................................................................................

8

4.8

Motor Straight Type (Coupling Type): Single-guideType ..............................................

9

 

z RCS2-RGS5C .............................................................................................................

9

4.9

Motor Straight Type (Coupling Type): Double-guideType .............................................

9

 

z RCS2-RGD5C.............................................................................................................

9

4.10

Short Type .....................................................................................................................

10

 

z RCS2-RA7A(B)D ......................................................................................................

10

4.11

Flat Type ........................................................................................................................

10

 

z RCS2-F5D.................................................................................................................

10

4.12

Dustproof/Splash-proofMotor Straight Type (Coupling Type) .....................................

11

 

z RCS2W-RA4C ..........................................................................................................

11

5. Transporting and Handling...............................................................................................................

12

5.1

Handling the Actuator ....................................................................................................

12

5.1.1 Handling the Packed Unit.......................................................................................

12

5.1.2 Handling the Actuator After It is Unpacked ............................................................

12

5.2

Handling the Actuator Assembly ...................................................................................

13

5.2.1 Condition of Shipment from IAI (Assembled).........................................................

13

5.2.2 Handling after Assembly with Peripheral Equipment.............................................

13

6. Operating and Storage Environment...............................................................................................

14

6.1

Operating Environment..................................................................................................

14

6.2

Storage Environment.....................................................................................................

14

7. Installation ........................................................................................................................................

15

7.1

Installing the Main Body ................................................................................................

15

8. Wiring Cable .....................................................................................................................................

27

9. Connecting the Air Tube of the RCS2W Dustproof/Splash-proofType...........................................

28

10. Maximum Speed ............................................................................................................................

29

11. Load on the Actuator ......................................................................................................................

30

12. Actuators with a Switch (Optional) .................................................................................................

30

13. High Acceleration/Deceleration Option ..........................................................................................

31

13.1

Applicable Actuator Models...........................................................................................

31

13.2

Specifications of High Acceleration/Deceleration Actuators.........................................

31

13.3

Notes..............................................................................................................................

32

13.4

Applicable Controller Models (SCON, SSEL, X-SEL)...................................................

32

14. Maintenance...................................................................................................................................

33

14.1

Maintenance Schedule ..................................................................................................

33

14.2

Visual Inspection of the Machine Exterior.....................................................................

33

14.3

Cleaning.........................................................................................................................

33

14.4

Applying Grease to the Sliding Surface of the Rod ......................................................

34

14.5

Reduction Belt [Motor Reversing Type] ........................................................................

35

14.5.1 Inspecting the Belt ..................................................................................................

35

14.5.2 Applicable Belt ........................................................................................................

35

14.5.3 Adjusting the Belt Tension (RA4R Type) ...............................................................

36

14.5.4 Adjusting the Belt Tension (RA5R) ........................................................................

37

14.5.5 Replacing the Belt of the Motor Reversing Type: RA4R Type ..............................

38

12.5.6 Replacing the Belt of the Motor Reversing Type: RA5R Type ..............................

43

14.6

Replacing the Motor.......................................................................................................

46

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

46

14.6.2 Replacing the Motor of the Motor Reversing Type: RA4R Type ...........................

53

14.6.3 Replacing the Motor of the Motor Reversing Type: RA5R Type ...........................

59

14.7

Replacing the Bellows of the RCAW Dustproof/Splash-proofType .............................

62

15. Cable Drawings ..............................................................................................................................

65