Iai-america RCP4CR-SA7C Uživatelský manuál Strana 1

ROBO CylinderRadial Cylinder RCP4 ActuatorSlider Type Operation Manual Sixth Edition Standard type Motor straight type, RCP4-RA5C, RA6C, RA7CS

4No.OperationDescription Description 4 Installation and Start(4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear

5No.OperationDescription 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

6No.OperationDescription Description 8 Maintenance and Inspection Ɣ When the work is carried out with 2 or more persons, make it clear who is to be t

7Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

8Caution in Handling 1. Do not attempt to establish the settings for the speed and acceleration/deceleration above the allowable range.An operation w

9Names of the Parts In this Operation Manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actuator

103. Clean Room Type Motor Straight Type RCP4CR BaseAir Vacuum JointSliderFront Cover Slider CoverMotor SideScrew for motor unit attachmentMotor Unit

1. Checking the Product111. Specification Check 1.1 Checking the Product The standard configuration of this product is comprised of the following pa

1. Checking the Product121.1.4 How to Read the Model Number RCP4 í SA5C í I í 42P í 3 í 50 í P3 í P í B í **Note 1 Identification for IAI use only :

1. Checking the Product131.2 Specification 1.2.1 Speed [When high-output setting is effective] Speed limits (Unit: mm/s) Stroke [mm] Type Motor Type

1. Checking the Product14Stroke [mm] Type Motor Type Lead[mm] Horizontal / Vertical 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 80

1. Checking the Product15[When high-output setting is ineffective] Speed limits (Unit: mm/s)Stroke [mm] Type Motor Type Lead[mm] Horizontal / Vertica

1. Checking the Product161.2.2 Maximum Acceleration and Transportable Weight If the transportable weight is smaller than as specified, the accelerati

1. Checking the Product17Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.3G 0.

1. Checking the Product18Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.3G 0.

1. Checking the Product19Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.3G 0.

1. Checking the Product20Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.3G 0.

1. Checking the Product21Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.3G 0.

1. Checking the Product22[When high-output setting for motor reversing type is effective] Payload capacity by acceleration/deceleration [kg] Type Mot

1. Checking the Product23Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.3G 0.

Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this pr

1. Checking the Product24Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.3G 0.

1. Checking the Product25Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.3G 0.

1. Checking the Product26Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.3G 0.

1. Checking the Product27Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.3G 0.

1. Checking the Product28[When high-output setting for motor straight type is ineffective] Payload capacity by acceleration/deceleration [kg] Type Mo

1. Checking the Product29Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.2G 0.

1. Checking the Product30Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.2G 0.

1. Checking the Product31[When high-output setting for motor reversing type is ineffective] Payload capacity by acceleration/deceleration [kg] Type M

1. Checking the Product32Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.2G 0.

1. Checking the Product33Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.2G 0.

1. Checking the Product34Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.2G 0.

1. Checking the Product35Payload capacity by acceleration/deceleration [kg] Type Motor Type Lead[mm]Horizontal / Vertical Velocity [mm/s]0.1G 0.2G 0.

1. Checking the Product361.2.3 Driving System • Position Detector Ball Screw Type Type Motor Type Lead No. of Encoder Pulses Type Diameter Accurac

1. Checking the Product371.2.5 Current Limit Value and Pressing Force Ɣ SA5C, SA6C, SA5R, SA6R [N]Current Limit Value Lead 3 Lead 6 Lead 12 Lead

1. Checking the Product38Ɣ SA7C, SA7R [N]Current Limit Value Lead 4 Lead 8 Lead 16 Lead 24 20% 192 96 48 32 30% 288 144 72 48 40% 385 19

1. Checking the Product391.2.6 Allowable Load Moment of Actuator Static load moment [Nxm] Allowable load moment [Nxm]Type Ma Mb Mc Ma Mb Mc All

1. Checking the Product401.2.7 Duty Ratio in Continuous Operation Continuous operation is available with the duty ratio 100%. Duty ratio is the rate

1. Checking the Product411.3 Options 1.3.1 Brake Type (Model No. : B) The brake is a mechanism designed to prevent the slider from dropping on a ver

1. Checking the Product421.4 Motor • Encoder Cables 1.4.1 Motor • Encoder Integrated Cables CB-CA-MPAƑƑƑSPND-002T-C0.5 (AWG26)SPND-001T-C0.5 (AWG22)

1. Checking the Product431.4.2 Motor • Encoder Integrated Cables Robot Type CB-CA-MPAƑƑƑ-RB SPND-002T-C0.5 (AWG26)SPND-001T-C0.5 (AWG22)Contact : 1

Table of Contents Safety Guide...

2. Installation442. Installation 2.1 Transportation [1] Handling of Robot When transporting the unassembled actuator alone, pay attention to the ite

2. Installation45[2] Handling in Assembled Condition When transporting the actuator with its axes already assembled, take note of the following item

2. Installation462.2 Installation and Storage • Preservation Environment [1] Installation Environment The actuator should be installed in a location

2. Installation472.3 Installation This chapter explains how to install the actuator on your mechanical system. 2.3.1 General Rules on Installation F

2. Installation482.3.2 Installation of Main Unit The surface to mount the main unit should be a machined surface or a plane that possesses an equival

2. Installation49[2] Using the Through Holes on the Top of the Base There are through holes equipped on the base so the unit can be attached from the

2. Installation50[3] When Utilizing Attachment Holes on the Bracket for Motor-Reversed Type There are tapped holes prepared on the reversing bracket.

2. Installation51᳓ᐔု⋥ ᄤษAvailability of installation for each installation posture is as shown below: 䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃When using the unit in the

2. Installation52Reamed Hole Pitch Tolerance: ±0.02±0.02[4] Attachment of Transported Object 䎃x There are tapped holes on the top surface of the slid

2. Installation53[5] Mounting Surface 䎃x The platform to install the actuator should possess a structure that ensures enough stiffness, and should be

4.6 Grease Supply...614.6.1 W

2. Installation542.4 Clean-Room Type x Cleanroom type can have the performance to comply with Cleanroom Class 10 (0.1ȝm) by vacuuming the air at the

3. Connecting with Controller553. Connecting with Controller As the connection cable for the controller and RCP4 (this actuator), use the IAI-dedicat

3. Connecting with Controller56Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipment, p

3. Connecting with Controller57• Do not let the cable bend, kink or twist. • Do not pull the cable with a strong force. • Pay attention not to conc

3. Connecting with Controller58• PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them t

4. Maintenance Inspection594. Maintenance Inspection 4.1 Inspection Items and Schedule Follow the maintenance inspection schedule below. It is assum

4. Maintenance Inspection604.4 Internal Inspections Turn OFF the power, remove the side cover and have a visual inspection. When inspecting the inter

4. Maintenance Inspection614.6 Grease Supply 4.6.1 What Grease to Use on the Standard Type [1] What Grease to Use on the Guides IAI uses the followi

4. Maintenance Inspection624.6.3 How to apply grease (1) Remove the screws and detach the side covers on both sides.After Side Covers are Detached (

4. Maintenance Inspection63(3) To grease ball screws, first clean, then put some grease on your finger and apply while moving the slider back and fort

1Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to rea

4. Maintenance Inspection644.7 Procedure for Stainless Steel Sheet Replacement and Adjustment In this section, explains how to replace and adjust t

4. Maintenance Inspection654.7.2 Procedure for Replacement and Tuning (1) Move the slider to the middle of the actuator (2) Remove the screws affix

4. Maintenance Inspection66(5) Adjust the stainless steel sheet tension. 1) Adjust the tension of stainless steel sheet by moving back and forth. For

4. Maintenance Inspection674.8 Procedure for Belt Replacement and Tuning Applicable Untis : RCP4-SA5R, SA6R, SA7R 4.8.1 Inspection of the Belt For i

4. Maintenance Inspection684.8.3 Replacement of the Belt [Items Required for Replacemet Work] x Belt for Replacement x Hex wrench 1.5mm, 2.5mm (SA5R/

4. Maintenance Inspection693) Adjust the belt tension. Hand a cable band (thin string) on the edge of the motor unit and pull it on a tension gauge w

4. Maintenance Inspection704.9 Motor Replacement Process 4.9.1 RCP4-SA5C, SA6C, SA7C, RCP4CR-SA5C, SA6C, SA7C [Items required for replacing the mo

4. Maintenance Inspection713) Make the profiles on the actuator side and motor unit side aligned so the projection matches to the slit. 4) Attach the

4. Maintenance Inspection724.9.2 RCP4-SA5R, SA6R, SA7R [Items Required for Replacement Work] x Motor Unit for Replacement x Hex Wrench Set 3mm-size

4. Maintenance Inspection733) Make the profiles on the actuator side and motor unit side aligned so the projection matches to the slit. 4) Attach the

2No.OperationDescription Description 2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such

5. External Dimensions745. External Dimensions 5.1 RCP4-SA5C 2-φ4 H7 depth 62- φ 4H7 depth 5.54-M4 depth 9YX3Stroke31894 1998 (138)KL22.526(Same o

5. External Dimensions755.2 RCP4-SA6C 3 31898 (138)115 18.5KL22.528MEMESE SE(27)(13)21 19.519.532±0.0250(Reamer pitch4-M5 depth 92- φ5H7 depth 620 (3

5. External Dimensions765.3 RCP4-SA7C 3 321.5322122133 (183)126KLME MESE SE(13)(27)20 20 2032±0.025020(300)25.530GC ×100P80A10 143.5 (193.5)B ×100P40

5. External Dimensions775.4 RCP4-SA5R (28)(13)18339 15.515.52619±0.022-φ4 H7 depth 620(300)9419KStroke27.5L4-M4 depth 9116 (156)(32.5)(28.5)30MESEME

5. External Dimensions785.5 RCP4-SA6R Datum Point forMa and Mc Moments OffsetD-M4 depth 7(from bottom of base)H-Oblong Hole, depth 5.531(Reamer pitch

5. External Dimensions795.6 RCP4-SA7R Datum Point forMa and Mc Moments OffsetD-M5 depth 9(from bottom of base)H-Oblong Hole, depth 5.539(Reamer pitch

5. External Dimensions805.7 RCP4CR-SA5C Ø 403Stroke32098(138)KL22.52690 213332MEMESESE(13)(28)9 15.515.519±0.023020(300)622050AG 106(146)7262447 2.52

5. External Dimensions815.8 RCP4CR-SA6C 3183Ø 4098(138)KL22.52818.51153332MEMESE SE(28)(13)21 19.519.532±0.025020(300)252075A31G 106(146)747 5.55.540

5. External Dimensions825.9 RCP4CR-SA7C 3 320.53221133(183)KL2112840.540ME MESE SE(13)(28)20 20 2032±0.025020(300)25.530G80A10 143.5 (193.5)4061 6643

6. Life836. Life The mechanical life of the actuator is represented by that of the guide receiving the greatest moment load. The “rated load” is on

3No.OperationDescription Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for t

7. Warranty847. Warranty 7.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company

7. Warranty857.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with anoth

Change History86Change History Revision Date Description of Revision September 2011 November 2011 January 2012 February 2012 March 2012 August 2012 F

Manual No.: ME3717-6A (August 2012)The information contained in this document is subject to change without notice for purposes of product improvement.