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IAI RCP2 Operating Manual

Robo cylinder electric actuator
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See also: Operating Manual
ROBO Cylinder
Short Type
RCP2/RCA Actuator
Motor-reversing Specification
Operating Manual
Fifth Edition
Motor-reversing Short Rod Type
SRA4R, SRGS4R, SRGD4R
IAI America, Inc.

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Summary of Contents for IAI RCP2

  • Page 1 ROBO Cylinder Short Type RCP2/RCA Actuator Motor-reversing Specification Operating Manual Fifth Edition Motor-reversing Short Rod Type SRA4R, SRGS4R, SRGD4R IAI America, Inc.
  • Page 3 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.

  • Page 5: Table Of Contents

    Table of Contents Safety Guide ························································································································1 Precautions in Handling ·······································································································8 International Standards Compliances ··················································································9 Names of the Parts (or option)···························································································10 Specifications Check···································································································13 Checking the Product ·····································································································13 1.1.1 Parts··································································································································13 1.1.2 Instruction Manuals related to this product, which are contained in the CD/DVD. ···········13 1.1.3 How to Read the Model Nameplate··················································································14 1.1.4...
  • Page 6 External Dimensions ···································································································39 RCP2-SRA4R/RCA-SRA4R ···························································································39 RCP2-SRGS4R/RCA-SRGS4R (Single guide (option) installed on the right) ················40 RCP2-SRGS4R/RCA-SRGS4R (Single guide (option) installed on the left) ··················41 RCP2-SRGS4R/RCA-SRGS4R (Single guide (option) installed at the bottom) ·············42 RCP2-SRGS4R/RCA-SRGS4R (Double guide (option)) ················································43 Flange Bracket (option) installed ····················································································44 Foot Bracket (option) installed ························································································45...

  • Page 7: Safety Guide

    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. Operation Description Description...
  • Page 8 Operation Description Description Transportation When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. 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.
  • Page 9 Operation Description Description Installation and (2) Cable Wiring Start Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
  • Page 10 Operation Description Description Installation and (4) Safety Measures Start 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.
  • Page 11 Operation Description Description Trial Operation 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. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
  • Page 12 Operation Description Description Maintenance When the work is carried out with 2 or more persons, make it clear who is to be and Inspection the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
  • Page 13 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 This indicates an imminently hazardous situation which, if the product is Danger Danger not handled correctly, will result in death or serious injury.

  • Page 14: Precautions In Handling

    Precautions in Handling 1. Ensure use of the product in the specified conditions, environments and ranges. Operation out of the specified conditions could cause a drop in performance or malfunction of the product. 2. Back and forth operation in short distance may wear out the oil film of the grease. If the actuators are moved back and forth continuously over a short distance of 30 mm or less, grease film may run out.

  • Page 15: International Standards Compliances

    International Standards Compliances This actuator complies with the following overseas standards. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information. RoHS Directive CE Marking...

  • Page 16: Names Of The Parts (Or Option)

    In this Operation Manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actuator placed horizontally, as shown in the figure below. (1) Motor-reversing short rod type • RCP2-SRA4R • RCA-SRA4R Opposite side...
  • Page 17 (2) Motor-reversing short rod type with single guide installed on the right (option) • RCP2-SRGS4R • RCA-SRGS4R Guide bearing Guide rod Opposite side Motor side of the Motor Guide bracket (3) Motor-reversing short rod type with single guide installed on the left (option) •...
  • Page 18 (4) Motor-reversing short rod type with single guide installed at the bottom (option) • RCP2-SRGS4R • RCA-SRGS4R Opposite side Motor side of the Motor Guide bracket Guide rod Guide bearing (5) Motor-reversing short rod type with double guides (option) • RCP2-SRGD4R •...

  • Page 19: Specifications Check

    The standard configuration of this product is comprised of the following products. See the component list for the details of the enclosed components. If you find any fault or missing parts, contact your local IAI distributor. 1.1.1 Parts Part Name...

  • Page 20: How To Read The Model Nameplate

    Touch Panel Teaching SEP-PT Operation Manual ME0217 Simplified Teaching pendant RCM-E Operation Manual ME0174 Data setter RCM-P Operation Manual ME0175 Touch Panel Display RCM-PM-01 Operation Manual ME0182 1.1.3 How to Read the Model Nameplate MODEL RCP2-SRA4R-I-35P-5-20-P1-P-B Model Serial number SERIAL No.000090266 MADE IN JAPAN...

  • Page 21: How To Read The Model Number

    P1: PSEL [1.2.1 Refer to Speed] PCON-CA PCON-C/CG PCON-CY PCON-SE PCON-PL/PO RPCON P3: PMEC PSEP Note 1 Identification for IAI use only : It may be displayed for IAI use. It is not a code to show the model type.
  • Page 22 <Controller> [1.2.1 Refer to Speed] P1: ASEL ACON-C/CG ACON-CY ACON-SE ACON-PL/PO RACON P3: AMEC ASEP Note 1 Identification for IAI use only : It may be displayed for IAI use. It is not a code to show the model type.

  • Page 23: Specification

    1.2 Specification 1.2.1 Speed [1] RCP2 Speed limits [Unit: mm/s] Stroke [mm] Motor Lead Horizontal/ Min. Type Type [mm] Vertical speed Horizontal 3.12 SRA4R Vertical SRGS4R Horizontal SRGD4R 6.25 Vertical (Note) The stroke for the brake type is from 70mm.

  • Page 24: Maximum Acceleration And Transportable Weight

    1.2.2 Maximum Acceleration and Transportable Weight [1] RCP2 Due to the specification of the pulse motor, the transportable weight reduces as the speed goes up. Acceleration/ Transportable Horizontal/ Speed Type Motor Type Lead [mm] Deceleration Weight Vertical [mm/s] [kg] It depends on...

  • Page 25: Driving System And Position Detector

    1.2.3 Driving System and Position Detector [1] RCP2 No. of Encoder Ball Screw Type Type Motor Type Lead Pulses Type Diameter Accuracy SRA4R SRGS4R Rolled SRGD4R [2] RCA Ball Screw Type No. of Encoder Type Motor Type Lead Pulses Type...

  • Page 26: Rod Non-Rotation Accuracy

    1.2.5 Rod Non-Rotation Accuracy [1] RCP2 Type Lead [mm] Performance SRA4R 2.5, 5 SRGS4R 2.5, 5 ±0.05° SRGD4R 2.5, 5 ±0.05° [2] RCA Type Lead [mm] Performance SRA4R 2.5, 5 SRGS4R 2.5, 5 ±0.05° SRGD4R 2.5, 5 ±0.05°...

  • Page 27: Relation Between Current Limit And Pressing Force

    1.2.6 Relation Between Current Limit and Pressing Force Perform the pressing operation with RCP2 (stepping motor). RCP2 Pressing Force Lead 2.5mm Lead 5mm Current-Limiting Value (Ratio %) Caution: (1) The relation of the current limit and the pressing force is a reference assuming when the speed is 20mm/s.

  • Page 28: Duty Ratio In Continuous Operation

    1.2.7 Duty Ratio in Continuous Operation [1] RCP2 Operation can be performed with the duty ratio 100%. Duty ratio is the rate of operation expressed in % that presents the time of the actuator being operated in 1 cycle of operation.
  • Page 29 3) From the load ratio LF and the acceleration/deceleration time ratio t that were used to figure out the duty ratio, read the duty ratio. e.g.) When the load ratio LF = 80% and the acceleration/deceleration time ratio t = 80%, the reference for the duty is approximately 75%.

  • Page 30: With Brake (Model No

    Model code of single product RCP2-FL-SRA4 4-φ6.6 through (40.5) 1.3.3 Flange Bracket (Later) (Model No.: FLR) This is a flange bracket to affix the unit body at the back (motor) side. RCP2 / RCA-SRA4R Model code of single product RCP2-FL-SRA4 4-φ6.6 through...

  • Page 31: Foot Brackets 1 (Model No

    1.3.4 Foot brackets 1 (Model No.: FT) It is a metal part to be attached on the bottom of the actuator to affix with screws from top side. RCP2 / RCA-SRA4R Model code of single product φ through RCP2-FT-SRA4 st+10 1.3.5 Foot brackets 2 (Model No.: FT2 (Attachment to the Right Side), FT2...

  • Page 32: Motor • Encoder Cables

    Motor • Encoder Cables [1] RCP2 Model number: CB-PCS-MPA indicates the cable length (L) (Example: 030=3m), Max.20m (A11) (B11) (A1) (B1) Controller Side Actuator Side Signal Name Pin No. Pin No. Signal Name BK + BK + BK - BK -...
  • Page 33 [2] RCA Model number: CB-ACS-MPA indicates the cable length (L) (Example: 030=3m), Max.20m ( A11) ( B11) ( A1) ( B1) Controller Side Actuator Side Signal Name Signal Name Pin No. Pin No. For ABZ For Serial For ABZ For Serial Seri BK + BK +...

  • Page 34: Installation

    2. Installation 2.1 Transportation [1] Handling of Robot Unless otherwise specified, the actuators are packaged individually. (1) Handling the Packed Unit Do not damage or drop. The package is not applied with any special treatment that enables it to resist an impact caused by a drop or crash.
  • Page 35 [2] Handling in Assembled Condition This is the case when the product is delivered from our factory under a condition that it is assembled with other actuators. The combined axes are delivered in a package that the frame is nailed on the lumber base. The rods are fixed so they would not accidently move.

  • Page 36: Installation And Storage • Preservation Environment

    2.2 Installation and Storage • Preservation Environment [1] Installation Environment The actuator should be installed in a location other than those specified below. In general, the installation environment should be one in which an operator can work without protective gear. Also provide sufficient work space required for maintenance inspection.

  • Page 37: How To Installation

    2.3 How to Installation This chapter explains how to install the actuator on your mechanical system. 2.3.1 Installation of the Main Unit Tapped holes are provided on the front face, rear face, right/left side faces and bottom face of the actuator so that the actuator can be installed from any of these five directions.

  • Page 38: Connecting With The Controller

    = 84mm or more (Movable Use) Controller r = 42mm or more (Fixed Use) Dedicated connection cables • Cable for RCP2 short type: CB-PCS-MPA • Cable for RCA short type: CB-ACS-MPA indicates the cable length. 010: 1000mm 030: 3000mm...
  • Page 39 • Use dedicated cables of IAI indicated in this instruction manual. Contact us if you wish to have a change to the specifications of the dedicated cables.
  • Page 40 • Do not pull the cable with a strong force. • Pay attention not to concentrate the twisting force to one point on a cable. • Do not pinch, drop a heavy object onto or cut the cable. • When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much.
  • Page 41 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. •...

  • Page 42: Setting Of Home Position

    4. Setting of Home Position 4.1 Fine-Tuning of Home Position It is approximately 3mm for the distance to stop at the home position after reversing at the mechanical end for home-return operation. If the home-return direction is the same, the home position of the actuator can be fine-tuned by changing the parameter.

  • Page 43: Inspection

    5. Inspection 5.1 Inspection Items and Inspection Schedule Have maintenance inspections following the intervals below. 8 hours per day is assumed as operation condition. Have inspections more frequently if the operation frequency is high for night and day continuous operation, etc. Note 1 Visual inspection Grease supply...

  • Page 44: Grease Supply

    In case the grease got into your eye, immediately go see the doctor to get appropriate care. After finishing the grease supply work, wash your hands carefully with water and soap to rinse the grease off. 5.5 Replacing the Motor and Belt If the motor or belt must be replaced, contact IAI.

  • Page 45: External Dimensions

    6. External Dimensions * With brake type actuators (option), strokes of 70 mm or more are supported. 6.1 RCP2-SRA4R, RCA-SRA4R...

  • Page 46: Rcp2-Srgs4R/Rca-Srgs4R (Single Guide (Option) Installed On The Right)

    6.2 RCP2-SRGS4R, RCA-SRGS4R (Single guide (option) installed on the right)

  • Page 47: Rcp2-Srgs4R/Rca-Srgs4R (Single Guide (Option) Installed On The Left)

    6.3 RCP2-SRGS4R, RCA-SRGS4R (Single guide (option) installed on the left)

  • Page 48: Rcp2-Srgs4R/Rca-Srgs4R (Single Guide (Option) Installed At The Bottom)

    6.4 RCP2-SRGS4R, RCA-SRGS4R (Single guide (option) installed at the bottom)

  • Page 49: Rcp2-Srgs4R/Rca-Srgs4R (Double Guide (Option))

    6.5 RCP2-SRGD4R, RCA-SRGD4R (Double guide (option))

  • Page 50: Flange Bracket (Option) Installed

    6.6 Flange Bracket (option) installed 4-φ6.6 through (40.5) Datail view when flange bracket is installed (at the front) 4-φ6.6 through Datail view when flange bracket is installed (at the rear)

  • Page 51: Foot Bracket (Option) Installed

    6.7 Foot Bracket (option) installed 4-φ6.6 through st+10 Detail view when foot brackets are installed (on the right or the left) (Foot brackets can be installed on either the right side or the left side.) 4-φ6.6 through st+10 Detail view when foot brackets are installed...

  • Page 52: Warranty

    7. Warranty 7.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our company 12 months after delivery to the specified location 2,500 hours of operation 7.2 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.

  • Page 53: Limited Liability

    7.4 Limited Liability (1) We shall assume no liability for any special damage, consequential loss or passive loss such as a loss of expected profit arising from or in connection with our product. (2) We shall not be liable for any program or control method created by the customer to operate our product or for the result of such program or control method.

  • Page 54: Change History

    Change History Revision Date Description of Revision Third edition April 2011 A page for CE Marking added Fourth edition September 2011 Change in pressing force graph in Pg.16 Fifth edition November 2012 Revised overall...
  • Page 56 SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China TEL 021-6448-4753 FAX 021-6448-3992 website: www.iai-robot.com The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2012. Nov. IAI Corporation. All rights reserved. 12.11.000...

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