1. Manuals
  2. Brands
  3. IAI Manuals
  4. Controller
  5. ROBO Cylinder RCP2 Series
  6. Operating manual

IAI ROBO Cylinder RCP2 Series Operating Manual

Slider type
Hide thumbs Also See for ROBO Cylinder RCP2 Series:
Table of Contents

Advertisement

Quick Links

See also: Operating Manual
RCP2/RCP2CR Actuators
Standard type:
Cleanroom type:
ROBO Cylinder
Slider Type
Operating Manual
Fifteen Edition
Motor coupling type:
Motor reversing type:
Motor coupling type:
IAI America, Inc.
RCP2-SA5C, SA6C,SA7C
SS7C, SS8C, HS8C
RCP2-SA5R, SA6R, SA7R
SS7R, SS8R, HS8R
RCP2CR-SA5C, SA6C, SA7C
SS7C, SS8C, HS8C

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the ROBO Cylinder RCP2 Series and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for IAI ROBO Cylinder RCP2 Series

Summary of Contents for IAI ROBO Cylinder RCP2 Series

  • Page 1 RCP2/RCP2CR Actuators Slider Type Operating Manual Fifteen Edition Standard type: Motor coupling type: RCP2-SA5C, SA6C,SA7C SS7C, SS8C, HS8C Motor reversing type: RCP2-SA5R, SA6R, SA7R SS7R, SS8R, HS8R Cleanroom type: Motor coupling type: RCP2CR-SA5C, SA6C, SA7C SS7C, SS8C, HS8C 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 4 CAUTION BE SURE TO CHECK SCREW LENGTH. DAMAGE CAN OCCUR IF TOO LONG OF SCREWS ARE USED! Model Actuator Base Thread Depth 4 mm or more and 7 mm or less 5 mm or more and 9 mm or less 5 mm or more and 9 mm or less 5 mm or more and 8 mm or less 8 mm or more and 10 mm or less...
  • Page 5 Using the grease for the standard actuators on the cleanroom actuators may generate dust Recommended grease: C Grease by Kuroda Precision Industries Ltd. C Grease by Kuroda Precision Industries is applied to the cleanroom actuators before shipment from IAI.

  • Page 7: Table Of Contents

    Table of Contents Safety Guide .................................1 Handling Precautions..............................8 Names of Parts ................................12 Checking the Product............................16 Components ..............................16 Operation Manuals for Controllers Supported by This Product ..............16 How to Read Model Nameplate ........................17 How to Read Model Number ........................17 Specification................................18 Life..................................33 How to Calculate Operaition Life.........................33 Operation Life ................
  • Page 8 Maintenance and Inspection ..........................52 Inspection Items and Schedule ........................52 Visual Inspection of the Machine Exterior ....................52 Cleaning ..............................53 Adjusting the Stainless Sheet........................53 Interior Inspection ............................54 Internal Cleaning ............................55 Grease Suppiy.............................55 9.7.1 Applicable Grease ..........................55 9.7.2 How to Apply Grease..........................57 Replacing/Adjusting the Stainless Sheet ....................58 Reduction Belt [Motor Reversing Type]: SA5R, SA6R, SA7R, SS7R, SS8R, HS8R........64 9.9.1 Inspecting the Belt .............................64 9.9.2...

  • Page 9: Safety Guide

    Safety Guide Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety precautions “Safety Guide” has been written to use the machine safely and so prevent personal injury or property provided below and taking the necessary measures. damage beforehand.
  • Page 10 Operation Operation Description Description Description Description Installation and Transportation (1) Installation of Robot Main Body and Controller, etc. When carrying a heavy object, do the work with two or more persons or Start Make sure to securely hold and fix the product (including the work part). A fall, utilize equipment such as crane.
  • Page 11 Operation Operation Description Description Description Description Installation and Installation (4) Safety Measures (2) Cable Wiring Start and Start When the work is carried out with 2 or more persons, make it clear who is to Use our company’s genuine cables for connecting between the actuator be the leader and who to be the follower(s) and communicate well with each and controller, and for the teaching tool.
  • Page 12 Operation Operation Description Description Description Description Trial Operation Installation (4) Safety Measures When the work is carried out with 2 or more persons, make it clear who is to and Start be the leader and who to be the follower(s) and communicate well with each When the work is carried out with 2 or more persons, make it clear who is other to ensure the safety of the workers.
  • Page 13 Operation Operation Description Description Description Description Maintenance When the work is carried out with 2 or more persons, make it clear who is to Trial Operation When the work is carried out with 2 or more persons, make it clear who is and Inspection be the leader and who to be the follower(s) and communicate well with each to be the leader and who to be the follower(s) and communicate well with...
  • Page 14 Operation Alert Indication Description Description Maintenance When the work is carried out with 2 or more persons, make it clear who is The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the and Inspection to be the leader and who to be the follower(s) and communicate well with warning level, as follows, and described in the Operation Manual for each model.
  • Page 15 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 Danger Danger product is not handled correctly, will result in death or serious injury.

  • Page 16: Handling Precautions

    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.
  • Page 17 Transporting and Handling Handling the Actuator 7.1.1 Handling the Packed Unit Unless otherwise specified, each actuator (axis) is shipped individually. Please make sure that the shipping box is not dropped or subjected to strong impact during transport. • Operators should not carry heavy shipping boxes by themselves. •...
  • Page 18 7.2.1 Shipping from IAI Already Assembled After assembly at IAI, your machine undergoes a shipping inspection, is packed in a crate with skids, and finally shipped. If any of the combined actuators is a slider, the slider is securely fastened in place to prevent unexpected movement during shipping.
  • Page 19 International Standards Compliances This actuator complies with the following overseas standards. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information. v i t...

  • Page 20: Names Of Parts

    Names of 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. Motor Coupling Type (Standard) RCP2 SA5C, SA6C, SA7C Cable Joint Connector...
  • Page 21 Motor Coupling Type (Cleanroom Specification) RCP2CR SA5C, SA6C, SA7C Cable Joint Connector Side Cover Stainless Sheet Right Side Opposite Motor Motor End Actuator Cable Left Side Suction Joint Bearing Housing Motor End Cap Slider Front Cover Base Motor Cover SS7C, SS8C, HS8C Side Cover Cable Joint Connector Stainless Sheet...
  • Page 22 Motor Reversing Type SA5R, SA6R Side Cover Mounting Flange Front Cover Stainless Sheet Pulley Cover Right Side Opposite Motor End Motor End Left Side Motor End Cap Motor Cover Slider Base SA7R Side Cover Mounting Flange Front Cover Stainless Sheet Pulley Cover Right Side Opposite...
  • Page 23 SS7R, SS8R, HS8R Front Cover Stainless Sheet Mounting Flange Side Cover Pulley Cover Right Side Opposite Motor End Motor End Left Side Motor Bracket Motor End Cap Motor Cover Slider Base Caution: The cable directly connected to the actuator is not a robot cable even when ordered with a robot cable option.

  • Page 24: Checking The Product

    If based on a standard configuration, this product consists of the items listed below. Caution: Check 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. Components Refer to “How to Read the Model Actuator Nameplate”...

  • Page 25: How To Read Model Nameplate

    How to Read Model Nameplate Model number MODEL RCP2 MODELRCP2 SA5C I 42P 12 50 P1 P BE Serial number MADE IN JAPAN SERIALNo.600090266 How to Read Model Number <Series> <Options> Standard type Brake Brake RCP2 (Wirings taken out from end) Cleanroom type Brake RCP2CR...

  • Page 26: Specification

    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. Strokes and maximum speed limits (unit: mm/sec) Motor Lead Stroke (mm)
  • Page 27 Acceleration and payload capacity Caution: 1. The payload capacities at different accelerations, other than those at the rated accelerations of 0.2 G and 0.3 G, are provided for reference purposes only. Use these values only as a rough guide, as they are not guaranteed. 2.
  • Page 28 [Controller (with “H” at the end of the model number)] (Note) With the SA5C type and SA6C type (except for models of lead 20), the specific performance varies depending on the controller. RCP2 (CR)-SA5C Lead 3 Lead 6 Rated acceleration: 0.2 G, when horizontal, Rated acceleration: 0.2 G, when horizontal, 0.2 G when vertical 0.2 G when vertical...
  • Page 29 [Controller (with “H” at the end of the model number)] (Note) With the SA5C type and SA6C type (except for models of lead 20), the specific performance varies depending on the controller. RCP2 (CR)-SA6C Lead 6 Lead 3 Rated acceleration: 0.3 G, when horizontal, Rated acceleration: 0.2 G, when horizontal, 0.2 G when vertical 0.2 G when vertical...
  • Page 30 [Controller (with “H” at the end of the model number)] RCP2 SA5R It is the payload when operating with the rated Horizontal acceleration below: Lead 3 Rated acceleration : 0.2 G, when horizontal, 0.2 G when vertical Lead 3 Lead 6 Lead 6 Lead 12 Rated acceleration :...
  • Page 31 RCP2(CR)-SA7C It is the payload when operating with the rated acceleration below: Horizontal Lead 4 Lead 4 Rated acceleration : 0.2 G, when horizontal, Lead 8 0.2 G when vertical Lead 8 Lead 16 Rated acceleration : 0.3 G, when horizontal, 0.2 G when vertical Lead 16 Speed (mm/s)
  • Page 32 RCP2(CR)-SS8C It is the payload when operating with the rated acceleration below: Horizontal Lead 5 Lead 5 Lead 10 Rated acceleration : 0.2 G, when horizontal, 0.2 G when vertical Lead 10 Lead 20 Rated acceleration : 0.3 G, when horizontal, 0.2 G when vertical Lead 20 Rated acceleration :...
  • Page 33 RCP2-SA7R It is the payload when operating with the rated Horizontal acceleration below: Lead 4 Lead 4 Rated acceleration : 0.2 G, when horizontal, 0.2 G when vertical Lead 8 Lead 8 Lead 16 Rated acceleration : 0.3 G, when horizontal, 0.2 G when vertical Lead 16 Speed (mm/s)
  • Page 34 RCP2-SS8R It is the payload when operating with the rated acceleration below: Horizontal Lead 5 Lead 5 Rated acceleration : 0.2 G, when horizontal, Lead 10 0.2 G when vertical Lead 10 Rated acceleration : 0.3 G, when horizontal, Lead 20 0.2 G when vertical Lead 20 Speed (mm/s)
  • Page 35 RCP2CR-SA7C It is the payload when operating with the rated Lead 4 Horizontal acceleration below: Lead 4 Lead 8 Rated acceleration : 0.2 G, when horizontal, 0.2 G when vertical Lead 16 Lead 8 Rated acceleration : 0.3 G, when horizontal, 0.2 G when vertical Lead 16 Speed (mm/s)
  • Page 36 RCP2CR-SS8C It is the payload when operating with the rated acceleration below: Horizontal Lead 5 Lead 5 Rated acceleration : 0.2 G, when horizontal, Lead 10 0.2 G when vertical Lead 10 Rated acceleration : 0.3 G, when horizontal, Lead 20 0.2 G when vertical Lead 20 Rated acceleration :...
  • Page 37 (3) Driving method Type Motor type Lead [mm] Encoder pulses Driving method Ball screw SA5C, SA5R Rolled, C10 10 mm Ball screw SA5C Rolled, C10 10 mm Ball screw SA6C, SA6R Rolled, C10 10 mm Ball screw SA6C Rolled, C10 10 mm Ball screw SA7C, SA7R...
  • Page 38 (6) Load on the Actuator Do not exceed the load shown in the load specification column. Please note the slider moment, allowable overhang length and the load weight. Dynamic Allowable Moments SA5C, R 5.81 N• m (0.59 kgf•m) 8.3 N• m (0.84 kgf•m) 14.8 N•...
  • Page 39 The allowable overhang values are based on a configuration where the center of gravity of the load mounted on the actuator corresponds to 1/2 of the overhang length. Mb, Mc directions Ma direction Directions of moment forces Directions of allowable overhangs (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.
  • Page 40 The body of the base warps easily when the actuator is used as the Y-axis in an X-Y overhang setup. In this case, use the actuator so that the Ma and Mc moments are kept to one-half the allowable moment or less (see the figure below).

  • Page 41: Life

    3. Life The mechanical life of the actuator is represented by that of the guide receiving the greatest moment load.Operation life of the linear guide is to be determined by the total driving distance which can reach without having 90% flaking (peeling on rail surface). Operation life can be figured out with the calculation method shown below.

  • Page 42: Operation Life

    [Load coefficient f It is a coefficient to consider the life drop due to operational conditions. Reference for Load coefficient f Operation Condition acceleration/deceleration 1.0 to 1.5 Small vibration or impact in slow operation 0.7G or less [Attachment coefficient f ] Attachment coefficient f is a coefficient to consider the life drop due to the condition of actuator attachment.

  • Page 43: Installation And Storage/Preservation Environment

    4. Installation and Storage/Preservation Environment 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. • Ambient temperature should be 0 ~ 40 C. •...

  • Page 44: Installation

    5. Installation The method to install your actuator in a mechanical system is explained. 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 Ceiling mount Horizontal Vertical...

  • Page 45: Notes On Installation

    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.

  • Page 46: Installing The Main Body

    Installing the Main Body Mount the actuator to a machined surface or one of the flat surfaces of comparable precision. The side faces and lower surface of the base run parallel with the guides. When traveling precision is required, use these as the reference planes for mounting. 5.3.1 Using the Tapped Holes at Back of the Base (All Types) Tapped holes are provided on the back of the base for...

  • Page 47: Using The Mounting Holes On Top Of The Base (Sa5C, Sa6C, Sa7C)

    5.3.2 Using the Mounting Holes on Top of the Base (SA5C, SA6C, SA7C) Through holes are provided in the base for installing the actuator on its top face. When installing the actuator, remove the side covers. (Remove the two thin-head screws [M3 x 6 mm] for mounting the cover using an Allen wrench of 1.

  • Page 48: Installing The Load To The Slider

    Installing the Load to the Slider • Tapped holes are provided on the slider for installing the load. The method of clamping varies according to how to mount the main body. • In case of moving the main body with the slider secured, use the same tapped holes on the slider. •...

  • Page 49: Reference Surface And Mounting Surface

    Reference Surface and Mounting 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. •...

  • Page 50: Clamp Screws

    Clamp Screws • The male screws for mounting the base should be M4 for SA5C, M5 for SS7C/SA6C/SA7C, and M8 for SS8C/HS8C. (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.

  • Page 51: Cleanroom Specification

    Cleanroom Specification This actuator can deliver performance which ensures its operation in conformance with the requirements of cleanliness class 10 (0.1 m) by suctioning air into the suction joint. The recommended suction rate of each model at the maximum speed is specified below. on: The clean room types listed below cannot be guaranteed to meet Cleanliness Class 10 if they Cauti are installed in the vertical orientation, the horizontally wall mounted orientation or in the ceiling...

  • Page 52: Connection With Controllers

    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 PCON/PSEL Controllers]...
  • Page 53 • Use dedicated cables of IAI indicated in this operation manual. Contact us if you wish to have a change to the specifications of the dedicated cables.
  • Page 54 • 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 55 • PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them together. Arrange so that such lines are independently routed in the duct. Power Line Duct I/O Line (Flat Cable, etc.) Follow the instructions below when using a cable track.

  • Page 56: Options

    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. Motor Reversing at Left, Motor Reversing at Right “ML”...

  • Page 57: Motor/Encoder Cable

    8. Motor/Encoder Cable PCON-CA/PMEC/PSEP/MSEP/MSEL Controller Cables [1] Integrated motor/encoder cable CB-PSEP-MPA□□□ Mechanical end Controller end Mechanical end Controller side □□□ indicates the cable length. Terminal Terminal number number Black Max. 20m. White Green Example) 080 = 8 m Brown [Minimum bending radius] Yellow Movable: 84 mm Orange...

  • Page 58: Pcon/Psel Controller Cables

    PCON(Except for PCON-CA)/PSEL Controller Cables [1] Motor cable CB-RCP2-MA□□□ (Front) (Front) Controller end Mechanical end M cable * □□□ indicates the cable length. Orange Yellow Max. 20m. Gray Gray SLP-06V I-1318119-3 White Orange (JST) Example) 080 = 8 m Yellow Yellow (Green) Pink Pink...
  • Page 59 [4] Encoder cable CB-RFA-PA□□□ Encoder Robot Cable CB-RFA-PA□□□-RB (for RCP2-HS8C, HS8R and RCP2CR-HS8C) (13) (15) * □□□ indicates the cable length. Max. 20m. Example) 080 = 8m [Minimum bendable radius] (Front View) (Front View) Controller side Mechanical side Robot Cable Movable Use : 54mm Cable Color Signal...

  • Page 60: Maintenance And Inspection

    Maintenance and Inspection Inspection Items and Schedule Perform maintenance and inspection at the intervals specified below. This schedule assumes that the actuator is operated eight hours a day. If the actuator is operated at a higher utilization, such as when the machine is used continuously day and night, reduce the inspection intervals accordingly.

  • Page 61: Cleaning

    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.

  • Page 62: Interior Inspection

    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? How to inspect the interior: 1) Remove both side covers.

  • Page 63: Internal Cleaning

    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 a large amount of foreign substances, wipe off the dirty grease and then apply new grease.
  • Page 64 [Cleanroom Specification] (1) What Grease to Use on the Guide and Ball Screw For guides and ball screw, a urea-based grease of low-dust-raising type which has stable torque characteristics and superior lubrication performance as well as the anti-rust effect equivalent to that of a lithium-based grease is used.

  • Page 65: How To Apply Grease

    9.7.2 How to Apply Grease 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 grease spread evenly.

  • Page 66: Replacing/Adjusting The Stainless Sheet

    • Replacement stainless sheet • Clearance-checking tool (a regular slider cover with holes) (This tool is available from IAI’s Sales Engineering Section. If you are replacing the stainless sheet, please contact us to make a rental arrangement or purchase the tool.) •...
  • Page 67 [Procedure] 1) Remove the slider-cover affixing screws and remove the covers. After the slider covers have been removed [1] Standard specification (slider structure) • SA5C/SA6C • SA7C/SS7C/SS8C/HS8C Coil spring Coil spring Sheet slider Plate spring Coil spring Coil spring Sheet slider [2] Cleanroom specification (Slider roller specification (optional) (roller structure) •...
  • Page 68 2) Remove the stainless-sheet retainer screws on both sides and pull out the stainless sheet. 3) Guide a new stainless sheet into the slider. 4) Hold the stainless sheet in place, and affix the retainer plates and screws. At this time, securely tighten the screws only on the motor side, and leave the screws on the counter-motor side loose.
  • Page 69 6) Adjust the tension of the stainless sheet. [1] While looking through the center opening in the clearance-checking tool, move the stainless sheet on the loose end in the directions of arrows until the clearance between the top face of the stainless sheet and the back of the clearance-checking tool falls within the specified range.
  • Page 70 [3] Move the slider and check the tension of the stainless sheet along the entire stroke. Checkpoint 1: Check if the clearance between the top face of the stainless sheet and the back of the clearance-checking tool falls within the specified range along the entire stroke. Checkpoint 2: Slider body Stainless sheet...
  • Page 71 [4] When proper clearances are obtained between the slider body and stainless sheet and an absence of contact between the two is confirmed, tighten the two screws on the loose end alternately, and then finally tighten all screws to a uniform torque to securely affix the stainless sheet. If the screws are not tightened uniformly, the sheet may meander or lift.

  • Page 72: Reduction Belt [Motor Reversing Type]: Sa5R, Sa6R, Sa7R, Ss7R, Ss8R, Hs8R

    • The belt has swollen due to deposits of oil, etc. • Cracks and other damages are found on the teeth or back of the belt. • The belt has broken. 9.9.2 Applicable Belt Supplier: Bando Chemical Industries IAI Maintenance Model Supplier Model Parts Model SA5R...
  • Page 73 SA7R Motor bracket Tensile load: 8Kgf Tension adjusting bolts (4 pcs.) Use an Allen wrench of 3mm across flats. Tension adjusting bolt tightening torque: 323N･cm (33Kgf･cm) SS7R, SS8R, HS8R Motor bracket Tensile load: SS7R: 7.3Kgf SS8R: 11.6Kgf Tension adjusting bolts (4 pcs.) Use an Allen wrench of 3mm across flats.

  • Page 74: Replacing The Belt : Sa5R, Sa6R, Sa7R, Ss7R, Ss8R, Hs8R

    9.9.4 Replacing the Belt : SA5R, SA6R, SA7R, SS7R, SS8R, HS8R SA5R, SA6R [Items Required for Replacement] • Replacement reduction belt • Allen wrench set • Tension gauge (Capable of tensioning to 3kgf or greater) • Strong string, looped (or long tie-band) [Procedure] 1) Remove the pulley cover.
  • Page 75 5) Remove the pulley assembly. Remove the four affixing bolts using an Allen wrench of 2.5mm across flats. Pull out the assembly by hand. 6) Remove the pulley cap. Remove the two affixing bolts using an Allen wrench of 2.5mm across flats. Pulley cap 7) Pull out the belt and insert a new belt.
  • Page 76 9) Install the pulley assembly. • Tighten the hexagon socket-head screws Align the angles of projections and depressions on (M3 × 22, 4 pcs.) using an Allen wrench of the couplings. 2.5 mm across flats. Tightening torque: 83 N·cm (8.47 kgf·cm) Align the angles of projections and depressions.
  • Page 77 SA7R [Items Required for Replacement] • Replacement reduction belt • Allen wrench set • Tension gauge (Capable of tensioning to 8kgf or greater) • Strong string, looped (or long tie-band) [Procedure] 1) Remove the pulley cover. Remove the four affixing thin-head screws using an Allen wrench of 1.5 mm across flats. 2) Loosen the four tension adjusting bolts to loosen 3) Remove the belt from the pulleys.
  • Page 78 5) Remove the pulley assembly. • Remove the four affixing bolts using an Allen wrench of 2.5 mm across flats. Pulley cap 6) Pull out the belt and insert a new belt. Insert the belt into this clearance. 7) Install the pulley cap. Tighten the hexagon socket-head bolts (M3 ×...
  • Page 79 8) Install the pulley assembly. • Tighten the hexagon socket-head screws (M3 × 40, 4 pcs.) using an Allen wrench of Align the angles of projections and depressions on 2.5 mm across flats. the couplings. Align the angles of projections and depressions. Tightening torque: 83 N·cm (8.47 kgf·cm) Loop the belt over the pulleys.
  • Page 80 SS7R, SS8R, HS8R [Items Required for Replacement] • Replacement reduction belt • Allen wrench set • Tension gauge (Capable of tensioning to 12kgf or greater) • Strong string, looped (or long tie-band) [Procedure] 1) Remove the pulley cover. Remove the four affixing thin-head screws using an Allen wrench of 2 mm across flats. 2) Loosen the four tension adjusting bolts to loosen 3) Remove the belt from the pulleys.
  • Page 81 6) Install the pulley cover. Tighten the thin-head screws (M4 × 6, 4 pcs.) using an Allen wrench of 2 mm across flats. Tightening torque: 204 N·cm (20.8 kgf·cm)

  • Page 82: Replacing The Motor

    9.10 Replacing the Motor 9.10.1 Motor Coupling Type SA5C, SA6C [Items Required for Replacement] • Replacement motor M-P2SA5C-IAP42N-MB-CO (for SA5C) M-P2SA6C-IAP42N-MB-CO (for SA6C) (with a coupling on the motor shaft: see the photograph at the right) Coupling • Allen wrench set •...
  • Page 83 5) Remove the motor. Remove the affixing bolts (M3 × 50, 2 pcs.) using an • Pull out the motor by hand. Allen wrench of 2.5 mm across flats. • Decoupled motor Pilot alignment metal If this metal is attached on the decoupled motor, put it back to the pilot on the actuator side.
  • Page 84 7) Install a new motor. • After confirming that the angles of projections and depressions on the couplings are aligned, tighten the affixing bolts (M3 × 50, 2 pcs.). (Use an Allen wrench of 2.5 mm across flats.) Tightening torque: 59 N·cm (6 kgf·cm) 8) Connect the encoder connector.
  • Page 85 11) Affix the motor end cap with the pan-head screws (M3 × 80, 4 pcs.). At this time, make sure not to pinch the cables. Tightening torque: 61.5 N·cm (6.3 kgf·cm)
  • Page 86 SA7C [Items Required for Replacement] • Replacement motor M-P2SA7C-IAP56N-MB-CO (with a coupling on the motor shaft; see the photograph right.) • Allen wrench set • Phillips screwdriver • Grease (Kyodo Yushi’s Multemp LRL3 or equivalent) Coupling [Procedure] 1) After removing the flat countersunk-head screws (M3 × 8, 2 pcs.) affixing the cable ends on the motor end cap, remove the pan-head screws (M3 ×...
  • Page 87 2) Push in the cable-end molding to create a slack along the inner cable. Push in the molding as far as possible. 3) Pull out the motor connector. 4) Pull out the encoder connector. Caution: Do not apply a force to the encoder by touching it directly.
  • Page 88 5) Remove the motor. Remove the affixing bolts (M4 × 15, 4 pcs.) using an Allen wrench of 3 mm across flats. • Pull out the motor by hand. • Decoupled motor Pilot alignment metal If this metal is attached on the decoupled motor, put it back to the pilot on the actuator side.
  • Page 89 7) Install a new motor. • After confirming that the angles of projections and depressions on the couplings are aligned, tighten the affixing bolts (M4 × 15, 4 pcs.). (Use an Allen wrench of 3 mm across flats.) Tightening torque: 176 N·cm (18 kgf·cm) 8) Connect the encoder connector.
  • Page 90 11) Affix the motor end cap with the pan-head screws (M3 × 105, 4 pcs.). At this time, make sure not to pinch the cables. Tightening torque: 61.5 N·cm (6.3 kgf·cm)
  • Page 91 SS7C [Items Required for Replacement] • Replacement motor M-P2SS7C-IAP42N-MB-CO (with a coupling on the motor shaft; see the photograph right.) • Allen wrench set • Phillips screwdriver • Plastic hammer [Procedure] Coupling 1) Remove the pan-head screws affixing the motor-end cap. •...
  • Page 92 3) Push in the motor-end cap into the motor cover. 5) Pull out the encoder connector. 4) Pull out the motor connector. Caution: Do not apply a force to the encoder by touching it directly.
  • Page 93 6) Remove the motor. Remove the affixing bolts (M3 × 15, 2 pcs./M3 × 18, 2 pcs.) using an Allen wrench of 2.5 mm across flats. • Pull out the motor by hand. • Decoupled motor • Remove the motor flange. Remove the affixing bolts (M3 ×...
  • Page 94 7) Install a new motor. • Confirm that the angles of projections and • Tighten the motor flange with the affixing bolts depressions on the couplings are aligned. (M3 × 8, 4 pcs.). • First, tighten the right and left affixing bolts •...
  • Page 95 10) Pull out the motor-end cap from the motor cover and affix it with the pan-head screws. At this time, make sure not to pinch the cables. • Pan-head screws (M2 x 10, 2 pcs.) • Pan-head screws (M3 × 105, 2 pcs.) Tightening torque: 16.9 N·cm (1.7 kgf·cm) Tightening torque: 61.5 N·cm (6.3 kgf·cm) 11) Affix the motor cover.
  • Page 96 SS8C, HS8C [Items Required for Replacement] • Replacement motor M-P2SS8C-IAP56N-MB-CO (for SS8C), M-P2HS8C-IAP56N-MB-CO (for HS8C) (with a coupling on the motor shaft; see the photograph right.) • Allen wrench set • Phillips screwdriver • Plastic hammer Coupling [Procedure] 1) Remove the pan-head screws (M3 × 10, 2) Remove the pan-head screws (M3 ×...
  • Page 97 4) Push in the motor-end cap into the motor cover. 5) Pull out the motor connector. 6) Pull out the encoder connector. Caution: Do not apply a force to the encoder by touching it directly.
  • Page 98 7) Remove the motor. Remove the affixing bolts (M4 × 15, 4 pcs.) using an Allen wrench of 3 mm across flats. • Pull out the motor by hand. • Decoupled motor 8) Install a new motor. • After confirming that the angles of projections and depressions on the couplings are aligned, tighten the affixing bolts (M4 ×...
  • Page 99 9) Connect the encoder connector. 10) Connect the motor connector. Caution: Do not apply a force to the encoder by touching it directly. 11) Pull out the motor-end cap from the motor cover and affix it with the pan-head screws (M3 × 105, 4 pcs.).

  • Page 100: Motor Reversing Type

    9.10.2 Motor Reversing Type SA5R, SA6R [Items Required for Replacement] • Replacement motor M-P2SA5R-IAP42N-MB-PU (for SA5R), M-P2SA6R-IAP42N-MB-PU (for SA6R) (with a coupling on the motor shaft; see the photograph at the right) • Allen wrench set • Phillips screwdriver • Tension gauge (capable of tensioning to 3 kgf or greater) •...
  • Page 101 4) Pull out the four tension adjusting bolts and two motor cover affixing bolts, and remove the motor unit. Motor cover affixing bolts Motor cover affixing bolts 5) Remove the four pan-head screws affixing the motor-end cap of the motor unit, and pull out the motor. 6) Pull out the motor connector.
  • Page 102 8) Connect the encoder connector and motor connector to a new motor. • Connection of the encoder connector • Connection of the motor connector Caution: Do not apply a force to the encoder by touching it directly. 9) Couple the motor cover to the motor end cap with the affixing pan-head screws (M3 ×...
  • Page 103 11) Install the motor cover. Tighten the hexagon socket-head screws (M3 × 12, 2 pcs.) using an Allen wrench of 2.5 mm across flats. Tightening torque: 83 N·cm (8.47 kgf·cm) 12) Install the pulley cover. Tighten the thin-head screws (M3 × 6, 4 pcs.) using an Allen wrench of 1.5 mm across flats. Tightening torque: 87.2 N·cm (8.90 kgf·cm)
  • Page 104 SA7R [Items Required for Replacement] • Replacement motor unit M-P2SA7R-IAP56U-MB-PU * (See the photograph at the right.) • Allen wrench set • Tension gauge (capable of tensioning to 8kgf or greater) • Strong string, looped (or long tie-band) [Procedure] 1) Remove the pulley cover. Remove the four affixing thin-head screws using an Allen wrench of 1.5 mm across flats.
  • Page 105 5) Install a new motor unit and temporarily tighten it with the tension adjusting bolts (hexagon socket-head screws: M4 × 20, 4 pcs.). In this condition, loop the reduction belt over the pulleys. 6) Pass a looped strong string (or long tie-band) around the motor bracket and pull it with a tension gauge to the specified tension.
  • Page 106 SS7R, SS8R, HS8R [Items Required for Replacement] • Replacement motor unit M-P2SS7R-IAP42U-MB-ML(or MR)-PU (for SS7R), M-P2SS8R-IAP56U-MB-ML(or MR)-PU (for SS8R), M-P2HS8R-IAP56U-MB-ML(or MR)-PU (for HS8R) (See the photograph at the right.) • Allen wrench set • Tension gauge (capable of tensioning to 12kgf or greater) •...
  • Page 107 5) Install a new motor unit and temporarily tighten it with the tension adjusting bolts (hexagon socket-head screws: M4 × 20, 4 pcs.). In this condition, loop the reduction belt over the pulleys. 6) Pass a looped strong string (or long tie-band) around the motor bracket and pull it with a tension gauge to the specified tension.

  • Page 108: Appendix

    Appendix 10.1 External Dimensions 10.1.1 RCP2-SA5C 15.5 15.5 Cable joint connector 2- 4H7, depth 6 4-M4, depth 9 0.02 Stroke Reference position for Ma moment offset Home Reference surface Detail view of A E- 4.5 through, 8, counterbore depth 4.5 2- 4H7, depth 5.5 from (installation hole and (from opposite side)

  • Page 109: Rcp2-Sa6C

    10.1.2 RCP2-SA6C 19.5 21 19.5 Cable joint connector 0.02 2- 5H7, depth 6 4-M5, depth 9 Stroke Reference position for Ma moment offset Home Reference surface Detail view of A F- 4.5 through, 8, counterbore depth 4.5 E- 4H7 depth 5.5 from (from opposite side) (installation hole and 100 or more...

  • Page 110: Rcp2-Sa7C

    10.1.3 RCP2-SA7C 20 20 20 Cable joint connector 4-M5, depth 10 0.02 2- 5H7, depth 10 Reference position for Stroke Ma moment offset Home Reference surface E- 6 through, 9.5, counterbore depth 5.5 E- 4H7 depth 6 from Detail view of A (from opposite side) bottom surface of base (installation hole and...

  • Page 111: Rcp2-Ss7C

    10.1.4 RCP2-SS7C Cable joint 2- 5H7, effective depth 10 4-M5, depth 10 0.02 connector 19.5 19.5 Reference position for Ma moment offset S (Stroke) M.E. S.E. Home M.E. Reference surface 4- 4H7, depth 6 from bottom Oblong hole, depth 6 from Detail view of A surface of base 100 or more...

  • Page 112: Rcp2-Ss8C

    10.1.5 RCP2-SS8C 4-M8, depth 10 0.02 Cable joint connector 20 35 2- 8H7, depth 10 Reference position for Ma moment offset 30 14 S (Stroke) M.E. S.E. M.E. Home Reference surface Detail view of A 4- 5H7, depth 6 from 100 or more bottom surface of base 100 (Reamed hole pitch)

  • Page 113: Rcp2-Hs8C

    10.1.6 RCP2-HS8C 4-M8, depth 10 0.02 Cable joint connector 2- 8H7, depth 10 20 35 Reference position for Ma moment offset 30 14 S (Stroke) Home M.E. S.E. M.E. Reference surface Detail view of A 100 or more 4- 5H7, depth 6 from bottom surface of base 100 (Reamed hole pitch)

  • Page 114: Rcp2-Sa5R

    10.1.7 RCP2-SA5R Stroke 2- 4H7, depth 6 4-M4, depth 9 0.02 ME : Mechanical End SE : Stroke End Cable joint connector Brake dimensions Reversing direction: Opposite 16.5 2- 4H7, depth 5.5from bottom surface of base C-M4 depth 7 P (pitch of 4 hole and oblong hole) H-oblong hole, depth 5.5 from bottom surface of base 35.5 41.5...

  • Page 115: Rcp2-Sa6R

    10.1.8 RCP2-SA6R Stroke Home 0.02 2- 5H7, depth 6 4-M5, depth 9 ME : Mechanical End SE : Stroke End Cable joint connector Brake dimensions Reversing direction: Opposite D- 4H7, depth 5.5from 18.5 bottom surface of base C-M5 depth 9 P (pitch of 4 hole and oblong hole) 19.5 H-oblong hole, depth 5.5 from bottom surface of base...

  • Page 116: Rcp2-Sa7R

    10.1.9 RCP2-SA7R Stroke 106.2 Home 2- 5H7, depth 10 0.02 4-M5, depth 10 ME : Mechanical End SE : Stroke End Cable joint connector 125.5 10 41.2 Brake dimensions D- 4H7, depth 6 from bottom surface of base Reversing direction: Opposite Detail view of oblong hole C-M5 depth 9...

  • Page 117: Rcp2-Ss7R

    10.1.10 RCP2-SS7R S (Stroke) M.E. S.E. Home M.E. 41.5 2- 5H7, depth 10 4-M5, depth 10 0.02 19.5 19.5 Cable joint connector 27.5 4- 4H7, depth 6 from bottom surface of base (3- 4H7 at 50 ST, depth 6 from bottom surface of base) Oblong hole, depth 6 from D-M5 depth 8...

  • Page 118: Rcp2-Ss8R

    10.1.11 RCP2-SS8R S (Stroke) Home M.E. S.E. M.E. 4-M8, depth 10 2- 8H7, depth 10 340.5 0.02 Cable joint connector ME : Mechanical End SE : Stroke End Oblong hole, depth 6 from bottom surface of base 50 (pitch between reamed hole and oblong hole) 100 (Reamed 4- 5H7 oblong hole, depth 6 from...

  • Page 119: Rcp2-Hs8R

    10.1.12 RCP2-HS8R S (Stroke) M.E. S.E. M.E. Home 4-M8, depth 10 2- 8H7, depth 10 0.02 340.5 Cable joint connector ME : Mechanical End SE : Stroke End Oblong hole, depth 6 from bottom surface of base 50 (pitch between reamed hole and oblong hole) 100 (Reamed 4- 5H7 oblong hole, depth 6...

  • Page 120: Rcp2-Sa5C

    10.1.13 RCP2CR-SA5C 2- 4H7, depth 6 4-M4, depth 9 0.02 Cable joint connector Applicable tube outer diameter: 8 (inner diameter: Offset reference position for Ma 118.5 15.5 moment Opposite side Home (option) Standard Reference surface Detail view of A E- 4.5 through, 8, counterbore depth 4.5 2- 4H7, depth 5.5 from bottom surface of base (installation hole and...

  • Page 121: Rcp2Cr-Sa6C

    10.1.14 RCP2CR-SA6C 2- 5H7, depth 6 4-M5, depth 9 0.02 Cable joint connector Applicable tube outer diameter: 8 (inner diameter: Offset reference 100 or more position for Ma 14.5 117.5 moment Opposite side Home (option) Home Reference surface Detail view of A E- 4.5 through, 8, counterbore depth 4.5 (detail view of actuator...

  • Page 122: Rcp2Cr-Sa7C

    10.1.15 RCP2CR-SA7C 2- 5H7, depth 10 4-M5, depth 10 0.02 Cable joint connector Applicable tube outer diameter: Offset reference 8 (inner diameter: 6) 100 or more position for Ma Stroke moment Opposite side Standard (option) Home E- 6 through, 9.5, counterbore depth 5.5 E- 4H7, depth 6 from bottom surface of base (from opposite side) Detail view of oblong hole...

  • Page 123: Rcp2Cr-Ss7C

    10.1.16 RCP2CR-SS7C 4-M5, depth 10 2- 5H7, depth 10 Cable joint connector 0.02 Applicable tube outer diameter: (inner diameter: 100 or more Offset reference position for Ma moment S(Stroke) Opposite side Standard (option) Home Home Reference surface Detail view of A 100 (Reamed hole pitch) 100 (Reamed hole pitch) (90 at 50 ST)

  • Page 124: Rcp2Cr-Ss8C

    10.1.17 RCP2CR-SS8C 4-M8, depth 10 2- 8H7, depth 10 0.02 Cable joint connector Applicable tube outer diameter: (inner diameter. 8) 100 or more Offset reference position for Ma S (stroke) Opposite side moment (option) Home Standard B (Reamed hole pitch) 100 (Reamed hole pitch) 100 (Reamed hole pitch) Oblong hole, depth 6...

  • Page 125: Rcp2Cr-Hs8C

    10.1.18 RCP2CR-HS8C 2- 8H7, depth 10 4-M8, depth 10 0.02 Cable joint connector Applicable tube outer diameter: (inner diameter: 100 or more Offset reference S (stroke) Opposite side position for Ma moment (option) Home Standard B (Rreamed hole pitch) 100 (Reamed hole pitch) 100 (Reamed hole pitch) Oblong hole, depth 6 50 (pitch between reamed hole and oblong hole)
  • Page 126 10.2 How to use the home mark As necessary, affix these marks to the product to mark the home position of the actuator. Contents of sticker Home mark sticker × 1 sheet Home mark scale × 4 Home mark × 4 (Scale: 1mm graduation mark, 10mm width) Peel off the home marks and use as a base sheet.

  • Page 127: Warranty

    11. Warranty 11.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from IAI 12 months after delivery to the specified location 2,500 hours of operation 11.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products...

  • Page 128: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications

    11.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.

  • Page 129: Change History

    50 mm or more after every 5,000 to 10,000 cycles. ” Back cover: Changed the reference to “Eight” by describing it as a “24-hour service” desk. Added IAI Shanghai. July 2010 Third Edition P. 9: Added “Pay attention to the position when the servo is turned ON”...
  • Page 130 P.74, 83, 92: Correction made Replacement motor model NB → MB August 2015 15D edition P.64: Applicable Belt IAI meaintenance parts model added October 2016 15E edition Caution added for fastener length on the main body. October 2016 15F edition...
  • Page 132 825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand TEL +66-2-361-4458 FAX +66-2-361-4456 The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2016. Oct. IAI Corporation. All rights reserved. 16.10.000...

This manual is also suitable for:

Robo cylinder rcp2cr seriesRobo cylinder rcp2-ss7cRobo cylinder rcp2-ss8cRobo cylinder rcp2-sa5rRobo cylinder rcp2-hs8cRobo cylinder rcp2-sa6r ... Show all

Table of Contents

Save PDF