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IAI RCP2 Operating Manual

Robo cylinder actuator motor straight type: sa5c, sa6c, sa7c, ss7c, ss8c, hs8c motor reversing type: sa5r, sa6r, sa7r, ss7r, ss8r, hs8r. sa5c, sa6c, sa7c, ss8c, hs8c
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See also: Operating Manual
ROBO Cylinder
Slider Type
RCP2 Actuators
Motor Straight Type: SA5C, SA6C, SA7C, SS7C, SS8C, HS8C
Motor Reversing Type: SA5R, SA6R, SA7R, SS7R, SS8R, HS8R
RCP2CR Actuators, Cleanroom Specification
SA5C, SA6C, SA7C, SS8C, HS8C
Operating Manual
First Edition
IAI America Inc.

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Summary of Contents for IAI RCP2

  • Page 1 ROBO Cylinder Slider Type RCP2 Actuators Motor Straight Type: SA5C, SA6C, SA7C, SS7C, SS8C, HS8C Motor Reversing Type: SA5R, SA6R, SA7R, SS7R, SS8R, HS8R RCP2CR Actuators, Cleanroom Specification SA5C, SA6C, SA7C, SS8C, HS8C Operating Manual First Edition IAI America Inc.
  • Page 3 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 4 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.
  • Page 5 ● When installing the product, make 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. ● Avoid using the product in a place where the main unit or controller may come in contact with water or oil droplets.
  • Page 6 pinching a cable may cause it to leak current or lose continuity, resulting in fire, electric shock, malfunction, etc. ● Turn 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.
  • Page 7 When installing the product, do not hold the moving parts or cables of the product. Doing so may result in injury. ● Use IAI’s genuine cables to connect the actuator and controller. Also use IAI’s genuine components for the actuator, controller, teaching pendant, etc. ●...
  • Page 8 When 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.”...
  • Page 9 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.
  • Page 10 Notes on using cable bearers ● The supplied cables are not robot cables. Accordingly, never store the cables in a cable bearer. ● Always use a robot cable for Bending radius (r) each relay cable. ● Use a cable bearer with a bending radius (r) of 50mm or greater.

  • Page 11: Table Of Contents

    Warranty ..............................2 Warranty Period ..........................2 Scope of Warranty ..........................2 Names of Parts ............................3 Motor Straight Type (Standard) RCP2 ....................3 Motor Straight Type (Cleanroom Specification) RCP2CR..............4 Motor Reversing Type......................... 6 Transporting and Handling......................... 8 Handling the Actuator ......................... 8 5.1.1...
  • Page 12 10. Cleanroom Specification .......................... 20 10.1 Recommended Suction Rate ......................20 10.2 Suction Joint ............................. 20 11. Maintenance ............................21 11.1 Maintenance Schedule ........................21 11.2 Visual Inspection of the Machine Exterior ..................21 11.3 Cleaning............................21 11.4 Interior Inspection ..........................22 11.5 Internal Cleaning..........................

  • Page 13: Foreword

    • Please make sure to use only the cable provided by IAI to connect the actuator and controller. • Please do not allow people within the moving range of the unit when it is in operation or when the power is ON since this is dangerous.

  • Page 14: Warranty

    • Unit seems to be noisy or similar impressions that do not affect machinery performance. • Damage resulting from improper handling by the user or lack of proper maintenance. • Any alterations made by other than IAI or its representatives. • Breakdowns caused by using controllers made by other manufacturers.

  • Page 15: Names Of Parts

    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 Straight Type (Standard) RCP2 ●SA5C, SA6C, SA7C Side Cover...

  • Page 16: Motor Straight Type (Cleanroom Specification) Rcp2Cr

    Motor Straight Type (Cleanroom Specification) RCP2CR ●SA5C, SA6C, SA7C Side Cover Cable Joint Connector Stainless Sheet Right Side Opposite Motor Motor End Suction Cable Left Side Joint Bearing Housing Motor End Cap Slider Front Cover Base Motor Cover Caution: The cable directly connected to the actuator is not a robot cable even when ordered with a robot cable option.
  • Page 17 ●SS7C, SS8C, HS8C Side Cover Cable Joint Connector Stainless Sheet Right Side Opposite Motor Motor End Cable Suction Joint Left Side Front Cover Motor End Cap Slider Bearing Housing Base Motor Cover Caution: The cable directly connected to the actuator is not a robot cable even when ordered with a robot cable option.

  • Page 18: Motor Reversing Type

    Motor Reversing Type ●SA5R, SA6R Mounting Flange Side Cover Front Cover Stainless Sheet Right Side Pulley Cover Opposite Motor Motor End Cable Left Side Motor End Cap Motor Cover Slider Base ●SA7R Mounting Flange Side Cover Front Cover Stainless Sheet Pulley Cover Right Side Opposite...
  • Page 19 ●SS7R, SS8R, HS8R Front Cover Stainless Sheet Side Cover Mounting Flange Pulley Cover Right Side Opposite Motor Motor End Left Side Motor End Cap Motor Cover Motor Bracket Slider Base Caution: The cable directly connected to the actuator is not a robot cable even when ordered with a robot cable option.

  • Page 20: Transporting And Handling

    Transporting and Handling Handling the Actuator 5.1.1 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 21: Handling The Actuator Assembly

    5.2.1 Condition of Shipment from IAI (Assembled) The actuators you have ordered are assembled at IAI, after which the assembly receives a shipping inspection and is shipped in an outer frame with skids. The assembly is packed with sliders securely affixed so that they will not move unexpectedly during transportation.

  • Page 22: Operating And Storage Environment

    Operating and Storage Environment Operating 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 23: Installation

    Installation Notes on Installation The stainless sheet is designed very thin (thickness: 0.1mm) 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, make sure to the following points: 1.

  • Page 24: 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. 7.1.1 Using the Tapped Holes at Back of the Base (All Types) Tapped holes are provided on the back of the base for...

  • Page 25: Using The Mounting Holes On Top Of The Base (Sa5C, Sa6C, Sa7C)

    7.1.2 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 6mm] for mounting the cover using an Allen wrench of 1.

  • Page 26: Mounting Surface

    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 0.05mm. •...

  • Page 27: 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 28: 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 29: Wiring Cable

    • The cables supplied with an actuator offer excellent flexibility, but they are not robot cables. If the cables are to be stored in a movable cable duct (cable bearer, etc.), use robot cables. For cable modification, please contact your IAI sales representatives.

  • Page 30: Load On The Actuator

    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. Allowable load moments Type Stroke: 50 to 300mm - 11.7N·m (1.2kgf·m) SA5C 4.9N·m (0.5kgf·m) 6.8N·m (0.7kgf·m) Stroke: 350 to 500mm - 7.8N·m (0.8kgf·m) SA6C...
  • Page 31 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 32: Cleanroom Specification

    10. Cleanroom Specification This actuator can deliver performance which ensures its operation in conformance with the requirements of cleanliness class 10 (0.1μm) by suctioning air into the suction joint. The recommended suction rate of each model at the maximum speed is specified below. 10.1 Recommended Suction Rate Model...

  • Page 33: Maintenance

    11. Maintenance 11.1 Maintenance Schedule Perform maintenance work according to the schedule below. The schedule is set assuming eight hours of operation a day. When the operation time is long such as a 24-hour operation, shorten the maintenance intervals as needed. Visual inspection Check interior Grease supply...

  • Page 34: Interior Inspection

    11.4 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 35: Internal Cleaning

    11.5 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 36: Cleanroom Specification

    11.6.2 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 37: How To Apply Grease

    11.6.3 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 38: 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 39 [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 [2] Cleanroom specification (roller structure) Sheet slider •...
  • Page 40 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 41 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 42 [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 43: Reduction Belt [Motor Reversing Type]

    11.8 Reduction Belt [Motor Reversing Type]: SA5R, SA6R, SA7R, SS7R, SS8R, HS8R 11.8.1 Inspecting the Belt Remove the pulley cover and visually inspect the belt. Durability of the reduction belt is affected significantly by the operating condition, and there is no standard guideline as to when the belt should be replaced.

  • Page 44: Sa7R

    ●SA7R Motor bracket Tensile load: Tension adjusting bolts (4 pcs.) Use an Allen wrench of 3mm across flats. Tension adjusting bolt tightening torque: ●SS7R, SS8R, HS8R Motor bracket Tensile load: Tension adjusting bolts (4 pcs.) Use an Allen wrench of 3mm across flats.

  • Page 45: Replacing The Belt

    11.8.4 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 46 5) Remove the pulley assembly. • Remove the four affixing bolts using an Allen • Pull out the assembly by hand. wrench of 2.5mm across flats. 6) Remove the pulley cap. • Remove the two affixing bolts using an Allen wrench of 2.5mm across flats.
  • Page 47 9) Install the pulley assembly. • Tighten the hexagon socket-head • Align the angles of projections and depressions screws (M3 × 22, 4 pcs.) using an Allen wrench of 2.5mm across flats. on the couplings. Align the angles of projections and depressions. Tightening torque: 83N·cm (8.47kgf·cm) 10) Loop the belt over the pulleys.

  • Page 48: Sa7R

    ●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 1.5mm across flats. 3) Remove the belt from the pulleys.
  • Page 49 5) Remove the pulley assembly. • Remove the four affixing bolts using an Allen wrench of 2.5mm 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 50 8) Install the pulley assembly. • Tighten the hexagon socket-head • Align the angles of projections and depressions screws (M3 × 40, 4 pcs.) using an Allen wrench of 2.5mm across flats. on the couplings. Align the angles of projections and depressions. Tightening torque: 83N·cm (8.47kgf·cm) Loop the belt over the pulleys.

  • Page 51: Ss7R, Ss8R, Hs8R

    ●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 2mm across flats. 2) Loosen the four tension adjusting bolts to 3) Remove the belt from the pulleys.
  • Page 52 6) Install the pulley cover. Tighten the thin-head screws (M4 × 6, 4 pcs.) using an Allen wrench of 2mm across flats. Tightening torque: 204N·cm (20.8kgf·cm)

  • Page 53: Replacing The Motor

    11.9 Replacing the Motor 11.9.1 Motor Straight Type ●SA5C, SA6C [Items Required for Replacement] • Replacement motor NRC42* (with a coupling on the motor shaft: see the photograph at the right) • Allen wrench set Coupling • Phillips screwdriver • Grease (Kyodo Yushi’s Multemp LRL3 or equivalent) [Procedure] 1) After removing the flat countersunk-head screws (M3 ×...
  • Page 54 5) Remove the motor. • Remove the affixing bolts (M3 × 50, 2 pcs.) using • Pull out the motor by hand. an Allen wrench of 2.5mm 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 55 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 2.5mm across flats.) Tightening torque: 59N·cm (6kgf·cm) 8) Connect the encoder connector.
  • Page 56 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: 61.5N·cm (6.3kgf·cm)

  • Page 57: Sa5C, Sa6C

    ●SA7C [Items Required for Replacement] • Replacement motor NRC56-* (with a coupling on the motor shaft; see the photograph below.) • 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 58 2) Push in the cable-end molding to create a slack along the inner cable. Push in the molding as far as possible. 4) Pull out the encoder connector. 3) Pull out the motor connector. Caution: Do not apply a force to the encoder by touching it directly.
  • Page 59 5) Remove the motor. • Remove the affixing bolts (M4 × 15, 4 pcs.) using an Allen wrench of 3mm 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 60 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.). Tightening torque: 176N·cm (18kgf·cm) (Use an Allen wrench of 3mm across flats.) 8) Connect the encoder connector.
  • Page 61 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: 61.5N·cm (6.3kgf·cm)

  • Page 62: Ss7C

    ●SS7C [Items Required for Replacement] • Replacement motor SSM42-* (with a coupling on the motor shaft; see the photograph below.) • Allen wrench set • Phillips screwdriver • Plastic hammer Coupling [Procedure] 1) Remove the pan-head screws affixing the motor-end cap. •...
  • Page 63 3) Push in the motor-end cap into the motor cover. 4) Pull out the motor connector. 5) Pull out the encoder connector. Caution: Do not apply a force to the encoder by touching it directly.
  • Page 64 6) Remove the motor. • Remove the affixing bolts (M3 × 15, 2 pcs./M3 × 18, 2 pcs.) using an Allen wrench of 2.5mm across flats. • Pull out the motor by hand. • Decoupled motor • Remove the motor flange. Remove the affixing bolts (M3 ×...
  • Page 65 7) Install a new motor. • Tighten the motor flange with the affixing • Confirm that the angles of projections and bolts (M3 × 8, 4 pcs.). depressions on the couplings are aligned. • Next, tighten the upper affixing bolts (M3 × •...
  • Page 66 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 (M3 × 105, 2 pcs.) • Pan-head screws (M2 x 10, 2 pcs.) Tightening torque: 61.5N.cm (6.3kgf.cm) Tightening torque: 61.5N·cm (6.3kgf·cm) Tightening torque: 16.9N·cm (1.7kgf·cm)

  • Page 67: Ss8C, Hs8C

    ●SS8C, HS8C [Items Required for Replacement] • Replacement motor SSM56-* (for SS8C), HSM (for HS8C) (with a coupling on the motor shaft; see the photograph below.) • 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 68 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 69 7) Remove the motor. • Remove the affixing bolts (M4 × 15, 4 pcs.) using an Allen wrench of 3mm 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 70 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 ×...

  • Page 71: Motor Reversing Type

    11.9.2 Motor Reversing Type ●SA5R, SA6R [Items Required for Replacement] • Replacement motor NRC423* (with a coupling on the motor shaft; see the photograph at the right) • Allen wrench set • Phillips screwdriver • Tension gauge (capable of tensioning to 3kgf or greater) •...
  • Page 72 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 73 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 74 11) Install the motor cover. Tighten the hexagon socket-head screws (M3 × 12, 2 pcs.) using an Allen wrench of 2.5mm across flats. Tightening torque: 83N·cm (8.47kgf·cm) 12) Install the pulley cover. Tighten the thin-head screws (M3 × 6, 4 pcs.) using an Allen wrench of 1.5mm across flats. Tightening torque: 87.2N·cm (8.90kgf·cm)

  • Page 75: Sa7R

    ●SA7R [Items Required for Replacement] • Replacement motor unit SSM561* (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 1.5mm across flats.
  • Page 76 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 77: Ss7R, Ss8R, Hs8R

    ●SS7R, SS8R, HS8R [Items Required for Replacement] • Replacement motor unit SSM42-* (for SS7R), SSM561* (for SS8R), HSM (for HS8R) (See the photograph at the right.) • Allen wrench set • Tension gauge (capable of tensioning to 12kgf or greater) •...
  • Page 78 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 79: Appendix · How To Use The Home Mark

    Appendix Appendix · How to use the home mark How to use the home mark ◆ Please affix these marks to the actuator as home markers as needed. Contents of sticker Home mark sticker × 1 sheet Home mark scale × 4 Home mark ×...
  • Page 80 Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany TEL 06196-88950 FAX 06196-889524 The prices, specifications, dimensions and other information provided in this manual are subject to change without notice for purposes of product improvement. Copyright © 2006 Oct. IAI Corporation. All rights reserved.

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