IAI ROBO Cylinder RCP5-SA4C Instruction Manual
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IAI ROBO Cylinder RCP5-SA4C Instruction Manual

Robo cylinder rcp5 series; robo cylinder rcp5cr series slider type
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ROBO Cylinder
RCP5/RCP5CR Actuators
Slider Type
Instruction Manual
Seventh Edition
Standard Type Motor Straight Type:
Standard Type Motor Reversing Type: RCP5-SA4R, SA6R, SA7R
Cleanroom Type Motor Straight Type:
IAI America, Inc.
RCP5-SA4C, SA6C, SA7C
RCP5CR-SA4C, SA6C, SA7C

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Summary of Contents for IAI ROBO Cylinder RCP5-SA4C

  • Page 1 ROBO Cylinder RCP5/RCP5CR Actuators Slider Type Instruction Manual Seventh Edition Standard Type Motor Straight Type: RCP5-SA4C, SA6C, SA7C Standard Type Motor Reversing Type: RCP5-SA4R, SA6R, SA7R Cleanroom Type Motor Straight Type: RCP5CR-SA4C, SA6C, SA7C IAI America, Inc.
  • Page 3 This product is not to be used for any other purpose from what is noted in this instruction manual. IAI shall not be liable whatsoever for any loss or damage arising from the result of using the product for any other purpose from what is noted in the manual.

  • Page 5: Table Of Contents

    Table of Contents Safety Guide......................1 Caution in Handling ....................8 International Standards Compliances ..............9 Names of the Parts ....................10 1. Specifications Check..................13 1.1 Checking the Product ......................13 1.1.1 Parts ........................13 1.1.2 Related Instruction Manuals for the Each Controller Supported by This Product ......................
  • Page 6 4. Maintenance and Inspection ................62 4.1 Inspection Items and Schedule ..................62 4.2 External Visual Inspection ....................63 4.3 Cleaning ..........................63 4.4 Internal Inspections ......................64 4.5 Internal Cleaning ....................... 65 4.6 Grease Supply........................66 4.6.1 What Grease to Use..................... 66 4.6.2 How to Apply Grease ...................

  • 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 1before 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 (2) Cable Wiring and 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 (4) Safety Measures and 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. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
  • 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 and Inspection to be 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 instruction manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the product Danger Danger is not handled correctly, will result in death or serious injury.

  • Page 14: Caution In Handling

    Caution in Handling Ensure use of the product in the specified conditions, environments and ranges. An operation out of the specified conditions may cause a drop in performance or malfunction of the product. Do not attempt to have any handling or operation that is not stated in this instruction manual.
  • Page 15 11. For PCON-CA and MSEP Controllers (with option: T), it is available to switch over the setting between effective and ineffective of the high output setting in the parameter setting. (In the setting at delivery, the high output setting is set to effective.) For MSEL Controller, the high output setting is effective and cannot switch it over to ineffective.

  • Page 16: International Standards Compliances

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

  • Page 17: Names Of The Parts

    Names of the Parts In this Instruction 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. Standard Type Motor Straight Type Right Side Opposite Side Motor Side...
  • Page 18 Cleanroom Type Motor Straight Type Right Side Opposite Side Motor Side Stainless steel sheet Motor unit Side cover Left Side Screw for motor unit attachment Slider Slider cover Front bracket Tapped hole for ground cable connection Base Air Vacuum Joint Type Connector Air Tube Outer Diameter •...

  • Page 19: Specifications Check

    1.1 Checking the Product The standard configuration of this product is comprised of the following parts. 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...

  • Page 20: How To Read The Model Number

    : Robot cable 3/6/12/20 SA7C, SA7R <Controller> 4/8/16/24 P3 : PCON-CA MSEP MSEL <Stroke> [Refer to 1.2 “Specifications”] 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 21: Specifications

    1.2 Specifications 1.2.1 Speed [1] Motor Straight Type [When high-output setting is effective] Speed limits [Unit: mm/s] Stroke [mm] Motor Lead Horizontal/ Type Type [mm] Vertical 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 Horizontal 165 135 Vertical...
  • Page 22 [When high-output setting is ineffective] Speed limits [Unit: mm/s] Stroke [mm] Motor Lead Horizontal/ Type Type [mm] Vertical 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 Horizontal Vertical Horizontal Vertical SA4C Horizontal Vertical Horizontal Vertical Horizontal...
  • Page 23 [2] Motor Reversing Type [When high-output setting is effective] Speed limits [Unit: mm/s] Stroke [mm] Motor Lead Horizontal/ Type Type [mm] Vertical 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 Horizontal 165 135 Vertical 165 135 Horizontal...
  • Page 24 [When high-output setting is ineffective] Speed limits [Unit: mm/s] Stroke [mm] Motor Lead Horizontal/ Type Type [mm] Vertical 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 Horizontal Vertical Horizontal Vertical SA4R Horizontal Vertical Horizontal Vertical Horizontal...

  • Page 25: Maximum Acceleration And Transportable Mass

    1.2.2 Maximum Acceleration and Transportable Mass If the transportable mass is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. [1] Motor Straight Type [When high–output setting for motor straight type is effective] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal /...
  • Page 26 [When high-output setting is effective of the motor straight type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal 2.25 2.25 2.25 2.25 2.25 2.25 2.25 2.25 2.25 2.25 2.25 2.25...
  • Page 27 [When high-output setting is effective of the motor straight type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal 22.5 Vertical SA6C Horizontal Vertical...
  • Page 28 [When high-output setting is effective of the motor straight type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 12.5 12.5 12.5 12.5 Horizontal Vertical SA6C Horizontal 1120 1280 1440 Vertical 1120...
  • Page 29 [When high-output setting is effective of the motor straight type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical Horizontal SA7C Vertical Horizontal Vertical...
  • Page 30 [When high-output setting is effective of the motor straight type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal 1000 1200 SA7C Vertical 1000 1200...
  • Page 31 [When high-output setting is ineffective of the motor straight type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] Horizontal Vertical Horizontal Vertical SA4C Horizontal 2.25 2.25 2.25 2.25 2.25 2.25 2.25...
  • Page 32 [When high-output setting is ineffective of the motor straight type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] Horizontal Vertical Horizontal Vertical SA6C Horizontal Vertical Horizontal Vertical...
  • Page 33 [When high-output setting is ineffective of the motor straight type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] Horizontal Vertical Horizontal Vertical SA7C Horizontal Vertical Horizontal Vertical Caution: Do not attempt to establish the settings for the acceleration/deceleration above the allowable range.
  • Page 34 [2] Motor Reversing Type [When high-output setting is effective of the motor reversing type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical SA4R Horizontal Vertical...
  • Page 35 [When high-output setting is effective of the motor reversing type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal 2.25 2.25 2.25 2.25 2.25 2.25 2.25 2.25 2.25 2.25 2.25 2.25...
  • Page 36 [When high-output setting is effective of the motor reversing type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal 22.5 Vertical SA6R Horizontal Vertical...
  • Page 37 [When high-output setting is effective of the motor reversing type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 12.5 12.5 12.5 12.5 Horizontal Vertical SA6R Horizontal 1120 1280 Vertical 1120 1280...
  • Page 38 [When high-output setting is effective of the motor reversing type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical Horizontal Vertical SA7R Horizontal Vertical Horizontal 1000 Vertical 1000...
  • Page 39 [When high-output setting is ineffective of the motor reversing type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] Horizontal Vertical Horizontal Vertical SA4R Horizontal 2.25 2.25 2.25 2.25 2.25 2.25 2.25...
  • Page 40 [When high-output setting is ineffective of the motor reversing type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] Horizontal Vertical Horizontal Vertical SA6R Horizontal Vertical Horizontal Vertical...
  • Page 41 [When high-output setting is ineffective of the motor reversing type] Payload capacity by acceleration/deceleration [kg] Motor Lead Horizontal / Type Velocity Type [mm] Vertical 0.1G 0.2G 0.3G 0.5G 0.7G [mm/s] Horizontal Vertical Horizontal Vertical SA7R Horizontal Vertical Horizontal Vertical Caution: Do not attempt to establish the settings for the acceleration/deceleration above the allowable range.

  • Page 42: Driving System • Position Detector

    1.2.3 Driving System • Position Detector Ball Screw Type No. of Encoder Type Motor Type Lead Pulses Type Diameter Accuracy SA4C Rolled SA4R SA6C Rolled 10mm SA6R SA7C Rolled 12mm SA7R 1.2.4 Positioning Precision Type Lead Item Tolerance SA4C 2.5, 5, Positioning repeatability ±0.02mm SA4R...

  • Page 43: Current Limiting Value And Pressing Force

    1.2.5 Current Limiting Value and Pressing Force [1] SA4C, SA4R Motor Type 35P Current Limiting Lead 2.5 [N] Lead 5 [N] Lead 10 [N] Lead 16 [N] Value SA4C/R Current Limiting Values and Pressing Force Lead 2.5 Lead 5 Lead 10 Lead 16 Current Limiting Value [%] Caution: (1) The relation of the current limit and the pressing force is a reference when...
  • Page 44 [2] SA6C, SA6R Motor Type 42P Current Limiting Lead3 [N] Lead6 [N] Lead12 [N] Lead20 [N] Value SA6C/R Current Limiting Values and Pressing Force Lead 3 Lead 6 Lead 12 Lead 20 Current Limiting Value [%] Caution: (1) The relation of the current limit and the pressing force is a reference when assuming the speed is 20mm/s.
  • Page 45 [3] SA7C, SA7R Motor Type 56P Current Limiting Lead4 [N] Lead8 [N] Lead16 [N] Lead24 [N] Value SA7C/R Current Limiting Values and Pressing Force Lead 4 Lead 8 Lead 16 Lead 24 Current Limiting Value [%] Caution: (1) The relation of the current limit and the pressing force is a reference when assuming the speed is 20mm/s.
  • Page 46 [Caution at Pressing] Make sure to establish the pressing current limit value setting not to exceed 80% of the rated moment (Ma and Mb) specified in the specifications for the reaction force moment caused by the pressing force when pressing operation is conducted on the slider type. If an excessive force exceeding the rated moment is applied, it may damage the guide and would shorten the product life.

  • Page 47: Allowable Moment Of Actuator

    1.2.6 Allowable Moment of Actuator Allowable static moment Allowable dynamic moment Allowable overhang load [N m] [N m] Type SA4C 120mm Ma direction: 12.2 16.7 4.98 7.11 9.68 SA4R 120mm Mb or Mc direction: SA6C 150mm Ma direction: 38.3 54.7 11.6 16.6 24.6...

  • Page 48: Options

    (Note) The home position is adjusted at the factory before shipment. If you wish to change the home after the delivery of your actuator, you must return the actuator to IAI for adjustment. 1.3.3 Cable Eject Direction Changed (Model No.

  • Page 49: Slider Part Roller Type (Model No. : Sr)

    1.3.5 Slider part roller type (Model No. : SR) It possesses the roller structure for the slider design that is the same as the cleanroom type. 1.3.6 Slider spacer (Model No. : SS) Application SA7R As the motor unit is higher than the top face of the slider, it is a spacer to make higher than the motor unit.

  • Page 50: Motor • Encoder Cables

    1.4 Motor • Encoder Cables 1.4.1 Motor • Encoder Integrated Cables CB-CAN-MPA indicates the cable length (L) (Example: 030=3m), Max.20m (15) (50) (50) (30) Actuator side Controller side Connector: DF62B-24S-2.2C Connector: PADP-24V-1-S Contact: DF62-2428SCFA (For AWG26) Contact: DF62-22SCFA (For AWG22) SPND-002T-C0.5 (For AWG26) SPND-001T-C0.5 (For AWG22) Connection diagram...

  • Page 51: Motor • Encoder Integrated Cables Robot Type

    1.4.2 Motor • Encoder Integrated Cables Robot Type CB-CAN-MPA indicates the cable length (L) (Example: 030=3m), Max.20m (15) (50) (50) (30) Actuator side Controller side Connector: DF62B-24S-2.2C Connector: PADP-24V-1-S Contact: DF62-2428SCFA (For AWG26) Contact: DF62-22SCFA (For AWG22) SPND-002T-C0.5 (For AWG26) SPND-001T-C0.5 (For AWG22) Connection diagram Actuator side...

  • Page 52: Installation

    2. Installation Transportation [1] Handling of Robot (1) Handling of the Packed Product Unless otherwise specified, the actuator is shipped with each axis packaged separately. • 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 53 [2] Handling in the 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.

  • Page 54: 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 55: How To Install

    How to Install This chapter explains how to install the actuator on your mechanical system. 2.3.1 Installation Follow the information below when installing the actuator, as a rule. Do pay attention to these items (except with custom-order models). : Possible : Daily inspection is required : Not possible Horizontal...

  • Page 56: Installation Of The Main Unit

    2.3.2 Installation of the Main Unit The surface to mount the main unit should be a machined surface or a plane that possesses an equivalent accuracy and the flatness should be within 0.05mm/m. Also, the platform should have a structure stiff enough to install the unit so it would not generate vibration or other abnormality. Also consider enough space necessary for maintenance work such as actuator replacement and inspection.
  • Page 57 Tightening Screws Use hexagonal socket head bolts for the male threads for installing the base. Use of high-tension bolts meeting at least ISO 10.9 is recommended. The length of thread engagement should be 1.8 times more than the nominal diameter, and pay attention not to stick the screw out inside the actuator.
  • Page 58 [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 top of the base. Detach the side covers on the sides when installing. (Remove 4 attachment screws (+) with a Philips screwdriver.) Attempt not to drop the bolts, tools, etc.
  • Page 59 [3] When Using Attachment Holes on Bracket in Motor Reversing Type There are tapped holes equipped on the reversing bracket. (Refer to the table below for detailed dimensions.) Model Name SA4R M4 Depth 9 SA6R M6 Depth 13 SA7R M6 Depth 13 Model Attachment Hole Attachment Hole...
  • Page 60 [Caution at Pressing] Pay attention to the following when installation is conducted with using the attachment holes on the reversing bracket. Do not attempt to use only the attachment holes on the reversing bracket for installation. Avoid external force to be applied on the main body. Some operational conditions and conditions of installation environment could generate vibration, which may cause operational error or parts malfunction.
  • Page 61 [4] Attachment of Transported Object • There are tapped holes on the top surface of the slider. Affix the work part (transported object) here. • The way to affix follows the installation of the main unit. • There are two reamed holes on the top surface of the slider. Use these reamed holes if repeatability of attaching and detaching is required.
  • Page 62 [5] Mounting Surface • The platform to install the actuator should possess a structure that ensures enough stiffness, and should be free from vibration. • The surface where the actuator will be mounted should be a machined surface or that with an accuracy equivalent to it, and the flatness should be 0.05mm/m or below.

  • Page 63: Vacuum Of Cleanroom Type

    2.3.3 Vacuum of Cleanroom Type Cleanroom type actuator realizes the performance complied with Cleanroom Class 10 (0.1 m) by absorbing air from the vacuum joints. In the table below, shows the amount of absorbing as a reference in the rated velocity for each model. •...

  • Page 64: Connecting With The Controller

    • The actuator cable coming out of the motor unit is not meant to be bent. Fix the cable so it would not be bent repeatedly Please consult with IAI if you require a different kind of cable than the one supplied.
  • Page 65 • 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 66 • Do not let the cable bend, kink or twist. • 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. •...
  • Page 67 • 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 lines (flat cable) Follow the instructions below when using a cable track.

  • Page 68: Maintenance And Inspection

    4. Maintenance and Inspection Inspection Items and Schedule Follow the maintenance inspection schedule below. It is assumed that the equipment is operating 8 hours per day. If the equipment is running continuously night and day or otherwise running at a high operating rate, inspect more often as needed.

  • Page 69: External Visual Inspection

    External Visual Inspection An external visual inspection should check the following things. Main unit Loose actuator mounting bolts, other loose items Cables Scratches, proper connections Stainless steel sheet Scratches Overall Irregular noise, vibration • As a rule of thumb, the stainless steel sheet should last for about 5000km of slider motion. However, under certain conditions, the stainless steel sheet may need to be replaced earlier.

  • Page 70: Internal Inspections

    Change in the attached condition may cause the sheet to be mounted unevenly or impact the product life. In such cases, please contact IAI Sales Engineer Department. Keep in mind that the edges of the stainless steel sheet can cause injuries. Always...

  • Page 71: Internal Cleaning

    Caution When Attaching Side Covers Keep the dimension shown below for the opening when attaching the side covers. Also, have the side covers attached in symmetry to the center line. SA4C SA6C SA7C Model Name SA4R SA6R SA7R Dimension for Opening [mm] 11.4±0.4 16±0.4 24±0.4...

  • Page 72: Grease Supply

    On the cleanroom type, the urea based grease that has great low particle-emission, stable torque characteristics, brilliant lubrication and anti-dust effect equivalent to the lithium based grease is applied. IAI uses the following grease in our plant. Kuroda Guide and Ball Screw...

  • Page 73: How To Apply Grease

    4.6.2 How to Apply Grease Remove the screw and detach the side cover on either side, right or left. The grease nipple will appear. When the side cover on the other side has been detached, the other grease nipple also appears. Side Cover Side Cover Attachment Screws...
  • Page 74 Supply grease from the grease nipple on either side, using the grease gun. Wipe off the grease before supplying new in case it is extremely dirty. (Note) Grease can also be applied from the grease nipple on the other side. When grease is applied from the grease nipple on either side, grease is supplied to the ball screw and the guides on both sides.
  • Page 75 Attach the side covers after grease supply is finished. If you touch the edge of the stainless steel sheet in the attaching process, the sheet may get damaged or wavy which result in shortening life or earlier wear-out. To avoid touching the edge of the sheet, insert a spacer (approximately 0.1 to 0.2mm) between the sheet and cover to push up the sheet, and then push in the cover.

  • Page 76: Procedure For Stainless Steel Sheet Replacement And Adjustment

    4.7 Procedure for Stainless Steel Sheet Replacement and Adjustment In this section, explains how to replace and adjust the stainless steel sheet. The stainless steel sheet can be changed without removing the side cover. 4.7.1 Preparation (1) Items required for replacing the stainless steel sheet Replacement stainless steel sheet Phillips screwdriver Adhesive tape...

  • Page 77: Procedure For Replacement And Tuning

    4.7.2 Procedure for Replacement and Tuning Have a replacement and tuning in (1) Procedure 1 for RCP5-SA4. For other models, have a replacement and tuning in either (1) Procedure 1 or (2) Procedure 2. Procedure 1 Remove the screws (4 places) holding the stainless steel sheet and stainless steel sheet retainer plates (2 pieces) with using a Phillips screwdriver.
  • Page 78 Pull the old stainless steel sheet so the new one goes through below the slider. Pull it till the new stainless steel sheet comes to the edge of the actuator. Pull Old stainless New stainless steel steel sheet sheet Pull till the edge Edge Remove the old stainless steel sheet.
  • Page 79 (1) Procedure 2 Remove the screws (four locations) fixing the stainless steel sheet using a Phillips screwdriver and remove the stainless steel sheet retainer plates (two plates). Pull out the old stainless steel sheet. Attach adhesive tape on one side of new stainless steel sheet. Adhesive tape Stainless Steel Sheet Stainless Steel Sheet...
  • Page 80 With the stainless steel sheet being held, move the slider to put through the stainless steel sheet. After the stainless steel sheet passes through the slider, pull one end of the stainless steel sheet out to the position of the stainless steel retainer plate. Take off the adhesive tape once positioning is finished.
  • Page 81 Fix the two stainless steel sheet retainer plates using the screws (four locations). Use a Phillips screwdriver to attach it. There are two grooves for stainless steel sheet attachment guides. Align so that the stainless steel sheet is positioned at the center between the two grooves.

  • Page 82: Procedure For Belt Replacement And Tuning

    4.8.2 Belt to Use IAI uses the following belt in our plant IAI Maintenance Model Manufacturer Model Code...

  • Page 83: Belt Replacement

    4.8.3 Belt Replacement [Items required for replacing the motor] Belt for Replacement Phillips Screwdriver Hexagon Wrench 2.5mm(SA4R/SA6R) or 3mm(SA7R) Tension Gauge (that is available for pulling with 80N) Long Tie-Band (thin string) [Procedure] Remove the three bolts holding the pulley cover with a Phillips screwdriver, and detach the pulley cover.
  • Page 84 Adjust the belt tension. Hang a tie-band (thin string) on the end of the motor unit and pull it in specified load (specified tensile strength) with a tension gauge. Once the load reached the specified, tighten the bolts with a 2.5 mm-sized (for SA4R/SA6R) or 3mm-sized (for SA7R) hex wrench to affix.

  • Page 85: Motor Replacement Process

    4.9 Motor Replacement Process 4.9.1 SA4C, SA6C, SA7C [Items required for replacing the motor] Motor Unit for Replacement Hex wrench set 2mm-sized or 2.5mm-sized [Procedure] Remove the screw affixing the actuator and the motor unit with a 2mm-sized (SA4C, SA6C), 2.5mm-sized (SA7C) hex wrench.
  • Page 86 Make the profiles on the actuator side and motor unit side aligned so the projection matches to the slit. Make the projection and slit Apply grease to the coupling part. matched with each other. NOXLUB TL1010 grease made by NOK Attach the motor unit for replacement with the projection being matched with the slit.

  • Page 87: Sa4R, Sa6R, Sa7R

    4.9.2 SA4R, SA6R, SA7R [Items required for replacing the motor] Motor Unit for Replacement Hexagon Wrench Set 2mm-sized 2.5mm-sized [Procedure] Remove the screw affixing the actuator and the motor unit with a 2mm-sized (SA4R, SA6R), 2.5mm-sized (SA7R) hex wrench. SA4R fixing screw to affixing is side , SA6R, SA7R fixing screw to affixing is top. For Fixed screws actuator and Motor Unit SA4R (View from side)
  • Page 88 Make the profiles on the actuator side and motor unit side aligned so the projection matches to the slit. Apply grease to the coupling part. Make the projection and slit matched NOXLUB TL1010 grease made by NOK with each other. Attach the motor unit for replacement with the projection being matched with the slit.

  • Page 89: External Dimensions

    5. External Dimensions 5.1 RCP5-SA4C 2-φ3 H7 reamed depth 6 4-M3 depth 7 Pay attention to interference to slider mounted object 20 (pitch between φ3H7 holes ±0.02) ±0.02 φ 6.5 Secure at least 100 φ 3.4 Datum surface (56) Detail diagram X Scale 1 : 1 Battery-less Absolute: 124(155 with brake) Stroke...

  • Page 90: Rcp5-Sa6C

    5.2 RCP5-SA6C 4-M5 depth 10 Secure at least 100 ±0.02 31 (pitch between φ 5H7 holes ±0.02) 2-φ5 H7 reamed depth 6 φ8 φ4.5 Datum surface Detail diagram X Scale 1 : 1 Battery-less Absolute: 112.5(152 with brake) Stroke 37.5 M.E.

  • Page 91: Rcp5-Sa7C

    5.3 RCP5-SA7C 2-φ5 H7 depth 10 4-M5 depth 10 39 (pitch between φ5H7 holes ±0.02) ±0.02 Pay attention to interference to slider mounted object Secure at least 100 φ 9.5 φ 6 (72) Battery-less Absolute: 143(193 with brake) Datum surface Detail diagram X Stroke Scale 1 : 1...

  • Page 92: Rcp5Cr-Sa4C, Rcp5-Sa4C (Option Model Sr)

    5.4 RCP5CR-SA4C, RCP5-SA4C (Option Model SR) * There is no pipe joint in Slider Roller Type (SR). 2- φ 3 H7 reamed depth 6 4-M3 depth 7 Pay attention to interference to slider Secure at least 100 20 (pitch between φ 3H7 holes ±0.02) ±0.02 mounted object φ6.5...

  • Page 93: Rcp5Cr-Sa6C, Rcp5-Sa6C (Option Model Sr)

    5.5 RCP5CR-SA6C, RCP5-SA6C (Option Model SR) * There is no pipe joint in Slider Roller Type (SR). 4-M5 depth 10 Secure at least 100 ±0.02 31 (pitch between φ 5H7 holes ±0.02) 2-φ5 H7 reamed depth 6 φ8 φ4.5 Datum surface Detail diagram X Scale 1 : 1 Battery-less Absolute: 112.5(152...

  • Page 94: Rcp5Cr-Sa7C, Rcp5-Sa7C (Option Model Sr)

    5.6 RCP5CR-SA7C, RCP5-SA7C (Option Model SR) * There is no pipe joint in Slider Roller Type (SR). 4-M5 depth 10 39 (pitch between φ 5H7 holes ±0.02) Pay attention to interference 2-φ5 ±0.02 to slider mounted object H7 depth 10 Secure at least 100 φ9.5 φ6...
  • Page 95 5.7 RCP5-SA4R Stroke M3 depth 4 (same on opposite side) M.E. S.E. (for earth connection) 20 (pitch between φ 3H7 holes ±0.02) M.E. φ 3 H7 reamed depth 6 Home ±0.02 φ6.5 4-M3 depth 7 φ 3.4 Datum surface View diagram Detail diagram X Scale 1 : 2...

  • Page 96: Rcp5Cr-Sa6R

    5.8 RCP5-SA6R M.E: Mechanical End S.E: Stroke End Mass [kg] Stroke With Brake Brake...

  • Page 97: Rcp5Cr-Sa7R

    5.9 RCP5-SA7R Stroke 4-M5 depth 10 M.E. S.E. Home M.E. 39 (pitch between φ5H7 holes ±0.02) ±0.02 (72) M3 depth 6 (same on opposite side) (for earth connection) φ 9.5 φ 6 Pay attention to interference to slider mounted object 2- φ5 H7 reamed depth 10 Datum surface Detail diagram X...

  • Page 98: Life

    6. 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 99 [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 1.0G or less [Attachment coefficient f ] Attachment coefficient f is a coefficient to consider the life drop due to the condition of actuator attachment.

  • Page 100: Warranty

    7. Warranty 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 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products...

  • Page 101: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications

    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 102: Change History

    Offset positions of Ma and Mb indicated with arrow July 2015 Edition 7C Contents added in caution for handling for effective/ineffective of high output setting Pg. 18 Caution note added for minimum speed Pg. 76 IAI maintenance part codes added for used belts...
  • Page 104 825, 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 © 2015. Jul. IAI Corporation. All rights reserved. 15.07.000...

This manual is also suitable for:

Robo cylinder rcp5-sa6cRobo cylinder rcp5-sa4rRobo cylinder rcp5-sa6rRobo cylinder rcp5-sa7cRobo cylinder rcp5-sa7rRobo cylinder rcp5cr-sa4c ... Show all

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