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ROBO Cylinder RCP5-BA4 Instruction Manual

Belt type; rcp5 series
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ROBO Cylinder
RCP5 Actuator Belt Type
Instruction Manual
First Edition
BA4/BA4U
BA6/BA6U
BA7/BA7U
IAI America, Inc.

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Summary of Contents for ROBO Cylinder RCP5-BA4

  • Page 1 ROBO Cylinder RCP5 Actuator Belt Type Instruction Manual First Edition BA4/BA4U BA6/BA6U BA7/BA7U IAI America, Inc.
  • Page 3 Please Read Before Use Thank you for purchasing our product. This instruction manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product.

  • 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 ..................11 1.1 Checking the Product ......................11 1.1.1 Parts ........................11 1.1.2 Related Instruction Manuals for the Each Controller Supported by This Product .........................
  • Page 6 Tension Adjustment ..................... 48 4.8.2 Replacement of the Belt..................51 4.9 Replacement Process ....................... 60 5. External Dimensions..................71 5.1 RCP5-BA4/BA4U ......................71 5.2 RCP5-BA6/BA6U ......................72 5.3 RCP5-BA7/BA7U ......................73 6. Life........................74 6.1 How to Calculate Operation Life ..................74 6.2 Operation Life........................

  • 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.
  • 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. ●...
  • 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. ●...
  • 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 1. Make sure to follow the usage condition, environment and specification range of the product. In case it is not secured, it may cause a drop in performance or malfunction of the product. 2. Do not attempt to have any handling or operation that is not stated in this Instruction manual.

  • Page 15: 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 16: Names Of The Parts

    Names of the Parts See figure below for BA4/BA6/BA7 (Motor upper mount). For BA4U/BA6U/BA7U, the motor unit is mounted facing the lower side. In this manual, the right and left sides of the actuator are expressed in the way it is placed horizontally as shown in the figure below, and is looked at from the motor side.

  • Page 17: Specifications Check

    Instruction Manual for Touch Panel Teaching Pendant CON-PTA/PDA/PGA ME0295 Instruction Manual for Touch Panel Teaching Pendant TB-01/01D/01DR ME0324 Applicable for Position Controller 1.1.3 How to Read the Model Nameplate MODEL RCP5-BA4 -WA-35P-48-1200-P3-P-B Model Serial Number SERIAL No.100090267 MADE IN JAPAN...

  • Page 18: How To Read The Model Number

    1.1.4 How to Read the Model Number RCP5 - BA4 - WA - 35P - 48 - 1200 - P3 - P - B - ** <Series name> Identification for IAI use only (Note1) <Type> <Options> BA4 : Body width 40mm, : Brake Belt Type Motor Upper NM : Reversed-home...

  • Page 19: Specifications

    1.2 Specifications 1.2.1 Speed [When high-output setting is effective] Speed limits [Unit: mm/s] Stroke [mm] Motor Lead Size Type [mm] 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 48 or 890 1040 1120 1160 1200 BA4U equiv. 48 or 1500 890 1070 1220 1340 1400 1440...

  • Page 20: Speed And Payload

    1.2.2 Speed and Payload [When high-output setting is effective] Payload [kg] Max. Acceleration Type Motor Type Lead [mm] Speed Speed [mm/s] 0.5G 48 or BA4U equiv. 1000 1200 48 or BA6U equiv. 1000 1500 48 or 1000 BA7U equiv. 1400 1600...
  • Page 21 [Speed and Payload] Speed-Payload (Horizontal) Speed [mm/s] BA4/BA4U Speed-Payload (Horizontal) Speed [mm/s] BA6/BA6U Speed-Payload (Horizontal) Speed [mm/s] BA7/BA7U Caution: Do not attempt to establish the settings for the acceleration/deceleration above the allowable range. It may cause vibration, malfunction or shortened life. Setting of acceleration/deceleration above the ratings may cause creeping.
  • Page 22 [When high–output setting is ineffective] Payload [kg] Max. Acceleration Type Motor Type Lead [mm] Speed Speed [mm/s] 0.5G 48 or equiv. BA4U 1000 1200 48 or equiv. BA6U 1400 48 or equiv. BA7U 1200...
  • Page 23 [Speed and Payload] Speed-Payload (Horizontal) 1000 1200 Speed [mm/s] BA4/BA4U Speed-Payload (Horizontal) 1000 1200 1400 1600 Speed [mm/s] BA6/BA6U Speed-Payload (Horizontal) 1000 1200 1400 1600 Speed [mm/s] BA7/BA7U Caution: Do not attempt to establish the settings for the acceleration/deceleration above the allowable range.

  • Page 24: Driving System • Position Detector

    1.2.3 Driving System • Position Detector No. of Encoder Type Motor Type Lead Pulses 48 or BA4U equiv. 48 or BA6U equiv. 48 or BA7U equiv. 1.2.4 Positioning Precision Type Lead Item Tolerance Positioning repeatability ±0.08mm 48 or BA4U equiv. Lost motion 0.1mm or less Positioning repeatability...

  • Page 25: Allowable Moment For Actuator

    1.2.5 Allowable Moment for Actuator Allowable Static Load Allowable Dynamic Load Allowable Overhang Load Moment [N•m] Moment [N•m] Type Length [L] Ma direction: 120mm 31.2 6.14 6.14 11.9 BA4U Mb, Mc direction: 120mm Ma direction: 150mm 44.5 44.5 89.2 15.7 15.7 31.6 BA6U...

  • Page 26: Options

    1.3 Options 1.3.1 Brake Type (Model: B) This is a feature to retain the slider so it would not move when the power or servo is turned OFF. 1.3.2 Reversed-home Specification (Model: NM) The standard home position is on the motor side. However, the motor position will be reversed if it is desirable in view of the layout of the system, etc.

  • Page 27: 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 Actuator side Controller side Connector: DF62B-24S-2.2C Connector: PADP-24V-1-S Contact: DF62-2428SCFA (AWG26) Contact: DF62-22SCFA (AWG22) SPND-002T-C0.5 (AWG26) SPND-001T-C0.5 (AWG22) Connection diagram Actuator side Controller side...

  • Page 28: Motor • Encoder Integrated Cables Robot Type

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

  • Page 29: Installation

    2. Installation Transportation [1] Handling of Robot (1) Handling the Packed Unit 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 30 [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 31: 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 32: How To Install

    How to Install This chapter explains how to install the actuator on your mechanical system. 2.3.1 Installation Orientation Follow the information below when installing the actuator, as a rule. Do pay attention to these items (except with custom-order models).  : Possible △ : Possible for stroke 1,000mm or less  : Not possible Horizontally Horizontal Vertical...

  • Page 33: Installation

    Avoid stainless steel sheet from getting any dent or scratch caused by dropping a bolt or tool on the sheet while fixing the unit with bolts. Brake-equipped type ROBO Cylinder is capable to move the slider by its own. Connect a controller and move the slider with JOG operation to perform installation.
  • Page 34 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.  For the effective engagement length between the bolt and female thread, provide at least the applicable value specified below: Female thread is made of steel material →...
  • Page 35 [2] Attachment of the Transported Object  There are tapped holes on the top surface of the slider. Affix the transferred work piece on them.  The way to affix follows the installation of the main unit.  There are two reamed holes on the top surface of the slider. Use them in case it is necessary to have repeatability of attaching and detaching.
  • Page 36 [Distance between slider center and motor cover at mechanical end: A] Type BA4/BA4U BA6/BA6U 66.5 BA7/BA7U 68.5...
  • Page 37 [3] Installation Surface  Make sure the platform to install the actuator possesses a structure with sufficient stiffness, so vibration would not be generated.  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 or below.

  • Page 38: Connecting With The Controller

    3. Connecting with the Controller As the connection cable for the controller and RCS3 (this actuator), use the IAI-dedicated controller and dedicated connection cable. This section explains the wiring method for a single axis. • If the dedicated connection cable cannot be secured, reduce the load on the cable by allowing it to deflect only by the weight of the cable or wire it in a self-standing cable hose, etc., having a large radius.
  • Page 39 Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire.
  • Page 40 • Have a sufficient radius for bending, and avoid a bend concentrating on one point. Steel Strap (Piano Wire) Tie them up softly. • Do not let the cable bend, kink or twist. • Do not pull the cable with a strong force. •...
  • Page 41 • When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much. Do not use spiral tube in any position where cables are bent frequently. • PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them together.

  • Page 42: 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 43: 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 • The life of the stainless steel sheet should be 5,000km of driving distance as a reference. However, replace the stainless steel sheet when it is necessary depending on the condition of use.

  • Page 44: Check Condition And Dirt Of Lubricant

    4.4.1 Check Condition and Dirt of Lubricant Visually inspect the interior of the equipment. Check whether dust or other foreign matter has gotten inside and check the lubrication state. The lubrication may have turned brown. This is not a problem as long as the travel surfaces shine as though they are wet.

  • Page 45: Inspection Of The Belt

    4.4.2 Inspection of the Belt After checking the lubrication and dirtiness on the guide part, check the belt visually. As the durability of the belt gets influenced widely by the operation time, the period for replacement cannot be easily determined. As the time of operation goes, degradation such as abrasion proceeds.

  • Page 46: Internal Cleaning

    4.5 Internal Cleaning • Use a soft cloth to wipe away dirt and buildup. • Do not blow too hard with compressed air as it may cause dust to get in through the gaps. • Do not use oil-based solvents, neutral detergent or alcohol. 4.6 Grease Supply 4.6.1 What Grease to Use...

  • Page 47: How To Apply Grease

    4.6.2 How to Apply Grease Remove the attachment screws (at arrows) on the side cover to detach the side cover on one side. Screws: M2.5, M3 (BA4/BA4U), M3 (BA6/BA6U, BA7/BA7U) For some stroke patterns, there is another attachment screw on the side cover between two screws on right and left ends.
  • Page 48 After grease supply is finished on one side, put back the side cover. Hitting it on the edge of the stainless steel sheet when attaching may cause the sheet damaged or meandered, which may result in earlier degradation or wear-out of the sheet. Therefore, to avoid a touch to the sheet edge, insert a shim (approx.
  • Page 49 T Use a spatula to push the grease in between the slider and the base, or supply grease with a grease injector and move the slider to spread the grease out evenly. • Confirm the ball feeding surface on the guide is glossy with oil of the grease. Do the same work again and again till the grease gets spread out enough.

  • Page 50: Procedures For Replacement And Adjustment Of Stainless Steel Sheet

    4.7 Procedures for Replacement and Adjustment of Stainless Steel Sheet Described below explains how to replace and adjust the stainless steel sheet. Replacement of the stainless steel sheet can be conducted without detaching the side covers. 4.7.1 Preparation (1) Required Items ...

  • Page 51: Procedure For Replacement And Tuning

    4.7.2 Procedure for Replacement and Tuning Remove the screws (4 places) holding the stainless steel sheet and stainless steel sheet retainer plates (2 pieces) with using a Phillips screwdriver. Pull the old stainless steel sheet Adhere cellophane tape on one end of the new stainless steel sheet. Adhesive tape Stainless steel sheet Stainless steel sheet...
  • Page 52 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 53 Affix the two stainless steel sheet retainer plates with screws (4 places). To affix them, use a Phillips driver. There are two slits on the body as a guide for stainless steel attachment. Allocate the stainless steel sheet so it comes in the center between two slits.

  • Page 54: Procedure For Belt Replacement And Tuning

    4.8 Procedure for Belt Replacement and Tuning 4.8.1 Tension Adjustment [Required Items]  Tension adjustment wire (provide a commercially available wire like the one shown in the photograph at right)  Hex wrench BA4/BA4U Opposite side 2.5mm, Opposite side 3 mm BA6/BA6U, Opposite side 3mm, BA7/BA7U...
  • Page 55 Loosen the M3 (for BA4/BA4U) or M3 (for BA6/BA6U, BA7/BA7U) hex socket flange head cap screw holding the pulley unit. Pulley unit Hex socket flange head cap screw Adjust the belt tension. Hang a wire on the pulley unit and pull it evenly by applying tension described in the table below with a tension gauge.
  • Page 56 Attach the pulley cover and tighten the four M2.6 (for BA4/BA4U) or M3 (for BA6/BA6U, BA7/BA7U) screws. Pulley cover Screws Type Tightening Torque BA4/BA4U 45.8N•cm BA6/BA6U 83.0N•cm BA7/BA7U Affix the stainless steel sheet retaining plate with screws (2 places in circles) with using a Philips screwdriver.

  • Page 57: Replacement Of The Belt

    4.8.2 Replacement of the Belt [Required Items]  Belt for replacement Model IAI Maintenance Part Code Manufacturer Model Code BA4/BA4U LB-RCP5-BA4- (Stroke) 3GT width 6 BA6/BA6U LB-RCP5-BA6- (Stroke) GATES UNITTA ASIA 3GT width 9 BA7/BA7U LB-RCP5-BA7- (Stroke)  Tension adjustment wire...
  • Page 58 Remove the four attachment screws (4 places in circles) holding the stainless steel sheet, and detach the stainless steel sheet and stainless steel retaining plate. Motor side Opposite side of the motor Stainless steel sheet retainer plate Stainless steel sheet Stainless steel sheet retainer plate Caution:...
  • Page 59 Remove the side cover attachment screws (at arrows) to detach the side covers on the both ends. Screw size: M2.5, M3 (BA4/BA4U), M3 (BA6/BA6U, BA7/BA7U) Do not remove the one in red circle. Detach the side covers with the sheet plate remained on. For some stroke patterns, there is another attachment screw on the side cover between two screws on right and left ends.
  • Page 60 Remove the M3 (for BA4/BA4U) or M4 (for BA6/BA6U, BA7/BA7U) hex socket flange head cap screws holding the pulley unit to detach the pulley unit. Pulley unit Hex socket flange head cap screw 6） Remove the M3 screw holding the belt under the slider with using a hex wrench. Slide away the belt and the belt retainer appears.
  • Page 61 Attach the replacement belt through the slider, pulley (motor end) and pulley (tip end). (Note) Make sure the belt is not twisted. Next, put the both ends of the belt and the belt retainer through the hole on the slider and affix them with M3 screws.
  • Page 62 Loosely tighten the M3 (for BA4/BA4U) or M4 (for BA6/BA6U, BA7/BA7U) hex socket flange head cap screws holding the pulley unit for temporary to attach the pulley unit. Pulley unit Hex socket flange head cap screws Adjust the belt tension. Hang a wire on the pulley unit and pull it evenly by applying tension described in the table below with a tension gauge.
  • Page 63 10) Attach the pulley cover, tighten up with the four M2.6 (for BA4/BA4U) or M3 (for BA6/BA6U, BA7/BA7U) screws with using a hex wrench. Pulley cover Screws Type Tightening Torque BA4/BA4U 45.8N•cm BA6/BA6U 83.0N•cm BA7/BA7U 11) Put on the side covers on the both sides, and tighten the attachment screws (at arrows) for the side covers.
  • Page 64 12) Put on the stainless steel sheet and stainless steel sheet retaining plate, and tighten the four M3 attachment screws (4 places in circles). Motor side Opposite side of the motor Stainless steel sheet retaining plate Stainless steel sheet Stainless steel sheet retaining plate There are two slits on the body as a guide for stainless steel attachment.
  • Page 65 13) Put on the slider cover, and tighten the two attachment screws with using a Philips screwdriver. Scerws Slider cover Type Bolt Diameter Tightening Torque BA4/BA4U M2.6 cross recessed flat-head machine screw 43.1N•cm BA6/BA6U M3 cross recessed flat-head machine screw 76.8N•cm BA7/BA7U M4 cross recessed flat-head machine screw...

  • Page 66: Replacement Process

    4.9 Replacement Process [Required Items] • Motor Unit for Replacement • Tension adjustment wire (provide a commercially available wire like the one shown in the photograph at right) • Hex wrench BA4/BA4U opposite side 2.5mm, opposite side 3mm BA6/BA6U opposite side 3mm, BA7/BA7U opposite side 4mm •...
  • Page 67 Remove the four attachment screws (4 places in circles) holding the stainless steel sheet, and detach the stainless steel sheet and sheet retaining plate. Motor side Opposite side of the motor Stainless steel sheet retaining plate Stainless steel sheet Stainless steel sheet retaining plate Caution: Pay attention not to have the stainless steel sheet bent forcefully or damaged when...
  • Page 68 Remove the side cover attachment screws (at arrows) to detach the side covers on the both ends. Screw size: M2.5, M3 (BA4/BA4U), M3 (BA6/BA6U, BA7/BA7U) Do not remove the one in red circle. Detach the side covers with the sheet plate remained on. For some stroke patterns, there is another attachment screw on the side cover between two screws on right and left ends.
  • Page 69 Remove the M3 (for BA4/BA4U) or M4 (for BA6/BA6U, BA7/BA7U) hex socket flange head cap screws holding the pulley unit to detach the pulley unit. Pulley unit Hex socket flange head cap screws Remove the M3 screw holding the belt under the slider with using a hex wrench. Slide away the belt and the belt retainer appears.
  • Page 70 Remove the four screws of M3 (for BA4/BA4U), M4 (for BA6/BA6U) or M5 (for BA7/BA7U) affixing the motor unit with using a hex wewnch to take off the motor. Motor unit...
  • Page 71 Attach the motor unit for replacement and tighten the four screws of M3 (for BA4/BA4U), M4 (for BA6/BA6U) or M5 (BA7/BA7U) with using a hex wrench. Motor unit for Replacement Type Tightening Torque BA4/BA4U 83N•cm (8.47kgf•cm) BA6/BA6U 176N•cm (18.0kgf•cm) BA7/BA7U 342N•cm (34.9kgf•cm)
  • Page 72 Attach the replacement belt through the slider, pulley (motor end) and pulley (tip end). (Note) Make sure the belt is not twisted. Next, put the both ends of the belt and the belt retainer through the hole on the slider and affix them with M3 screws.
  • Page 73 10) Loosely tighten the M3 (for BA4/BA4U) or M4 (for BA6/BA6U, BA7/BA7U) hex socket flange head cap screws holding the pulley unit for temporary to attach the pulley unit. Pulley unit Hex socket flange head cap screws 11) Adjust the belt tension. Hang a wire on the pulley unit and pull it evenly by applying tension described in the table below with a tension gauge.
  • Page 74 12) Attach the pulley cover and tighten the four M2.6 (for BA4/BA4U) or M3 (for BA6/BA6U, BA7/BA7U) screws. Pulley cover Screws Type Tightening Torque BA4/BA4U 45.8N•cm BA6/BA6U 83.0N•cm BA7/BA7U 13) Put on the side covers on the both sides, and tighten the attachment screws (at arrows) for the side covers.
  • Page 75 14) Put on the stainless steel sheet and stainless steel sheet retaining plate, and tighten the four M3 attachment screws (4 places in circles). Motor side Opposite side of the motor Stainless steel sheet retaining plate Stainless steel sheet Stainless steel sheet retaining plate There are two slits on the body as a guide for stainless steel attachment.
  • Page 76 15) Put on the slider cover, and tighten the two attachment screws with using a Philips screwdriver. Screw Slider cover Type Bolt Diameter Tightening Torque BA4/BA4U M2.6 cross recessed flat-head machine screw 43.1N•cm BA6/BA6U M3 cross recessed flat-head machine screw 76.8N•cm BA7/BA7U M4 cross recessed flat-head machine screw...

  • Page 77: External Dimensions

    5. External Dimensions 5.1 RCP5-BA4/BA4U M3 depth 6 (Same on opposite side) [BA4U] (For earth connection) 2-φ3H7 reamer depth 6 ±0.02 20(Reamer pitch ±0.02) 4-M3 depth 7 (22) (22) Stroke M.E. S.E. HOME S.E. (22.5) Cable eject direction [CJ*] (7.8) (φ3.5)

  • Page 78: Rcp5-Ba6/Ba6U

    5.2 RCP5-BA6/BA6U M3 depth 6 [BA6U] (Same on opposite side) (For earth connection) 2-φ5H7 reamer depth 6 31(Reamed pitch ±0.02) ±0.02 4-M5 depth 10 (22) (22) Stroke M.E. S.E. HOME S.E. Cable eject direction [CJ*] (φ4.5) M3 depth 6 (Same on opposite side) (30) Section X-X (For earth connection)

  • Page 79: Rcp5-Ba7/Ba7U

    5.3 RCP5-BA7/BA7U [BA7U] M3 depth 6(Same on opposite side) (For earth connection) 5H7 reamer depth 10 φ 39(Reamer pitch ±0.02) ±0.02 4-M5 depth 10 (22) Stroke M.E. S.E. HOME S.E. (22) Cable eject direction [CJ*] (22.5) (φ5.5) Section X-X Scale 1 : 1 Datum M3 depth 6 (Same on opposite side) surface...

  • Page 80: Life

    Operation life (Km) Allowable dynamic load moment (N•m) M: Moment to work 5,000km: Standard rated life of ROBO Cylinder (N•m) In addition, have a calculation for the drop of life with the formula below if there is a concern that the life could drop due to the condition of vibration or way to be attached.

  • Page 81: Operation Life

    [Load coefficient f It is a coefficient to consider the life drop due to operational conditions. Load coefficient Reference for Operational Conditions acceleration/deceleration 1.0 to 1.5 Small vibration or impact in slow operation 0.5G or less [Attachment coefficient f α Attachment coefficient f is a coefficient to consider the life drop due to the condition of actuator α...

  • Page 82: 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 covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.

  • Page 83: 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 84: Change History

    Change History Revision Date Description of Revision May 2015 First edition May 2015 1B edition Pg. 9 Changed from “Planned to be complied” to “ ” as got complied with CE Mark Machinery Directive July 2015 1C edition Pg. 72 Correction made to External Dimensions of BA6U August 2015 1D edition...
  • Page 86 Manual No.: ME3746-1I (October 2016) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chicago Office: 110 East State Parkway, Schaumburg, IL 60173 TEL (847) 908-1400 FAX (847) 908-1399 Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066...

This manual is also suitable for:

Rcp5-ba4uRcp5-ba6Rcp5-ba6uRcp5-ba7Rcp5-ba7u

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