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IAI ROBO Cylinder RCP2 Operation Manual

Rod type
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See also: Operating Manual
ROBO Cylinder
RCP2/RCP2W Actuator
Operation Manual
Standard types
Dustproof/Splash proof type Motor straight types
IAI America, Inc.
Rod Type
Fourteenth Edition
Motor straight types
Motor reversing types
RCP2- RA2CRA3C
RA4CRA6CRA8C
RA10CRGS4CRGS6C
RGD3CRGD4CRGD6C
RCP2- RA3RRA4RRA6RRA8R
RCP2W-RA4CRA6CRA10C

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  • Page 1 ROBO Cylinder RCP2/RCP2W Actuator Rod Type Operation Manual Fourteenth Edition RCP2- RA2CRA3C RA4CRA6CRA8C Motor straight types RA10CRGS4CRGS6C Standard types RGD3CRGD4CRGD6C Motor reversing types RCP2- RA3RRA4RRA6RRA8R Dustproof/Splash proof type Motor straight types RCP2W-RA4CRA6CRA10C 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 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

  • Page 5: Table Of Contents

    Table of Contents Safety Guide ........................1 Precautions in Handling....................8 Names of the Parts ......................11 1. Product Check ......................21 Parts ............................21 Operation Manuals for Controllers Supported by This Product ..........22 How to read the model plate ....................22 How to read the model No.
  • Page 6 10.4 Applying Grease to the Ball Screw and Rod Slide Surface ............71 10.4.1 Grease for Ball Screw ....................71 10.4.2 How to Apply Grease (Keep the spraying time to within 1 second per spray.) ...71 10.5 Grease Supply to Scraper ......................73 10.5.1 Grease ........................73 10.5.2...

  • Page 7: Safety Guide

    Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
  • Page 8 Operation Description Description Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
  • Page 9 Operation Description Description Installation (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 ● When the work is carried out with 2 or more persons, make it clear who Operation 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 to be the leader and who to be the follower(s) and communicate well Inspection 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 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...

  • Page 14: Precautions In Handling

    Precautions in Handling 1. Do not set the speed or acceleration/deceleration settings beyond the 1. Do not set the speed or acceleration/deceleration settings beyond the rated values. rated values. Please do not set the speed or acceleration/deceleration settings beyond the rated values. It may cause an Please do not set the speed or acceleration/deceleration settings beyond the rated values.
  • Page 15 8． Do not attempt to apply any force except for the radial load to actuators equipped with the single guide. Applying force other than radial load could cause a failure on the actuator. Single guide can receive load only to the vertical direction shown in the figure below (the direction of a line that the rod tip and guide rod tip are joined).
  • Page 16 9. Transportation 9.1 Handling a Single Actuator Please adhere to the following when handling a single actuator. 9.1.1 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. • Transport a heavy package with at least more than two operators. Consider an appropriate method for transportation. • Keep the unit in horizontal orientation when placing it on the ground or transporting. Follow the instruction if there is any for the packaging condition. • Do not step or sit on the package.

  • Page 17: Names Of The Parts

    Names of the Parts 4. Names of the Parts The names of the actuator parts are indicated below. In this manual, the right and left are determined by viewing the horizontally placed actuator from the top and from the motor side. The front indicates the counter-motor side. RA2C type Right Motor side...
  • Page 18 RCP2 RA4C type RA6C type Grease supply port (thin head screw) Right Motor side Front Left Cable joint connector Motor bracket Motor end cap Aluminum frame Rod tip adapter Cable Range of T-groove Motor cover RA8C type Right Front Motor side Grease supply port Left (thin head screw)
  • Page 19 RCP2 RA10C type Grease supply port (thin head screw) Cable Right Motor side Front Rod tip fitting Wire cover Left Tie rod Motor cover Base Rear cover Front bracket Motor bracket (Note) There is no grease supply port on those manufactured in the early time. RA10C type Brake type specification Grease supply port...
  • Page 20 RCP2 RA3R type Grease supply port (thin head screw) Right Front Motor side Left Cable Cable joint Motor cover connector Wire cover Motor end cover Aluminum frame End plate Reversing bracket Rod tip adapter...
  • Page 21 RCP2 RA4R type RA6R type Grease supply port (thin head screw) Right Front Motor side Cable joint Left connector Wire cover Motor cover Motor end cover Aluminum frame End plate Reversing bracket Rod tip adapter Range of T-groove...
  • Page 22 RCP2 RA8R type Grease supply port (thin head screw) Right Cable Wire cover Front Motor side Left Motor cover Motor end cover Aluminum frame Rod tip adapter Reversing bracket End plate...
  • Page 23 RCP2 RGS4C type Motor side Aluminum frame Right RGS6C type (Single guide type) Front Left Guide rod Guide bearing Grease supply port (thin head screw) Guide bracket Motor bracket Motor end cap Cable Range of T-groove Motor cover RGD3C type Grease supply port RGD4C type Mounting bracket...
  • Page 24 Grease supply port RA4C type Motor cover Right (Truss head screw) RA6C type Motor side Front The joint can be turned 360 degrees. Left Motor bracket Intake/exhaust port Motor end cap Aluminum frame Rod tip adapter Range of T-groove Cable •...
  • Page 25 RA10C type Grease supply port (thin head screw) Cable Right The joint can be turned 360 degrees. Front Motor side Rod tip fitting Wire cover Left Intake/exhaust port Tie rod Motor cover Base Rear cover Motor bracket Front bracket Connect a tube to the intake/exhaust port and extend the other end of the tube to a location not subject to water, etc.

  • Page 27: Product Check

    1. Product Check This product is comprised of the following parts if it is of standard configuration. Caution: Check the packing list to confirm what is in the package. If you find any fault in the contained model or any missing parts, contact us or our distributor. Parts Part Name Model Remarks Refer to “How to read the model plate”, Actuator Main Body “How to read the model No.” Accessories Motor • Encoder Cable Refer to list below First Step Guide Operation Manual (CD or DVD)

  • Page 28: Operation Manuals For Controllers Supported By This Product

    Operation Manuals for Controllers Supported by This Product Name Manual No. Operation Manual for PSEL Controller ME0172 Operation Manual for PCON-C/CG/CF Controller ME0170 Operation Manual for PCON-CY Controller ME0156 Operation Manual for PCON-SE Controller ME0163 Operation Manual for PCON-PL/PO Controller ME0164 Operation Manual for MEC Controller ME0245...

  • Page 29: How To Read The Model No

    How to read the model No. 1.4.1 RCP2 R C P 2 - R A 2C - I - 2 0 P - 1 - 5 0 - P 1 - P - F L <Series Name> <Option> Standard Type : Brake RCP2 : Flange Bracket (front)

  • Page 30: Specifications

    2. Specifications Maximum Speed The maximum speed for the actuator is limited due to the resonance of the ball screw axis and the limitation of the number of motor rotation. Make sure that the maximum speed of your actuator does not exceed the applicable limit specified in the table below. [Standard] Restriction in Stroke and Maximum Speed (unit: mm/s) Stroke (mm) Lead Type...
  • Page 31 [Motor Reversing] Restriction in Stroke and Maximum Speed (unit: mm/s) Stroke (mm) Lead Type Motor Type (mm) 114<93> RCP2-RA3R 125<114> 118<114> RCP2-RA4R RCP2-RA6R RCP2-RA8R (Note) Values in brackets < > are the maximum speed when vertically oriented. [With single guide] Restriction in Stroke and Maximum Speed (unit: mm/s) Stroke (mm) Lead...
  • Page 32 [With double guides] Restriction in Stroke and Maximum Speed (unit: mm/s) Stroke (mm) Lead Type Motor Type (mm) 114<93> RCP2-RGD3C 125<114> 118<114> RCP2-RGD4C RCP2-RGD6C 450<400> (Note) Values in brackets < > are the maximum speed when vertically oriented. [Splash proof type] Restriction in Stroke and Maximum Speed (unit: mm/s) Stroke (mm) Lead...
  • Page 33 Speed and Transportable Weight Caution: Since RCP2 Series apply the pulse motor, the thrust would drop when it reaches the maximum speed, thus the transportable weight would also decrease. Check the transportable weight at the speed that you would operate the actuator at on the graphs of speed and transportable weight shown below.
  • Page 34 [RCP2-RA6C] Acceleration at Horizontal Mount : 0.2G Acceleration at Vertical Mount : Acceleration 0.2G Lead 4 Lead 4 Horizontal Vertical Lead 4 Lead 4 Lead 8 Lead 8 17.5 Lead 16 Lead 16 Lead 8 Lead 8 Lead 16 Lead 16 Velocity (mm/s) Velocity (mm/s) [RCP2-RA8C]...
  • Page 35 ● Motor Reversing [RCP2-RA3R] Acceleration at Horizontal Mount : Lead 2.5 0.2G Acceleration at Vertical Mount : Lead 2.5 0.2G Lead 5 0.2G Lead 5 0.2G Vertical Horizontal Lead 2.5 Lead 2.5 Lead 2.5 Lead 2.5 Lead 5 Lead 5 Lead 5 Lead 5 Velocity (mm/s) Velocity (mm/s)
  • Page 36 [RCP2-RA8R] Acceleration at Horizontal Mount : Lead 5 0.1G Acceleration at Vertical Mount : Lead 5 0.1G Lead10 0.2G Lead10 0.2G Horizontal Vertical Lead 5 Lead 5 Lead 5 Lead 5 Lead 10 Lead 10 Lead 10 Lead 10 Velocity (mm/s) Velocity (mm/s) ● With Single guide [RCP2-RGS4C]...
  • Page 37 ● With Double guide [RCP2-RGD3C] Acceleration at Horizontal Mount : 0.2G Acceleration at Vertical Mount : Acceleration 0.2G Lead 2.5 Lead 2.5 Horizontal Vertical Lead 2.5 Lead 2.5 Lead 5 Lead 5 Lead 5 Lead 5 Velocity (mm/s) Velocity (mm/s) [RCP2-RGD4C] Acceleration at Horizontal Mount : 0.2G Acceleration at Vertical Mount : Acceleration 0.2G Lead 2.5 Lead 2.5...
  • Page 38 ● Splash-Proof Type [RCP2W-RA4C] Acceleration at Horizontal Mount : 0.2G Acceleration at Vertical Mount : Acceleration 0.2G Lead 2.5 Lead 2.5 Horizontal Vertical Lead 2.5 Lead 2.5 Lead 5 Lead 5 Lead 5 Lead 5 Lead 10 Lead 10 Lead 10 Lead 10 Velocity (mm/s) Velocity (mm/s) [RCP2W-RA6C]...
  • Page 39 Drive system Number of Type Motor Type Lead Drive system Encoder Pulses Ball screw Rolled C10 f6mm RCP2-RA2C Reducing ratio Speed Reducer RCP2-RA3C Ball screw RCP2-RA3R Rolled C10 f8mm RCP2-RGD3C RCP2-RA4C RCP2-RA4R Ball screw RCP2-RGS4C Rolled C10 f8mm RCP2-RGD4C RCP2W-RA4C RCP2-RA6C RCP2-RA6R Ball screw...
  • Page 40 ● Motor Reversing Rod Non-rotating Type Motor Type Lead Rod Diameter Accuracy RCP2-RA3R f22mm ±1.5° RCP2-RA4R f22mm ±1.5° RCP2-RA6R f30mm ±1.0° RCP2-RA8R f40mm ±1.0° ● With Single guide Rod Non-rotating Type Motor Type Lead Rod Diameter Accuracy RCP2-RGS4C f22mm ±0.05° RCP2-RGS6C f30mm ±0.05° ● With Double guide Rod Non-rotating Type Motor Type Lead...
  • Page 41 ● Splash-Proof Type Rod Non-rotating Type Motor Type Lead Rod Diameter Accuracy RCP2W-RA4C f22mm ±1.5° RCP2W-RA6C f30mm ±1.0° RCP2W-RA10C f40mm ±1.0° Protection Structure of Dustproof Type Type Motor Type Lead Protection Structure RCP2W-RA4C IP65 RCP2W-RA6C RCP2W-RA10C IP54 (6) Common Specifications Item Specification Positioning Accuracy Repeatability ±0.02°...
  • Page 42 Relationship of Current-limiting Value and Push Force ● Standard [RCP2-RA2C] [RCP2-RA3C] Lead 1 Lead 1 Lead 2.5 Lead 2.5 Current Limit Value (Ratio %) Lead 5 Current Limit Value (Ratio %) [RCP2-RA4C] [RCP2-RA6C] Lead 4 Lead 2.5 Lead 8 Lead 5 Lead 16 Lead 10 Current Limit Value (Ratio %)
  • Page 43 ● Motor Reversing [RCP2-RA3R] [RCP2-RA4R] Lead 2.5 Lead 2.5 Lead 5 Lead 5 Lead 10 Current Limit Value (Ratio %) Current Limit Value (Ratio %) [RCP2-RA6R] [RCP2-RA8R] 2500 2000 Lead 4 Lead 5 1500 Lead 8 1000 Lead 10 Lead 16 Current Limit Value (Ratio %) Current Limit Value (Ratio %) ● With Single guide [RCP2-RGS4C]...
  • Page 44 Lead 5 with 20% or greater and Lead 2.5 with 35% or greater. ● The actuator speed is fixed to 10 mm/s during push & hold operation. The graph assumes that the actuator pushes at a speed of 10 mm/s. Take note that the push force will drop when the speed changes. (Consult IAI if you need to use a different speed during push & hold operation.)

  • Page 45: Product Life

    3. Product Life RCP2/RCP2W Rod Type for other than RCP2-RA8C, RA8R, RA10C and RCP2W-RA10C The life is 5,000km (reference) under the condition that it is operated with maximum transportable weight, acceleration and deceleration. RCP2-RA8C, RA8R The life of Lead 5 is estimated to be 5,000km (reference) under the condition of maximum transportable weight and maximum acceleration/deceleration.

  • Page 46: Rcp2-Ra10C, Rcp2W-Ra10C

    RCP2-RA10C, RCP2W-RA10C Since the maximum thrust is set greater than other models, the life varies considerably with the transportable weight. The graphs below show the relation of transportable weight and life. Lead 2.5 Type Lead 5 Type Lead 10 Type 10000 10000 10000...

  • Page 47: Installation Environment, Storage And Preservation Environment

    • This product is not intended to be used in a chemical environment. In general, the environment should be one in which an operator can work without protective gear. If you are considering the dustproof/splashproof type (RCP2W), consult IAI for the applicable installation environment.

  • Page 48: Installation

    5. Installation Installing the Main Body (1) Using tapped mounting holes at back [A] Applicable models: RA2C, RA3C, RA3R, RGD3C, RA8C, RA8R types Tapped mounting holes are provided at the back of the actuator. Install the actuator using these tapped holes. The thread depths of mounting holes provided in the base of respective actuators are specified below.
  • Page 49 (2) Using T-grooves and square nuts Applicable models: RA4C, RA6C, RGS4C, RGS6C, RGD4C, RGD6C types Applicable models: RA4C, RA6C, RA4R, RA6R, RGS4C, RGS6C, RGD4C, RGD6C types T grooves are provided on the actuator surface. Slide square nuts into the T-grooves to install the actuator to the mounting frame.
  • Page 50 (3) Using mounting feet [A] Applicable models: RA2C, RA3C, RGD3C types Applicable models: RA2C, RA3C, RA3R, RGD3C, RA8C, RA8R types [1] To install the RA3C type, first install mounting feet using the tapped mounting holes at the back of the actuator. Mounting foot Mounting foot [2] Install the mounting feet to the...
  • Page 51 [B] Applicable models: RA4C, RA6C, RGS4C, RGS6C, RGD4C, RGD6C types Applicable models: RA4C, RA6C, RA4R, RA6R, RGS4C, RGS6C, RGD4C, RGD6C types [1] Install mounting feet using the square nuts inserted into the T-grooves. Mounting foot Mounting foot [2] Install the mounting feet to the mounting frame with bolts.
  • Page 52 [C] Applicable models: RA10C (optional) [1] Install mounting feet using the tapped mounting holes at the back of the actuator. [2] Install the mounting feet to the mounting frame with bolts (M8).
  • Page 53 (4) Using tapped holes on datum surface [A] Applicable models: RA2C, RA3C, RA4C, RA6C, RA3R, RA4R, RA6R, RA10C types (Not applicable to guide types) Tapped mounting holes are provided on the datum surface. Install the actuator using these tapped holes. The thread depths of mounting holes provided in the respective actuators are shown below.
  • Page 54 For RCP2-RA4R, RA6R, RA8R 50st equipped with the brake, the motor cover/motor-end cover exceed the datum surface line. Pay attention to the interference of the motor cover when it is installed. Sticking out of Datum Surface Datum Surface RA4R, RA6R, RA8R (50st, with brake) When mounting the unit in the horizontal orientation using the tapped holes on the datum surface, have a support base as shown in the figure below.
  • Page 55 (5) Using a flange [A] Applicable models: RA3C, RA4C, RA6C, RGD4C, RGD6C types Applicable models: RA3C, RA4C, RA6C, RA3R, RA4R, RA6R, RGD4C, RGD6C, RA8C, RA8R types Install a flange on the reference surface using bolts (this method is not applicable to guide types).
  • Page 56 When mounting the unit in the horizontal orientation using the flange, have a support base as shown in the figure below. Support base Caution: When mounting the unit with using the datum surface and the back surface, pay attention so the external force is not applied to the main body. The body or the attachment part on the back may get damaged.
  • Page 57 Method to Use Tapped Holes on Back Applicable model : RA3R, RA4R, RA6R, RA8R There are tapped holes on the back for attachment. Utilize these holes for installation. The depth of attachment screw is as shown below: Model name Tapped hole size Effective thread depth RA3R 10mm RA4R 15mm RA6R 16mm RA8R 16mm For RCP2-RA4R, RA6R, RA8R 50st equipped with the brake, the motor cover/motor-end cover exceed the datum surface line.
  • Page 58 When mounting the unit in the horizontal orientation using the tapped holes on the back surface, have a support base as shown in the figure below. Support base Caution: When mounting the unit with using the datum surface and the back surface, pay attention so the external force is not applied to the main body. The body or the attachment part on the back may get damaged. Tightening bolts Install the actuator using Unichro hexagon socket head bolts of strength category 10.9 or higher.

  • Page 59: Connection The Controller

    6. Connection the controller Wiring ● In a use of the actuator with the cables not fixed, consider to ease the load to the cables by using the actuator in the range of the cable bends only with its weight or by using a stand-alone cable hose to gain a large radius bending. ● Do not cut and extend, shorten or rejoin the cables. ● Standard cable is not for robot application even though it has a great durability to bending. ● Apply robot cables when putting them into a flexible cable duct (such as cable track) is required. Please contact us if a change to the cable type is desired. [Connection to the PCON, PSEL controller] Dedicated Connection Cable (Connect RCP2 or RCP2W with the dedicated controller.)
  • Page 60 When constructing an application system using the actuators and controllers, inappropriate wiring and connection of the cables may cause unexpected troubles such as cable break and connection failure. Listed below are the prohibited things to be done in cable handling and treatment. ● Do not cut and extend, shorten or rejoin the cables.
  • Page 61 ● When fixing the cable, provide a moderate slack and do not tension it too tight. Do not use spiral tube in any position where cables are bent frequently. ● Separate the I/O line, communication line and power line from each other. Arrange so that such lines are independently routed in the duct. Power Line Duct I/O Line (Flat Cable, etc.)

  • Page 62: Cautions In Operation

    7. Cautions in Operation Load on the Actuator The actual load should not exceed the value specified in the catalog. Be sure to align the shaft center of the rod and the moving direction of the load. Lateral load may cause damage or breakdown of the actuator. If the rod may receive lateral load, provide a guide or other appropriate mechanism to support the actuator in the moving direction of the load.

  • Page 63: Caution For When Setting To 60% Or More Of Rcp2-Ra8 Pressing Current Limit Value

    Caution for when setting to 60% or more of RCP2-RA8 pressing current limit value When the pressing current limit value, which determines the pressing force of the pressing operation, is 60% or less, continuous pressing and continuous operation are available. Set the pressing current control value to the following.
  • Page 64 2) Condition 2 The continuous operation torque of the cycle should be 2.08N•m or less. Calculate the torque for continuous operation. In Graph 2, shows the speed change of the actuator in continuous operation on the time-basis. In Graph 3, shows the torque change in time-basis. : Operation time in 1 cycle [s] t1a : Acceleration time 1 t1f : Constant speed operation time 1 t1d : Deceleration time 1...
  • Page 65 Read the values for To and Tw from Table 2 and Graph 5. Pressing/Stop Motor Torque [N•m] Current Limit Value [%] Table 2: Current Limit Value and Motor Torque Current Limit Value [%] Graph 5: Current Limit Value and Motor Torque Substitute the read torque value to Formula 1 to calculate the continuous operation torque Tt.
  • Page 66 Example of calculation and operation availability judgment As an example of a calculation, let's see if the continuous operation is available under the following operational conditions. Used Model: RCP2-RA8 Lead 10 Speed: 200mm/sec Acceleration/Deceleration: 1.96m/s (0.2G) Operation Distance: 100mm Pressing Command Value: 70% (1000N) Pressing Duration: 60sec Stop Current Limit Value: 40% Standby Duration: 36sec...
  • Page 67 3) Condition 3 Confirmation of the stop or pressing that the current limit value greater than 60% is only 1 time in 1 cycle. There is only 1 time in 1 cycle that the current limit value is greater than 60%, thus, it can be defined as okay. Since all of 1, 2 and 3 are okay, example of the calculation is defined available for the continuous operation.

  • Page 68: Brake

    8. Option Brake This is a function to protect the object attached to the actuator from being damaged when the slider is dropped at the power cut or the servo is turned off in the case the actuator is used in the vertical mount orientation. An optional brake is required when the axis is used in the vertical position. The model code is expressed with “B”.

  • Page 69: Flange Bracket

    Flange Bracket It is a flanged metal plate to fix the main body of the actuator on the rod side. The model code is expressed with “FL”. RCP2-RA2C RCP2-RA3C / RA3R Model Code of Component Model Code of Component RCP2-FL-RA2 RCP2-FL-RA3 4-φ4.5 drilled through hole 4-φ5 (2.5) (39) Home Home RCP2-RA4C / RA4R RCP2-RA6C / RA6R Model Code of Component Model Code of Component RCP2-FL-RA4 RCP2-FL-RA6 4-φ9 drilled hole...

  • Page 70: Foot Bracket

    Foot Bracket It is a metal component to fix the main body of the actuator with screws from top. The model code is expressed with “FT”. RCP2-RA2C RCP2-RA3C / RA3R / RGD3C Model Code of Component Model Code of Component RCP2-FT-RA2 RCP2-FT-RA3 Stroke 4-φ6.6 drilled Size part through hole 4-φ5 16 10 Home position RCP2-RA4C / RA4R / RGS4C / RGD4C RCP2-RA6C / RA6R / RGS6C / RGD6C Model Code of Component Model Code of Component...
  • Page 71 RCP2W-RA4C RCP2W-RA6C Model Code of Component Model Code of Component RCP2-FT-RA4 RCP2-FT-RA6 4-φ6.6 drilled hole 4-φ9 drilled hole Range of T-groove Range of T-groove...

  • Page 72: Single Guide

    Single Guide The position of the rod for each model equipped with the single guide is as shown below: • Attached on Right : Model GS2 • Attached on Bottom : Model GS3 • Attached on Left : Model GS4 8.5 Reversed Home Specification The reversed home type has the home position on the opposite side of the motor. The model code is expressed with “NM”.

  • Page 73: Motor • Encoder Cables

    9. Motor • Encoder Cables Cable for PMEC and PSEP Controllers 1) Motor • Encoder Integrated Cable CB-PSEP-MPA□□□ Mechanical side Controller side Mechanical side Controller side * □□□ indicates the cable length. Terminal No. Terminal No. Max. 20m. BK [φA] WT [VMM] Example) 080 = 8m RD [φB] GN [VMM] [Minimum bendable radius] BR [φ/A]...

  • Page 74: Cable For Pcon And Psel Controllers

    Cable for PCON and PSEL Controllers 1) Motor cable CB-RCP2-MA□□□ indicates the cable length. □□□ (20) (20) (14) Max. 20m. Example) 080 = 8m (Front View) [Minimum bendable radius] (Front View) Controller side Mechanical side Movable Use : 42mm Fixed Use : 28mm M Cable I-1318119-3 SLP-06V...
  • Page 75 4) Encoder cable CB-RFA-PA□□□ Encoder Robot Cable CB-RFA-PA□□□-RB (For RCP2-RA8C, RA8R, RA10C and RCP2W-RA10C) (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 Name Name...

  • Page 76: Maintenance

    10. Maintenance 10.1 Maintenance Schedule 10. Maintenance Perform maintenance work according to the schedule below. 10.1 Maintenance Schedule The schedule is set assuming eight hours of operation a day. When the operation time is long such as 24-hour operation, shorten the maintenance intervals as needed. Visual inspection Grease supply Start of operation...

  • Page 77: Applying Grease To The Ball Screw And Rod Slide Surface

    10.4 Applying Grease to the Ball Screw and Rod Slide Surface 10.4.1 Grease for Ball Screw or Rod Slide Surface The dedicated grease specified below has been applied to the ball screw or rod slide surface before the shipment. Kyodo Yushi Multemp LRL3 The following grease is applied to RCP2-RA8C, RA8R, RA10C and RCP2W-RA10C only. Kyodo Yushi Maltemp PS No.2 When maintaining your actuator, use a lithium grease spray.
  • Page 78 [2] Before applying grease, move the rod by more than a half the stroke. To apply grease to the ball screw, spray grease into the screw hole. (Keep the spraying time to within 1 second.) Apply grease to the rod slide surface using your fingers.

  • Page 79: Grease Supply To Scraper

    10.5 Grease Supply to Scrape Applicable Units : RCP2W-RA4C, RCP2W-RA6C 10.5.1 Grease The dedicated grease specified below has been applied to the scraper before the shipment. Kyodo Yushi Multemp LRL No.3 Apart from above, there are equivalent sorts of grease sold in the market. For more detailed information, ask the supplier to find an equivalent for you by telling them the name of the grease. Warning: Never use any fluorine-based grease. Mixing with other grease may cause not only to drop the grease performance, but also have a risk that the actuator is damaged. 10.5.2 Grease Supply Grease supply to the scraper is to be conducted at the grease nipple on the top of the front surface.

  • Page 80: Belt Replacement And Adjustment

    It is recommended to set the regular intervals to replace the core wire for the reinforcement of the toothed belt because it is difficult to clarify if it is deteriorated or not by checking the appearance or looseness. 11.2 Belts to be used The following belt is applied when the product is shipped out from our factory. IAI Maintenance Supplier Model Parts Model TB-RCP2-RA8R 200S5M300R Rubber STS Clean Type (Bando Chemical Industries, Ltd.) * The belt used to the product is as described above.

  • Page 81: Replacement Belt

    11.3 Replacement Belt [Requirements for Replacement] ● Replacement Belt ● Hex Wrench (Width across flat = 2mm, 5mm) ● Tension Gauge (should be capable of 25kgf tension) ● Long Tie Band (or thin string) <Procedures> 1) Remove the end plate. Dropping tools to be used : Hex Wrench (Width across flat = 2mm) Screw to be used : Hex socket flat head cap screw (M3×6) 7 pieces 2) Remove the motor unit. Dropping tools to be used : Hex Wrench (Width across flat = 5mm) Screw to be used : Hexagon socket head cap bolt (M6×20), plain washer 4 for each...
  • Page 82 3) Replace the belt and adjust the belt tension. Dropping tools to be used : Hex Wrench (Width across flat = 5mm), Long Tie Band(or thin string), Tension Gauge Screw to be used : Hexagon socket head cap bolt (M6×20), plain washer 4 for each 20kgf 20kgf ● Hang a tie band (thin string) on the motor unit and pull it with a specified load using the tension gauge ● Tighten the bolt to keep it in the position once the tension reaches the specified tension. 4) Attach the end plate Dropping tools to be used : Hex Wrench (Width across flat = 2mm) Screw to be used : Hex socket flat head cap screw (M3×6) 7 pieces...

  • Page 83: Process For Motor Replacement

    12. Process for Motor Replacement 12.1 Process to replace motor for RA8C and RA8R 12.1.1 Process to replace motor for RA8C [Requirements for Replacement] ● Hex Wrench ● Phillips screwdriver ● New motor for replacement [Replacement Procedures] 1) Remove the 4 screws retaining the motor cover using a Phillips screwdriver.
  • Page 84 3) Remove the 4 screws (M4 × 14) retaining the motor Top Side using a 3mm sized hex wrench. Bottom Side 4) Pull out the motor.
  • Page 85 5) Align the slit on the actuator main body and the protrusion on the motor for replacement. Align the protrusion and the slit. 6) Insert the motor after confirming that the direction of the protrusion on the main unit and the slit on the motor are in the same position.
  • Page 86 7) Tighten the 4 screws (M4 × 14) using a 3mm sized Top Side hex wrench to hold the motor. Tightening Torque : 176N·cm (18.0kgf·cm) Bottom Side 8) Plug the motor connector and encoder connector. Pay special attention to the encoder PCB so you would not touch it during the work. Encoder PCB 9) Attach the motor cover.
  • Page 87 10) Hold the motor cover with 4 screws and tighten them with a Phillips screwdriver.

  • Page 88: Process To Replace Motor For Ra8R

    12.1.2 Process to replace motor for RA8R [Requirements for Replacement] ● Hex Wrench (Width across flat = 2mm, 5mm) ● Tension Gauge (should be capable of 25kgf tension) ● Long Tie Band (or thin string) ● Replacement motor unit (with pulley) [Replacement Procedures] 1) Remove the end plate. Dropping tools to be used : Hex Wrench (Width across flat = 2mm) Screw to be used : Hex socket flat head cap screw (M3×6) 7 pieces...
  • Page 89 2) Remove the motor unit. Dropping tools to be used : Hex Wrench (Width across flat = 5mm) Screw to be used : Hexagon socket head cap bolt (M6×20), plain washer 4 for each 3) Remove the motor cover and attach the motor for replacement. Remove the 4 screws retaining the motor cover using a Phillips screwdriver. The motor cover will come off. Disconnect the motor connector and encoder connector.
  • Page 90 Plug the motor connector and the encoder connector into the connectors on the replacement motor. Plug the motor connector and encoder connector. Pay special attention to the encoder PCB so you would not touch it during the work. Encoder PCB Replacement Motor Attach the motor cover.
  • Page 91 4) Attach the Replacement motor unit.
  • Page 92 5) Hang a tie band (thin string) on the motor unit and pull it with a specified load using the tension gauge. Tighten the bolt to keep it in the position once the tension reaches the specified tension. Dropping tools to be used : Hex Wrench (Width across flat = 5mm), Long Tie Band (or thin string), Tension Gauge Screw to be used : Hexagon socket head cap bolt (M6×20), plain washer 4 for each 20kgf 20kgf Tightening Torque : 536N·cm (54.7kgf·cm) 6) Attach the end plate. Dropping tools to be used : Hex Wrench (Width across flat = 2mm) Screw to be used : Hex socket flat head cap screw (M3×6) 7 pieces Tightening Torque : 73.7N·cm (7.52kgf·cm)

  • Page 93: Process To Replace Motor For Ra10C

    12.2 Process to replace motor for RA10C [Requirements for Replacement] ● Hex Wrench ● Motor for replacement shown below (ASSY) Replacement motor for standard type Replacement motor ass’y equipped with a brake for brake-equipped type Standard Type (without brake) 1) Remove the 4 screws (M3) retaining the motor cover from the motor bracket side.
  • Page 94 3) Disconnect the encoder connector shown with an arrow. 4) Slide the motor cover away from the motor to disconnect the motor cable connector. 5) Remove the 4 screws (M5) retaining the motor onto the motor bracket. The motor will come off. 6) Align the positions of the new motor and the coupling on the bracket side.
  • Page 95 7) Attach the motor to the motor bracket with the screws (M5). Tightening Torque : 727N·cm (74.2kgf·cm) 8) Connect the motor cable connector. 9) Put the motor cover over the motor. Tidy the motor cable so it comes to the position as shown on the left.
  • Page 96 Motor Cable Connector 10) Confirm that the motor cable connector is in the position as shown on the left. Connect the encoder connector. 11) Attach the rear cover. Tightening Torque : Approx. 80N·cm 12) Attach the motor cover from the motor bracket side. Tightening Torque : Approx. 80N·cm...
  • Page 97 Brake-equipped Type For the brake-equipped type, the replacement is done with the whole unit of the motor ass’y equipped with a brake. 1) Remove the 4 screws (M6) retaining the motor cover from the motor bracket side. (Arrowed points shown in the picture on the left and 2 places on the bottom) The motor ass’y equipped with a brake comes off.

  • Page 98: Appendix

    13. Appendix 13.1 External Dimensions 13.1.1 RCP2-RA2C ME : Mechanical End SE : Stroke End Cable Joint Connector (200) M8×1.25 4-M3, effective (2.5) depth 6 Secure at least 100 12.5 ±1 Stroke Home Position 4-M3, effective depth 5 ■ Dimensions for each Stroke Stroke ℓ...

  • Page 99: Rcp2-Ra3C

    13.1.2 RCP2-RA3C ME : Mechanical End SE : Stroke End 31.5 (240) 7.5 (Square block part) M10×1.25 Cable Joint Connector 4-M4 Depth 10 Home (2.3) 90.5 Secure at least 100 N×50 n-M4 Depth 6 Dimensions for Accessory Nut to Attach on Rod Tip M10×1.25 ■ Dimensions for each Stroke Stroke...

  • Page 100: Rcp2-Ra4C

    13.1.3 RCP2-RA4C ME : Mechanical End SE : Stroke End 31.5 (240) 7.5 (Square block part) Cable Joint Connector M10×1.25 4-M6 Depth 12 Home (2.3) T-groove Effective Range 86.5 Secure at least 100 With the Brake Dimensions for Accessory Nut to Attach on Rod Tip M10×1.25 □6 Dimensions for Accessory...

  • Page 101: Rcp2-Ra6C

    13.1.4 RCP2-RA6C ME : Mechanical End SE : Stroke End 30.5 (240) 9.5 (Square block part) Cable Joint Connector M14×1.5 4-M8 Depth 15 SE Home T-groove Effective Range (4.8) Secure at least 100 With the Brake Dimensions for Accessory Nut to Attach on Rod Tip M14×1.5 72.5 Brake Unit...

  • Page 102: Rcp2-Ra8C

    13.1.5 RCP2-RA8C ME : Mechanical End SE : Stroke End 4-M8 Depth 16 M20×1.5 35 (effective threaded length) Home (2.6) st+124.5 34.5 12 (Square block part) (67) C-M8 Depth 16 2-φ5H7 Reame pitch depth 5 A×100 With the Brake st+124.5 34.5 (Brake Unit) st+320...

  • Page 103: Rcp2-Ra10C

    13.1.6 RCP2-RA10C ME : Mechanical End SE : Stroke End (200) M22×1.5 Width across flat = 32 Accessory Nut Dimensions Cable Joint Connector 13.5 (Square block part) 27.5 ST+115 52.5 117.5 4-M10, through hole M22×1.5 37 (effective threaded length) Available ST (81) Home 4-M10 Depth 18...

  • Page 104: Rcp2-Ra3R

    13.1.7 RCP2-RA3R ME : Mechanical End SE : Stroke End 31.5 7.5 (Square block part) M10×1.25 Secure at least 100 4-M4 Depth 10 Home 4-M3 Depth 10 (2.3) 35.1 Dimensions for Accessory Nut to Attach M10×1.25 n-M4 Depth 6 N×50 ■ Dimensions for each Stroke Stroke 178.3...

  • Page 105: Rcp2-Ra4R

    13.1.8 RCP2-RA4R ME : Mechanical End SE : Stroke End 31.5 7.5 (Square block part) M10×1.25 Secure at least 100 4-M6 Depth 12 Home (2.3) 4-M6 Depth 15 39.1 47.5 47.5 Dimensions for Accessory Nut to Attach M10×1.25 Detail Diagram A Scale 2 : 1 ■ Dimensions for each Stroke Stroke...

  • Page 106: Rcp2-Ra6R

    13.1.9 RCP2-RA6R ME : Mechanical End SE : Stroke End 45.8 30.5 9.5 (Square block part) M14×1.5 Secure at least 100 Home 4-M8 Depth 16 47.1 Dimensions for Accessory Nut to Attach M4×1.5 10.5 Detail Diagram W Scale 2 : 1 ■ Dimensions for each Stroke Stroke 226.3...

  • Page 107: Rcp2-Ra8R

    13.1.10 RCP2-RA8R ME : Mechanical End SE : Stroke End 208.5 20.5 4-M8 Depth 16 4-M8 Depth 16 M20×1.5 35 (effective threaded length) Home st+124.5 12 (Square block part) (67) C-M8 Depth 16 2-φ5H7 Reame pitch depth 5 A×100 With the Brake 20.5 68.5 st+171.5...

  • Page 108: Rcp2-Rgs4C

    13.1.11 RCP2-RGS4C ME : Mechanical End SE : Stroke End (240) Cable Joint Connector Home (2.3) 2 (Shaft movable length from ME position on home side to home position) st+69 14 (Shaft length at SE position) Body width : 45 st+14 T-groove Effective Range 6-M5 Depth 12...

  • Page 109: Rcp2-Rgs6C

    13.1.12 RCP2-RGS6C ME : Mechanical End SE : Stroke End (240) Cable Joint Connector Home (4.8) 4 (Shaft movable length from ME position on home side to home position) st + 72 14.5 (Shaft length at SE position) Body width : 64 67.5 st + 14.5 T-groove Effective Range...

  • Page 110: Rcp2-Rgd3C

    13.1.13 RCP2-RGD3C ME : Mechanical End SE : Stroke End 5 (Shaft length at SE position) 8-M4 Depth 10 4-M4 2 (Shaft movable length from ME position on (for work attachment) (For mounting of home side to home position) st+58 main body) (2.3) Body width : 35...

  • Page 111: Rcp2-Rgd4C

    13.1.14 RCP2-RGD4C ME : Mechanical End SE : Stroke End st+14 (240) Cable Joint Connector 14 (Shaft length at SE position) 8-M5 Depth 12 2 (Shaft movable length from ME position on (for work attachment) 4-M5 home side to home position) (For mounting of main body) st+69 (2.3)

  • Page 112: Rcp2-Rgd6C

    13.1.15 RCP2-RGD6C ME : Mechanical End SE : Stroke End 67.5 st + 14.5 (240) Cable Joint Connector 14.5 (Shaft length at SE position) 4 (Shaft movable length from ME position on 4-M6 8-M6 Depth 15 (for work attachment) home side to home position) st + 72 (For mounting of main body) (4.8)

  • Page 113: Rcp2W-Ra4C

    13.1.16 RCP2W-RA4C ME : Mechanical End SE : Stroke End Intake and Exhaust Port Cable Joint Connector (360° rotation available) 7.5 (Square block part) Actuator Cable 4-M8 Depth 12 Home T-groove Effective Range Square Nut Insert Port Secure at least 100 With the Brake Dimensions for Accessory Nut to Attach on Rod Tip...

  • Page 114: Rcp2W-Ra6C

    13.1.17 RCP2W-RA6C ME : Mechanical End SE : Stroke End Intake and Exhaust Port (360° rotation available) Cable Joint Connector 9.5 (Square block part) Actuator Cable 4-M8 Depth 15 Hexagon Socket Head Cap Bolt : 4-M5×20 Home T-groove Effective Range Square Nut Insert Port Secure at least 100 With the Brake Dimensions for Accessory...

  • Page 115: Rcp2W-Ra10C

    13.1.18 RCP2W-RA10C ME : Mechanical End SE : Stroke End Joint is available for 360° rotation (2m) M2 2× 1.5 Actuator Cable Width across flat = 32 Accessory Nut Dimensions Cable Joint Connector Intake and Exhaust Port 13.5 (Square block part) 27.5 ST+115 52.5...

  • Page 116: Warranty

    14. Warranty 14.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our factory 12 months after delivery to a specified location 2500 hours of operation time 14.2 Scope of 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 117: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications

    14.5 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 118: Cange History

    Change History Revision Date Revision Description First Edition Second Edition 2010.01 2010.07 Third Edition • “Caution” added to the beginning 2011.04 Fourth Edition • A page for CE Marking addedg 2011.07 Fifth Edition • Contents changed in 5. Transportation in pages 8 • RA8C and RA8R added • Contents changed in 14. Warranty in pages 109 to 110 2011.08 Sixth Edition • RA3R, RA4R and RA6R added Seventh Edition 2012.02 • Contents changed in Safety Guide Caution notes added for when working with two or more persons • “Motor cable CB-RFA-MA□□□” added to 9.2 Cable for PCON and PSEL Controllers...
  • Page 119 2014.08 • Note added for reference of upper limit for times of pressing in page 38 2015.06 Edition 14C • Figure changed for flange bracket RCP2-FL-RA4, RCP2-FL-RA6, RCP2W-FL-RA4, RCP2W-FL-RA6 in page 61 • Figure changed for foot bracket RCP2-FT-RA4, RCP2-FT-RA6 in page 62 • Figure added for foot bracket RCP2W-RA4C, RCP2W-RA6C in page 63 2015.08 Edition 14D • Belts to be used IAI maintenance parts model added in page 72 Edition 14E 2016.03 • Note added to ask for cleaning before applying grease on rod slide surface in page 70 Edition 14F 2016.04 • The contents about grease supply on rod sliding surface and cleaning are added in page 68 2016.10 Edition 14G • Precautions in Handling...
  • Page 120 Revision Date Revision Description 2016.12 Edition 14I • RA8C and RA8R to [A] Applicable models added in page 42 2017.02 Edition 14J • Figures added showing directions unacceptable to receive load on single guide in page 9 • Speed reducer added to driving system of RCP2-RA2C in page 33 • Note deleted stating to apply silicon when applying thin head screw Note added stating to apply an adhesive to screw thread for RCP2W dust- proof and splash-proof types in page 72...
  • Page 122 825, 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 © 2017. Feb. IAI Corporation. All rights reserved. 17.02.000...

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