Summary of Contents for IAI ROBO Cylinder RCS4-WRA12C
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® ROBO Cylinder Wide Radial Cylinder RCS4- WRA10C/WRA12C/WRA14C/WRA16C WRA10R/WRA12R/WRA14R/WRA16R Instruction Manual First Edition ME3772-1B Specifications Installation Connecting with the Controller Maintenance and Inspection External Dimensions Life Warranty Appendix...
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● This instruction manual is an original document dedicated for this product. ● This product cannot be used in ways not shown in this instruction manual. IAI shall not be liable for any result whatsoever arising from the use of the product in any other way than what is noted in the manual.
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RCS4 Wide Radial Cylinder Type Instruction Manual Configuration Control Product name Instruction manual name number RCS4 First Step Guide ME3775 Instruction Manual RCS4 Wide Radial Cylinder Type ME3772 (this document) SCON-CB/CFB Controller SCON-CB/CFB Controller ME0340 Instruction Manual SCON-CAL/CGAL Controller SCON-CAL/CGAL Controller ME0243 Instruction Manual MSCON-C Controller...
Contents Safety Guide ···················································································· Intro-1 Precautions for Handling ···································································· Intro-9 International Standard Compliance ······················································· Intro-10 Names of the Parts ··········································································· Intro-11 Chapter 1 Specifications Checking the Product ································································ 1-1 Parts ··········································································································· 1-1 How to Read the Model Nameplate ······································································· 1-2 How to Read the Model Number ··········································································...
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Chapter 4 Maintenance and Inspection Precautions for Maintenance and Inspection Work ·························· 4-1 Inspection Items and Schedule ··················································· 4-3 Wide Radial Cylinder ··························································································· 4-3 Grease Supply Timing ·························································································· 4-3 Visual Inspection Items ····························································· 4-4 External Visual Inspection ····················································································· 4-4 Internal Visual Inspection ······················································································ 4-5 Cleaning ················································································...
Safety Guide Safety Guide The Safety Guide is intended to permit safe use of the product and thus to prevent risks and property damage. Be sure to read it before handling the product. Intro-1...
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Safety Guide Safety Precautions for Our Products Common safety precautions for the use of robots in various operations are indicated here. Operation Precautions Model ● This product is not intended or designed for applications where high levels of Selection safety are required, and so cannot guarantee that human lives will be protected.
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Safety Guide Operation Precautions Transportation ● When transporting heavy objects, do the work with two or more persons or utilize equipment such as a crane. ● When working with two or more persons, make it clear who is to be in charge and communicate well with each other to ensure safety.
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(4) Locations where the product may come in contact with water, oil or chemical spray (2) Cable wiring ● Use IAI genuine cables for connecting the actuator and controller, and for the teaching tools. ● Do not scratch cables, bend them forcibly, pull them, coil them, snag them, or place heavy objects on them.
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Safety Guide Operation Precautions Installation (4) Safety measures ● When working with two or more persons, make it clear who is to be in charge Startup and communicate well with each other to ensure safety. ● When the product is operating or in the ready mode, take safety measures (such as the installation of safety/protection fences) so that nobody can enter the area within the robot's movable range.
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Safety Guide Operation Precautions Trial ● When working with two or more persons, make it clear who is to be in charge Operation and communicate well with each other to ensure safety. ● After teaching or programming, carry out trial operation step by step before switching to automatic operation.
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Safety Guide Operation Precautions Maintenance ● When releasing the brake on a vertically oriented actuator, be careful that it does not fall under its own weight, catching the operator's hand or damaging Inspection workpieces. ● The slider or rod may be misaligned from the stop position if the servo is turned OFF.
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Safety Guide Precaution Indications 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 risk to persons and property Symbol This indicates an imminently hazardous situation which, if the product Danger Danger...
Precautions for Handling Precautions for Handling 1. The Safety Guide attached with the product is intended to permit safe use of the product and thus to prevent risks and property damage. Be sure to read it before handling the product. 2.
Precautions for Handling International Standard Compliance 5. If return operations are continued over a short distance, they may rapidly degrade the film of grease. Continuous return operation within a distance less than 30mm may cause the grease film to degrade rapidly. As a guideline, in every 5,000 to 10,000 cycles, have approximately 5 cycles of return operation over a 50mm distance or more to regenerate the oil film.
Names of the Parts Names of the Parts In this manual, the actuator left/right sides and motor/opposite sides are shown as in the figure below. Motor Straight Type Motor Bracket モータブラケット Frame Cover Right Side フレームカバー 右側 End Cover エンドカバー ロッド...
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ROBO Cylinder Chapter Specifications 1.1 Checking the Product ··········································· 1-1 Parts ·················································································· 1-1 How to Read the Model Nameplate ·········································· 1-2 How to Read the Model Number ·············································· 1-2 Product List ········································································· 1-3 1.2 Specifications ····················································· 1-4 Specifications ······································································ 1-4 Duty ratio ············································································...
Parts The following table shows the product configuration for the standard specification. See the component list for the details of the enclosed components. If you find any fault or missing parts, contact your local IAI distributor. Actuator Accessories Actuator Quantity 1...
1.1 Checking the Product How to Read the Model Nameplate Model → MODEL: RCS4-WRA10C-WA-60-16-300-T2-P-B-CJR Serial number→ S/N:A50000001 DATE:30/10/2017 INPUT:DC24V MADE IN JAPAN [Nameplate position] MODEL: RCS4-WRA10C-WA-60-16-300-T2-P-B-CJR S/N:A50000001 DATE:30/10/2017 INPUT:DC24V MADE IN JAPAN How to Read the Model Number RCS4 Encoder Motor Ball Screw Applicable...
1.2 Specifications 1.2 Specifications Specifications [1] RCS4-WRA10C [Lead and Payload] Max. payload Lead Rated Thrust (mm) Horizontal (kg) Vertical (kg) ‒ [Stroke and Max Speed] Unit: mm/s Lead 50 to 500 (mm) (Every 50mm) Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration/deceleration is set low.
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1.2 Specifications [Payload by Acceleration] If the payload is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. (Note) For Lead 16, there is no setting of the maximum payload type against the speed and acceleration as the payload is low for vertical orientation. Use the radial cylinder. Lead 16 Lead 10 Horizontal...
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1.2 Specifications [Actuator Specifications] Item Content Ball screw φ8mm, Rolled C10 Drive system Positioning repeatability ±0.01mm Lost motion 0.1mm or less φ25mm Stainless steel Rod non–rotation accuracy (*) 0 degrees Allowable load and torque on Refer to [Allowable Load and Torque on Rod Tip] rod tip Rod tip overhang distance 100mm or less...
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1.2 Specifications [Allowable Load and Torque on Rod Tip] Caution Actuator possesses a built–in guide structure that enables it to apply a side–way load (radial load) and torque. Make sure not to exceed the load indicated in the specification table. Applying excess load may cause an operation failure, parts malfunction and shortened life.
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1.2 Specifications WRA10C Item Stroke Rod Tip Static (Note 1) Allowable Load Rod Tip Offset Rod Tip Dynamic Distance Allowable Load (Operating life 3,000km Rod Tip Offset Remaining Distance Probability 90%) 100mm Rod Tip Offset Rod Tip Dynamic Distance Allowable Load (Operating life 5,000km Rod Tip Offset...
1.2 Specifications WRA10C: Allowable Payload for 3,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 1G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke Rod Tip Offset [kg] Distance 10.0 10.0 10.0 Allowable Payload (Operating life Rod Tip Offset 3,000km [kg] Distance 10.0 10.0 10.0 Remaining 50mm Probability Rod Tip Offset 90%) [kg] Distance 100mm Center of Gravity Load Rod Tip Offset Distance Stroke...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.5G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke Rod Tip Eccentricity [kg] 10.0 10.0...
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1.2 Specifications WRA10C: Allowable Payload for 5,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 1G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke Rod Tip Offset [kg] Distance 10.0 10.0 Allowable Payload (Operating life Rod Tip Offset 5,000km [kg] Distance 10.0 Remaining 50mm Probability Rod Tip Offset 90%) [kg] Distance 100mm Center of Gravity Load Rod Tip Offset Stroke Distance 1-14...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.5G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke Rod Tip Eccentricity [kg] 10.0 10.0...
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1.2 Specifications [Rod Flexure (Reference)] (Note) This is the flexure of the rod when the actuator is installed holizontally. It does not include the flexure caused by the weight of itself. Rod Tip Load [N] 1-16...
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1.2 Specifications [2] RCS4-WRA12C [Lead and Payload] Max. payload Lead Rated Thrust (mm) Horizontal (kg) Vertical (kg) [Stroke and Max Speed] Unit: mm/s Lead 50 to 500 (mm) (Every 50mm) 1000 Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration/deceleration is set low.
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1.2 Specifications [Payload by Acceleration] If the payload is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. Lead 20 Lead 12 Horizontal Vertical Horizontal Vertical Lead 6 Lead 3 Horizontal Vertical Horizontal Vertical ‒ ‒ ‒...
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1.2 Specifications [Actuator Specifications] Item Content Ball screw φ10mm, Rolled C10 Drive system Positioning repeatability ±0.01mm Lost motion 0.1mm or less φ30mm Stainless steel Rod non–rotation accuracy (*) 0 degrees Allowable load and torque on Refer to [Allowable Load and Torque on Rod Tip] rod tip Rod tip overhang distance 100mm or less...
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1.2 Specifications [Allowable Load and Torque on Rod Tip] Caution Actuator possesses a built–in guide structure that enables it to apply a side–way load (radial load) and torque. Make sure not to exceed the load indicated in the specification table. Applying excess load may cause an operation failure, parts malfunction and shortened life.
1.2 Specifications WRA12C Item Stroke Rod Tip Static (Note 1) Allowable Load Rod Tip Offset Rod Tip Dynamic Distance Allowable Load (Operating life 3,000km Rod Tip Offset Remaining Distance Probability 90%) 100mm Rod Tip Offset Rod Tip Dynamic Distance Allowable Load (Operating life 5,000km Rod Tip Offset...
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1.2 Specifications [Rod Tip Overhang Distance] [Rod Tip Offset Distance] Load Load Rod Tip Overhang Rod Tip Offset Distance Distance 1-22...
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1.2 Specifications WRA12C: Allowable Payload for 3,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 1G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke Rod Tip Offset [kg] Distance 15.0 15.0 14.0 12.3 10.9 Allowable Payload (Operating life Rod Tip Offset 3,000km [kg] Distance 15.0 15.0 13.2 11.8 10.5 Remaining 50mm Probability Rod Tip Offset 90%) [kg] Distance 10.2 10.2 10.2...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.5G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke Rod Tip Eccentricity [kg] 20.0 20.0...
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1.2 Specifications WRA12C: Allowable Payload for 5,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 1G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke Rod Tip Offset [kg] Distance 15.0 13.5 11.7 10.3 Allowable Payload (Operating life Rod Tip Offset 5,000km [kg] Distance 14.2 12.6 11.1 Remaining 50mm Probability Rod Tip Offset 90%) [kg] Distance 10.2 10.2 10.2 100mm Center of Gravity Load...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.5G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke Rod Tip Eccentricity [kg] 20.0 20.0...
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1.2 Specifications [Rod Flexure (Reference)] (Note) This is the flexure of the rod when the actuator is installed holizontally. It does not include the flexure caused by the weight of itself. Rod Tip Load [N] 1-29...
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1.2 Specifications [3] RCS4-WRA14C [Lead and Payload] Max. payload Lead Rated Thrust (mm) Horizontal (kg) Vertical (kg) [Stroke and Max Speed] Unit: mm/s Lead 50 to 600 (mm) (Every 50mm) 1200 Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration/deceleration is set low.
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1.2 Specifications [Payload by Acceleration] If the payload is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. Lead 24 Lead 16 Horizontal Vertical Horizontal Vertical Lead 8 Lead 4 Horizontal Vertical Horizontal Vertical ‒ ‒ ‒...
1.2 Specifications [Actuator Specifications] Item Content Ball screw φ12mm, Rolled C10 Drive system Positioning repeatability ±0.01mm Lost motion 0.1mm or less φ40mm Stainless steel Rod non–rotation accuracy (*) 0 degrees Allowable load and torque on Refer to [Allowable Load and Torque on Rod Tip] rod tip Rod tip overhang distance 150mm or less...
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1.2 Specifications [Allowable Load and Torque on Rod Tip] Caution Actuator possesses a built–in guide structure that enables it to apply a side–way load (radial load) and torque. Make sure not to exceed the load indicated in the specification table. Applying excess load may cause an operation failure, parts malfunction and shortened life.
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1.2 Specifications WRA14C Item Stroke 500 550 Rod Tip Static (Note 1) Allowable Load Rod Tip Offset Rod Tip Dynamic Distance Allowable Load (Operating life 3,000km Rod Tip Offset Remaining Distance Probability 90%) 150mm Rod Tip Offset Rod Tip Dynamic Distance Allowable Load (Operating life...
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1.2 Specifications [Rod Tip Overhang Distance] [Rod Tip Offset Distance] Load Load Rod Tip Overhang Rod Tip Offset ロッド先端 ロッド先端 Distance Distance 張出し距離 オフセット距離 1-35...
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1.2 Specifications WRA14C: Allowable Payload for 3,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 1G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke Rod Tip Offset [kg] Distance 20.3 17.4 15.1 13.4 11.9 10.7 Allowable Payload (Operating life Rod Tip Offset 3,000km [kg] Distance 17.4 15.8 14.1 12.6 11.3 10.2 Remaining 75mm Probability Rod Tip Offset 90%) [kg] Distance 10.2 10.2 10.2 10.2 10.2...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.5G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke Rod Tip Eccentricity [kg] 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 Distance...
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1.2 Specifications WRA14C: Allowable Payload for 5,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 1G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke Rod Tip Offset [kg] Distance 17.1 14.6 12.7 11.1 Allowable Payload (Operating life Rod Tip Offset 5,000km [kg] Distance 14.6 13.2 11.8 10.5 Remaining 75mm Probability Rod Tip Offset 90%) [kg] Distance 10.2 10.2 10.2 150mm Center of Gravity Load...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.5G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke Rod Tip Eccentricity [kg] 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 Distance...
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1.2 Specifications [Rod Flexure (Reference)] (Note) This is the flexure of the rod when the actuator is installed holizontally. It does not include the flexure caused by the weight of itself. Rod Tip Load [N] 1-42...
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1.2 Specifications [4] RCS4-WRA16C [Lead and Payload] Max. payload Lead Rated Thrust (mm) Horizontal (kg) Vertical (kg) 1357 [Stroke and Max Speed] Unit: mm/s Lead 50 to 250 (mm) (Every 50mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) 1300...
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1.2 Specifications [Payload by Acceleration] If the payload is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. Lead 30 Lead 20 Horizontal Vertical Horizontal Vertical Lead 10 Lead 5 Horizontal Vertical Horizontal Vertical ‒ ‒ ‒...
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1.2 Specifications [Actuator Specifications] Item Content Ball screw φ16mm, Rolled C10 Drive system Positioning repeatability ±0.01mm Lost motion 0.1mm or less φ45mm Stainless steel 0degrees Rod non–rotation accuracy (*) Allowable load and torque on Refer to [Allowable Load and Torque on Rod Tip] rod tip Rod tip overhang distance 150mm or less...
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1.2 Specifications [Allowable Load and Torque on Rod Tip] Caution Actuator possesses a built–in guide structure that enables it to apply a side–way load (radial load) and torque. Make sure not to exceed the load indicated in the specification table. Applying excess load may cause an operation failure, parts malfunction and shortened life.
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1.2 Specifications [Rod Tip Overhang Distance] [Rod Tip Offset Distance] Load Load Rod Tip Overhang Rod Tip Offset Distance Distance 1-48...
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1.2 Specifications WRA16C: Allowable Payload for 3,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.2G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke 100 150 200 250 300 350 400 450 500 550 600 650 700 750 Rod Tip Offset [kg] Distance 26.0 22.4 19.5 17.1 15.2 13.6 12.3 11.1 10.1 Allowable Payload (Operating life Rod Tip Offset 3,000km [kg] Distance...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.2G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke 100 150 200 250 300 350 400 450 500 550 600 650 700 750 Rod Tip Eccentricity [kg]...
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1.2 Specifications WRA16C: Allowable Payload for 5,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.2G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke 100 150 200 250 300 350 400 450 500 550 600 650 700 750 Rod Tip Offset [kg] Distance 21.9 18.8 16.3 14.3 12.6 11.3 10.1 Allowable Payload (Operating life Rod Tip Offset 5,000km [kg] Distance 19.9...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.2G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke 100 150 200 250 300 350 400 450 500 550 600 650 700 750 Rod Tip Eccentricity [kg]...
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1.2 Specifications [Rod Flexure (Reference)] (Note) This is the flexure of the rod when the actuator is installed holizontally. It does not include the flexure caused by the weight of itself. Rod Tip Load [N] 1-55...
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1.2 Specifications [5] RCS4-WRA10R [Lead and Payload] Max. payload Lead Rated Thrust (mm) Horizontal (kg) Vertical (kg) ‒ [Stroke and Max Speed] Unit: mm/s Lead 50 to 500 (mm) (Every 50mm) Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration/deceleration is set low.
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1.2 Specifications [Payload by Acceleration] If the payload is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. (Note) For Lead 16, there is no setting of the maximum payload type against the speed and acceleration as the payload is low for vertical orientation. Use the radial cylinder. Lead 16 Lead 10 Horizontal...
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1.2 Specifications [Actuator Specifications] Item Content Ball screw φ8mm, Rolled C10 Drive system Positioning repeatability ±0.01mm Lost motion 0.1mm or less φ25mm Stainless steel Rod non–rotation accuracy (*) 0 degrees Allowable load and torque on Refer to [Allowable Load and Torque on Rod Tip] rod tip Rod tip overhang distance 100mm or less...
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1.2 Specifications [Allowable Load and Torque on Rod Tip] Caution Actuator possesses a built–in guide structure that enables it to apply a side–way load (radial load) and torque. Make sure not to exceed the load indicated in the specification table. Applying excess load may cause an operation failure, parts malfunction and shortened life.
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1.2 Specifications WRA10R Item Stroke Rod Tip Static (Note 1) Allowable Load Rod Tip Offset Rod Tip Dynamic Distance Allowable Load (Operating life 3,000km Rod Tip Offset Remaining Distance Probability 90%) 100mm Rod Tip Offset Rod Tip Dynamic Distance Allowable Load (Operating life 5,000km Rod Tip Offset...
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1.2 Specifications [Rod Tip Overhang Distance] [Rod Tip Offset Distance] Load Load Rod Tip Overhang Rod Tip Offset Distance Distance 1-61...
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1.2 Specifications WRA10R: Allowable Payload for 3,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 1G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke Rod Tip Offset [kg] Distance 10.0 10.0 10.0 Allowable Payload (Operating life Rod Tip Offset 3,000km [kg] Distance 10.0 10.0 10.0 Remaining 50mm Probability Rod Tip Offset 90%) [kg] Distance 100mm Center of Gravity Load Rod Tip Offset Distance Stroke...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.5G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke Rod Tip Eccentricity [kg] 10.0 10.0...
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1.2 Specifications WRA10R: Allowable Payload for 5,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 1G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke Rod Tip Offset [kg] Distance 10.0 10.0 Allowable Payload (Operating life Rod Tip Offset 5,000km [kg] Distance 10.0 Remaining 50mm Probability Rod Tip Offset 90%) [kg] Distance 100mm Center of Gravity Load Rod Tip Offset Stroke Distance 1-66...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.5G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke Rod Tip Eccentricity [kg] 10.0 10.0...
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1.2 Specifications [Rod Flexure (Reference)] (Note) This is the flexure of the rod when the actuator is installed holizontally. It does not include the flexure caused by the weight of itself. Rod Tip Load [N] 1-68...
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1.2 Specifications [6] RCS4-WRA12R [Lead and Payload] Max. payload Lead Rated Thrust (mm) Horizontal (kg) Vertical (kg) [Stroke and Max Speed] Unit: mm/s Lead 50 to 500 (mm) (Every 50mm) 1000 Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration/deceleration is set low.
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1.2 Specifications [Payload by Acceleration] If the payload is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. Lead 20 Lead 12 Horizontal Vertical Horizontal Vertical ‒ ‒ ‒ ‒ Lead 6 Lead 3 Horizontal Vertical Horizontal Vertical ‒...
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1.2 Specifications [Actuator Specifications] Item Content Ball screw φ10mm, Rolled C10 Drive system Positioning repeatability ±0.01mm Lost motion 0.1mm or less φ30mm Stainless steel Rod non–rotation accuracy (*) 0 degrees Allowable load and torque on Refer to [Allowable Load and Torque on Rod Tip] rod tip Rod tip overhang distance 100mm or less...
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1.2 Specifications [Allowable Load and Torque on Rod Tip] Caution Actuator possesses a built–in guide structure that enables it to apply a side–way load (radial load) and torque. Make sure not to exceed the load indicated in the specification table. Applying excess load may cause an operation failure, parts malfunction and shortened life.
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1.2 Specifications WRA12R Item Stroke Rod Tip Static (Note 1) Allowable Load Rod Tip Offset Rod Tip Dynamic Distance Allowable Load (Operating life 3,000km Rod Tip Offset Remaining Distance Probability 90%) 100mm Rod Tip Offset Rod Tip Dynamic Distance Allowable Load (Operating life 5,000km Rod Tip Offset...
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1.2 Specifications [Rod Tip Overhang Distance] [Rod Tip Offset Distance] Load Load Rod Tip Overhang Rod Tip Offset Distance Distance 1-74...
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1.2 Specifications WRA12R: Allowable Payload for 3,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 1G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke Rod Tip Offset [kg] Distance 15.0 15.0 14.0 12.3 10.9 Allowable Payload (Operating life Rod Tip Offset 3,000km [kg] Distance 15.0 15.0 13.2 11.8 10.5 Remaining 50mm Probability Rod Tip Offset 90%) [kg] Distance 10.2 10.2 10.2...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.5G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke Rod Tip Eccentricity [kg] 20.0 20.0...
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1.2 Specifications WRA12R: Allowable Payload for 5,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 1G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke Rod Tip Offset [kg] Distance 15.0 13.5 11.7 10.3 Allowable Payload (Operating life Rod Tip Offset 5,000km [kg] Distance 14.2 12.6 11.1 Remaining 50mm Probability Rod Tip Offset 90%) [kg] Distance 10.2 10.2 10.2 100mm Center of Gravity Load...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.5G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke Rod Tip Eccentricity [kg] 20.0 20.0...
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1.2 Specifications [Rod Flexure (Reference)] (Note) This is the flexure of the rod when the actuator is installed holizontally. It does not include the flexure caused by the weight of itself. Rod Tip Load [N] 1-81...
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1.2 Specifications [7] RCS4-WRA14R [Lead and Payload] Max. payload Lead Rated Thrust (mm) Horizontal (kg) Vertical (kg) [Stroke and Max Speed] Unit: mm/s Lead 50 to 600 (mm) (Every 50mm) 1200 Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration/deceleration is set low.
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1.2 Specifications [Payload by Acceleration] If the payload is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. Lead 24 Lead 16 Horizontal Vertical Horizontal Vertical ‒ ‒ ‒ ‒ Lead 8 Lead 4 Horizontal Vertical Horizontal Vertical ‒...
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1.2 Specifications [Actuator Specifications] Item Content Ball screw φ12mm, Rolled C10 Drive system Positioning repeatability ±0.01mm Lost motion 0.1mm or less φ40mm Stainless steel Rod non–rotation accuracy (*) 0 degrees Allowable load and torque on Refer to [Allowable Load and Torque on Rod Tip] rod tip Rod tip overhang distance 150 mm or less...
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1.2 Specifications [Allowable Load and Torque on Rod Tip] Caution Actuator possesses a built–in guide structure that enables it to apply a side–way load (radial load) and torque. Make sure not to exceed the load indicated in the specification table. Applying excess load may cause an operation failure, parts malfunction and shortened life.
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1.2 Specifications WRA14R Item Stroke 500 550 Rod Tip Static (Note 1) Allowable Load Rod Tip Offset Rod Tip Dynamic Distance Allowable Load (Operating life 3,000km Rod Tip Offset Remaining Distance Probability 90%) 150mm Rod Tip Offset Rod Tip Dynamic Distance Allowable Load (Operating life...
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1.2 Specifications [Rod Tip Overhang Distance] [Rod Tip Offset Distance] Load Load Rod Tip Overhang Rod Tip Offset Distance Distance 1-87...
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1.2 Specifications WRA14R: Allowable Payload for 3,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 1G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke Rod Tip Offset [kg] Distance 20.3 17.4 15.1 13.4 11.9 10.7 Allowable Payload (Operating life Rod Tip Offset 3,000km [kg] Distance 17.4 15.8 14.1 12.6 11.3 10.2 Remaining 75mm Probability Rod Tip Offset 90%) [kg] Distance 10.2 10.2 10.2 10.2 10.2...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.5G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke Rod Tip Eccentricity [kg] 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 Distance...
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1.2 Specifications WRA14R: Allowable Payload for 5,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 1G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke Rod Tip Offset [kg] Distance 17.1 14.6 12.7 11.1 Allowable Payload (Operating life Rod Tip Offset 5,000km [kg] Distance 14.6 13.2 11.8 10.5 Remaining 75mm Probability Rod Tip Offset 90%) [kg] Distance 10.2 10.2 10.2 150mm Center of Gravity Load...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.5G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke Rod Tip Eccentricity [kg] 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 30.0 Distance...
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1.2 Specifications [Rod Flexure (Reference)] (Note) This is the flexure of the rod when the actuator is installed holizontally. It does not include the flexure caused by the weight of itself. Rod Tip Load [N] 1-94...
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1.2 Specifications [8] RCS4-WRA16R [Lead and Payload] Max. payload Lead Rated Thrust (mm) Horizontal (kg) Vertical (kg) 1357 [Stroke and Max Speed] Unit: mm/s Lead 50 to 250 (mm) (Every 50mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) 1300...
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1.2 Specifications [Payload by Acceleration] If the payload is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. Lead 30 Lead 20 Horizontal Vertical Horizontal Vertical ‒ ‒ ‒ ‒ Lead 10 Lead 5 Horizontal Vertical Horizontal Vertical ‒...
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1.2 Specifications [Actuator Specifications] Item Content Ball screw φ16mm, Rolled C10 Drive system Positioning repeatability ±0.01mm Lost motion 0.1mm or less φ45mm Stainless steel Rod non–rotation accuracy (*) 0 degrees Allowable load and torque on Refer to [Allowable Load and Torque on Rod Tip] rod tip Rod tip overhang distance 150mm or less...
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1.2 Specifications [Allowable Load and Torque on Rod Tip] Caution Actuator possesses a built–in guide structure that enables it to apply a side–way load (radial load) and torque. Make sure not to exceed the load indicated in the specification table. Applying excess load may cause an operation failure, parts malfunction and shortened life.
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1.2 Specifications WRA16R Item Stroke 100 150 200 250 300 350 400 450 500 550 600 650 700 750 Rod Tip Static 588 588 588 511 451 402 362 329 300 275 254 235 217 202 188 176 (Note 1) Allowable Load Rod Tip Rod Tip Dynamic...
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1.2 Specifications [Rod Tip Overhang Distance] [Rod Tip Offset Distance] Load Load Rod Tip Overhang Rod Tip Offset Distance Distance 1-100...
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1.2 Specifications WRA16R: Allowable Payload for 3,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.2G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke 100 150 200 250 300 350 400 450 500 550 600 650 700 750 Rod Tip Offset [kg] Distance 26.0 22.4 19.5 17.1 15.2 13.6 12.3 11.1 10.1 Allowable Payload (Operating life Rod Tip Offset 3,000km [kg] Distance...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.2G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke 100 150 200 250 300 350 400 450 500 550 600 650 700 750 Rod Tip Eccentricity [kg]...
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1.2 Specifications WRA16R: Allowable Payload for 5,000km of Operational Life (Note) It is the value for when the rod tip overhang distance is 100mm or less for horizontal orientation and horizontally oriented wall mount. The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.2G of acceleration / deceleration in the whole stroke range.
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1.2 Specifications [Sideways lnstallation] Item Stroke 100 150 200 250 300 350 400 450 500 550 600 650 700 750 Rod Tip Offset [kg] Distance 21.9 18.8 16.3 14.3 12.6 11.3 10.1 Allowable Payload (Operating life Rod Tip Offset 5,000km [kg] Distance 19.9...
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1.2 Specifications (Note) The calculation was conducted under the condition that the actuator drives continuously at 500mm/s of velocity and 0.2G of acceleration / deceleration in the whole stroke range for vertical installation. [Vertical Installation] Item Stroke 100 150 200 250 300 350 400 450 500 550 600 650 700 750 Rod Tip Eccentricity [kg]...
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1.2 Specifications [Rod Flexure (Reference)] (Note) This is the flexure of the rod when the actuator is installed holizontally. It does not include the flexure caused by the weight of itself. Rod Tip Load [N] 1-107...
1.2 Specifications Duty ratio The duty ratio is the operating rate, shown in %, of the actuator operating time within one cycle. As the reference for duty available to use may differ depending on the operation conditions (payload, acceleration / deceleration, etc.), it is necessary to figure out the load factor LF and acceleration / deceleration time ratio t using the calculation formulae below and find it out from the graph.
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1.2 Specifications 3) Read a reference for duty with the figured out “Load Factor” and “Acceleration / Deceleration Time Ratio”. e.g.) The reference for duty when the load factor LF is 80% and the acceleration / deceleration time ratio t is 80% should be approximately 75%.
1.3 Options 1.3 Options Brake Type (Model Code: B) This is used to prevent the rod from moving during power outages or when the servo is OFF. It can also be used to prevent the rod from falling when mounted vertically. Cable Eject Direction Changed (Model Code: CJT, CJR, CJL, CJB and CJO) The orientation of the motor / encoder cable to be installed on the actuator unit can be changed to top/bottom/right/left.
1.3 Options T-Slot Nut Bar (Model Code: NTBL, NTBR) It is a bar-shaped component to put into the T-slot on the actuator. For T-Slot Nut Bar (Right) NTBR, it is to be inserted on the right side if you look from the motor end.
1.3 Options Flange Bracket (Model Code: FL) It is a bracket to affix the actuator from the main body side with screws. [Model code of single product: RCP6-FL-WRA10] H7 +0.012 φ6 4-φ6.6 Through Through Oblong Hole Through (59) (43) RCS4-WRA10C and WRA10R [Model code of single product: RCP6-FL-WRA12] H7 +0.015 φ8...
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1.3 Options [Model code of single product: RCP6-FL-WRA14] H7 +0.015 φ10 Through 4-φ11 Through Oblong Hole Through (85) (61.5) RCS4-WRA14C and WRA14R [Model code of single product: RCP6-FL-WRA16] H7 +0.015 φ10 4-φ11 Through Through Oblong Hole Through (95) (65.5) RCS4-WRA16C and WRA16R 1-113...
1.4 Accessories 1.4 Accessories Motor Cable CB-RCC-MA□□□/ CB-RCC-MA□□□-RB Model code: (10) (20) (16) (Front View) (Front View) Actuator Side Controller Side Minimum bending radius r = 51mm or more (for movable use) * It is only robot cable available to use inside the cable track Wire Size Color Signal Signal...
1.4 Accessories Encoder Cable CB-X1-PA□□□ Model code: (41) (14) (13) (Front View) (Front View) Actuator Side Controller Side Minimum bending radius r = 44mm or more (for movable use) *Robot cable is standard for this model. Color Wire Size Signal AWG26 (Soldered) Signal...
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ROBO Cylinder Chapter Installation 2.1 Precautions for Transportation ······························· 2-1 2.2 Installation and Storage / Preservation Environment ··· 2-3 Installation Environment ························································· 2-3 Storage/ Preservation Environment ·········································· 2-4 2.3 How to Install ······················································ 2-5 Installation Orientation ··························································· 2-5 Installation Surface ······························································· 2-6 Installation of the Main Unit ····················································...
2.1 Precautions for Transportation 2.1 Precautions for Transportation [Handling the package] ● Do not damage or drop the package. The package is not specially designed to withstand dropping or shock due to collision. ● Keep the unit in horizontal orientation when placing it on the ground or transporting. ●...
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2.1 Precautions for Transportation [Handling after unpacking] ● Hold the base part when you carry the unit. ● Do not carry the unit by its motor cover. ● Do not damage or drop the package during transportation. ● Do not apply an excessive force to each part of the actuator. →For the names of each part, refer to "Names of the Parts "...
2.2 Installation and Storage / Preservation Environment 2.2 Installation and Storage / Preservation Environment Usage is possible in environments of pollution degree 2 or equivalent. Pollution degree 2: Environment in which generally only nonconductive pollution occurs, but temporary conductive pollution may occur due to condensation (IEC 60664-1) Installation Environment The actuator should be installed in a location other than those specified below.
2.2 Installation and Storage / Preservation Environment Storage/ Preservation Environment ● For the storage and preservation environment, see the installation environment. However, give especial consideration to the prevention of condensation during long-term storage/preservation. ● Unless especially specified, desiccant is not included in the package at shipping. If the product is to be stored/preserved in an environment where condensation is anticipated, take condensation preventive measures.
2.3 How to Install 2.3 How to Install Installation Orientation Type: RCS4 –WRA10/WRA12/WRA14/WRA16 Horizontal installation Vertical installation Lateral installation Ceiling mount installation Caution When installing the unit vertically, keep the motor on top to the greatest extent possible. If the motor is installed on the bottom, the grease may separate due to long-term disuse, causing the base oil to flow into the motor part.
2.3 How to Install Installation Surface ● 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. ● The platform to install the actuator should possess a structure that ensures enough stiffness, and should be free from vibration.
2.3 How to Install Installation of the Main Unit [Using the Through Holes on the Top of the Base] This actuator has through holes for mounting so it can be fixed from the top of the base. There are reamed holes and a oblong hole for positioning pins. (Note) There are no oblong holes on Stroke 50mm and 100mm.
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2.3 How to Install Apply the socket head cap screw indicated in the table below suitable for the platform material. Mounting Tightening Model Name Through Holes Screw Torque WRA10C 3.42N•m φ5.5 through hole, φ11 counterbore (0.35kgf•m) WRA10R WRA12C 5.36N•m φ6.6 through hole, φ12.5 counterbore (0.55kgf•m) WRA12R WRA14C...
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2.3 How to Install Notice ● Use of high-tension bolts meeting at least ISO 10.9 is recommended. ● Make sure to ensure the same length as the nominal diameter for the effective length of thread engagement between a screw and a threaded hole when the threaded when the threaded hole is made of steel and length 1.8 times of the nominal diameter when the threaded hole is made of aluminum.
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2.3 How to Install [When Using T-Slot on Side] On this actuator, there are T-slots equipped on sides for installation so the actuator can be mounted on the sides. There are two ways to install the actuator by using the T-slot, one with using a square nut to attach, and the other with using a T-slot nut bar (model code: NTBL or NTBR).
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2.3 How to Install (2) Installation Using Square Nut Square Nut On the T-slot, square nuts specified in JIS B 1163 are available to use. Also, it is available to use the optional T-slot nut bar (model code: NTBL or NTBR) instead of square nuts for installation.
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2.3 How to Install The equipment is delivered under the condition that the T-slot nut bar is fixed at the positions shown below. When installing the actuator, adjust the T-slot nut bar positions. (Note) The installation hole on the top of the base, which crosses T-slot nut bar, cannot be used.
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2.3 How to Install [When using Tapped Holes on Front Bracket] There are tapped holes equipped on the front bracket. Utilize these tapped holes for installation. φC Model Tapped Screw Effective φC Name Hole Size Depth WRA10C φ35h7 WRA10R WRA12C φ42h7 WRA12R WRA14C...
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2.3 How to Install Notice ● Use of high-tension bolts meeting at least ISO 10.9 is recommended. ● Make sure to ensure the same length as the nominal diameter for the effective length of thread engagement between a screw and a threaded hole when the threaded when the threaded hole is made of steel and length 1.2 times of the nominal diameter when the threaded hole is made of aluminum.
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2.3 How to Install [Caution for Installation using Front Bracket] ● Do not attempt to apply any external force to the body when installing with front bracket. External External Force Force Caution Do not apply external force to the actuator body after installation. External force may cause an operation failure or parts malfunction.
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2.3 How to Install [Precautions for horizontal mounting using Front Bracket] ● Prepare a support block for the body, as shown in the figure below. 支持台 Support Block Caution Operation of the actuator with attachment only on the front bracket applies the external force of the acceleration/deceleration multiplied by the weight of the actuator to the unit body.
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Utilize these holes for the installation. WRA10C and WRA10R (Note) In the delivery of IAI, the flatness is secured in the way described in the figure. (Note) It is not available to have WRA10R Stroke 50mm installed as it interferes with the motor unit.
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2.3 How to Install WRA14C and WRA14R (Note) In the delivery of IAI, the flatness is secured in the way described in the figure. (Note) It is not available to have WRA14R Stroke 50mm installed as it interferes with the motor unit.
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2.3 How to Install [Precautions when using Front Flange] ● Do not apply external force to the actuator body. External External Force Force Caution Do not apply external force to the actuator body after installation. External force may cause an operation failure or parts malfunction. 2-19...
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2.3 How to Install [Precautions for horizontal mounting using Front Flange] ● Prepare a support block for the body, as shown in the figure below. 支持台 Support Block Caution Operation of the actuator with attachment only on the front bracket applies the external force of the acceleration/deceleration multiplied by the weight of the actuator to the unit body.
2.3 How to Install Attachment of Transported Object There are tapped holes equipped on the tip bracket on the rod. Utilize them to attach a transported object. Also, use the reamed hole when it is necessary to ensure the repeatability when attached repeatedly.
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2.3 How to Install Tightening Torque Attachment In the case that Model Attachment In the case that Hole aluminum is used for Name Holes steel is used for the Depth the bolt seating bolt seating surface: surface: 3.59N•m 1.76N•m WRA10C WRA10R (0.37kgf•m) (0.18kgf•m)
2.3 How to Install Precautions Regarding the Rod ● When the reaction force against the pressing operation is the side-way force, make sure it would not exceed the allowable load. Be careful on the direction of the reaction force against the pressing. operation. ●...
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ROBO Cylinder Chapter Connecting with the Controller 3.1 Connecting with the Controller ······························· 3-1...
As the connection cable for the controller and the actuator, use the IAI-dedicated connection cable. Please consult with IAI if you require a different kind of cable than the one supplied. ● 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...
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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.
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3.1 Connecting with the Controller Caution Have a sufficient radius for bending, and avoid a bend concentrating on one point. スチールバンド Steel Strap Tie them up softly. 軽く結束する。 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.
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3.1 Connecting with the Controller Caution Do not pinch, drop a heavy object onto or cut the cable. When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much. Do not use spiral tube in any position where cables are bent frequently.
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3.1 Connecting with the Controller Caution Follow the instructions below when using a cable track. If there is an indication to the cable for the space factor in a cable track, refer to the wiring instruction given by the supplier when storing the cable in the cable track. Avoid the cables to get twined or twisted in the cable track, and also to have the cables move freely and do not tie them up.
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ROBO Cylinder Chapter Maintenance and Inspection 4.1 Precautions for Maintenance and Inspection Work ····· 4-1 4.2 Inspection Items and Schedule ······························· 4-3 Wide Radial Cylinder ····························································· 4-3 Grease Supply Timing ··························································· 4-3 4.3 Visual Inspection Items ········································· 4-4 External Visual Inspection ······················································ 4-4 Internal Visual Inspection ·······················································...
4.1 Precautions for Maintenance and Inspection Work 4.1 Precautions for Maintenance and Inspection Work Make sure to read the following precautions before conducting any maintenance or inspection work. Caution Do not climb on or put anything on the actuator. Otherwise, this may lead to accidental falling, injury or damage to the product due to falling objects, product loss of function or performance degradation, or shortening of product life.
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4.1 Precautions for Maintenance and Inspection Work Caution The grease film may run out if the actuator performs return operation continuously over a distance of 30mm or less. As a guideline, every 5,000 to 10,000 cycles, have approximately 5 cycles of return operation over a 50mm distance or more to regenerate the oil film.
4.2 Inspection Items and Schedule 4.2 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.
4.3 Visual Inspection Items 4.3 Visual Inspection Items Refer to "4.6 How to Replace Components" for detailed information about specific component replacement and adjustment methods. External Visual Inspection Inspection Items Maintenance Work Take an action by referring to Is abnormal noise or vibration generated? “Troubleshooting in Controller Instruction Manual”.
4.3 Visual Inspection Items Refer to "4.6 How to Replace Components" for detailed information about specific component replacement and adjustment methods. Internal Visual Inspection Inspection Items Maintenance Work Are actuator mounting bolts loose? Tighten them further. Is the ball screw or guide grease not lubricating well? Wipe away the old grease, (Even if the grease is brown, lubrication...
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4.3 Visual Inspection Items How to Internal Inspection 1) With 1.5mm (WRA10C, WRA10R) or with 2.5mm (WRA12C, WRA12R, WRA14C, WRA14R, WRA16C and WRA16R) hex wrench, loosen the bolts holding the frame cover, and detach the frame cover. 2) Check inside. Extend the rod when checking the ball screw.
4.4 Cleaning 4.4 Cleaning External Cleaning Clean exterior surfaces as necessary. If the grease base oil or others drip on the rod sliding surface and its periphery, wipe it off with a soft cloth, etc. 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.
4.5 Greasing Method 4.5 Greasing Method [1] Grease used: Use an equivalent product Application During maintenance Default (reference) Location (recommended product) Ball Screw Kyodo Yushi/Multemp PS No.2 Kyodo Yushi/Multemp PS No.2 Guide Caution Never use lithium-based and fluorine-based grease. Mixing with urea-based grease not only reduces the performance of the grease, it may even cause damage to the actuator.
4.5 Greasing Method [2] Greasing method: Ball screw and guide Greasing method 1) Detach the caps on the front side. Rod Sliding Surface Grease Supply Inlets for Guide and Ball Screw (2pcs) 2) Move the rod to the home position manually or with JOG operation of the controller. 3) Insert a grease gun to the supply hole (φ11) on the top of the frame, hold the gun on the grease nipple and supply grease.
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4.5 Greasing Method Grease Gun Supplier Attachment Screw R1/8 (e.g.) GC-57K Yamada Nozzle Supplier N Type + U Type Dedicated Nozzle U Type Dedicated Nozzle N Type Connect N type to the tip of U type dedicated nozzle, and attach it on the grease gun to use.
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4.5 Greasing Method Caution Supplying too much grease may increase sliding resistance and load to the motor, resulting in a drop of performance. Also, there is a concern that the excess grease applied to the ball screw may splash around and dirt the peripheral. 4) Cleanup the rod (sliding surface) and apply the grease with hands.
4.6 How to Replace Components 4.6 How to Replace Components Belt Replacement and Tuning [Belt Inspection] 1) Detach the pulley cover affixing screws and take off the pulley cover. Pulley Cover Pulley Cover Affixing Screw 2) Check the condition of the belt visually. Judgment In generally speaking, it possesses bending life of several million times.
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4.6 How to Replace Components [Belts to be Used] IAI uses the following belt in our plant. Model Belts to be Used Supplier WRA10R 60S2M222R Bando Chemical Industries, Ltd. WRA12R 60S3M261GB Mitsuboshi belting Ltd. WRA14R 100S3M315GB Mitsuboshi belting Ltd. WRA16R 365-EV5GT-15 Gates Unitta Asia Ltd.
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4.6 How to Replace Components [Replacement of the Belt: WRA10R, WRA12R, WRA14R] 1) Detach the pulley cover affixing screws and take off the pulley cover. Pulley Cover Pulley Cover Affixing Screw 2) Loosen the motor unit affixing screw and take off the belt. Belt Motor Unit Affixing Screw 3) Keep the rod at the distance shown in the table below from the mechanical end.
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4.6 How to Replace Components 4) With the origin mark marked on the motor end pulley facing outwards, hang the belt on the pulleys. Origin Mark 5) Apply tension in the force shown in the table below to the motor unit, and tighten the motor unit affixing screw in the tightening torque shown in the table below.
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4.6 How to Replace Components 6) Tighten up the pulley cover with the pulley cover affixing screws in the specified torque. Pulley Cover Pulley Cover Affixing Screw Pulley Cover Affixing Screw Tightening Torque Tightening Model Type of Screws Torque [N•m] WRA10R Cross-recessed Button Head WRA12R...
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4.6 How to Replace Components [Replacement of the Belt: WRA16R] 1) Detach the pulley cover affixing screws and take off the pulley cover. Pulley Cover Pulley Cover Affixing Screw 2) Loosen the end cover affixing screws and take off the end cover and motor cover. End Cover End Cover Affixing Screw Motor Cover...
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4.6 How to Replace Components 3) Loosen the motor unit affixing screw and take off the belt. Belt Motor Unit Affixing Screw 4) Keep the rod at the distance shown in the table below from the mechanical end. Section: Main Unit Ass’y Rod Position (Distance between slider and mechanical end when attaching motor unit)
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4.6 How to Replace Components 6) Apply tension in the force shown in the table below to the motor unit, and tighten the motor unit affixing screw in the tightening torque shown in the table below. Belt Direction for Tension Motor Unit Affixing Screw Tensile Force when Attaching Motor Unit Model...
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4.6 How to Replace Components 7) Tighten up the end cover and motor cover with the end cover affixing screws in the specified torque. Motor Cover End Cover End Cover Affixing Screw End Cover Affixing Screw Tightening Torque Tightening Model Type of Screws Torque [N•m] Set of Cross Recessed Pan Head...
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4.6 How to Replace Components 8) Tighten up the pulley cover with the pulley cover affixing screws in the specified torque. Pulley Cover Pulley Cover Affixing Screw Pulley Cover Affixing Screw Tightening Torque Tightening Model Type of Screws Torque [N•m] Hex Socket Button Head Screw: WRA16R 4-21...
4.6 How to Replace Components Motor Replacement [Motor Straight Type] 1) Detach the motor cover affixing screws. 2) Take off the end cover and motor cover. Motor Cover End Cover 3) Move the rod to the position where the coupling screw on the actuator side can be seen.
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4.6 How to Replace Components 5) Keep the rod at the distance shown in the table below from the mechanical end. Coupling Tightening Position (Distance between rod and mechanical end when tightening coupling) Coupling Tightening Position [mm] Model (Distance between rod and Mechanical End) WRA10C WRA12C...
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4.6 How to Replace Components 7) Fully tighten the motor affixing screws in the tightening torque shown in the table. Model Tightening Torque [N•m] WRA10C WRA12C WRA14C WRA16C 8) Attach the motor cover and end cover. Tighten the motor cover affixing screws in the tightening torque shown in the table. Pay attention not to get the cable pinched.
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4.6 How to Replace Components [Motor Reversing Type: WRA10R, WRA12R, WRA14R When Replacing Motor Unit] 1) Detach the pulley cover affixing screws and take off the pulley cover. Pulley Cover Pulley Cover Affixing Screw 2) Detach the motor unit affixing screw and take off the belt. Belt Motor Unit Affixing Screw 3) Detach the motor unit.
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4.6 How to Replace Components 4) Attach the motor unit for replacement. 5) Keep the rod at the distance shown in the table below from the mechanical end. Section: Main Unit Ass’y Rod Position (Distance between slider and mechanical end when attaching motor unit) Rod Position Model...
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4.6 How to Replace Components 7) Apply tension in the force shown in the table below to the motor unit, and tighten the motor unit affixing screw in the tightening torque shown in the table below. Belt Direction Tension Motor Unit Affixing Screw Tensile Force when Attaching Motor Unit Model Tension Force [N]...
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4.6 How to Replace Components 8) Tighten up the pulley cover with the pulley cover affixing screws in the specified torque. Pulley Cover Pulley Cover Affixing Screw Pulley Cover Affixing Screw Tightening Torque Tightening Model Type of Screws Torque [N•m] WRA10R, WRA12R Cross-recessed Button Head Screw (SUS): M3...
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4.6 How to Replace Components [Motor Reversing Type: WRA16R When Replacing Motor Equipped with Pulley] 1) Detach the pulley cover affixing screws and take off the pulley cover. Pulley Cover Pulley Cover Affixing Screw 2) Detach the end cover affixing screws and take off the end cover and motor cover. End Cover End Cover Affixing Screw Motor Cover...
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4.6 How to Replace Components 3) Detach the motor unit affixing screw and take off the belt. Belt Motor Unit Affixing Screw 4) Detach the motor unit. Motor Unit 5) Attach the motor unit for replacement and hang the belt. Motor Unit 4-30...
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4.6 How to Replace Components 6) Keep the rod at the distance shown in the table below from the mechanical end. Section: Main Unit Ass’y Rod Position (Distance between slider and mechanical end when attaching motor unit) Rod Position Model Rod Position [mm] WRA16R 7) With the origin mark marked on the motor end pulley facing outwards,...
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4.6 How to Replace Components 8) Apply tension in the force shown in the table below to the motor unit, and tighten the motor unit affixing screw in the tightening torque shown in the table below. Belt Direction Tension Motor Unit Affixing Screw Tensile Force when Attaching Motor Unit Model Tension Force [N]...
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4.6 How to Replace Components 9) Tighten up the end cover and motor cover with the end cover affixing screws in the specified torque. Motor Cover End Cover End Cover Affixing Screw End Cover Affixing Screw Tightening Torque Tightening Model Type of Screws Torque [N•m] WRA16R...
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4.6 How to Replace Components 10) Tighten up the pulley cover with the pulley cover affixing screws in the specified torque. Pulley Cover Pulley Cover Affixing Screw Pulley Cover Affixing Screw Tightening Torque Tightening Model Type of Screws Torque [N•m] Hex Socket Button Head Screw: WRA16R 4-34...
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4.6 How to Replace Components Caution Make sure to hold the rod so it would not move in case of replacing a motor in vertical installation which is not equipped with a brake. It will be dangerous as the rod will be dropped, if it is not held, as soon as the motor gets taken off.
ROBO Cylinder Chapter Life 6.1 Concept of Life ··················································· 6-1...
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6.1 Concept of Life 6.1 Concept of Life The life is assumed under condition of operation with maximum payload and maximum acceleration/deceleration, and it is 3,000km or 5,000km (reference). The operation life, whether it is 3,000km or 5,000km (reference), depends on the allowable load weight and the allowable torque of each.
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ROBO Cylinder Chapter Warranty 7.1 Warranty period ···························································· 7-1 7.2 Scope of the warranty ···················································· 7-1 7.3 Honoring the warranty ···················································· 7-1 7.4 Limited liability ····························································· 7-2 7.5 Conformance with applicable standards/regulations,etc., and application conditions ··············································· 7-2 7.6 Other Items excluded from warranty ································· 7-2...
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 malfunction in question pertains to our product as delivered by IAI or our authorized dealer.
(d) Equipment used to handle cultural assets, art or other irreplaceable items (3) Contact IAI in advance if our product is to be used in any condition or environment that differs from that specified in the catalog or instruction manual.
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ROBO Cylinder Chapter Appendix 8.1 Index ································································ 8-1 8.2 Revision history ·················································· 8-5...
8.1 Index 8.1 Index Inspection Items and Schedule ················ 4-3 Installation Environment ························· 2-3 Allowable Load on Rod Tip ·············· 1-7 to 9, Installation of the Main Unit ············ 2-7 to 20 1-20 to 22, 1-33 to 35, 1-46 to 48, 1-59 to 61, Installation Orientation ···························...
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8.1 Index Parts ·················································· 1-1 Payload ······································· 1-4 to 5, 1-17 to 18, 1-30 to 31, 1-43 to 44, 1-56 to 57, 1-69 to 70, 1-82 to 83, 1-95 to 96 Positioning repeatability ················ 1-6, 1-19, 1-32, 1-45, 1-58, 1-71, 1-84, 1-97 Precautions for Handling ············...
8.2 Revision history 8.2 Revision history Revision date Revised content 2017.10 First edition 2018.04 1B edition Pg. 2-5 Installation posture: Horizontally Oriented Wall Mount and Ceiling Mount △ → ○...
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