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ROBO Cylinder RCP6W Instruction Manual

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ROBO Cylinder
RCP6W/RCP6SW Actuator
Instruction Manual
Dust-proof/splash-proof
specification
Rod Type
First edition
Motor Straight Type:
Side-Mounted Motor Type:
RA4C, RA6C, RA7C, RA8C
RA4R, RA6R, RA7R, RA8R

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  • Page 1 ROBO Cylinder RCP6W/RCP6SW Actuator Rod Type Instruction Manual First edition Dust-proof/splash-proof Motor Straight Type: RA4C, RA6C, RA7C, RA8C specification Side-Mounted Motor Type: RA4R, RA6R, RA7R, RA8R...
  • Page 3 Please Read Before Use Thank you for purchasing our product. This instruction manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product.
  • Page 4 Description of RCP6SW controller unit is not included in this instruction manual. With regard to RCP6SW controller unit, refer to the separate instruction manual.

  • Page 5: Table Of Contents

    Table of Contents Safety Guide ........................... 1 Caution in Handling ........................8 International Standards Compliances ................... 10 Names of the Parts ........................11 Specifications Check ........................17 1.1 Checking the Product ......................... 17 1.1.1 Parts ..........................17 1.1.2 Related Instruction Manuals for the Each Controller Supported by This Product ..18 1.1.3 How to Read the Model Nameplate ................
  • Page 6 5.8.2 Changing the position of the air inlet/outlet fitting ............108 External Dimensions ........................109 6.1 Dust-proof/splash-proof specification, standard specification RCP6W-RA4C ......109 6.2 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA4C ... 110 6.3 Dust-proof/splash-proof specification, standard specification RCP6W-RA6C ......111 6.4 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA6C ...
  • Page 7 6.10 Dust-proof/splash-proof specification, standard specification RCP6W-RA4R Left Side-Mounted (Model: ML) ....................... 118 6.11 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA4R Top Side-Mounted (Model: MT) ....................... 119 6.12 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA4R Left Side-Mounted (Model: ML) ...................... 120 6.13 Dust-proof/splash-proof specification, standard specification RCP6W-RA6R Top Side-Mounted (Model: MT) ......................
  • Page 8 8.3 Honoring the Warranty ......................134 8.4 Limited Liability ........................135 8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ....................... 135 8.6 Other Items Excluded from Warranty ..................135 Change History ............................ 136...

  • Page 9: 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 10 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 11 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 12 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 13 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 14 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 15 Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the instruction manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the product Danger Danger is not handled correctly, will result in death or serious injury.

  • Page 16: Caution In Handling

    Caution in Handling 1. Make sure to follow the usage condition, environment and specification range of the product. In case it is not secured, it may cause a drop in performance or malfunction of the product. 2. Do not attempt to have any handling or operation that is not stated in this Instruction manual.
  • Page 17 10. For actuator front bracket end face mounting with the rod upward, provide a drain groove so that liquid does not accumulate in the scraper part of the front bracket. A drain groove is provided on the front flange (option setting). Be careful not to block the drain groove when mounting components.

  • Page 18: International Standards Compliances

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

  • Page 19: Names Of The Parts

    In this Instruction Manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actuator placed horizontally, as shown in the figure below. Dust-proof/splash-proof Specification: Straight type 1.1 Standard Specification RCP6W-RA4C Hex socket head bolt (Ball screw, rotation stopper grease port)
  • Page 20 Standard Specification RCP6W-RA6C, RA7C Hole cap Rod tip adaptor (Ball screw, rotation stopper grease port) Right Side Motor Side Opposite Side Scraper Left Side Fitting (air inlet/outlet) Mounting surface can be changed Rear bracket Grease fitting Motor bracket (Rod sliding surface grease port)
  • Page 21 Standard Specification RCP6W-RA8C Hole cap Rod tip adaptor (Ball screw, rotation stopper grease port) Right Side Motor Side Opposite Side Scraper Left Side Rod seal Fitting (air inlet/outlet) Grease fitting housing IP Motor cover Mounting surface can be changed (Rod sliding surface grease port)
  • Page 22 Dust-proof/splash-proof specification: Side-mounted type 2.1 Standard Specification RCP6W-RA4R Hex socket head bolt (air inlet/outlet) Hex socket head bolt (Rod sliding surface grease port) (Same for right side) Right Side Rod tip adaptor Motor Side Opposite Side Scraper Left Side Fitting (air inlet/outlet)
  • Page 23 Standard Specification RCP6W-RA6R, RA7R Hex socket head bolt (air inlet/outlet) Hex socket head bolt (Rod sliding surface grease port) (Same for right side) Rod tip adaptor Right Side Motor Side Opposite Side Scraper Left Side Fitting (air inlet/outlet) Grease fitting...
  • Page 24 Standard Specification RCP6W-RA8R Hex socket head bolt (air inlet/outlet) Hex socket head bolt (Rod sliding surface grease port) (Same for right side) Rod tip adaptor Right Side Motor Side Opposite Side Scraper Left Side Fitting (air inlet/outlet) Grease fitting Mounting surface can be changed...

  • Page 25: Specifications Check

    1. Specifications Check 1.1 Checking the Product The standard configuration of this product is comprised of the following parts. See the component list for the details of the enclosed components. If you find any fault or missing parts, contact your local IAI distributor. 1.1.1 Parts Name...

  • Page 26: Related Instruction Manuals For The Each Controller Supported By This Product

    Instruction Manual for Touch Panel Teaching TB-01/01D/01DR ME0325 Compatible with Programmable Controller Instruction Manual for Touch Panel Teaching Pendant TB-02/02D ME0356 Compatible with Programmable Controller 1.1.3 How to Read the Model Nameplate Model MODEL RCP6W-RA4C-WA-35P-2.5-50-P3-P-B Serial number SERIAL No.100090267 MADE IN JAPAN...

  • Page 27: How To Read The Model Number

    1.1.4 How to Read the Model Number RCP6W－RA4C－WA－35P－2.5－50－P3－P－B－** Identification for IAI use only (Note1) <Series name> Dust-proof/splash-proof <Options> Specification Actuator cable Standard Specification Specified : length 2m : Actuator cable length RCP6W Built-in Controller AC10 : Actuator cable length Specification...

  • Page 28: Specifications

    1.2 Specifications 1.2.1 Speed [1] Motor Straight Type [When high-output setting is effective] The maximum speed is different when the ambient operating temperature is higher than 5°C and when it is 5°C or lower. (When the ambient operating temperature is 5°C to 40°C) Speed limits [Unit: mm/s] Stroke [mm] Motor...
  • Page 29 (When the ambient operating temperature is 0°C to 5°C) Speed limits [Unit: mm/s] Stroke [mm] Motor Lead Horizontal/ Size Type [mm] Vertical Horizontal Vertical Horizontal RA4C Vertical Horizontal Vertical Horizontal Vertical Horizontal RA6C Vertical Horizontal Vertical Horizontal Vertical Horizontal RA7C Vertical Horizontal Vertical...
  • Page 30 [2] Side-Mounted Motor Type [When high-output setting is effective] The maximum speed is different when the ambient operating temperature is higher than 5°C and when it is 5°C or lower. (When the ambient operating temperature is 5°C to 40°C) Speed limits [Unit: mm/s] Stroke [mm] Motor Lead...
  • Page 31 (When the ambient operating temperature is 0°C to 5°C) Speed limits [Unit: mm/s] Stroke [mm] Motor Lead Horizontal/ Size Type [mm] Vertical Horizontal Vertical Horizontal RA4R Vertical Horizontal Vertical Horizontal Vertical Horizontal RA6R Vertical Horizontal Vertical Horizontal Vertical Horizontal RA7R Vertical Horizontal Vertical...

  • Page 32: Maximum Acceleration And Transportable Mass

    1.2.2 Maximum Acceleration and Transportable Mass If the transportable mass is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. The maximum speed is different when the ambient operating temperature is higher than 5°C and when it is 5°C or lower. [1] Motor Straight Type [When high-output setting for motor straight type is effective] When the ambient operating temperature is 5°C to 40°C...
  • Page 33 [When high-output setting for motor straight type is effective] When the ambient operating temperature is 5°C to 40°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal RA4C Vertical...
  • Page 34 [When high-output setting for motor straight type is effective] When the ambient operating temperature is 0°C to 5°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical Horizontal RA4C Vertical Horizontal...
  • Page 35 [When high-output setting for motor straight type is effective] When the ambient operating temperature is 5°C to 40°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical RA6C Horizontal 27.5 22.5...
  • Page 36 [When high-output setting for motor straight type is effective] When the ambient operating temperature is 5°C to 40°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal RA6C Vertical...
  • Page 37 [When high-output setting for motor straight type is effective] When the ambient operating temperature is 0°C to 5°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical Horizontal 27.5 22.5 RA6C...
  • Page 38 [When high-output setting for motor straight type is effective] When the ambient operating temperature is 5°C to 40°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical Horizontal RA7C Vertical Horizontal...
  • Page 39 [When high-output setting for motor straight type is effective] When the ambient operating temperature is 0°C to 5°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical RA7C Horizontal Vertical Horizontal...
  • Page 40 [Motor straight type] The high-output setting bears no relation to RA8C. There is no parameter setting. When the ambient operating temperature is 5°C to 40°C Transportable Mass by Motor Lead Horizontal/ Acceleration/Deceleration [kg] Type Type [mm] Vertical Velocity 0.1G 0.2G [mm/s] Horizontal Vertical...
  • Page 41 [Motor straight type] When the ambient operating temperature is 0°C to 5°C Transportable Mass by Motor Lead Horizontal/ Acceleration/Deceleration [kg] Type Type [mm] Vertical Velocity 0.1G 0.2G [mm/s] Horizontal Vertical Horizontal RA8C Vertical Horizontal Vertical Caution: Do not attempt to establish the settings for the acceleration/deceleration above the allowable range.
  • Page 42 [2] Side-Mounted Motor Type [When high-output setting for side-mounted motor type is effective] When the ambient operating temperature is 5°C to 40°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical...
  • Page 43 [When high-output setting for side-mounted motor type is effective] When the ambient operating temperature is 5°C to 40°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal RA4R Vertical...
  • Page 44 [For straight motor type with high-output setting enabled] When the ambient operating temperature is 0°C to 5°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical Horizontal RA4R Vertical Horizontal Vertical...
  • Page 45 [When high-output setting for side-mounted motor type is effective] When the ambient operating temperature is 5°C to 40°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical RA6R Horizontal 27.5 22.5...
  • Page 46 [When high-output setting for side-mounted motor type is effective] When the ambient operating temperature is 5°C to 40°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal RA6R Vertical...
  • Page 47 [For straight motor type with high-output setting enabled] When the ambient operating temperature is 0°C to 5°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical Horizontal 27.5 22.5 RA6R Vertical...
  • Page 48 [When high-output setting for side-mounted motor type is effective] When the ambient operating temperature is 5°C to 40°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical Horizontal RA7R Vertical Horizontal...
  • Page 49 [When high-output setting for side-mounted motor type is effective] When the ambient operating temperature is 0°C to 5°C Transportable Mass by Acceleration/Deceleration [kg] Motor Lead Horizontal/ Type Velocity Type [mm] Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] Horizontal Vertical RA7R Horizontal Vertical Horizontal...
  • Page 50 [When high-output setting for side-mounted motor type is effective] In RA8R there is nothing related to high-thrust setting. There is no parameter setting. When the ambient operating temperature is 5°C to 40°C Transportable Mass by Motor Lead Horizontal/ Acceleration/Deceleration [kg] Type Type [mm]...
  • Page 51 [For straight motor type with high-output setting enabled] When the ambient operating temperature is 0°C to 5°C Transportable Mass by Motor Lead Horizontal/ Acceleration/Deceleration [kg] Type Type [mm] Vertical Velocity 0.1G 0.2G [mm/s] Horizontal Vertical Horizontal RA8R Vertical Horizontal Vertical Caution: Do not attempt to establish the settings for the acceleration/deceleration above the allowable range.

  • Page 52: Driving System • Position Detector

    1.2.3 Driving System • Position Detector No. of Ball Screw Type Type Motor Type Lead Encoder Type Diameter Accuracy Pulses RA4C 8mm Rolled RA4R RA6C 10mm Rolled RA6R 8192 RA7C 12mm Rolled RA7R RA8C 16mm Rolled RA8R 1.2.4 Positioning Precision Item Tolerance 0.01mm...

  • Page 53: Current Limit Value And Pressing Force

    1.2.6 Current Limit Value and Pressing Force [1] RA4C and RA4R Motor Type 35P Current Limit Value Lead2.5 [N] Lead 5 [N] Lead 10 [N] RA4C/R Current Limit Value and Pressing Force Lead 2.5 Lead 5 Lead 10 Current Limit Value [%] Caution: (1) The relation of the current limit and the pressing force is a reference when assuming the speed is 20mm/s.
  • Page 54 [2] RA6C and RA6R Motor Type 42P Current Limit Value Lead 3 [N] Lead 6 [N] Lead 12 [N] RA6C/R Current Limit Value and Pressing Force Lead 3 Lead 6 Lead 12 Current Limit Value [%] Caution: (1) The relation of the current limit and the pressing force is a reference when assuming the speed is 20mm/s.
  • Page 55 [3] RA7C and RA7R Motor Type 56P Current Limit Value Lead 4 [N] Lead 8 [N] Lead 16 [N] 1094 RA7C/R Current Limit Value and Pressing Force Lead 4 Lead 8 Lead 16 Current Limit Value [%] Caution: (1) The relation of the current limit and the pressing force is a reference when assuming the speed is 20mm/s.
  • Page 56 [4] RA8C and RA8R Motor Type 60P Current Limit Value Lead 5 [N] Lead 10 [N] Lead 20 [N] 1000 1333 1667 2000 1000 RA8C/R Current Limit Value and Pressing Force Lead 5 Lead 10 Lead 20 Current Limit Value [%] Caution: (1) The relation of the current limit and the pressing force is a reference when assuming the speed is 10mm/s.

  • Page 57: Rod Tip Inclination Amount (Reference)

    1.2.7 Rod Tip Inclination Amount (reference) This is a calculated value from the clearances of bearing gaps and whirl-stops. RA4C, RA4R Rod Tip Inclination Amount (Reference) Nominal st 50 Nominal st 100 Nominal st 150 Nominal st 200 Stroke (Coordinate Position) [mm] RA6C, RA6R Rod Tip Inclination Amount (Reference) Nominal st 50 Nominal st 100...
  • Page 58 RA7C, RA7R Rod Flexure (Reference) Nominal st 50 Nominal st 100 Nominal st 150 Nominal st 200 Nominal st 250 Nominal st 300 Stroke (Coordinate Position) [mm] RA8C, RA8R Rod Flexure (Reference) Nominal st 50 Nominal st 100 Nominal st 150 Nominal st 200 Nominal st 250 Nominal st 300...

  • Page 59: Duty Ratio For Continuous Operation

    1.2.8 Duty Ratio for Continuous Operation [Standard Specification] It can operate continuously when the duty ratio is 100%. [Standard Specification] It can operate continuously when the duty ratio is 100%. [Built-in Controller Specification] ◎ RCP6SW-RA4C, 4R It can operate continuously when the duty ratio is 100%. ◎...

  • Page 60: Degree Of Protection

    ◎ RCP6SW-RA8C, 8R Operate with the duty ratio of 70% or less. Duty ratio is an operating rate, which indicates the time that the actuator is running in one cycle by percentage. [Duty ratio] The duty ratio is the operating rate, shown in %, of the actuator operating time within one cycle.

  • Page 61: Options

    IAI for adjustment. 1.3.3 Flange Bracket (Front) (Model: FL) This is the flange bracket to attach on the front of the main unit. Drain groove Model Model code of RCP6W-FL-RA4 RCP6W-FL-RA6 RCP6W-FL-RA7 RCP6W-FL-RA8 single product Wf[mm] Hf[mm]...

  • Page 62: Foot Bracket (Model: Ft)

    1.3.4 Foot Bracket (Model: FT) This is a bracket for fixing the actuator body from the top with the bolts. [For the dimensions, refer to 2.3.2 “Installation of the Main Unit [2] Installation by Using Foot Brackets”] 1.3.5 T-slot Nut Bar (Model: NTB) These are bar-shaped brackets that plug into the actuator’s T-slots.

  • Page 63: Tip Adapter (Internal Thread) (Model: Nfa)

    1.3.6 Tip Adapter (Internal Thread) (Model: NFA) Applicable Units : RA4C, RA4R, RA6C, RA6R, RA7C, RA7R, RA8C, RA8R This is an adapter to attach on the rod end an object such as a fixture with one screw. ◎ RA4C and RA4R [Model code of single product : RCP6-NFA-RA4] 62.5 (home position) M10x1.5 Depth 15...
  • Page 64 ◎ RA7C and RA7R [Model code of single product : RCP6-NFA-RA7] M12x1.75 Depth 20 84.5 (home position) The angle of the width across flat is undefined ◎ RA8C and RA8R [Model code of single product : RCP6-NFA-RA8] M20x2.5 Depth 30 The angle of the width across flat is undefined 122.5 (home position)

  • Page 65: Motor Left Side-Mounted, Motor Top Side-Mounted, Motor Right Side-Mounted (Model: Ml, Mt, Mr)

    1.3.7 Motor Left Side-Mounted, Motor Top Side-Mounted, Motor Right Side-Mounted (Model: ML, MT, MR) From the view of the motor side, the type with the motor side-mounted to the left is ML, the motor side-mounted to the top is MT, and the motor side-mounted to the right is MR. (Left (Top (Right...

  • Page 66: Change Of Actuator Cable Length (Models: Ac5, Ac10, Ac15)

    1.3.9 Change of Actuator Cable Length (models: AC5, AC10, AC15) The standard length is 2m. For a longer actuator cable, specify the length as follows. ▪ AC5: 5m ▪ AC10: 10m ▪ AC15: 15m...

  • Page 67: Motor • Encoder Cables

    1.4 Motor • Encoder Cables 1.4.1 Dedicated connection cable for other than RCON and RCM-P6PC [1] Motor • Encoder Integrated Cables (RA4, RA6 and RA7) CB-CAN-MPA□□□ □□□ indicates the cable length (L) (Example: 030=3m), Max.18m Actuator side Controller side Connector: DF62B-24S-2.2C Connector: PADP-24V-1-S Contact: DF62-2428SCFA (For AWG26) Contact:...
  • Page 68 [2] Motor • Encoder Integrated Cables Robot Type (RA4, RA6 and RA7) CB-CAN-MPA□□□-RB □□□ indicates the cable length (L) (Example: 030=3m), Max.18m Actuator side Controller side Connector: DF62B-24S-2.2C Connector: PADP-24V-1-S Contact: DF62-2428SCFA (For AWG26) Contact: DF62-22SCFA (For AWG22) SPND-002T-C0.5 (For AWG26) SPND-001T-C0.5 (For AWG22) Connection diagram Actuator side...
  • Page 69 [3] Motor • Encoder Integrated Cables (RA8) CB-CFA3-MPA□□□ □□□ indicates the cable length (L) (Example: 030=3m), Max.18m Actuator side Controller side Connector: 1-1827863-1 Connector: PADP-24V-1-S Contact: 1827570-2 Contact: SPND-002T-C0.5 (For AWG26) SPND-001T-C0.5 (For AWG22) Connection diagram Actuator side Controller side Electric Electric Thickness...
  • Page 70 [4] Motor • Encoder Integrated Cables (RA8) CB-CFA3-MPA□□□-RB indicates the cable length (L) (Example: 030=3m), Max.18m Actuator side Controller side Connector: 1-1827863-1 Connector: PADP-24V-1-S Contact: 1827570-2 Contact: SPND-002T-C0.5 (For AWG26) SPND-001T-C0.5 (For AWG22) Connection diagram Actuator side Controller side Thickness Electric Symbol Pin No.

  • Page 71: Dedicated Connection Cable For Rcon And Rcm-P6Pc

    1.4.2 Dedicated connection cable for RCON and RCM-P6PC [1] Motor • Encoder Integrated Cables CB-ADPC-MPA□□□ (□□□ indicates the cable length L, Example: 030=3m), Max.20m (Note 1) It should be Ø9.1 when the cable length exceeds 5m Actuator side Controller side Connector: DF62B-24S-2.2C Connector: DF62B-24S-2.2C Contact: DF62-2428SCFA...
  • Page 72 [2] Motor • Encoder Integrated Cables Robot Type CB-ADPC-MPA□□□-RB (□□□ indicates the cable length L, Example: 030=3m), Max.20m (Note 1) It should be Ø9.1 when the cable length exceeds 5m Actuator side Controller side Connector: DF62B-24S-2.2C Connector: DF62B-24S-2.2C Contact: DF62-2428SCFA Contact: DF62-2428SCFA (For AWG26) (For AWG26)
  • Page 73 [3] Conversion Cable CB-CAN-AJ002 length 0.2m Actuator side Controller side Connector: 1-1827863-1 Connector: DF62B-24EP-2.2C Contact: 1827570-2 Contact: DF62-EP2428PCFA (For AWG26) DF62-EP22PCFA (For AWG22) Connection diagram Actuator side Controller side Electric Electric Thickness Symbol Pin No. Pin No. Symbol Thickness Wire Color Wire Color AWG22 Blue...

  • Page 74: Installation

    2. Installation 2.1 Transportation [1] Handling of Robot (1) Handling the Packed Unit Unless otherwise specified, the actuator is shipped with each axis packaged separately.  Do not damage or drop. No special treatment is conducted on this package to endure a drop or impact on it.
  • Page 75 Handling in the Assembled Condition This is the case when the product is delivered from our factory under a condition that it is assembled with other actuators. The combined axes are delivered in a package that the frame is nailed on the lumber base. Fix the rod so that would not accidentally move during transportation. The actuators are also fixed so the tip of it would not shake due to the external vibration.

  • Page 76: Installation And Storage • Preservation Environment

    2.2 Installation and Storage • Preservation Environment Installation Environment The actuator should be installed in a location other than those specified below. In general, the installation environment should be one in which an operator can work without protective gear. Also provide sufficient work space required for maintenance inspection. ...

  • Page 77: How To Install

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

  • Page 78: Installation Of The Main Unit

    2.3.2 Installation of the Main Unit The surface to mount the main unit should be a machined surface or a plane that possesses an equivalent accuracy and the flatness should be within 0.05mm/m. Also, the platform should have a structure stiff enough to install the unit so it would not generate vibration or other abnormality. Also consider enough space necessary for maintenance work such as actuator replacement and inspection.
  • Page 79 (2) Installation by Square Nuts Square nuts prescribed in JIS B 1163 can be used for the T-slots. Quantities of the square nuts enclosed at the time of shipment are as follows. Quantities Enclosed Attachment Bolts (Note) When optional T-slot nut bars (model: NTB) are selected, the square nuts are not enclosed. Adjust the screw length from the base bottom according to the following table to ensure the fitting length of the nut and the screw.
  • Page 80 (3) Installation by T-Slot Nut Bar (Option Model: NTB) Four T-slot nut bars (option model: NTB) are shipped in a built-in-state in all sizes. Before you use them, loosen the hexagonal socket head fixing screws in the center of the nuts to move them to the desired positions.
  • Page 81 Set screw for fixing nut bar (60) (60) 8-M4 Nut bar Maximum: Stroke - 12 Minimum: 10 Stroke + 98 (Model number of single product: RCP6W-NTB-RA4) Set screw for fixing nut bar (60) (60) 8-M6 Nut bar Maximum: Stroke + 12.5 Minimum: 10 Stroke + 122.5...
  • Page 82 Set screw for fixing nut bar (65) (65) Nut bar 8-M8 Maximum: Stroke + 75.5 (7.5) Minimum: 15 Stroke + 190.5 (Model number of single product: RCP6W-NTB-RA8)
  • Page 83 [2] When Utilizing Foot Brackets for Installation Actuators can be installed by using the foot brackets (option: model FT). Foot brackets are shipped in the state fixed to the both ends of the actuator frame. Before use, loosen the bolts fixing the foot brackets and move them to the desired positions. [Width direction pitch of foot bracket, attachment bolts and others] Straight Type, Motor Top Side-Mounted Type (Model: MT) Width Direction...
  • Page 84 Stroke + 86 Foot bracket RCP6(S)W-RA4C, RCP6(S)W-RA4R Motor Top Side-Mounted Type (Model: MT) (Model number of single product: RCP6W-FT-RA4C) (Model number of single product: RCP6W-FT-RA4R-1(for MT)) Stroke + 86 Foot bracket (ML, MR) RCP6(S)W-RA4R Motor Left Side-Mounted (ML), Motor Right Side-Mounted (MR)
  • Page 85 (10) 4- 6.6 Foot bracket RCP6(S)W-RA6C, RCP6(S)W-RA6R Motor Top Side-Mounted Type (Model: MT) (Model number of single product: RCP6W-FT-RA6C) (Model number of single product: RCP6W-FT-RA6R-1(for MT)) Stroke + 102.5 (10) 4- 6.6 Foot bracket (ML, MR) RCP6(S)W-RA6R Motor Left Side-Mounted (ML), Motor Right Side-Mounted (MR)
  • Page 86 Stroke + 32.5 (7.5) Foot bracket RCP6(S)W-RA7C, RCP6(S)W-RA7R-MT Motor Top Side-Mounted Type (Model: MT) (Model number of single product: RCP6W-FT-RA7C) (Model number of single product: RCP6W-FT-RA7R-1(for MT)) (7.5) 8- 6.6 Stroke + 32.5 Foot bracket (ML, MR) RCP6(S)W-RA7R Motor Left Side-Mounted (ML), Motor Right Side-Mounted (MR)
  • Page 87 12.5 Stroke + 65.5 (12.5) Foot bracket RCP6(S)W-RA8C, RCP6(S)W-RA8R Motor Top Side-Mounted Type (Model: MT) (Model number of single product: RCP6W-FT-RA8C) (Model number of single product: RCP6W-FT-RA8R-1(for MT)) 8- 8.5 12.5 Stroke + 65.5 (12.5) Foot bracket (ML, MR) RCP6(S)W-RA8R Motor Left Side-Mounted (ML), Motor Right Side-Mounted (MR)
  • Page 88 Tightening Screws  Use hexagonal socket head bolts for the male threads for installing the base.  Use of high-tension bolts meeting at least ISO 10.9 is recommended.  For the effective engagement length between the bolt and female thread, provide at least the applicable value specified below: Female thread is made of steel material →...
  • Page 89 [3] When using frame front tapped holes The frame front has tapped holes for mounting. Utilize these tapped holes for installation. The effective depth for the attachment screws is as shown below; Figure 2-2-1 W[mm] h[mm] H[mm] 92.5 Pm[mm] M4 Depth 8 M6 Depth 12 M8 Depth 16 M8 Depth 16...
  • Page 90 ◎ Precautions for frame front mounting Do not attempt to apply any external force to the body when mounting with frame front. External force may cause an operation failure or parts malfunction. External Force × External Force × Prepare a support block as shown in the figure below for the horizontal installation of the unit with its stroke more than 150 even if there is no external force applied on the body.
  • Page 91 (Note) Front flange mounting is not available for 50-stroke standard side-mounted types RCP6W-RA4R, RA6R, RA7R and RA8R. For the 100-stroke top side-mounted motor type (model: MT), when mounting the front flange vertically (height direction), the cable exit direction cannot be the standard rod direction (forward direction).
  • Page 92 Flatness of the mounting surface should be less than 0.050mm. The dimensions of the front flange are as follows. Wf[mm] Hf[mm] Ph[mm] Pv[mm] h[mm] Tf[mm] Material Steel Steel Steel Steel Enclosed Bolts M4x12 M6x15 M8x20 M8x25 Tightening Torque of the Front 17.2 Flange to the Main Unit [N...
  • Page 93 ◎ Precautions for frame front and front flange mounting Do not attempt to apply any external force to the body when mounting with frame front and front flange (option). External force may cause an operation failure or parts malfunction External Force ×...
  • Page 94 When Utilizing Attachment Holes on the Rear Bracket for Side-Mounted Motor Type For RA4R, RA6R, RA7R and RA8R, there are tapped holes prepared on the side-mounted bracket. (See the table below for the detailed dimensions.) RA4R RA6R/RA7R/RA8R Figure 2-2-3 Figure 2-2-4 W[mm] h[mm] Pm[mm]...
  • Page 95 ◎ Caution for Installation using Rear Bracket Do not try to install rear bracket without any support. Always use a support block or similar to support the main unit. Support Block When it is perpendicular installation without support etc., external force does not act, it is not attempt to apply the radial load.

  • Page 96: Connecting The Air Tube

    2.3.3 Connecting the air tube Connect a tube with 6 outer diameter to the air intake/exhaust fitting, and extend tube tip on the opposite side to a position not exposed to moisture. Do not purge with air. Note that the actuator cable connector is not waterproofed. Connect it to the motor/encoder cable at a location unaffected by dust, water, etc., or perform waterproofing treatment.

  • Page 97: Connecting With The Controller

    3. Connecting with the Controller As the connection cable for the controller and RCP6W/RCP6SW (this actuator), use the IAI-dedicated controller and dedicated connection cable. This section explains the wiring method for a single axis.  If the dedicated connection cable cannot be secured, reduce the load on the cable by allowing it to deflect only by the weight of the cable or wire it in a self-standing cable hose, etc., having a...
  • Page 98 RCP6W-RA4, RA6, RA7 Dedicated Connection Cable (Connect RCP6 and dedicated controller) Robot Cable : 5m or below r = 68mm or more (movable use) : In the case of exceeding 5m r = 73mm or more (movable use) Standard Cable...
  • Page 99 Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire.
  • Page 100  Have a sufficient radius for bending, and avoid a bend concentrating on one point. Steel Strap (Piano Wire) Tie them up softly.  Do not let the cable bend, kink or twist.  Do not pull the cable with a strong force. ...
  • Page 101  When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much. Do not use spiral tube in any position where cables are bent frequently.  PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them together.

  • Page 102: Caution For Operation

    4. Caution for Operation  When you tighten the nut onto the tip bracket threaded part, hold a wrench to width across flat part of the tip bracket with the rod in the most retracted state. Also, avoid that the load is applied to the inside whirl-stop as you tighten the nut.

  • Page 103: Maintenance And Inspection

    Maintenance and Inspection 5.1 Inspection Items and Schedule Follow the maintenance inspection schedule below. It is assumed that the equipment is operating 8 hours per day. If the equipment is running continuously night and day or otherwise running at a high operating rate, inspect more often as needed.

  • Page 104: External Visual Inspection

    5.2 External Visual Inspection An external visual inspection should check the following things. Main unit Loose actuator mounting bolts, other loose items Rod sliding Lubrication state of grease surface Drip of grease base oil or other oils Adhesion of dust and other foreign objects Scraper Damage, defects, scratches, wear Cables...

  • Page 105: Internal Inspection

    5.4 Internal inspection Turn OFF the power, remove the rod seal assembly and perform visual inspection. When inspecting the interior, check the following items. Body Entry of foreign matter such as liquid or dust Scraper Friction, defects, damage Soft wiper Wear, defect, damage Grease Residue, contamination...
  • Page 106 (3) After inspection, mount the rod seal assembly and O-ring, and secure with the bolts. For RA6/RA7/RA8, insert the O-ring into the main body first. Be careful not to snag the O-ring when inserting. Model Bolt type Bolt size Tightening torque [N•cm] Hex socket set screw, hollow tip M 3×3 29.4...

  • Page 107: Grease Supply

    5.5 Grease Supply 5.5.1 What Grease to Use IAI uses the following grease in our plant. Scraper/sliding bearing part Kyodo Yushi Multemp ET-R (rod sliding surface) Ball Screw Kyodo Yushi Multemp ET-R Rotation stopper (body frame Kyodo Yushi Multemp ET-R inner wall) Use urea grease spray when greasing ball screw and rotation stopper.

  • Page 108: How To Apply Grease

    5.5.2 How to Apply Grease [1] Greasing the ball screw and whirl-stop (1) For RA4, remove slim hexagonal socket head bolts (M3 × 4) blocking the greasing port by Allen wrench. For RA6/RA7/RA8, remove the rubber cap blocking the greasing port. (2) Grease the ball screws and the whirl-stop according to the following instructions.
  • Page 109 Once the seal washer has been assembled, its sealing effect is reduced when reassembling due to rubber deformation, so replacement with a new part is recommended. Model Location of use Manufacturer Model number Tightening torque [N•cm] Seal washer for M3 MUSASHI OIL SEAL MFG.
  • Page 110 [2] Greasing the scraper and sliding bearing Grease from the grease fitting on the front of the frame. (1) Open one of the grease outlets. (2) Press the grease gun against the grease fitting and supply until grease emerges from the discharge port.
  • Page 111 ◎ Dimensions of grease fitting RA6/RA7/RA8 Scraper Scraper Diameter: 6 JIS Type A M6 x 1.0 ◎ Grease gun [For RA4 (caliber: 6)] Grease gun Manufacturer Mounting screws R1/8 (Example) GC-57K Yamada Nozzle Manufacturer N type + dedicated nozzle U type Dedicated nozzle U type N type ◎...
  • Page 112 [For RA6/RA7/RA8 (for JIS A type)] Nozzle Manufacturer Mounting screws R1/8 (Example) GC-57K Yamada Nozzle Manufacturer Mounting screws R1/8 HGP NZ1 H type Once the seal washer and O-ring have been assembled, their sealing effect is reduced when reassembling due to rubber deformation, so replacement with new parts is recommended. Model Location of use Manufacturer...

  • Page 113: Belt Inspection

    5.6 Belt inspection 5.6.1 Belt inspection procedure Applicable models: RA4R, RA6R, RA7R, RA8R To ensure IP65 performance, customers may not replace the belt or adjust its tension by themselves. Please perform belt inspection only. Contact IAI if the belt needs to be replaced. Make sure to perform inspection in a location unaffected by dust, water, etc.
  • Page 114 The period of replacement for the belt cannot be clearly defined as the durability of it is impacted so much by the operational conditions. In generally speaking, it possesses bending life of several million times. The timing belt gets worn away as the time passes, and it is necessary to have replacement at regular intervals with the following conditions as reference.

  • Page 115: Motor Replacement Process

    5.7 Motor Replacement Process To ensure IP65 performance, customers may not replace the motor by themselves. Contact IAI if the belt needs to be replaced. 5.8 Changing the position of the grease fitting and fitting 5.8.1 Changing the position of the grease fitting The grease fitting can be changed to top, left, or right side positions.

  • Page 116: Changing The Position Of The Air Inlet/Outlet Fitting

    5.8.2 Changing the position of the air inlet/outlet fitting The fitting can be changed to top, left, or right side positions. Using a spanner-type torque wrench etc. for the fitting and a hex torque wrench etc. for the plug bolt, change the mounting position. Fasten the fitting and plug bolt in accordance with the tightening torque shown in the table.

  • Page 117: External Dimensions

    6. External Dimensions 6.1 Dust-proof/splash-proof specification, standard specification RCP6W-RA4C Air intake/exhaust port Applicable tube O.D.: Ø6 Mounting surface can be changed Actuator/controller connection cable Grease fitting (for rod) Fitting rotation range Actuator cable 56.25 Mounting surface can be changed M10×1.25 10.5...

  • Page 118: Dust-Proof/Splash-Proof Specification, Built-In Controller Specification Rcp6Sw-Ra4C

    6.2 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA4C Actuator/controller connection cable Air intake/exhaust port Fitting rotation range Actuator cable Applicable tube O.D.: Ø6 56.25 (robot cable) 10.5 Mounting surface can be changed Grease fitting (for rod) Greasing port (Ø2.5 hole) Status LED Mounting surface can be changed M10×1.25 Enclosed hexagonal nut...

  • Page 119: Dust-Proof/Splash-Proof Specification, Standard Specification Rcp6W-Ra6C

    6.3 Dust-proof/splash-proof specification, standard specification RCP6W-RA6C Actuator/controller connection cable Air intake/exhaust port Grease fitting (for rod) Applicable tube O.D.: Ø6 Actuator cable Mounting surface can be changed 63.5 Mounting surface can be changed (robot cable) Greasing port (Ø5 hole) M10×1.25...

  • Page 120: Dust-Proof/Splash-Proof Specification, Built-In Controller Specification Rcp6Sw-Ra6C

    6.4 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA6C Air intake/exhaust port Applicable tube O.D.: Ø6 Mounting surface can be changed Actuator/controller connection cable Grease fitting (for rod) Fitting rotation 63.5 Actuator cable Mounting surface can be changed range (robot cable) Greasing port (Ø5 hole) Status LED M10×1.25 10.3...

  • Page 121: Dust-Proof/Splash-Proof Specification, Standard Specification Rcp6W-Ra7C

    6.5 Dust-proof/splash-proof specification, standard specification RCP6W-RA7C Air intake/exhaust port Actuator/controller connection cable Grease fitting (for rod) Applicable tube O.D.: Ø6 Actuator cable Mounting surface can be changed Fitting rotation range Mounting surface can be changed (robot cable) M14×1.5 Greasing port (Ø5 hole)

  • Page 122: Dust-Proof/Splash-Proof Specification, Built-In Controller Specification Rcp6Sw-Ra7C

    6.6 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA7C Air intake/exhaust port Actuator/controller connection cable Applicable tube O.D.: Ø6 Grease fitting (for rod) Fitting rotation range Mounting surface can be changed Actuator cable Mounting surface can be changed M14×1.5 (robot cable) Greasing port (Ø5 hole) Status LED Enclosed hexagonal nut Scale 1:2...

  • Page 123: Dust-Proof/Splash-Proof Specification, Standard Specification Rcp6W-Ra8C

    6.7 Dust-proof/splash-proof specification, standard specification RCP6W-RA8C M20x1.5 Air intake/exhaust port Grease fitting (for rod) Actuator/controller connection cable Mounting surface can be changed Applicable tube O.D.: Ø6 Actuator cable Mounting surface can be changed (robot cable) Greasing port (Ø5 hole) Enclosed hexagonal nut 13.3...

  • Page 124: Dust-Proof/Splash-Proof Specification, Built-In Controller Specification Rcp6Sw-Ra8C

    6.8 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA8C Grease fitting (for rod) Actuator/controller connection cable Air intake/exhaust port Mounting surface can be changed Actuator cable Applicable tube O.D.: Ø6 (robot cable) Greasing port (Ø5 hole) Mounting surface can be changed Status LED M20x1.5 Enclosed hexagonal nut Scale 1:2...

  • Page 125: Dust-Proof/Splash-Proof Specification, Standard Specification Rcp6W-Ra4R Top Side-Mounted (Model: Mt)

    6.9 Dust-proof/splash-proof specification, standard specification RCP6W-RA4R Top Side-Mounted (Model: MT) Actuator cable Actuator/controller connection cable AC(2,5,10,15) (robot cable) M10×1.25 Enclosed hexagonal nut Scale 1:1 Grease discharge hole (top and side) 10.5 Detailed view P Scale 2:1 Enclosed square nut Scale 2:1 176 (Same for those with brake) Must be 100 or more.

  • Page 126: Dust-Proof/Splash-Proof Specification, Standard Specification Rcp6W-Ra4R Left

    6.10 Dust-proof/splash-proof specification, standard specification RCP6W-RA4R Left Side-Mounted (Model: ML) (Note) For Right Side-Mounted (model: MR), side-mounted motor will be on the right side in the drawing beneath. Grease fitting (for rod) Fitting rotation Air intake/exhaust port 87.25 Mounting surface can be changed range Applicable tube O.D.: Ø6...

  • Page 127: Dust-Proof/Splash-Proof Specification, Built-In Controller Specification Rcp6Sw-Ra4R Top

    6.11 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA4R Top Side-Mounted (Model: MT) Actuator cable Actuator/controller connection cable (robot cable) AC(2,5,10,15) M10×1.25 Enclosed hexagonal nut Grease discharge hole Scale 1:1 (top and side) 10.5 Status LED Detailed view P Scale 2:1 212.5 (Same for those with brake) Enclosed square nut Must be 100 or more.

  • Page 128: Dust-Proof/Splash-Proof Specification, Built-In Controller Specification Rcp6Sw-Ra4R Left Side-Mounted (Model: Ml)

    6.12 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA4R Left Side-Mounted (Model: ML) (Note) For Right Side-Mounted (model: MR), side-mounted motor will be on the right side in the drawing beneath. Air intake/exhaust port Fitting rotation range Grease fitting (for rod) Applicable tube O.D.: Ø6 87.25 Greasing port (Ø2.5 hole) Mounting surface can be changed...

  • Page 129: Dust-Proof/Splash-Proof Specification, Standard Specification Rcp6W-Ra6R Top Side-Mounted (Model: Mt)

    6.13 Dust-proof/splash-proof specification, standard specification RCP6W-RA6R Top Side-Mounted (Model: MT) Actuator/controller connection cable Actuator cable (robot cable) AC(2,5,10,15) M10×1.25 Enclosed hexagonal nut Scale 1:1 Grease discharge hole 10.3 (top and side) Detailed view P Scale 1:1 Enclosed square nut Scale 1:1 168.5 (Same for those with brake)

  • Page 130: Dust-Proof/Splash-Proof Specification, Standard Specification Rcp6W-Ra6R Left Side-Mounted (Model: Ml)

    6.14 Dust-proof/splash-proof specification, standard specification RCP6W-RA6R Left Side-Mounted (Model: ML) (Note) For Right Side-Mounted (model: MR), side-mounted motor will be on the right side in the drawing beneath. Air intake/exhaust port Fitting rotation range Grease fitting (for rod) Applicable tube O.D.: Ø6 Greasing Port (Ø5 hole)

  • Page 131: Dust-Proof/Splash-Proof Specification, Built-In Controller Specification Rcp6Sw-Ra6R Top

    6.15 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA6R Top Side-Mounted (Model: MT) Actuator cable Actuator/controller connection cable AC(2,5,10,15) (robot cable) M10×1.25 Enclosed hexagonal nut Grease discharge hole Scale 1:1 (top and side) 10.3 Detailed view P Scale 1:1 Enclosed square nut 206.5 (Same for those with brake) Scale 1:1 Must be 100 or more.

  • Page 132: Dust-Proof/Splash-Proof Specification, Built-In Controller Specification Rcp6Sw-Ra6R Left

    6.16 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA6R Left Side-Mounted (Model: ML) (Note) For Right Side-Mounted (model: MR), side-mounted motor will be on the right side in the drawing beneath. Grease fitting (for rod) Fitting rotation Air intake/exhaust port Mounting surface can be changed range Applicable tube O.D.: Ø6 Greasing port (Ø5 hole)

  • Page 133: Dust-Proof/Splash-Proof Specification, Standard Specification Rcp6W-Ra7R Top Side-Mounted (Model: Mt)

    6.17 Dust-proof/splash-proof specification, standard specification RCP6W-RA7R Top Side-Mounted (Model: MT) Actuator/controller connection cable Actuator cable AC(2,5,10,15) (robot cable) M14×1.5 Enclosed hexagonal nut Scale 1:2 10.3 Detailed view P Scale 1:1 Grease discharge hole (top and side) Enclosed square nut Scale 1:1 201.5 (Same for those with brake)

  • Page 134: Dust-Proof/Splash-Proof Specification, Standard Specification Rcp6W-Ra7R Left Side-Mounted (Model: Ml)

    6.18 Dust-proof/splash-proof specification, standard specification RCP6W-RA7R Left Side-Mounted (Model: ML) (Note) For Right Side-Mounted (model: MR), side-mounted motor will be on the right side in the drawing beneath. Air intake/exhaust port Grease fitting (for rod) Greasing port (Ø5 hole) Applicable tube O.D.: Ø6...

  • Page 135: Dust-Proof/Splash-Proof Specification, Built-In Controller Specification Rcp6Sw-Ra7R Top Side-Mounted (Model: Mt)

    6.19 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA7R Top Side-Mounted (Model: MT) Actuator cable Actuator/controller connection cable AC(2,5,10,15) (robot cable) M14×1.5 Enclosed hexagonal nut Scale 1:2 Status LED Grease discharge hole 10.3 (top and side) Enclosed square nut Detailed view P 239.5 (Same for those with brake) Scale 1:1 Scale 1:1...

  • Page 136: Dust-Proof/Splash-Proof Specification, Built-In Controller Specification Rcp6Sw-Ra7R Left

    6.20 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA7R Left Side-Mounted (Model: ML) (Note) For Right Side-Mounted (model: MR), side-mounted motor will be on the right side in the drawing beneath. Air intake/exhaust port Applicable tube O.D.: Ø6 Grease fitting (for rod) Greasing port (Ø5 hole) 80.5 Mounting surface can be changed...

  • Page 137: Dust-Proof/Splash-Proof Specification, Standard Specification Rcp6W-Ra8R Top

    6.21 Dust-proof/splash-proof specification, standard specification RCP6W-RA8R Top Side-Mounted (Model: MT) Actuator/controller connection cable Actuator cable (robot cable) AC(2,5,10,15) M20×1.5 Enclosed hexagonal nut 13.3 Scale 1:2 Detailed view P Scale 1:1 Grease discharge hole (top and side) Enclosed square nut 247 (Same for those with brake) Scale 1:1 Must be 100 or more.

  • Page 138: Dust-Proof/Splash-Proof Specification, Standard Specification Rcp6W-Ra8R Left Side-Mounted (Model: Ml)

    6.22 Dust-proof/splash-proof specification, standard specification RCP6W-RA8R Left Side-Mounted (Model: ML) (Note) For Right Side-Mounted (model: MR), side-mounted motor will be on the right side in the drawing beneath. Fitting rotation range Air intake/exhaust port Grease fitting (for rod) Greasing port (Ø5 hole) Applicable tube O.D.: Ø6...

  • Page 139: Dust-Proof/Splash-Proof Specification, Built-In Controller Specification Rcp6Sw-Ra8R Top Side-Mounted (Model: Mt)

    6.23 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA8R Top Side-Mounted (Model: MT) Actuator cable Actuator/controller connection cable AC(2,5,10,15) (robot cable) M20x1.5 Enclosed hexagonal nut Scale 1:2 Grease discharge hole Status LED (top and side) 13.3 285 (Same for those with brake) Detailed view P Enclosed square nut Must be 100 or more.

  • Page 140: Dust-Proof/Splash-Proof Specification, Built-In Controller Specification Rcp6Sw-Ra8R Left Side-Mounted (Model: Ml)

    6.24 Dust-proof/splash-proof specification, built-in controller specification RCP6SW-RA8R Left Side-Mounted (Model: ML) (Note) For Right Side-Mounted (model: MR), side-mounted motor will be on the right side in the drawing beneath. Air intake/exhaust port Grease fitting (for rod) Greasing port (Ø5 hole) Applicable tube O.D.: Ø6 Fitting rotation range Mounting surface can be changed...

  • Page 141: Life

    7. Life The scraper, a replacement part, is not included in the life. 7.1 RA4C, RA4R, RA6C, RA6R, RA7C, RA7R The life is assumed under condition of operation with maximum transported mass and maximum acceleration/deceleration, and it is 5,000km (reference). 7.2 RA8C, RA8R The life in the standard horizontal orientation is assumed under condition of operation with maximum transported mass and maximum acceleration/deceleration, and it is 5,000km...

  • Page 142: Warranty

    Warranty 8.1 Warranty Period One of the following periods, whichever is shorter:  18 months after shipment from IAI  12 months after delivery to the specified location  2,500 hours of operation 8.2 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.

  • Page 143: Limited Liability

    8.4 Limited Liability (1) We shall assume no liability for any special damage, consequential loss or passive loss such as a loss of expected profit arising from or in connection with our product. (2) We shall not be liable for any program or control method created by the customer to operate our product or for the result of such program or control method.

  • Page 144: Change History

    Change History Revision Date Description of Revision May 2017 First edition July 2017 Edition 1B ・Pg. 86 Added information for when CB-CFA3-MPA□□□(-RB) is 3m or less, or over 3m ・Added 5.8 Changing the position of the grease fitting and fitting August 2017 Edition 1C ・Added RC logo in the header section...
  • Page 146 Manual No.: ME3759-1E (July 2018) Head Office: 577-1 Obane Shimizu-ku Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China US Headquarters: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chicago Office: 110 East State Parkway, Schaumburg, IL 60173 TEL (847) 908-1400 FAX (847) 908-1399 Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066...

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