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IAI ROBO Cylinder RA4C Operating Manual

Rod type actuators dustproof/splash-proof
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Motor Straight Type (Coupling Type): RA4C, RA5C, RGS4C, RGS5C, RGD4C and RGD5C
Motor Straight Type (Built-in Type):
Motor Reversing Type:
Flat Type
RCS2W Actuators, Dustproof/Splash-proof Specification
ROBO Cylinder
Rod Type
RCS2 Actuators
RA4D, RA7AD, RA7BD, RGS4D and RGS7AD
RGS7BD, RGD4D, RGD7AD and RGD7BD
RA4R and RA5R
F5D
Motor Straight Type (Coupling Type): RA4C
Motor Straight Type (Built-in Type):
Motor Reversing Type:
Operating Manual
Third Edition
IAI America, Inc.
RA4D
RA4R

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Summary of Contents for IAI ROBO Cylinder RA4C

  • Page 1 Motor Straight Type (Coupling Type): RA4C, RA5C, RGS4C, RGS5C, RGD4C and RGD5C Motor Straight Type (Built-in Type): Motor Reversing Type: Flat Type RCS2W Actuators, Dustproof/Splash-proof Specification Motor Straight Type (Coupling Type): RA4C Motor Straight Type (Built-in Type): Motor Reversing Type: ROBO Cylinder Rod Type RCS2 Actuators...
  • Page 2 Safety Precautions (Please read before using the product.) Before installing, operating, maintaining or inspecting this product, please peruse this operating manual as well as the operating manuals and other related documentations for all equipment and peripheral devices connected to this product in order to ensure the correct use of this product and connected equipment/devices.
  • Page 3 Avoid using the product in a place where the main unit or controller may come in contact with water or oil droplets. Never cut and/or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length. Doing so may result in fire. [Operation] Do not enter the machine’s range of operation while the product is operating or standing by.
  • Page 4 Do not step on the product, use it as a footstool or place any object on it. You may slip and fall or the product may tip over or drop, resulting in injury. Malfunction, runaway product, etc., may also result due to product breakdown or damage.
  • Page 5 [Operation] Turn on the power to individual equipment one by one, starting from the equipment at the highest level in the system hierarchy. Failure to do so may cause the product to start suddenly, resulting in injury or product damage. Do not insert a finger or object in the openings in the product.

  • Page 6: Prohibited Handling Of Cables

    Prohibited Handling of Cables When designing an application system using IAI’s actuators and controllers, incorrect wiring or connection of each cable may cause unexpected problems such as a disconnected cable or poor contact, or even a runaway system. This section explains prohibited handling of cables. Read the information carefully to connect the cables properly.
  • Page 7 Notes on using cable bearers The supplied cables are not robot cables. Accordingly, never store the cables in a cable bearer. Use a cable bearer with a bending radius (r) of 50 mm or greater. Do not let the cable get tangled or kinked in a cable bearer or flexible tube. When bundling the cable, keep a certain degree of flexibility (so that the cable will not become too taut when bent).

  • Page 8: Table Of Contents

    1. Foreword ... 1 2. Safety Precautions ... 1 Basic Operating Instructions ...1 Maintenance and Inspection ...1 3. Warranty ... 2 Warranty Period...2 Scope of Warranty ...2 4. Names of the Parts... 3 Motor Straight Type (Coupling Type): No Guide...3 RCS2-RA4C...3 Motor Straight Type (Built-in Type): No Guide...4 RCS2-RA4D...4...
  • Page 9 9. Connecting the Air Tube of the RCS2W Dustproof/Splash-proof Type... 28 10. Maximum Speed ... 29 11. Load on the Actuator ... 30 12. Actuators with a Switch (Optional) ... 30 13. High Acceleration/Deceleration Option ... 31 13.1 Applicable Actuator Models ...31 13.2 Specifications of High Acceleration/Deceleration Actuators...31 13.3 Notes...32 13.4 Applicable Controller Models (SCON, SSEL, X-SEL)...32...

  • Page 11: Foreword

    1. Foreword Thank you for purchasing an IAI product. This manual explains the structure, correct operation and maintenance of the actuator. Please read this manual carefully before using the product. For more complete information on operating the actuator, please also refer to the controller operating manual.

  • Page 12: Warranty

    3. Warranty 3.1 Warranty Period Warranty period shall be either of the following periods whichever ends first: • 18 months after shipment from our factory • 12 months after delivery to a specified location • 2500 hours of operation time 3.2 Scope of Warranty If a breakdown occurs within the period specified above and is due to the manufacturer's error, we will repair the unit at no cost.

  • Page 13: Names Of The Parts

    4. Names of the Parts The names of the actuator parts are indicated below. In this manual, the right and left are determined by viewing the actuator from the top and from the motor side. 4.1 Motor Straight Type (Coupling Type): No Guide RCS2-RA4C Rod side Rod cover...

  • Page 14: Motor Straight Type (Built-In Type): No Guide

    4.2 Motor Straight Type (Built-in Type): No Guide RCS2-RA4D Rod side Rod cover Rod tip adapter Caution: The cable directly connected to the actuator is not robot cable even when ordered with robot cable option. When designing, please be sure not to give repeated bending loads to this cable.

  • Page 15: Motor Reversing Type: No Guide

    4.3 Motor Reversing Type: No Guide RCS2-RA4R Right Rod side Motor side Left Cable Motor unit Pulley case Rod tip adapter Rod cover Cylinder tube Head cover Caution: The cable directly connected to the actuator is not robot cable even when ordered with robot cable option.

  • Page 16: Motor Straight Type (Coupling Type): Single-Guide Type

    4.4 Motor Straight Type (Coupling Type): Single-guide Type RCS2-RGS4C Rod side Guide bracket Caution: The cable directly connected to the actuator is not robot cable even when ordered with robot cable option. When designing, please be sure not to give repeated bending loads to this cable.

  • Page 17: Motor Straight Type (Coupling Type): Double-Guide Type

    4.5 Motor Straight Type (Coupling Type): Double-guide Type RCS2-RGD4C Guide bearing Guide bracket Guide rod Head cover Motor unit Right Motor Rod side side Left Rod cover Cylinder tube Cable Caution: The cable directly connected to the actuator is not robot cable even when ordered with robot cable option.

  • Page 18: Motor Straight Type (Coupling Type): No Guide

    The names of respective actuator parts are indicated below. In this manual, the right and left are determined by viewing the actuator from the top and from the motor side when the actuator is placed horizontally. “Front” indicates the opposite side of the motor. 4.6 Motor Straight Type (Coupling Type): No Guide RCS2-RA5C Front...

  • Page 19: Motor Straight Type (Coupling Type): Single-Guide Type

    4.8 Motor Straight Type (Coupling Type): Single-guide Type RCS2-RGS5C 4.9 Motor Straight Type (Coupling Type): Double-guide Type RCS2-RGD5C Guide bracket Guide bearing Mounting bracket Guide bearing Aluminum frame Guide rod Guide rod...

  • Page 20: Short Type

    4.10 Short Type RCS2-RA7A(B)D Front Anti-vibration screws (4 locations) Never touch these screws. 4.11 Flat Type RCS2-F5D Right Left Aluminum frame Rod tip adapter Motor housing Slider Motor housing Motor side Connector box Encoder cover Connector box Encoder cover...

  • Page 21: Dustproof/Splash-Proof Motor Straight Type (Coupling Type)

    4.12 Dustproof/Splash-proof Motor Straight Type (Coupling Type) RCS2W-RA4C Rod side Bellows Rod tip adapter Caution: The cable directly connected to the actuator is not robot cable even when ordered with robot cable option. When designing, please be sure not to give repeated bending loads to this cable.

  • Page 22: Transporting And Handling

    5. Transporting and Handling 5.1 Handling the Actuator 5.1.1 Handling the Packed Unit Unless otherwise specified, each actuator (axis) is shipped individually. Please take care that the shipping box is not dropped or subjected to strong impact during transport. • The operator should not carry heavy shipping boxes by themselves.

  • Page 23: Handling The Actuator Assembly

    5.2 Handling the Actuator Assembly Pay attention to the following instructions when transporting an assembly of actuator axes. 5.2.1 Condition of Shipment from IAI (Assembled) The actuators you have ordered are assembled at IAI, after which the assembly receives a shipping inspection and is shipped in an outer frame with skids.

  • Page 24: Operating And Storage Environment

    6. Operating and Storage Environment 6.1 Operating Environment The actuator should be set up in an environment, which meets the following criteria: • Avoid direct sunlight. • Avoid radiant heat from strong heat sources such as a furnace. • Ambient temperature should be 0 ~ 40°C. •...

  • Page 25: Installation

    7. Installation 7.1 Installing the Main Body (1) Using screws on the rod or head side Install the actuator using screws set on the rod or head side of the actuator. Applicable model: RCS2-RA4 Straight type Head cover Cylinder tube Rod cover Reversing type Motor unit...
  • Page 26 (2) Using screws on a flange (optional) An optional flange is available for installing the actuator. Use this flange, if necessary. Applicable model: RCS2-RA4 Straight type Mounting hole Affixing nut Flange Straight type Mounting hole Affixing nut Flange Mating material is steel Mating material is aluminum Screw size Tightening torque...
  • Page 27 Reversing type Affixing nut Flange Mounting hole Reversing type Mounting hole Affixing nut Flange Mating material is steel Mating material is aluminum Screw size Tightening torque 12.3 N-m 5.4 N-m...
  • Page 28 (3) Using screws on feet (optional) Optional feet are available for installing the actuator. Use these feet, if necessary. Applicable model: RCS2-RA4 Mounting hole Affixing nut Foot Screw size Tightening torque Caution: Affix the actuator using two feet (optional), one in the front and the other in the back. If affixed using only one foot in the front or back, the actuator may be negatively affected due to insufficient rigidity.
  • Page 29 (4) Using screws on a trunnion (optional) An optional trunnion is available for installing the actuator. Use this trunnion, if necessary. Applicable model: RCS2-RA4 Straight type Mounting hole Affixing nut Trunnion ring Bracket B Bracket A Straight type Mounting hole Trunnion ring Affixing nut Bracket B...
  • Page 30 Bracket B Screw size Tightening torque Caution: Exercise caution when installing the actuator horizontally using the optional clevis or trunnion or any commercially available free joint, because the rod will receive the actuator weight. As a result, the bush may wear quickly or internal mechanical parts may be damaged.
  • Page 31 (5) Using screws on a clevis (optional) An optional clevis is available for installing the actuator. Use this clevis, if necessary. Applicable model: Motor reversing type RCS2-RA4R Reversing type Screw size Tightening torque Caution: Exercise caution when installing the actuator horizontally using the optional clevis or trunnion or any commercially available free joint, because the rod will receive the actuator weight.
  • Page 32 (6) Using screws on a rear mounting bracket (optional) An optional rear mounting bracket is available for installing the actuator. Use this rear mounting bracket, if necessary. Applicable model: Motor reversing type RA4R Type Tapped hole diameter RA4 type Reversing type Tapped depth 7 mm Tapped mounting hole...
  • Page 33 (7) Double-guide type Use the tapped holes in the bracket for installing an actuator of the double-guide type. Applicable model: Double-guide type RGD4 Tapped mounting hole Bracket A Bracket B Type Tapped hole diameter Tapped depth Tightening torque RA4 type 8 mm 3.4 N-m...
  • Page 34 (8) Single-guide type Use the tapped holes in the bracket for installing an actuator of the single-guide type. Applicable model: Double-guide type RGD4 Tapped mounting hole Bracket A Bracket B Type Tapped hole diameter Tapped depth Tightening torque RA4 type 8 mm 3.4 N-m...
  • Page 35 (9) Using tapped mounting holes at the back Applicable model: RA7 (excluding 50-mm stroke models) The RA7 type has tapped mounting holes at the back. Use these holes to install the actuator. Shown below is the maximum screw-in depth of the tapping screws used for mounting the base. Be careful not to allow the tip of the bolt to project.
  • Page 36 (11) Using feet Applicable models: RA5, RA5R, RA7 (excluding flat types) On the RA7 type, attach feet using the tapped mounting holes at the back. Foot Install the feet to the frame using bolts. (12) Using tapped holes on the reference surface Applicable models: RA5, RA5R, RA7 (excluding flat types and guide types) Type RA5 / RA5R...

  • Page 37: Wiring Cable

    8. Wiring Cable • In an application where the cable cannot be anchored, try to place the cable so that it sags only under its own weight or use self-standing type cable as large radial wire duct to limit the load on the cable. •...

  • Page 38: Connecting The Air Tube Of The Rcs2W Dustproof/Splash-Proof Type

    9. Connecting the Air Tube of the RCS2W Dustproof/Splash-proof Type Intake/exhaust port Install the air tube (outer diameter: 10 mm, inner diameter: 6.5 mm) on the intake/exhaust port and guide the air tube to a location where the external environment assures the tube will not come in contact with water.

  • Page 39: Maximum Speed

    10. Maximum Speed The maximum speed of the actuator is limited to prevent resonance of the ball screw shaft and also in consideration of the restrictions on motor speed. Observe the maximum speed limits specified below. Type Lead RA4 type RA5 type RA7AD type RA7BD type...

  • Page 40: Load On The Actuator

    11. Load on the Actuator • The actual load should not exceed the value specified in the catalog. • Be sure to align the shaft center of the rod and the moving direction of the load. • Lateral load may cause damage or breakdown of the actuator. •...

  • Page 41: High Acceleration/Deceleration Option

    13. High Acceleration/Deceleration Option 13.1 Applicable Actuator Models Actuators that support high acceleration/deceleration are indicated by an option code at the end of the model name. Other applicable options are the same as those available with conventional models. Encoder Series Model type RA4C...

  • Page 42: Notes

    13.3 Notes Take note of the following points if you are using a high acceleration/deceleration type: (1) Keep the duty within 50%. If the duty exceeds 50%, an overload error may occur. (2) The maximum loading capacity follows the applicable value specified in the table under “Specifications of High acceleration/Deceleration Actuators”...

  • Page 43: Maintenance

    14. Maintenance 14.1 Maintenance Schedule Perform maintenance work according to the schedule below. The schedule is set assuming eight hours of operation a day. When the operation time is long such as 24-hour operation, shorten the maintenance intervals as needed. Start of operation After 1 month of operation After 3 months of operation...

  • Page 44: Applying Grease To The Sliding Surface Of The Rod

    14.4 Applying Grease to the Sliding Surface of the Rod (1) Applicable grease Kyodo Yushi Multemp LRL3 Warning: Never use any fluorine-based grease. It will cause a chemical reaction when mixed with a lithium-based grease and may cause damage to the actuator. (2) How to apply grease Apply grease over the entire surface of the rod.

  • Page 45: Reduction Belt [Motor Reversing Type]

    14.5 Reduction Belt [Motor Reversing Type] 14.5.1 Inspecting the Belt Remove the pulley cover and visually inspect the belt. Durability of the reduction belt is affected significantly by the operating condition, and there is no standard guideline as to when the belt should be replaced. Generally, the belt is designed to withstand several millions of flexing loads.

  • Page 46: Adjusting The Belt Tension (Ra4R Type)

    14.5.3 Adjusting the Belt Tension (RA4R Type) Remove the pulley case cover and loosen the four motor-unit affixing bolts. Pass a looped string (or long tie-band) around the motor unit, and pull the string to the specified tension using a tension gauge. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque of adjustment bolts] 162 N-cm (16.5 kgf-cm) Tension: 2.5 kgf...

  • Page 47: Adjusting The Belt Tension (Ra5R)

    14.5.4 Adjusting the Belt Tension (RA5R) Remove the pulley case cover and loosen the four motor-unit affixing bolts. Pass a looped string (or long tie-band) around the motor unit, and pull the string to the specified tension using a tension gauge. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque for adjustment bolts] Tension: 6 ±...

  • Page 48: Replacing The Belt Of The Motor Reversing Type: Ra4R Type

    14.5.5 Replacing the Belt of the Motor Reversing Type: RA4R Type [Items Required for Replacement] • Replacement belt RA4R --- 60S2M152R Rubber, cleanroom type (Bando Chemical Industries) 6 mm wide • Allen wrenches • Tension gauge (capable of tensioning to 7 kgf or greater) •...
  • Page 49 [Procedure] 1) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. M3 hexagon socket head screws 2) Move the rod to a position where Z phase turns on (home position). This corresponds to a position where the rod projects 2 mm from the mechanical end.
  • Page 50 3) Loosen the motor-unit affixing bolts using an Allen wrench of 2.5 mm across flats. Slide the motor, and loosen and remove the belt. Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.) Motor-unit affixing bolts (Use an Allen wrench of 2.5 mm across flats.) 4) Check the following points before restoring the home position: •...
  • Page 51 5) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque for adjustment bolts] 162 N-cm (16.5 kgf-cm) Tension: 2.5 kgf Motor-unit affixing bolts...
  • Page 52 6) Install the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. M3 hexagon socket head screws 7) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of absolute encoder specification, an absolute reset must be performed.) Check for deviation from the initial home position.

  • Page 53: Replacing The Belt Of The Motor Reversing Type: Ra5R Type

    14.5.6 Replacing the Belt of the Motor Reversing Type: RA5R Type [Items Required for Replacement] • Replacement belt RA5R ---100S3M219R Rubber, cleanroom type (Bando Chemical Industries) 10 mm wide • Allen wrenches • Tension gauge (capable of tensioning to 8 kgf or greater) •...
  • Page 54 [Procedure] 1) Move the slider from the home position toward the mechanical end and check the rotating direction of the motor shaft. (If the actuator has its home located on the opposite side to the standard specification, this check is always required because the motor shaft rotates in the different direction.) •...
  • Page 55 4) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the motor-unit affixing bolts. Recommended tightening torque for adjustment bolts: (M5) 763 N-cm (78 kgf-cm) Caution: After tightening the bolts to the above torque, tighten them slightly further by making sure that both pulleys do not move.

  • Page 56: Replacing The Motor

    14.6 Replacing the Motor 14.6.1 Replacing the Motor of the Motor Straight Type (Coupling Type): RA4C Type [Items Required for Replacement] • Replacement motor unit • Coupling (with screws) • Allen wrenches • Scale • Oil-based marker pen • Grease Idemitsu Kosan Daphne Eponex Grease No.2 •...
  • Page 57 [Procedure] 1) Move the rod to a position where Z phase turns on (home position). This corresponds to a position where the rod projects 2 mm from the mechanical end. Apply countermarks in this position. Cause the rod to project 2 mm from the mechanical end. Warning: If the actuator is installed vertically, move it after turning on the controller power and forcibly releasing the brake.
  • Page 58 3) Pull out the motor unit. Before pulling out the motor unit, apply a countermark on the cylinder tube at a position corresponding to the tab on the motor unit, so that the motor unit and cylinder can be aligned in the correct position later on.
  • Page 59 5) Align the tab on the replacement motor unit with the countermark on the cylinder. With the motor unit and cylinder aligned properly, insert the coupling into the replacement motor unit by aligning the orientation of this coupling with that of the actuator coupling (adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end).
  • Page 60 6) Turn the coupling and motor shaft simultaneously until a setscrew on the coupling is seen through the hole. Thereafter, tighten the hexagon socket head setscrew using an Allen wrench of 2 mm across flats. Similarly, turn the coupling and motor shaft simultaneously until the other screw is seen through the hole, and tighten the setscrew.
  • Page 61 7) Return the coupling in the replacement motor unit to the initial motor position (Z phase position). Align the tab on the replacement motor unit with the countermark on the cylinder. With the motor unit and cylinder positioned this way, confirm that the orientation of the actuator coupling (adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end) corresponds to the position of the coupling in the replacement motor unit.
  • Page 62 Carefully insert the replacement motor unit into the cylinder by ensuring that the couplings do not lose their alignment. Using an Allen wench of 2 mm across flats, tighten the two motor-unit affixing bolts on the right and left. 10) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of absolute encoder specification, an absolute reset must be performed).

  • Page 63: Replacing The Motor Of The Motor Reversing Type: Ra4R Type

    14.6.2 Replacing the Motor of the Motor Reversing Type: RA4R Type [Items Required for Replacement] • Replacement motor unit • Tension gauge (capable of tensioning to 7 kgf or greater) • Strong string, looped (or long tie-band) • Scale • PC or teaching pendant [Overview of Replacement] 1) Loosen the motor-unit affixing bolts to remove the belt, and replace the motor.
  • Page 64 [Procedure] 1) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. M3 hexagon socket head screws 2) Loosen the motor-unit affixing bolts using an Allen wrench of 2.5 mm across flats. Slide the motor, and loosen and remove the belt.
  • Page 65 3) Take out the motor. 4) Install the replacement motor. Loosely tighten the motor-unit affixing bolts. Replacement motor...
  • Page 66 5) Move the rod to a position where Z phase turns on (home position). This corresponds to a position where the rod projects 2 mm from the mechanical end. Apply countermarks in this position. Cause the rod to project 2 mm from the mechanical end. Apply countermarks once the rod has projected 2 mm from the mechanical end.
  • Page 67 7) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tension gauge to the specified tension. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tightening torque for adjustment bolts] 162 N-cm (16.5 kgf-cm) Tension: 2.5 kgf Motor-unit affixing bolts...
  • Page 68 8) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. M3 hexagon socket head screws 9) Connect a PC or teaching pendant to the controller to perform homing. (If the actuator is of absolute encoder specification, an absolute reset must be performed.) Check for deviation from the initial home position.

  • Page 69: Replacing The Motor Of The Motor Reversing Type: Ra5R Type

    14.6.3 Replacing the Motor of the Motor Reversing Type: RA5R Type [Items Required for Replacement] • Replacement motor with pulleys (See the photograph to the right.) (Confirm that the motor has countermarks.) • PC or teaching pendant • Allen wrenches •...
  • Page 70 [Procedure] 1) Move the slider from the home position toward the mechanical end and check the rotating direction of the motor shaft. (If the actuator has its home located on the opposite side to the standard specification, this check is always required because the motor shaft rotates in the different direction.) •...
  • Page 71 5) Make the following adjustment to restore the home position: • Move the slider to the mechanical end on the home side and keep it in contact with the mechanical end. • Turn the motor shaft by the specified amount from the countermark position toward the return-to- mechanical-end direction (the direction checked at the beginning).

  • Page 72: Replacing The Bellows Of The Rcaw Dustproof/Splash-Proof Type

    14.7 Replacing the Bellows of the RCS2W Dustproof/Splash-proof Type Bellows [Items Required for Replacement] • Replacement bellows unit : RA4 --- JB-RA4- (stroke) • Phillips screwdriver • Torque driver • Grease Kyodo Yushi Multemp LRL3 [Procedure] 1) Loosen the front and rear metal fittings affixing the bellows and remove the bellows. Loosening of front metal fitting Loosening of rear metal fitting Removal of bellows...
  • Page 73 2) Apply grease evenly over the entire cylinder surface. Install a metal fitting on the bellows. Bellows Apply grease evenly over the entire surface. Install a metal fitting on the bellows.
  • Page 74 Install the replacement (new) bellows and tighten the screws of the front and rear metal fittings affixing the bellows. Tighten the screws to the specified torque using a torque driver. Tightening of rear metal fitting Tightening torque: 2 N-m Installation of bellows Tightening of front metal fitting Tightening torque: 2 N-m...

  • Page 75: Cable Drawings

    15. Cable Drawings [1] Motor cable/robot motor cable Model: CB-RCC-MA /CB-RCC-MA (16) (20) (Front view) Controller end Wire Signal 0.75 sq (21) (10) (Front view) Actuator end Signal Wire 0.75 sq (crimped)
  • Page 76 [2] Encoder cable/robot encoder cable (X-SEL-J/K) (SCON, SSEL, X-SEL-P/Q) Model: CB-RCBC-PA (16) (57) (Front view) Controller end Signal Wire 0.15 sq (crimped) BAT + BAT - BK - BK + Clamp the shield to the hood. Ground and shielded braided wires /CB- RCBC-PA (15) (14)
  • Page 77 [3] Encoder cable/robot encoder cable Model: CB-RCS2-PA (41) (13) (Front view) Controller end Wire Signal Color E24V Gray/white Brown/white CLEEP AWG26 (soldered) Pink Purple White Blue/red Orange/white Blue/red Green/white Blue SRD + Orange SRD - Black BAT + Yellow BAT - Green Brown Gray...
  • Page 78 MEMO...
  • Page 79 Catalog No.: MJ3656-3A Head Office: 2690 W. 237th Street, Torrance, CA 90505 Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143 Atlanta Office: 1220-E Kenneston Circle, Marietta, GA 30066 Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany The information contained in this document is subject to change without notice for the purpose of product improvement. Copyright ©...

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