IAI RCP6 Series First Step Manual

RCP6 Actuator
Gripper Type
First Step Guide Second Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (CD/DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.
Warning: Operation of this equipment requires detailed installation and operation instructions which are
provided on the CD/DVD Manual included in the box this device was packaged in. It should be
retained with this device at all times.
A hard copy of Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cover of the Instruction Manual or on the First Step Guide.
 Using or copying all or part of this Instruction Manual without permission is prohibited.
 The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts (The option is excluded.)
No. Part Name Model
1 Refer to "How to Read the Model
Actuator Nameplate" and "How to Read the Model
Number."
Accessories
2 Motor • encoder
cables (Note1)
3 First Step Guide
4 Instruction Manual
(DVD)
5 Safety Guide
Note 1 Please refer to the wiring layout for the enclosed motor cable and encoder cable.
2. How to Read the Model Plate
Model
MODEL RCP6-GRT7A-WA-28P-1-30-P3-P-NM
Serial number
SERIAL No.000090266
3. How to Read the Model No.
3.1 Thin Type Gripper
RCP6 – GRT7A - WA - 28P - 1 - 30 - P3 – P – NM - * *
Series
<Type>
Slide Type
GRT7A
GRT7B
<Encoder Type>
WA : Battery-less absolute
<Motor Type>
28P : 28□ size
<Gear Ratio Pattern>
GRT7A
1 : Feed screw lead length 1.5mm
Pulley deceleration ratio 1.5
GRT7B
1 : Feed screw lead length 2mm
Pulley deceleration ratio 1.25
2 : Feed screw lead length 2mm
Pulley deceleration ratio 2.5
<Stroke>
Note 1 Identification for IAI use only: It may be displayed for IAI use. It is not a code to show the model type.
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
3.2 Long Stroke Gripper
<Series>
Standard Specification
RCP6
Built-in Controller Specification
RCP6S
<Type>
Motor Straight Type
GRST6C
GRST7C
Motor Reversing Type
GRST6R
GRST7R
<Encoder Type>
WA : Battery-less Absolute
<Motor Type>
42P : 42□size
56P : 56□size
<Lead>
2/8
<Stroke>
GRST6C, GRST6R
180 (One side 90), 230 (One side 115)
RGST7C, GRST7R
210 (One side 105), 260 (One side 130)
Quantity Remarks
Standard Specification
<Applicable Controllers>
1
P3 : PCON-CB/CGB, PCON-CYB/PLB/POB
MCON-C/CG/LC/LCG, MSEL-PC/PG
P5 : RCON-PC
RCM-P6PC
1
Built-in Controller Specification
<I/O Type>
1
SE : SIO Type
1
1
1. Handling the Packed Unit
 Do not damage or drop. The package is not applied with any special treatment that enables it to resist
an impact caused by a drop or crash.
 Transport a heavy package with at least more than two operators. Consider an appropriate method for
transportation.
MADE IN JAPAN
 Keep the unit in a horizontal orientation when placing it on the ground or transporting. Follow the
instruction if there is any for the packaging condition.
 Do not step or sit on the package.
 Do not put any load that may cause a deformation or breakage of the package.
2. Handling the Actuator After Unpacking
 Do not carry the actuator by its motor unit or its cable or attempt to move it by pulling the
cable.
(Note1)
Identification for IAI use only
 Hold the frame or motor cover section of the body when transporting the actuator main body.
 Do not hit or drop the actuator during transportation.
<Options>
 Do not attempt to force any part of the actuator. Do not apply excess force especially on the fingers and
AC1 : Actuator cable 1m specification
finger guide.
AC2 : Actuator cable 2m specification

AC3 : Actuator cable 3m specification
NM : Reversed-home specification
Environments for Installation, Storage and Preservation
CJTB : Rear cable ejection to top side
CJLB : Rear cable ejection to left side
CJRB : Rear cable ejection to right side
CJBB : Rear cable ejection to bottom
Usage is possible in environments of pollution degree 3 or equivalent.
side
CJTS : Side cable ejection to top side 1. Installation Environment
CJLS : Side cable ejection to left side
The actuator should be installed in a location other than those specified below.
CJRS : Side cable ejection to right side
Also provide sufficient work space required for maintenance inspection.
CJBS : Side cable ejection to bottom
side
 Where the actuator receives radiant heat from strong heat sources such as heat treatment furnaces
 Where the ambient temperature exceeds the range of 0 to 40C
<Cable Length>
N : None  Where the temperature changes rapidly and condensation occurs
P : 1m
 Where relative humidity smaller than 20% or larger than 85%RH
S : 3m
 Where the actuator receives direct sunlight
M : 5m
 Where the actuator is exposed to corrosive or combustible gases
X□□ : Length specification
 Where the ambient air contains a large amount of powder dust, salt or iron (at level exceeding what is
R□□ : Robot cable
normally expected in an assembly plant)
 Where the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or chemical
<Controller>
P3 : PCON-CB/CGB solutions
PCON-CYB/PLB/POB  Where the actuator receives impact or vibration
MCON-C/CG/LC/LCG
 Place with an altitude of 2,000m or more
MSEL-PC/PG
P5 : RCON-PC
If the actuator is used in any of the following locations, provide sufficient shielding measures:
RCM-P6PC
 Where noise generates due to static electricity, etc.
 Where the actuator is subject to a strong electric or magnetic field
 Where the actuator is subject to ultraviolet ray or radiation
RCP6-GRST6C-WA-42P-2-180-P3-P-B-**
Identification for IAI use only
<Options>
B : With Brake
NM : Reversed-home Specification
CJT : Cable Exit Direction Changed
(Top)
CJR : Cable Exit Direction Changed
(Right)
CJL : Cable Exit Direction Changed
(Left)
CJB : Cable Exit Direction Changed
(Bottom)
CJO : Cable Exit Direction Changed
(Outward)
ML : Motor Unit Left-Reversed
Direction
MR : Motor Unit Right-Reversed
Direction
SS : Slider Spacer
SR : Slider Roller Specification
MJF : Slider Attachment Installation
Tool
<Cable Length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Length Specification
R□□ : Robot Cable
Note 1 Identification for IAI use only:
It may be displayed for IAI use. It is not a code to show the model
type.
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
Precautions in Handling
2. Storage • Preservation Environment
 The storage and preservation environment should comply with the same standards as those for the
installation environment. In particular, when the machine is to be stored for a long time, pay close
attention to environmental conditions so that no dew condensation forms.
(Note 1)
 Unless specially specified, moisture absorbency protection is not included in the package when the
machine is delivered. In the case that the machine is to be stored and preserved in an environment
where dew condensation is anticipated, take the condensation preventive measures from outside of
the entire package, or directly after opening the package.
 For storage and preservation temperature, the machine withstands temperatures up to 60C for a
(Top)
short time, but in the case of the storage and preservation period of 1 month or more, control the
temperature to 50C or less.
 Storage and preservation should be performed in the horizontal condition. In the case it is stored in the
packaged condition, follow the posture instruction if any displayed on the package.
Names of the Parts
1. Thin Type Gripper GTRT7A/GRT7B
End Cover
Frame
(Cable)
End Cover (Belt)
Guide
Finger Opening and
Closing Screw
Hole Caps
[For the details of dimensions and outlines, refer to the catalog or Instruction Manual (DVD).]
2. Long Stroke Gripper GRST6C/GRST7C/GRST6R/GRST7R
2.1 Standard Specification Motor Straight Type
2.2 Built-in Controller Specification Motor Straight Type
Fingers
Finger Opening and
Closing Screw
Actuator Cable