1. Manuals
  2. Brands
  3. ROBO Cylinder Manuals
  4. Controller
  5. IAI America RCA-SA4C
  6. Operating manual

ROBO Cylinder IAI America RCA-SA4C Operating Manual

Slider type
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
sales@artisantg.com
artisantg.com
(217) 352-9330 |
|
Click HERE
Find the IAI RCA-S-SA6-EU at our website:

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the IAI America RCA-SA4C and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for ROBO Cylinder IAI America RCA-SA4C

Summary of Contents for ROBO Cylinder IAI America RCA-SA4C

  • Page 1 sales@artisantg.com artisantg.com (217) 352-9330 | Click HERE Find the IAI RCA-S-SA6-EU at our website:...
  • Page 2 Eighth Edition Motor Straight Type RCA-SA4C, SA5C, SA6C (Coupling Type) Motor Straight Type RCA-SA4D, SA5D, SA6D Standard type (Built-in Type) SS4D, SS5D, SS6D Motor Reversing Type RCA-SA4R, SA5R, SA6R Motor Straight Type RCACR-SA4C, SA5C, SA6C (Coupling Type) Cleanroom type Motor Straight Type RCACR- SA5D, SA6D (Built-in Type) IAI America, Inc.
  • Page 3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 4 Please Read Before Use Thank you for purchasing our product. This Operation 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 5 Note Greasing Actuators of Cleanroom Specification For ROBO Cylinder actuators of cleanroom specification, use grease of low-dust-raising type for cleanroom applications. The grease specified in the maintenance/inspection sections of the Operating Manual is for actuators of standard specification. Using the grease for the standard actuators on the cleanroom actuators may generate dust.
  • Page 6 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 7 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 8: Table Of Contents

    Table of Contents Safety Guide ..........................1 Checking the Product ....................17 Components ............................17 Operation Manuals for Controllers Supported by This Product .............17 How to Read Model Nameplate ......................18 How to Read Model Number........................18 Specification ........................19 Life ..........................26 Operating and Storage/Preservation Environment ............
  • Page 9 How to Set the Home Preset and Home Return Offset .................45 7.5.1 ASEL Controller ...........................45 7.5.2 ACON Controller ..........................48 Slit for Position Adjustment.................... 51 Options .......................... 52 Brake 52 Foot Bracket ............................52 High-acceleration/deceleration Type......................53 Power-saving Type..........................53 Home Check Sensor ..........................53 Reversed-home Specification ........................53 Slider Roller Specification ........................53 Motor Reversing at Left, Motor Reversing at Right................54...
  • Page 10 Appendix........................96 .... 12.1 External Dimensions ......................96 ..12.1.1 RCA-SA4C ........................96 ..12.1.2 RCA-SA5C .......................... . 97 ..12.1.3 RCA-SA6C ........................98 ..12.1.4 RCA-SA4D ...........................
  • Page 11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 12: Safety Guide

    Safety Guide This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to read this section before using your product. Regulations and Standards Governing Industrial Robots Safety measures on mechanical devices are generally classified into four categories under the International Industrial Standard ISO/DIS 12100, “Safety of machinery,”...
  • Page 13 Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Cutoff of drive Work area Work condition Measure Article source Signs for starting operation Article 104 Outside During automatic Not cut off Installation of railings, enclosures, movement range operation Article 150-4 etc.
  • Page 14 Applicable Modes of IAI’s Industrial Robot Machines meeting the following conditions are not classified as industrial robots according to Notice of Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No. 340): (1) Single-axis robo with a motor wattage of 80 W or less (2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating part, if any, has the maximum movement range of within 300 mm including the end of the rotating part...
  • Page 15 Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. Task Note  This product is not planned or designed for uses requiring high degrees of safety. Model selection Accordingly, it cannot be used to sustain or support life and must not be used in the following applications:...
  • Page 16 No. Task Note Installation/ (1) Installing the robot, controller, etc.  Be sure to firmly secure and affix the product (including its work part). startup If the product tips over, drops, malfunctions, etc., damage or injury may result.  Do not step on the product or place any article on top. The product may tips over or the article may drop, resulting in injury, product damage, loss of/drop in product performance, shorter life, etc.
  • Page 17 No. Task Note  Implement measures to prevent the work part, etc., from dropping due to a power Installation/ startup outage or emergency stop.  Ensure safety by wearing protective gloves, protective goggles and/or safety shoes, as necessary.  Do not insert fingers and objects into openings in the product. Doing so may result in injury, electric shock, product damage, fire, etc.
  • Page 18 No. Task Note  Whenever possible, work from outside the safety fences. If work must be Maintenance/ inspection performed inside the safety fences, prepare “work rules” and make sure the operator understands the procedures thoroughly.  When working inside the safety fences, turn off the power switch, as a rule. ...
  • Page 19 Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and “Note,” as specified below. Level Degree of danger/loss Symbol Failure to observe the instruction will result in an Danger Danger imminent danger leading to death or serious injury. Failure to observe the instruction may result in death Warning Warning...
  • Page 20 Handling Precautions 1. Do not set a speed or acceleration/deceleration exceeding the applicable rating. Do not set a speed or acceleration/deceleration exceeding the applicable rating. Doing so may result in vibration, failure or shorter life. If an acceleration/deceleration exceeding the rating is set, creep may occur or the coupling may slip.
  • Page 21 Use your actuator at duties not exceeding the calculated reference duty The duty of an actuator refers to the operating rate of the actuator (time during which the actuator is operating in one cycle). Use your actuator at duties not exceeding the reference duty calculated by the formula below. If the reference duty is exceeded, overloading may occur or the motor may generate heat.
  • Page 22 If the actuator has a home check sensor (switch) (option), observe applicable precautions such as not bending the switch dog If the actuator has been ordered with a home check sensor (switch), the switch is stored inside the actuator. (Remove the side cover to access the switch.) The micro-switch and switch dog have been adjusted to optimal positions prior to shipment.
  • Page 23 8. Transpor ting and Handling Handling the Actuator 8.1.1 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 24 Handling the Actuator Assembly Pay attention to the following instructions when transporting an assembly of actuator axes. 8.2.1 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 25 Names of the Parts The names of the actuator parts are indicated below. The left and right sides are indicated by looking at the actuator from the motor end with the actuator set down horizontally. Front end means the side opposite the motor end. Motor Straight Type (Standard) RCA Coupling Type (SA4C, SA5C, SA6C), ...
  • Page 26 Motor Straight Type (Cleanroom Specification) RCACR Coupling Type (SA4C, SA5C, SA6C), Built-in Type (SA5D, SA6D)  Side Cover Right Side Actuator Cable Stainless Sheet Opposite Motor End Motor End Plug Vacuum Tube Left Side Slider Cover Front Cover Slider Motor Cover Base Rear Cover Bearing Housing...
  • Page 27 Motor Reversing Type RCA SA4R, SA5R, SA6R  Side Cover Bearing Housing Right Side Stainless Sheet Opposite Motor End Motor End Left Side Actuator Cable Motor Cover Slider Cover Front Cover Slider Base Pulley Cover Rear Cover Caution: The cable directly connected to the actuator is not robot cable even when ordered with robot cable option.

  • Page 28: Checking The Product

    Checking the Product If based on a standard configuration, this product consists of the items listed below. Caution: Check the packed items against the packing specification. Should you find a wrong model number or any missing item, please contact your IAI dealer or IAI. 1.1 Component Name Model number...

  • Page 29: How To Read Model Nameplate

    How to Read Model Nameplate Model RCA-SA4C-I-20-10-50-A1-P-B No. 600090270 Serial number How to Read Model Number RCA  SA4C  I  20  10  50  A1  P  B <Series> <Options> Standard type Brake Brake Cleanroom type (Wirings taken out from end) RCACR Brake...

  • Page 30: Specification

    2. Specification (1) 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. Strokes and maximum speed limits (unit: mm/sec) Stroke (mm) Lead Type...
  • Page 31 (2) Maximum acceleration and maximum payload capacity [Standard Specification/Power-saving Type] Maximum payload capacity (kg) Motor output Lead Type Maximum acceleration (G) (mm) Horizontal Vertical 0.2 G 20 W 0.3 G 0.3 G 0.2 G 20 W 0.3 G 0.3 G Installed horizontally : 0.3 G SA5C 20 W...
  • Page 32 (3) Rated thrust Motor output Type Lead (mm) Rated thrust (N) 78.4 20 W 39.2 19.6 65.7 20 W 33.3 16.7 SA5C 20 W 10.7 96.8 30 W 48.4 24.2 SA6C 30 W 15.8 (4) Driving method Motor output Encoder Type Lead (mm) Driving method...
  • Page 33 (5) Common specifications Specification Item SA5C, SA6C-Lead SA5C, SA6C-Lead 20 mm other than 20 mm 0.02 mm 0.03 mm Positioning repeatability Backlash 0.1 mm or less 0.1 mm or less Base Material: Aluminum with special alumite treatment *1. Default value. Artisan Technology Group - Quality Instrumentation ...
  • Page 34 (6) Load on the actuator The allowable load moments and allowable overhang load lengths of respective actuators are listed below. Make sure the allowable values applicable to your actuator are not exceeded. Allowable dynamic moments Model 2.7 Nm (0.27 kgfm) 3.9 Nm (0.4 kgfm) 6.8 Nm (0.7 kgfm) 4.9 Nm (0.5 kgfm)
  • Page 35 (Note) To calculate the moments in Ma and Mc directions, shift the reference position by L mm from the top face of the slider, as shown below. Reference position 31.2 mm 39 mm 40 mm Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 36 (7) Actuator accuracy [1] Actuator installation surface The parallelism between the actuator installation surface (bottom face of the base) and load installations surface (top face) shall be 0.1 mm/m or less at any position over the stroke. [2] The traveling parallelism shall be 0.05 mm/m or less after the actuator has been installed (secured on a flat smooth surface Condition: The above values have been calculated at 20ºC.

  • Page 37: Life

    3. Life One factor that affects the traveling life of an actuator is “Rated Load.” There are two types of rated loads: “Static Rated Load” and “Dynamic Rated Load.”  “Static Rated Load”: Load applied while the actuator is stopped, as a result of which minor pressure marks are left on the contact surface ...

  • Page 38: Operating And Storage/Preservation Environment

    Operating and Storage/Preservation Environment 4.1 Onst allation 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 39: Installation

    5. Installation How to install the actuator on/in a mechanical system is explained 5.1 Insallation Install the actuator as explained below, as a rule. Pay attention to these items when installing the actuator (except for custom-order models). : Installable : Daily inspection is required x: Not installable ...

  • Page 40: Note On Installation

    Note on Installation The stainless sheet is designed very thin (thickness: 0.1 mm) in order to ensure flexibility. Therefore, the stainless sheet is easily dented or scratched. Once dented or scratched, the stainless sheet may break during use. When installing the stainless sheet, pay attention to the following points: 1.

  • Page 41: Installing The Main Body

    Installing the Main Body Mount the actuator to a machined surface or one of comparable precision. The side faces and lower surface of the base run parallel with the guides. When traveling precision is required, use these as the reference planes for mounting. Take note that the available mounting methods are different for each actuator type.

  • Page 42: Using The Mounting Holes On Top Of The Base

    5.3.2 Using the Mounting Holes on Top of the Base (SA4 of 200 mm or Shorter Strokes/SA5 of 300 mm or Shorter Strokes) Mounting hole Mounting hole Four through holes (two on the motor side and two on the counter-motor side) are provided in the base for installing the actuator on its top face.

  • Page 43: Using Foot Bases (Optional)

    5.3.3 Using Foot Bases (Optional) Foot base Foot base Mounting hole Mounting hole By using foot bases (optional), the actuator can be installed on its top face using the mounting holes in the foot bases. Foot bases provide an effective means for installing the SA4 models of strokes exceeding 200 mm, S5A models of strokes exceeding 300 mm, or all SA6 models.

  • Page 44: Installation Surface

    5.4 Inst allation Surface  The mounting table should have sufficient rigidity to avoid generating vibration.  The surface where the actuator will be mounted should be machined or be equally level and the flatness tolerance between the actuator and the table should be within 0.05 mm. ...

  • Page 45: Using Side Faces Of The Foot Base As Reference Planes

    5.4.2 Using Side Faces of the Foot Base as Reference Planes (If Equipped with Optional Foot Bases)  The side faces of the foot base provide the reference planes for slider travel.  When precision is required, use these surfaces as the reference planes for mounting. Type Dimension A 9.5 mm...

  • Page 46: Clamp Screws

    5.5 Clamp Screws  The male screws for mounting the base should be M3 for SA4/SS4, M4 for SA5/SS5, and M5 for SA6/SS6. (Use hexagon socket-head bolts).  For the bolts, we recommend high strength bolts of ISO-10.9 or higher. ...

  • Page 47: Installing The Load On The Slider

    Installing the Load on the Slider 5.6.1 Using the Slider  Tapped holes are provided on the slider for installing the load. The method of clamping varies according to how to mount the main body.  In case of moving actuator instead of slider, use the same tapped holes on the slider. ...

  • Page 48: Using A Sub Slider (Optional) (Optional For Sa4 Type)

    5.6.2 Using a Sub Slider (Optional) (Optional for SA4 Type) For the SA4 type, a sub-slider is available as an option. The figure below shows the positions of load-mounting holes in actuators with a sub-slider. 2- 3H7, depth 5 4-M3, depth 7 Artisan Technology Group - Quality Instrumentation ...

  • Page 49: Cleanroom Specification

    Cleanroom Specification 5.7.1 Suction Rate Air inside the actuator must be suctioned to ensure that the actuator operates in conformance with the requirements of cleanliness class 10.  Provide an air tube and connect it to a quick joint (outer diameter 6) provided at the suction section, and connect the other end of the tube to a vacuum pump, blower, ejector, etc., to suction at an applicable flow rate as specified below.

  • Page 50: Connecting To The Controller

    Connecting to the Controller 6.1 W iring  If the cable cannot be secured in your specific application, make sure the actuator is used in such a way that the cable deflects only by its own weight, or use a self-supporting cable hose or other means to ensure a large wiring radius so as to reduce the load received by the cable.
  • Page 51 [Connection with ACON/ASEL Controller] Dedicated cable (for connecting the RCA/RCACR with a dedicated controller) RCA, RCACR RCA RCACR Robot cable r = 54 mm or more (movable) Dedicated controller Standard cable ACON r = 75 mm or more (fixed) ASEL Use a robot cable if the cable will move.
  • Page 52 When building an application system using the actuator and controller, incorrect wiring or connection of each cable may cause broken wire, poor contact or other unexpected problem. The prohibited items relating to cable wiring are explained below.  Do not cut and reconnect the cable for extension or shorten the cable. ...
  • Page 53  When fixing the cable, provide a moderate slack and do not tension it too tight. Do not use a spiral tube where the cable flexes frequently.  Separate the I/O and communication lines from the power and drive lines. Do not wire them in the same duct.

  • Page 54: Setting The Home

    Setting the Home 7.1 Home Return Home return involves the following operation sequence: [1] When a home return command is issued, the actuator moves in the direction specified by the parameter in which the moving direction has been set. [2] During this return operation, the mechanical end is detected by the software. [3] The actuator reverses at the end and moves until a Z-phase signal is detected, upon which the applicable location is set as the reference point.

  • Page 55: How To Use The Home Mark

    How to use the home mark  Please affix these marks to the actuator as home markers as needed. Contents of sticker Home mark sticker x 1 sheet Home mark scale x 4 Home mark x 4 (Scale: 1 mm graduation mark, 10 mm width) ...

  • Page 56: How To Set The Home Preset And Home Return Offset

    How to Set the Home Preset and Home Return Offset Correct any position deviation by changing the home preset parameter when an ASEL controller is used, or home return offset parameter when an ACON controller is used. How to set each parameter is explained below. 7.5.1 ASEL Controller (1) Open the position edit screen.
  • Page 57 (3) Select the parameter. Click this button to open the parameter edit screen. (4) Select the Axis-specific parameter tab. Select the Axis-specific parameter tab. (5) When the axis-specific parameter screen appears, select No. 12, “Home preset.” No.12 Select No. 12, “Home preset.” (6) Change Axis-specific Parameter No.
  • Page 58 (8) The data is transferred to the controller. (9) Select OK. (10) Write the data to the flash ROM. Select the Parameters check box. (11) Restart the controller. Select Yes (Y). Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 59: Acon Controller

    7.5.2 ACON Controller (1) Open the position edit screen. on the PC software screen, choose Select Position Number, and then click OK. The following Click screen appears. Click this button and make selection on the displayed position edit screen. The current position is shown. Point number (2) Compare the value of the current position against that of the position number corresponding to the desired position to which the actuator has been moved.
  • Page 60 (3) Select the parameter. Click this button to select the parameter. (4) Display the user parameter screen. (5) Change User Parameter No. 22 (home return offset). * The setting unit is mm. Add or subtract the difference measured in (2) to/from the value currently entered. Example: When the measured difference is -0.5 mm: Home return offset = Current setting –...
  • Page 61 (6) Write the modified data. Click the controller transfer button  OK. * After the data has been written, turn off the controller power. Click this controller transfer button. Select OK. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 62: Slit For Position Adjustment

    Slit for Position Adjustment A hole is provided in the front cover on the counter-motor side, with a slit machined on the ball screw shaft. Use this slit if you want to fine-tune the slider position (for direct teaching, etc.). Insert a screwdriver with an outer diameter of Ø8 mm or less into the slit, and turn the driver.

  • Page 63: Options

    9. Options 9.1 Brake The brake is a mechanism to hold the slider in place when the actuator is used vertically, to prevent the slider from dropping and thereby damaging the work as the power or servo is turned off. If an axis is used vertically, it needs an optional brake.

  • Page 64: High-Acceleration/Deceleration Type

    9.3 High-acceleration/d eceleration Type With this option, the maximum acceleration (0.2 G or 0.3 G) of the standard specification increases to 1.0 G (or 0.8 G on certain models). Even at the maximum acceleration of 1.0 G (or 0.8 G on certain models), the actuator can operate by maintaining the same payload capacity as permitted for the standard specification.

  • Page 65: Motor Reversing At Left, Motor Reversing At Right

    Motor Reversing at Left, Motor Reversing at Right “ML” indicates that the motor reverses on the left side as viewed from the motor, while “MR” represents motor reversing on the right side. These options can be specified for motor reversing types including the SAR4, SA5R and SA6R. Left Right Suction Joint on Opposite Side...

  • Page 66: Motor/Encoder Cables

    Motor/Encoder Cables 10.1 AMEC/ASEP Controller Cables [1] Integrated motor/encoder cable CB-ASEP-MPA*** * *** indicates the cable length (L). A desired length can be specified up to 20 m. Controller end Mechanical end Example) 080 = 8 m [Minimum bending radius] Controller end Actuator end Movable: 68 mm...

  • Page 67: Amec/Asep Controller Cables

    10.1 ACON/ASEL Controller Cables [1] Motor cable CB-ACS-MA*** * *** indicates the cable length (L). A desired length Controller end Mechanical end can be specified up to 20 m. Example) 080 = 8 m Wiring Signal Color Color Signal Color Wiring [Minimum bending radius] AWG 22...

  • Page 68: Maintenance

    11. Maintenance 11.1 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. Visual inspection Check interior Grease supply...

  • Page 69: Cleaning

    11.3 Cleaning  Clean the exterior as needed.  Wipe off dirt with a soft cloth.  Do not use strong compressed air on the actuator as this may force dust into the crevices.  Do not use petroleum-based solvent on plastic parts or painted surfaces. ...

  • Page 70: Interior Inspection

    11.5 Interior Inspection Turn off the power, remove the side covers, and then visually inspect the interior. Check the following items during interior inspection. Internal check points Body Loose mounting bolts? Guides Lubrication appropriate? Soiling? Ball screw Lubrication appropriate? Soiling? 1) Remove both side covers.

  • Page 71: Internal Cleaning

    11.6 Internal Cleaning  Wipe off dirt with a soft cloth.  Do not use strong compressed air on the actuator as this may force dust into the crevices.  Do not use petroleum-based solvent, neutral detergent or alcohol. Caution: Do not use flushing oil, molybdenum grease or anti-rust lubricant. When grease is soiled with large amounts of foreign substances, wipe off the dirty grease and then apply new grease.
  • Page 72 [Cleanroom Specification] (1) What grease to use on the guide and ball screw The following grease is used when we ship the unit. This grease is of low-dust-raising type. Kuroda Precision Industries C Grease 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.

  • Page 73: How To Apply Grease

    11.7.2 How to Apply Grease 1) When greasing the guide, use a spatula or grease applicator to squeeze or inject grease into the space between the slider and base, and then move the slider back and forth several times to let the grease spread evenly.

  • Page 74: Replacing/Adjusting The Stainless Sheet

    11.8 Replacing/Adjusting the Stainless Sheet [Items Required for Replacement]  Replacement stainless sheet  Clearance-checking tool (a regular slider cover with holes) (This tool is available from IAI’s Sales Engineering Section. If you are replacing the stainless sheet, please contact us to make a rental arrangement or purchase the tool.) ...
  • Page 75 [Procedure] 1) Remove the slider-cover affixing screws and remove the covers. After the slider covers have been removed [1] Standard specification (slider structure)  RCA-SA4/SA5/SS4/SS5  RCA-SA6/SS6 Coil spring Sheet slider Coil spring Plate spring Coil spring Coil spring Sheet slider [2] Cleanroom specification, slider roller specification (optional) (roller structure) ...
  • Page 76 2) Remove the stainless-sheet retainer screws on both sides and pull out the stainless sheet. 3) Guide a new stainless sheet into the slider. 4) Hold the stainless sheet in place, and affix the retainer plates and screws. At this time, securely tighten the screws only on the motor side, and leave the screws on the counter-motor side loose.
  • Page 77 6) Adjust the tension of the stainless sheet. [1] While looking through the center opening in the clearance-checking tool, move the stainless sheet on the loose end in the directions of arrows until the clearance between the top face of the stainless sheet and the back of the clearance-checking tool falls within the specified range.
  • Page 78 [3] Move the slider and check the tension of the stainless sheet along the entire stroke. Checkpoint 1: Check if the clearance between the top face of the stainless sheet and the back of the clearance-checking tool falls within the specified range along the entire stroke. Checkpoint 2: Look through the peripheral openings and confirm that the stainless sheet edges do not contact the slider body.

  • Page 79: Reduction Belt [Motor Reversing Type]

    11.9 Reduction Belt [Motor Reversing Type] 11.9.1 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 80: Replacing The Belt Of The Motor Reversing Type: Sa4R, Sa5R, Sa6R

    11.9.4 Replacing the Belt of the Motor Reversing Type: SA4R, SA5R, SA6R [Items Required for Replacement]  Replacement belt  Allen wrenches  Phillips screwdriver  Tension gauge (capable of tensioning to 7 kgf or greater)  Strong string, looped (or long tie-band) ...
  • Page 81 [Procedure] 1) Remove the pulley cover using a Phillips screwdriver. Cross recessed screws: M3 2) Use a Phillips screwdriver to remove the bolts affixing the motor-end cap and attached cables. Affixing bolts on motor-end cap Affixing bolts at attached cable (Cross recessed screws) end (Cross recessed screws) 3) Pull out the motor-end cap.
  • Page 82 4) Pull out the motor-end cover to expose the motor. 5) Move the slider to a position where Z phase turns on (home position). On both standard actuators and actuators whose home is set on the opposite side, this position corresponds to 2 mm from the mechanical end.
  • Page 83 6) 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.) 7) Check the following points before restoring the home position: •...
  • Page 84 8) 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 85 9) Insert the motor-end cover and cap. Pull out the cable end while pushing in the motor-end cap. 10) Use a Phillips screwdriver to securely tighten the affixing bolts for motor-end cap and attached cables. Affixing bolts on motor-end cap Affixing bolts at attached cable end (Cross (Cross recessed screws).

  • Page 86: Replacing The Motor

    11.10 Replacing the Motor 11.10.1 Replacing the Motor of the Motor Straight Type (Coupling Type): SA4C, SA5C, SA6C [Items Required for Replacement]  Replacement motor  Coupling (with screws) Example: Replacement motor (IAI encoder)  Allen wrenches  Phillips screwdriver ...
  • Page 87 [Procedure] 1) Move the slider to a position where Z phase turns on (home position). On both standard actuators and actuators whose home is set on the opposite side, this position corresponds to 2 mm from the mechanical end. Return the slider 2 mm from the Return the slider 2 mm from the mechanical end.
  • Page 88 3) Pull out the motor-end cap. Push in the cable end while pulling out the motor-end cap. 4) Pull out the motor-end cover to expose the motor. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 89 5) Detach the attached cables. • Pull out the motor connector. • If the actuator has a brake, also detach the brake connector. • Remove the grounding wire using a Phillips screwdriver. • While holding the motor with one hand, pull out the encoder cable. (The photograph bellow shows the motor (IAI encoder).) Artisan Technology Group - Quality Instrumentation ...
  • Page 90 6) Detach the attached cables. 7) Take out the motor. • Remove the two motor affixing bolts using an Allen wrench of 2.5 mm across flats. Motor affixing bolt Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 91 8) Apply grease on the actuator coupling. Apply grease on the inside of the coupling. 9) Insert the replacement coupling (with screws) by aligning it with the current orientation of the actuator coupling. Coupling on actuator side Inserting the coupling (with screws) Inserted coupling (with screws) Artisan Technology Group - Quality Instrumentation ...
  • Page 92 10) Mark the shaft and body of the replacement motor to prevent the motor shaft position from deviating. Mark the shaft and body of the replacement motor. 11) Insert the replacement motor into the actuator coupling, and secure with two motor affixing bolts. Insert the replacement Tighten two bolts at top and bottom using motor.
  • Page 93 12) Tighten the screw on the coupling. Tighten the screw on the coupling using an Allen wrench of 2.0 mm across flats. 13) Slightly move the slider to expose the second screw on the coupling, and tighten the screw in the same manner.
  • Page 94 14) Install the attached cables. • While holding the motor with one hand, insert the encoder cable. (The photograph bellow shows the motor (IAI encoder).) • Install a grounding wire using a Phillips driver. • Plug the cables into the motor. Artisan Technology Group - Quality Instrumentation ...
  • Page 95 15) Insert the motor-end cover and cap. Store the connector inside the motor-end cap. Store the connector inside Pull out the cable end while the motor-end cap. pushing in the motor-end cap. 16) Use a Phillips screwdriver to securely tighten the affixing bolts for motor-end cap and attached cables. Affixing bolts on motor-end cap Affixing bolts at attached cable end (Cross recessed screws).

  • Page 96: Replacing The Motor Of The Motor Reversing Type: Sa4R, Sa5R, Sa6R

    11.10.2 Replacing the Motor of the Motor Reversing Type: SA4R, SA5R, SA6R [Items Required for Replacement]  Replacement motor  Allen wrenches  Phillips screwdriver  Tension gauge (capable of tensioning to 7 kgf or greater)  Strong string, looped (or long tie-band) ...
  • Page 97 [Overview of Replacement] 1) Loosen the motor-unit affixing bolts to remove the belt, and replace the motor. 2) Restore the home position. Affix the slider at a position 2 mm from the mechanical end on the home side, pass the belt, and adjust the belt to the specified tension.
  • Page 98 [Procedure] 1) Remove the pulley cover using a Phillips screwdriver. Cross recessed screws: M3 2) Use a Phillips screwdriver to remove the bolts affixing the motor-end cap and attached cables. Affixing bolts on motor-end cap Affixing bolts at attached cable (Cross recessed screws) end (Cross recessed screws) 3) Pull out the motor-end cap.
  • Page 99 4) Pull out the motor-end cover to expose the motor. 5) Detach the attached cables. • Pull out the motor connector. • If the actuator has a brake, also detach the brake connector. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 100 • Removethe grounding wire using a Phillips screwdriver. • While holding the motor with one hand, pull out the encoder cable. (The photograph bellow shows the motor (IAI encoder).) 6) Detach the attached cables. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 101 7) 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. After the belt has been removed, remove the motor-unit affixing bolts. 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.) 8) Take out the motor.
  • Page 102 10) Move the slider to a position where Z phase turns on (home position). On both standard actuators and actuators whose home is set on the opposite side, this position corresponds to 2 mm from the mechanical end. Return the slider 2 mm from the Return the slider 2 mm from the mechanical end.
  • Page 103 12) 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 104 13) Install the attached cables. • While holding the motor with one hand, insert the encoder cable. (The photograph bellow shows the motor (IAI encoder).) • Install a grounding wire using a Phillips driver. • Plug the cables into the motor. •...
  • Page 105 14) Insert the motor-end cover and cap. Pull out the cable end while pushing in the motor-end cap. 15) Use a Phillips screwdriver to securely tighten the affixing bolts for motor-end cap and attached cables. Affixing bolts on motor-end cap Affixing bolts at attached cable end (Cross (Cross recessed screws).

  • Page 106: Replacing The Motor - Motor Straight Type

    11.10.3 Replacing the Motor – Motor Straight Type (Built-in Type) : SA4D, SA5D, SA6D, SS4D, SS5D, SS6D If you must replace the motor of your built-in type actuator, please contact IAI because the built-in type actuators are not designed to allow their motor to be replaced by the customer. Artisan Technology Group - Quality Instrumentation ...

  • Page 107: Appendix

    12. Appendi x 12.1 External Dimensions 12.1.1 RCA-SA4C 4-3.6 Depth 6.5, counterbore depth 3.7 (for actuator installation) 4-M3, depth 7 2-3H7, depth 5 8 hole Cable joint connector Slit For position adjustment End face of base End face of base Detail view of slit for slider End face of base 100 or more...

  • Page 108: Rca-Sa5C

    12.1.2 RCA-SA5C 4-4.5 Depth 8, counterbore depth 4.5 2-4H7, depth 6 4-M4, depth 9 (for actuator installation) 8 hole Slit Cable joint connector For position adjustment End face of base Detail view of slit for slider End face of base position adjustment 100 or more Offset...

  • Page 109: Rca-Sa6C

    12.1.3 RCA-SA6C 4-M5, depth 9 2-5H7, depth 6 8 hole Slit Cable joint connector For position adjustment Detail view of slit for slider position adjustment Offset End face of base reference 100 or more position for Incremental specification 99.2 (138.2 with brake) Ma moment Absolute specification 114.2 (153.2 with brake)

  • Page 110: Rca-Sa4D

    12.1.4 RCA- SA4D Incremental specification 92.5 Absolute specification 98.5 Cable joint connector 4-M3, depth 7 Detail view of A 4-3.6 Depth 6.5, counterbore depth 3.5 2-3H7, effective depth 5 (for actuator installation) Incremental specification: 80.5 Absolute specification: 86.5 Offset reference position for Ma moment Home...

  • Page 111: Rca-Sa5D

    12.1.5 RCA-SA5D Incremental specification 75.5 Absolute specification Cable joint connector 4-4.5 through, 8 counterbore depth 4.5 4-M4, depth 9 2-4H7, effective depth 6 Incremental specification 60.5 Offset reference Stroke position for Ma moment Home 50 (stroke 50) End face of base 100 or more End face of base U x 100...

  • Page 112: Rca-Sa6D

    12.1.6 RCA-SA6D Cable joint connector 4-M5, depth 9 2-5H7, effective depth 6 Incremental specification 75.5 Offset reference Stroke position for Ma moment Home End face of base End face of base 100 or more Detail view of Oblong hole, depth 5 from 100 (4 hole oblong hole P (pitch between 4 hole and oblong hole)

  • Page 113: Rca-Ss4D

    12.1.7 RCA-SS4D Cable joint connector 4-3.6 bit, 6.5 4-M3, depth 7 counterbore Stroke Offset reference position for Ma moment Home Reference surface 2-M3, depth 5 Brake dimensions R: Brake cable exit direction, E: Brake cable exit direction, L: Brake cable exit direction, Stroke Artisan Technology Group - Quality Instrumentation ...

  • Page 114: Rca-Ss5D

    12.1.8 RCA-SS5D 4-M4, depth 9 Cable joint connector 4-4.5 bit, depth 8, counterbore depth 4.5 Stroke Offset reference position for Ma moment Home Reference surface 100 or more 2-M4, depth 5 Brake dimensions R: Brake cable exit direction (right) E: Brake cable exit direction (end) 4-4.5 bit, depth 8, counterbore depth 4.5 L: Brake cable exit direction (left) Stroke...

  • Page 115: Rca-Ss6D

    12.1.9 RCA-SS6D Cable joint connector 2-5H7, effective depth 6 4-M5, depth 9 Offset reference position for Ma Stroke moment Home Reference surface 100 or more 3-4H7, depth 4 D-M5, depth 6 (for installation) Brake dimensions R: Brake cable exit direction, E: Brake cable exit direction, L: Brake cable exit direction, Stroke...

  • Page 116: Rca-Sa4R

    12.1.10 RCA-SA4R Slider height: Home 4-3.6 through, 6.5 Bottom surface of base counterbore depth 3.7 4-M3, depth 7 2-3H7, depth 5 Offset reference position for Ma moment Cable joint connector End face of base Slit End face of base For position 100 or 98 (137 with brake) more...

  • Page 117: Rca-Sa5R

    12.1.11 RCA- SA5R Slider height: 50 Home 4-4.5 through, 8counterbore depth 4.5 4-M4, depth 9 Bottom surface of base Offset reference position for Ma moment Cable joint connector End face of base End face of base Slit 100 or more Incremental specification 77 (116 with brake) Absolute specification...

  • Page 118: Rca-Sa6R

    12.1.12 RCA-SA6R Slider height: 53 Home 2-5H7, depth 6 4-M5, depth 9 Bottom surface of base Offset reference position for Ma moment Cable joint connector Incremental specification 92 (131 with brake) 100 or more Absolute specification 107 (146 with brake) Slit Reference surface...

  • Page 119: Rcacr-Sa4R

    12.1.13 RCACR-SA4R 4-3.6 Depth 6.5, counterbore depth 3.7 Cable joint connector (for actuator installation) 4-M3, depth 9 2-3H7, depth 5 Slit 8 hole For position adjustment Applicable tube outer diameter 6 End face of base End face of Detail view of slit for slider base position adjustment End face of base...

  • Page 120: Rcacr-Sa5C

    12.1.14 RCACR-SA5C 4-4.5 Depth 8, counterbore depth 4.5 Cable joint connector 4-M4, depth 9 (for actuator installation) 2-4H7, depth 6 8 hole Slit For position adjustment Applicable tube outer diameter 6 Detail view of slit for End face of base slider position adjustment End face of base...

  • Page 121: Rcacr-Sa6C

    12.1.15 RCACR-SA6C Cable joint connector 4-M5, depth 9 2-5H7, depth 6 8 hole Slit For position adjustment Applicable tube outer diameter 6 Detail view of slit for slider position Detail view of slit for slider position adjustment 100 or more adjustment Offset reference position for Ma...

  • Page 122: Rcacr-Sa5D

    12.1.16 RCACR-SA5D Incremental specification 75.5 Absolute specification Cable joint connector 4-4.5 through 8, counterbore depth 4.5 Applicable tube outer diameter 8 2-4H7, effective depth 6 4-M4, depth 9 (inner diameter 6) Incremental specification Offset reference Stroke Opposite side Standard position for Ma (optional) side Home...

  • Page 123: Rcacr-Sa6D

    12.1.17 RCACR-SA6D 2-5H7, effective depth 6 4-M5, depth 9 Cable joint connector Reference surface Applicable tube outer diameter 6 (inner diameter 6) Incremental Detail view of A specification Stroke Standard Opposite side Offset reference side (optional) Home position for Ma moment Detail view of A Oblong hole, depth 5 P (pitch between 4 hole and oblong hole)

  • Page 124: Warranty

    13. Warranty 13.1 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 13.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.

  • Page 125: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications

    13.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.

  • Page 126: Change History

    First edition March 2007 Second edition Corrected clerical errors March 2008 Third edition P. 25, 26: Added “high-acceleration/deceleration specification.” July 2010 Forth edition Added “Notes” at the beginning.” November 2010 Fifth edition “Please Read Before Use”: Entirely revised the content. “Safety Guide”: Entirely revised the content.
  • Page 127 Manual No.: ME3648-8A (July 2011) 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 Head Office: 2690 W, 237th Street Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chicago Office: 1261 Hamilton Parkway Itasca, IL 60143 TEL (630) 467-9900 FAX (630) 467-9912 Atlanta Office: 1220 Kennestone Circle Suite 108 Marietta, GA 30066...

This manual is also suitable for:

Iai america rca-sa5cIai america rca-sa6cIai america rca-sa4dIai america rca-sa5dIai america rca-sa6dIai america rca-ss4d ... Show all

Table of Contents