IAI ROBO Cylinder RCS2 Operating Manual
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- Operating manual (113 pages) ,
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- First step manual (4 pages)
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Summary of Contents for IAI ROBO Cylinder RCS2
- Page 1 ROBO Cylinder Rod Type RCS2 Actuator [Ultra High-Thrust Type: RA13R] Operating Manual First Edition IAI America, Inc.
- Page 2 Transporting the Unpacked Actuator The table below lists the weights of this actuator. Stroke Weight 50 mm 33 kg 100 mm 34 kg 150 mm 35 kg 200 mm 36 kg When transporting or installing the actuator, always work in a group of two or more to securely support the actuator body, and exercise due caution to prevent injury.
- Page 3 Safety Precautions (Please Read Before Use) Before installing, operating, maintaining or inspecting this product, peruse this operating manual as well as operating manuals and related documentations for all equipment and peripherals connected to this product to ensure the correct use of the product. Also keep in mind that these tasks must be performed by individuals who possess sufficient knowledge of the applicable equipment and safe operation thereof.
- Page 4 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 5 Do not hold the moving parts of the product or its cables during installation. It may result in injury. Always use IAI’s genuine cables for connection between the controller and the actuator. Also use IAI’s genuine products for the key component units such as the actuator, controller and teaching pendant.
- Page 6 When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste. Others ν IAI shall not be liable whatsoever for any loss or damage arising from a failure to observe the items specified in “Safety Precautions.”...
- Page 7 Prohibited Handling of Cables When designing an application system using IAI 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 8 Cautions for use of a cable bearer The supplied cable is not a robot cable, so never store it in a cable bearer. Always use a Bending robot relay cable. radius r If a cable bearer is used, select one with a bending radius r of at least 50 mm.
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Page 9: Table Of Contents
Table of Contents Foreword ..........................1 Safety Precautions ......................... 1 Basic Operating Instructions ................... 1 Maintenance and Inspection ................... 1 Warranty ..........................2 Warranty Period....................... 2 Scope of Warranty......................2 Names of the Parts......................... 3 Standard Specification..................... 3 Brake Specification......................4 Transporting and Handling ..................... -
Page 11: Foreword
• Please be sure to use only the cable provided by IAI to connect the actuator and controller. • Please do not allow people within the moving range of the unit when it is in operation or when the power is ON since this is dangerous. -
Page 12: Warranty
• Anything caused by an act of God, accident, fire, etc. This warranty covers only the product delivered. IAI shall not be liable for any secondary loss or damage arising from a defect in the product. To enjoy free warranty repairs, the customer must bring the defective product to IAI’s factory. -
Page 13: Names Of The Parts
Names of the Parts The name of the actuator parts are indicated below. In this manual, the left and right sides are indicated by looking at the actuator from the motor side in top view. 4.1 Standard Specification Right Rod Side Motor Side Connector box Pulley cover... -
Page 14: Brake Specification
4.2 Brake Specification Right Rod Side Motor Side Connector box Pulley cover Left Brake housing Rod-tip adapter Aluminum frame Base Motor bracket * The motor-reversing direction varies depending on the specification of the delivered product. Caution: Even if you specified a robot cable, the cable extending from the actuator is not a robot cable. -
Page 15: Transporting And Handling
Transporting and Handling 5.1 Handling the Unassembled Actuator 5.1.1 Handling the Packed Unit Unless otherwise specified, each single-axis actuator is packed and shipped individually. When transporting the packed actuator, exercise due caution to avoid dropping the box or hitting it against an object, structure, etc. -
Page 16: Handling The Assembled Actuator
5.2.1 Preassembled Actuator If specified, IAI assembles the mechanical components at our factory, conducts a shipping inspection on the assembly, and ships the assembled actuator by packing it with skid plates bolted to the exterior frame. The rod is secured to prevent sudden movement during transport. If the actuator is of combination type, the extremities are also secured to prevent excessive swinging caused by external vibration. -
Page 17: Operating And Storage Environment
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 18: Installation
Installation 7.1 Installing the Main Body (1) Using the tapped holes in the back of the base Reamed hole 2-∅8H7, depth 10 D-M12, depth 18 Stroke Tap size Maximum thread length 18 mm Tapped holes are provided in the back of the base for mounting. You can use these tapped holes to install the actuator. - Page 19 (2) Using the tapped holes on the rod side 8-M12, depth 24 Tap size Maximum thread length 24 mm Tapped holes are provided on the rod side for mounting. You can use these tapped holes to install the actuator. The maximum thread length of rod mounting screws is specified above. Make sure the bolt ends do not project through the holes.
- Page 20 (4) Using foot brackets (optional) Optional foot brackets are available. You can use these brackets to install the actuator. D-13, 5 drilled...
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Page 21: Wiring Cable
• The standard cable provides excellent flexibility, but it is not a robot cable. Use a robot cable if the cable is to be stored in a moving cable duct (cable bearer, etc.). For cable modification, please contact IAI. -
Page 22: Installing The External Brake Connection Box For The Brake Specification
Installing the External Brake Connection Box for the Brake Specification If the actuator is equipped with a brake, an external brake connection box must be installed. External brake connection box Model: RCB-110-RA13-0 [Front view] External switch connector Power ON switch 24-V power-supply connector [Rear view] Connector for... - Page 23 (1) Wiring and starting the external brake connection box [1] An example of connection with a SCON controller is explained. Connect the cables according to the example. In this example, the connectors for actuator 1 and controller 1 are used. It is also possible to use the connectors for actuator 2 and controller 2.
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Page 24: Maximum Speed
10. Maximum Speed A maximum speed is specified for this product to prevent resonance of the ball screw shaft while conforming to the speed limit of the motor. Refer to the table below to find the maximum speed of your actuator and operate the actuator at speeds not exceeding the maximum level. -
Page 25: Load Applied To The Actuator
11. Load Applied to the Actuator • Make sure the actuator will not receive a load exceeding the value specified in the catalog. • This actuator can receive a load on its rod. Use the actuator correctly by observing conditions [1] to [3] specified below: [1] Load moment: M ≤... -
Page 26: Selection Conditions
12. Selection Conditions The following three conditions must be met before the ultra high-thrust actuator can be used: Condition [1] The push time does not exceed the specified time. Condition [2] The thrust for continuous operation does not exceed the rated thrust of the ultra high-thrust actuator throughout the cycle. -
Page 27: Selection Procedure
12.1 Selection Procedure The following explains the procedure to select an actuator for vertical application. Condition [1] A maximum push time is specified for each push command value, as shown in the table below. Find the maximum push time for each command by referring to this table, and make sure the push time does not exceed the specified duration. - Page 28 Condition [2] Thrust for continuous operation Confirm that the thrust for continuous operation Ft, calculated by considering the load and duty, does not exceed the rated thrust of the ultra high-thrust actuator throughout the cycle. Here, remember that push motion operation should not be performed more than once per cycle. Here, Fa/Fd represents the force required for acceleration/deceleration and changes according to the operating direction.
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Page 29: Exercise
12.2 Exercise Let’s check if a selected actuator supports a given operation pattern by using the selection procedure explained above. Operating conditions • Model: Ultra high-thrust actuator with 1.25 (2t) lead • Mounting position: Vertical * 1 G = 9.8 m/s •... - Page 30 Condition [2] Calculate the thrust for continuous operation. Assign the above operation pattern to the aforementioned formula to calculate thrust for continuous operation. Here, = (M + m) x 9.8 - (M + m) x d = 1058 N = (M + m) x 9.8 = 1068N = (M + m) x 9.8 + (M + m) x d = 1079 N = Push command value 200% (2000 kgf) = 19600 N = (M + m) x 9.8 = 1068N...
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Page 31: Maintenance
13. Maintenance 13.1 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 Grease supply Start of operation... -
Page 32: Greasing The Rod (Ball Spline)
13.4 Greasing the Rod (Ball Spline) (1) Applicable grease Showa Shell Sekiyu Albania EP Grease 2 Warning: Never use fluorine grease. Fluorine grease chemically reacts with lithium grease to cause damage on the machine. (2) How to apply grease Before applying grease, turn off the actuator power. Use an Allen wrench of 6 mm across flats to remove the tapered plug with hexagonal hole installed at the grease feed port. -
Page 33: Relationship Of Load And Weight
14. Relationship of Load and Weight The push force to be applied during push-motion operation can be changed freely by changing the current-limiting value on the controller. Current-limiting value (%) Caution: This diagram of push force and current-limiting value is provided as a reference. Actual values may vary slightly from the diagram. -
Page 34: Cable Drawings
15. Cable Drawings [1] Motor cable/motor robot cable Model: CB-RCC-MA /CB-RCC-MA (Front view) (Front view) Actuator end Controller end Signal Color Wire size Wire size Color Signal Green White (crimped) White Black Black Green [2] Encoder cable/encoder robot cable Model: CB-RCS2-PLA /CB-RCS2-PLA LS end Actuator end... - Page 37 Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany TEL 06196-88950 FAX 06196-889524 The information contained in this document is subject to change without notice for the purpose of product improvement. Copyright © 2007. Feb. IAI Corporation. All rights reserved.
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