IAI RCP4 First Step Manual

RCP4 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
(Note1)
cables
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 RCP4-GRSML-I-28P-30-10-P3-P-NW
Serial number
SERIAL No.000090266
3. How to read the model No.
RCP4 – GRSML - I - 28P - 30 - 10 - P3 – P – NW - * *
Series
<Type>
Slide Type
Medium types:
GRSML
Large types:
GRSLL
Extra-large types:
GRSWL
Lever Type
Medium type:
GRLM
Large type:
GRLL
Extra-large type:
GRLW
<Encoder Type>
I : Incremental
<Motor Type>
28P : 28□ size
35P : 35□ size
42P : 42□ size
<Deceleration Ratio>
30 : 1/30
28 : 1/28
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.]
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.
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.
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.
Do not attempt to force any part of the actuator. Do not apply excess force especially on the fingers,
finger guide and levers.
In case of removing the grease applied on the fingers and finger guides after delivery, make sure to
implement a rust prevention treatment.
There is grease applied on the fingers and finger guides at the delivery for rust prevention treatment.
The fingers and finger guides may gather rust if the grease is wiped away.
Also, have grease or an anti-rust agent applied on the fingers and finger guides regularly.
[Refer to 5.4.1 Applicable Greases for the Guide, Finger and Finger Guide in 5.4 Grease Supply in
Instruction Manual]
Quantity Remarks
1
1
1
1
Environments for Installation, Storage and Preservation
1
1. Installation Environment
The actuator should be installed in a location other than those specified below.
Also provide sufficient work space required for maintenance inspection.
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
MADE IN JAPAN
Where the temperature changes rapidly and condensation occurs
Where relative humidity smaller than 20% or larger than 85%RH
Where the actuator receives direct sunlight
Where the actuator is exposed to corrosive or combustible gases
Where the ambient air contains a large amount of powder dust, salt or iron (at level exceeding what is
normally expected in an assembly plant)
Where the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or chemical
(Note1)
Identification for IAI use only
solutions
Where the actuator receives impact or vibration
<Options>
Place with an altitude of 2,000m or more
NM : Reversed-home
specification
If the actuator is used in any of the following locations, provide sufficient shielding measures:
AC1 : Actuator cable 1m
Where noise generates due to static electricity, etc.
specification
Where the actuator is subject to a strong electric or magnetic field
Where the actuator is subject to ultraviolet ray or radiation
<Cable Length>
N : None
2. Storage • Preservation Environment
P : 1m
The storage and preservation environment should comply with the same standards as those for the
S : 3m
installation environment. In particular, when the machine is to be stored for a long time, pay close
M : 5m
attention to environmental conditions so that no dew condensation forms.
X□□ : Length specification
Unless specially specified, moisture absorbency protection is not included in the package when the
R□□ : Robot cable
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
<Controller>
the entire package, or directly after opening the package.
P3 : PCON-CA
For storage and preservation temperature, the machine withstands temperatures up to 60°C for a
MSEP
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.
<Stroke>
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.
Precautions in Handling
Finger Guide
Finger
Names of the Parts
1. Slide Type GRSML, GRSLL, GRSWL
Finger Guide
Open/Close Screw
Finger
Frame
Motor Cover
Actuator Cable
Motor Cover Cap
2. Lever Type GRLM, GRLL, GRLW
Open/Close Screw
Lever
Frame
Motor Cover
Actuator Cable
Motor Cover Cap
[For the details of dimensions and outlines, refer to the catalog or Instruction Manual (DVD).]
Attachment
Refer to the Instruction Manual (DVD) for the attachments of the actuator and loads.
[Precautions for Attachments]
No. Item Precautions
Attachment Surface • Make sure that the surface to install the actuator and that used as the
1
datum are a well-finished machined surface or one that possesses an
accuracy equivalent to it.
• Have enough space for the maintenance work.
Bolt to be used • For the bolts to be used, a high-tensile bolt complying with ISO-10.9 or
2
more is recommended.
• If using the tapped holes, use screws with the thread length dimension
being less than the effective depth of the holes.
• For the actuator mounting, use a bolt with the dimension of its effective
mating length to the tapped hole is as stated below.
If tapped hole on steel → thread length same as nominal diameter
If tapped hole on aluminum → thread length 1.8 times longer than
nominal diameter
Tightening Torque • Please follow the specification values stated in the Instruction Manual
3
(DVD) for the tightening torque.
Failure to do so may cause an operation problem.
Load Moment • Please follow the specification values stated in the Instruction Manual
4
(DVD) for the load moment.
Applying load exceeding the allowable load moment may cause a drop
in the product life. If it is extreme, flaking may occur.