IAI ROBO Cylinder RGD3C Operating Manual
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IAI ROBO Cylinder RGD3C Operating Manual

Rod type rca actuators
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Motor Straight Type (Coupling Type): RA3C, RGS3C, RGD3C, RA4C, RGS4C and RGD4C
Motor Straight Type (Built-in Type):
Motor Reversing Type:
RCAW Actuators, Dustproof/Splash-proof Type
Motor Straight Type (Coupling Type): RA3C and RA4C
Motor Straight Type (Built-in Type):
Motor Reversing Type:
ROBO Cylinder
Rod Type
RCA Actuators
RA3D, RGS3D, RGD3D, RA4D, RGS4D and RGD4D
RA3R, RGS3R, RGD3R, RA4R, RGS4R and RGD4R
Operating Manual
Third Edition
IAI America, Inc.
RA3D and RA4D
RA3R and RA4R

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Summary of Contents for IAI ROBO Cylinder RGD3C

  • Page 1 RA3R, RGS3R, RGD3R, RA4R, RGS4R and RGD4R RCAW Actuators, Dustproof/Splash-proof Type Motor Straight Type (Coupling Type): RA3C and RA4C Motor Straight Type (Built-in Type): RA3D and RA4D Motor Reversing Type: RA3R and RA4R Operating Manual Third Edition IAI America, Inc.
  • 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 When installing the product, do not hold the moving parts or cables of the product. Doing so may result in injury. Use IAI’s genuine cables to connect the actuator and controller. Also use IAI’s genuine components for the actuator, controller, teaching pendant, etc.
  • Page 5 When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste. Others IAI shall not be liable whatsoever for any loss or damage arising from a failure to observe the items specified in “Safety Precautions.”...
  • Page 6 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. Always use a robot cable for each relay cable. Bending radius (r) Use a cable bearer with a bending radius (r) of 50 mm or greater.

  • Page 8: Table Of Contents

    5.1.1 Handling the Packed Unit ...................9 5.1.2 Handling the Actuator After It is Unpacked ..............9 Handling the Actuator Assembly ...................10 5.2.1 Condition of Shipment from IAI (Assembled) ............10 5.2.2 Handling after Assembly with Peripheral Equipment ..........10 6. Operating and Storage Environment ..................11 Operating Environment....................11...
  • Page 9 14.5.2 Applicable Belt ......................30 14.5.3 Adjusting the Belt Tension ..................31 14.5.4 Replacing the Belt of the Motor Reversing Type: RA3R/RA4R Types ....32 14.6 Replacing the Motor.......................37 14.6.1 Replacing the Motor of the Motor Straight Type (Coupling Type): RA3C/RA4C Types.........................37 14.6.2 Replacing the Motor of the Motor Reversing Type: RA3R/RA4R Types ....44 14.7 Replacing the Bellows of the RCAW Dustproof/Splash-proof Type ......50 15.

  • 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

    • Unit seems to be noisy or similar impressions that do not affect machinery performance. • Damage resulting from improper handling by the user or lack of proper maintenance. • Any alterations made by other than IAI or its representatives. • Breakdowns caused by using controllers made by other manufacturers.

  • 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 Standard, Motor Straight Type (Coupling Type): No Guide RCA-RA3C, RCA-RA4C Right Rod side...

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

    4.2 Standard, Motor Straight Type (Built-in Type): No Guide RCA-RA3D, RCA-RA4D Right Rod side Motor side Left Head cover Cylinder tube Rod cover Motor unit Rod tip adapter Cable Caution: The cable directly connected to the actuator is not robot cable even when ordered with robot cable option.

  • Page 15: Standard, Motor Reversing Type

    4.3 Standard, Motor Reversing Type RCA-RA3R, RCA-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: Single-Guide Type: Standard, Motor Straight Type (Example Of Coupling Type)

    4.4 Single-guide Type: Standard, Motor Straight Type (Example of Coupling Type) RCA-RGS3C Right Rod side Motor side Guide bracket Left Guide bearing Guide rod Head cover Motor unit 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 17: Double-Guide Type: Standard, Motor Straight Type (Example Of Coupling Type)

    4.5 Double-guide Type: Standard, Motor Straight Type (Example of Coupling Type) RCA-RGD3C 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: Dustproof/Splash-Proof Type: Motor Straight Type (Example Of Coupling Type)

    4.6 Dustproof/Splash-proof Type: Motor Straight Type (Example of Coupling Type) RCAW-RA3C Right Rod side Motor side Left Intake/ exhaust port Bellows Cylinder tube Head cover Rod cover Motor unit Rod tip adapter Cable Caution: The cable directly connected to the actuator is not robot cable even when ordered with robot cable option.

  • Page 19: 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 20: Handling The Actuator Assembly

    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. The assembly is packed with the rod securely affixed so that it will not move unexpectedly during transportation.

  • Page 21: Operating And Storage Environment

    Work space needed for maintenance/inspection [Motor straight type] [Motor reversing type] * If you are using the dustproof/splash-proof type (RCAW type), consult IAI beforehand. This product is not designed by considering chemical resistance. Contact IAI for splash-proof resistance to liquids other than water.

  • Page 22: 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 models: All models Straight type Head cover Cylinder tube Rod cover Reversing type Motor unit...
  • Page 23 (2) Using screws on a flange (optional) An optional flange is available for installing the actuator. Use this flange, if necessary. Applicable models: All models 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 24 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 25 (3) Using screws on feet (optional) Optional feet are available for installing the actuator. Use these feet, if necessary. Applicable models: All models Straight type Mounting hole Mounting hole Affixing nut Affixing nut Foot B Foot A Mounting hole Mounting hole Reversing type Affixing nut Affixing nut...
  • Page 26 (4) Using screws on a trunnion (optional) An optional trunnion is available for installing the actuator. Use this trunnion, if necessary. Applicable models: RA3C, RA3D, RA4C, RA4D Straight type Mounting hole Affixing nut Trunnion ring Bracket B Bracket A Straight type Mounting hole Trunnion ring Affixing nut...
  • Page 27 Trunnion ring Reversing type Mounting hole Affixing nut Bracket B Bracket A Mating material is steel Mating material is aluminum Screw size Tightening torque 12.3 N-m 5.4 N-m 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 28 (5) Using screws on a clevis (optional) An optional clevis is available for installing the actuator. Use this clevis, if necessary. Applicable models: Motor reversing type RCA-RA3R, RCA-RA4R Reversing type Stopper ring Stopper ring Clevis bracket Mounting hole Mating material is steel Mating material is aluminum Screw size Tightening torque...
  • Page 29 (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 models: Motor reversing type RCA-RA3R, RCA-RA4R Reversing type Tapped mounting hole Type Tapped hole diameter Tapped depth Tightening torque...
  • Page 30 (7) Double-guide type Use the tapped holes in the bracket for installing an actuator of the double-guide type. Applicable models: Double-guide type RGD3, RGD4 Tapped mounting hole Bracket A Bracket B Type Tapped hole diameter Tapped depth Tightening torque RA3 type 8 mm 3.4 N-m RA4 type...
  • Page 31 (8) Single-guide type Use the tapped holes in the bracket for installing an actuator of the single-guide type. Applicable models: Double-guide type RGD3, RGD4 Tapped mounting hole Bracket A Bracket B Type Tapped hole diameter Tapped depth Tightening torque RA3 type 8 mm 3.4 N-m RA4 type...

  • Page 32: Wiring Cable

    • The cables supplied with the actuator offer excellent flexibility, but they are not robot cables. If the cables are to be stored in a movable cable duct (cable bearer, etc.), use robot cables. For cable modification, please contact your IAI sales representative.

  • Page 33: Connecting The Air Tube Of The Rcaw Dustproof/Splash-Proof Type

    9. Connecting the Air Tube of the RCAW 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 34: 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. Maximum speed limits Type Lead Maximum speed 3 mm...

  • Page 35: 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 36: High Acceleration/Deceleration And Power-Saving Options

    13. High Acceleration/Deceleration and Power-saving Options 13.1 Applicable Actuator Models Actuators that support high acceleration/deceleration and power-saving function are indicated by option codes at the end of the model name. Other applicable options are the same as those available with conventional models.

  • Page 37: 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 38: 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. Visual inspection Grease supply Start of operation...

  • Page 39: 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 40: 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 41: Adjusting The Belt Tension

    14.5.3 Adjusting the Belt Tension 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 42: Replacing The Belt Of The Motor Reversing Type: Ra3R/Ra4R Types

    14.5.4 Replacing the Belt of the Motor Reversing Type: RA3R/RA4R Types [Items Required for Replacement] • Replacement belt RA3R --- 60S2M124R Rubber, cleanroom type (Bando Chemical Industries) 6 mm wide RA4R --- 60S2M152R Rubber, cleanroom type (Bando Chemical Industries) 6 mm wide •...
  • Page 43 [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. M4 hexagon socket head screws 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 44 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 45 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 46 6) Install the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. M4 hexagon socket head screws 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 47: Replacing The Motor

    14.6 Replacing the Motor 14.6.1 Replacing the Motor of the Motor Straight Type (Coupling Type): RA3C/RA4C Types [Items Required for Replacement] Replacement motor unit • Replacement motor unit • Coupling (with screws) • Allen wrenches • Scale • Oil-based marker pen •...
  • Page 48 [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. Apply countermarks once the rod has projected 2 mm from the mechanical end.
  • Page 49 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 50 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 51 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 52 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 53 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. 2 affixing bolts on the motor-end cap (right and left) (hexagon socket head setscrews) 10) Connect a PC or teaching pendant to the controller to perform homing.

  • Page 54: Replacing The Motor Of The Motor Reversing Type: Ra3R/Ra4R Types

    14.6.2 Replacing the Motor of the Motor Reversing Type: RA3R/RA4R Types [Items Required for Replacement] • Replacement motor unit • Allen wrenches • Tension gauge (capable of tensioning to 7 kgf or greater) • Strong string, looped (or long tie-band) •...
  • Page 55 [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. M4 hexagon socket head screws 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 56 3) Take out the motor. 4) Install the replacement motor. Loosely tighten the motor-unit affixing bolts. Replacement motor...
  • Page 57 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 58 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 59 8) Remove the pulley case cover using two Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. M4 hexagon socket head screws 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 60: Replacing The Bellows Of The Rcaw Dustproof/Splash-Proof Type

    14.7 Replacing the Bellows of the RCAW Dustproof/Splash-proof Type Bellows [Items Required for Replacement] • Replacement bellows unit : RA3 --- JB-RA3- (stroke) : 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.
  • Page 61 2) Apply grease evenly over the entire cylinder surface. Apply grease evenly over the entire surface. Install a metal fitting on the bellows. Install a metal fitting on the bellows. Bellows...
  • Page 62 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. Installation of bellows Tightening of rear metal fitting Tightening of front metal fitting Tightening torque: 2 N-m Tightening torque: 2 N-m...

  • Page 63: Cable Drawings

    15. Cable Drawings [1] Motor cable Model: CB-ACS-MA Controller end Actuator end Wire Color Signal Signal Color Wire AWG22 AWG22 White White (crimped) (crimped) Black Black...
  • Page 64 [2] Encoder cable/robot encoder cable Model: CB-ACS-PA /CB-ACS-PA 18 17 Controller end Actuator end Signal Color Wire Serial Wire Color Signal White/blue White/purple LS + White/yellow White/gray LS - White/red Yellow BK + White/black BK - Blue White/blue LS + LS + White/purple White/yellow...
  • Page 65 MEMO...
  • Page 66 MEMO...
  • Page 68 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 © 2008. Apr. IAI Corporation. All rights reserved.

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