Page 1 RCP2/RCP2CR Actuators Slider Type Operating Manual Thirteen Edition Standard type: Motor coupling type: RCP2-SA5C, SA6C,SA7C SS7C, SS8C, HS8C Motor reversing type: RCP2-SA5R, SA6R, SA7R SS7R, SS8R, HS8R Cleanroom type: Motor coupling type: RCP2CR-SA5C, SA6C, SA7C SS7C, SS8C, HS8C IAI America, Inc.
Page 3 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 4 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 Recommended grease: C Grease by Kuroda Precision Industries Ltd.
Page 5: Table Of Contents
Table of Contents Safety Guide .................................1 Handling Precautions..............................8 Names of Parts ................................12 Checking the Product............................16 Components ..............................16 Operation Manuals for Controllers Supported by This Product ..............16 How to Read Model Nameplate ........................17 How to Read Model Number ........................17 Specification................................18 Life..................................33 Installation and Storage/Preservation Environment....................34 Installation Environment ..........................34 Storage/Preservation Environment ......................34...
Page 6 9.10.2 Motor Reversing Type ...........................91 10. Appendix ................................99 10.1 External Dimensions............................99 10.1.1 RCP2-SA5C............................99 10.1.2 RCP2-SA6C............................100 10.1.3 RCP2-SA7C............................101 10.1.4 RCP2-SS7C............................102 10.1.5 RCP2-SS8C............................103 10.1.6 RCP2-HS8C ............................104 10.1.7 RCP2-SA5R............................105 10.1.8 RCP2-SA6R............................106 10.1.9 RCP2-SA7R............................107 10.1.10 RCP2-SS7R............................108 10.1.11 RCP2-SS8R............................109 10.1.12 RCP2-HS8R ............................110 10.1.13 RCP2-SA5C............................111 10.1.14 RCP2CR-SA6C ...........................112 10.1.15 RCP2CR-SA7C ...........................113...
Page 7: Safety Guide
Safety Guide Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety precautions provided below and taking the necessary measures. Safety Precautions for Our Products Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...
Page 8 Operation Operation Description Description Description Description Installation and Transportation (1) Installation of Robot Main Body and Controller, etc. When carrying a heavy object, do the work with two or more persons or Start Make sure to securely hold and fix the product (including the work part). A fall, utilize equipment such as crane.
Page 9 Operation Operation Description Description Description Description Installation and Installation (4) Safety Measures (2) Cable Wiring Start and Start When the work is carried out with 2 or more persons, make it clear who is to for connecting between the actuator be the leader and who to be the follower(s) and communicate well with each and controller, and for the teaching tool.
Page 10 Operation Operation Description Description Description Description Trial Operation Installation (4) Safety Measures When the work is carried out with 2 or more persons, make it clear who is to and Start be the leader and who to be the follower(s) and communicate well with each When the work is carried out with 2 or more persons, make it clear who is other to ensure the safety of the workers.
Page 11 Operation Operation Description Description Description Description Maintenance When the work is carried out with 2 or more persons, make it clear who is to Trial Operation When the work is carried out with 2 or more persons, make it clear who is and Inspection be the leader and who to be the follower(s) and communicate well with each to be the leader and who to be the follower(s) and communicate well with...
Page 12 Operation Alert Indication Description Description Maintenance When the work is carried out with 2 or more persons, make it clear who is The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the and Inspection to be the leader and who to be the follower(s) and communicate well with warning level, as follows, and described in the Operation Manual for each model.
Page 13 Alert Indication...
Page 14: Handling Precautions
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 15 Transporting and Handling Handling the Actuator 7.1.1 Handling the Packed Unit Unless otherwise specified, each actuator (axis) is shipped individually. Please make sure that the shipping box is not dropped or subjected to strong impact during transport. • Operators should not carry heavy shipping boxes by themselves. •...
Page 16 Handling the Actuator Assembly When transporting the actuator with its axes already assembled, take note of the following items. 7.2.1 Shipping from IAI Already Assembled After assembly at IAI, your machine undergoes a shipping inspection, is packed in a crate with skids, and finally shipped.
Page 17 International Standards Compliances This actuator complies with the following overseas standards. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information. v i t...
Page 18: Names Of Parts
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 Coupling Type (Standard) RCP2 SA5C, SA6C, SA7C Cable Joint Connector...
Page 19 Motor Coupling Type (Cleanroom Specification) RCP2CR SA5C, SA6C, SA7C Cable Joint Connector Side Cover Stainless Sheet Right Side Opposite Motor Motor End Actuator Cable Left Side Suction Joint Bearing Housing Motor End Cap Slider Front Cover Base Motor Cover SS7C, SS8C, HS8C Side Cover Cable Joint Connector Stainless Sheet...
Page 20 Motor Reversing Type SA5R, SA6R Side Cover Mounting Flange Front Cover Stainless Sheet Pulley Cover Right Side Opposite Motor End Motor End Left Side Motor End Cap Motor Cover Slider Base SA7R Side Cover Mounting Flange Front Cover Stainless Sheet Pulley Cover Right Side Opposite...
Page 21 SS7R, SS8R, HS8R Front Cover Stainless Sheet Mounting Flange Side Cover Pulley Cover Right Side Opposite Motor End Motor End Left Side Motor Bracket Motor End Cap Motor Cover Slider Base Caution: The cable directly connected to the actuator is not a robot cable even when ordered with a robot cable option.
Page 22: Checking The Product
1. 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. Components Refer to “How to Read the Model Actuator...
Page 23: How To Read Model Nameplate
How to Read Model Nameplate Model number MODEL RCP2 MODELRCP2 SA5C I 42P 12 50 P1 P BE Serial number MADE IN JAPAN SERIALNo.600090266 How to Read Model Number <Series> <Options> Standard type Brake Brake RCP2 (Wirings taken out from end)
Page 24: 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) Motor Lead Stroke (mm)
Page 25 [Controller (without “H” at the end of the model number)] (Note) With the SA5C type and SA6C type (except for models of lead 20), the specific performance varies depending on the controller. RCP2 CR SA5C It is the payload when operating with the rated acceleration below:...
Page 26 0.2G 0.2G 0.3G 0.5G 0.3G 0.7G 0.5G 0.7G 0.1G 0.1G 0.2G 0.2G 0.3G 0.3G 0.2G 0.2G 0.3G 0.3G 0.5G 0.5G 0.7G 0.7G 0.1G 0.2G 0.1G 0.2G 0.3G...
Page 27 RCP2 (CR)-SA6C Lead 6 Lead 3 Rated acceleration: 0.3 G, when horizontal, Rated acceleration: 0.2 G, when horizontal, 0.2 G when vertical 0.2 G when vertical Maximum acceleration: 0.7 G, when horizontal, Maximum acceleration: 0.7 G, when horizontal, 0.3 G when vertical...
Page 28 [Controller (with “H” at the end of the model number)] RCP2 SA5R It is the payload when operating with the rated Horizontal acceleration below: Lead 3 Rated acceleration : 0.2 G, when horizontal, 0.2 G when vertical Lead 3 Lead 6...
Page 29 RCP2(CR)-SA7C It is the payload when operating with the rated acceleration below: Horizontal Lead 4 Lead 4 Rated acceleration : 0.2 G, when horizontal, Lead 8 0.2 G when vertical Lead 8 Lead 16 Rated acceleration : 0.3 G, when horizontal, 0.2 G when vertical...
Page 30 RCP2(CR)-SS8C It is the payload when operating with the rated acceleration below: Horizontal Lead 5 Lead 5 Lead 10 Rated acceleration : 0.2 G, when horizontal, 0.2 G when vertical Lead 10 Lead 20 Rated acceleration : 0.3 G, when horizontal, 0.2 G when vertical...
Page 31 RCP2-SA7R It is the payload when operating with the rated Horizontal acceleration below: Lead 4 Lead 4 Rated acceleration : 0.2 G, when horizontal, 0.2 G when vertical Lead 8 Lead 8 Lead 16 Rated acceleration : 0.3 G, when horizontal, 0.2 G when vertical...
Page 32 RCP2-SS8R It is the payload when operating with the rated acceleration below: Horizontal Lead 5 Lead 5 Rated acceleration : 0.2 G, when horizontal, Lead 10 0.2 G when vertical Lead 10 Rated acceleration : 0.3 G, when horizontal, Lead 20 0.2 G when vertical...
Page 33 RCP2CR-SA7C It is the payload when operating with the rated Lead 4 Horizontal acceleration below: Lead 4 Lead 8 Rated acceleration : 0.2 G, when horizontal, 0.2 G when vertical Lead 16 Lead 8 Rated acceleration : 0.3 G, when horizontal, 0.2 G when vertical Lead 16 Speed (mm/s)
Page 34 RCP2CR-SS8C It is the payload when operating with the rated acceleration below: Horizontal Lead 5 Lead 5 Rated acceleration : 0.2 G, when horizontal, Lead 10 0.2 G when vertical Lead 10 Rated acceleration : 0.3 G, when horizontal, Lead 20 0.2 G when vertical Lead 20 Rated acceleration : 0.3 G, when horizontal,...
Page 35 (3) Driving method Type Motor type Lead [mm] Encoder pulses Driving method Ball screw SA5C, SA5R Rolled, C10 10 mm Ball screw SA5C Rolled, C10 10 mm Ball screw SA6C, SA6R Rolled, C10 10 mm Ball screw SA6C Rolled, C10 10 mm Ball screw SA7C, SA7R...
Page 36 (6) Load on the Actuator Do not exceed the load shown in the load specification column. Please note the slider moment, allowable overhang length and the load weight. Dynamic allowable load moments Model SA5C, R SA6C, R Dynamic allowable load moments Model SA5C, R SA6C, R...
Page 37 The allowable overhang values are based on a configuration where the center of gravity of the load mounted on the actuator corresponds to 1/2 of the overhang length. Mb, Mc directions Ma direction Directions of allowable overhangs Directions of moment forces (Note) To calculate the moments in Ma and Mc directions, offset the reference position by L mm from the top surface of the slider, as shown in the figure below.
Page 38 The body of the base warps easily when the actuator is used as the Y-axis in an X-Y overhang setup. In this case, use the actuator so that the Ma and Mc moments are kept to one-half the allowable moment or less (see the figure below).
Page 39: Life
3. Life One factor that affects the traveli left on the contact surface ich the actuator can travel for a...
Page 40: Installation And Storage/Preservation Environment
4. Installation and Storage/Preservation Environment Installation 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 41: Installation
5. Installation The method to install your actuator in a mechanical system is explained. Installation 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 Ceiling mount Horizontal Vertical...
Page 42: Notes On Installation
The stainless sheet is designed very thin (thickness: approx. 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 43: Installing The Main Body
Mount the actuator to a machined surface or one of the flat surfaces 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. Tapped holes are provided on the back of the base for mounting the actuator.
Page 44: Using The Mounting Holes On Top Of The Base (Sa5C, Sa6C, Sa7C)
Through holes are provided in the base for installing the actuator on its top face. When installing the actuator, remove the side covers. (Remove the two thin-head screws [M3 x 6 mm] for mounting the cover using an Allen wrench of 1. 5 mm across flats.) When securing with bolts, protect the stainless sheet from dents or damage by making sure not to drop bolts or tools onto the stainless sheet or contact them with it.
Page 45: Installing The Load To The Slider
Tapped hole Reamed hole...
Page 46: Reference Surface And Mounting Surface
Reference plane Reference plane (Side face of the base) (Side face of the base) SS8C HS8C...
Page 48: Cleanroom Specification
Cleanroom Specification This actuator can deliver performance which ensures its operation in conformance with the requirements of cleanliness class 10 (0.1 m) by suctioning air into the suction joint. The recommended suction rate of each model at the maximum speed is specified below. Cauti on: The clean room types listed below cannot be guaranteed to meet Cleanliness Class 10 if they are installed in the vertical orientation, the horizontally wall mounted orientation or in the ceiling...
Page 49: Connection With Controllers
Dedicated cables Motor cable (Robot cable) CB-RCC-MA For RCP2-HS8C, HS8R and RCP2CR-HS8C Motor cable CB-RFA-MA*** Encoder cable CB-RCS2-PB*** / Encoder cable • Robot cable CB-RCP2-PB***-RB For RCP2-HS8C, HS8R and RCP2CR-HS8C Encoder cable CB-RFA-PA*** / Encoder cable • Robot cable CB-RFA-PA***-RB *** indicates the cable length.
Page 50 Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire.
Page 51 • Do not pull the cable with a strong force. • Pay attention not to concentrate the twisting force to one point on a cable. • Do not pinch, drop a heavy object onto or cut the cable. • When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much.
Page 52 • PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them together. Arrange so that such lines are independently routed in the duct. Power Line Duct I/O Line (Flat Cable, etc.) Follow the instructions below when using a cable track.
Page 53: Options
The brake is a retention mechanism that prevents the slider, when installed vertically, from dropping and thereby damaging the attached load when the power or servo is turned off. The brake option must be selected for every axis that will be used vertically. When the reversed home specification is selected, the home is set on the front side.
Page 54: Motor/Encoder Cable
8. Motor/Encoder Cable PMEC/PSEP Controller Cables [1] Integrated motor/encoder cable CB-PSEP-MPA*** Mechanical end Controller end Mechanical end Controller side **** indicates the cable length. Terminal Terminal number number Black Max. 20m. White Green Example) 080 = 8 m Brown [Minimum bending radius] Yellow Movable: 84 mm Orange...
Page 55: Pcon/Psel Controller Cables
Yellow (Green) Pink Pink [Minimum bending radius] Yellow (Green) White Movable: 42 mm Fixed: 28 mm [2] Motor cable CB-RFA-MA*** (for RCP2-HS8C, HS8R and RCP2CR-HS8C) (Front) (Front) Controller end Mechanical end M cable * *** indicates the cable length. Orange Yellow Max.
Page 56 [4] Encoder cable CB-RFA-PA*** Encoder Robot Cable CB-RFA-PA***-RB (for RCP2-HS8C, HS8R and RCP2CR-HS8C) (13) (15) * *** indicates the cable length. Max. 20m. Example) 080 = 8m [Minimum bendable radius] (Front View) (Front View) Controller side Mechanical side Robot Cable...
Page 57: Maintenance And Inspection
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* Start of operation After 1 month of operation After 6 months of operation...
Page 58: 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. If the unit is badly soiled, apply a neutral detergent or alcohol to a soft cloth, and wipe gently.
Page 59: Interior Inspection
Interior Inspection Turn off the power, remove the side covers, and then visually inspect the interior. Check the following items during interior inspection. Body Loose mounting bolts? Guides Lubrication appropriate? Soiling? Ball screw Lubrication appropriate? Soiling? 1) Remove both side covers. Use an Allen wrench of 1.5mm across flats for SA5C/SA6C/SA7C/SS7C or an Allen wrench of 2.00mm across flats for SS8C/HS8C.
Page 61 [Cleanroom Specification] (1) What Grease to Use on the Guide and Ball Screw For guides and ball screw, a urea-based grease of low-dust-raising type which has stable torque characteristics and superior lubrication performance as well as the anti-rust effect equivalent to that of a lithium-based grease is used.
Page 62: How To Apply Grease
9.7.2 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 grease spread evenly.
Page 63: Replacing/Adjusting The Stainless Sheet
[Items Required for Replacement] retainer plate...
Page 64 [Procedure] 1) Remove the slider-cover affixing screws and remove the covers. After the slider covers have been removed [1] Standard specification (slider structure) Sheet slider Plate spring Sheet slider ecification (optional) (roller structure) Spacer Roller Roller Spacer Sheet slider Roller Roller Sheet slider .
Page 65 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 66 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 67 [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: Slider body Stainless sheet...
Page 68 [4] When proper clearances are obtained between the slider body and stainless sheet and an absence of contact between the two is confirmed, tighten the two screws on the loose end alternately, and then finally tighten all screws to a uniform torque to securely affix the stainless sheet. If the screws are not tightened uniformly, the sheet may meander or lift.
Page 69: Reduction Belt [Motor Reversing Type]
SA5R, SA6R, SA7R, SS7R, SS8R, HS8R 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 70 SA7R Motor bracket Tensile load: Tension adjusting bolts (4 pcs.) Use an Allen wrench of 3mm across flats. Tension adjusting bolt tightening torque: SS7R, SS8R, HS8R Motor bracket Tensile load: Tension adjusting bolts (4 pcs.) Use an Allen wrench of 3mm across flats.
Page 71: Replacing The Belt : Sa5R, Sa6R, Sa7R, Ss7R, Ss8R, Hs8R
SA5R, SA6R [Items Required for Replacement] [Procedure]...
Page 72 5) Remove the pulley assembly. Remove the four affixing bolts using an Allen wrench of 2.5mm across flats. Pull out the assembly by hand. 6) Remove the pulley cap. Remove the two affixing bolts using an Allen wrench of 2.5mm across flats. Pulley cap 7) Pull out the belt and insert a new belt.
Page 73 9) Install the pulley assembly. Align the angles of projections and depressions on the couplings. 2.5 mm across flats. Tightening torque: 83 N·cm (8.47 kgf·cm) Align the angles of projections and depressions. 10) Loop the belt over the pulleys. 11) Pass a looped strong string (or lo the specified tension.
Page 74 SA7R [Items Required for Replacement] [Procedure]...
Page 75 5) Remove the pulley assembly. of 2.5 mm across flats. Pulley cap 6) Pull out the belt and insert a new belt. Insert the belt into this clearance. 7) Install the pulley cap. Tighten the hexagon socket-head bolts (M3 × 10, 4 pcs.) using an Allen wrench of 2.5 mm across flats. Tightening torque: 83 N·cm (8.47 kgf·cm)
Page 76 8) Install the pulley assembly. Align the angles of projections and depressions on 2.5 mm across flats. the couplings. Align the angles of projections and depressions. Loop the belt over the pulleys. specified tension. In this condition, uniformly tighten t 4 pcs.).
Page 77 SS7R, SS8R, HS8R [Items Required for Replacement] [Procedure]...
Page 78 6) Install the pulley cover. Tighten the thin-head screws (M4 × 6, 4 pcs.) using an Allen wrench of 2 mm across flats. Tightening torque: 204 N·cm (20.8 kgf·cm)
Page 79: Replacing The Motor
9.10 Replacing the Motor 9.10.1 Motor Coupling Type SA5C, SA6C [Items Required for Replacement] • Replacement motor NRC42* (with a coupling on the motor shaft: see the photograph at the right) • Allen wrench set Coupling • Phillips screwdriver • Grease (Kyodo Yushi’s Multemp LRL3 or equivalent) [Procedure] 1) After removing the flat countersunk-head screws (M3 ×...
Page 80 Pilot alignment metal If this metal is attached on the decoupled motor, put it back to the pilot on the actuator side. 6) Apply grease to the coupling on the actuator side. applied before shipment. grease.It will chemically react with actuator.
Page 81 7) Install a new motor.
Page 82 11) Affix the motor end cap with the pan-head screws (M3 × 80, 4 pcs.). At this time, make sure not to pinch the cables. Tightening torque: 61.5 N·cm (6.3 kgf·cm)
Page 83 SA7C [Items Required for Replacement]...
Page 84 2) Push in the cable-end molding to create a slack along the inner cable. Push in the molding as far as possible. 3) Pull out the motor connector. 4) Pull out the encoder connector. Caution: Do not apply a force to the encoder by touching it directly.
Page 85 Pilot alignment metal If this metal is attached on the decoupled motor, put it back to the pilot on the actuator side. applied before shipment. grease and damage the actuator...
Page 86 7) Install a new motor.
Page 87 11) Affix the motor end cap with the pan-head screws (M3 × 105, 4 pcs.). At this time, make sure not to pinch the cables. Tightening torque: 61.5 N·cm (6.3 kgf·cm)
Page 88 SS7C [Items Required for Replacement]...
Page 89 3) Push in the motor-end cap into the motor cover. 5) Pull out the encoder connector. 4) Pull out the motor connector. Caution: Do not apply a force to the encoder by touching it directly.
Page 90 6) Remove the motor. Remove the affixing bolts (M3 × 15, 2 pcs./M3 × 18, 2 pcs.) using an Allen wrench of 2.5 mm across flats. Remove the affixing bolts (M3 × 8, 4 pcs.) using an Allen wrench of 2.5 mm across flats. Motor flange...
Page 91 7) Install a new motor. 9) Connect the motor connector. 8) Connect the encoder connector.
Page 92 11) Affix the motor cover.
Page 93 SS8C, HS8C [Items Required for Replacement]...
Page 94 4) Push in the motor-end cap into the motor cover. 5) Pull out the motor connector. 6) Pull out the encoder connector. Caution: Do not apply a force to the encoder by touching it directly.
Page 95 7) Remove the motor. Remove the affixing bolts (M4 × 15, 4 pcs.) using an Allen wrench of 3 mm across flats. 8) Install a new motor. affixing bolts (M4 × 15, 4 pcs.). (Use an Allen wrench of 3 mm across flats.) Tightening torque: 176 N·cm (18 kgf·cm)
Page 96 9) Connect the encoder connector. 10) Connect the motor connector. 11) Pull out the motor-end cap from the motor cover and affix it with the pan-head screws (M3 × 105, 4 pcs.). At this time, make sure not to pinch the cables. Tightening torque: 61.5 N·cm (6.3 kgf·cm) 12) Affix the motor cover.
Page 97: Motor Reversing Type
SA5R, SA6R [Items Required for Replacement]...
Page 98 4) Pull out the four tension adjusting bolts and two motor cover affixing bolts, and remove the motor unit. Motor cover affixing bolts Motor cover affixing bolts 5) Remove the four pan-head screws affixing the motor-end cap of the motor unit, and pull out the motor. 6) Pull out the motor connector.
Page 99 8) Connect the encoder connector and motor connector to a new motor.
Page 100 11) Install the motor cover. Tighten the hexagon socket-head screws (M3 × 12, 2 pcs.) using an Allen wrench of 2.5 mm across flats. Tightening torque: 83 N·cm (8.47 kgf·cm) 12) Install the pulley cover. Tighten the thin-head screws (M3 × 6, 4 pcs.) using an Allen wrench of 1.5 mm across flats. Tightening torque: 87.2 N·cm (8.90 kgf·cm)
Page 101 SA7R [Items Required for Replacement] * (See the photograph at the right.) [Procedure]...
Page 102 5) Install a new motor unit and temporarily tighten it with the tension adjusting bolts (hexagon socket-head screws: M4 × 20, 4 pcs.). In this condition, loop the reduction belt over the pulleys. 6) Pass a looped strong string (or long tie-band) around the motor bracket and pull it with a tension gauge to the specified tension.
Page 103 SS7R, SS8R, HS8R [Items Required for Replacement] [Procedure]...
Page 104 5) Install a new motor unit and temporarily tighten it with the tension adjusting bolts (hexagon socket-head screws: M4 × 20, 4 pcs.). In this condition, loop the reduction belt over the pulleys. 6) Pass a looped strong string (or long tie-band) around the motor bracket and pull it with a tension gauge to the specified tension.
Page 105: Appendix
Appendix 10.1 External Dimensions 10.1.1 RCP2-SA5C 15.5 15.5 Cable joint connector 2- 4H7, depth 6 0.02 4-M4, depth 9 Stroke Reference position for Ma moment offset Home Reference surface Detail view of A E- 4.5 through, 8, counterbore depth 4.5 2- 4H7, depth 5.5 from...
Page 106: Rcp2-Sa6C
10.1.2 RCP2-SA6C 21 19.5 19.5 Cable joint connector 0.02 2- 5H7, depth 6 4-M5, depth 9 Stroke Reference position for Ma moment offset Home Reference surface F- 4.5 through, 8, counterbore depth 4.5 Detail view of A E- 4H7 depth 5.5 from...
Page 107: Rcp2-Sa7C
10.1.3 RCP2-SA7C 20 20 20 Cable joint connector 4-M5, depth 10 0.02 2- 5H7, depth 10 Reference position for Stroke Ma moment offset Home Reference surface E- 6 through, 9.5, counterbore depth 5.5 E- 4H7 depth 6 from Detail view of A...
Page 108: Rcp2-Ss7C
10.1.4 RCP2-SS7C Cable joint 2- 5H7, effective depth 10 0.02 4-M5, depth 10 connector 19.5 19.5 Reference position for Ma moment offset S (Stroke) M.E. S.E. Home M.E. Reference surface 4- 4H7, depth 6 from bottom Oblong hole, depth 6 from...
Page 109: Rcp2-Ss8C
10.1.5 RCP2-SS8C 4-M8, depth 10 0.02 Cable joint connector 20 35 2- 8H7, depth 10 Reference position for Ma moment offset 30 14 S (Stroke) M.E. S.E. M.E. Home Reference surface Detail view of A 4- 5H7, depth 6 from...
Page 110: Rcp2-Hs8C
10.1.6 RCP2-HS8C 4-M8, depth 10 0.02 Cable joint connector 2- 8H7, depth 10 20 35 Reference position for Ma moment offset 30 14 S (Stroke) Home M.E. S.E. M.E. Reference surface Detail view of A 100 or more 4- 5H7, depth 6...
Page 111: Rcp2-Sa5R
10.1.7 RCP2-SA5R Stroke 2- 4H7, depth 6 4-M4, depth 9 0.02 ME : Mechanical End SE : Stroke End Cable joint connector Brake dimensions Reversing direction: Opposite 16.5 2- 4H7, depth 5.5from bottom surface of base C-M4 depth 7 P (pitch of 4 hole and oblong hole) 35.5...
Page 112: Rcp2-Sa6R
10.1.8 RCP2-SA6R Stroke Home 0.02 2- 5H7, depth 6 4-M5, depth 9 ME : Mechanical End SE : Stroke End Cable joint connector Brake dimensions Reversing direction: Opposite D- 4H7, depth 5.5from 18.5 bottom surface of base C-M5 depth 9 P (pitch of 4 hole and oblong hole) 19.5...
Page 113: Rcp2-Sa7R
10.1.9 RCP2-SA7R Stroke 106.2 Home 2- 5H7, depth 10 0.02 4-M5, depth 10 ME : Mechanical End SE : Stroke End Cable joint connector 125.5 10 41.2 Brake dimensions D- 4H7, depth 6 from bottom surface of base Reversing direction: Opposite...
Page 114: Rcp2-Ss7R
10.1.10 RCP2-SS7R S (Stroke) M.E. S.E. Home M.E. 41.5 2- 5H7, depth 10 4-M5, depth 10 0.02 19.5 19.5 Cable joint connector 27.5 4- 4H7, depth 6 from bottom surface of base (3- 4H7 at 50 ST, depth 6 from bottom...
Page 115: Rcp2-Ss8R
10.1.11 RCP2-SS8R S (Stroke) Home M.E. S.E. M.E. 4-M8, depth 10 2- 8H7, depth 10 0.02 340.5 Cable joint connector ME : Mechanical End SE : Stroke End Oblong hole, depth 6 from bottom surface of base 50 (pitch between reamed...
Page 116: Rcp2-Hs8R
10.1.12 RCP2-HS8R S (Stroke) M.E. S.E. Home M.E. 4-M8, depth 10 2- 8H7, depth 10 0.02 340.5 Cable joint connector ME : Mechanical End SE : Stroke End Oblong hole, depth 6 from bottom surface of base 50 (pitch between reamed...
Page 117: Rcp2-Sa5C
10.1.13 RCP2CR-SA5C 2- 4H7, depth 6 4-M4, depth 9 0.02 Cable joint connector Applicable tube outer diameter: 8 (inner diameter: Offset reference position for Ma 118.5 15.5 moment Opposite side Home (option) Standard Reference surface Detail view of A E- 4.5 through, 8, counterbore depth 4.5 2- 4H7, depth 5.5 from bottom surface of base (installation hole and...
Page 118: Rcp2Cr-Sa6C
10.1.14 RCP2CR-SA6C 2- 5H7, depth 6 4-M5, depth 9 0.02 Cable joint connector Applicable tube outer diameter: 8 (inner diameter: Offset reference 100 or more position for Ma 14.5 117.5 moment Home Opposite side Home (option) Reference surface Detail view of A E- 4.5 through, 8, counterbore depth 4.5 (detail view of actuator...
Page 119: Rcp2Cr-Sa7C
10.1.15 RCP2CR-SA7C 2- 5H7, depth 10 4-M5, depth 10 0.02 Cable joint connector Applicable tube outer diameter: Offset reference 8 (inner diameter: 6) 100 or more position for Ma Stroke moment Opposite side (option) Standard Home E- 6 through, 9.5, counterbore depth 5.5 E- 4H7, depth 6 from bottom surface of base (from opposite side) Detail view of oblong hole...
Page 120: Rcp2Cr-Ss7C
10.1.16 RCP2CR-SS7C 4-M5, depth 10 2- 5H7, depth 10 Cable joint connector 0.02 Applicable tube outer diameter: (inner diameter: 100 or more Offset reference position for Ma moment S(Stroke) Opposite side (option) Standard Home Home Reference surface Detail view of A 100 (Reamed hole pitch) 100 (Reamed hole pitch) B (Reamed hole pitch)
Page 121: Rcp2Cr-Ss8C
10.1.17 RCP2CR-SS8C 4-M8, depth 10 2- 8H7, depth 10 0.02 Cable joint connector Applicable tube outer diameter: (inner diameter. 8) 100 or more Offset reference position for Ma S (stroke) Opposite side moment (option) Home Standard B (Reamed hole pitch) 100 (Reamed hole pitch) 100 (Reamed hole pitch) Oblong hole, depth 6...
Page 122: Rcp2Cr-Hs8C
10.1.18 RCP2CR-HS8C 2- 8H7, depth 10 4-M8, depth 10 0.02 Cable joint connector Applicable tube outer diameter: (inner diameter: 100 or more Offset reference S (stroke) Opposite side position for Ma moment (option) Home Standard B (Rreamed hole pitch) 100 (Reamed hole pitch) 100 (Reamed hole pitch) Oblong hole, depth 6 50 (pitch between reamed hole and oblong hole)
Page 123: How To Use The Home Mark
As necessary, affix these marks to the product to mark the home position of the actuator. Contents of sticker Home mark sticker × 1 sheet Home mark scale × 4 Home mark × 4 (Scale: 1mm graduation mark, 10mm width) Peel off the home marks and use as a base sheet.
Page 124: Warranty
11. Warranty 11.1 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 11.2 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
11.5 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
Change History Revision Date Description of Revision First edition Added information on RCS3 and RCS3CR actuators. “Please Read Before Use”: Entirely revised the content. March 2010 Second Edition “Safety Guide”: Entirely revised the content. P. 37 to 39: Changed to 7, “Wiring Cable.” P.
Page 127 Revision Date Description of Revision December 2011 Eighth edition Contents changed in Safety Guide Caution notes added for when working with two or more persons P.31, 38: Note added to state that RCP2CR-SA5C and RCP2CR-SA6C cannot be ensured for Cleanliness Class 10 in vertical orientation, horizontally oriented wall mount or in ceiling mount “Motor cable CB-RFA-MA***”...
Page 130 Manual No.: ME3660-13A (April 2013) 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...

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ROBO Cylinder RCP2 Operating Manual

1 Checking the Product

2 Specification

3 Life

4 Installation and Storage/Preservation Environment

5 Installation

6 Connection with Controllers

7 Options

8 Motor/Encoder Cable

9 Maintenance and Inspection

10 Appendix

11 Warranty

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