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ROBO Cylinder RCP2 Operating Manual

Actuator robo rotary type
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ROBO Cylinder
RCP2 Actuator
ROBO Rotary Type
Small Type, 330-degree Rotation Specification [RTBS/RTCS Types]
Small Type, Multi-rotation Specification [RTBSL/RTCSL Types]
Medium Type, 330-degree Rotation Specification [RTB/RTC Types]
Medium Type, Multi-rotation Specification [RTBL/RTCL Types]
Large Type, 330-degree Rotation Specification [RTBB/RTCB Types]
Large Type, Multi-rotation Specification [RTBBL/RTCBL Types]
Operating Manual
Seventh Edition
Tenth Edition
IAI America, Inc.

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Summary of Contents for ROBO Cylinder RCP2

  • Page 1 ROBO Cylinder RCP2 Actuator ROBO Rotary Type Small Type, 330-degree Rotation Specification [RTBS/RTCS Types] Small Type, Multi-rotation Specification [RTBSL/RTCSL Types] Medium Type, 330-degree Rotation Specification [RTB/RTC Types] Medium Type, Multi-rotation Specification [RTBL/RTCL Types] Large Type, 330-degree Rotation Specification [RTBB/RTCB Types]...

  • Page 3: Please Read Before Use

    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 CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

  • Page 5: Prohibited Handling Of Cables

    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 6 Notes on use of cable bearers The supplied cable is not a robot cable. Accordingly, never store the supplied cable in a cable bearer. If a relay cable is to be used, always Bending radius r use a robot cable. Use a cable bearer with its bending radius r set to 50 mm or greater.

  • Page 7: Table Of Contents

    Table of Contents Safety Guide ..........................1 Caution in Handling ........................8 1. Introduction..........................9 2. Safety Precautions ......................9 Basic handling precautions..................... 9 Maintenance/Inspection......................9 3. Warranty..........................10 Warranty Period ........................10 Scope of Warranty ........................ 10 Honoring the Warranty......................10 Limited Liability ........................
  • Page 8 8. Cable Connection ........................ 33 Connecting the Controller ..................... 33 Checks after Installation ...................... 33 9. Notes on Use ........................34 Range of Operation and Home Return ................. 34 Output Torque........................39 Allowable Load ........................42 10. Maintenance/Inspection ...................... 48 10.1 Inspection Items and Timings ....................

  • Page 9: Safety Guide

    Safety Guide Safety Precautions for Our Products...
  • Page 10 Operation Description Description Transportation When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
  • Page 11 Operation Description Description Installation (2) Cable Wiring and Start for connecting between the actuator and controller, and for the teaching tool. Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
  • Page 12 Operation Description Description Installation (4) Safety Measures and Start When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within t...
  • Page 13 Operation Description Description Trial Operation When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
  • Page 14 Operation Description Description Maintenance When the work is carried out with 2 or more persons, make it clear who is and Inspection to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.

  • Page 15: Alert Indication

    Alert Indication...

  • Page 16: Caution In Handling

    Caution in Handling 1. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings. If the actuator is operated at a speed or acceleration/deceleration exceeding the allowable value, abnormal noise or vibration, failure, or shorter life may result. In the case of interpolated operation of combined axes, the speed and acceleration/deceleration settings should correspond to the minimum values among all combined axes.

  • Page 17: Introduction

    Introduction Thank you for purchasing IAI’s Robo Rotary actuator. This manual explains the correct handling of the actuator as well as its structure, maintenance and other items the user should know about the Robo Rotary. Before using the Robo Rotary, be sure to read this manual and ensure the correct handling of the actuator. Safety Precautions Basic handling precautions Any handling or operating method or any other operation not specified in this manual should be...

  • Page 18: Warranty

    Warranty Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our company 12 months after delivery to the specified location 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 19: Conditions Of Conformance With Applicable Standards/Regulations

    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 20: Names Of Actuator Parts

    Names of Actuator Parts The name of each part of the actuator is shown as follows. Small Type 4.1.1 330-degree Rotation Specification RTBS, Multi-rotation Specification RTBSL (Vertical Type) Output shaft Flange Rear cover Front cover Frame Actuator cable...
  • Page 21 4.1.2 330-degree Rotation Specification RTCS, Multi-rotation Specification RTCSL (Flat Type) Actuator cable Front cover Rear cover Output shaft Flange...

  • Page 22: Medium Type

    Medium Type 4.2.1 330-degree Rotation Specification RTB, Multi-rotation Specification RTBL (Vertical Type) Output shaft Flange Front cover Rear cover Actuator cable Frame...
  • Page 23 4.2.2 330-degree Rotation Specification RTC, Multi-rotation Specification RTCL (Flat Type) Actuator cable Front cover Rear cover Output shaft Frame Flange...

  • Page 24: Large Type

    Large Type 4.3.1 330-degree Rotation Specification RTBB, Multi-rotation Specification RTBBL (Vertical Type) Flange Output shaft Rear cover Front cover Actuator cable Frame...
  • Page 25 4.3.2 330-degree Rotation Specification RTCB, Multi-rotation Specification RTCBL (Flat Type) Actuator cable Front cover Rear cover Frame Output shaft Flange...

  • Page 26: Transportation And Handling

    Transportation and Handling Handling the Packed Actuator When transporting the packed actuator, exercise due caution not to apply impact on the package by dropping it or hitting it against other object. A person should never attempt to carry a heavy package on his own. When setting down the package temporarily, keep it horizontal.

  • Page 27: Installation Environment, Storage Environment

    Installation Environment, Storage Environment Installation Environment Install the actuator in an environment meeting the conditions listed below. not be exposed to direct sunlight. be free from irradiating heat coming from a heat treatment furnace or other equipment that generates a large amount of heat.

  • Page 28: Installation Method

    Installation Method Orientation of the Installation Follow the information below when installing the actuator, as a rule. : Possible : Not possible Horizontal Vertical Sideway Ceiling Mount installation installation installation Installing the Actuator The surface on which the actuator is installed must be machined or otherwise have a flat surface of equivalent accuracy.
  • Page 29 7.2.1 7.1.1 Small Type 330-degree Rotation Specification RTBS, Multi-rotation Specification RTBSL (Vertical Type) Flange-side mounting surface 4-M3, depth 3.5 depth 4 4-M3, depth 7 depth 2.5 4-M3, depth 5.5 depth 7.5 depth 2.5 depth 2.5 4-M3, depth 5.5 Side mounting surface depth 2.5 Bottom mounting surface Caution...
  • Page 30 330-degree Rotation Specification RTCS, Multi-rotation Specification RTCSL (Flat Type) depth 2.5 4-M3, depth 7 depth 2.5 4-M3, depth 5.5 4-M3, depth 3.5 depth 4 Flange-side mounting surface Bottom mounting surface depth 7.5 depth 2.5 4-M3. depth 5.5 depth 2.5 6 through hole 11, depth 0.9 Side mounting surface Caution...
  • Page 31 7.1.2 Medium Type 7.2.2 330-degree Rotation Specification RTB, Multi-rotation Specification RTBL (Vertical Type) Flange-side mounting surface 5-M3, depth 6 3H7, depth 4 4-M4, depth 7 depth 2.5 11H7,depth 10 4-M4, depth 8 depth 2.5 depth 2.5 4-M4, depth 8 Side mounting surface depth 2.5 Bottom mounting surface Caution...
  • Page 32 330-degree Rotation Specification RTC, Multi-rotation Specification RTCL (Flat Type) depth 2.5 5-M3, depth 6 3H7 depth 4 4-M4, depth 7 4-M4, depth 8 depth 2.5 Flange-side mounting surface Bottom mounting surface 11H7 depth 10 depth 2.5 4-M4, depth 8 10 through hole depth 2.5 15.4 depth 5.5 Side mounting surface...
  • Page 33 7.1.3 Large Type 7.2.3 330-degree Rotation Specification RTBB, Multi-rotation Specification RTBBL (Vertical Type) 4-M5, depth 8.6 depth 5 Flange-side mounting surface 6-M4, depth 7 depth 3.5 4-M5, depth 10 depth 12.5 depth 3.5 4-M5 depth 10 depth 3.5 Side mounting surface depth 3.5 Bottom mounting surface Caution...
  • Page 34 330-degree Rotation Specification RTCB, Multi-rotation Specification RTCBL (Flat Type) depth 3.5 4-M5, depth 8.6 4-M5, depth 10 6-M4, depth 7 depth 3.5 depth 5 Flange-side mounting surface Bottom mounting surface depth 12.5 depth 3.5 4-M5, depth 10 depth 3.5 20 through hole 27, depth 3.5 Side mounting surface Caution...

  • Page 35: Output Shaft Adapters (Optional)

    Output Shaft Adapters (Optional) The external dimensions of adapters that can be installed on the actuator’s output shaft are shown below. 7.3.1 7.2.1 Small Type 330-degree Rotation Specification RTBS, Multi-rotation Specification RTBSL (Vertical Type) Table adapter 4-M3, depth 7 6-M3,depth 7 Table adapter depth 0.5 Shaft adapter...
  • Page 36 330-degree Rotation Specification RTCS, Multi-rotation Specification RTCSL (Flat Type) Table adapter 6-M3,depth 7 4-M3, depth 7 Table adapter depth 0.5 depth 2.5 4-M3, depth 5.5 depth 2.5 6 through hole 11, depth 0.9 Shaft adapter 4-M3, depth 7 Shaft adapter depth 2.5 depth 2.5 4-M3, depth 5.5...
  • Page 37 7.2.2 Medium Type 7.3.2 330-degree Rotation Specification RTB, Multi-rotation Specification RTBL Table adapter 8-M4, depth 7.5 Table adapter depth 1.5 Shaft adapter Shaft adapter...
  • Page 38 330-degree Rotation Specification RTC, Multi-rotation Specification RTCL Table adapter 8-M4, depth 7.5 Table adapter depth 1.5 10 through hole 15.4, depth 5.5 Shaft adapter Shaft adapter...
  • Page 39 7.2.3 Large Type 7.3.3 330-degree Rotation Specification RTBB, Multi-rotation Specification RTBBL (Vertical Type) Table adapter 4-M5, depth 8.6 8-M5, depth 9 Table adapter depth 1.5 Shaft adapter 48-M5, depth 8.6 Shaft adapter...
  • Page 40 330-degree Rotation Specification RTCB, Multi-rotation Specification RTCBL (Flat Type) Table adapter 8-M5, depth 9 4-M5, depth 8.6 depth 1.5 Table adapter depth 3.5 depth 10 depth 3.5 20 through hole 27, depth 3.5 Shaft adapter 4-M5, depth 8.6 Shaft adapter depth 3.5 depth 3.5 4-M5, depth 10...

  • Page 41: Cable Connection

    Cable Connection Connecting the Controller Plug the connector attached at the end of the actuator cable into the controller. Take note of the following points when connecting the actuator cable. If the actuator cable cannot be affixed, allow it to droop or wire it along a self-standing cable hose or along a large radius to minimize the load received by the cable.

  • Page 42: Notes On Use

    Notes on Use Range of Operation and Home Return Range of operation (position setting) The angle of movement from the home position determines the position value. • 330-degree rotation specification: Position specification range = 0 to 330 degrees • Multi-rotation specification: Position specification range = As specified below. Mode Absolute position specification Relative position specification...
  • Page 43 Therefore, do not change the factory-set home return direction in the parameter. Home return accuracy Small type Specification Model Home return accuracy Vertical 330-degree rotation RCP2-RTBS Within 0.05 specification Flat RCP2-RTCS Vertical RCP2-RTBSL Multi-rotation specification Within 0.05...
  • Page 44 Home return operation 330-degree rotation specification [1] Start of home return [2] Detection of a mechanical stopper [3] Reversing [4] Movement by a specified offset [5] Home position Range of operation (330 ) Home return Home (end of forward rotation) Movement by a specified offset Mechanical stopper...
  • Page 45 Multi-rotation specification PCON controller V 0018 or earlier PSEL controller V 0.21 or earlier [1] Start of home return [2] Home-sensor detection (when the contact B logic is selected: detection of the falling edge or ON state of the signal) [3] Reversing [4] Home-sensor detection (when the contact B logic is selected: detection of the rising edge or OFF state of the signal)
  • Page 46 Multi-rotation specification PCON controller V 0019 or earlier PSEL controller V 0.22 or earlier [Detection of home-sensor detection range (home side)] Start of home return (Search for the home-sensor detection range) Detection of a home-sensor detection range (home side) (when the contact B logic is selected: detection of the falling edge or OFF state of the signal) Reversing (Search the home-sensor non-detection range) Detection of a home-sensor non-detection range (home side) (when the contact B logic is selected:...

  • Page 47: Output Torque

    Output Torque 9.2.1 Small Type The output torque of the rotating axis will vary depending on the rotational speed of the axis. 330-degree rotation specification RTBS/RTCS (deceleration ratio: 1/30) Multi-rotation specification RTBSL/RTCSL (deceleration ratio: 1/30) Rotational speed ( /sec) 330-degree rotation specification RTBS/RTCS (deceleration ratio: 1/45) Multi-rotation specification RTBSL/RTCSL (deceleration ratio: 1/45) Rotational speed ( /sec)
  • Page 48 9.2.2 Medium Type The output torque of the rotating axis will vary depending on the rotational speed of the axis. 330-degree rotation specification RTB/RTC (deceleration ratio: 1/20) Multi-rotation specification RTBL/RTCL (deceleration ratio: 1/20) Rotational speed ( /sec) 330-degree rotation specification RTB/RTC (deceleration ratio: 1/30) Multi-rotation specification RTBL/RTCL (deceleration ratio: 1/30) Rotational speed ( /sec)
  • Page 49 9.2.3 Large Type The output torque of the rotating axis will vary depending on the rotational speed of the axis. 330-degree rotation specification RTBB/RTCB (deceleration ratio: 1/20) Multi-rotation specification RTBBL/RTCBL (deceleration ratio: 1/20) Rotational speed ( /sec) 330-degree rotation specification RTBB/RTCB (deceleration ratio: 1/30) Multi-rotation specification RTBBL/RTCBL (deceleration ratio: 1/30) Rotational speed ( /sec)

  • Page 50: Allowable Load

    Allowable Load 9.3.1 Small Type Allowable inertial moment The maximum inertial moment of the work that can be carried in rotating motion using the actuator will vary depending on the rotational speed. Design the work after checking the operating condition and inertial moment.
  • Page 51 Allowable load moment/thrust force Check if the load moment and thrust force received by the rotational axis are within the allowable ranges specified below. Model Allowable load moment Allowable thrust force 330-degree rotation specification RTBS/RTCS 3.6 N-m 30 N Multi-rotation specification RTBSL/RTCSL Load moment Thrust force...
  • Page 52 9.3.2 Medium Type Allowable inertial moment The maximum inertial moment of the work that can be carried in rotating motion using the actuator will vary depending on the rotational speed. Design the work after checking the operating condition and inertial moment. 330-degree rotation specification RTB/RTC (deceleration ratio: 1/20) Multi-rotation specification RTBL/RTCL (deceleration ratio: 1/20) Rotational speed ( /sec)
  • Page 53 Allowable load moment/thrust force Check if the load moment and thrust force received by the rotational axis are within the allowable ranges specified below. Model Allowable load moment Allowable thrust force 330-degree rotation specification RTB/RTC 3.9 N-m 50 N Multi-rotation specification RTBL/RTCL Load moment Thrust force...
  • Page 54 9.3.3 Large Type Allowable inertial moment The maximum inertial moment of the work that can be carried in rotating motion using the actuator will vary depending on the rotational speed. Design the work after checking the operating condition and inertial moment. 330-degree rotation specification RTBB/RTCB (deceleration ratio: 1/20) Multi-rotation specification RTBBL/RTCBL (deceleration ratio: 1/20) Rotational speed ( /sec)
  • Page 55 Allowable load moment/thrust force Check if the load moment and thrust force received by the rotational axis are within the allowable ranges specified below. Model Allowable load moment Allowable thrust force 330-degree rotation specification RTBB/RTCB 17.7 N-m 200 N Multi-rotation specification RTBBL/RTCBL Load moment Thrust force...

  • Page 56: Maintenance/Inspection

    10. Maintenance/Inspection Daily and periodic inspections are essential to making sure your actuator will operate safely and efficiently. Before carrying out each inspection, check the applicable maintenance/inspection items listed below. 10.1 Inspection Items and Timings Conduct visual inspection and add grease at the applicable timings specified below. The following schedule is based on eight hours of operation daily.

  • Page 57: Visual Inspection Of The Exterior

    10.2 Visual Inspection of the Exterior In the visual inspection of the exterior, check the following items. Actuator Loosening of actuator mounting bolts, etc. Cables Scratches, proper connection of connectors Overall Noise, vibration 10.3 Exterior Cleaning Clean the exterior of the actuator as necessary. Use a soft cloth, etc., to wipe off dirt.
  • Page 58 (2) Greasing method [1] Remove the screws on the front cover (countersunk head screw M2.6 x 6), and take off the front cover. RTBS, RTBSL RTCS, RTCSL RTB, RTBL RTC, RTCL RTBB, RTBBL (Vertical type) RTCB, RTCBL (Flat type) [2] Remove the screws on the rear cover (countersunk head screw M2.6 x 6), and separate the rear cover from the actuator (do not forcibly pull the cables inside).
  • Page 59 [3] While turning the gear, add grease from the opening in the rear until the bottom of the teeth is covered with grease. (Turn the input shaft to turn the output gear.) Once a sufficient amount of grease has been added, move the gear back and forth several times to evenly spread grease.
  • Page 60 While turning the gear, add grease from the opening in the rear until the bottom of the teeth is covered with grease. (Turn the input shaft to turn the output gear.) Once a sufficient amount of grease has been added, move the gear back and forth several times to evenly spread grease.
  • Page 61 While turning the gear, add grease from the opening in the rear until the bottom of the teeth is covered with grease. (Turn the input shaft to turn the output gear.) Once a sufficient amount of grease has been added, move the gear back and forth several times to evenly spread grease.
  • Page 62 [4] Install the front cover and rear cover and securely tighten the screws. When attaching the rear cover, exercise caution not to pinch the cables between the cover and actuator. Warning • Never use fluorine grease. If fluorine grease is mixed with lithium grease, the lubricating function of grease will drop and the machine may suffer damage due to increased friction.

  • Page 63: Specifications

    Specification List 11.1.1 Small Type 330-degree specification Maximum Maximum Allowable Deceleration Oscillation Model number speed torque inertial moment ratio angle (deg) (deg/sec) (N-m) (kg-m RCP2-RTBS-I-20P-30-330 1/30 0.24 0.0023 Vertical RCP2-RTBS-I-20P-45-330 1/45 0.36 0.0035 RCP2-RTCS-I-20P-30-330 1/30 0.24 0.0023 Flat RCP2-RTCS-I-20P-45-330 1/45 0.36 0.0035...
  • Page 64 11.1.2 Medium Type 330-degree specification Maximum Allowable Deceleration Oscillation Maximum Model number speed inertial moment ratio angle (deg) torque (N-m) (deg/sec) (kg-m RTB-I-PM-28P-20-330 1/20 0.01 Vertical RTB-I-PM-28P-30-330 1/30 0.015 RTC-I-PM-28P-20-330 1/20 0.01 Flat RTC-I-PM-28P-30-330 1/30 0.015 Multi-rotation specification Oscillation Maximum Allowable Deceleration Maximum...
  • Page 65 11.1.3 Large Type 330-degree specification Maximum Maximum Allowable Deceleration Oscillation Model number speed torque inertial moment ratio angle (deg) (deg/sec) (N-m) (kg-m RCP2-RTBB-I-35P-20-330 1/20 0.02 Vertical RCP2-RTBB-I-35P-30-330 1/30 0.03 RCP2-RTCB-I-35P-20-330 1/20 0.02 Flat RCP2-RTCB-I-35P-30-330 1/30 0.03 Multi-rotation specification Oscillation Maximum...

  • Page 66: Cable Diagrams

    11.2 Cable Diagrams 11.2.1 Small Type, 330-degree Rotation Specification [RTBS, RTCS] Small Type, Multi-rotation Specification [RTBSL, RTCSL] [1] Integrated motor/encoder cable (Front view) (Front view) Controller end Actuator end Signal Pin No. Pin No. Signal (Wire color) Yellow Black Yellow (red ) Yellow (blue ) Pink (red ) Pink (blue )
  • Page 67 11.2.2 Medium Type, 330-degree Rotation Specification [RTB, RTC] Medium Type, Multi-rotation Specification [RTBL, RTCL] Large Type, 330-degree Rotation Specification [RTBB, RTCB] Large Type, Multi-rotation Specification [RTBBL, RTCBL] [1] Motor cable Model number: CB-RCP2-MA Motor cable (Front view) (Front view) Actuator end...

  • Page 68: External Dimensions

    11.3 External Dimensions 11.3.1 Small Type • 330-degree Rotation Specification RTBS, Multi-rotation Specification RTBSL (Vertical Type) ∅13 Weight [kg] 0.52...
  • Page 69 • 330-degree Rotation Specification RTCS, Multi-rotation Specification RTCSL (Flat Type) ∅30 Weight [kg] 0.48...
  • Page 70 11.3.2 Medium Type • 330-degree Rotation Specification RTB, Multi-rotation Specification RTBL (Vertical Type) depth 3 Weight [kg] 0.86...
  • Page 71 330-degree Rotation Specification RTC, Multi-rotation Specification RTCL (Flat Type) depth 3 Weight [kg] 0.92...
  • Page 72 11.3.3 Large Type • 330-degree Rotation Specification RTBB, Multi-rotation Specification RTBBL (Vertical Type) ∅30 ∅14 Weight [kg]...
  • Page 73 330-degree Rotation Specification RTCB, Multi-rotation Specification RTCBL (Vertical Type) Weight [kg]...

  • Page 74: Options

    Drawing based on combination of Drawing based on combination of Drawing based on combination of RCP2-RTBB/RTBBL RCP2-RTBS/RTBSL RCP2-RTB/RTBL Unit model: RCP2-SA-RTB Unit model: RCP2-SA-RT Unit model: RCP2-SA-RTS (Unit weight: 0.2 kg) (Unit weight: 0.04 kg) (Unit weight: 0.02 kg) Drawing based on combination of...
  • Page 75 Drawing based on combination of Drawing based on combination of Drawing based on combination of RCP2-RTBS/RTBSL RCP2-RTB/RTBL RCP2-RTBB/RTBBL Unit model: RCP2-TA-RTB Unit model: RCP2-TA-RT Unit model: RCP2-TA-RTS (Unit weight: 0.06 kg) (Unit weight: 0.03 kg) (Unit weight: 0.02 kg) 4-M5, depth 8.6 8-M4, depth 7.5...
  • Page 76 RTBS/RTBSL/RTCS/RTCSL table RTB/RTBL/RTCS/RTCL table 6, counterbore depth 3.3 (5 holes are equally distributed) 8-M4 through Design surface R0.2 or less 6.2, counterbore depth 3.3 through Design surface RTBB/RTBBL/RTCB/RTCBL table Design surface 7.5, counterbore depth 4.5 B-B section D-D section...

  • Page 77: Change History

    Change History Revision Date Description of Revision April 2011 Seventh edition A page for CE Marking added March 2012 Eighth edition • P 1 to 7 Contents added and changed in Safety Guide • Caution in Handling added • P 10 to 11 Contents changed in 3. Warranty •...
  • Page 80 Manual No.: ME3626-10B (June 2014) 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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