IAI ROBO Cylinder RCP4 Operation Manual
Stopper cylinder
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- First step manual (3 pages) ,
- First step manual (2 pages) ,
- First step manual (2 pages)
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Summary of Contents for IAI ROBO Cylinder RCP4
- Page 1 RCP4 Stopper Cylinder Operation Manual Third Edition ST68E, ST615E IAI America, Inc.
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Page 3: Please Read Before Use
This Operation Manual is original. The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall assume no responsibility for the outcome of any operation not specified herein. Information contained in this Operation Manual is subject to change without notice for the purpose of product improvement. -
Page 5: Table Of Contents
Table of Contents Safety Guide ······················································································································1 Precautions in Operation ···································································································8 International Standards Compliances ·············································································· 11 Name for Each Parts ·······································································································12 1. Specifications Check ..............13 Product Check ....................13 1.1.1 Parts ........................13 1.1.2 Teaching Tool......................13 1.1.3 Operation Manuals Related to This Product, which are Contained in the Operation Manual (DVD).................. - Page 6 7. Warranty..................40 Warranty Period ....................40 Scope of the Warranty ..................40 Honoring the Warranty ..................40 Limited Liability ....................40 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ..................41 Other Items Excluded from Warranty..............41 Change History ................. 42...
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Page 7: Safety Guide
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. 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 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 9 Operation Description Description Installation (2) Cable Wiring and Start Use our company’s genuine cables 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.
- Page 10 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 the robot’s movable range.
- Page 11 Operation Description Description Trial When the work is carried out with 2 or more persons, make it clear who Operation 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 12 Operation Description Description Maintenance 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 Inspection with each other to ensure the safety of the workers. Perform the work out of the safety protection fence, if possible.
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Page 13: Alert Indication
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger Danger product is not handled correctly, will result in death or serious... -
Page 14: Precautions In Operation
Precautions in Operation 1. Operate the product following the instructions for the product operation conditions, operation environment and specification range. Operation out of the specified conditions could cause a drop in performance or malfunction of the product. 2. The surface on the pallet that touches the end roller should be flat and should also be vertical to the end roller. - Page 15 4. When stopping a work piece in a thrust, make sure to use with a thrust within the allowable horizontal load. Usage under a thrust (horizontal load) exceeding the allowable range will obstruct the actuator operation and ends up with an alarm generation. Thrust (Live Load) Pallet 5.
- Page 16 7. Do not splash water, cutting fluid or dust. Doing so may cause an operation failure of the moving part on the lever, oil leakage or operation failure of the shock absorber.
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Page 17: International Standards Compliances
International Standards Compliances This product complies with the following overseas standard. RoHS Directive CE Marking To be scheduled... -
Page 18: Name For Each Parts
Name for Each Parts Lever Lever Lock Bracket End Roller Rod Anti-Rotation Feature Hole Plug Top Cover Installation Flange Hole Plug Main Body Motor Cover Actuator Cable... -
Page 19: Specifications Check
1. Specifications Check Product Check 1.1.1 Parts 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. Part Name Model Quantity Remarks... -
Page 20: How To Read The Model Plate
: Robot Cable <Controller> P3 : External Controller Type (PSEP, MSEP, PCON-CA) <Stroke> 30 : 30mm Note 1 Identification for IAI use only : It may be displayed for IAI use. It is not a code to show the model type. -
Page 21: Specifications
Specifications 1.2.1 Actuator [1] Basic Specifications ST68E ST615E Item unit Standard Type Standard Type Lead Vertical Stroke Maximum Speed mm/sec 65 (1950rpm) Maximum Acceleration Cycle Time 0.6 (0 30mm in one way, Maximum Speed, Maximum Acceleration) Rated Thrust 73.9 (7.5kgf) (at maximum speed) Repetitive Positioning ±0.5... - Page 22 Option (1) Protective Cover (Model No.: CO) This protective cover protects your finger, etc. from being caught, when the rod is lowered. Protection Cover (2) Proximity Sensor (Model No.: L) This sensor detects that the pallet has been stopped with the lever. The proximity sensor detects when the lever stands up straight.
- Page 23 [Output Circuit Diagram] Brown Load Main Black Circuit of Proximity Sensor Blue (3) Difference in Cable Orientation (Model No.: CJT, CJR, CJL, CJB) If a change in the cable ejection direction is made, the direction of cable ejection will be changed.
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Page 24: Motor • Encoder Cables
Motor • Encoder Cables 1.4.1 Motor • Encoder Integrated Cables CB-CA-MPA indicates the cable length (L) (Example: 030=3m), Max.20m (30) (25) (25) (15) (30) Actuator side Controller side Connector : 1-1827863-1 Connector : PADP-24V-1-S Contact : 1827570-2 Contact SPND-002T-C0.5(AWG26) SPND-001T-C0.5(AWG22) Connection diagram Actuator side Controller side... -
Page 25: Motor • Encoder Integrated Robot Cables
1.4.2 Motor • Encoder Integrated Robot Cables CB-CA-MPA indicates the cable length (L) (Example: 030=3m), Max.20m (30) (25) (25) (15) (30) Actuator side Controller side Connector : 1-1827863-1 Connector : PADP-24V-1-S Contact : 1827570-2 Contact SPND-002T-C0.5(AWG26) SPND-001T-C0.5(AWG22) Connection diagram Actuator side Controller side Signal Signal... -
Page 26: Installation
2. Installation Transportation 2.1.1 Handling the Packed Unit Unless otherwise specified, the actuator is shipped with each axis packaged separately. • 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. •... -
Page 27: Installation And Preservation Environment
Installation and Preservation Environment This product is capable for use in the environment of pollution degree 2 or equivalent. *1 Pollution Degree 2: Environment that may cause non-conductive pollution or transient conductive pollution by frost (IEC60664-1) 2.2.1 Installation Environment The actuator should be installed in a location other than those specified below. In general, the installation environment should be one in which an operator can work without protective gear. -
Page 28: How To Install
How to Install Shown below is how to install the actuators to the machinery equipment. 2.3.1 Installation Posture : Possible ×: Not possible Horizontally Horizontally Vertical mount oriented wall Ceiling mount oriented mount mount (only for rod upward type) -
Page 29: Installation Of The Main Unit
2.3.2 Installation of the Main Unit Utilize the attachment holes provided on the attachment plate for the attachment of the unit. 106.5 Hole Plug 4-φ9through φ15 counterbore depth 5 Follow the table below for the torque to tighten the attachment screws. Tightening torque [N•m] Attachment Mounting... - Page 30 When an operation of the rod is required without the power being turned on, the rod can be moved up and down with the procedure shown below. [Procedure] Detach the hole plugs (2plcs) protecting the manual adjusting screw. Hole Plug Hole Plug Insert a hex wrench (sized 3mm) to the hole on the installation flange, and turn the manual adjustment screw to move the rod up and down.
- Page 31 In such case of installing a plate as shown in the figures below, make sure to have a profile of recess on the plate to avoid blocking a hex wrench to go through. Without having the recess, moving up and down of the rod with the manual adjustment screw will be disabled. Also, remove the lower the hole plug before attaching the plate because it will be very difficult to detach after the plate is installed.
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Page 32: Connecting With The Controller
3. Connecting with the Controller For the connection of the controller and actuator, use the IAI dedicated connection cable. If the dedicated connection cable cannot be secured, reduce the load on the cable by allowing it to deflect only by the weight of the cable or wire it in a self–standing cable hose, etc., having a large radius. - Page 33 Use dedicated cables of IAI indicated in this operation manual. Contact us if you wish to have a change to the specifications of the dedicated cables.
- Page 34 Have a sufficient radius for bending, and avoid a bend concentrating on one point. Steel Strap (Piano Wire) Tie them up softly. Do not let the cable bend, kink or twist. Do not pull the cable with a strong force. Do not let the cable receive a turning force at a single point.
- Page 35 When fixing the cable, provide a moderate slack and do not tension it too tight. Do not use spiral tube in any position where cables are bent frequently. Separate the I/O and communication lines from the power and drive lines. Do not wire them together in the same duct.
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Page 36: Maintenance Inspection
4. Maintenance Inspection Inspection Items and Schedule Follow the maintenance inspection schedule below. It is assumed that the equipment is operating 8 hours per day. If the equipment is running continuously night and day or otherwise running at a high operating rate, inspect more often as needed. -
Page 37: Grease And Oil Supply
Grease and Oil Supply 4.4.1 Applied Grease and Oil The grease and oil listed below are applied when the product is delivered. Part Grease at Delivery Bearing, Stopper, Absorber Multitemp LRL No.3 Kyodo Yushi Co., Ltd. End Adapter, Lever Lock Lead Screw Sumitec 308 Sumico Lubricant Co., Ltd. - Page 38 [2] Oil Supply to Bearing Detach the protection cover for the type equipped with the protection cover (option). Move the rod to the upper end to remove the hex socket head flat cap screws M4 x 8 and moved upward the scraper. When the scraper is moved upward, the bearing section appears.
- Page 39 [Oil Supply to Trapezoid Thread] Remove two M3 x 8 cross recessed flat-head screws with the rod being moved to the upper end to detach the under plate. Apply grease to the slide screw that can be seen inside. To spread the grease to the whole area, move the rod up and down by turning the manual adjustment screw with a hex wrench while applying the grease.
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Page 40: How To Replace Maintenance (Consumable) Parts
4.4.3 How to Replace Maintenance (Consumable) Parts The component that requires maintenance (consumable part) is the shock absorber. The number of crash operation before replacement that is recommended by the supplier of the shock absorber is 1,000,000 times (reference). There is a possibility that the drag drops down by 20% from the initial performance after 1,000,000 times of crash. - Page 41 [Adjustment of Min. Drag of Absorber to Work Piece (Object to Collide)] Regarding how to adjust the drag of the absorber to the work piece, determine by confirming the behavior of the lever when the actual work piece is collided. The detent structure by the locking bracket works on the lever (to get to locked condition) when the drag of the absorber to the collision force of the work piece is optimum.
- Page 42 [2] How to Replace Shock Absorber Adapter Pin Affix the eccentric angle adapter to the shock absorber with an M16 nut at the point where the adapter pin hits the very end of the shock absorber. At this time, push the adapter pin to confirm that it Eccentric Angle Adapter moves with no play to the pin.
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Page 43: Life Of The Shock Absorber
5. Life of the Shock Absorber This shall be 1,000,000 times (reference) of collision assuming it is operated with maximum work piece mass, maximum acceleration and deceleration. -
Page 44: External Dimensions
6. External Dimensions Manual Adjustment Screw [M.E]: Mechanical end (Hex Wrench sized 3mm) *When the home position in normal, the home position is in the rod upper direction φ11.5 When the home position in opposite, the home position is in the rod lower direction View T Conveyor Upper End 15.8... - Page 45 Protection Cover Type (106.5) (93)
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Page 46: Warranty
7. 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 2,500 operational hours Scope of the 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 47: Conditions Of Conformance With Applicable Standards/Regulations, Etc., And Applications
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 48: Change History
Change History Revision Date Revision Description 2012.11 First Edition 2012.12 Second Edition Pg. 18 Model names changed. PSEP deletes it for the not corresponding. 2013.12 Third Edition ST68E and ST615E specification are added. 70kg specification deleted. - Page 50 825, PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand TEL +66-2-361-4458 FAX +66-2-361-4456 The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2013. Dec. IAI Corporation. All rights reserved. 13.12.000...
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