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1. Specifications Check

26

1.4 Motor • Encoder Cables

[1] RCP2

Model number: CB-PCS-MPAƑƑƑ

ƑƑƑ indicates the cable length (L) (Example: 030=3m), Max.20m

L

(A11)

(A1)

(B11)

(B1)

Controller Side

Actuator Side

Signal Name

Pin No.

Pin No.

Signal Name

I

A

B1

A1

I

A

VMM

A2

B1

VMM

I

/A

A1

A2

I

/A

I

B

B3

B2

I

B

VMM

B2

A3

VMM

I

/B

A3

B3

I

/B

NC

3

A4

NC

NC

2

B4

NC

BK +

14

A5

BK +

BK -

13

B5

BK -

LS +

16

A6

LS +

LS -

15

B6

LS -

A +

12

A7

A +

A -

11

B7

A -

B +

10

A8

B +

B -

9

B8

B -

NC

8

A9

NC

VPS

7

B9

VPS

VPP

6

A10

VPP

GND

5

B10

GND

NC

4

A11

NC

Shield, FG

1

B11

Shield, FG

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Summary of Contents for RCA

Page 1: ...Motor reversing Short Rod Type SRA4R SRGS4R SRGD4R ROBO Cylinder Short Type RCP2 RCA Actuator Motor reversing Specification Operating Manual Fifth Edition IAI America Inc ...

Page 2: ......

Page 3: ...the Operation Manual keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary Important x This Operation Manual is original x 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 x Information contained in this Opera...

Page 4: ......

Page 5: ...3 2 Flange Bracket Front Model No FL 24 1 3 3 Flange Bracket Front Model No FLR 24 1 3 4 Foot Brackets 1 Model No FL 25 1 3 5 Foot Brackets 2 Model No FT2 Attachment to the Right Side FT2 Attachment to the Left Side 25 1 3 6 Low Power Consumption Type Model No LA 25 1 3 7 Guide Oriented Direction Model No GS2 to GS4 25 1 4 Motor Encoder Cables 26 2 Installation 28 2 1 Transportation 28 2 2 Install...

Page 6: ...ide option installed at the bottom 42 6 5 RCP2 SRGS4R RCA SRGS4R Double guide option 43 6 6 Flange Bracket option installed 44 6 7 Foot Bracket option installed 45 7 Warranty 46 7 1 Warranty Period 46 7 2 Scope of the Warranty 46 7 3 Honoring the Warranty 46 7 4 Limited Liability 47 7 5 Conditions of Conformance with Applicable Standards Regulations Etc and Applications 47 7 6 Other Items Excluded...

Page 7: ...t safety parts of machinery Safety device etc Ɣ Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Ɣ Do not use it in any of the following environments 1 Location where there is any inflammable gas inflammable object or explosive 2 Place with potential exposure to radiation 3 Location with the ambient temperature or relative humidity...

Page 8: ...the safety factor of the hook in such factors as shear strength Ɣ Do not get on the load that is hung on a crane Ɣ Do not leave a load hung up with a crane Ɣ Do not stand under the load that is hung up with a crane 3 Storage and Preservation Ɣ The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation Ɣ ...

Page 9: ...ooseness Failure to do so may cause a fire electric shock or malfunction of the product Ɣ Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failure to do so may cause the product to malfunction or cause fire 4 Installation and Start 3 Grounding Ɣ The grounding operation should be performed to prevent an electric shock or ele...

Page 10: ... to secure safety Ɣ Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire Ɣ When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity 5 Teaching Ɣ When the work is carried out with 2 or more persons mak...

Page 11: ...minal block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction 7 Automatic Operation Ɣ Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Ɣ Before starting automatic operation make sure that all peripheral equipment is in an automatic operation r...

Page 12: ...lt in a damage to the product Ɣ When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity Ɣ The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Ɣ Pay attention not to lose the cover or un...

Page 13: ...e product is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning Caution This indicates a potentially hazardous situation which if the product is not handled correctly may result in minor injury or property damage Caution Notice This...

Page 14: ... cause malfunction 3 Do not attempt to apply a rotary torque the rod Make the rod axis center and the load movement direction are the same Doing so may damage the internal component such as the rod stopper and may result in an operation failure Make sure to hold the rod with a wrench sized 14 when tightening a nut on the tip of the rod 4 Do not attempt to apply load more than allowable value the v...

Page 15: ...ternational Standards Compliances This actuator complies with the following overseas standards Refer to Overseas Standard Compliance Manual ME0287 for more detailed information RoHS Directive CE Marking ż ż ...

Page 16: ... as shown in the figure below 1 Motor reversing short rod type RCP2 SRA4R RCA SRA4R Right Left Bottom Tapped hole for installation on front face Greasing port thinhead screw Rod tip adapter Opposite side of the Motor Motor side Aluminum frame Rod Cable Tapped hole for installation on bottom face Tapped hole for installation on side face Tapped hole for installation on rear face ...

Page 17: ...ion RCP2 SRGS4R RCA SRGS4R Guide rod Guide bearing Guide bracket Opposite side of the Motor Motor side 3 Motor reversing short rod type with single guide installed on the left option RCP2 SRGS4R RCA SRGS4R Guide rod Guide bearing Guide bracket Opposite side of the Motor Motor side ...

Page 18: ...option RCP2 SRGS4R RCA SRGS4R Guide rod Guide bearing Guide bracket Opposite side of the Motor Motor side 5 Motor reversing short rod type with double guides option RCP2 SRGD4R RCA SRGD4R Guide rod Guide bearing Mounting bracket Guide bracket Opposite side of the Motor Motor side ...

Page 19: ...SEL Controller Operation Manual ME0172 2 PCON CA Controller Operation Manual ME0289 3 PCON C CG Controller Operation Manual ME0170 4 PCON CY Controller Operation Manual ME0156 5 PCON SE Controller Operation Manual ME0163 6 PCON PL OP Controller Operation Manual ME0164 7 PMEC AMEC Controller Operation Manual ME0245 8 ASEP PSEP Controller Operation Manual ME0216 9 MSEP Controller Operation Manual ME...

Page 20: ... 10 PC software RCM 101MW RCM 101 USB Operation Manual ME0155 11 MEC PC Software Operation Manual ME0248 12 Teaching pendant SEL T TD Operation Manual ME0183 13 Teaching pendant CON T TD Operation Manual ME0178 14 Touch Panel Teaching CON PT PD PG Operation Manual ME0227 15 Touch Panel Teaching CON PTA PDA PGA Operation Manual ME0295 16 Touch Panel Teaching SEP PT Operation Manual ME0217 17 Simpli...

Page 21: ... 4 R I 3 5 P 5 2 0 P 1 P B Identification for IAI use only Note1 Option B Brake FL Flange Bracket front FLR Flange Bracket rear FT Foot Bracket 1 bottom attached FT2 FT4 Foot Bracket 2 right left attached GS2 to GS4 Change in guide oriented direction Cable Length N None P 1m S 3m M 5m XƑƑ Specified Length RƑƑ Robot Cable Controller P1 PSEL PCON CA PCON C CG PCON CY PCON SE PCON PL PO RPCON P3 PMEC...

Page 22: ...dentification for IAI use only Note1 Option B Brake FL Flange Bracket front FLR Flange Bracket rear FT Foot Bracket 1 bottom attached FT2 FT4 Foot Bracket 2 right left attached LA Low Power Consumption Type GS2 to GS4 Change in guide oriented direction Cable Length N None P 1m S 3m M 5m XƑƑ Specified Length RƑƑ Robot Cable Controller P1 ASEL ACON C CG ACON CY ACON SE ACON PL PO RACON P3 AMEC ASEP ...

Page 23: ...ntal 2 5 Vertical 3 12 125 Horizontal SRA4R SRGS4R SRGD4R 35P 5 Vertical 6 25 250 Note The stroke for the brake type is from 70mm 2 RCA Speed limits Unit mm s Stroke mm Type Motor Type Lead mm Horizontal Vertical Min speed 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 Horizontal 2 5 Vertical 3 12 125 Horizontal SRA4R SRGS4R SRGD4R 20W 5 Vertical 6 25 250 Note The stroke for t...

Page 24: ...e table below 2 RCA Transportable weight would not reduce even if the speed goes up Type Motor Type Lead mm Horizontal Vertical Speed mm s Acceleration Deceleration G Transportable Weight kg Horizontal 125 0 2 18 2 5 Vertical 125 0 2 6 5 Horizontal 250 0 3 9 SRA4R SRGS4R SRGD4R 20W 5 Vertical 250 0 2 3 Caution Do not have the settings of speed and acceleration deceleration exceeding the rated valu...

Page 25: ...itioning Accuracy 1 RCP2 Type Lead Item Performance Positioning Repeatability r0 02mm SRA4R SRGS4R SRGD4R 2 5 5 Lost Motion 0 1mm or less The values shown above are the accuracy at the delivery from the factory It does not include the consideration of time dependent change as it is used 2 RCA Type Lead Item Performance Positioning Repeatability r0 02mm SRA4R SRGS4R SRGD4R 2 5 5 Lost Motion 0 1mm o...

Page 26: ...fications Check 20 1 2 5 Rod Non Rotation Accuracy 1 RCP2 Type Lead mm Performance SRA4R 2 5 5 SRGS4R 2 5 5 0 05 SRGD4R 2 5 5 0 05 2 RCA Type Lead mm Performance SRA4R 2 5 5 SRGS4R 2 5 5 0 05 SRGD4R 2 5 5 0 05 ...

Page 27: ...elow 20 the pressing force would not be stable An operation may not be made in some cases An operation cannot be made also when it is beyond 70 If use in such a condition it may extremely shorten the product life by the degradation of insulator in the motor coil due to heat generation 4 When the approaching speed setting in the position table to the pressing start position is 20mm s or less the pr...

Page 28: ...f the duty ratio continuous operation is available 1 Duty ratio LF The maximum transportable weight at the rated acceleration and the rated acceleration deceleration speed are described in 1 2 Specifications Duty ratio LF䋽 Max Transportable Weight at Rated Acceleration Mr kg Rated Acceleration Deceleration Speed Dr G Transported Weight during Operation M kg Acceleration Deceleration Speed during O...

Page 29: ...ut the duty ratio read the duty ratio e g When the load ratio LF 80 and the acceleration deceleration time ratio tod 80 the reference for the duty is approximately 75 0 20 40 60 80 100 0 20 40 60 80 100 LF 60 LF LF LF LF 70 80 90 100 Reference duty Approx 75 LF Less than 50 Acceleration deceleration time ratio tod Load factor ...

Page 30: ...ing the attached objects by the rod being dropped 1 3 2 Flange Bracket Front Model No FL This is a metal component for flange to fix the unit on the rod side 1 3 3 Flange Bracket Later Model No FLR This is a flange bracket to affix the unit body at the back motor side 40 5 10 0 25 44 5 34 5 25 75 60 RCP2 RCA SRA4R Model code of single product RCP2 FL SRA4 4 φ6 6 through 4 φ6 6 through 0 25 44 5 34...

Page 31: ...odel No LA RCA enables to drop the maximum load current of the standard type as shown in the table below For more details refer to the power capacity of ACON ASEL controllers Standard Type Low Power Consumption Type Peak Load Electric Current 4 0A 2 2A 1 3 7 Guide Oriented Direction Model No GS2 to GS4 The rod position of the single guide type is either on right GS2 bottom GS3 or left GS4 It will ...

Page 32: ...11 B1 Controller Side Actuator Side Signal Name Pin No Pin No Signal Name IA B1 A1 IA VMM A2 B1 VMM I A A1 A2 I A IB B3 B2 IB VMM B2 A3 VMM I B A3 B3 I B NC 3 A4 NC NC 2 B4 NC BK 14 A5 BK BK 13 B5 BK LS 16 A6 LS LS 15 B6 LS A 12 A7 A A 11 B7 A B 10 A8 B B 9 B8 B NC 8 A9 NC VPS 7 B9 VPS VPP 6 A10 VPP GND 5 B10 GND NC 4 A11 NC Shield FG 1 B11 Shield FG ...

Page 33: ...ial Pin No Pin No For ABZ For Serial U U 1 A1 U U V V 2 B1 Seri V W W 3 A2 W W NC NC 4 B2 NC NC NC NC 3 A3 NC NC NC NC 2 B3 NC NC BK BK 16 A4 BK BK BK BK 15 B4 BK BK LS LS 18 A5 LS LS LS LS 17 B5 LS LS A 14 A6 A A 13 B6 A B 12 A7 B B 11 B7 B Z SD 10 A8 Z SD Z SD 9 B8 Z SD BAT 8 A9 BAT PS BAT 7 B9 PS BAT VCC VCC 6 A10 VCC VCC GND GND 5 B10 GND GND A11 NC NC Shield FG Shield FG 1 B11 Shield FG Shiel...

Page 34: ...t on the ground or transporting Follow the instruction if there is any for the packaging condition y Do not step or sit on the package y Do not put any load that may cause a deformation or breakage of the package 2 Handling the Actuator After Unpacking y Do not attempt to carry the actuator with holding a cable or move it by pulling a cable y Hold the frame of the body when transporting the actuat...

Page 35: ...ntly move during transportation y If the tip of an actuator is overhanging have an appropriate way to fix it to avoid shake due to the external vibration In the transportation without the tip being fixed do not apply any impact with 0 3G or more y When hanging up with ropes have appropriate cushioning to avoid any deformation of the actuator body Also keep it in stable horizontal orientation Make ...

Page 36: ...ations provide sufficient shielding measures y Where noise generates due to static electricity etc y Where the actuator is subject to a strong electric or magnetic field y Where the actuator is subject to ultraviolet ray or radiation 2 Storage Preservation Environment y The storage and preservation environment should comply with the same standards as those for the installation environment In parti...

Page 37: ...ty to avoid generating vibration The surface where the actuator will be mounted should be machined or be equally level and the flatness tolerance between the actuator and the table should be within 0 05mm Provide enough space around the actuator to permit maintenance work to be done 2 3 3 Tightening Screws Use hexagonal socket head bolts for mounting male threads Use of high strength bolts of ISO ...

Page 38: ...vel resulting from natural deflection by the weight of the cable or use a self supporting cable hose or otherwise increase the wiring radius to minimize the load applied to the cable Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Do not pull or forcibly bend the cable For cable modification please contact IAI Controller D...

Page 39: ... an appropriate protection when there is a possibility of mechanical damage on a dedicated cable In case a dedicated cable is to be used at a moving part make sure to lay out the cable without applying any force to pull the connector or extreme bend on the cable Do not attempt to use the cable with a bending radius below the allowable value Make certain that the connectors are plugged properly Ins...

Page 40: ...cable When a cable is fastened to affix make sure to have an appropriate force and do not tighten too much Do not use spiral tube in any position where cables are bent frequently 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...

Page 41: ... track refer to the wiring instruction given by the supplier when storing the cable in the cable track Avoid the cables to get twined or twisted in the cable track and also to have the cables move freely and do not tie them up Avoid tension being applied when the cables are bent Do not pile up cables It may cause faster abrasion of the sheaths or cable breakage ...

Page 42: ...peration and adjust the parameter by the difference calculated from the operation Parameter can be changed in the positive direction of the movement Setting of negative direction cannot be established Corresponding Parameter ACON PCON Controllers No 22 Home Return Offset Level ACON PCON Controllers Each Axis Parameter No 12 Home Preset Value 3 If the offset is made big the movement range will be l...

Page 43: ... Note 1 Apply grease to the sliding surface of the rod at the startup check if grease has been consumed or every three months 5 2 Visual Inspection Exterior Check the following items visually Main unit Looseness of attachment screws Cables Scratches proper connection of connectors General Irregular noise vibration 5 3 Cleaning y Clean the exterior as needed y Wipe off dirt with a soft cloth y Do n...

Page 44: ...all screw Lubricate the ball screw after pulling the rod all the way to the stroke end Stroke the rod several times back and forth over the entire stroke to let the grease spread evenly across the entire ball screw Caution y Do not attempt to apply fluorine grease y When mixed with lithium grease not only decrease the grease characteristics but also may damage the actuator y In case the grease got...

Page 45: ...closed nut size 19 6 ORGN ME SE st Mechanical End Home Stroke End Stroke with brake 0 80 0 86 0 92 0 98 1 05 1 11 1 17 1 23 1 30 1 61 1 92 RCA w o brake 0 78 0 84 0 90 0 96 1 03 1 09 1 15 1 21 1 27 1 59 1 90 with brake 0 85 0 91 0 98 1 04 1 10 1 16 1 23 1 29 1 35 1 66 1 97 Weight kg RCP2 w o brake 0 83 0 89 0 96 1 02 1 08 1 14 1 21 1 27 1 33 1 64 1 95 E 4 4 4 4 4 6 6 6 6 8 10 D 0 0 0 0 0 1 1 1 1 2...

Page 46: ...Same on the opposite side ORGN ME SE st Mechanical End Home Stroke End Stroke 34 with brake 1 17 1 23 1 30 1 37 1 44 1 51 1 58 1 64 1 71 2 05 2 40 RCA w o brake 1 15 1 21 1 28 1 35 1 42 1 49 1 56 1 62 1 69 2 03 2 38 with brake 1 22 1 29 1 36 1 43 1 50 1 56 1 63 1 70 1 77 2 11 2 45 Weight kg RCP2 w o brake 1 20 1 27 1 34 1 41 1 48 1 54 1 61 1 68 1 75 2 09 2 43 E 4 4 4 4 4 6 6 6 6 8 10 D 0 0 0 0 0 1...

Page 47: ... E M4 depth 10 4 M 6 depth 12 ORGN ME SE st Mechanical End Home Stroke End Stroke with brake 1 17 1 23 1 30 1 37 1 44 1 51 1 58 1 64 1 71 2 05 2 40 RCA w o brake 1 15 1 21 1 28 1 35 1 42 1 49 1 56 1 62 1 69 2 03 2 38 with brake 1 22 1 29 1 36 1 43 1 50 1 56 1 63 1 70 1 77 2 11 2 45 Weight kg RCP2 w o brake 1 20 1 27 1 34 1 41 1 48 1 54 1 61 1 68 1 75 2 09 2 43 E 4 4 4 4 4 6 6 6 6 8 10 D 0 0 0 0 0 ...

Page 48: ...e opposite side ORGN ME SE st Mechanical End Home Stroke End Stroke with brake 1 17 1 23 1 30 1 37 1 44 1 51 1 58 1 64 1 71 2 05 2 40 RCA w o brake 1 15 1 21 1 28 1 35 1 42 1 49 1 56 1 62 1 69 2 03 2 38 with brake 1 22 1 29 1 36 1 43 1 50 1 56 1 63 1 70 1 77 2 11 2 45 Weight kg RCP2 w o brake 1 20 1 27 1 34 1 41 1 48 1 54 1 61 1 68 1 75 2 09 2 43 E 4 4 4 4 4 6 6 6 6 8 10 D 0 0 0 0 0 1 1 1 1 2 3 C ...

Page 49: ...stalling actuator For installing load ORGN ME SE st Mechanical End Home Stroke End Stroke with brake 1 44 1 51 1 58 1 66 1 73 1 81 1 88 1 96 2 03 2 40 2 77 RCA w o brake 1 42 1 49 1 56 1 64 1 71 1 79 1 86 1 94 2 01 2 38 2 75 with brake 1 49 1 57 1 64 1 72 1 79 1 86 1 94 2 01 2 09 2 46 2 83 Weight kg RCP2 w o brake 1 47 1 55 1 62 1 70 1 77 1 84 1 92 1 99 2 07 2 44 2 81 E 4 4 4 4 4 6 6 6 6 8 10 D 0 ...

Page 50: ...ange Bracket option installed 4 φ6 6 through 34 44 5 0 25 10 40 5 60 75 Datail view when flange bracket is installed at the front 5 25 4 φ6 6 through Datail view when flange bracket is installed at the rear 34 44 5 60 75 10 0 25 5 25 ...

Page 51: ...0 55 st 10 20 4 φ6 6 through 121 107 Detail view when foot brackets are installed on the right or the left Foot brackets can be installed on either the right side or the left side 20 4 φ6 6 through st 10 71 57 10 105 Detail view when foot brackets are installed ...

Page 52: ...ion was caused by a specification defect or problem or by the poor quality of our product Note that breakdowns due to any of the following reasons are excluded from the scope of warranty 1 Anything other than our product 2 Modification or repair performed by a party other than us unless we have approved such modification or repair 3 Anything that could not be easily predicted with the level of sci...

Page 53: ... of safety Accordingly as a rule our product cannot be used in these applications Contact us if you must use our product for any of these applications 1 Medical equipment pertaining to maintenance or management of human life or health 2 A mechanism or mechanical equipment intended to move or transport people such as a vehicle railway facility or aviation facility 3 Important safety parts of mechan...

Page 54: ...Change History Revision Date Description of Revision April 2011 Third edition A page for CE Marking added September 2011 Fourth edition Change in pressing force graph in Pg 16 November 2012 Fifth edition Revised overall ...

Page 55: ......

Page 56: ...4 D 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com 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 ...

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