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IAI RCP6 Series, Manual, Page: 4 / 28

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IAI RCP6 Series Manual Download Page 4

Easy setup using a dedicated tool

Pushing/pulling can easily be setup using the PC teaching 

software or teaching pendant.

 

PC teaching software (screenshot)

 

Example of washer press fitting

Position No. 1 

start signal 

input

Completion 

signal output

Moves to position 

No. 2 immediately 

before workpiece

Begins push-motion 

operation at a push 

speed of 10mm/s

Arrives at 

specified push 

force

*

Position 

of 0mm

Position 

of 50mm

Push force of 

302N reached

Approach

Push

Complete

* A completion signal is 

not output if the specified 

push force is not reached 

until the push width value.

3

Summary of Contents for RCP6 Series

Page 1: ...GB RCP6RRA4 6 7R LCT www iai automation com www robocylinder de Low Medium Push Force Rod Type Pulse Press Models with Load Cell ...

Page 2: ...ility of 1 0 F S full scale based on feedback from the load cell Both pushing and pulling are supported in the load direction There are no limitations on pushing or pulling times Example Wire harness pulling test What is a pulse press IAI s new pulse press POINT F S Full Scale Maximum measurable value Load cell RCP6 RRA pulse press PCON CBP pulse press dedicated controller Pulse motor Feedback loa...

Page 3: ...s based on use push force from 60N to 2000N Equipped with a pulse motor it is less than half the cost of an IAI servo press RCP6 RRA4R RCP6 RRA6R RCP6 RRA7R 60N 300N 60N 600N 200N 2000N System for inspecting air leaks in sweet bread packaging Example 2 ...

Page 4: ... Position No 1 start signal input Completion signal output Moves to position No 2 immediately before workpiece Begins push motion operation at a push speed of 10mm s Arrives at specified push force Position of 0mm Position of 50mm Push force of 302N reached Approach Push Complete A completion signal is not output if the specified push force is not reached until the push width value 3 ...

Page 5: ...solute P3 PCON CBP CGBP The range of selections varies according to the actuator type Please refer to the pages of each type for details N No P 1m S 3m M 5m X Specified length R Robot cable B Brake CJB Cable exit direction bottom CJO Cable exit direction outside CJT Cable exit direction top FL Flange front FT Foot bracket LCT Equipped with load cell standard equipment ML Motor side mounted left MR...

Page 6: ...on deceleration Max speed mm s 200 Rated acceleration deceleration G 0 5 Max acceleration deceleration G 0 5 Vertical Payload Maximum payload kg high output enabled 3 Maximum payload kg high output disabled 3 Speed acceleration deceleration Max speed mm s 200 Rated acceleration deceleration G 0 5 Max acceleration deceleration G 0 5 Push Max push force N 300 Min push force N 60 Max push speed mm s ...

Page 7: ...ages to confirm each option Name Option code Referencepage Brake Note 1 B 14 Cable exit direction bottom Note 1 2 CJB 14 Cable exit direction outside Note 1 CJO 14 Cable exit direction top Note 1 CJT 14 Flange front Note 1 FL 14 Foot bracket Note 2 3 FT 15 Equipped with load cell standard equipment Note 4 LCT 15 Motor side mounted left Note 5 ML 15 Motor side mounted right Note 5 MR 15 Note 1 Cabl...

Page 8: ... 4 ø5 5 through ø9 5 deep counterbored depth 5 5 equidistant 4 ø10h7 R 0 5 o r l e s s ø5H7 reamed 3 0 010 0 Must be 100 or more 2 ø42 load cell outer diameter 136 w o brake 180 with brake 27 67 26 Cable exit direction option CJB bottom CJO outside CJT top 0 5 1 2 5 3 5 ø3 4 ø6 5 Cross section V V Details of base mounting counterbored holes Dimensions by stroke Stroke 110 160 210 260 310 L 244 294...

Page 9: ...10 Speed acceleration deceleration Max speed mm s 110 Rated acceleration deceleration G 0 3 Max acceleration deceleration G 0 3 Vertical Payload Maximum payload kg high output enabled 10 Maximum payload kg high output disabled 10 Speed acceleration deceleration Max speed mm s 110 Rated acceleration deceleration G 0 3 Max acceleration deceleration G 0 3 Push Max push force N 600 Min push force N 60...

Page 10: ...d type P 1m S 3m M 5m Specified length X06 6m X10 10m X11 11m X15 15m X16 16m X20 20m Robot cable R01 1m R03 3m R04 4m R05 5m R06 6m R10 10m R11 11m R15 15m R16 16m R20 20m RCP6 RoboCylinder Tables of Payload by Speed Acceleration High output setting enabled the unit for payload is kg High output setting disabled the unit for payload is kg Stroke and Max Speed High output setting Stroke mm 115 165...

Page 11: ...4 hole ø4 hole D 100P 65 10 15 B 28 H ø4 5 through ø8 deep counterbored depth 4 5 from the opposite side 30 G 100P J ø4 hole oblong hole Oblong hole P 45 45 P C D 40 4 M6 depth 12 Cross section of S S equidistant Depth 5 5 from base mounting surface R 5 Detailed view of P Base oblong hole details 4 5 4 5 ø5H7 reamed depth 5 ø10H7 depth 5 P C D 30 5 4 M5 depth 8 Jig mounting dimensions details equi...

Page 12: ...n Max speed mm s 160 85 Rated acceleration deceleration G 0 3 0 3 Max acceleration deceleration G 0 3 0 3 Vertical Payload Maximum payload kg high output enabled 10 10 Maximum payload kg high output disabled 10 10 Speed acceleration deceleration Max speed mm s 160 85 Rated acceleration deceleration G 0 3 0 3 Max acceleration deceleration G 0 3 0 3 Push Max push force N 1000 2000 Min push force N 2...

Page 13: ... force N 0 20 40 60 80 100 Push command value 0 200 400 600 800 1000 1200 1400 1600 1800 2000 2200 Lead 2 Lead 4 Pull force N 0 20 40 60 80 100 Pull command value 0 200 400 600 800 1000 1200 1400 1600 1800 2000 2200 Lead 2 Lead 4 Options Please check the Options reference pages to confirm each option Cable Length Type Cable code Standard type P 1m S 3m M 5m Specified length X06 6m X10 10m X11 11m ...

Page 14: ...pth 6 from base mounting surface D 100P 38 5 H ø6 through ø9 5 deep counterbored depth 5 5 from the opposite side 45 G 100P J ø4 hole oblong hole Oblong hole P P C D 46 45 45 4 M8 depth 16 Cross section of S S equidistant Depth 6 from base mounting surface 5 R Detailed view of P Base oblong hole details 4 5 4 5 ø8H7 reamed depth 8 4 M8 depth 14 P C D 34 ø15H7 depth 5 Jig mounting dimensions detail...

Page 15: ...surface 4 ø4 5 through 75 65 32 5 32 23 10 14 5 ø4H7 reamed depth 5 Base mounting surface Oblong hole depth 5 S 21 5 10 88 5 home position 37 5 R 5 Detailed view S 2 1 0 0 0 4 RCP6 RRA4R LCT Individual model number RCP6L FL RRA4 Note 1 Individual weight 0 14kg Material Steel 33 Base mounting surface 12 86 5 home position 19 5 42 5 85 72 38 14 20 5 25 36 ø6H7 reamed depth 6 Oblong hole depth 6 Base...

Page 16: ...10 250 200 6 3 6 260 300 200 6 3 6 310 350 200 6 3 6 ST G H J FT selected as option No of foot brackets Number of hex socket bolts enclosed 115 165 0 4 2 4 165 165 0 4 2 4 215 265 165 6 3 6 265 265 165 6 3 6 315 365 165 6 3 6 210 180 25 12 5 15 J ø9through G H 47 56 19 52 106 RCP6 RRA7R Individual model number RCS3 FT RA7 2 Note 1 Note 1 2 hex socket bolts enclosed Equipped with load cell This opt...

Page 17: ...R MR RCP6 MUPP7R B MR Bottom RCP6 MUPP7R CJB MR RCP6 MUPP7R B CJB MR Outside RCP6 MUPP7R CJO MR RCP6 MUPP7R B CJO MR Top RCP6 MUPP7R CJT MR RCP6 MUPP7R B CJT MR Cable track assembly Type Stroke Cable track assembly model RRA4R 110mm CVR P6PP 16 160mm CVR P6PP 18 210mm CVR P6PP 23 260mm CVR P6PP 28 310mm CVR P6PP 31 RRA6R 115mm CVR P6PP 18 165mm 215mm CVR P6PP 23 265mm CVR P6PP 28 315mm CVR P6PP 33...

Page 18: ...cell handling precautions Precautions for installation Mounting orientation Prepare a support block as shown in the figure below when fixing the base seating surface horizontally even if there is no external force applied on the body Keep the body installation surface and workpiece mounting surface flatness at 0 05mm m or lower Uneven flatness will increase the sliding resistance of the slider and...

Page 19: ...an be easily switched out by specifying position data Position data pushing is displayed as a converted target load N If the collision detection function is disabled a converted N value is also displayed for the threshold 1 2 3 PC compatible teaching software RCM 101 Position editing screen TB 02 Position editing screen Teaching pendant Features This guide will help you set a position and conduct ...

Page 20: ...h Encoder type Motor type Type Series 0 WAI I O type PCON Power supply voltage CBP Pulse press standard type CGBP Pulse press safety category specification 35P 35 42P 42 56P 56 NP PIO NPN specification PN PIO PNP specification DV DeviceNet connection specification CC CC Link connection PR PROFIBUS DP connection CN CompoNet connection EC EtherCAT connection EP EtherNet IP connection PRT PROFINET IO...

Page 21: ...ance cable Included with the controller for PIO cable See backside Model CB PAC PIO020 Standard 2m Controller Model PCON CBP CGBP Dummy plug See P 26 Model DP 5 Supplied with PCON CGBP DC24V power supply Coming soon See P 26 Model PSA 24 Option PLC System Configuration Pulse press actuator Model RCP6 RRA Field network DeviceNet CC Link PROFIBUS DP CompoNet EtherCAT EtherNet IP PROFINET IO PCON CBP...

Page 22: ... positioning points 5 points Position number command Individual number signal ON Position zone signal output 2 1 point Load cell calibration command Item Specifications Load voltage 24VDC Maximum load current 50mA 1 circuit Leakage current 2mA max point P N N P P24 5 6k 680 24VDC Input terminal External power supply Internal circuit N 5 6k 680 24VDC Input terminal External power supply Internal ci...

Page 23: ...PM1 ALM1 PM1 ALM1 PE0 LSO PM1 PE0 2B OUT1 PM2 ALM2 PM2 ALM2 PM2 ALM2 PM2 ALM2 PE1 LS1 TRQS PM2 PE1 3B OUT2 PM4 ALM4 PM4 ALM4 PM4 ALM4 PM4 ALM4 PE2 LS2 Note 2 PM4 PE2 4B OUT3 PM8 ALM8 PM8 ALM8 PM8 ALM8 PM8 ALM8 PE3 PM8 PE3 5B OUT4 PM16 PM16 PM16 PM16 PE4 PM16 PE4 6B OUT5 PM32 PM32 PM32 PM32 PE5 TRQS TRQS 7B OUT6 MOVE MOVE PM64 PM64 PE6 LOAD LOAD 8B OUT7 ZONE1 MODES PM128 PM128 ZONE1 ZONE1 CEND CEND...

Page 24: ...ch is a function of the half direct value mode above 7 Remote I O mode 3 This mode is the same as the remote I O mode above with the added functionality of reading current position and load cell data Mode description List of functions by operation mode indicates that the operation is supported and indicates that it is not supported Note Usable when PIO pattern is set to 6 or 7 Mode Remote I O mode...

Page 25: ...touch panel teaching pendant Data retention memory Position data and parameters are saved in non volatile memory no limit to rewrite Operation mode Positioner mode Number of positioner mode positions Up to 512 points for positioner type or up to 768 points for network type Note The total number of positioning points varies depending on which PIO pattern is selected Insulation resistance 10MΩ or mo...

Page 26: ...atio Displays the alarm code when an alarm occurs LED Operating status STS3 green Status display Servo ON Displays the current command current ratio proportion of rated value STATUS Command current ratio 3 2 1 0 ALM8 ALM4 ALM2 ALM1 Simple alarm code 0 00 6 24 6 25 24 99 25 00 49 99 50 00 74 99 75 00 100 00 or higher During alarm Displays a simple alarm code STS2 green STS1 green STS0 green 5 Opera...

Page 27: ...an 13 8 330W Peak output 17A 408W Efficiency 90 or more Parallel connection 3 Up to 5 units 1 The pulse width of flowing inrush current is 5ms or less 2 This power supply can vary the output voltage according to the load in order to enable parallel operation The power supply is therefore for use with IAI controllers only 3 Parallel connection cannot be used under the following conditions Parallel ...

Page 28: ...19 Red AWG22 19 Light blue AWG26 Orange AWG26 Green AWG26 Brown AWG26 Gray AWG26 Red AWG26 Black AWG26 Yellow AWG26 Light blue AWG26 Orange AWG26 Gray AWG26 Red AWG26 Brown AWG26 Green AWG26 Pink AWG26 Green AWG26 Color Pin No Controller side PADP 24V 1 S J S T Mfg Co Ltd Signal name øA VMM øB VMM ø_A ø_B SA mABS SB mABS A A B B VPS LDC_VCC BK BK VCC GND LDC_GND LDC_SD LDC_SD CF_VCC FG 3 5 10 9 4 ...

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