IAI RCP6S Instruction Manual Download

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Table of Contents

Safety Guide ..................................................................................................................................... 1

Caution in Handling .......................................................................................................................... 9

International Standards Compliances ............................................................................................. 11

Names of the Parts ......................................................................................................................... 13

Specifications Check ...................................................................................................................... 19

1.1

Checking the Product ................................................................................................................. 19

1.1.1

Parts ............................................................................................................................... 19

1.1.2

Related Instruction Manuals for the Each Controller Supported by This Product .......... 20

1.1.3

How to Read the Model Nameplate ............................................................................... 20

1.2

Specifications ............................................................................................................................. 22

1.2.1

Speed .............................................................................................................................. 22

1.2.3

Driving System • Position Detector ................................................................................. 49

1.2.4

Positioning Precision ...................................................................................................... 49

1.2.5

Rod Tip Load .................................................................................................................. 49

1.2.6

Current Limit Value and Pressing Force ......................................................................... 50

1.2.7

Rod Tip Inclination Amount (reference) .......................................................................... 54

1.2.8

Duty Ratio for Continuous Operation ............................................................................. 56

1.3

Options ....................................................................................................................................... 57

1.3.1

Brake Type (Model: B) .................................................................................................... 57

1.3.2

Reversed-home Specification (Model: NM) .................................................................... 57

1.3.3

Flange Bracket (Front) (Model: FL) ................................................................................ 57

1.3.4

Foot Bracket (Model: FT) ................................................................................................ 58

1.3.5

T-slot Nut Bar (Model: NTB) ........................................................................................... 58

1.3.6

Tip Adapter (Internal Thread) (Model: NFA) ................................................................... 59

1.3.7

Motor Left Side-Mounted, Motor Top Side-Mounted, Motor Right Side-Mounted

(Model: ML, MT, MR) ..................................................................................................................... 61

1.3.8

Cable Exit Direction Changed (Model: CJT, CJR, CJL, CJB, CJO) ............................... 61

1.4

Motor • Encoder Cables ............................................................................................................. 62

1.4.1

Motor • Encoder Integrated Cables (RA4, RA6 and RA7) .............................................. 62

1.4.2

Motor • Encoder Integrated Cables Robot Type (RA4, RA6 and RA7) .......................... 63

1.4.3

Motor • Encoder Integrated Cables (RA8) ...................................................................... 64

1.4.4

Motor • Encoder Integrated Cables (RA8) ...................................................................... 65

Installation ...................................................................................................................................... 66

Summary of Contents for RCP6S

Page 1: ...ROBO Cylinder RCP6 RCP6S Actuator Rod Type Instruction Manual Second edition Motor Straight Type RA4C RA6C RA7C RA8C Side Mounted Motor Type RA4R RA6R RA7R RA8R IAI America Inc ...

Page 2: ......

Page 3: ...at whoever is handling this product can reference it quickly when necessary Important This instruction manual is original This product is not to be used for any other purpose from what is noted in this instruction manual IAI shall not be liable whatsoever for any loss or damage arising from the result of using the product for any other purpose from what is noted in the manual The information conta...

Page 4: ...Description of RCP6S controller unit is not included in this instruction manual With regard to RCP6S controller unit refer to the separate instruction manual ...

Page 5: ...ount reference 54 1 2 8 Duty Ratio for Continuous Operation 56 1 3 Options 57 1 3 1 Brake Type Model B 57 1 3 2 Reversed home Specification Model NM 57 1 3 3 Flange Bracket Front Model FL 57 1 3 4 Foot Bracket Model FT 58 1 3 5 T slot Nut Bar Model NTB 58 1 3 6 Tip Adapter Internal Thread Model NFA 59 1 3 7 Motor Left Side Mounted Motor Top Side Mounted Motor Right Side Mounted Model ML MT MR 61 1...

Page 6: ...5 6 2 RA8C 103 5 6 3 RA4R RA6R RA7R RA8R 106 6 External Dimensions 113 6 1 Standard Specification RCP6 RA4C 113 6 2 Built in Controller Specification RCP6S RA4C 114 6 3 Standard Specification RCP6 RA6C 115 6 4 Built in Controller Specification RCP6S RA6C 116 6 5 Standard Specification RCP6 RA7C 117 6 6 Built in Controller Specification RCP6S RA7C 118 6 7 Standard Specification RCP6 RA8C 119 6 8 Bu...

Page 7: ...ation RCP6S RA7R Left Side Mounted Model ML 132 6 21 Standard Specification RCP6 RA8R Top Side Mounted Model MT 133 6 22 Standard Specification RCP6 RA8R Left Side Mounted Model ML 134 6 23 Built in Controller Specification RCP6S RA8R Top Side Mounted Model MT 135 6 24 Standard Specification RCP6S RA8R Left Side Mounted Model ML 136 7 Life 137 7 1 RA4C RA4R RA6C RA6R RA7C RA7R 137 7 2 RA8C RA8R 13...

Page 8: ......

Page 9: ...nt safety parts of machinery Safety device etc Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product 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 ex...

Page 10: ...he safety factor of the hook in such factors as shear strength Do not get on the load that is hung on a crane Do not leave a load hung up with a crane Do not stand under the load that is hung up with a crane 3 Storage and Preservation The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation Store the p...

Page 11: ... no disconnection or looseness Failure to do so may cause a fire electric shock or malfunction of the product 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 3 Grounding The grounding operation should be performed to prevent an electric shock or electrosta...

Page 12: ...to secure safety 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 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 When the work is carried out with 2 or more persons make it cl...

Page 13: ...inal 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 Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Before starting automatic operation make sure that all peripheral equipment is in an automatic operation ready ...

Page 14: ...ult in a damage to the product 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 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 Pay attention not to lose the cover or untight...

Page 15: ...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 16: ...hing with the rod axis 6 If back and forth operations are performed repeatedly in short distance it may wear out the film of grease Continuous back and forth operation within a distance less than 30mm may cause wear of grease As a reference have approximately 5 cycles of back and forth operation in a distance more than 50mm in every 5 000 to 10 000 cycles to regenerate the oil film Keep using the ...

Page 17: ... acceleration deceleration setting differs between the high output setting being effective and ineffective Refer to the applicable performance specification when the high output setting is effective or ineffective in 1 2 Specifications Controller Parameter Remarks PCON CB No 152 High Output Setting 0 Ineffective 1 Effective MCON No 152 High Output Setting 0 Ineffective 1 Effective Option T In high...

Page 18: ...ole Hexagonal Socket Head Bolt Grease Supply Φ2 5 hole Hexagonal Socket Head Bolt The same applies to the other side Body Frame Bearing Tapped Hole for Ground Cable Connection Connector Rod Tip Adaptor Rod Motor Side Right Side Opposite Side Left Side Opposite Side Motor Side Left Side Right Side Teaching Port Status LED Screw for Motor Unit Attachment Motor Unit Grease Supply Φ2 5 hole Hexagonal ...

Page 19: ...t Screw for Motor Unit Attachment Tapped Hole for Ground Cable Connection Connector Rod Rod Tip Adaptor Grease Supply Φ5 hole Rubber Cap The same applies to the other side Grease Supply Φ5 hole Rubber Cap Body Frame Screw for Motor Unit Attachment Motor Unit Tapped Hole for Ground Cable Connection Teaching Port Bearing Status LED Power I O Cable Connector Motor Side Right Side Opposite Side Left S...

Page 20: ...otor Cover End Cover Tapped Hole for Ground Cable Connection Teaching Port Bearing Status LED Power I O Cable Connector Rod Rod Tip Adaptor Grease Supply Φ5 hole Rubber Cap The same applies to the other side Grease Supply Φ5 hole Rubber Cap Body Frame Motor Cover End Cover Tapped Hole for Ground Cable Connection Bearing Connector Motor Side Right Side Opposite Side Left Side Motor Side Right Side ...

Page 21: ...d Cover Pulley Cover Bearing Tapped Hole for Ground Cable Connection Rear Bracket Connector Rod Rod Tip Adaptor Grease Supply Φ2 5 hole Hexagonal Socket Head Bolt The same applies to the other side Body Frame Motor Cover End Cover Pulley Cover Bearing Tapped Hole for Ground Cable Connection Rear Bracket Status LED Teaching Port Power I O Cable Connector Motor Side Right Side Opposite Side Left Sid...

Page 22: ...Pulley Cover Bearing Tapped Hole for Ground Cable Connection Rear Bracket Connector Rod Rod Tip Adaptor Grease Supply Φ5 hole Hexagonal Socket Head Bolt The same applies to the other side Body Frame Motor Cover End Cover Pulley Cover Bearing Tapped Hole for Ground Cable Connection Rear Bracket Teaching Port Status LED Power I O Cable Connector Motor Side Right Side Opposite Side Left Side Motor Si...

Page 23: ...y Cover Bearing Tapped Hole for Ground Cable Connection Rear Bracket Connector Rod Rod Tip Adaptor Grease Supply Φ5 hole Hexagonal Socket Head Bolt The same applies to the other side Body Frame Motor Cover End Cover Pulley Cover Bearing Tapped Hole for Ground Cable Connection Rear Bracket Power I O Cable Connector Teaching Port Status LED Motor Side Right Side Opposite Side Left Side Motor Side Ri...

Page 24: ...he Model Number 1 Accessories 2 Motor Encoder Cables Note1 1 3 Nut 1 Refer to list below 4 Square T nut 1 set Refer to list below 5 First Step Guide 1 6 Instruction Manual DVD 1 7 Safety Guide 1 Note 1 The motor encoder cables supplied vary depending on the controller used Refer to 1 4 Motor Encoder Cables List of Included Nut Type Nut M10 1 25 Nut M14 1 5 Nut M20 1 5 RA4C RA4R RA6C RA6R 1 RA7C RA...

Page 25: ...Controller ME0342 2 Instruction Manual for MCON C CG Controller ME0341 3 Instruction Manual for MSEL Controller ME0336 4 Instruction Manual for RC PC Software RCM 101 MW RCM 101 USB ME0155 5 Instruction Manual for Touch Panel Teaching Pendant CON PTA PDA PGA ME0295 6 Instruction Manual for Touch Panel Teaching Pendant TB 01 01D 01DR Applicable for Position Controller ME0324 1 1 3 How to Read the M...

Page 26: ... RA7R 4 8 16 24 RA8C RA8R 5 10 20 Options B Brake NM Reversed home specification FL Flange bracket FT Foot bracket NTB T slot nut bar specification NFA Tip adapter Internal Thread ML Motor left side mounted MR Motor right side mounted MT Motor top side mounted CJT Cable exit direction changed Top CJR Cable exit direction changed Right CJL Cable exit direction changed Left CJB Cable exit direction ...

Page 27: ...izontal 700 Vertical 700 16 Horizontal 840 Vertical 840 50 100 150 200 250 300 RA6C 42P 3 Horizontal 225 Vertical 225 6 Horizontal 450 Vertical 450 12 Horizontal 700 Vertical 700 20 Horizontal 800 Vertical 800 50 100 150 200 250 300 RA7C 56P 4 Horizontal 210 Vertical 175 8 Horizontal 420 Vertical 350 16 Horizontal 700 Vertical 560 24 Horizontal 860 Vertical 640 50 100 150 200 250 300 RA8C 60P 5 Ho...

Page 28: ...ical 450 12 Horizontal 700 Vertical 700 20 Horizontal 800 Vertical 800 50 100 150 200 250 300 RA7R 56P 4 Horizontal 175 Vertical 175 8 Horizontal 420 Vertical 350 16 Horizontal 560 Vertical 560 24 Horizontal 800 Vertical 640 50 100 150 200 250 300 RA8R 60P 5 Horizontal 100 Vertical 100 10 Horizontal 200 Vertical 200 20 Horizontal 400 Vertical 400 Caution When a speed less than the minimum speed op...

Page 29: ...oke mm 50 100 150 200 RA4C 35P 2 5 Horizontal 130 Vertical 130 5 Horizontal 260 Vertical 260 10 Horizontal 525 Vertical 525 16 Horizontal 560 Vertical 560 50 100 150 200 250 300 RA6C 42P 3 Horizontal 125 Vertical 125 6 Horizontal 250 Vertical 250 12 Horizontal 500 Vertical 500 20 Horizontal 640 Vertical 640 50 100 150 200 250 300 RA7C 56P 4 Horizontal 105 Vertical 105 8 Horizontal 210 Vertical 210...

Page 30: ...16 Horizontal 560 Vertical 560 50 100 150 200 250 300 RA6R 42P 3 Horizontal 125 Vertical 125 6 Horizontal 250 Vertical 250 12 Horizontal 500 Vertical 500 20 Horizontal 640 Vertical 640 50 100 150 200 250 300 RA7R 56P 4 Horizontal 105 Vertical 105 8 Horizontal 210 Vertical 210 16 Horizontal 420 Vertical 280 24 Horizontal 600 Vertical 400 Caution When a speed less than the minimum speed operation wi...

Page 31: ... 3G 0 5G 0 7G 1 0G RA4C 35P 2 5 Horizontal 0 40 40 40 35 30 20 40 40 40 35 30 40 40 40 40 35 30 65 40 40 40 30 30 85 40 40 40 30 30 105 40 40 35 30 30 130 40 40 35 30 30 150 40 35 35 30 25 175 40 30 30 25 20 Vertical 0 10 10 10 20 10 10 10 40 10 10 10 65 10 10 10 85 10 10 10 105 10 10 10 130 8 7 5 7 150 6 5 5 5 175 5 4 5 4 5 Horizontal 0 28 25 22 20 20 40 28 25 22 20 20 85 28 25 22 20 20 130 28 25...

Page 32: ...5 15 15 13 13 12 175 15 15 13 13 12 260 15 15 13 13 12 350 15 15 13 13 10 435 15 15 13 11 8 525 14 10 8 6 610 9 7 5 4 700 6 4 3 2 Vertical 0 2 5 2 5 2 5 85 2 5 2 5 2 5 175 2 5 2 5 2 5 260 2 5 2 5 2 5 350 2 5 2 5 2 5 435 2 5 2 5 2 5 525 2 5 2 5 610 2 2 700 1 5 1 5 16 Horizontal 0 6 6 6 4 3 5 140 6 6 6 4 3 5 280 6 6 6 4 3 5 420 6 6 6 4 3 560 6 6 3 3 700 5 5 5 2 1 5 840 3 1 0 5 Vertical 0 1 5 1 5 1 5...

Page 33: ... 60 60 50 40 30 150 60 50 40 30 25 175 60 40 35 25 20 200 60 35 30 20 14 225 40 16 16 10 6 Vertical 0 20 20 20 50 20 20 20 75 20 20 20 100 20 20 20 125 18 14 10 150 14 10 6 175 12 6 5 200 8 5 4 5 225 5 5 4 6 Horizontal 0 40 40 35 30 25 50 40 40 35 30 25 100 40 40 35 30 25 150 40 40 35 25 25 200 40 40 30 25 20 250 40 40 27 5 22 5 18 300 40 35 25 20 14 350 40 30 14 12 10 400 30 18 10 6 5 450 25 8 3 ...

Page 34: ...1 0G RA6C 42P 12 Horizontal 0 25 25 18 16 12 100 25 25 18 16 12 200 25 25 18 16 10 300 25 25 18 12 8 400 20 20 14 10 6 500 15 15 8 6 4 600 10 6 3 2 700 6 2 Vertical 0 4 4 4 100 4 4 4 200 4 4 4 300 4 4 4 400 4 4 4 500 4 3 5 3 600 3 2 700 2 1 20 Horizontal 0 6 6 6 5 5 160 6 6 6 5 5 320 6 6 6 5 3 480 6 6 6 5 3 640 6 4 3 2 800 4 3 Vertical 0 1 5 1 5 1 5 160 1 5 1 5 1 5 320 1 5 1 5 1 5 480 1 5 1 5 1 5 ...

Page 35: ... 80 60 50 40 140 80 50 30 20 15 175 50 15 210 20 Vertical 0 28 28 28 35 28 28 28 70 28 28 28 105 22 22 18 140 14 12 10 175 5 2 210 8 Horizontal 0 60 60 50 45 40 70 60 60 50 45 40 140 60 60 50 45 40 210 60 60 40 31 26 280 60 34 20 15 11 350 50 12 4 1 420 10 Vertical 0 18 18 18 70 18 18 18 140 16 16 12 210 10 10 9 280 7 5 4 350 3 2 1 420 16 Horizontal 0 50 50 40 35 30 140 50 50 40 35 30 280 50 50 35...

Page 36: ...zontal Vertical Transportable Mass by Acceleration Deceleration kg Velocity mm s 0 1G 0 3G 0 5G 0 7G 1 0G RA7C 56P 24 Horizontal 0 20 20 18 15 12 200 20 20 18 15 12 400 20 20 14 12 8 420 20 17 12 10 6 600 14 6 5 4 640 5 3 2 1 5 800 5 1 1 860 2 0 5 Vertical 0 3 3 3 200 3 3 3 400 3 3 3 420 3 3 3 600 3 2 640 2 1 800 860 ...

Page 37: ...al Vertical Transportable Mass by Acceleration Deceleration kg Velocity mm s 0 1G 0 2G RA8C 60P 5 Horizontal 0 100 90 100 120 100 130 90 140 75 150 60 Vertical 0 70 48 70 60 50 70 35 80 25 90 20 100 15 120 10 150 2 10 Horizontal 0 60 150 60 200 45 240 40 300 10 Vertical 0 40 88 40 100 33 110 28 120 23 130 18 140 15 150 11 160 10 170 8 180 7 190 5 200 4 220 3 250 2 ...

Page 38: ...0 30 240 30 270 30 300 30 360 24 420 16 450 12 480 10 510 8 540 6 600 5 Vertical 0 5 50 5 100 5 150 5 180 5 200 5 240 5 300 5 360 5 400 3 420 2 5 450 2 Caution Do not attempt to establish the settings for the acceleration deceleration above the allowable range It may cause a vibration malfunction or shorten the product life If any acceleration deceleration equal to or greater than the rated accele...

Page 39: ...0 40 40 40 35 30 65 40 40 40 30 30 85 40 40 35 30 30 105 40 40 35 30 30 130 40 40 35 30 30 150 40 35 35 30 25 175 40 30 30 25 20 Vertical 0 10 10 10 20 10 10 10 40 10 10 10 65 10 10 10 85 10 10 10 105 10 8 8 130 8 8 8 150 6 6 6 175 4 4 4 5 Horizontal 0 25 25 22 20 18 40 25 25 22 20 18 85 25 25 22 20 18 130 25 25 22 18 18 175 25 25 22 18 16 215 25 25 22 16 14 260 25 22 20 14 12 305 22 20 14 12 8 35...

Page 40: ...tal 0 12 12 10 10 8 85 12 12 10 10 8 175 12 12 10 10 6 260 12 12 10 10 5 350 12 12 10 8 5 435 12 10 8 6 4 525 8 6 3 2 610 5 2 Vertical 0 2 5 2 5 2 5 85 2 5 2 5 2 5 175 2 5 2 5 2 5 260 2 5 2 5 2 5 350 2 5 2 5 2 5 435 2 5 2 5 2 5 525 2 5 2 610 2 1 5 16 Horizontal 0 5 5 4 5 3 2 5 140 5 5 4 5 3 2 5 280 5 5 4 5 3 2 420 5 5 4 5 3 2 560 5 4 5 2 5 2 700 4 5 3 5 2 1 5 840 2 5 1 0 5 Vertical 0 1 1 1 140 1 1...

Page 41: ...0 125 60 60 50 40 30 150 60 50 40 30 25 175 60 40 35 25 20 200 60 35 30 20 14 225 40 16 16 10 6 Vertical 0 20 20 20 25 20 20 20 50 20 20 20 75 20 20 20 100 20 20 20 125 18 14 10 150 14 10 6 175 12 6 5 200 8 5 4 5 225 5 5 4 6 Horizontal 0 40 40 35 30 25 50 40 40 35 30 25 100 40 40 35 30 25 150 40 40 35 25 25 200 40 40 30 25 20 250 40 40 27 5 22 5 18 300 40 35 25 20 14 350 40 25 14 12 10 400 30 16 1...

Page 42: ...1 0G RA6R 42P 12 Horizontal 0 25 25 18 16 12 100 25 25 18 16 12 200 25 25 18 16 10 300 25 25 18 12 8 400 20 20 14 10 6 500 15 15 8 6 4 600 10 6 3 2 700 6 2 Vertical 0 4 4 4 100 4 4 4 200 4 4 4 300 4 4 4 400 4 4 4 500 4 3 5 3 600 3 2 700 2 1 20 Horizontal 0 6 6 5 5 5 160 6 6 5 5 5 320 6 6 5 4 3 480 6 6 5 4 3 640 4 3 3 2 800 3 2 2 1 Vertical 0 1 5 1 5 1 5 160 1 5 1 5 1 5 320 1 5 1 5 1 5 480 1 5 1 5 ...

Page 43: ...80 70 65 60 105 80 80 60 50 40 140 80 50 10 6 6 175 40 5 Vertical 0 28 28 28 35 28 28 28 70 28 28 28 105 22 20 18 140 12 8 3 175 4 8 Horizontal 0 60 60 50 45 40 70 60 60 50 45 40 140 60 60 50 45 40 210 60 60 40 31 26 280 60 26 16 10 8 350 30 3 420 2 Vertical 0 18 18 18 70 18 18 18 140 16 16 12 210 10 10 9 280 8 4 3 350 2 0 5 420 16 Horizontal 0 50 50 40 35 30 140 50 50 40 35 30 280 50 50 35 23 20 ...

Page 44: ...ead mm Horizontal Vertical Transportable Mass by Acceleration Deceleration kg Velocity mm s 0 1G 0 3G 0 5G 0 7G 1 0G RA7R 56P 24 Horizontal 0 20 20 18 15 12 200 20 20 18 15 12 400 20 20 16 12 8 420 20 20 15 10 6 600 12 8 5 3 640 10 6 4 2 800 2 Vertical 0 3 3 3 200 3 3 3 400 3 3 3 420 3 3 3 600 2 2 640 1 1 800 ...

Page 45: ...0 25 90 16 100 10 10 Horizontal 0 60 160 60 170 40 180 25 190 15 200 12 Vertical 0 40 80 40 90 34 100 28 110 23 120 18 130 15 140 12 150 10 160 8 170 6 180 4 190 3 200 2 20 Horizontal 0 30 300 30 350 14 400 6 Vertical 0 5 300 5 330 3 5 360 2 400 0 5 Caution Do not attempt to establish the settings for the acceleration deceleration above the allowable range It may cause a vibration malfunction or s...

Page 46: ...ht type is ineffective Type Motor Type Lead mm Horizontal Vertical Payload by Acceleration Deceleration kg Velocity mm s 0 3G 0 7G RA4C 35P 2 5 Horizontal 0 35 30 20 35 30 40 35 30 65 35 25 85 30 20 105 25 15 130 20 10 Vertical 0 10 20 10 40 10 65 10 85 7 105 5 130 4 5 Horizontal 0 22 20 40 22 20 85 22 20 130 22 18 175 20 14 215 15 10 260 12 6 Vertical 0 5 40 5 85 5 130 5 175 4 215 3 260 2 ...

Page 47: ...mm Horizontal Vertical Payload by Acceleration Deceleration kg Velocity mm s 0 3G 0 7G RA4C 35P 10 Horizontal 0 10 8 85 10 8 175 10 8 260 9 7 350 7 5 435 6 3 525 1 Vertical 0 2 85 2 175 2 260 2 350 1 5 435 1 525 0 5 16 Horizontal 0 5 3 140 5 3 280 5 3 420 4 2 5 560 3 1 5 Vertical 0 1 140 1 280 1 420 0 5 560 0 5 ...

Page 48: ...Horizontal 0 40 25 50 40 25 75 40 25 100 40 25 125 40 25 Vertical 0 20 50 20 75 12 100 9 125 5 6 Horizontal 0 40 20 50 40 20 100 40 20 150 40 20 200 35 18 250 10 6 Vertical 0 10 50 10 100 10 150 8 200 5 250 3 12 Horizontal 0 25 10 100 25 10 200 25 10 300 20 8 400 10 5 500 5 2 Vertical 0 4 100 4 200 4 300 3 400 2 500 1 20 Horizontal 0 6 5 160 6 5 320 6 4 480 4 3 640 3 1 Vertical 0 1 160 1 320 1 480...

Page 49: ... 7 Vertical 0 17 5 70 17 5 140 7 210 2 16 Horizontal 0 40 25 140 40 25 280 40 12 420 1 5 1 Vertical 0 5 140 5 280 2 420 24 Horizontal 0 18 9 5 200 18 9 5 400 11 6 420 10 5 600 1 Vertical 0 3 200 3 400 1 5 420 600 Caution Do not attempt to establish the settings for the acceleration deceleration above the allowable range It may cause a vibration malfunction or shorten the product life If any accele...

Page 50: ... motor type is ineffective Type Motor Type Lead mm Horizontal Vertical Payload by Acceleration Deceleration kg Velocity mm s 0 3G 0 7G RA4R 35P 2 5 Horizontal 0 35 30 20 35 30 40 35 30 65 35 25 85 30 20 105 25 15 130 20 10 Vertical 0 10 20 10 40 10 65 10 85 7 105 5 130 4 5 Horizontal 0 22 20 40 22 20 85 22 20 130 22 18 175 20 14 215 15 10 260 12 6 Vertical 0 5 40 5 85 5 130 5 175 4 215 3 260 2 ...

Page 51: ...d mm Horizontal Vertical Payload by Acceleration Deceleration kg Velocity mm s 0 3G 0 7G RA4R 35P 10 Horizontal 0 10 8 85 10 8 175 10 8 260 9 7 350 7 5 435 6 3 525 1 Vertical 0 2 85 2 175 2 260 2 350 1 5 435 1 525 0 5 16 Horizontal 0 5 3 140 5 3 280 5 3 420 4 2 5 560 3 1 5 Vertical 0 1 140 1 280 1 420 0 5 560 0 5 ...

Page 52: ...ontal 0 40 25 25 40 25 50 40 25 75 40 25 100 40 25 125 40 25 Vertical 0 20 25 20 50 20 75 12 100 9 125 5 6 Horizontal 0 40 20 50 40 20 100 40 20 150 40 20 200 35 18 250 10 6 Vertical 0 10 50 10 100 10 150 8 200 5 250 3 12 Horizontal 0 25 10 100 25 10 200 25 10 300 20 8 400 10 5 500 5 2 Vertical 0 4 100 4 200 4 300 3 400 2 500 1 20 Horizontal 0 6 5 160 6 5 320 6 4 480 4 3 640 3 1 Vertical 0 1 160 1...

Page 53: ...14 7 Vertical 0 17 5 70 17 5 140 7 210 2 16 Horizontal 0 40 25 140 40 25 280 18 12 420 1 5 1 Vertical 0 5 140 5 280 2 420 24 Horizontal 0 18 9 5 200 18 9 5 400 11 6 420 10 5 600 1 Vertical 0 3 200 3 400 1 5 420 600 Caution Do not attempt to establish the settings for the acceleration deceleration above the allowable range It may cause a vibration malfunction or shorten the product life If any acce...

Page 54: ...f time dependent change as it is used 1 2 5 Rod Tip Load Type lead Item Tolerance RA4C RA4R 2 5 5 10 16 Rod Tip Static Allowable Torque Note 1 1 0N m Rod Tip Maximum Displacement Angle Note 2 1 0 RA6C RA6R 3 6 12 20 Rod Tip Static Allowable Torque Note 1 1 5N m Rod Tip Maximum Displacement Angle Note 2 1 0 RA7C RA7R 4 8 16 24 Rod Tip Static Allowable Torque Note 1 2 5N m Rod Tip Maximum Displaceme...

Page 55: ...30 for Lead 16 There is even a case that it would not operate An operation cannot be made also when it is beyond 70 Doing so may cause degradation in the motor coil insulation by heat radiation which results in shortening the product life 4 For CON system controllers such as PCON when the approach speed to the pressing start position setting in the position table is 20mm s or less pressing will be...

Page 56: ... case that it would not operate An operation cannot be made also when it is beyond 70 Doing so may cause degradation in the motor coil insulation by heat radiation which results in shortening the product life 4 For CON system controllers such as PCON when the approach speed to the pressing start position setting in the position table is 20mm s or less pressing will be performed with the approach s...

Page 57: ...even a case that it would not operate An operation cannot be made also when it is beyond 70 Doing so may cause degradation in the motor coil insulation by heat radiation which results in shortening the product life 4 For CON system controllers such as PCON when the approach speed to the pressing start position setting in the position table is 20mm s or less pressing will be performed with the appr...

Page 58: ...it would not operate An operation cannot be made also when it is beyond 60 Doing so may cause degradation in the motor coil insulation by heat radiation which results in shortening the product life 4 For CON system controllers such as PCON when the approach speed to the pressing start position setting in the position table is 10mm s or less pressing will be performed with the approach speed In suc...

Page 59: ...Inclination Amount Reference RA6C RA6R Rod Tip Inclination Amount Reference Nominal st 50 Nominal st 100 Nominal st 150 Nominal st 200 Stroke Coordinate Position mm Stroke Coordinate Position mm Nominal st 200 Nominal st 150 Nominal st 100 Nominal st 50 Nominal st 250 Nominal st 300 Inclination Amount Amplitude Reference mm Inclination Amount Amplitude Reference mm ...

Page 60: ...Nominal st 150 Nominal st 100 Nominal st 50 Nominal st 250 Nominal st 300 Nominal st 200 Nominal st 150 Nominal st 100 Nominal st 50 Nominal st 250 Nominal st 300 Stroke Coordinate Position mm Stroke Coordinate Position mm Inclination Amount Amplitude Reference mm Inclination Amount Amplitude Reference mm ...

Page 61: ...an operate continuously when the duty ratio is 100 Operate with the duty ratio as in the following graph for lead 3mm and 6mm RCP6S RA7C 7R Lead 24mm can operate continuously when the duty ratio is 100 Operate with the duty ratio as in the following graph for lead 4mm 8mm and 16mm RCP6S RA8C 8R Operate with the duty ratio of 70 or less Duty ratio is an operating rate which indicates the time that ...

Page 62: ...or position will be reversed if it is desirable in view of the layout of the system etc Note The home position is adjusted at the factory before shipment If you wish to change the home after the delivery of your actuator you must return the actuator to IAI for adjustment 1 3 3 Flange Bracket Front Model FL This is the flange bracket to attach on the front of the main unit Figure 2 2 2 Model RA4 RA...

Page 63: ... Installation of the Main Unit 2 Installation by Using Foot Brackets 1 3 5 T slot Nut Bar Model NTB These are bar shaped brackets that plug into the actuator s T slots There is a nut hole in the predetermined position on the T slot nut bar For the dimensions refer to 2 3 2 Installation of the Main Unit 1 Using the T slot on the Bottom of the Base T Slot Nut Bar ...

Page 64: ...the rod end an object such as a fixture with one screw RA4C and RA4R Model code of single product RCP6 NFA RA4 RA6C and RA6R Model code of single product RCP6 NFA RA6 M10 1 5 Depth 15 41 35 The angle of the width across flat is undefined 62 5 Home Position 62 5 Home Position 41 35 M10 1 5 Depth 15 The angle of the width across flat is undefined ø20 32 ø20 26 ...

Page 65: ...ct RCP6 NFA RA7 RA8C and RA8R Model code of single product RCP6 NFA RA8 M12 1 75 Depth 20 The angle of the width across flat is undefined 84 5 Home Position 38 ø26 58 50 M20 2 5 Depth 30 The angle of the width across flat is undefined 50 ø35 127 5 Home Position 82 70 ...

Page 66: ... Model CJT CJR CJL CJB CJO If a change in the cable exit direction is made the direction of cable exit will be changed There are ejection directions top model CJT right model CJR left model CJL bottom model CJB and outward model CJO The side mounted motor type of RA4R RA6R RA7R and RA8R can only be selected for CJO Figure viewed from motor side Figure viewed from rod side ML Left Side Mounted MT T...

Page 67: ...w AWG26 AWG26 Blue SA 12 11 SA Blue AWG26 AWG26 Orange SB 17 12 SB Orange AWG26 AWG26 Green A 1 13 A Green AWG26 AWG26 Brown A 6 14 A Brown AWG26 AWG26 Gray B 11 15 B Gray AWG26 AWG26 Red B 16 16 B Red AWG26 AWG26 Blue BK 20 9 BK Blue AWG26 AWG26 Orange BK 2 10 BK Orange AWG26 AWG26 Gray VCC 21 17 VCC Gray AWG26 AWG26 Red GND 7 19 GND Red AWG26 AWG26 Brown VPS 18 18 VPS Brown AWG26 AWG26 Green LS_...

Page 68: ...26 AWG26 Blue SA 12 11 SA Blue AWG26 AWG26 Orange SB 17 12 SB Orange AWG26 AWG26 Green A 1 13 A Green AWG26 AWG26 Brown A 6 14 A Brown AWG26 AWG26 Gray B 11 15 B Gray AWG26 AWG26 Red B 16 16 B Red AWG26 AWG26 Blue BK 20 9 BK Blue AWG26 AWG26 Orange BK 2 10 BK Orange AWG26 AWG26 Gray VCC 21 17 VCC Gray AWG26 AWG26 Red GND 7 19 GND Red AWG26 AWG26 Brown VPS 18 18 VPS Brown AWG26 AWG26 Green LS_GND 1...

Page 69: ... 8 LS Yellow AWG26 AWG26 Blue SA A6 11 SA Blue AWG26 AWG26 Orange SB B6 12 SB Orange AWG26 AWG26 Green A A7 13 A Green AWG26 AWG26 Brown A B7 14 A Brown AWG26 AWG26 Gray B A8 15 B Gray AWG26 AWG26 Red B B8 16 B Red AWG26 AWG26 Blue BK A5 9 BK Blue AWG26 AWG26 Orange BK B5 10 BK Orange AWG26 AWG26 Green LS_GND A9 20 LS_GND Green AWG26 AWG26 Brown VPS B9 18 VPS Brown AWG26 AWG26 Gray VCC A10 21 VCC ...

Page 70: ...B4 8 LS Yellow AWG26 AWG26 Blue SA A6 11 SA Blue AWG26 AWG26 Orange SB B6 12 SB Orange AWG26 AWG26 Green A A7 13 A Green AWG26 AWG26 Brown A B7 14 A Brown AWG26 AWG26 Gray B A8 15 B Gray AWG26 AWG26 Red B B8 16 B Red AWG26 AWG26 Blue BK A5 9 BK Blue AWG26 AWG26 Orange BK B5 10 BK Orange AWG26 AWG26 Green LS_GND A9 20 LS_GND Green AWG26 AWG26 Brown VPS B9 18 VPS Brown AWG26 AWG26 Gray VCC A10 21 VC...

Page 71: ...l orientation when placing it on the ground or transporting Follow the instruction if there is any for the packaging condition Do not step or sit on the package Do not put any load that may cause a deformation or breakage of the package 2 Handling the Actuator After Unpacking Do not carry an actuator by motor unit and a cable or attempt to move it by pulling the cable Be careful not to bump the ac...

Page 72: ...prevent sudden movement during transport 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 When hanging up with ropes have appropriate cushioning to avoid any deformation of the actuator body Also keep it in stable horizontal orientation ...

Page 73: ...the following locations provide sufficient shielding measures Where noise generates due to static electricity etc Where the actuator is subject to a strong electric or magnetic field Where the actuator is subject to ultraviolet ray or radiation 2 Storage Preservation Environment The storage and preservation environment should comply with the same standards as those for the installation environment...

Page 74: ...R Installation Orientation Horizontal Vertical Sideways Ceiling mount Note Grease has been applied to the outer periphery of the rod Protect the peripheral equipments if they are affected by grease adhesion When the unit is installed vertically oriented Motor straight type is attempt to put the motor up unless there is a special reason Putting the motor on the lower side would not cause a problem ...

Page 75: ...ator frame front and the side mounted motor type rear bracket Using these parts the following installations can be realized Installation by using T slots Installation by using foot brackets option model FT Installing main unit frame front Installation by using flange option model FL Installation by using rear bracket for side mounted motor types 1 Using the T slot on the Bottom of the Base This ac...

Page 76: ...em according to the minimum fixing number of bolts and the tightening torque in the following table RA4 RA6 RA7 RA8 Quantities Enclosed 4 4 8 8 Attachment Bolts M4 M6 M6 M8 RA4 RA6 RA7 RA8 Screw Length mm From the Base Bottom 5 to 7 7 5 to 8 5 8 to 10 11 to 13 RA4 RA6 RA7 RA8 Minimum Fixing Number Bolts 4 4 6 8 Tightening Torque Nm 1 76 5 36 5 36 11 48 Caution Be careful when selecting the bolt le...

Page 77: ... screw length from the base bottom according to the following table to ensure the fitting length of the nut and the screw Install them according to the minimum fixing number of bolts and the tightening torque in the following table RA4 RA6 RA7 RA8 Screw Length mm From the Base Bottom 5 to 7 7 5 to 8 5 8 to 10 11 to 13 RA4 RA6 RA7 RA8 Minimum Fixing Number Bolts 4 4 6 8 Tightening Torque Nm 1 76 5 ...

Page 78: ...ation The attachable positions of T Slot nut bars model NTB are as follows RA4 RA6 RA7 Maximum Stroke 12 Minimum 10 Stroke 98 Stroke 122 5 Maximum Stroke 12 5 Minimum 10 Maximum Stroke 37 5 Minimum 10 Stroke 147 5 ...

Page 79: ...74 2 Installation RA8 Stroke 185 5 Maximum Stroke 70 5 Minimum 15 ...

Page 80: ...Model MR Except RCP6S RA4R Motor Left Side Mounted Model ML Motor Right Side Mounted Model MR of RCP6S RA4R Tightening Torque RA4 RA6 RA7 RA8 Width Direction Hole Pitch mm 50 72 85 100 Thickness mm 8 10 12 16 Material Steel Steel Steel Steel Attachment Bolts M4 M6 M6 M8 RA4 RA6 RA7 RA8 Width Direction Hole Pitch mm 100 132 160 190 Thickness mm 8 10 12 16 Material Steel Steel Steel Steel Attachment...

Page 81: ...model FT at the shipment are as follows RCP6 S RA4C RCP6 S RA4R Motor Top Side Mounted Type Model MT RCP6 RA4R Motor Left Side Mounted ML Motor Right Side Mounted MR RCP6S RA4R Motor Left Side Mounted ML Motor Right Side Mounted MR Stroke 86 Stroke 86 Stroke 86 ...

Page 82: ...77 2 Installation RCP6 S RA6C RCP6 S RA6R Motor Top Side Mounted Type Model MT RCP6 S RA6R Motor Left Side Mounted ML Motor Right Side Mounted MR Stroke 102 5 Stroke 102 5 Stroke 102 5 ...

Page 83: ...78 2 Installation RCP6 S RA7C RCP6 S RA7R MT Motor Top Side Mounted Type Model MT RCP6 S RA7R Motor Left Side Mounted ML Motor Right Side Mounted MR Stroke 32 5 Stroke 32 5 Stroke 32 5 ...

Page 84: ...79 2 Installation RCP6 S RA8C RCP6 S RA8R Motor Top Side Mounted Type Model MT RCP6 S RA8R Motor Left Side Mounted ML Motor Right Side Mounted MR Stroke 60 5 Stroke 60 5 Stroke 60 5 ...

Page 85: ...ale thread provide at least the applicable value specified below Female thread is made of steel material Same length as the nominal diameter Female thread is made of aluminum 1 8 times of nominal diameter Caution Be careful when selecting the bolt length If bolts of inappropriate lengths are used actuator mounting strength may become insufficient or contact with driving parts may occur resulting i...

Page 86: ... nominal diameter RA4 RA6 RA7 RA8 W mm 40 58 70 85 h mm 26 32 38 50 H mm 46 61 73 92 5 Pm mm 32 45 55 70 N M4 Depth 8 M6 Depth 12 M8 Depth 16 M8 Depth 16 D mm ø20 ø25 ø30 ø40 E mm ø38h7 ø46h7 ø52h7 ø64h7 F mm 2 2 2 2 Model Screw Nominal Diameter In the case that steel is used for the bolt seating surface In the case that aluminum is used for the bolt seating surface RA4 M4 3 59N m 0 37kgf m 1 76N ...

Page 87: ...ck as shown in the figure below for the horizontal installation of the unit with its stroke more than 150 even if there is no external force applied on the body Even for those with the stroke less than 150 it is recommended to have a support block to avoid vibration being generated due to the operation condition or installation environment which may cause an operation failure or parts malfunction ...

Page 88: ...he Motor Top Side Mounted Types Model MT of side mounted motor types RA4R RA6R RA7R and RA8R with the following strokes will interfere with the motor unit Note The front flange cannot be installed in the horizontal direction width direction because Motor Left Side Mounted ML and Motor Right Side Mounted MR of side mounted motor types RA4R RA6R RA7R and RA8R with the following strokes will interfer...

Page 89: ... as the nominal diameter Female thread is made of aluminum 1 8 times of nominal diameter RA4 RA6 RA7 RA8 Wf mm 70 90 108 135 Hf mm 40 56 68 84 Ph mm 60 75 90 115 Pv mm 25 40 50 65 h mm 4 5 6 6 8 5 8 5 Tf mm 10 12 16 19 Material Steel Steel Steel Steel Enclosed Bolts M4x12 M6x15 M8x20 M8x25 Tightening Torque of the Front Flange to the Main Unit N m 2 1 4 2 7 1 17 2 Model Screw Nominal Diameter In t...

Page 90: ...repare a support block as shown in the figure below for the horizontal installation of the unit with its stroke more than 150 even if there is no external force applied on the body Even for those with the stroke less than 150 it is recommended to have a support block to avoid vibration being generated due to the operation condition or installation environment which may cause an operation failure o...

Page 91: ...t only with the tapped holes on the side mounted bracket Do not apply external force to the main body There may be caused vibration due to the operating condition or installation environment which may result in operational failures or components malfunction RA4 RA6 RA7 RA8 W mm 40 58 70 85 h mm 26 32 38 50 Pm mm 32 45 55 70 M M4 Depth 8 M6 Depth 12 M8 Depth 16 M8 Depth 16 Model Screw Nominal Diame...

Page 92: ... install rear bracket without any support Always use a support block or similar to support the main unit When it is perpendicular installation without support etc external force does not act it is not attempt to apply the radial load External Force External Force Support Block ...

Page 93: ...r cable coming out of the motor unit is not meant to be bent Fix the cable so it would not be bent repeatedly Please consult with IAI if you require a different kind of cable than the one supplied Robot Cable 5m or below r 68mm or more use for operation In the case of exceeding 5m r 73mm or more use for operation Standard Cable 5m or below r 85mm or more use for operation In the case of exceeding ...

Page 94: ...n 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 Insufficient connection may ...

Page 95: ...bend concentrating on one point Do not let the cable bend kink or twist 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 Steel Strap Piano Wire Tie them up softly ...

Page 96: ...sing a cable track If there is an indication to the cable for the space factor in a cable 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 ca...

Page 97: ...y radial load and load moment to the rod Only the radial direction load that aligns with the rod axis can be applied In the case that radial load and load moment cannot be avoided attach an external guide such as a linear guide in order not to apply any load other than radial direction load to the rod When the gravity center of work is on the rod axis on vertical motions vibration may still be gen...

Page 98: ...e is insufficient at start of work inspection or every three month When greasing always wipe off old grease before supplying new one The base oil may be separated from grease depending on the installation orientation and operating conditions Perform visual inspection for any occurrence of drip Caution An actuator after 6 months of storage may have caused a degradation of the grease Supply grease b...

Page 99: ... and buildup Do not blow too hard with compressed air as it may cause dust to get in through the gaps Do not use oil based solvents as they can harm lacquered and painted surfaces To remove severe buildup wipe gently with a soft cloth soaked in a neutral detergent or alcohol 5 4 Grease Supply 5 4 1 What Grease to Use IAI uses the following grease in our plant Ball screw Kyodo Yushi Multitemp LRL N...

Page 100: ...t it for one second One injection time should not exceed one second Whirl stop Adjust the rod position above 40mm Insert the tip of the spray grease in greasing port and inject it for one second One injection time should not exceed one second 3 Clean up the rod sliding surface and apply the grease with hands 4 After greasing move the rod full stroke to apply the grease thoroughly Caution Supplying...

Page 101: ...rea show obvious friction When swelling occurs as a result of oil adhesion When damages such as a crack occurs on the belt gear and back side Also for the toothed belt it is recommended to set the interval of regular replacement cycle when in use under high wire fatigue condition in high acceleration and deceleration because it is difficult to judge the right timing for replacement by checking app...

Page 102: ... RA7R and RA8R remove two hexagonal socket flat head bolts where marked with a circle with a hexagonal wrench Detach the pulley cover RA4R RA6R RA7R RA8R 2 Remove the four Phillips screws by Phillips screwdriver and remove the motor cover 3 After tension adjustment of the belt remove the following bolts and circular washers that are attached for position repeatability of the motor with 2 5mm sized...

Page 103: ...8R4 5 Adjust the belt tension Hand a cable band thin string on the edge of the motor unit and pull it on a tension gauge with the specified load specified value of the belt tension When the load reached the specified tighten the bolts where marked with a circle with a 2 5mm sized RA4R 3mm sized RA6R RA7R or 4mm sized RA8R hexagonal wrench to hold the unit in the place Model Tension Force RA4R 20 t...

Page 104: ...s attached for position repeatability of the motor in close contact with the motor bracket with 2 5mm sized hexagonal wrench Tightening Torque 88 7N cm Model Tightening Torque RA4R 162N cm RA6R 323N cm RA7R 323N cm RA8R 631N cm Belt Belt Hexagonal Socket Head Bolt Circular Washer Attach the washers in close contact with the motor bracket ...

Page 105: ...th Phillips screwdriver Model Tightening Torque RA4R RA6R RA7R 41 4N cm RA8R 96 4N cm 8 Attach the pulley cover with two hexagonal socket flat head bolts for RA4R RA6R RA7R and RA8R where marked with a circle and tighten with a hexagonal wrench RA4R RA6R RA7R RA8R Tightening Torque 47 9N cm Pulley Cover ...

Page 106: ...ws actuator and Motor Unit Caution The encoder part of the motor for replacement and the control board of RCP6S may fail due to static electricity Please be sure to follow the following precautions during work Do not touch the encoder part of the motor for replacement directly with hands Do not touch the control board directly with hands except when replacing the control board of RCP6S Before repl...

Page 107: ...ten the fixing screw to affixing the motor unit to the actuator with 2mm sized RA4C RA6C or 2 5mm sized RA7C hexagonal wrench Model Tightening Torque RA4C RA6C 167N cm RA7C 353N cm 6 Make sure to conduct a home return on a PC or a touch panel teaching after motor replacement Make the projection and slit matched with each other Apply grease to the coupling part NOXLUB TL1010 grease made by NOK For ...

Page 108: ...llips screwdriver The motor cover can be detached 2 Disconnect the motor encoder connector 3 Detach the motor cover 4 Remove the four hexagonal socket head cap bolts M4 15 w o brake M4 12 with brake holding the motor with using a 3mm sized hexagonal wrench Replacement Motor Cover for Built in Controller Specification In case of built in controller specification the internal circuit is assembled Mo...

Page 109: ...projection matches to the slit 7 Insert the motor to the main body 8 Affix the motor with the four bolt M4 15 w o brake M4 12 with brake and tighten them with using a 3mm sized hexagonal wrench Tightening Torque 176N cm Make the projection and slit matched with each other Apply grease to the coupling part TL101Y grease made by NOK ...

Page 110: ...he motor encoder connector 11 Affix the motor cover with four Phillips screws and tighten them with Phillips screwdriver 12 Make sure to conduct a home return on a PC or a touch panel teaching after motor replacement Tightening Torque 96 4N cm Cover for Built in Controller Specification In case of built in controller specification the internal circuit is assembled Motor Cover Phillips screw ...

Page 111: ...cket bolts Phillips screwdriver Tension gauge capable thing of tensioning to 200N or greater Strong string or long tie band Procedure 1 For RA4R RA6R RA7R and RA8R remove two hexagonal socket flat head bolts where marked with a circle with a hexagonal wrench Detach the pulley cover RA4R RA6R RA7R RA8R 2 Remove the four Phillips screws by Phillips screwdriver and remove the motor cover Pulley Cover...

Page 112: ...elt 4 Loosen the bolts where marked with a circle two bolts for RA4R four bolts for RA6R RA7R and RA8R holding the motor with a 2 5mm sized RA4R 3mm sized RA6R RA7R or 4mm sized RA8R hexagonal wrench Replace the belt if it is necessary RA4R RA6R RA7R RA8R 5 Detach the belt off the pulleys 6 Pull out four bolts and remove the motor unit Belt Belt Hexagonal Socket Head Bolt Circular Washer The washe...

Page 113: ...108 5 Maintenance and Inspection 7 Install the new motor and temporarily tighten the tension adjustment bolts encircled parts Hang the timing belt RA4R RA6R RA7R RA8R Belt Belt ...

Page 114: ...on the edge of the motor unit and pull it When it is abutting against the hexagonal socket bolt tighten the bolt where marked with a circle with 2 5mm sized RA4R 3mm sized RA6R RA7R or 4mm sized RA8R hexagonal wrench to hold the unit in the place RA4R RA6R RA7R RA8R Model Tightening Torque RA4R 162N cm RA6R 323N cm RA7R 323N cm RA8R 631N cm Belt Belt Hexagonal Socket Head Bolt Circular Washer The ...

Page 115: ...ecified value of the belt tension When the load reached the specified tighten the bolts where marked with a circle with a 2 5mm sized RA4R 3mm sized RA6R RA7R or 4mm sized RA8R hexagonal wrench to hold the unit in the place RA4R RA6R RA7R RA8R Model Tightening Torque RA4R 162N cm RA6R 323N cm RA7R 323N cm RA8R 631N cm Model Tension Force RA4R 20 to 25N RA6R 25 to 30N RA7R 80 to 90N RA8R 180 to 200...

Page 116: ...ity of the motor with 2 5 mm sized hexagonal wrench after tension adjustment of the belt Tightening Torque 88 7N cm 10 Attach the motor cover with four Phillips screws and tighten them with Phillips screwdriver Model Tightening Torque RA4R RA6R RA7R 41 4N cm RA8R 96 4N cm Hexagonal Socket Head Bolt Circular Washer Attach the washer in close contact with the motor bracket ...

Page 117: ...gonal socket flat head bolts for RA4R RA6R RA7R and RA8R where marked with a circle and tighten with a hexagonal wrench RA4R RA6R RA7R RA8R Tightening Torque 47 9N cm 12 Make sure to conduct a home return on a PC or a touch panel teaching after motor replacement Pulley Cover ...

Page 118: ...with no cable exit direction option For cable exit direction types option the dimensions are longer in 25mm Enclosed hexagonal nut Greasing Port ø2 5 hole Maintain it more than 100 4 M4 Depth 8 The angle of the width across flat is undefined Home Greasing Port ø2 5 hole The same applies to the other side 2 M3 Depth 6 For ground connection Cable Exit Direction Optional CJT Top CJR Right CJL Left CJ...

Page 119: ...irection option For cable exit direction types option the dimensions are longer in 20mm Enclosed hexagonal nut Greasing Port ø2 5 hole Maintain it more than 100 Teaching Port Status LED Home 4 M4 Depth 8 The angle of the width across flat is undefined Greasing Port ø2 5 hole The same applies to the other side 2 M3 Depth 6 For ground connection CJT Top CJR Right CJL Left CJB Bottom 2 M3 Depth 6 For...

Page 120: ...able exit direction option For cable exit direction types option the dimensions are longer in 25mm Enclosed hexagonal nut Greasing Port ø5 hole Maintain it more than 100 Home 4 M6 Depth 12 The angle of the width across flat is undefined Greasing Port ø5 hole The same applies to the other side CJT Top CJR Right CJL Left CJB Bottom 2 M3 Depth 6 For ground connection M10X1 25 Cable Exit Direction Opt...

Page 121: ...For cable exit direction types option the dimensions are longer in 20mm Enclosed hexagonal nut Greasing Port ø5 hole Home 4 M6 Depth 12 The angle of the width across flat is undefined Greasing Port ø5 hole The same applies to the other side CJT Top CJR Right CJL Left CJB Bottom 2 M3 Depth 6 For ground connection M10X1 25 Cable Exit Direction Optional 150 5 W o Standard Brake 190 With Standard Brak...

Page 122: ...hose with no cable exit direction option For cable exit direction types option the dimensions are longer in 25mm Enclosed hexagonal nut Greasing Port ø5 hole Home 4 M8 Depth 16 The angle of the width across flat is undefined Greasing Port ø5 hole The same applies to the other side CJR Right CJB Bottom 2 M3 Depth 6 For ground connection M14X1 5 Cable Exit Direction Optional 140 W o Standard Brake 1...

Page 123: ...xit direction option For cable exit direction types option the dimensions are longer in 20mm Enclosed hexagonal nut Greasing Port ø5 hole Home 4 M8 Depth 16 The angle of the width across flat is undefined Greasing Port ø5 hole The same applies to the other side CJR Right CJB Bottom 2 M3 Depth 6 For ground connection M14X1 5 Cable Exit Direction Optional 165 W o Standard Brake 215 With Standard Bra...

Page 124: ...able exit direction option For cable exit direction types option the dimensions are longer in 25mm Enclosed hexagonal nut Greasing Port ø5 hole Home 4 M8 Depth 16 The angle of the width across flat is undefined Greasing Port ø5 hole The same applies to the other side CJR Right CJB Bottom 2 M3 Depth 6 For ground connection M20X1 5 Cable Exit Direction Optional 147 W o Standard Brake 177 With Standa...

Page 125: ...option For cable exit direction types option the dimensions are longer in 20mm Greasing Port ø5 hole Home 4 M8 Depth 16 The angle of the width across flat is undefined Greasing Port ø5 hole The same applies to the other side CJR Right CJB Bottom 2 M3 Depth 6 For ground connection M20X1 5 Cable Exit Direction Optional Detailed View P Scale 1 1 2 M3 Depth 6 For ground connection Disabled when CJL is...

Page 126: ...1 5 2 1 2 2 Note When R dimension is negative the end of the motor unit is located before the base end surface 4 M4 Depth 8 4 M4 Depth 8 The angle of the width across flat is undefined Greasing Port ø2 5 hole The same applies to the other side M10X1 25 Cable Exit Direction Optional Detailed View P Scale 2 1 187 5 The same applies to the one with brake M10X1 25 Enclosed hexagonal nut Maintain it mo...

Page 127: ...9 2 200 329 298 141 5 2 1 2 2 Note When R dimension is negative the end of the motor unit is located before the base end surface 4 M4 Depth 8 4 M4 Depth 8 The angle of the width across flat is undefined M3 Depth 4 For ground connection M10X1 25 Cable Exit Direction Optional Detailed View P Scale 2 1 187 5 The same applies to the one with brake M10X1 25 Enclosed hexagonal nut Maintain it more than ...

Page 128: ...hen R dimension is negative the end of the motor unit is located before the base end surface M10X1 25 4 M4 Depth 8 M3 Depth 4 For ground connection Cable Exit Direction Optional Detailed View P Scale 2 1 207 3 The same applies to the one with brake Enclosed hexagonal nut Maintain it more than 100 CJO Outward Power I O Cable Connector Teaching Port Home Status LED The angle of the width across flat...

Page 129: ... 7 1 8 1 9 150 279 248 71 7 2 2 1 200 329 298 121 7 2 2 2 3 Note When R dimension is negative the end of the motor unit is located before the base end surface 4 M4 Depth 8 4 M4 Depth 8 The angle of the width across flat is undefined M10X1 25 Cable Exit Direction Optional Detailed View P Scale 2 1 M10X1 25 Home Greasing Port ø2 5 hole Top and sides CJO Outward M3 Depth 4 For ground connection Teach...

Page 130: ... 9 4 0 4 1 250 400 372 5 206 9 4 4 4 5 300 450 422 5 256 9 4 8 4 9 M10X1 25 4 M6 Depth 12 Cable Exit Direction Optional Detailed View P Scale 2 1 129 The same applies to the one with standard brake Enclosed hexagonal nut Maintain it more than 100 CJO Outward Home The angle of the width across flat is undefined M10X1 25 Greasing Port ø5 hole The same applies to the other side M3 Depth 4 Ground conn...

Page 131: ...106 9 3 6 3 7 200 350 322 5 156 9 4 0 4 1 250 400 372 5 206 9 4 4 4 5 300 450 422 5 256 9 4 8 4 9 4 M6 Depth 12 4 M6 Depth 12 The angle of the width across flat is undefined M10X1 25 M10X1 25 Greasing Port ø5 hole Top and sides CJO Outward M3 Depth 4 For ground connection Enclosed hexagonal nut 193 1 The same applies to the one with standard brake Maintain it more than 100 47 5 at the time of ML s...

Page 132: ...sion is negative the end of the motor unit is located before the base end surface M10X1 25 4 M6 Depth 12 Cable Exit Direction Optional Detailed View P Scale 1 1 168 2 The same applies to the one with standard brake Maintain it more than 100 CJO Outward Home The angle of the width across flat is undefined Greasing Port ø5 hole The same applies to the other side M3 Depth 4 Ground connection 250 3 Th...

Page 133: ...9 7 4 9 5 0 Note When R dimension is negative the end of the motor unit is located before the base end surface 4 M6 Depth 12 4 M6 Depth 12 The angle of the width across flat is undefined M10X1 25 Cable Exit Direction Optional Detailed View P Scale 1 1 M10X1 25 Home Greasing Port ø5 hole Top and sides CJO Outward M3 Depth 4 For ground connection Teaching Port Status LED Enclosed hexagonal nut 250 3...

Page 134: ... 5 180 1 7 5 7 6 300 480 447 5 230 1 8 1 8 2 Note When R dimension is negative the end of the motor unit is located before the base end surface 4 M8 Depth 16 Cable Exit Direction Optional CJO Outward Home The angle of the width across flat is undefined Greasing Port ø5 hole The same applies to the other side M3 Depth 4 Ground connection 249 9 The same applies to the one with standard brake M14X1 5...

Page 135: ... 6 9 7 0 250 430 397 5 180 1 7 5 7 6 300 480 447 5 230 1 8 1 8 2 Note When R dimension is negative the end of the motor unit is located before the base end surface 4 M8 Depth 16 4 M8 Depth 16 The angle of the width across flat is undefined M14X1 5 Cable Exit Direction Optional Detailed View P Scale 1 1 M14X1 5 Home Greasing Port ø5 hole Top and sides M3 Depth 4 For ground connection Enclosed hexag...

Page 136: ... 7 6 7 7 300 480 447 5 193 1 8 1 8 2 Note When R dimension is negative the end of the motor unit is located before the base end surface 4 M8 Depth 16 Cable Exit Direction Optional CJO Outward Home The angle of the width across flat is undefined Greasing Port ø5 hole The same applies to the other side M3 Depth 4 Ground connection 286 9 The same applies to the one with standard brake M14X1 5 4 M8 De...

Page 137: ... 250 430 397 5 143 1 7 6 7 7 300 480 447 5 193 1 8 1 8 2 Note When R dimension is negative the end of the motor unit is located before the base end surface 4 M8 Depth 16 4 M8 Depth 16 M14X1 5 Cable Exit Direction Optional Detailed View P Scale 1 1 M14X1 5 Home Greasing Port ø5 hole Top and sides M3 Depth 4 For ground connection Enclosed hexagonal nut 286 9 The same applies to the one with brake Ma...

Page 138: ...7 11 9 250 484 5 435 5 190 12 6 12 8 300 534 5 485 5 240 13 5 13 7 Note When R dimension is negative the end of the motor unit is located before the base end surface 4 M8 Depth 16 4 M8 Depth 16 Cable Exit Direction Optional Detailed View P Scale 1 1 M20X1 5 Home Enclosed hexagonal nut 294 5 The same applies to the one with brake CJO Outward The angle of the width across flat is undefined M20X1 5 G...

Page 139: ... 11 7 11 9 250 484 5 435 5 190 12 6 12 8 300 534 5 485 5 240 13 5 13 7 Note When R dimension is negative the end of the motor unit is located before the base end surface 4 M8 Depth 16 4 M8 Depth 16 M20X1 5 Cable Exit Direction Optional Detailed View P Scale 1 1 Home Greasing Port ø5 hole Top and sides Enclosed hexagonal nut 294 5 The same applies to the one with brake Maintain it more than 100 65 ...

Page 140: ...3 0 300 534 5 485 5 205 13 7 13 9 Note When R dimension is negative the end of the motor unit is located before the base end surface 4 M8 Depth 16 4 M8 Depth 16 Cable Exit Direction Optional Detailed View P Scale 1 1 M20X1 5 Enclosed hexagonal nut 329 5 The same applies to the one with brake CJO Outward M20X1 5 Greasing Port ø5 hole The same applies to the other side M3 Depth 4 Ground connection M...

Page 141: ...5 155 12 8 13 0 300 534 5 485 5 205 13 7 13 9 Note When R dimension is negative the end of the motor unit is located before the base end surface 4 M8 Depth 16 4 M8 Depth 16 M20X1 5 Cable Exit Direction Optional Detailed View P Scale 1 1 Home Greasing Port ø5 hole Top and sides Enclosed hexagonal nut 329 5 The same applies to the one with brake Maintain it more than 100 66 5 at the time of ML side ...

Page 142: ...e 7 2 RA8C RA8R The life in the standard horizontal orientation is assumed under condition of operation with maximum transported mass and maximum acceleration deceleration and it is 5 000km reference The life in the vertical orientation may change depending on the transported mass The graph below shows the relation of transported mass and life 60kg Operation Life km Vertical Transported Mass kg ...

Page 143: ...s caused by a specification defect or problem or by a quality issue with 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 science ...

Page 144: ... 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 used to maintain control or otherwise affect human life or physical health 2 Mechanisms and machinery designed for the purpose of moving or transporting people For vehicle railway facility or air navigation facility 3 Important safe...

Page 145: ...ted tightening torque for the case when aluminum is used for the bolt seating surface Pg 73 Changed non mountable stroke of front flange option Pg 83 84 Added description for greasing and cleaning the rod sliding surface Pg 86 Changed belt manufacturer for RA4R and RA7R Edition 1C Pg 91 Added precautions about static electricity during motor replacement Second edition Added specifications about wh...

Page 146: ......

Page 147: ...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 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 TEL 678 354 9470 FAX 678 354 9471 website www intelligentactuator com Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30...

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