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IAI ROBO Cylinder RA4C, Operating Manual, Page: 1 / 79

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IAI America, Inc. 

 

ROBO Cylinder 

Third Edition

Motor Straight Type (Coupling Type):  RA4C, RA5C, RGS4C, RGS5C, RGD4C and RGD5C 
Motor Straight Type (Built-in Type): 

RA4D, RA7AD, RA7BD, RGS4D and RGS7AD 
RGS7BD, RGD4D, RGD7AD and RGD7BD 

Motor Reversing Type: 

RA4R and RA5R 

Flat Type 

F5D 

Rod Type 

RCS2 Actuators 

Motor Straight Type (Coupling Type):  RA4C 
Motor Straight Type (Built-in Type): 

RA4D 

Motor Reversing Type: 

RA4R 

RCS2W Actuators, Dustproof/Splash-proof Specification

Operating Manual 

Summary of Contents for ROBO Cylinder RA4C

Page 1: ... Type Built in Type RA4D RA7AD RA7BD RGS4D and RGS7AD RGS7BD RGD4D RGD7AD and RGD7BD Motor Reversing Type RA4R and RA5R Flat Type F5D Rod Type RCS2 Actuators Motor Straight Type Coupling Type RA4C Motor Straight Type Built in Type RA4D Motor Reversing Type RA4R RCS2W Actuators Dustproof Splash proof Specification Operating Manual ...

Page 2: ...ugh failure to do so will not result in injury It should be noted that the instructions under the Caution and Note headings may also lead to serious consequences if unheeded depending on the situation All instructions contained herein provide vital information for ensuring safety Please read the contents carefully and handle the product with due caution Please keep this operating manual in a conve...

Page 3: ...check the operation area of the equipment to ensure safety Supplying power to the product carelessly may cause electric shock or injury due to contact with the moving parts z Wire the product correctly by referring to the operation manual Securely connect the cables and connectors so that they will not be disconnected or come loose Failure to do so may cause the product to malfunction or cause fir...

Page 4: ...res if the product is used in any of the following places If proper measures are not taken the product may malfunction 1 Place where large current or strong magnetic field generates 2 Place where arc discharge occurs due to welding work etc 3 Place where noise generates due to electrostatic etc 4 Place where the product may come in contact with radiation z Do not install the product in a place sub...

Page 5: ...l circuit that will cause the work to drop in case of power failure Configure a control circuit that will prevent the table or work from dropping when the power to the machine is cut off or an emergency stop is actuated z The following conditions must be met in order to improve the straightness of the table movement and ensure the smooth movement of the ball screw and linear guides 1 Flatness of t...

Page 6: ...d the information carefully to connect the cables properly 1 Do not let the cable flex at a single point 2 Do not let the cable bend kink or twist 3 Do not pull the cable with a strong force 4 Do not let the cable receive a turning force at a single point 6 Do not pinch drop a heavy object onto or cut the cable 5 When fixing the cable provide a moderate slack and do not tension it too tight Steel ...

Page 7: ...he cable will not become too taut when bent z Do not cause the cables to occupy more than 60 of the space in the cable bearer z Do not lay signal lines together with circuit lines that create a strong electric field z The supplied cables are not robot cables Accordingly never store the cables in a cable bearer z Always use a robot cable for each relay cable Bending radius r z Use a cable bearer wi...

Page 8: ...tor Reversing Type No Guide 8 z RCS2 RA5R 8 4 8 Motor Straight Type Coupling Type Single guide Type 9 z RCS2 RGS5C 9 4 9 Motor Straight Type Coupling Type Double guide Type 9 z RCS2 RGD5C 9 4 10 Short Type 10 z RCS2 RA7A B D 10 4 11 Flat Type 10 z RCS2 F5D 10 4 12 Dustproof Splash proof Motor Straight Type Coupling Type 11 z RCS2W RA4C 11 5 Transporting and Handling 12 5 1 Handling the Actuator 12...

Page 9: ...ease to the Sliding Surface of the Rod 34 14 5 Reduction Belt Motor Reversing Type 35 14 5 1 Inspecting the Belt 35 14 5 2 Applicable Belt 35 14 5 3 Adjusting the Belt Tension RA4R Type 36 14 5 4 Adjusting the Belt Tension RA5R 37 14 5 5 Replacing the Belt of the Motor Reversing Type RA4R Type 38 12 5 6 Replacing the Belt of the Motor Reversing Type RA5R Type 43 14 6 Replacing the Motor 46 14 6 1 ...

Page 10: ......

Page 11: ... the unit when it is in operation or when the power is ON since this is dangerous 2 2 Maintenance and Inspection When doing maintenance and inspection work always shut down the controller power first When doing inspection make sure that no one can inadvertently turn the power ON Make sure that a sign indicating work in progress is clearly visible If several persons are working be sure to watch out...

Page 12: ...t wear out with use stainless sheet etc Unit seems to be noisy or similar impressions that do not affect machinery performance Damage resulting from improper handling by the user or lack of proper maintenance Any alterations made by other than IAI or its representatives Breakdowns caused by using controllers made by other manufacturers Any damages caused by fire and other natural disasters or acci...

Page 13: ...ght and left are determined by viewing the actuator from the top and from the motor side 4 1 Motor Straight Type Coupling Type No Guide z RCS2 RA4C Caution The cable directly connected to the actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables...

Page 14: ...2 Motor Straight Type Built in Type No Guide z RCS2 RA4D Caution The cable directly connected to the actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables ...

Page 15: ...lley case 4 3 Motor Reversing Type No Guide z RCS2 RA4R Caution The cable directly connected to the actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables ...

Page 16: ... is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables Rod side Motor side Right Left Rod Rod cover Cylinder tube Head cover Motor unit Cable Guide bracket Guide bearing Guide rod ...

Page 17: ...eft 4 5 Motor Straight Type Coupling Type Double guide Type z RCS2 RGD4C Caution The cable directly connected to the actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables ...

Page 18: ...ive actuator parts are indicated below In this manual the right and left are determined by viewing the actuator from the top and from the motor side when the actuator is placed horizontally Front indicates the opposite side of the motor 4 6 Motor Straight Type Coupling Type No Guide z RCS2 RA5C 4 7 Motor Reversing Type No Guide z RCS2 RA5R ...

Page 19: ...Guide rod Mounting bracket Guide bearing Guide rod Guide bracket Aluminum frame 4 8 Motor Straight Type Coupling Type Single guide Type z RCS2 RGS5C 4 9 Motor Straight Type Coupling Type Double guide Type z RCS2 RGD5C ...

Page 20: ... 4 11 Flat Type z RCS2 F5D Front Motor side Right Left Rod tip adapter Aluminum frame Motor housing Connector box Encoder cover Anti vibration screws 4 locations Never touch these screws Slider Connector box Motor housing Encoder cover ...

Page 21: ...ter 4 12 Dustproof Splash proof Motor Straight Type Coupling Type z RCS2W RA4C Caution The cable directly connected to the actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables ...

Page 22: ...position Do not climb on top of the shipping box Do not place heavy objects on top of the shipping box 5 1 2 Handling the Actuator After It is Unpacked Lift the actuator up by the base to remove it from the packing When transporting the actuator be careful not to hit it against nearby structures or object In particular exercise caution to protect the motor unit and pulley case against impact Do no...

Page 23: ... as not to apply impact to the assembly or cause it to bounce After unpacking handle the actuator assembly correctly by observing the instructions given below 5 2 2 Handling after Assembly with Peripheral Equipment When transporting the actuators that have been assembled with peripheral equipment either at IAI or on your site observe the instructions given below Secure the rod so that it will not ...

Page 24: ...erator can work without wearing protective gears or clothes RCS2 Work space needed for maintenance inspection Motor straight type Motor reversing type If you are using the dustproof splash proof type RCS2W type consult IAI beforehand This product is not designed by considering chemical resistance Contact IAI for splash proof resistance to liquids other than water 6 2 Storage Environment The storag...

Page 25: ...e Install the actuator using screws set on the rod or head side of the actuator z Applicable model RCS2 RA4 Type MA MB RA4 type M30 x 1 5 M40 x 1 5 Straight type Rod cover Cylinder tube Head cover Motor unit Reversing type MA MB Pulley case Rod Rod cover MA Cylinder tube Head cover MA ...

Page 26: ...e Affixing nut Flange 2 Using screws on a flange optional An optional flange is available for installing the actuator Use this flange if necessary z Applicable model RCS2 RA4 Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torque 12 3 N m 5 4 N m ...

Page 27: ... Reversing type Mounting hole Affixing nut Flange Mounting hole Affixing nut Flange Reversing type Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torque 12 3 N m 5 4 N m ...

Page 28: ... M6 Tightening torque 12 3 N m 5 4 N m Caution Affix the actuator using two feet optional one in the front and the other in the back If affixed using only one foot in the front or back the actuator may be negatively affected due to insufficient rigidity Straight type Mounting hole Affixing nut Foot A Affixing nut Affixing nut Mounting hole Foot B Reversing type Mounting hole Mounting hole Affixing...

Page 29: ...this trunnion if necessary z Applicable model RCS2 RA4 Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torque 12 3 N m 5 4 N m Straight type Mounting hole Affixing nut Trunnion ring Straight type Mounting hole Affixing nut Bracket B Bracket A Trunnion ring Bracket A Bracket B ...

Page 30: ...ear quickly or internal mechanical parts may be damaged If the actuator is installed horizontally using any of the aforementioned means add a guide or other appropriate mechanism to prevent the rod from receiving the actuator weight Caution The optional clevis and trunnion are designed so that the fulcrum shaft can only receive radial load In a condition where play is not permitted or thrust load ...

Page 31: ...e joint because the rod will receive the actuator weight As a result the bush may wear quickly or internal mechanical parts may be damaged If the actuator is installed horizontally using any of the aforementioned means add a guide or other appropriate mechanism to prevent the rod from receiving the actuator weight Caution The optional clevis and trunnion are designed so that the fulcrum shaft can ...

Page 32: ...ear mounting bracket is available for installing the actuator Use this rear mounting bracket if necessary z Applicable model Motor reversing type RA4R Type Tapped hole diameter Tapped depth Tightening torque RA4 type M4 7 mm 1 8 N m Reversing type Tapped mounting hole ...

Page 33: ... holes in the bracket for installing an actuator of the double guide type z Applicable model Double guide type RGD4 Type Tapped hole diameter Tapped depth Tightening torque RA4 type M5 8 mm 3 4 N m Tapped mounting hole Bracket A Bracket B ...

Page 34: ...cket B 8 Single guide type Use the tapped holes in the bracket for installing an actuator of the single guide type z Applicable model Double guide type RGD4 Type Tapped hole diameter Tapped depth Tightening torque RA4 type M5 8 mm 3 4 N m ...

Page 35: ...low is the maximum screw in depth of the tapping screws used for mounting the base Be careful not to allow the tip of the bolt to project Type Tapped hole diameter Maximum screw in depth RA7 M5 15 mm 10 Using T grooves and square nuts Applicable models RA5C RA5R F5D The RA5 and F5 types have T grooves Insert square nuts in these T grooves and install the actuator to the frame T grooves Square nuts...

Page 36: ...t the back 2 On the RA5 type attach feet using square nuts inserted into the T grooves 12 Using tapped holes on the reference surface Applicable models RA5 RA5R RA7 excluding flat types and guide types Type Tapped hole diameter Effective thread depth RA5 RA5R M6 12 mm RA7 M5 15 mm Install the feet to the frame using bolts Foot Foot ...

Page 37: ...it the load on the cable Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length The cables supplied with the actuator offer excellent flexibility but they are not robot cables If the cables are to be stored in a movable cable duct cable bearer etc use robot cables For cable modification please contact your IAI sales representativ...

Page 38: ...all the air tube outer diameter 10 mm inner diameter 6 5 mm on the intake exhaust port and guide the air tube to a location where the external environment assures the tube will not come in contact with water Applicable tube Shown below is a representative model of air tube that can be installed on the RCS2W TU1065 Polyurethane tube Manufacturer SMC ...

Page 39: ...05 mm sec 4 mm 200 mm sec 8 mm 400 mm sec RA7BD type 16 mm 800 mm sec 3 mm 200 mm sec 6 mm 400 mm sec F5D type 12 mm 800 mm sec Caution If the maximum speed limit is exceeded noise may increase or vibration may occur due to resonance of the ball screw shaft in which case the service life of the actuator may be significantly reduced If multiple actuators are used together with each actuator operati...

Page 40: ... the actuator in the moving direction of the load Do not allow the rod slide shaft to receive rotational torque Doing so may damage the internal parts Tighten the nut at the tip of the rod while securely holding the rod using a wrench of size 17 RA4 or 22 RA5 12 Actuators with a Switch Optional On actuators with a switch the switch is stored inside the actuator body on the motor side Do not increa...

Page 41: ...a controller of high acceleration deceleration specification Blank Conventional specification The actuator has a rated acceleration deceleration of 0 3 G and is combined with a conventional controller Example RCS2 RA4C I 20 10 50 T1 S HA High acceleration deceleration type RCS2 RA4C I 20 10 50 T1 S xxxxxxxxxxxxxConventional specification 13 2 Specifications of High Acceleration Deceleration Actuat...

Page 42: ...n Actuators regardless of the acceleration setting 3 Refer to p 29 for the maximum speed 13 4 Applicable Controller Models SCON SSEL X SEL The following code is appended after the encoder type HA High acceleration deceleration specification Blank Conventional specification Examples 1 High acceleration deceleration specification SCON C 20IHA NP 2 0 2 Conventional specification SCON C 20I NP 2 0 The...

Page 43: ...reafter 1 Apply grease to the sliding surface of the rod at the startup check if grease has been consumed or every three months For the RCS2W dustproof splash proof type apply grease when the bellows is changed 14 2 Visual Inspection of the Machine Exterior Check the following items visually Body Loose mounting bolts Cables Damage to cables or connection to connector box General Unusual noise or v...

Page 44: ...plicable grease Kyodo Yushi Multemp LRL3 Warning Never use any fluorine based grease It will cause a chemical reaction when mixed with a lithium based grease and may cause damage to the actuator 2 How to apply grease Apply grease over the entire surface of the rod ...

Page 45: ...to withstand several millions of flexing loads As a practical guideline replace the reduction belt when any of the conditions listed below is observed The teeth and end faces of the belt have worn significantly The belt has swollen due to deposits of oil etc Cracks and other damages are found on the teeth or back of the belt The belt has broken 14 5 2 Applicable Belt RA4R 60S2M152R Rubber cleanroo...

Page 46: ...e motor unit and pull the string to the specified tension using a tension gauge In this condition uniformly tighten the motor unit affixing bolts Recommended tightening torque of adjustment bolts 162 N cm 16 5 kgf cm Tension 2 5 kgf Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats ...

Page 47: ...a looped string or long tie band around the motor unit and pull the string to the specified tension using a tension gauge In this condition uniformly tighten the motor unit affixing bolts Recommended tightening torque for adjustment bolts Tension 6 0 2 kgf Motor unit affixing bolts Use an Allen wrench of 3 mm across flats ...

Page 48: ...or unit affixing bolts and replace the belt 2 Restore the home position Affix the rod at a position 2 mm from the mechanical end on the home side pass the belt and adjust the belt to the specified tension 3 Perform homing using a PC or teaching pendant and check for deviation from the initial home position If there is a deviation adjust the home offset if you are using an SCON controller If you ar...

Page 49: ...tion Warning If the actuator is installed vertically move it after turning on the controller power and forcibly releasing the brake At this time beware of danger as the actuator may drop suddenly Always provide a support to brace the actuator hand to prevent sudden drop so as not to pinch fingers or damage the load M3 hexagon socket head screws M4 hexagon socket head screws Cause the rod to projec...

Page 50: ...ust it to achieve proper alignment The ball screw side should be at a position where the rod projects 2 mm from the mechanical end After the check attach a new belt while holding the pulleys on both sides in position Motor side Ball screw side Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Initial countermar...

Page 51: ...llen wrench of 2 5 mm across flats 5 Adjust the belt tension Pass a looped strong string or long tie band around the motor cover and pull it with a tension gauge to the specified tension In this condition uniformly tighten the motor unit affixing bolts Recommended tightening torque for adjustment bolts 162 N cm 16 5 kgf cm ...

Page 52: ...reset must be performed Check for deviation from the initial home position If there is a deviation adjust parameter No 22 Home offset if you are using an SCON controller If you are using an SSEL or X SEL controller adjust axis specific parameter No 12 Home preset If your controller is of absolute encoder specification perform homing after changing the parameter and then perform an absolute reset M...

Page 53: ... motor unit affixing bolts and replace the belt 2 Restore the home position Affix the rod at a position 4 mm from the mechanical end on the home side pass the belt and adjust the belt to the specified tension 3 Perform homing using a PC or teaching pendant and check for deviation from the initial home position If there is a deviation adjust the home offset if you are using an SCON controller If yo...

Page 54: ...m across flats 2 Loosen the four tension adjustment bolts to slacken the belt Allen wrench of 3 mm across flats 3 Remove the belt from the pulleys 3 Make the following adjustment to restore the home position Move the slider to the mechanical end on the home side and keep it in contact with the mechanical end Turn the motor shaft by the specified amount from the countermark position toward the retu...

Page 55: ... pulley cover Tighten the three hexagon socket head bolts M3x22 using an Allen wrench of 2 5 mm across flats 6 Perform homing using a PC or teaching pendant If the actuator is of absolute encoder specification an absolute reset must be performed Check for deviation from the initial home position If there is a deviation adjust parameter No 22 Home offset if you are using an SCON controller If you a...

Page 56: ...m the mechanical end In this position replace the motor 2 Perform homing using a PC or teaching pendant and check for deviation from the initial home position If there is a deviation adjust the home offset if you are using an SCON controller If you are using an SSEL or X SEL controller adjust the home preset Replacement motor unit Coupling with screws Home position Z phase ON position Mechanical e...

Page 57: ...s position Warning If the actuator is installed vertically move it after turning on the controller power and forcibly releasing the brake At this time beware of danger as the actuator may drop suddenly Always provide a support to brace the actuator hand to prevent sudden drop so as not to pinch fingers or damage the load 2 Using an Allen wench of 2 mm across flats remove the two motor unit affixin...

Page 58: ...ition corresponding to the tab on the motor unit so that the motor unit and cylinder can be aligned in the correct position later on 4 Apply grease on the actuator coupling Tab on the motor unit Apply a countermark at a position corresponding to the tab on the motor unit Apply grease on the inside of the coupling ...

Page 59: ...hat of the actuator coupling adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end Apply countermarks to identify the current motor position phase Z position and coupling Position the couplings Align the tab on the replacement motor unit with the countermark on the cylinder Coupling Replacement motor unit After the coupling has been inserted apply countermarks on...

Page 60: ...rench of 2 mm across flats Similarly turn the coupling and motor shaft simultaneously until the other screw is seen through the hole and tighten the setscrew Coupling setscrew hole Turn the coupling and motor shaft simultaneously until a setscrew on the coupling is seen through the hole Thereafter tighten the hexagon socket head setscrew using an Allen wrench of 2 mm across flats ...

Page 61: ...confirm that the orientation of the actuator coupling adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end corresponds to the position of the coupling in the replacement motor unit Align the tab on the replacement motor unit with the countermark on the cylinder Coupling Replacement motor unit Apply countermarks on the replacement motor unit and coupling Confirm ...

Page 62: ...of absolute encoder specification an absolute reset must be performed Check for deviation from the initial home position If there is a deviation adjust parameter No 22 Home offset if you are using an SCON controller If you are using an SSEL or X SEL controller adjust axis specific parameter No 12 Home preset If your controller is of absolute encoder specification perform homing after changing the ...

Page 63: ...er Strong string looped or long tie band Scale Oil based marker pen PC or teaching pendant Overview of Replacement 1 Loosen the motor unit affixing bolts to remove the belt and replace the motor 2 Restore the home position Affix the rod at a position 2 mm from the mechanical end on the home side pass the belt and adjust the belt to the specified tension 3 Perform homing using a PC or teaching pend...

Page 64: ...bolts using an Allen wrench of 2 5 mm across flats Slide the motor and loosen and remove the belt After the belt has been removed remove the motor unit affixing bolts M3 hexagon socket head screws M4 hexagon socket head screws Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats ...

Page 65: ...55 Replacement motor 3 Take out the motor 4 Install the replacement motor Loosely tighten the motor unit affixing bolts ...

Page 66: ...ch fingers or damage the load 6 Check the following points before restoring the home position The motor side should be aligned with the initial countermark If the position is offset adjust it to achieve proper alignment The ball screw side should be at a position where the rod projects 2 mm from the mechanical end After the check attach a new belt while holding the pulleys on both sides in positio...

Page 67: ...it with a tension gauge to the specified tension In this condition uniformly tighten the motor unit affixing bolts Recommended tightening torque for adjustment bolts 162 N cm 16 5 kgf cm Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats ...

Page 68: ...eset must be performed Check for deviation from the initial home position If there is a deviation adjust parameter No 22 Home offset if you are using an SCON controller If you are using an SSEL or X SEL controller adjust axis specific parameter No 12 Home preset If your controller is of absolute encoder specification perform homing after changing the parameter and then perform an absolute reset M3...

Page 69: ...n this position replace the motor 2 Restore the home position Affix the rod at a position 4 mm from the mechanical end on the home side pass the belt and adjust the belt to the specified tension 3 Perform homing using a PC or teaching pendant and check for deviation from the initial home position If there is a deviation adjust the home offset if you are using an SCON controller If you are using an...

Page 70: ...Remove the three thin head screws using an Allen wrench of 2 5 mm across flats 2 Loosen the four tension adjustment bolts to slacken the belt Allen wrench of 3 mm across flats 3 Remove the belt from the pulleys 3 Take out the motor Remove the four hexagon socket head bolts using an Allen wrench of 3 mm across flats 4 Install the new motor Uniformly tighten the four hexagon socket head bolts M4x15 ...

Page 71: ... tightening torque for adjustment bolts M5 763 N cm 78 kgf cm Caution After tightening the bolts to the above torque tighten them slightly further by making sure that both pulleys do not move 7 Install the pulley cover Tighten the three hexagon socket head bolts M3x22 using an Allen wrench of 2 5 mm across flats 8 Perform homing using a PC or teaching pendant If the actuator is of absolute encoder...

Page 72: ...placement bellows unit RA4 JB RA4 stroke Phillips screwdriver Torque driver Grease Kyodo Yushi Multemp LRL3 Procedure 1 Loosen the front and rear metal fittings affixing the bellows and remove the bellows Loosening of front metal fitting Loosening of rear metal fitting Removal of bellows Bellows has been removed ...

Page 73: ...63 Bellows Install a metal fitting on the bellows 2 Apply grease evenly over the entire cylinder surface Apply grease evenly over the entire surface 3 Install a metal fitting on the bellows ...

Page 74: ...he replacement new bellows and tighten the screws of the front and rear metal fittings affixing the bellows Tighten the screws to the specified torque using a torque driver Installation of bellows Tightening of rear metal fitting Tightening of front metal fitting ...

Page 75: ...Controller end Actuator end Wire Signal No Wire Signal No 0 75 sq PE 0 75 sq crimped U V W PE U V W 1 2 3 4 1 2 3 4 16 20 21 10 4 1 4 1 21 18 9 41 L 15 Cable Drawings 1 Motor cable robot motor cable Model CB RCC MA CB RCC MA RB ...

Page 76: ...8 1 10 36 25 8 33 L 5 6 8 7 9 10 11 12 13 14 15 A U A U B V B V Z W Z W SD SD BAT BAT VCC GND BK BK 5 6 7 8 9 10 12 11 13 14 15 16 17 18 A U A U B V B V Z W Z W SD SD BAT VCC GND BAT BK BK FG Clamp the shield to the hood Ground and shielded braided wires 2 Encoder cable robot encoder cable X SEL J K SCON SSEL X SEL P Q Model CB RCBC PA CB RCBC PA ...

Page 77: ... 8 2 4 7 9 10 13 11 12 14 16 18 17 15 Brown Brown Red Black Yellow Green Orange Blue Gray white Purple White White Orange white Orange white Blue red Green white Brown white Pink Pink E24V OV LS CLEEP OT RSV A A B B Z Z SRD SRD BAT BAT VCC GND BKR BKR A A B B Z Z LS FG SD SD BAT BAT VCC GND LS BK BK AWG26 crimped AWG26 soldered Clamp the shield to the hood Note 3 Note 1 Note 4 Note 2 Ground and sh...

Page 78: ...MEMO 68 ...

Page 79: ...912 Atlanta Office 1220 E Kenneston Circle Marietta GA 30066 TEL 678 354 9470 FAX 678 354 9471 Website www intelligentactuator com Ober der Röth 4 D 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 The information contained in this document is subject to change without notice for the purpose of product improvement Copyright 2008 Mar IAI Corporation All rights reserved ...

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