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IAI ROBO Cylinder RCP5-SA4C, Instruction Manual

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IAI ROBO Cylinder RCP5-SA4C Instruction Manual Download Page 5

Table of Contents 

Safety Guide........................................................................................................... 1 
Caution in Handling ................................................................................................ 8 
International Standards Compliances ..................................................................... 9 
Names of the Parts............................................................................................... 10 

1. Specifications Check....................................................................................... 13

1.1 Checking the Product........................................................................................................ 13

1.1.1

Parts..................................................................................................................... 13

1.1.2

Related Instruction Manuals for the Each Controller Supported by   

This Product ......................................................................................................... 13

1.1.3

How to Read the Model Nameplate..................................................................... 13

1.1.4

How to Read the Model Number.......................................................................... 14

1.2 Specifications .................................................................................................................... 15

1.2.1

Speed ................................................................................................................... 15

1.2.2

Maximum Acceleration and Transportable Mass................................................. 19

1.2.3

Driving System • Position Detector ...................................................................... 36

1.2.4

Positioning Precision............................................................................................ 36

1.2.5

Current Limiting Value and Pressing Force ......................................................... 37

1.2.6

Allowable Moment of Actuator ............................................................................. 41

1.3 Options .............................................................................................................................. 42

1.3.1

Brake Type (Model : B) ........................................................................................ 42

1.3.2

Reversed-home Specification (Model : NM) ........................................................ 42

1.3.3

Cable Eject Direction Changed (Model No. : CJT, CJR, CJL, CJB, CJO) ........... 42

1.3.4

Motor Left Reversed, Motor Right Reversed (Model No. : ML, MR).................... 42

1.3.5

Slider part roller type (Model No. : SR) ................................................................ 43

1.3.6

Slider spacer (Model No. : SS)............................................................................. 43

1.3.7

Air vacuum joint on other side (Model No. : VR).................................................. 43

1.4 Motor • Encoder Cables .................................................................................................... 44

1.4.1

Motor • Encoder Integrated Cables...................................................................... 44

1.4.2

Motor • Encoder Integrated Cables Robot Type .................................................. 45

2. Installation....................................................................................................... 46

2.1 Transportation ................................................................................................................... 46

2.2 Installation and Storage • Preservation Environment........................................................ 48

2.3 How to Install..................................................................................................................... 49

2.3.1

Installation ............................................................................................................ 49

2.3.2

Installation of the Main Unit.................................................................................. 50

2.3.3

Vacuum of Cleanroom Type................................................................................. 57

3. Connecting with the Controller........................................................................ 58

Summary of Contents for ROBO Cylinder RCP5-SA4C

Page 1: ...tors Slider Type Instruction Manual Seventh Edition Standard Type Motor Straight Type RCP5 SA4C SA6C SA7C Standard Type Motor Reversing Type RCP5 SA4R SA6R SA7R Cleanroom Type Motor Straight Type RCP5CR SA4C SA6C SA7C IAI America Inc ...

Page 2: ......

Page 3: ...ever is handling this product can reference it quickly when necessary Important x This instruction manual is original x 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 x The information conta...

Page 4: ......

Page 5: ...7 1 2 6 Allowable Moment of Actuator 41 1 3 Options 42 1 3 1 Brake Type Model B 42 1 3 2 Reversed home Specification Model NM 42 1 3 3 Cable Eject Direction Changed Model No CJT CJR CJL CJB CJO 42 1 3 4 Motor Left Reversed Motor Right Reversed Model No ML MR 42 1 3 5 Slider part roller type Model No SR 43 1 3 6 Slider spacer Model No SS 43 1 3 7 Air vacuum joint on other side Model No VR 43 1 4 Mo...

Page 6: ...placement 77 4 9 Motor Replacement Process 79 4 9 1 SA4C SA6C SA7R 79 4 9 2 SA4R SA6R SA7R 81 5 External Dimensions 83 5 1 RCP5 SA4C 83 5 2 RCP5 SA6C 84 5 3 RCP5 SA7C 85 5 4 RCP5CR SA4C RCP5 SA4C Option Model SR 85 5 5 RCP5CR SA6C RCP5 SA6C Option Model SR 87 5 6 RCP5CR SA7C RCP5 SA7C Option Model SR 88 5 7 RCP5CR SA4R 83 5 8 RCP5CR SA6R 90 5 9 RCP5CR SA7R 91 6 Life 91 6 1 How to Calculate Operati...

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

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

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

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

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

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

Page 13: ...he 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 Thi...

Page 14: ...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 actuator with the grease wor...

Page 15: ...struction manual for each controller for details The performance of weight capacity at each velocity and 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 CA No 152 High Output Sett...

Page 16: ... International Standards Compliances This actuator complies with the following overseas standard Refer to Overseas Standard Compliance Manual ME0287 for more detailed information RoHS Directive CE Marking ...

Page 17: ... steel sheet Side cover Front bracket Slider cover Slider Base Tapped hole for ground cable connection Connector Motor Side Opposite Side Right Side Left Side 2 Standard Type Motor Reversing Type The direction of the motor is either left reversed ML shown in figure above right reversed MR There is no top reversed type Note Reversing types are not applicable to CR specifications Reversing bracket P...

Page 18: ...t Type Air Tube Outer Diameter SA4 6 φ6 SA7 φ8 Stainless steel sheet Side cover Front bracket Slider cover Opposite Side Right Side Left Side Slider Base Motor unit Screw for motor unit attachment Tapped hole for ground cable connection Connector Motor Side ...

Page 19: ...ontroller used Refer to 1 4 Motor Encoder Cables 1 1 2 Related Instruction Manuals for the Each Controller Supported by This Product Shown below is a list of the instruction manuals for the controllers related to this product which is recorded in Instruction Manual DVD No Name Control No 1 Instruction Manual for PCON CA CFA Controller ME0289 2 Instruction Manual for MSEP Controller ME0299 3 Instru...

Page 20: ...R 2 5 5 10 16 SA6C SA6R 3 6 12 20 SA7C SA7R 4 8 16 24 Identification for IAI use only Note1 Options B Brake NM Reversed home specificationspecification CJT Cable eject direction changed Top CJR Cable eject direction changed Right CJL Cable eject direction changed Left CJB Cable eject direction changed Bottom CJO Cable eject direction changed Outward ML Motor left reversed Standard MR Motor right r...

Page 21: ...5 Horizontal 225 215 180 150 130 115 100 85 75 3 Vertical 225 215 180 150 130 115 100 85 75 Horizontal 450 435 365 305 265 230 200 175 155 6 Vertical 450 435 365 305 265 230 200 175 155 Horizontal 900 885 735 620 535 460 405 335 315 12 Vertical 900 885 735 620 535 460 405 335 315 Horizontal 1440 1335 1130 970 840 735 650 575 SA6C 42P 20 Vertical 1280 1130 970 840 735 650 575 Horizontal 245 215 185...

Page 22: ...tical 525 Horizontal 840 SA4C 35P 16 Vertical 840 Horizontal 150 130 115 100 85 75 3 Vertical 150 130 115 100 85 75 Horizontal 300 265 230 200 175 155 6 Vertical 300 265 230 200 175 155 Horizontal 600 535 460 405 355 315 12 Vertical 600 535 460 405 355 315 Horizontal 960 840 735 650 575 SA6C 42P 20 Vertical 960 840 735 650 575 Horizontal 140 125 4 Vertical 140 125 Horizontal 280 255 8 Vertical 280...

Page 23: ...60 875 Horizontal 225 215 180 150 130 115 100 85 75 3 Vertical 225 215 180 150 130 115 100 85 75 Horizontal 450 435 365 305 265 230 200 175 155 6 Vertical 450 435 365 305 265 230 200 175 155 Horizontal 900 885 735 620 535 460 405 335 315 12 Vertical 800 735 620 535 460 405 335 315 Horizontal 1280 1130 970 840 735 650 575 SA6R 42P 20 Vertical 1280 1130 970 840 735 650 575 Horizontal 210 185 160 140...

Page 24: ...5 230 200 175 155 6 Vertical 300 265 230 200 175 155 Horizontal 600 535 460 405 355 315 12 Vertical 600 535 460 405 355 315 Horizontal 960 840 735 650 575 SA6R 42P 20 Vertical 960 840 735 650 575 Horizontal 140 125 4 Vertical 140 125 Horizontal 280 255 8 Vertical 280 255 Horizontal 560 520 16 Vertical 560 520 Horizontal 800 785 SA7R 56P 24 Vertical 600 Caution When a speed less than the minimum sp...

Page 25: ...2 12 12 40 12 12 12 12 12 65 12 12 12 12 12 85 12 12 12 12 12 105 12 12 12 12 12 130 12 12 12 12 12 150 12 12 12 12 12 175 12 12 12 12 12 Horizontal 195 12 12 12 12 12 0 9 9 9 20 9 9 9 40 9 9 9 65 9 9 9 85 9 9 9 105 9 9 9 130 9 9 9 150 9 9 9 175 9 9 9 2 5 Vertical 195 9 9 9 0 12 12 12 10 10 40 12 12 12 10 10 85 12 12 12 10 10 130 11 11 11 10 10 175 10 10 10 10 10 215 10 10 10 10 10 260 10 10 10 10...

Page 26: ...8 8 525 8 8 8 7 7 610 8 8 7 6 5 700 8 6 4 3 Horizontal 785 7 4 3 3 0 2 25 2 25 2 25 85 2 25 2 25 2 25 175 2 25 2 25 2 25 260 2 25 2 25 2 25 350 2 25 2 25 2 25 435 2 25 2 25 2 25 525 2 25 2 25 2 25 610 2 25 2 25 2 25 700 2 2 10 Vertical 780 2 1 5 0 4 4 4 4 4 140 4 4 4 4 4 280 4 4 4 4 4 420 4 4 4 4 4 560 4 4 4 4 4 700 4 4 4 4 4 840 4 4 4 3 5 980 4 4 3 5 3 1120 4 3 2 1 5 Horizontal 1260 2 1 5 1 0 1 1...

Page 27: ...5 25 25 25 22 5 175 25 25 25 20 19 200 25 25 20 18 16 Horizontal 225 25 18 16 15 12 0 16 16 16 25 16 16 16 50 16 16 16 75 16 16 16 100 16 16 16 125 16 16 16 150 16 14 13 175 13 12 11 200 11 10 9 3 Vertical 225 9 8 0 25 25 20 16 14 50 25 25 20 16 14 100 25 25 20 16 14 150 25 25 20 16 14 200 25 25 20 16 14 250 25 25 20 16 14 300 25 25 20 15 11 350 25 20 14 12 9 400 25 16 10 8 6 5 Horizontal 450 18 1...

Page 28: ... 500 15 13 10 8 6 5 600 15 12 9 6 4 700 12 10 8 4 2 5 800 10 7 5 2 1 Horizontal 900 5 3 1 1 0 2 5 2 5 2 5 100 2 5 2 5 2 5 200 2 5 2 5 2 5 300 2 5 2 5 2 5 400 2 5 2 5 2 5 500 2 5 2 5 2 5 600 2 5 2 5 2 5 700 2 5 2 5 2 800 2 1 5 1 12 Vertical 900 0 5 0 5 0 10 10 9 7 6 160 10 10 9 7 6 320 10 10 9 7 6 480 10 10 9 7 6 640 10 10 8 6 5 800 10 9 6 5 4 5 3 960 8 5 3 5 2 1120 6 5 3 2 1 5 1280 1 1 1 Horizonta...

Page 29: ...5 0 25 25 25 35 25 25 25 70 25 25 25 105 22 20 19 140 16 14 12 175 11 9 7 5 210 8 4 Vertical 245 0 45 45 45 40 40 70 45 45 45 40 40 140 45 45 40 38 35 210 45 40 35 30 24 280 40 30 25 20 15 350 35 20 9 4 420 25 7 Horizontal 490 15 0 16 16 16 70 16 16 16 140 16 16 16 210 11 10 9 5 280 9 8 7 350 7 5 4 420 5 2 8 Vertical 490 2 0 40 40 35 28 27 140 40 40 35 28 27 280 40 38 35 25 24 420 35 25 20 15 10 5...

Page 30: ...ion deceleration kg Type Motor Type Lead mm Horizontal Vertical Velocity mm s 0 1G 0 3G 0 5G 0 7G 1 0G 0 20 20 18 16 14 200 20 20 18 16 14 400 20 20 18 16 14 600 20 16 15 10 9 800 16 12 10 7 4 1000 8 4 5 4 2 Horizontal 1200 5 5 2 2 1 0 3 3 3 200 3 3 3 400 3 3 3 600 3 3 3 800 3 2 5 1000 2 1 5 SA7C 56P 24 Vertical 1200 1 1 ...

Page 31: ...2 10 40 12 12 12 10 85 12 12 12 10 130 10 10 10 9 175 10 10 9 8 215 10 9 8 7 Horizontal 260 9 8 7 6 0 4 5 4 5 4 5 40 4 5 4 5 4 5 85 4 5 4 5 4 5 130 4 4 4 175 4 4 4 215 4 4 4 5 Vertical 260 3 5 3 2 5 0 10 10 9 8 85 10 10 9 8 175 10 10 9 8 260 9 9 8 6 350 8 7 6 5 435 7 6 5 4 Horizontal 525 6 5 4 3 0 2 25 2 25 2 25 85 2 25 2 25 2 25 175 2 25 2 25 2 25 260 2 2 2 350 2 2 2 435 2 1 5 1 5 10 Vertical 525...

Page 32: ...Vertical 150 5 4 5 3 0 16 15 13 12 50 16 15 13 12 100 16 15 13 12 150 16 15 13 12 200 16 15 13 12 250 15 12 10 7 Horizontal 300 13 12 6 4 0 5 5 5 50 5 5 5 100 5 5 5 150 5 5 5 200 5 4 5 4 250 4 4 3 6 Vertical 300 3 2 5 2 0 8 5 8 5 7 6 100 8 5 8 5 7 6 200 8 5 8 5 7 6 300 8 5 8 5 7 6 400 8 7 4 3 5 500 7 6 3 2 Horizontal 600 6 6 2 1 5 0 2 2 2 100 2 2 2 200 2 2 2 300 2 2 2 400 2 2 1 5 500 1 5 1 5 1 12 ...

Page 33: ... 140 40 210 25 Horizontal 280 10 0 10 70 10 140 7 210 4 8 Vertical 280 1 5 0 35 140 35 280 25 420 15 Horizontal 560 7 0 5 140 5 280 3 420 1 5 16 Vertical 560 0 5 0 18 200 18 400 18 600 10 Horizontal 800 5 0 2 200 2 400 2 600 1 5 SA7C 56P 24 Vertical 800 1 Caution Do not attempt to establish the settings for the acceleration deceleration above the allowable range It may cause vibration malfunction ...

Page 34: ...2 130 12 12 12 12 12 150 12 12 12 12 10 175 12 12 12 12 9 Horizontal 195 12 12 12 12 9 0 9 9 9 20 9 9 9 40 9 9 9 65 9 9 9 85 9 9 9 105 9 9 9 130 9 9 9 150 9 9 9 175 9 7 7 2 5 Vertical 195 9 7 7 0 12 12 12 10 10 40 12 12 12 10 10 85 12 12 12 10 10 130 11 11 11 10 10 175 10 10 10 10 10 215 10 10 10 10 10 260 10 10 10 10 10 305 10 10 10 10 10 350 10 10 10 10 10 Horizontal 390 10 10 7 6 4 0 4 5 4 5 4 ...

Page 35: ... 8 8 8 525 8 8 8 7 7 610 8 8 7 5 4 700 7 4 3 2 Horizontal 785 4 3 2 1 5 0 2 25 2 25 2 25 85 2 25 2 25 2 25 175 2 25 2 25 2 25 260 2 25 2 25 2 25 350 2 25 2 25 2 25 435 2 25 2 25 2 25 525 2 25 2 25 2 25 610 2 25 2 2 700 1 5 1 10 Vertical 780 1 1 0 4 4 4 4 4 140 4 4 4 4 4 280 4 4 4 4 4 420 4 4 4 4 4 560 4 4 4 4 4 700 4 4 4 4 4 840 4 4 3 3 980 4 4 2 5 2 1120 2 5 2 5 1 1 Horizontal 1260 1 0 5 0 5 0 1 ...

Page 36: ... 25 25 25 25 22 5 175 25 25 25 20 19 200 25 25 20 18 12 Horizontal 225 25 18 12 6 4 0 12 12 12 25 12 12 12 50 12 12 12 75 12 12 12 100 12 12 12 125 12 12 12 150 12 11 10 175 11 9 8 200 9 7 6 3 Vertical 225 5 3 0 25 25 20 16 14 50 25 25 20 16 14 100 25 25 20 16 14 150 25 25 20 16 14 200 25 25 20 16 14 250 25 25 20 16 14 300 25 25 20 15 11 350 25 20 14 12 9 400 25 16 10 8 6 5 Horizontal 450 18 12 6 ...

Page 37: ...5 14 11 10 8 5 500 15 13 10 8 6 5 600 15 12 9 6 4 700 12 10 8 4 2 5 800 10 7 5 2 1 Horizontal 900 4 2 1 0 2 5 2 5 2 5 100 2 5 2 5 2 5 200 2 5 2 5 2 5 300 2 5 2 5 2 5 400 2 5 2 5 2 5 500 2 5 2 5 2 5 600 2 5 2 5 2 5 700 2 5 2 1 5 800 2 1 0 5 12 Vertical 900 0 10 10 9 7 6 160 10 10 9 7 6 320 10 10 9 7 6 480 10 10 9 7 6 640 10 10 8 6 5 800 10 9 6 5 4 5 3 960 8 5 3 5 2 1120 6 3 2 1 5 Horizontal 1280 1 ...

Page 38: ...10 4 0 45 45 45 40 40 70 45 45 45 40 40 140 45 45 40 38 35 210 45 40 35 30 24 280 40 30 25 20 15 350 35 20 9 4 420 25 7 Horizontal 490 13 0 16 16 16 70 16 16 16 140 16 16 16 210 11 10 9 5 280 9 8 7 350 7 5 4 420 5 1 8 Vertical 490 1 0 40 40 35 28 27 140 40 40 35 28 27 280 40 38 35 25 24 420 35 25 20 15 10 560 25 20 15 10 6 700 20 15 8 5 3 Horizontal 840 6 2 0 8 8 8 140 8 8 8 280 8 8 8 420 6 5 4 5 ...

Page 39: ...2 10 40 12 12 12 10 85 12 12 12 10 130 10 10 10 9 175 10 10 9 8 215 10 9 8 7 Horizontal 260 9 8 7 6 0 4 5 4 5 4 5 40 4 5 4 5 4 5 85 4 5 4 5 4 5 130 4 4 4 175 4 4 4 215 4 4 4 5 Vertical 260 3 5 3 2 5 0 10 10 9 8 85 10 10 9 8 175 10 10 9 8 260 9 9 8 6 350 8 7 6 5 435 7 6 5 4 Horizontal 525 6 5 4 3 0 2 25 2 25 2 25 85 2 25 2 25 2 25 175 2 25 2 25 2 25 260 2 2 2 350 2 2 2 435 2 1 5 1 5 10 Vertical 525...

Page 40: ...Vertical 150 5 4 5 3 0 16 15 13 12 50 16 15 13 12 100 16 15 13 12 150 16 15 13 12 200 16 15 13 12 250 15 12 10 7 Horizontal 300 13 12 6 4 0 5 5 5 50 5 5 5 100 5 5 5 150 5 5 5 200 5 4 5 4 250 4 4 3 6 Vertical 300 2 5 2 1 5 0 8 5 8 5 7 6 100 8 5 8 5 7 6 200 8 5 8 5 7 6 300 8 5 8 5 7 6 400 8 7 4 3 5 500 7 6 3 2 Horizontal 600 6 6 2 1 5 0 2 2 2 100 2 2 2 200 2 2 2 300 2 2 2 400 2 2 1 5 500 1 5 1 5 1 1...

Page 41: ...0 40 140 40 210 25 Horizontal 280 6 0 10 70 10 140 7 210 4 8 Vertical 280 1 0 35 140 35 280 25 420 15 Horizontal 560 4 0 5 140 5 280 3 420 1 5 16 Vertical 560 0 5 0 18 200 18 400 18 600 9 Horizontal 800 1 0 2 200 2 400 2 600 1 5 SA7R 56P 24 Vertical 800 Caution Do not attempt to establish the settings for the acceleration deceleration above the allowable range It may cause vibration malfunction or...

Page 42: ...sion Type Lead Item Tolerance Positioning repeatability 0 02mm SA4C SA4R 2 5 5 10 16 Backlash 0 1mm or less Positioning repeatability 0 02mm 3 6 12 Backlash 0 1mm or less Positioning repeatability 0 03mm SA6C SA6R 20 Backlash 0 1mm or less Positioning repeatability 0 02mm 4 8 16 Backlash 0 1mm or less Positioning repeatability 0 03mm SA7C SA7R 24 Backlash 0 1mm or less It is the accuracy when prod...

Page 43: ... the actual pressing force The variance of the pressing force becomes large when the current limit value is low 3 Use the product within the range in the graph for the current limit value Pressing force will not be stable if used below 20 below 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 m...

Page 44: ...ressing force The variance of the pressing force becomes large when the current limit value is low 3 Use the product within the range in the graph for the current limit value Pressing force will not be stable if used below 20 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 radia...

Page 45: ...l pressing force The variance of the pressing force becomes large when the current limit value is low 3 Use the product within the range in the graph for the current limit value Pressing force will not be stable if used below 20 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 ra...

Page 46: ...ition into consideration when calculating the moment Ɣ Ma or Mb Datum Point for Offset Example for Calculation Explanation below describes an example when the pressing is conducted with 50N to Ma direction at the position shown on the right by SA7C Type The moment applied to the guide is Ma 50mm Offset Datum Position 46 5mm 50N 4825N mm 4 825N m The dynamic allowable load moment for SA7C is Ma 10N...

Page 47: ...1 9 68 Ma direction 120mm Mb or Mc direction 120mm SA6C SA6R 38 3 54 7 81 11 6 16 6 24 6 Ma direction 150mm Mb or Mc direction 150mm SA7C SA7R 51 2 73 1 148 11 6 16 6 33 7 Ma direction 230mm Mb or Mc direction 230mm Mc direction Mb direction Mb or Mc direction Ma direction Direction of moment Ma direction Direction of allowable overhang Ɣ Ma or Mb Datum Point for Offset where pointed with an arrow...

Page 48: ... 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 Cable Eject Direction Changed Model No CJT CJR CJL CJB CJO If a change in the cable ejection direction is made the direction of cable ejection will be changed There are ejection directions top model code CJT right model cod...

Page 49: ... than the top face of the slider it is a spacer to make higher than the motor unit 70 90 60 64 10 74 3 2 φ5 H7 depth 8 0 012 0 39 pitch between φ5H7 holes 0 02 bolt screwing depth should be 9mm 4 M5 through 1 3 7 Air vacuum joint on other side Model No VR The vacuum joint on the cleanroom use is mounted on the left side of the body from the view of the motor end in standard This is the type that h...

Page 50: ...AWG22 19 AWG22 19 Gray VMM 9 4 VMM Gray AWG22 19 AWG22 19 Green I_A 4 5 I_A Green AWG22 19 AWG22 19 Red I_B 15 6 I_B Red AWG22 19 AWG26 Black LS 8 7 LS Black AWG26 AWG26 Yellow LS 14 8 LS Yellow 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...

Page 51: ...19 AWG22 19 Gray VMM 9 4 VMM Gray AWG22 19 AWG22 19 Green I_A 4 5 I_A Green AWG22 19 AWG22 19 Red I_B 15 6 I_B Red AWG22 19 AWG26 Black LS 8 7 LS Black AWG26 AWG26 Yellow LS 14 8 LS Yellow 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...

Page 52: ...ation 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 actuator i...

Page 53: ...not accidently move during transportation x 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 x When hanging up with ropes have appropriate cushioning to avoid any deformation of the actuator body Also keep it in stable horizontal orienta...

Page 54: ...of the following locations provide sufficient shielding measures y Where noise generates due to static electricity etc y Where the actuator is subject to a strong electric or magnetic field y Where the actuator is subject to ultraviolet ray or radiation 2 Storage Preservation Environment y The storage and preservation environment should comply with the same standards as those for the installation ...

Page 55: ...otor on the lower side would not cause a problem in an ordinary operation However it may rarely cause a problem when it is not operated for a long period depending on the surrounding environment especially high temperature caused by the grease being separated and the base oil flowing into the motor unit 2 Can be installed sideways or ceiling mount but the actuators must be checked daily If the act...

Page 56: ...hing is required However when small tunings such as the perpendicularity is required consider such things like to use one reamed hole 1 Using the Tapped Holes on the Bottom of the Base This actuator has the tapped holes for mounting so it can be fixed from the bottom of the base Note that tapped hole size depends on the model Please see the diagrams below and 5 External Dimensions Also there are r...

Page 57: ...thread engagement should be 1 8 times more than the nominal diameter and pay attention not to stick the screw out inside the actuator Caution Be careful when selecting the bolt length If bolts of inappropriate lengths are used the tapped holes may be damaged actuator mounting strength may become insufficient or contact with driving parts may occur resulting in lower precision or unexpected acciden...

Page 58: ...4 5 M4 1 76N m 0 18kgf m SA7C SA7R I6 drilled hole I9 5 counter boring depth 5 5 M5 3 42N m 0 35kgf m Tightening Screws Use hexagonal socket head bolts for the male threads for installing the base Use of high tension bolts meeting at least ISO 10 9 is recommended For the effective engagement length between the bolt and female thread provide at least the applicable value specified below Female thre...

Page 59: ...for the male threads for installing Use of high tension bolts meeting at least ISO 10 9 is recommended Make sure to have the effective length of thread engagement at least approximately 1 8 times of the nominal diameter of bolts and screws 䢢 Caution Be careful when selecting the bolt length If bolts of inappropriate lengths are used the damage of the attachment hole and actuator mounting strength ...

Page 60: ...dy Some operational conditions and conditions of installation environment could generate vibration which may cause operational error or parts malfunction Refer below for the availability of orientations for installation When using the product in horizontal or vertical orientation have a support block to support the main body to avoid any external force to be applied on the body Horizontal Vertical...

Page 61: ... in the drop of the accuracy or an unexpected accident 2 D 4 E C B 0 02 A Reamed Hole Pitch Tolerance 0 02 Mounting Bolt Model Name A B C D E Bolt Nominal Diameter Tightening Torque SA4C SA4R 20 24 32 I3H7 depth 6 M3 depth 7 M3 0 83N m 0 085Kgf m SA6C SA6R 31 32 50 I5H7 depth 6 M5 depth 10 M5 3 42N m 0 35Kgf m SA7C SA7R 39 32 50 I5H7 depth 10 M5 depth 10 M5 3 42N m 0 35Kgf m Tightening Screws Use ...

Page 62: ...uivalent to it and the flatness should be 0 05mm m or below Ensure a room for maintenance work The side and bottom surfaces of the base on the actuator work as the datum surfaces for the side of the slider Use these surfaces as the datum surfaces for mounting Datum surface Datum surface Datum surface effective area Follow the below when installing the device using the datum surface Model Name A Di...

Page 63: ...the body with the amount of absorbing total of 2 places described in the table below Also have the pipe layout to allocate equal absorbing performance at the two joints Use the system with all the attachment holes on the bottom of the body closed The cleanliness performance will drop if a through hole exists on the body Reference for Amount of Absorbing Lead Amount of Absorbing Model mm Nl min L m...

Page 64: ...reduce the load on the cable by allowing it to deflect only by the weight of the cable or wire it in a self standing cable hose etc having a large radius Do not cut and reconnect the dedicated connection cable for extension or shorten the cable Do not pull on the dedicated connection cable or bend it forcibly The actuator cable coming out of the motor unit is not meant to be bent Fix the cable so ...

Page 65: ...able 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 cause an operation error thus it is extremely risky Do not lay out ...

Page 66: ...g 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 When a cable is fastened to affix make sure to have an appropriate force and do not tighten too much Do not use spiral tube in any position where cables are bent frequently ...

Page 67: ...ack 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 cause faster abra...

Page 68: ...on over such short distance has been repeated 5 000 to 10 000 times This will restore oil film Note 2 Check the condition of grease and wipe off the grease before supplying new in case it is extremely dirty Grease Supply Timing Reference Perform grease supply when it has reached to either the operation distance or spent months described in the table below Grease Supply Timing Reference Maximum Spe...

Page 69: ...ng the stainless steel sheet will require that you bring the unit to our plant or have one of our technicians come to your plant to perform the replacement If the actuator is installed vertically certain conditions may cause grease to drip from the guide Please ensure that proper cleaning is performed and grease is replenished 4 3 Cleaning Clean exterior surfaces as necessary Use a soft cloth to w...

Page 70: ...u touch the edge of the stainless steel sheet in the attaching the side cover process the sheet may get damaged or wavy which result in shortening life or earlier wear out To avoid touching the edge of the sheet insert a spacer approximatery 0 1 to 0 2mm between the sheet and cover to push up the sheet and then push in the cover Also make sure to follow the notice of caution when attaching side co...

Page 71: ... SA7R Dimension for Opening mm 11 4 0 4 16 0 4 24 0 4 Caution The side covers and slider may interfere if the side covers are not attached with the dimension for the opening described above or not in symmetry 4 5 Internal Cleaning Use a soft cloth to wipe away dirt 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 neu...

Page 72: ...he actuator 2 Cleanroom Type On the cleanroom type the urea based grease that has great low particle emission stable torque characteristics brilliant lubrication and anti dust effect equivalent to the lithium based grease is applied IAI uses the following grease in our plant Guide and Ball Screw Kuroda Precision Industries C Grease Warning Apply low particle emission grease on Cleanroom Type Actua...

Page 73: ... left The grease nipple will appear When the side cover on the other side has been detached the other grease nipple also appears Motor Side Opposite Side of the Motor Side Cover Attachment Screws Side Cover Attachment Screws After removal of the side cover on either side Side Cover Grease Nipple There is one on the other side ...

Page 74: ...eter shown below Grease Nipple Diameter I3 5 Recommended Grease Gun Nozzle Supplier HGP NZ3 NSK Model Name Amount of Grease Supply Reference SA4 0 5cc to 1 0cc SA6 SA7 1 5cc to 2 0cc Move the slider back and forth in the stroke range after supplying grease so it spreads out evenly in the area x Confirm that the ball tracks on the ball screw and guide look glossy with oil of grease Supply grease ag...

Page 75: ...attaching the side covers Also have the side covers attached in symmetry to the center line Model Name SA4C SA4R SA6C SA6R SA7C SA7R Dimension for Opening mm 11 4 0 4 16 0 4 24 0 4 Caution The side covers and slider may interfere if the side covers are not attached with the dimension for the opening described above or not in symmetry Caution Do not damage the stainless steel sheet by bending it fo...

Page 76: ...ive tape 2 Caution for the stainless steel sheet tension Degradation and wear out of the stainless steel sheet relies on its tension of attachment If the stainless steel sheet is pulled with a huge force and the gap between the sheet and the slider cover is large there is a risk of metal fatigue On the other hand if the tensile strength is too low the stainless steel sheet would interfere with the...

Page 77: ... 4 places holding the stainless steel sheet and stainless steel sheet retainer plates 2 pieces with using a Phillips screwdriver 2 Pull the old stainless steel sheet till in front of the slider Make sure not to pull it out completely off the slider 3 Join a new stainless steel sheet to the old one with using cellophane tape Join with cellophane tape Old stainless steel sheet New stainless steel sh...

Page 78: ...Torque 41 4Nycm 7 After the stainless steel sheet retainer plates have been fixed move the slider from one side to the other side full stroke with your hand to check that there is no rise or slackness in the stainless steel sheet If there is any problem repeat from step 6 Pull Old stainless steel sheet New stainless steel sheet Pull till the edge Edge There are two grooves for stainless steel shee...

Page 79: ...w stainless steel sheet Stainless Steel Sheet Stainless Steel Sheet Adhesive tape 4 Put the stainless steel sheet with an adhesive tape on the side cover Attach adhesive tape so that it wraps around the end side of the stainless steel sheet At that time arrange it so that about 3mm of the end of the tape projects from the stainless steel sheet Cut any tape excess Side Cover Stainless Steel Sheet S...

Page 80: ...ld move the slider to put through the stainless steel sheet 6 After the stainless steel sheet passes through the slider pull one end of the stainless steel sheet out to the position of the stainless steel retainer plate Take off the adhesive tape once positioning is finished ...

Page 81: ...plates have been fixed move the slider from one side to the other side full stroke with your hand to check that there is no rise or slackness in the stainless steel sheet If there is any problem repeat from step 7 There are two grooves for stainless steel sheet attachment guides Align so that the stainless steel sheet is positioned at the center between the two grooves Attach the stainless steel s...

Page 82: ...rea show obvious friction y When swelling occurs as a result of oil adhesion y 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...

Page 83: ... Tension Gauge that is available for pulling with 80N y Long Tie Band thin string Procedure 1 Remove the three bolts holding the pulley cover with a Phillips screwdriver and detach the pulley cover 2 Loosen the four bolts holding the pulley on the motor side with a 2 5mm sized for SA4R SA6R or 3mm sized for SA7R hex wrench Replace the belt if it is necessary Pulley Cover Bolt Bolt Belt ...

Page 84: ... 5 mm sized for SA4R SA6R or 3mm sized for SA7R hex wrench to affix 4 Tighten the three bolts holding the pulley cover with a Phillips screwdriver to attach the pulley cover Model Name Tightening Torque SA4R SA6R 43 1Nycm SA7R 76 8Nycm Belt Tensile Strength SA4R 20 to 25N SA6R 25 to 30N SA7R 80 to 90N SA4R SA6R Tightening Torque 152Nycm SA7R Tightening Torque 323Nycm Bolt Belt Tensile Strength Pul...

Page 85: ...equired for replacing the motor y Motor Unit for Replacement y Hex wrench set 2mm sized or 2 5mm sized Procedure 1 Remove the screw affixing the actuator and the motor unit with a 2mm sized SA4C SA6C 2 5mm sized SA7C hex wrench 2 Detach the motor unit For Fixed screws actuator and Motor Unit ...

Page 86: ... fixing screw to affixing the motor unit to the actuator with a 2mm sized SA4C SA6C 2 5mm sized SA7C hex wrench Model Name Tightening Torque SA4C SA6C 167Nycm SA7C 353Nycm 6 For Battery less Absolute Type Model Code WA make sure to have a home return operation on the PC or touch panel teaching after the motor replacement Make the projection and slit matched with each other Apply grease to the coup...

Page 87: ...Set 2mm sized 2 5mm sized Procedure 1 Remove the screw affixing the actuator and the motor unit with a 2mm sized SA4R SA6R 2 5mm sized SA7R hex wrench SA4R fixing screw to affixing is side SA6R SA7R fixing screw to affixing is top SA4R View from side SA6R SA7R View from top 2 Detach the motor unit For Fixed screws actuator and Motor Unit ...

Page 88: ...matched with the slit 5 Tighten fixing screw to affixing the motor unit to the actuator with a 2mm sized SA4R SA6R 2 5mm sized SA7R hex wrench SA4R View from side SA6RࠊSA7R View from top Model Name Tightening Torque SA4R SA6R 167Nycm SA7R 353Nycm Make the projection and slit matched with each other Apply grease to the coupling part NOXLUB TL1010 grease made by NOK For Fixed screws actuator and Mot...

Page 89: ...00 747 778 500 485 50 4 100 16 5 50 584 623 14 1 8 2 0 Note L dimensions described in the table are those with no cable ejection direction option For cable ejection direction types option the dimensions are longer in 21mm 12 36 8 5 9 26 5 40 48 slider top surface 1 15 25 1 39 Moment datum point X 12 3 Stroke 1 56 pay attention to interference for 56 and more 35 3 76 K L M3 depth 4 same on opposite...

Page 90: ...585 6 14 5 16 1 3 722 760 5 3 6 3 8 650 923 962 5 600 585 7 16 5 16 1 3 772 810 5 3 8 4 0 700 973 1012 5 700 685 7 16 6 18 1 3 822 860 5 3 9 4 1 750 1023 1062 5 700 685 8 18 6 18 1 3 872 910 5 4 1 4 3 800 1073 1112 5 800 785 8 18 7 20 1 3 922 960 5 4 3 4 5 Note L dimensions described in the table are those with no cable ejection direction option For cable ejection direction types option the dimens...

Page 91: ... 585 7 16 5 16 1 3 768 829 5 7 6 2 700 1022 1072 700 685 7 16 6 18 1 3 818 879 5 9 6 4 750 1072 1122 700 685 8 18 6 18 1 3 868 929 6 1 6 6 800 1122 1172 800 785 8 18 7 20 1 3 918 979 6 4 6 9 Note L dimensions described in the table are those with no cable ejection direction option For cable ejection direction types option the dimensions are longer in 14mm 13 3 Stroke 3 5 72 pay attention to interf...

Page 92: ...screwing depth should be 6mm max F φ3 4 through φ 6 5 counterbore depth 3 5 from other side X Y M E Mechanical End S E Stroke End CJB CJL CJT CJR 41 5 22 Battery less Absolute 145 176 With Brake Battery less Absolute 123 154 With Brake 12 4 5 1 Cable eject direction changed Option L Battery less Absolute Mass kg Stroke w o Brake With Brake A B C D E F G H J K M w o Brake With Brake 50 297 328 50 3...

Page 93: ...Battery less Absolute 131 5 172 With Brake Battery less Absolute 110 5 150 With Brake L Battery less Absolute Mass kg Stroke w o Brake With Brake A B C D E F G H J K w o Brake With Brake 50 323 362 5 0 0 1 4 0 4 0 2 172 210 5 1 7 1 9 100 373 412 5 100 85 1 4 0 6 1 3 222 260 5 1 8 2 0 150 423 462 5 100 85 2 6 0 6 1 3 272 310 5 2 0 2 2 200 473 512 5 200 185 2 6 1 8 1 3 322 360 5 2 2 2 4 250 523 562 ...

Page 94: ...T 11 22 3 41 5 12 18 Battery less Absolute 157 207 With Brake Battery less Absolute 135 185 With Brake Cable eject direction changed Option L Battery less Absolute Mass kg Stroke w o Brake With Brake A B C D E F G H J K w o Brake With Brake 50 372 422 0 0 1 4 0 4 0 2 168 229 3 0 3 5 100 422 472 100 85 1 4 0 6 1 3 218 279 3 2 3 7 150 472 522 100 85 2 6 0 6 1 3 268 329 3 5 4 0 200 522 572 200 185 2 ...

Page 95: ... M4 through bolt screwing depth should be 6mm max F φ3 4 through φ6 5 counterbore depth 3 5 from other side B reamed hole and oblong hole A reamed hole pitch 50 when 50st G 100 M4 hole pitch Oblong depth 4 M E Mechanical End S E Stroke End Mass kg Stroke L A B C D E F G H J K M w o Brake With Brake 50 188 50 35 25 0 50 8 50 134 158 6 1 3 1 5 100 238 100 85 50 0 100 8 1 50 184 208 6 1 4 1 6 150 288...

Page 96: ... 1 3 372 393 2 8 3 0 300 469 300 285 3 8 2 10 1 3 422 443 2 9 3 1 350 519 300 285 4 10 2 10 1 3 472 493 3 1 3 3 400 569 400 385 4 10 3 12 1 3 522 543 3 3 3 5 450 619 400 385 5 12 3 12 1 3 572 593 3 5 3 7 500 669 500 485 5 12 4 14 1 3 622 643 3 6 3 8 550 719 500 485 6 14 4 14 1 3 672 693 3 8 4 0 600 769 600 585 6 14 5 16 1 3 722 743 4 0 4 2 650 819 600 585 7 16 5 16 1 3 772 793 4 2 4 4 700 869 700 ...

Page 97: ...unterbore depth 5 5 from other side M5 hole pitch Detail diagram Y Scale 2 1 R 2 Dimension is for brake equipped M E Mechanical End S E Stroke End Mass kg Stroke L A B C D E F G H J K w o Brake With Brake 50 246 0 0 1 4 0 4 0 2 168 215 3 7 4 2 100 296 100 85 1 4 0 6 1 3 218 265 3 9 4 4 150 346 100 85 2 6 0 6 1 3 268 315 4 2 4 7 200 396 200 185 2 6 1 8 1 3 318 365 4 4 4 9 250 446 200 185 3 8 1 8 1 ...

Page 98: ...rk N㺃m 5000km Standard rated life of ROBO Cylinder In addition have a calculation for the drop of life with the formula below if there is a concern that the life could drop due to the condition of vibration or way to be attached L 5000km L Operation life km CM Allowable dynamic moment N㺃m M Moment to work N㺃m fws Standard operational coefficient fw Load coefficient fȘ Attachment coefficient 5000km...

Page 99: ...ures for RCP5 Slider Type and select the attachment coefficient Even when in attachment in whole area and the actuator is seated in the whole length of the product select 1 2 or 1 5 for the attachment coefficient depending on the position of screw fixing For attachment in whole area use all of the tapped holes counterbored holes on the seat surface to fix 6 2 Operation Life The operation life depe...

Page 100: ... 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 and technology available at the time of shipment from our company 4 A natural disaster man made disaster incident or accident for which we are not liable 5 Natural fading o...

Page 101: ...ining to maintenance or management of human life or health 2 A mechanism or mechanical equipment intended to move or transport people such as a vehicle railway facility or aviation facility 3 Important safety parts of mechanical equipment such as safety devices 4 Equipment used to handle cultural assets art or other irreplaceable items 3 Contact us at the earliest opportunity if our product is to ...

Page 102: ...period y Note added for grease supply amount and recommended grease gun y Contents of RCP5CR for Cleanroom Type added y Pg 39 Caution note added for installation of brake equipped type November 2014 February 2015 April 2015 June 2015 July 2015 Edition 6B y Pg 8 Caution note added to warn position slightly move in first servo on after power getting supplied Edition 6C y Pg 53 Note corrected Supplie...

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Page 104: ...89524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 TEL 678 354 9470 FAX 678 35...

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