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IAI ROBO Cylinder RCP6, Instruction Manual, Page: 26 / 147

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IAI ROBO Cylinder RCP6 Instruction Manual Download Page 26

 

 

21 

   

 

1.

 
S

pec

ifi

c

at

io

ns
 C
hec

k

 

 

1.1.4  How to Read the Model Number 

 

RCP6

－

RA4C

－

WA

－

35P

－

2.5

－

50

－

P3

－

P

－

B

－

** 

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Note 1  Identification for IAI use only: It may be displayed for IAI use. It is not a code to show the model 

type. 

 

 

<Series name> 

 

Standard Specification 

 

RCP6 

 

Built-in Controller Specification 

 

RCP6S 

<Type> 

Motor straight type 
RA4C 
RA6C 
RA7C 
RA8C 
Side-Mounted Motor 

Type 

RA4R 
RA6R 
RA7R 
RA8R 
 

<Encoder type> 

WA : Battery-less 
absolute 
 

<Motor type> 

35P: 35□size 

42P: 42□size 

56P: 56□size 

60P: 60□size 
 

<Lead> 

RA4C, RA4R 

2.5/5/10/16 

RA6C, RA6R 

3/6/12/20 

RA7C, 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 

changed (Bottom) 

CJO  : Cable exit direction 

changed (Outward) 

 

<Cable length> 

N 

: None 

P 

: 1m 

S 

: 3m 

M 

: 5m 

X 

: Length specification 

R 

: Robot cable 

 
Standard Specification 
<Controller> 

P3: PCON-CB   
 

MCON 

 

MSEL 

P4: PCON-CFB   
 

Built-in Controller Specification 
<I/O Type> 
SE: SIO type 
 
<Stroke> 
[Refer to 1.2 “Specifications”] 

 

Identification for IAI use 
only 

(Note1)

 

Summary of Contents for ROBO Cylinder RCP6

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: ...t 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...

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: ...unt 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...

Page 6: ...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...

Page 7: ...tion 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 Co...

Page 8: ......

Page 9: ...t 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...

Page 10: ...e 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...

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 extendin...

Page 12: ...o 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 vertical...

Page 13: ...nal 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 operatio...

Page 14: ...lt 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 sl...

Page 15: ...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 d...

Page 16: ...ing 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...

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...

Page 18: ...ole Hexagonal Socket Head Bolt Grease Supply 2 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...

Page 19: ...Screw for Motor Unit Attachment Tapped Hole for Ground Cable Connection Connector Rod Rod Tip Adaptor Grease Supply 5 hole Rubber Cap The same applies to the other side Grease Supply 5 hole Rubber Ca...

Page 20: ...tor 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 5 hole Rubber Cap The same applies to the other...

Page 21: ...Cover Pulley Cover Bearing Tapped Hole for Ground Cable Connection Rear Bracket Connector Rod Rod Tip Adaptor Grease Supply 2 5 hole Hexagonal Socket Head Bolt The same applies to the other side Body...

Page 22: ...ulley Cover Bearing Tapped Hole for Ground Cable Connection Rear Bracket Connector Rod Rod Tip Adaptor Grease Supply 5 hole Hexagonal Socket Head Bolt The same applies to the other side Body Frame Mot...

Page 23: ...Cover Bearing Tapped Hole for Ground Cable Connection Rear Bracket Connector Rod Rod Tip Adaptor Grease Supply 5 hole Hexagonal Socket Head Bolt The same applies to the other side Body Frame Motor Co...

Page 24: ...e 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...

Page 25: ...ontroller 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 Instructio...

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 mo...

Page 27: ...zontal 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 Vert...

Page 28: ...cal 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 Hori...

Page 29: ...ke 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 1...

Page 30: ...6 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 2...

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...

Page 32: ...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 3...

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...

Page 34: ...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...

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...

Page 36: ...ontal 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...

Page 37: ...l 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...

Page 38: ...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...

Page 39: ...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...

Page 40: ...al 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...

Page 41: ...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...

Page 42: ...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...

Page 43: ...0 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...

Page 44: ...ad 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...

Page 45: ...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 1...

Page 46: ...t 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 10...

Page 47: ...m 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...

Page 48: ...orizontal 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...

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...

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 2...

Page 51: ...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...

Page 52: ...ntal 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...

Page 53: ...4 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 40...

Page 54: ...ime 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 RA...

Page 55: ...0 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 r...

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 produ...

Page 57: ...ven 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...

Page 58: ...t 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 F...

Page 59: ...nclination 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 Nomina...

Page 60: ...ominal 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 C...

Page 61: ...n 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...

Page 62: ...r 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 delive...

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 predet...

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...

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 26 58 50 M20 2 5 Depth 30 The angle of t...

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...

Page 67: ...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 AWG...

Page 68: ...G26 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 AW...

Page 69: ...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...

Page 70: ...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...

Page 71: ...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 def...

Page 72: ...revent 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 be...

Page 73: ...he 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...

Page 74: ...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 adh...

Page 75: ...tor 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 mode...

Page 76: ...m 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...

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...

Page 78: ...tion 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...

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

Page 80: ...odel 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 1...

Page 81: ...odel 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...

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: ...le 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 diame...

Page 86: ...the 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 20 25 30 40 E mm 38h7 46h7 52h7 64h7 F...

Page 87: ...k 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...

Page 88: ...e 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 t...

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...

Page 90: ...epare 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...

Page 91: ...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...

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...

Page 93: ...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 Robo...

Page 94: ...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 co...

Page 95: ...end 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 pinc...

Page 96: ...ing 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...

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 g...

Page 98: ...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 installat...

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 buil...

Page 100: ...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 in...

Page 101: ...ea 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 inte...

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 s...

Page 103: ...R4 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 reache...

Page 104: ...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...

Page 105: ...h 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...

Page 106: ...s 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 dur...

Page 107: ...en 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 condu...

Page 108: ...lips 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 ho...

Page 109: ...rojection 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 Tighten...

Page 110: ...e 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 mo...

Page 111: ...ket 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...

Page 112: ...lt 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 R...

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: ...n 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 h...

Page 115: ...cified 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...

Page 116: ...ty 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 sc...

Page 117: ...onal 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 ret...

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 2 5 hole Maintain it more than 100 4 M4 Depth 8 The ang...

Page 119: ...irection option For cable exit direction types option the dimensions are longer in 20mm Enclosed hexagonal nut Greasing Port 2 5 hole Maintain it more than 100 Teaching Port Status LED Home 4 M4 Depth...

Page 120: ...able exit direction option For cable exit direction types option the dimensions are longer in 25mm Enclosed hexagonal nut Greasing Port 5 hole Maintain it more than 100 Home 4 M6 Depth 12 The angle of...

Page 121: ...For cable exit direction types option the dimensions are longer in 20mm Enclosed hexagonal nut Greasing Port 5 hole Home 4 M6 Depth 12 The angle of the width across flat is undefined Greasing Port 5 h...

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 5 hole Home 4 M8 Depth 16 The angle of the width a...

Page 123: ...xit direction option For cable exit direction types option the dimensions are longer in 20mm Enclosed hexagonal nut Greasing Port 5 hole Home 4 M8 Depth 16 The angle of the width across flat is undefi...

Page 124: ...able exit direction option For cable exit direction types option the dimensions are longer in 25mm Enclosed hexagonal nut Greasing Port 5 hole Home 4 M8 Depth 16 The angle of the width across flat is...

Page 125: ...option For cable exit direction types option the dimensions are longer in 20mm Greasing Port 5 hole Home 4 M8 Depth 16 The angle of the width across flat is undefined Greasing Port 5 hole The same app...

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 2...

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 undefin...

Page 128: ...en 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...

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 th...

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 En...

Page 131: ...06 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...

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...

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 Cabl...

Page 134: ...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 Ho...

Page 135: ...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...

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...

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 Exi...

Page 138: ...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 E...

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 M2...

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...

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 Directio...

Page 142: ...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 T...

Page 143: ...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 th...

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 other...

Page 145: ...ed 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...

Page 146: ......

Page 147: ...21 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 S...

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