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IAI ROBO Cylinder RCS2, Operating Manual

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IAI ROBO Cylinder RCS2 Operating Manual Download Page 1

 

                                                                                                                                                                                                                         
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

IAI America, Inc. 

 

ROBO Cylinder 

Slider Type 

Fourth Edition

 

Motor Straight Type (Coupling Type):  SA4C, SA5C SA6C, SA7C, SS7C and SS8C 
Motor Straight Type (Built-in Type): 

SA4D, SA5D and SA6D 

Motor Reversing Type: 

SA4R, SA5R, SA6R, SA7R, SS7R and SS8R 

RCS2 Actuators 

Motor Straight Type (Coupling Type):  SA4C, SA5C, SA6C, SA7C, SS7C and SS8C 
Motor Straight Type (Built-in Type): 

SA5D and SA 6D 

RCS2CR Actuators, Cleanroom Specification 

Operating Manual

 

Summary of Contents for ROBO Cylinder RCS2

Page 1: ... SS7C and SS8C Motor Straight Type Built in Type SA4D SA5D and SA6D Motor Reversing Type SA4R SA5R SA6R SA7R SS7R and SS8R RCS2 Actuators Motor Straight Type Coupling Type SA4C SA5C SA6C SA7C SS7C and SS8C Motor Straight Type Built in Type SA5D and SA 6D RCS2CR Actuators Cleanroom Specification Operating Manual ...

Page 2: ...rease specified in the maintenance inspection sections of the Operating Manual is for actuators of standard specification Using the grease for the standard actuators on the cleanroom actuators may generate dust C Grease by Kuroda Precision Industries is applied to the cleanroom actuators before shipment from IAI Recommended grease C Grease by Kuroda Precision Industries Ltd ...

Page 3: ...though 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 co...

Page 4: ...eck 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 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 fire Op...

Page 5: ...asures 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 Do not install the product in a place su...

Page 6: ...ircuit that will cause the load to drop in case of power failure Configure a control circuit that will prevent the table or load from dropping when the power to the machine is cut off or an emergency stop is actuated 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 the mo...

Page 7: ...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 8: ...track Power line Signal lines flat cable Duct 7 Notes on using cable tracks Do not let the cable get tangled or kinked in a cable track or flexible tube When bundling the cable keep a certain degree of flexibility so that the cable will not become too taut when bent Do not cause the cables to occupy more than 60 of the space in the cable track Do not lay signal lines together with circuit lines th...

Page 9: ...nit 7 5 1 2 Handling the Actuator After It is Unpacked 7 5 2 Handling the Actuator Assembly 8 5 2 1 Condition of Shipment from IAI Assembled 8 5 2 2 Handling after Assembly with Peripheral Equipment 8 6 Installation Environment and Storage Environment 9 6 1 Installation Environment 9 6 2 Storage Environment 9 7 Installation 10 7 1 Installing the Main Body 10 7 1 1 Using the Tapped Holes at Back of...

Page 10: ...usting the Stainless Sheet 33 15 8 Reduction Belt Motor Reversing Type 38 15 8 1 Inspecting the Belt 38 15 8 2 Applicable Belt 38 15 8 3 Adjusting the Belt Tension SA4R SA5R SA6R 38 15 8 4 Adjusting the Belt Tension SA7R 39 15 8 5 Adjusting the Belt Tension SS7R SS8R 39 15 8 6 Replacing the Belt of the Motor Reversing Type SA4R SA5R SA6R 40 15 8 7 Replacing the Belt of the Motor Reversing Type SA7...

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: ...ly Front end means the side opposite the motor end 4 1 Motor Straight Type Standard RCS2 Coupling Type SA4C SA5C SA6C Coupling Type SA7C SS7C SS8C 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: ...r Motor Housing Cable Slider Cover Built in Type SA4D SA5D SA6D 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: ...r 4 2 Motor Straight Type Cleanroom Specification RCS2CR Coupling Type SA4C SA5C SA6C SA7C SS7C SS8C Built in Type SA5D SA6D 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: ...y Cover Slider Cover Rear Cover 4 3 Motor Reversing Type RCS2 SA4R SA5R SA6R SA7R SS7R SS8R 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 17: ...Actuator After It is Unpacked Lift the actuator up by the base to remove it from the packing When carrying the actuator take care not to bump it Take particular care with the front cover and motor cover Do not exert excessive force on any part of the actuator Be careful not to cause the cables to receive a tensile force Note on handling the stainless sheet The stainless sheet is designed very thin...

Page 18: ...ully so 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 each slider to preven...

Page 19: ...ation This product is not intended to be used in a chemical environment In general the environment should be one in which an operator can work without protective gear Work space needed for maintenance inspection Motor straight type Motor reversing type 6 2 Storage Environment The storage environment should be similar to the installation environment In addition you must take pre cautions against co...

Page 20: ...peration to remove all particles attached to the sheet If the actuator is operated with the stainless sheet carrying foreign particles the particles may enter the slider and damage the sheet or cause the sheet to deform lift or present other problems The stainless sheet is held in place by means of magnets If surrounding air contains iron powder or other magnetic substances they may attach to the ...

Page 21: ...nter motor side Type Tap size Maximum screw depth Minimum length of screw engagement Reamed hole Slot SA4C D R M3 5 mm 3 mm 3H7 depth 5 mm or less A 3H7 B 4 depth 5 mm or less SA5C D R M4 7 mm 4 mm 4H7 depth 5 mm or less A 4H7 B 5 depth 5 mm or less SA6C R M5 8 mm 5 mm 4H7 depth 5 mm or less A 4H7 B 5 depth 5 mm or less SA6D M5 8 mm 5 mm 4H7 depth 5 mm or less A 4H7 B 5 depth 5 mm or less SA7C R M...

Page 22: ...s of 300 mm or shorter strokes only 3 SA6 Mounting holes are not provided If any model other than those specified in 1 and 2 longer stroke is installed using the mounting holes alone the base may deform and the slider may slide abnormally generate noise or present other problems As for mounting bolts use hexagon socket head bolts conforming to the applicable specification in the table below in acc...

Page 23: ...hers conforming to the applicable specification in the table below in accordance with the machine frame material If necessary the reamed holes slot explained in 7 1 1 can be used as positioning pin holes The depth of reamed holes slot must conform to dimension A Dimension A considers the foot base thickness Type Mating material is steel Mating material is aluminum Flat washer Dimension A SA4 M4 le...

Page 24: ...ide the reference planes for slider travel When precision is required use these surfaces as the reference planes for mounting Caution As shown above the side faces of the base provide the reference planes for slider travel When precision is required use these surfaces as the reference planes for mounting When using the base as the reference planes for mounting the actuator to the machine frame fol...

Page 25: ...oot Bases The side faces of the foot base provide the reference planes for slider travel When precision is required use these surfaces as the reference planes for mounting Type Dimension A SA4 9 5 mm SA5 11 mm SA6 12 mm Foot base Reference plane side face of the base For position adjustment ...

Page 26: ...r made for high strength bolts that comes with the actuator if the bolt is M8 or larger This is unnecessary for M6 or smaller bolts Do not use a common spring washer The recommended tighetening torque is given below Tightening Torque Screw nominal diameter When the bolt seating surface is steel When the bolt seating surface is aluminum M3 1 5 N m 0 15 kgf m 0 8 N m 0 08 kgf m M4 3 6 N m 0 38 kgf m...

Page 27: ...y one reamed hole to allow adjustment Sizes and depths of tapped holes and reamed holes on slider Model Tap size Depth of thread A B C Reamed hole SA4 M3 7 mm 24 mm 16 mm 20 mm 3 H7 depth 5 mm SA5 M4 9 mm 30 mm 19 mm 26 mm 4 H7 depth 6 mm SA6 M5 9 mm 50 mm 32 mm 31 mm 5 H7 depth 6 mm SA7 M5 10 mm 50 mm 32 mm 39 mm 5 H7 depth 10 mm SS7 M5 10 mm 50 mm 32 mm 32 mm 5 H7 depth 10 mm SS8 M8 10 mm 75 mm ...

Page 28: ...3 depth 7 7 4 2 Using a Slider Spacer Optional Optional for SA4 Type For the SA4 type a slider spacer is available as an option The figure below shows the positions of load mounting holes in actuators with a slider spacer ...

Page 29: ...mit 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 track etc use robot cables For cable modification please contact your IAI sales representativ...

Page 30: ...on 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 operating independently create programs where each actuator does not exceed the applicable maximum speed see the table above If operations of multiple actuators are synchronized programs should be based on the l...

Page 31: ... 9 N m 2 kgf m 38 3 N m 3 9 kgf m SS7 14 7 N m 1 49 kgf m 14 7 N m 1 49 kgf m 33 3 N m 3 39 kgf m SS8 36 3 N m 3 7 kgf m 36 3 N m 3 7 kgf m 77 4 N m 7 89 kgf m Allowable overhang lengths Model Ma direction Mb direction Mc direction SA4 120 mm or less 120 mm or less 120 mm or less SA5 150 mm or less 150 mm or less 150 mm or less SA6 220 mm or less 220 mm or less 220 mm or less SA7 230 mm or less 23...

Page 32: ...is in an X Y overhang setup In this case use the actuator so that the Ma and Mc moments are kept to one half the allowable moment or less see the figure below Caution Allowing the slider to receive an excessive load moment will shorten the service life of the guides If the allowable overhang length is exceeded vibration may generate or the service life of the guides may be reduced ...

Page 33: ...itch may be damaged Do not move the slider toward the mechanical end from the home position other than during homing If the actuator is moved manually or at high speed by jogging etc and the switch dog contacts the microswitch as a result the switch may be damaged When moving the slider manually toward the mechanical end during motor replacement etc move the slider slowly When changing the home di...

Page 34: ...less into the slit and turn the driver Caution Be sure to operate the slit when the servo is off Do not insert a finger or object in this hole while the slider is moving as it is very dangerous While the slit is not in use attach the supplied seal or equivalent to cover the hole If the hole remains exposed a finger or object may enter accidentally creating a very dangerous situation With the clean...

Page 35: ... blower ejector etc to suction at an applicable flow rate as specified below Lead Recommended suction rate 2 5 mm 3 mm 15 NI min 5 mm 6 mm 30 NI min 10 mm 12 mm 16 mm 50 NI min 10 mm SS8 40 NI min 20 mm 80 NI min 13 2 Suction Joint Remove the plug from either quick joint and insert an air tube to suction air from either the motor side or counter motor side Remember to cover the unused joint with a...

Page 36: ... A high acceleration deceleration specification controller is to be used Left blank Conventional specification Rated acceleration deceleration speed of 0 3 G The conventional controller is to be used Example 14 2 Specifications of the Actuator Compatible with High Acceleration Deceleration Maximum loading capacity Model Motor output W Lead mm Horizontal kg Vertical kg Rated thrust N Rated accelera...

Page 37: ...regardless of the acceleration setting 3 Please refer to Page 20 of this document for the maximum speed 14 4 Compatible Controller Models SCON SSEL and X SEL The following symbols are added after the encoder type HA High acceleration deceleration specification Left blank Conventional specification Example 1 High acceleration deceleration specification SCON C 20 I HA NP 2 0 2 Conventional specifica...

Page 38: ...ry 6 months thereafter Every 1 year 15 2 Visual Inspection of the Machine Exterior Check the following items when carrying out visual inspection Body Loose mounting bolts Cables Damage to cables or connection to connector box Stainless sheet Damage or foreign deposit General Unusual noise or vibrations 15 3 Cleaning Clean the exterior as needed Wipe off dirt with a soft cloth Do not use strong com...

Page 39: ... has sharp edges that may cause accidental cuts The front cover is supporting the ball screw so do not disassemble the front cover If the front cover is misaligned the shaft centers may become offset thus increasing the traveling resistance reducing the service life of each part or generating noise If the actuator is equipped with a microswitch optional carefully install the side covers so that th...

Page 40: ...es The following grease is used when we ship the unit Idemitsu Kosan Daphne Eponex Grease No 2 Other companies also sell a grease similar to this If ordering from another maker give the name of this product and request something comparable Comparable products include the following Showa Shell Oil Albania Grease No 2 Mobil Oil Mobilux 2 2 What Grease to Use on the Ball Screw The following grease is...

Page 41: ... the unit This grease is of low dust raising type Kuroda Precision Industries C Grease Caution Never use grease for the standard specification It may allow dust to generate 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 ...

Page 42: ...he ball screw apply grease using a finger and then move the slider back and forth several times to let the grease spread evenly At this time be careful not to deform the stainless sheet by accidentally touching the sheet Remove excess grease 3 Install the side covers Tightening torque Thin head screw M3 x 6 87 2 N cm 8 90 kgf cm Refer to 3 in 15 4 Interior Inspection for notes on installing the si...

Page 43: ... rental arrangement or purchase the tool Allen wrench set Phillips screwdriver Measure Note on Stainless Sheet Tension Deterioration and wear of the stainless sheet is affected by its tension If the stainless sheet is too tight excessive clearances will be created between the sheet and slider covers and the sheet may undergo a fatigue failure If the stainless sheet is too loose the sheet will cont...

Page 44: ...have been removed 1 Standard specification slider structure RCS2 SA4 SA5 RCS2 SA6 SA7 SS7 SS8 2 Cleanroom specification roller structure RCS2CR SA4 SA5 SA6 SA7 SS7 SS8 Caution Remove the slider covers slowly and gently If the actuator is installed on the ceiling or oriented vertically or horizontally on side place a plastic bag etc underneath the slider covers so as not to lose the coil springs an...

Page 45: ...hten the screws only on the motor side and leave the screws on the counter motor side loose How to prevent the stainless sheet from lifting Slightly bend the stainless sheet downward near the center of the mounting holes so that the sheet can be held securely 5 Install the clearance checking tool Sheet slider Stainless sheet retainer plates and screws Securely tighten the screws only on the motor ...

Page 46: ...n the stainless sheet has been properly positioned tighten the screws on the loose end to a level that the stainless sheet no longer moves 0 5 1 0 mm Move the stainless sheet in the directions of arrows to adjust the tension While looking through the center opening check the clearance between the top face of the stainless sheet and the back of the clearance checking tool If the clearance is within...

Page 47: ... long as the stainless sheet edges do not contact the slider body over the entire stroke Apply additional torque to the screws on both ends until the stainless sheet no longer moves Tightening torque 87 2 N cm 8 90 kgf cm Reference value 3 Move the slider and check the tension of the stainless sheet along the entire stroke If the conditions in Checkpoints 1 and 2 are not satisfied loosen the screw...

Page 48: ...wollen due to deposits of oil etc Cracks and other damages are found on the teeth or back of the belt The belt has broken 15 8 2 Applicable Belt SA4 60S2M160R Rubber cleanroom type Bando Chemical Industries 6 mm wide SA5 60S2M180R Rubber cleanroom type Bando Chemical Industries 6 mm wide SA6 60S2M190R Rubber cleanroom type Bando Chemical Industries 6 mm wide SA7 150S3M255U Bando Chemical Industrie...

Page 49: ...ustment bolts M4x20 4 pcs Use an Allen wrench of 3 mm across flats Tightening torque 377 N cm 38 kgf cm 15 8 4 Adjusting the Belt Tension SA7R Remove the pulley cover loosen the four tension adjustment bolts tension the belt by moving the motor to the left and tighten the tension adjustment bolts Recommended tightening torque for adjustment bolts M4 377N cm 38 kgf cm 15 8 5 Adjusting the Belt Tens...

Page 50: ... Scale Oil based marker pen PC or teaching pendant Overview of Replacement 1 Move the slider to a position where Z phase turns on home position 2 mm from the mechanical end In this position loosen the motor unit affixing bolts and replace the belt 2 Restore the home position Affix the slider at a position 2 mm from the mechanical end on the home side pass the belt and adjust the belt to the specif...

Page 51: ...ver to remove the bolts affixing the motor end cap and attached cables 3 Pull out the motor end cap Cross recessed screws M3 Affixing bolts at attached cable end Cross recessed screws Affixing bolts on motor end cap Cross recessed screws Push in the cable end while pulling out the motor end cap ...

Page 52: ... the slider to a position where Z phase turns on home position On both standard actuators and actuators whose home is set on the opposite side this position corresponds to 2 mm from the mechanical end 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 p...

Page 53: ...ffixing bolts using an Allen wrench of 2 5 mm across flats Slide the motor and loosen and remove the belt 7 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 in a location corresponding to the slide position of 2 mm away from the me...

Page 54: ...h 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 9 Insert the motor end cover and cap 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 55: ...bsolute reset must be performed Check for deviation from the initial home position If there is a deviation when the SCON controller is being used use home return offset distance of parameter No 22 to make corrections If the SSEL or the X SEL controller is being used use home preset value of axis specific parameter No 12 to make corrections For the absolute encoder specification perform homing abso...

Page 56: ...e 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 when the SCON controller is being used use home return offset distance to make the adjustments If the SSEL or the X SEL controller is being used use home preset value to make the adjustments Procedure 1 Move the slider from the home position toward the ...

Page 57: ...sure the angle of the projection on the coupling matches the angle of the mating hole 5 Make the adjustment to restore the home position Press the slider against the mechanical end on the home side and affix the slider in this position Turn the motor shaft away from the countermark by the specified distance in the direction of returning to the mechanical end the direction checked earlier Type Retu...

Page 58: ...ur thin head screws M3x6 using an Allen wrench of 1 5 mm across flats 8 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 when the SCON controller is being used use home return offset distance of parameter No 22 to make corrections If the S...

Page 59: ...sing a PC or teaching pendant and check for deviation from the initial home position If there is a deviation adjust the home offset parameter If there is a deviation when the SCON controller is being used use home return offset distance to make the adjustments If the SSEL or the X SEL controller is being used use home preset value to make the adjustments Procedure 1 Move the slider from the home p...

Page 60: ... bolts and move the motor bracket to slacken and remove the belt 3 Make the adjustment to restore the home position Press the slider against the mechanical end on the home side and affix the slider in this position Turn the motor shaft away from the countermark by the specified distance in the direction of returning to the mechanical end the direction checked earlier Type Return angle from counter...

Page 61: ... 5 Install the pulley cover With SS7R tighten the three thin head screws M3x6 using an Allen wrench of 1 5 mm across flats With SS8R tighten the three thin head screws M4x6 using an Allen wrench of 2 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 posit...

Page 62: ...Daphne Eponex Grease No 2 Cleanroom specification Kuroda Precision Industries C Grease PC or teaching pendant Caution When replacing the motor handle the replacement motor with due care The actuator has been shipped with the encode adjusted to an optimal position so do not crush the encoder unit It may displace the encoder thus impairing proper actuator operation Overview of Replacement 1 Move the...

Page 63: ...ing 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 Use a Phillips screwdriver to securely tighten the affixing bolts for motor end cap and attached cables Return the slider 2 mm from the mechanical end R...

Page 64: ...54 3 Pull out the motor end cap 4 Pull out the motor end cover to expose the motor Push in the cable end while pulling out the motor end cap ...

Page 65: ... motor connector If the actuator has a brake also detach the brake connector Remove the grounding wire using a Phillips screwdriver While holding the motor with one hand pull out the encoder cable The photograph bellow shows the motor IAI encoder ...

Page 66: ...56 Motor affixing bolt 6 Detach the attached cables 7 Take out the motor Remove the two motor affixing bolts using an Allen wrench of 2 5 mm across flats ...

Page 67: ...Insert the replacement coupling with screws by aligning it with the current orientation of the actuator coupling Apply grease on the inside of the coupling Coupling on actuator side Inserting the coupling with screws Inserted coupling with screws ...

Page 68: ...aft position from deviating 11 Insert the replacement motor into the actuator coupling and secure with two motor affixing bolts Mark the shaft and body of the replacement Insert the replacement motor Tighten two bolts at top and bottom using an Allen wrench of 2 5 mm across flats ...

Page 69: ...r to expose the second screw on the coupling and tighten the screw in the same manner Tighten the screw on the coupling using an Allen wrench of 2 0 mm across flats Slightly move the slider Tighten the screw on the coupling using an Allen wrench of 2 0 mm across flats ...

Page 70: ...l the attached cables While holding the motor with one hand insert the encoder cable The photograph bellow shows the motor IAI encoder Install a grounding wire using a Phillips driver Plug the cables into the motor ...

Page 71: ...al home position If there is a deviation when the SCON controller is being used use home return offset distance of parameter No 22 to make corrections If the SSEL or the X SEL controller is being used use home preset value of axis specific parameter No 12 to make corrections For the absolute encoder specification perform homing absolute reset after changing the parameter Store the connector inside...

Page 72: ...eanroom specifications KURODA Precision Industries C Grease PC or teaching pendant Caution When replacing the motor handle the replacement motor with due care The actuator has been shipped with the encoder adjusted to an optimal position so do not crush the encoder unit It may displace the encoder thus impairing proper actuator operation Procedure 1 Remove the motor end cap affixing bolts using an...

Page 73: ...63 2 Pull out the motor end cap Push in the cable end while pulling out the motor end cap 3 Remove the grounding wire using an Allen wrench ...

Page 74: ...64 4 Remove the motor Remove the 4 motor affixing bolts that can be seen in the back using an Allen wrench ...

Page 75: ... 5 Apply grease on the coupling side of the actuator 6 Insert the replacement motor coupling by aligning it with the current orientation of the actuator coupling Apply grease on the inside of the coupling ...

Page 76: ...66 7 Tighten the 4 motor affixing bolts using an Allen wrench 8 Install the grounding wires with screws using an Allen wrench 9 Insert the motor end cap ...

Page 77: ...ormed After performing homing make corrections using home return offset distance of parameter No 22 if using the SCON controller so that the width between the mechanical end and the home position will be 3 mm If using the SSEL or the X SEL controller make corrections using home preset value of axis specific parameter No 12 For the absolute encoder specification perform Homing and Absolute Reset af...

Page 78: ...th home set on opposite side 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 wrench of 2 5 mm across flats remove the b...

Page 79: ...ng out the motor end cap Motor affixing bolt 3 Pull out the motor end cap 4 Remove the motor Remove the two motor affixing bolts using an Allen wrench of 3 mm across flats 5 Using an Allen wrench of 2 5 mm across flats remove the bolts affixing the end cap and attached cables on the replacement motor unit ...

Page 80: ... motor so that the slit in the coupling points to the 12 o clock position and install the motor in this condition by engaging its coupling with the coupling on the actuator side Push in the cable end while pulling out the motor end cap The slit in the coupling should point to the 12 o clock position Using an Allen wrench of 3 mm across flats uniformly tighten the two hexagon socket head bolts M4x2...

Page 81: ... of 2 5 mm across flats Tightening torque 83 N cm 8 47 kgf cm Carefully insert the motor end cap by making sure cables are not pinched Pull out the cable end while pushing in the motor end cap 9 Install the motor end cap Carefully push in the motor end cap by making sure the cables are not pinched Tighten the bolts while securely holding the cable end by hand Affix the motor end cap ...

Page 82: ...Absolute encoder 1 Check the home position Turn on the controller power When the controller is turned on for the first time after the motor has been replaced a battery voltage low alarm should generate Reset this alarm Next use the PC software or teaching pendant to perform homing and then perform an absolutes reset Thereafter repeat homing several times to confirm that the actuator returns to the...

Page 83: ...d reduce the home return offset distance of parameter No 22 by 0 1 mm If the SSEL or the X SEL controller is being used reduce the home preset value of axis specific parameter No 12 by 0 1 mm Change from 2 mm to 1 9 mm Initial phase Z Mechanical end Distance from mechanical end to phase Z Home return offset distance SCON Home preset value SSEL or X SEL Deviation 0 1 mm 3 mm Setting at shipping ins...

Page 84: ...ctuator 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 wrench of 2 5 mm across flats remove the bolts affixing the motor end cap and attached ...

Page 85: ...r Pull out the encoder connector If the actuator is equipped with a brake pull out the brake connector Remove the attached cables Remove the bolts affixing the grounding and shield wires using an Allen wrench of 2 5 mm across flats Push in the cable end while pulling out the motor end cap ...

Page 86: ...e slit faces left 5 Remove the motor Remove the four motor affixing bolts using an Allen wrench of 3 mm across flats Structure of 150 watt type 6 Align the coupling position on the actuator side Fine adjust the coupling position until the projection on the coupling lies vertical with the slit facing left ...

Page 87: ... Store the motor connector into the space at the rear of the encoder protection cap above the cap The slit in the coupling should point to the 12 o clock position Using an Allen wrench of 3 mm across flats uniformly tighten the four hexagon socket head bolts M4x25 affixing the motor to secure the motor Tightening torque 176 N cm 18 0 kgf cm Tighten the hexagon socket head bolt M3x8 using an Allen ...

Page 88: ...rform positioning to the selected position and measure the amount of deviation 3 Correct the deviation If there is a deviation from the initial home position when the SCON controller is being used make corrections using home return offset distance of parameter No 22 If the SSEL or the X SEL controller is being used make corrections using home preset value of the axis specific parameter No 12 Caref...

Page 89: ...istance of parameter No 22 to make corrections If the SSEL or the X SEL controller is being used use home preset value of axis specific parameter No 12 to make corrections In addition after changing the parameter perform homing absolute reset Home Return Offset Distance SCON and Home Preset Value SSEL and X SEL Correction Example If after the motor replacement the home position became deviated by ...

Page 90: ...lips screwdriver Tension gauge capable of tensioning to 7 kgf or greater Strong string looped or long tie band Scale Oil based marker pen PC or teaching pendant Caution When replacing the motor handle the replacement motor with due care The actuator has been shipped with the encode adjusted to an optimal position so do not crush the encoder unit It may displace the encoder thus impairing proper ac...

Page 91: ...ixing bolts to remove the belt and replace the motor 2 Restore the home position Affix the slider 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 when the SCON controller is being used use home return o...

Page 92: ...ver to remove the bolts affixing the motor end cap and attached cables 3 Pull out the motor end cap Cross recessed screws M3 Affixing bolts at attached cable end Cross recessed screws Affixing bolts on motor end cap Cross recessed screws Push in the cable end while pulling out the motor end cap ...

Page 93: ...83 4 Pull out the motor end cover to expose the motor 5 Detach the attached cables Pull out the motor connector If the actuator has a brake also detach the brake connector ...

Page 94: ...84 Remove the grounding wire using a Phillips screwdriver While holding the motor with one hand pull out the encoder cable The photograph bellow shows the motor IAI encoder 6 Detach the attached cables ...

Page 95: ... belt After the belt has been removed remove the motor unit affixing bolts 8 Take out the motor 9 Install the replacement motor Loosely tighten the motor unit affixing bolts 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 Replacement motor ...

Page 96: ...ctuator hand to prevent sudden drop so as not to pinch fingers or damage the load 11 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 in a location corresponding to the slide position of 2 mm away from the mechanical end After the ...

Page 97: ...len wrench of 2 5 mm across flats 12 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 98: ...ding the motor with one hand insert the encoder cable The photograph bellow shows the motor IAI encoder Install a grounding wire using a Phillips driver Plug the cables into the motor If the actuator has a brake also plug in the brake connector ...

Page 99: ...set must be performed Check for deviation from the initial home position If there is a deviation when the SCON controller is being used use home return offset distance of parameter No 22 to make corrections If the SSEL or the X SEL controller is being used use home preset value of axis specific parameter No 12 to make corrections For the absolute encoder specification perform homing absolute reset...

Page 100: ...Tension gauge capable of tensioning to 8 kgf or greater Strong string looped or long tie band Allen wrenches Phillips screwdrivers 5 5 mm spanner wrench or needle nose pliers Overview of Replacement 1 Remove the belt and replace the motor 2 Restore the home position Press the slider against the mechanical end on the home side and move the motor shaft away from the countermark by the specified dist...

Page 101: ...se the rotating direction of the motor is different on actuators whose home is set on the opposite side Remove the pulley cover Remove the four thin head mounting screws using an Allen wrench 2 Loosen the four tension adjustment bolts and move the motor bracket to slacken the belt 3 Remove the affixing the pulley cap and pulley housing and remove the belt ...

Page 102: ...sure the angle of the projection on the coupling matches the angle of the mating hole 7 Make the adjustment to restore the home position Press the slider against the mechanical end on the home side and affix the slider in this position Turn the motor shaft away from the countermark by the specified distance in the direction of returning to the mechanical end the direction checked earlier Type Retu...

Page 103: ...r thin head screws M3x6 using an Allen wrench of 1 5 mm across flats 10 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 when the SCON controller is being used use home return offset distance of parameter No 22 to make corrections If the S...

Page 104: ...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 when the SCON controller is being used use home return offset distance to make the adjustments If the SSEL or the X SEL controller is being used use home preset value to make the adjustments Home position Z phase ON position Mechanical end Approx 3 mm The...

Page 105: ...len wrench of 1 5 mm across flats for SS7R and of 2 mm across flats for SS8R 2 Loosen the tension adjustment bolts and move the motor bracket to slacken and remove the belt Tension adjustment bolts Use an Allen wrench of 3 mm across flats for SS7R and of 4 mm across flats for SS8R 3 Remove the motor end cap Remove the four thin head screws using an Allen wrench of 1 5 mm across flats Check the rot...

Page 106: ...tor If the actuator is equipped with a brake also remove the brake connector 5 Remove the grounding and shield wires and separate the attached cables Loosen the nut using a Phillips screwdriver and a 5 5 mm spanner wrench or needle nose pliers 6 Remove the motor cover Remove the four hexagon socket head button bolts using an Allen wrench of 2 mm across flats ...

Page 107: ...onditions Affix the two grounding wires and one shield wire using the flat head screw and nut Connect the relay connectors 11 Install the motor end cap Tighten the four thin head screws M3x6 using an Allen wrench of 1 5 mm across flats Caution Check the storage of cables carefully to make sure the cables are not pinched 12 Make the adjustment to restore the home position Press the slider against t...

Page 108: ...4 Install the pulley cover With SS7R tighten the three thin head screws M3x6 using an Allen wrench of 1 5 mm across flats With SS8R tighten the three thin head screws M4x6 using an Allen wrench of 2 mm across flats 15 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 posit...

Page 109: ...99 Front view Mechanical side Controller side Front view Wire Signal Wire Signal Crimping 16 Cable Diagram 1 Motor Cables Motor Robot Cables Model CB RCC MA CB RCC MA RB 9 ...

Page 110: ...side Controller side Front view Wire Signal Wire Signal Crimping Crimping Connect the shield to the hood using a clamp Ground wire and braided 8 2 Encoder Cables Encoder Robot Cables For X SEL J K Model CB RCBC PA CB RCBC PA RB ...

Page 111: ... 3 Soldered Gray White Brown White Pink Purple White Blue Red Orange White Green White Blue Orange Black Yellow Green Brown Gray Red Ground wire and braided Pink Purple White Blue Red Orange White Green White Brown White Ground Blue Orange Black Yellow Green Brown Gray White Gray Red 3 Encoder Cables Encoder Robot Cables For SCON SSEL and X SEL P Model CB RCS2 PA CB X2 PA ...

Page 112: ...el off the marks from the base sheet Note 1 Every mark has sticky back 2 Remove smear and stain from the surface 3 Avoid label or nameplate as a marking location 1 Used as home position Place the marks when the actuator is stopped at home position 2 Used as stop positions Example of Use Contents of sticker On the slider On the base Motor Motor On the slider At stop positions on the base x 1 sheet ...

Page 113: ...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 2009 May IAI Corporation All rights reserved ...

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