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IAI ROBO Cylinder RCS4- SA4C, Instruction Manual

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IAI ROBO Cylinder RCS4- SA4C Instruction Manual Download Page 83

 

3.1 Connecting with the Controller 

3-4 

3. Connectin

g with the Controller

 

 

 

 

 

Caution

 

 

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. 

 

PIO line, communication line, power and driving lines are to be put separately from each other and 
do not tie them together. Arrange so that such lines are independently routed in the duct. 

 

 

 

 

 

 

Do not use spiral tube in any position 
where cables are bent frequently. 

Duct 

I/O Lines

Power Line

Summary of Contents for ROBO Cylinder RCS4- SA4C

Page 1: ...C SA8C SA4R SA6R SA7R SA8R RCS4CR SA4C SA6C SA7C SA8C Specifications Installation Maintenance and Inspection External Dimensions Life Warranty Appendix ROBO Cylinder ch 1 ch 2 ch 3 ch 4 ch 5 ch 6 ch 7 ch 8 Instruction Manual Connecting with the Controller ...

Page 2: ......

Page 3: ...e so that whoever is handling the product can refer to it quickly when necessary Important This instruction manual is an original document dedicated for this product This product cannot be used in ways not shown in this instruction manual IAI shall not be liable for any result whatsoever arising from the use of the product in any other way than what is noted in the manual The information contained...

Page 4: ...on Manual ME0313 XSEL RA SA Controller XSEL RA SA Controller Instruction Manual ME0359 PC Compatible Software for RC EC RCM 101 MW RCM 101 USB Instruction Manual ME0155 PC Compatible Software for XSEL IA 101 X MW IA 101 X USBMW Instruction Manual ME0154 Touch Panel Teaching Pendant TB 01 01D 01DR Applicable for Position Controller Instruction Manual ME0324 Touch Panel Teaching Pendant TB 02 02D Ap...

Page 5: ...tion Model Code NM 1 31 Slider Roller Specification Model Code SR 1 32 Vacuum Joint Attachment Opposite Type Model Code VR 1 32 Double Slider Specification Model Code W 1 32 Rear Attachment Plate Model Code RP 1 32 Slider spacer Model Code SS 1 33 1 4 Accessories 1 35 Motor Cable 1 35 Encoder Cable 1 36 Chapter 2 Installation 2 1 Precautions for transportation 2 1 2 2 Installation and storage pres...

Page 6: ...Motor Replacement 4 24 Chapter 5 External Dimensions 5 1 External Dimensions 5 1 RCS4 SA4C 5 1 RCS4 SA6C 5 2 RCS4 SA7C 5 3 RCS4 SA8C 5 4 RCS4 SA4R 5 5 RCS4 SA6R 5 7 RCS4 SA7R 5 8 RCS4 SA8R 5 10 RCS4CR SA4C 5 12 RCS4CR SA6C 5 13 RCS4CR SA7C 5 14 RCS4CR SA8C 5 15 Chapter 6 Life 6 1 Concept of life for slider type 6 1 How to calculate operation life 6 1 Relation between operation life and moment 6 3 ...

Page 7: ...Safety Guide Intro 1 Safety Guide The Safety Guide is intended to permit safe use of the product and thus to prevent risks and property damage Be sure to read it before handling the product ...

Page 8: ...ications Otherwise the product life may be drastically shortened and product damage or facilities stoppage may occur Do not use it in any of the following environments 1 Locations with flammable gases ignitable objects or explosives 2 Locations with potential exposure to radiation 3 Locations with ambient temperature or relative humidity exceeding the specifications range 4 Locations where radiant...

Page 9: ... Do not put anything heavy that could deform the package on it When using a crane with capacity of 1t or more have an operator qualified for crane operation and sling work When using a crane or equivalent equipment make sure not to suspend loads exceeding the equipment s rated load Use a hook that is suitable for the load Consider the safety factor of the hook in such factors as shear strength Als...

Page 10: ...o fire electric shock or abnormal operation due to leakage or conduction malfunction Perform the wiring for the product after turning OFF the power to the unit and avoid miswiring When wiring DC power 24V be careful with the positive negative polarity Incorrect connections may lead to fire product breakdown or abnormal operation Connect the cable connector securely so that there is no disconnectio...

Page 11: ...t insert fingers or objects into the openings in the product Otherwise this may lead to injury electric shock product damage or fire When releasing the brake on a vertically oriented actuator be careful that it does not fall under its own weight catching the operator s hand or damaging workpieces 5 Teaching When working with two or more persons make it clear who is to be in charge and communicate ...

Page 12: ...y lead to fire or damage to the product When a power failure occurs turn OFF the power switch Otherwise this may lead to injury or product damage due to unexpected product motion during recovery from the power failure 8 Maintenance and Inspection When working with two or more persons make it clear who is to be in charge and communicate well with each other to ensure safety Perform the work outside...

Page 13: ...protection fence the movable range should be indicated 9 Modification and Disassembly Do not modify disassemble assemble or use maintenance parts not specified on your own discretion 10 Disposal When the product exceeds its useful life or is no longer needed dispose of it properly as industrial waste When removing the actuator for disposal avoid dropping components when detaching screws Do not put...

Page 14: ...t is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning Caution This indicates a potentially hazardous situation which if the product is not handled correctly may result in minor injury or property damage Caution Notice This indicat...

Page 15: ...o observe the usage conditions and environment of the product Operation outside the warranty could cause decreased performance or product breakdown Use within the allowable range for each item Item Cautions for use Problems or breakdowns which may occur if the allowable range is exceeded Speed and acceleration deceleration Use within the allowable range May lead to abnormal noise vibration breakdo...

Page 16: ...e sliders collide with an obstacle at high speed This may damage the coupling or other mechanical parts 7 For Double Slider Specification Option Code W in Reversed home Specification Option Code NM make sure to have the home return operation conducted after joining the driver slider and free slider 8 In some conditions of environment of use postures of installation and conditions of operation the ...

Page 17: ...Straight Type Standard Type Motor Reversing Type Rear Bracket Reverse Bracket Opposite Side of the Motor Left Side Motor Side Sheet Retainer Stainless Steel Sheet Motor Cover Actuator Cable Assy Tapped hole for Ground Line Attachment Sheet Retainer End Cover Slider Cover Slider Coupling Cover Motor Bracket Pulley Cover Front Bracket Side Cover Base Motor Unit Right Side ...

Page 18: ...Names of the Parts Intro 12 Cleanroom Type Motor Straight Type ...

Page 19: ...hanged Model Code CJT CJR CJL CJB and CJO 1 31 High Precision Specifications Model Code HPR 1 31 Motor Reversed Direction Model Code ML MR 1 31 Reversed home Specification Model Code NM 1 31 Slider Roller Specification Model Code SR 1 32 Vacuum Joint Attachment Opposite Type Model Code VR 1 32 Double Slider Specification Model Code W 1 32 Rear Attachment Plate Model Code RP 1 32 Slider spacer Mode...

Page 20: ...our local IAI distributor Body Accessories Actuator Quantity 1 Motor Cable Quantity 1 Encoder Cable Quantity 1 Accessories In house Made Seals Quantity 1 Cross Recessed Pan Head Screw with Captive Washer M3 6 Quantity 2 For affixing ground cable Cable Band Quantity 2 For clamping connector cover Refer to International Application Manual ME0287 for how to use it Accessories Documents DVD First Step...

Page 21: ... 8mm Lead 10mm Lead 12mm Lead 16mm Lead 20mm Lead 24mm Lead 30mm Lead 36mm Lead 48mm 50 1100 50mm 1100mm to to Body Width 60mm Coupling Type Body Width 70mm Coupling Type Body Width 90mm Coupling Type Body Width 40mm Motor Reversed Type Body Width 60mm Motor Reversed Type Body Width 70mm Motor Reversed Type Body Width 90mm Motor Reversed Type N P S M 2 5 3 4 5 6 8 10 12 16 20 24 50 1100 WA WA RCS4...

Page 22: ...ry 50 st 50 to 800 50 to 800 50 to 1100 50 to 500 50 to 800 50 to 800 50 to 1100 Values in brackets show specifications for high precision type 40mm 60mm 70mm 90mm 40mm 60mm 70mm 90mm Motor Straight Type Motor Reversing Type SA4C SA6C SA7C SA8C SA4R SA6R SA7R SA8R Rated Thrust N Every 50 st Every 50 st Every 50 st Every 50 st Every 50 st Every 50 st Every 50 st 0 005 0 005 0 005 Values in brackets...

Page 23: ...5 10 600 555 5 300 275 2 5 150 135 Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds Do not attempt to set below the minimum speed The minimum speed can be calculated with the equation below Minimum speed mm s ball screw lead mm ...

Page 24: ...2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 10 8 6 6 4 3 3 1 5 1 5 1 14 14 12 10 6 5 5 3 3 2 Lead 5 Lead 2 5 Horizontal Vertical Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 17 17 15 15 8 8 6 6 20 20 20 12 12 10 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibration breakdow...

Page 25: ...o 40 C 85 RH or less Non condensing Overhang load length guideline 150mm or less 1 Number in brackets show the specification for high precision type 2 For reference rated life of 5000km The running life differs according to operation conditions and mounting status Slider type moment direction Slider type overhang load length L 150mm or less Ma direction Mb Mc direction For calculation of Ma and Mc...

Page 26: ... 860 20 1200 1130 970 840 735 650 575 12 720 620 535 460 405 355 315 6 360 305 265 230 200 175 155 3 180 150 130 115 100 85 75 Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds Do not attempt to set below the minimum speed The mi...

Page 27: ...4 3 3 5 2 2 1 5 1 5 18 15 10 8 6 6 5 4 4 2 Lead12 Lead6 Horizontal Vertical Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 30 24 20 15 15 11 10 10 8 8 45 30 20 20 15 15 15 15 Lead3 Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 45 30 20 15 14 10 Caution Do not attempt to configure settings for acceleration deceleration above the spe...

Page 28: ... to 40 C 85 RH or less Non condensing Overhang load length guideline 220mm or less 1 Number in brackets show the specification for high precision type 2 For reference rated life of 5000km The running life differs according to operation conditions and mounting status Slider type moment direction Slider type overhang load length L 220mm or less Ma direction Mb Mc direction For calculation of Ma and ...

Page 29: ...24 1500 1440 1240 1095 965 850 760 16 1000 965 830 720 635 560 500 8 500 475 410 355 315 275 245 4 240 235 205 175 155 135 120 Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds Do not attempt to set below the minimum speed The mi...

Page 30: ... 6 4 3 4 4 3 2 2 30 12 10 6 5 7 7 6 5 4 Lead 16 Lead 8 Horizontal Vertical Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 40 30 15 15 12 12 12 10 8 8 45 40 40 35 20 20 20 18 Lead 4 Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 50 50 40 25 25 20 Caution Do not attempt to configure settings for acceleration deceleration above the spe...

Page 31: ...to 40 C 85 RH or less Non condensing Overhang load length guideline 300mm or less 1 Number in brackets show the specification for high precision type 2 For reference rated life of 5000km The running life differs according to operation conditions and mounting status Slider type moment direction Slider type overhang load length L 300mm or less Ma direction Mb Mc direction For calculation of Ma and M...

Page 32: ...0 1800 1640 1440 1280 1155 1040 940 855 780 715 660 20 1200 1090 960 860 770 695 630 570 520 480 440 10 600 540 480 430 385 345 310 285 260 235 220 5 300 270 240 215 190 175 155 140 130 120 110 Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or u...

Page 33: ...8 8 5 4 30 25 20 15 10 12 12 10 8 6 Lead 20 Lead 10 Horizontal Vertical Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 60 40 30 20 15 20 20 18 15 12 80 80 70 60 35 35 35 30 Lead 5 Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 90 90 70 45 45 35 Caution Do not attempt to configure settings for acceleration deceleration above the spec...

Page 34: ...o 40 C 85 RH or less Non condensing Overhang load length guideline 400mm or less 1 Number in brackets show the specification for high precision type 2 For reference rated life of 5000km The running life differs according to operation conditions and mounting status Slider type moment direction Slider type overhang load length L 400mm or less Ma direction Mb Mc direction For calculation of Ma and Mc...

Page 35: ...00 275 2 5 150 135 Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds Do not attempt to set below the minimum speed The minimum speed can be calculated with the equation below Minimum speed mm s ball screw lead mm r 16384 p r x 10...

Page 36: ... 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 10 8 6 6 2 5 2 5 1 5 1 5 14 14 12 10 4 5 4 5 3 3 Lead 5 Lead 2 5 Horizontal Vertical Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 17 17 15 13 8 8 6 6 20 20 20 12 12 10 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibration breakdo...

Page 37: ...o 40 C 85 RH or less Non condensing Overhang load length guideline 150mm or less 1 Number in brackets show the specification for high precision type 2 For reference rated life of 5000km The running life differs according to operation conditions and mounting status Slider type moment direction Slider type overhang load length L 150mm or less Ma direction Mb Mc direction For calculation of Ma and Mc...

Page 38: ... 575 12 720 620 535 460 405 355 315 6 360 305 265 230 200 175 155 3 180 150 130 115 100 85 75 Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds Do not attempt to set below the minimum speed The minimum speed can be calculated wit...

Page 39: ... 2 11 6 6 4 3 2 2 1 5 18 15 10 8 5 5 4 4 Lead 12 Lead 6 Horizontal Vertical Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 30 24 20 15 9 9 9 8 45 30 20 20 15 15 15 15 Lead 3 Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 45 30 20 15 14 10 Caution Do not attempt to configure settings for acceleration deceleration above the specificat...

Page 40: ... to 40 C 85 RH or less Non condensing Overhang load length guideline 220mm or less 1 Number in brackets show the specification for high precision type 2 For reference rated life of 5000km The running life differs according to operation conditions and mounting status Slider type moment direction Slider type overhang load length L 220mm or less Ma direction Mb Mc direction For calculation of Ma and ...

Page 41: ...760 16 1000 965 830 720 635 560 500 8 500 475 410 355 315 275 245 4 240 235 205 175 155 135 120 Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds Do not attempt to set below the minimum speed The minimum speed can be calculated w...

Page 42: ... 2 7 7 6 4 4 4 3 2 30 12 10 6 6 6 5 5 Lead 16 Lead 8 Horizontal Vertical Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 38 30 15 15 12 12 10 8 45 40 40 35 18 18 18 16 Lead 4 Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 50 50 40 25 25 20 Caution Do not attempt to configure settings for acceleration deceleration above the specificat...

Page 43: ...to 40 C 85 RH or less Non condensing Overhang load length guideline 300mm or less 1 Number in brackets show the specification for high precision type 2 For reference rated life of 5000km The running life differs according to operation conditions and mounting status Slider type moment direction Slider type overhang load length L 300mm or less Ma direction Mb Mc direction For calculation of Ma and M...

Page 44: ... 780 715 660 20 1200 1090 960 860 770 695 630 570 520 480 440 10 600 540 480 430 385 345 310 285 260 235 220 5 300 270 240 215 190 175 155 140 130 120 110 Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds Do not attempt to set be...

Page 45: ...1 2 8 8 8 5 30 25 20 15 12 12 10 8 Lead 20 Lead 10 Horizontal Vertical Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 60 40 30 20 20 20 18 15 80 80 70 60 35 35 35 30 Lead 5 Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 90 90 70 45 45 35 Caution Do not attempt to configure settings for acceleration deceleration above the specificati...

Page 46: ...o 40 C 85 RH or less Non condensing Overhang load length guideline 400mm or less 1 Number in brackets show the specification for high precision type 2 For reference rated life of 5000km The running life differs according to operation conditions and mounting status Slider type moment direction Slider type overhang load length L 400mm or less Ma direction Mb Mc direction For calculation of Ma and Mc...

Page 47: ...165 50 Figure of Double Slider Caution If double slider option is ordered consider the available stroke should be the value that the length of slider and slider cover span are subtracted from the stroke shown in the model code Therefore add the following number to the necessary stroke when indicate the stroke at order Also make sure that the necessary stroke should be the minimum effective stroke ...

Page 48: ...w Acceleration Deceleration Time Ratio tod Acceleration Time during Operation Deceleration Time during Operation Duration of Operation Acceleration Time Velocity during Operation mm s Acceleration during Operation mm s2 sec Acceleration mm s 2 Acceleration G 9 800mm s 2 Deceleration Time Velocity during Operation mm s Deceleration during Operation mm s2 sec Deceleration mm s2 Deceleration G 9 800m...

Page 49: ...e g The reference for duty when the load factor LF is 80 and the acceleration deceleration time ratio tod is 80 should be approximately 75 0 20 40 60 80 100 0 20 40 60 80 100 加減速度時間比率tod デューティーの目安 LF 60 LF 50 未満 約75 LF LF LF LF 70 80 90 100 負荷率 Reference for Duty Acceleration Deceleration Time Ratio tod LF Below 50 Load Factor Approximately 75 ...

Page 50: ...ecified positioning repeatability will become 0 005mm It should be available to order only for lead length 20mm or less Motor Reversed Direction Model Code ML MR It is the code to indicate the direction of motor reversed when selecting the motor reversed type ML shows reversed to left and MR to right Reversed home Specification Model Code NM The standard home position is on the motor side However ...

Page 51: ...e Model Code VR The vacuum joint should be attached on the left of the main unit in the view from the motor end in standard which can be changed to the right opposite in option Double Slider Specification Model Code W This is an option that adds a free slider that is not connected to the ball screw Doubling the slider makes it possible to increase the moment and the overhang load length Refer to D...

Page 52: ...H7 0 Depth 5 50 Slider Cover length 35 76 20 0 02 between of φ3H7 65 0 010 Through 4 M3 Bolt screwing Depth 7mm 8 56 48 5 SA4R Model number of single product RCS4 SS SA4 77 5 67 5 10 8 60 85 105 130 39 0 02 between of φ5H7 Slider Cover length 2 φ5 H7 0 Depth 8 0 012 Through 4 M5 Bolt screwing Depth 9mm SA7R Model number of single product RCS4 SS SA7 ...

Page 53: ...ptions 1 34 1 Specifications 14 81 5 67 5 10 5 85 130 63 100 165 Through 4 M8 Bolt screwing Depth 13mm Slider Cover length 2 φ6 H7 Depth 5 0 02 between of φ6H7 SA8R Model number of single product RCS4 SS SA8 ...

Page 54: ...h 1m CB RCC MA010 RB Cable length 3m CB RCC MA030 RB Cable length 10m CB RCC MA100 RB Model code CB RCC MA CB RCC MA RB Controller Side Actuator Side Wire Size Color Signal No Wire Size Color Signal No Green Red White Black Red White Black Green Crimped 16 20 10 φ9 21 18 41 1 1 4 4 Front View Front View Minimum bending radius r 51mm or more for movable use It is only robot cable available to use i...

Page 55: ...h 10m CB X1 PA100 Model code CB X1 PA Controller Side Actuator Side Color Signal No φ8 Front View Front View Clamp the shield to the hood Ground wire or braided shield wire L 41 13 37 14 8 25 1 1 13 14 26 Wire Size AWG26 Soldered AWG26 Crimped Color Signal No Wire Size Orange Orange Green Green Purple Purple Gray Gray Red Red Black Black Blue Blue Yellow Yellow Drain Minimum bending radius r 44mm ...

Page 56: ...1 37 1 Specifications ...

Page 57: ...llation Environment 2 3 Storage preservation environment 2 4 2 3 How to Install 2 5 Installation Orientation 2 5 Precautions regarding stainless steel sheet 2 6 Installation surface 2 7 Installation of the Main Unit 2 8 Mounting transported objects 2 16 About Suction of the Cleanroom Type 2 19 ROBO Cylinder Chapter ...

Page 58: ...he package Do not damage or drop the package The package is not specially designed to withstand dropping or shock due to collision Keep the unit in horizontal orientation for stationary positioning or transportation Do not climb onto the package Do not put anything that could deform the package on it ...

Page 59: ...uator For the names of each part refer to Names of the Parts on page Intro 11 12 Handling when assembled into machinery system Fix the slider so they would not accidently move during transportation If the actuator or any moving part is overhanging fix it appropriately to avoid large wobbles due to external vibration When transporting without fixing the tip do not apply impact of 0 3G or more When ...

Page 60: ...perature changes rapidly and condensation occurs Where the relative humidity exceeds 85 RH Where the actuator receives direct sunlight Where the actuator is exposed to corrosive or combustible gases Where the ambient air contains a large amount of powder dust salt or iron at level exceeding what is normally expected in an assembly plant Where the actuator is subject to splashed water oil including...

Page 61: ...lly specified desiccant is not included in the package at shipping If the product is to be stored preserved in an environment where condensation is anticipated take condensation preventive measures For short term storage it can be stored at 60 C or below For storage of one month or more make sure that the temperature does not exceed 50 C The product should be placed horizontally for storage and pr...

Page 62: ...way installation Ceiling mount installation Caution When installing the unit vertically keep the motor on top to the greatest extent possible If the motor is installed on the bottom the grease may separate due to long term disuse causing the base oil to flow into the motor part The controller and motor encoder may break down due to the entry of the base oil ...

Page 63: ...use slackness or misalignment of the stainless steel sheet Continued usage in this orientation may lead to damage to the stainless steel sheet Adjust the stainless steel sheet if slackness or misalignment occurs Keep adhesive paint and other viscous material off the stainless steel sheet Such material adhering to the stainless steel sheet can lead to defective slider operation or sheet damage Avoi...

Page 64: ...tenance work such as actuator replacement and inspection The bottom surface and both side surfaces of the body base serve as the reference surfaces for slider running accuracy Use these surfaces as the reference surfaces for mounting when running accuracy is required When mounting using the side reference surface machine the installation surface according to the figure below A dimension SA4 SA6 SA...

Page 65: ...e Tapped Hole Size Tapped Holes Depth Reamed Hole mm Oblong Hole SA4C SA4R M4 Through screwing depth should be 6mm or less φ3H7 Depth 4 A 3 B 4 Depth 4mm or less SA6C SA6R M5 Through screwing depth should be 10mm or less φ4H7 Depth 5 5 A 4 B 5 Depth 5 5mm or less SA7C SA7R M5 Through screwing depth should be 10mm or less φ4H7 Depth 6 A 4 B 5 Depth 6mm or less SA8C SA8R M6 Through screwing depth sh...

Page 66: ... bolt seating surface SA4C SA4R M4 3 59N m 0 37kgf m 1 76N m 0 18kgf m SA6C SA6R M5 7 27N m 0 74kgf m 3 42N m 0 35kgf m SA7C SA7R M5 7 27N m 0 74kgf m 3 42N m 0 35kgf m SA8C SA8R M6 12 3N m 1 25kgf m 5 4N m 0 55kgf m Notice The use of high strength bolts of ISO 10 9 or higher is recommended Make sure the internal thread and bolt effective engagement length is approximately 1 8 times the nominal di...

Page 67: ... side covers on the sides when installing For mounting bolts use hexagonal socket head bolts indicated in the following table depending on the platform material Model Name Through Hole Mounting Bolt Tightening Torque SA4C SA4R φ3 4 drilled hole 6 5 counter boring depth 3 5 M3 0 83N m 0 085kgf m SA6C SA6R φ4 5 drilled hole 8 counter boring depth 4 5 M4 1 76N m 0 18kgf m SA7C SA7R φ6 drilled hole 9 ...

Page 68: ... tightening the bolts Please avoid making a dent mark or scratches For the side mounted specification models of SA4R SA6R and SA7R the side cover and motor cover interfere each other so that they cannot be removed as they are Remove the motor cover and detach the side cover For removing direction of the motor cover refer to Motor Replacement in 4 6 How to replace components Notice The use of high ...

Page 69: ...tapped holes on the reversing bracket it is available to screw in from the back It should be an option Model RP for SA4R For SA4R Option For SA6R Model Name A B Attachment Hole Diameter Attachment Hole Depth Tightening Torque SA4R 32 10 M４ 8mm 1 76N m 0 18kgf m SA6R 47 9 5 M５ 10mm 3 42N m 0 35kgf m ４M A A B ４M A A B ...

Page 70: ...or higher is recommended Make sure the internal thread and bolt effective engagement length is approximately 1 8 times the nominal diameter or more Model Name A B Attachment Hole Diameter Attachment Hole Depth Tightening Torque SA7R 58 6 5 M6 12mm 5 4N m 0 55kgf m SA8R 58 8 M6 12mm 5 4N m 0 55kgf m ４M A A B ...

Page 71: ... attempt to affix the unit only with the tapped holes on the side mounted bracket Do not apply external force to the actuator body after installation External force may cause malfunctions or damage to parts Installation Posture Support Horizontal Vertical Ceiling Mount No Yes 天吊り 外力 外力 垂直 水平 取付不可 External Force External Force Horizontal Vertical Ceiling Mount Unmountable ...

Page 72: ...2 3 How to Install 2 15 2 Installation Precautions for horizontal mounting using reversing brackets Prepare a support block for the body as shown in the figure below 支持台 Support block ...

Page 73: ...ng is required If fine tuning of perpendicularity etc is required use one of the reamed holes for this adjustment Refer to the figure below for the screw in depth and reamed hole depth Model Name A B C Reamed Hole Tapped Hole M Mounting Bolt Bolt Nominal Diameter Tightening Torque SA4C SA4R 20 24 32 φ3H7Depth6 M3Depth7 M3 0 83N m 0 085Kgf m SA6C SA6R 31 32 50 φ5H7Depth6 M5Depth10 M5 3 42N m 0 35Kg...

Page 74: ...ed attaching and detaching is required If fine tuning of perpendicularity etc is required use one of the reamed holes for this adjustment Refer to the figure below for the screw in depth and reamed hole depth Model Name A B C Reamed Hole Tapped Hole M Mounting Bolt Bolt Nominal Diameter Tightening Torque SA8C SA8R 63 60 φ6H7Depth10 M8 Through screwing depth should be 12mm max M8 11 5N m 1 17Kgf m ...

Page 75: ...crew in depth greater than that of the tapped or reamed mounting holes may damage the tapped hole or reduce the mounting strength of the transported object leading to decreased accuracy or unexpected accidents Notice The mounting bolts are to be prepared by the customer The use of high strength bolts of ISO 10 9 or higher is recommended ...

Page 76: ...SO 14644 1 by aspirating air from the vacuum joint The guidelines of the suction amounts for the rated speeds of each model are shown in the following table Suction amount guideline Single slider specification Model Number Lead mm Suction Amount Nl min L min SA4C 16 60 65 10 40 43 5 20 22 2 5 10 11 SA6C 20 100 108 12 70 76 6 30 32 ３ 15 16 SA7C 24 90 97 16 70 76 8 40 43 4 30 32 SA8C 20 160 173 10 8...

Page 77: ...lease perform suction of air from the two vacuum joints located on the sides of the actuator according to the suction amounts total amount of the two locations shown in the table below Also please manage the joints so that the suction amounts of the two locations are equivalent Please use the actuator in a state in which all of the base attachment holes on the bottom of the actuator are covered Wh...

Page 78: ...2 21 2 Installation ...

Page 79: ...Connecting with the Controller 3 1 Connecting with the Controller 3 1 ROBO Cylinder Chapter ...

Page 80: ...ose 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 it would not be bent repeatedly Dedicated Connection Cable Robot Cable r 51mm or more movable use r 46mm or more fixed use D...

Page 81: ...oid mechanical force being applied to the terminals and connectors Use a cable pipe or duct to have an appropriate protection when there is a possibility of mechanical damage on a dedicated cable In case a dedicated cable is to be used at a moving part make sure to lay out the cable without applying any force to pull the connector or extreme bend on the cable Do not attempt to use the cable with a...

Page 82: ...ution Have a sufficient radius for bending and avoid a bend concentrating on one point Do not let the cable bend kink or twist Do not pull the cable with a strong force Pay attention not to concentrate the twisting force to one point on a cable Tie them up softly Steel Strap ...

Page 83: ... to affix make sure to have an appropriate force and do not tighten too much PIO line communication line power and driving lines are to be put separately from each other and do not tie them together Arrange so that such lines are independently routed in the duct Do not use spiral tube in any position where cables are bent frequently Duct I O Lines Power Line ...

Page 84: ...pace 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 abrasion of the sheaths or cable breakage ...

Page 85: ...3 Visual inspection items 4 4 External visual inspection 4 4 Internal visual inspection 4 5 4 4 Cleaning 4 7 External cleaning 4 7 Internal Cleaning 4 7 4 5 Greasing method 4 8 Grease used 4 8 Greasing method 4 10 4 6 How to replace components 4 13 Stainless steel sheet replacement adjustment 4 13 Belt replacement adjustment 4 19 Motor Replacement 4 24 ROBO Cylinder Chapter ...

Page 86: ...eleasing the brake make sure to check there is nothing that will interfere with moving parts within the operation range The slider may fall possibly injuring the operator or people nearby and damaging the actuator workpiece or equipment Caution Check that the power to the actuator is OFF before conducting any maintenance or inspections Be careful not to lose the cover or any removed screws Be sure...

Page 87: ...erating environment temperature humidity and ambient atmosphere It is recommended to shorten the grease supply period if the actuator is used under poor environmental conditions such as high temperatures high humidity or dusty atmospheres Also it is recommended to improve the environmental conditions in case the grease changes color notably due to poor operating conditions Base oil may separate fr...

Page 88: ...often as needed Slider type Stainless steel sheet life guideline 5 000km Inspection period External inspection Internal inspection Greasing Ball screw Guide Start of work inspection 1 month inspection 3 month inspection 3 month inspection on Grease supply timing Guideline dependent 6 month inspection Every 6 months thereafter Grease supply timing Guideline Maximum operating speed mm s Grease suppl...

Page 89: ...bration generated Take an action by referring to Troubleshooting in Controller Instruction Manual Are actuator mounting bolts loose Tighten them further Is the cable scratched Replace if the damage is severe Is the connector loose Re insert correctly Is grease dripping out especially if vertically mounted Clean up any drips Replenish the grease Is the stainless steel sheet scratched Replace the st...

Page 90: ...matter adhered to the ball screw or guide Replenish with new grease after cleaning Internal inspection method 1 Loosen the screws on the side cover and detach the side cover 2 Check inside 3 After finishing the inspection assemble back in the reverse order If you 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 sh...

Page 91: ...efully during internal inspection Do not tug on the stainless steel sheet or in any way attempt to reposition it Change in the attached condition may cause the sheet to be mounted unevenly or impact the product life Keep in mind that the edges of the stainless steel sheet can cause injuries Always wear gloves when working on it ...

Page 92: ... dust to get in through the gaps Do not use oil based solvents as they can harm lacquered and painted surfaces To remove severe buildup wipe gently with a soft cloth soaked in a neutral detergent or alcohol 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 neutral d...

Page 93: ...orine based grease and urea based grease Mixing with lithium based grease not only reduces the performance of the grease it may even cause damage to the actuator Standard Type Lead 30 in SA6 Lead 36 in SA7 and Lead 48 in SA8 Application location During maintenance recommended product Default reference Ball screw Kyodo Yushi Multemp ET R No 2 Kyodo Yushi Multemp ET R No 2 Guide Caution Never use li...

Page 94: ...stries C grease Guide Caution For grease to be used with an actuator that has a cleanroom setting please use a type of grease that emits a low amount of dust and is described for cleanroom use When standard grease is used dust may be emitted Never use lithium based grease and fluorine based grease Mixing with urea based grease not only reduces the performance of the grease it may even cause damage...

Page 95: ...d detach the side cover on either side right or left The grease nipple will appear Note When the side cover on the other side has been detached the other grease nipple also appears Motor Side Opposite Side Side Cover Attachment Screws Grease Nipple There is one on the other side After removal of the side cover on either side Side Cover Side Cover Attachment Screws ...

Page 96: ...eter φ3 5 Grease Gun Nozzle Supplier of nozzle Grease gun of mounting screw R1 8 Example GC 57K Yamada Corporation NZ3 NSK Model Name Amount of Grease Supply Reference SA4 0 5cc to 1 0cc SA6 1 5cc to 2 0cc SA7 2 0cc to 2 5cc SA8 3 5cc to 4 0cc Move the slider back and forth in the stroke range after supplying grease so it spreads out evenly in the area Confirm that the ball tracks on the ball scre...

Page 97: ...he side cover do not interfere moving the slider backwards and forwards between the strokes Caution Do not damage the stainless steel sheet by bending it forcefully during work Keep in mind that the edges of the stainless steel sheet can cause injuries Always wear gloves when working on it The front bracket is supporting the ball screw Do not detach it If the front bracket loses its tuned conditio...

Page 98: ...egradation 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 back side of the slider cover and make dust to be generat...

Page 99: ... the screws 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 Pull it till in front of the slider In front of Slider Join wit...

Page 100: ...h it Tightening Torque 41 4N cm 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 till the edge Edge Pull Old stainless steel sheet New stainless steel sheet There are two grooves for stai...

Page 101: ...hesive tape on one side of new stainless steel sheet 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 Adhesive Tape Stainless Steel Sheet Stainless Steel Sheet Side ...

Page 102: ...l sheet being held 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 103: ... steel sheet When installing the sheet clamp do not apply excessive force to the stainless steel sheet Notice As a guideline the stainless steel sheet should last for about 5 000km of motion However depending on the usage or environment replace the stainless steel sheet appropriately It is available for customers to replace the stainless steel sheet However if you feel anxious about replacing it i...

Page 104: ...ng belt gets worn away as the time passes and it is necessary to have replacement at regular intervals with the following conditions as reference When the gear and belt area 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 For the toothed belt it is recommended to set the interval of regular replacement cycle ...

Page 105: ...ion Belt to Use IAI uses the following belt in our plant Model Belt to Use Manufacturer Name SA4R 60S2M162R Bando Chemical Industries Ltd SA6R 60S3M207GB Mitsuboshi Belting Ltd SA7R 100S3M240R Bando Chemical Industries Ltd SA8R 150S3M279GB Mitsuboshi Belting Ltd ...

Page 106: ...nd take off the belt 3 Replace the belt 4 Adjust the belt tension Keep the slider at the distance shown in the table below from the mechanical end Slider Position Model Slider Position mm SA4R SA6R SA7R and SA8R 2 Pulley Cover Pulley Cover Affixing Screw Belt Motor Unit Affixing Screw Slider Position Distance between slider and mechanical end when attaching motor unit Section Main Unit Ass y ...

Page 107: ...e below to the motor unit and tighten the motor unit affixing screw in the tightening torque shown in the table below Tensile Force when Attaching Motor Unit Model Tension Force N SA4R 20 to 25 SA6R 40 to 45 SA7R 70 to 80 SA8R 100 to 110 Motor Unit Affixing Screw Tightening Torque Model Tightening Torque N m SA4R and SA6R 2 1 SA7R and SA8R 4 1 Origin Mark Belt Motor Unit Affixing Screw Direction f...

Page 108: ...with the pulley cover affixing screws in the specified torque Pulley Cover Affixing Screw Tightening Torque Model Type of Screws Tightening Torque N m SA4R Cross Recessed Slim Head Screw SUS M3 0 4 SA6R SA7R SA8R Cross Recessed Flat Head Screw SUS M3 0 4 Pulley Cover Pulley Cover Affixing Screw ...

Page 109: ...Type 1 Detach the motor cover affixing screws 2 Take off the end cover and motor cover 3 Move the slider to the position where the coupling screw on the actuator side can be seen 4 Loosen the coupling screw detach the motor affixing screws and take off the motor End Cover Motor Cover Coupling Screw ...

Page 110: ...ion mm Distance between Slider and Mechanical End SA4C 2 SA6C 2 SA7C 2 SA8C 2 6 Hold the motor for replacement loosely with the motor affixing screws and then tighten the coupling screw in the tightening torque shown in the table Coupling Screw Tightening Torque Model Tightening Torque N m SA4C 0 4 SA6C 0 9 SA7C 1 5 SA8C 1 5 Coupling Tightening Position Distance between slider and mechanical end w...

Page 111: ... 1 SA8C 4 1 8 Attach the motor cover and end cover Tighten the motor cover affixing screws in the tightening torque shown in the table Pay attention not to get the cable pinched Motor Cover Affixing Screw Tightening Torque Model Type of Screws Tightening Torque N m SA4C Hexagonal Socket Head Bolt M3 0 9 SA6C Hexagonal Socket Head Bolt M3 0 9 SA7C Hexagonal Socket Head Bolt M4 2 1 SA8C Hexagonal So...

Page 112: ...ype When Replacing Motor Unit 1 Detach the pulley cover affixing screws and take off the pulley cover 2 Detach the motor unit affixing screw and take off the belt 3 Detach the motor unit Pulley Cover Pulley Cover Affixing Screw Pulley Cover Motor Unit Motor Unit Affixing Screw Belt ...

Page 113: ...e shown in the table below from the mechanical end Slider Position Model Slider Position mm SA4R SA6R SA7R and SA8R 2 6 With the origin mark marked on the motor end pulley facing outwards hang the belt on the pulleys Slider Position Distance between slider and mechanical end when attaching motor unit Section Main Unit Ass y Origin Mark ...

Page 114: ...otor unit affixing screw in the tightening torque shown in the table below Tensile Force when Attaching Motor Unit Model Tension Force N SA4R 20 to 25 SA6R 40 to 45 SA7R 70 to 80 SA8R 100 to 110 Motor Unit Affixing Screw Tightening Torque Model Tightening Torque N m SA4R and SA6R 2 1 SA7R and SA8R 4 1 Direction for Tension Belt Motor Unit Affixing Screw ...

Page 115: ...with the pulley cover affixing screws in the specified torque Pulley Cover Affixing Screw Tightening Torque Model Type of Screws Tightening Torque N m SA4R Cross Recessed Slim Head Screw SUS M3 0 4 SA6R SA7R SA8R Cross Recessed Flat Head Screw SUS M3 0 4 Pulley Cover Pulley Cover Affixing Screw ...

Page 116: ...ch is not equipped with a brake It will be dangerous as the slider will be dropped if it is not held as soon as the motor gets taken off Notice Pay attention not to get the cable pinched when attaching the motor cover and end cover When the actuator is not equipped with a brake make sure that the motor is magnetized when attaching it so the shaft and the origin point get aligned ...

Page 117: ...External Dimensions 5 1 RCS4 SA4C 5 1 RCS4 SA6C 5 2 RCS4 SA7C 5 3 RCS4 SA8C 5 4 RCS4 SA4R 5 5 RCS4 SA6R 5 7 RCS4 SA7R 5 8 RCS4 SA8R 5 10 RCS4CR SA4C 5 12 RCS4CR SA6C 5 13 RCS4CR SA7C 5 14 RCS4CR SA8C 5 15 ROBO Cylinder Chapter ...

Page 118: ...le P F K φ3 hole φ3 hole B 20 G 100P D 100P 50 at the time of 50st C 8 50 12 Through E M4 Screwing Depth 6 50 25 at the time of 50st Through H φ3 4 Depth φ6 5 Counter Boring Depth 3 5 From back side J φ3 hole oblong hole 17 2 φ3H7 Reamed Depth 4 From Base seating surface Z Z Actuator Cable Allowable Bending Radius R50 Be cautious for interference M E S E Home Slider Installed Load M E V Cable join...

Page 119: ...3 3 12 19 5 34 5 10 5 300 16 5 46 25 Section Z Z Detail of Counterbore for Base Attachment R 5 CJR CJL CJT CJB 32 50 34 32 M E S E M E V Actuator Cable Allowable Bending Radius R50 40 4 φ5H7 Reamed Depth 6 26 5 A 4 M5 Depth 10 60 50 0 02 110 L 32 8 47 17 5 58 62 5 38 5 57 8 5 28 5 Oblong hole Not for Strokes 50 P 65 9 30 B 28 10 Z Z 34 71 57 28 9 5 6 N ip ple D ia m eter φ3 5 Ball screw For guides...

Page 120: ...8 51 5 14 5 34 R 5 29 5 3 9 M E M E S E V Actuator Cable Allowable Bending Radius R50 56 48 130 65 80 42 L A 4 48 P 80 B 30 9 45 40 37 Z Z 67 25 82 CJR CJL CJB CJT 32 41 25 32 25 Section Z Z Detail of Counterbore for Base Attachment N ip ple D ia m eter φ3 5 Grease oil supply port Arrow view V Home 39 Tolerance 0 02 between the reamed hole 0 02 4 φ5H7 Reamed Depth 10 4 M5 Depth 10 Be cautious for ...

Page 121: ... 980 1000 10 3 10 8 1050 1448 1483 1276 1230 11 24 980 1000 10 6 11 1 1100 1498 1533 1326 1280 12 26 1080 1100 10 8 11 3 93 ST 18 5 3 3 12 19 5 34 5 10 5 300 22 45 5 16 4 5 M E V M E S E Actuator Cable Allowable Bending Radius R50 35 90 75 60 Through 4 M8 80 Screwing Depth 12 40 40 L A 165 7 5 P 11 B 100 40 50 65 35 41 5 1 67 5 83 85 5 6 67 22 26 5 83 5 76 2 M3 Depth 6 For ground connection R 7 CJ...

Page 122: ...L A 4 30 3 29 7 51 4 39 40 27 5 48 107 5 10 8 57 5 25 2 19 5 R 4 CJT CJO CJB 32 27 5 30 19 6 32 25 Rear Attached Plate Optional 32 32 10 49 5 Section Z Z Detail of Counterbore for Base Attachment Grease oil supply port Arrow view V φ 8 N ipple D iam eter φ3 5 O p e n i n g s Ball screw For guides Grease Nipple the other side the same 0 02 S E Home Be cautious for interference Slider Installed Load...

Page 123: ... External Dimensions 5 6 5 External Dimensions Slider Spacer Optional Model SS 2 φ3 H7 0 Depth 5 50 Slider Cover length 35 76 20 0 02 between of φ3H7 65 0 010 Through 4 M3 Bolt screwing Depth 7mm 8 56 48 5 ...

Page 124: ...2 0 02 110 41 5 L A 8 12 47 V R 5 17 5 34 3 58 57 5 56 5 33 128 38 5 9 5 57 62 5 6 12 5 28 5 47 47 9 5 P 10 28 B 65 9 30 Z Z 32 33 34 5 19 5 32 25 Section Z Z Detail of Counterbore for Base Attachment Grease oil supply port Arrow view V N ipple D iam eter φ3 5 Ball screw For guides Grease Nipple the other side the same Home 4 φ5H7H7 Reamed Depth 6 4 M5 Depth 10 31 Tolerance 0 02 between the reamed...

Page 125: ... S E M E M E V Actuator Cable Allowable Bending Radius R50 65 80 0 02 42 48 50 L 50 A 130 38 4 48 97 35 5 P B 30 80 45 9 40 37 Z Z 34 41 5 32 35 5 32 25 Section Z Z Detail of Counterbore for Base Attachment Grease oil supply port Arrow view V N ipple D iam eter φ3 5 Ball screw For guides Grease Nipple the other side the same Home Be cautious for interference Slider Installed Load 4 φ5H7 Reamed Dep...

Page 126: ...ernal Dimensions 5 9 5 External Dimensions Slider Spacer Optional Model SS 77 5 67 5 10 8 60 85 105 130 39 0 02 between of φ5H7 Slider Cover length 2 φ5 H7 0 Depth 8 0 012 Through 4 M5 Bolt screwing Depth 9mm ...

Page 127: ...9 1100 1359 1309 1280 12 26 1080 1100 11 7 12 2 93 45 ST 18 5 3 3 12 19 5 34 5 300 10 5 22 45 5 11 V Actuator Cable Allowable Bending Radius R50 M E S E M E 18 90 40 60 80 L A 50 50 165 75 7 5 40 37 97 169 35 65 83 85 67 5 1 37 71 3 4 26 3 5 80 5 6 41 5 58 8 58 P 100 40 B 50 R 7 25 37 32 26 5 41 5 32 N ip ple D ia m eter φ3 5 Ball screw For guides Grease Nipple the other side the same Grease oil s...

Page 128: ...ternal Dimensions 5 11 5 External Dimensions Slider Spacer Optional Model SS 14 81 5 67 5 10 5 85 130 63 100 165 Through 4 M8 Bolt screwing Depth 13mm Slider Cover length 2 φ6 H7 Depth 5 0 02 between of φ6H7 ...

Page 129: ...tion Opposite Side Option Joint Attached Position Standard Side 60 25 47 Outer Diameter of Applied Tube φ6 Rotation Area of Joint 17 3 6 3 5 6 32 41 25 32 P 17 B 12 20 C 8 50 F Z Z 40 28 48 39 25 12 10 18 9 19 5 Grease oil supply port Arrow view V φ 8 N ipple D iam eter φ3 5 O p e n i n g s Ball screw For guides Grease Nipple the other side the same 0 02 Home 169 With Brake 133 W o Brake 20 Tolera...

Page 130: ...side the same No pipe joint for slider roller type SR φ40 9 5 28 6 15 15 Outer Diameter of Applied Tube φ6 Rotation Area of Joint 54 ST 13 3 3 12 19 5 34 5 10 5 300 60 50 40 32 0 02 L A 110 8 26 5 47 M E S E M E Actuator Cable Allowable Bending Radius R50 V B 9 28 10 65 30 34 71 57 Joint Attached Position Standard Side Joint Attached Position Opposite Side Option 16 5 46 62 5 17 5 38 5 57 58 8 5 3...

Page 131: ...e Joint Attached Position Opposite Side Option 25 67 82 Rotation Area of Joint Outer Diameter of Applied Tube φ8 3 29 5 15 9 15 No pipe joint for slider roller type SR 25 5 26 5 51 5 68 14 5 70 67 5 36 5 34 V S E M E M E Actuator Cable Allowable Bending Radius R50 80 42 L 48 A 130 48 65 4 56 P 30 80 45 40 9 B 37 Z Z N ip ple D ia m eter φ3 5 Grease oil supply port Arrow view V Ball screw For guide...

Page 132: ... 1080 1100 10 8 11 3 45 5 22 16 φ46 93 ST 18 5 3 3 12 19 5 34 5 10 5 300 25 42 5 32 26 5 32 P 11 40 B 100 50 83 85 67 5 41 5 25 5 40 5 6 35 65 1 Joint Attached Position Standard Side Joint Attached Position Opposite Side Option 26 5 67 22 83 5 76 Rotation Area of Joint Outer Diameter of Applied Tube φ8 15 7 5 4 5 15 V M E Actuator Cable Allowable Bending Radius R50 M E S E 40 L A 75 165 35 80 60 4...

Page 133: ...Life 6 1 Concept of life for slider type 6 1 How to calculate operation life 6 1 Relation between operation life and moment 6 3 ROBO Cylinder Chapter ...

Page 134: ...d shown below How to calculate operation life For the operation life of the linear guide use the dynamic allowable moment stated in 1 2 specifications and calculate with the formula below L 5 000km L Operation life km CM Dynamic allowable moment N m M Moment acting N m 5 000km Standard rated life of ROBO Cylinder In addition calculate with the formula below if the life may be shortened due to vibr...

Page 135: ...eration 1 0Gor less Mounting coefficient fα This coefficient allows consideration of the effects on life due to ROBO Cylinder mounting status Mounting coefficient fα 1 0 1 2 1 5 Mounting status Fixed on entire surface Fixed at both ends Fixed locally The actuator used in the explanatory figures above is not the RCS4 ROBO Cylinder Replace with ROBO Cylinder and select the mounting coefficient Even ...

Page 136: ...d it may be longer than 5 000km the standard rated life With no consideration of vibration and mounting conditions the operation life is 40 000km according to the calculation with the formula on the previous page assuming that 0 5 CM half of dynamic allowable moment of moment is applied We see that it can be 8 times longer than the standard rated life which is 5 000km ...

Page 137: ...2 Scope of the warranty 7 1 7 3 Honoring the warranty 7 1 7 4 Limited liability 7 2 7 5 Conformance with applicable standards regulations etc and application conditions 7 2 7 6 Other Items excluded from warranty 7 2 ROBO Cylinder Chapter ...

Page 138: ...e breakdown or malfunction in question was caused by a specification defect malfunction or poor product quality Note that breakdowns due to any of the following reasons are excluded from the scope of warranty a Anything other than our product b Modification or repair performed by a party other than IAI unless approved by IAI c Anything that could not be easily predicted with the level of science a...

Page 139: ...uire a high level of safety Accordingly as a rule our product cannot be used in these applications Contact IAI if you must use our product for any of these applications a Medical equipment used to maintain control or otherwise affect human life or physical health b Mechanisms and machinery designed for the purpose of moving or transporting people vehicles railway facilities aviation facilities etc...

Page 140: ...7 3 7 Warranty ...

Page 141: ...Appendix 8 1 Index 8 1 8 2 Revision history 8 3 ROBO Cylinder Chapter ...

Page 142: ...How to Read the Model Number 1 2 I Inspection Items and Schedule 4 3 Installation Environment 2 3 Installation of the Main Unit 2 8 to 15 Installation Orientation 2 5 Installation surface 2 7 Internal Cleaning 4 7 Internal visual inspection 4 5 to 6 International Standard Compliance Intro 10 L Life 6 1 to 3 M Mass RCS4 SA4C 5 1 RCS4 SA6C 5 2 RCS4 SA7C 5 3 RCS4 SA8C 5 4 RCS4 SA4R 5 5 RCS4 SA6R 5 7 ...

Page 143: ...recautions for transportation 2 1 to 2 Product list 1 3 R Rear Attachment Plate Model Code RP 1 32 Reversed home Specification Model Code NM 1 31 S Slider Roller Specification Model Code SR 1 32 Speed 1 3 1 4 1 7 1 10 1 13 1 16 1 19 1 22 1 25 Stainless steel sheet replacement adjustment 4 13 to 18 Storage preservation environment 2 4 V Vacuum Joint Attachment Opposite Type Model Code VR 1 32 W War...

Page 144: ...8 2 Revision history 8 3 8 Appendix 8 2 Revision history Revision date Revised content 2017 10 First Edition ...

Page 145: ......

Page 146: ... 889524 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 ...

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