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Chapter 4 Maintenance and Inspection

 

4.1  Precautions for maintenance and inspection work ··························· 4-1 
4.2  Inspection Items and Schedule ··················································· 4-3 

Table type ·········································································································· 4-4 
Grease supply timing (Guideline) ············································································ 4-5 

4.3  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 ································································································ 4-9 

4.6  How to replace components ······················································· 4-11 

Belt replacement/adjustment ·················································································· 4-11 
Motor Replacement ····························································································· 4-16 

 
 

Chapter 5 External Dimensions

 

5.1  External Dimensions ································································· 5-1 

RCS4-TA4C ······································································································· 5-1 
RCS4-TA6C ······································································································· 5-3 
RCS4-TA7C ······································································································· 5-5 
RCS4-TA4R ······································································································· 5-7 
RCS4-TA6R ······································································································· 5-9 
RCS4-TA7R ······································································································· 5-11 

 
 

Chapter 6 Life

 

6.1  Concept of life ········································································· 6-1 

 
 

Chapter 7 Warranty

 

7.1  Warranty period ······································································· 7-1 
7.2  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 

 
 

Chapter 8 Appendix

 

8.1  Index ····················································································· 8-1 
8.2  Revision history ······································································· 8-3

 

 

Summary of Contents for ROBO Cylinder RCS4-TA4C

Page 1: ...ance 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 Table Type First Edition ME3774 1B RCS4 TA4C TA6C TA7C TA4R TA6R TA7R ...

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: ...n 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 App...

Page 5: ... and CJO 1 45 Motor Reversed Direction Model Code ML MR 1 45 Reversed home Specification Model Code NM 1 45 High Rigidity Specification Double Guide Block Model Code DB 1 46 Rear Attachment Plate Model Code RP 1 46 1 4 Accessories 1 47 Motor Cable 1 47 Encoder Cable 1 48 Chapter 2 Installation 2 1 Precautions for transportation 2 1 2 2 Installation and storage preservation environment 2 3 Installa...

Page 6: ... 9 4 6 How to replace components 4 11 Belt replacement adjustment 4 11 Motor Replacement 4 16 Chapter 5 External Dimensions 5 1 External Dimensions 5 1 RCS4 TA4C 5 1 RCS4 TA6C 5 3 RCS4 TA7C 5 5 RCS4 TA4R 5 7 RCS4 TA6R 5 9 RCS4 TA7R 5 11 Chapter 6 Life 6 1 Concept of life 6 1 Chapter 7 Warranty 7 1 Warranty period 7 1 7 2 Scope of the warranty 7 1 7 3 Honoring the warranty 7 1 7 4 Limited liability...

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: ...to breakdown In extreme cases flaking may occur on the guide or ball screw 6 Do not attempt to have tables collide with an obstacle at high speed This may damage the coupling or other mechanical parts 7 In some conditions of environment of use postures of installation and conditions of operation the base oil separated from the grease may come out of ROBO Cylinder It is recommended to have a protec...

Page 17: ... below Motor Straight Type Motor Reversing Type Rear Bracket Right Side Reverse Bracket Opposite Side of the Motor Left Side Motor Side Hole Cap Oil Supply Inlet Motor Cover Actuator Cable Assy Tapped hole for Ground Line Attachment End Cover Front Cover Table Coupling Cover Motor Bracket Pulley Cover Front Plate Oil Pad Base Frame Motor Unit ...

Page 18: ...Names of the Parts Intro 12 ...

Page 19: ...1 40 Duty ratio 1 43 1 3 Options 1 45 With brake Model Code B 1 45 Cable Exit Direction Changed Model Code CJT CJR CJL CJB and CJO 1 45 Motor Reversed Direction Model Code ML MR 1 45 Reversed home Specification Model Code NM 1 45 High Rigidity Specification Double Guide Block Model Code DB 1 46 Rear Attachment Plate Model Code RP 1 46 1 4 Accessories 1 47 Motor Cable 1 47 Encoder Cable 1 48 ROBO C...

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: ...y Width 40mm Motor Reversed Type Body Width 60mm Motor Reversed Type Body Width 70mm Motor Reversed Type Battery less Absolute Lead 2 5mm Lead 3mm Lead 4mm Lead 5mm Lead 6mm Lead 8mm Lead 10mm Lead 12mm Lead 16mm Lead 20mm Lead 24mm 390 to to None 1m 3m 5m Length Specification Robot Cable With brake Cable Exit Direction Changed Top Cable Exit Direction Changed Right Cable Exit Direction Changed Le...

Page 22: ...m 70mm TA4C TA6C TA7C TA4R TA6R TA7R 16 10 5 2 5 20 12 6 3 24 16 8 4 16 10 5 2 5 20 12 6 3 24 16 8 4 60 100 200 60 100 200 Max Speed mm s Category Type Appearance Body Width mm Lead mm Motor Wattage W mm Stroke mm Horizontal Max Payload kg Vertical Rated Thrust N Positioning Repeatability Motor Straight Type Motor Reversing Type SB type 25 to 150 Every 25 st DB type 40 to 90 Every 25 st 140 190 24...

Page 23: ...m 16 900 10 600 5 300 2 5 150 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 163...

Page 24: ...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 4 4 4 4 3 1 5 1 5 1 5 1 5 1 5 5 5 5 5 5 3 3 3 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 5 5 5 5 6 6 6 6 5 5 5 9 9 9 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibration bre...

Page 25: ...2 5 150 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 1000 1 s mm r...

Page 26: ...6 6 6 Lead 2 5 Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 10 10 10 9 9 9 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibration breakdown or shortened product life If the stroke is long lighten the transportable mass according to the following graph Horizontal installation Vertical installation Sideway install...

Page 27: ...a direction 5 0 N m Mb direction 7 11 N m Mc direction 9 68 N m Double Guide Block Allowable static moment Ma direction 76 8 N m Mb direction 110 N m Mc direction 50 5 N m Allowable dynamic moment 1 Ma direction 23 9 N m Mb direction 34 1 N m Mc direction 15 7 N m No of Encoder Pulses 16384 Ambient operating temperature humidity 0 to 40 C 85 RH or less Non condensing Overhang load length guideline...

Page 28: ...r calculation of Ma and Mc moments take the position pointed with an arrow as the datum Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the actuator Ma Pitching Mb Yawing Mc Rolling L L Guide Block Center Position 44 Single Block 74 Double Block ...

Page 29: ... 6 360 3 180 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 1000 1 s...

Page 30: ...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 8 8 8 6 4 4 4 3 3 2 8 8 8 8 8 6 6 6 6 6 Lead 6 Lead 3 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 8 8 8 8 10 10 10 10 10 10 10 12 12 12 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibration bre...

Page 31: ...60 285 3 180 140 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 1000...

Page 32: ...0 10 10 10 Lead 3 Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 20 20 20 12 12 12 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibration breakdown or shortened product life If the stroke is long lighten the transportable mass according to the following graph Horizontal installation Vertical installation Sideway i...

Page 33: ... Ma direction 11 6 N m Mb direction 16 6 N m Mc direction 24 6 N m Double Guide Block Allowable static moment Ma direction 169 N m Mb direction 242 N m Mc direction 137 N m Allowable dynamic moment 1 Ma direction 49 5 N m Mb direction 70 7 N m Mc direction 40 N m No of Encoder Pulses 16384 Ambient operating temperature humidity 0 to 40 C 85 RH or less Non condensing Overhang load length guideline ...

Page 34: ...or calculation of Ma and Mc moments take the position pointed with an arrow as the datum Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the actuator Ma Pitching Mb Yawing Mc Rolling L L Guide Block Center Position 58 Single Block 98 Double Block ...

Page 35: ...0 16 960 8 480 4 240 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 ...

Page 36: ...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 12 12 12 10 8 5 5 4 4 3 15 15 15 15 15 10 10 8 8 6 Lead 8 Lead 4 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 15 15 15 15 18 18 18 18 15 15 15 20 20 20 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibrat...

Page 37: ... 480 365 300 4 240 180 150 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 ...

Page 38: ... 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 30 30 30 24 24 24 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibration breakdown or shortened product life If the stroke is long lighten the transportable mass according to the following graph Horizontal installation Vertical installation Sideway installation Stroke mm Mass kg Stroke mm M...

Page 39: ...Ma direction 44 7 N m Mb direction 44 7 N m Mc direction 89 1 N m Double Guide Block Allowable static moment Ma direction 620 N m Mb direction 620 N m Mc direction 458 N m Allowable dynamic moment 1 Ma direction 196 N m Mb direction 196 N m Mc direction 145 N m No of Encoder Pulses 16384 Ambient operating temperature humidity 0 to 40 C 85 RH or less Non condensing Overhang load length guideline Wi...

Page 40: ...r calculation of Ma and Mc moments take the position pointed with an arrow as the datum Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the actuator Ma Pitching Mb Yawing Mc Rolling L L Guide Block Center Position 72 Single Block 127 Double Block ...

Page 41: ... 300 2 5 150 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 1000 1 s...

Page 42: ...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 4 4 4 4 1 5 1 5 1 5 1 5 5 5 5 5 3 3 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 5 5 5 5 6 6 6 6 5 5 5 9 9 9 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibration breakdo...

Page 43: ... 2 5 150 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 1000 1 s mm ...

Page 44: ...6 6 Lead 2 5 Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 10 10 10 9 9 9 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibration breakdown or shortened product life If the stroke is long lighten the transportable mass according to the following graph Horizontal installation Vertical installation Sideway installat...

Page 45: ...a direction 5 0 N m Mb direction 7 11 N m Mc direction 9 68 N m Double Guide Block Allowable static moment Ma direction 76 8 N m Mb direction 110 N m Mc direction 50 5 N m Allowable dynamic moment 1 Ma direction 23 9 N m Mb direction 34 1 N m Mc direction 15 7 N m No of Encoder Pulses 16384 Ambient operating temperature humidity 0 to 40 C 85 RH or less Non condensing Overhang load length guideline...

Page 46: ...lculation of Ma and Mc moments take the position pointed with an arrow as the datum Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the actuator Ma Pitching Mb Yawing Mc Rolling L L Guide Block Center Position 44 Single Block 74 Double Block 54 42 12 ...

Page 47: ... 6 360 3 180 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 1000 1 s...

Page 48: ...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 8 8 8 6 4 4 3 3 8 8 8 8 6 6 6 6 Lead 6 Lead 3 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 8 8 8 8 10 10 8 8 10 10 8 10 10 8 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibration breakdown...

Page 49: ... 360 285 3 180 140 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 50: ...0 10 10 Lead 3 Horizontal Vertical 0 3 0 5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 20 20 20 12 12 12 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibration breakdown or shortened product life If the stroke is long lighten the transportable mass according to the following graph Horizontal installation Vertical installation Sideway inst...

Page 51: ... Ma direction 11 6 N m Mb direction 16 6 N m Mc direction 24 6 N m Double Guide Block Allowable static moment Ma direction 169 N m Mb direction 242 N m Mc direction 137 N m Allowable dynamic moment 1 Ma direction 49 5 N m Mb direction 70 7 N m Mc direction 40 N m No of Encoder Pulses 16384 Ambient operating temperature humidity 0 to 40 C 85 RH or less Non condensing Overhang load length guideline ...

Page 52: ...ulation of Ma and Mc moments take the position pointed with an arrow as the datum Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the actuator Ma Pitching Mb Yawing Mc Rolling L L Guide Block Center Position 58 Single Block 98 Double Block 65 48 5 16 5 ...

Page 53: ...0 16 960 8 480 4 240 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 ...

Page 54: ... 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 12 12 12 10 5 5 4 4 15 15 15 15 10 10 8 8 Lead 8 Lead 4 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 15 15 15 15 18 18 18 18 15 15 15 20 20 20 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibration ...

Page 55: ... 480 365 300 4 240 180 150 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 ...

Page 56: ...5 0 7 1 0 1 2 0 3 0 5 0 7 1 0 1 2 30 30 30 24 24 24 Caution Do not attempt to configure settings for acceleration deceleration above the specifications This may lead to vibration breakdown or shortened product life If the stroke is long lighten the transportable mass according to the following graph Horizontal installation Vertical installation Sideway installation Stroke mm Mass kg Stroke mm Mass...

Page 57: ...Ma direction 44 7 N m Mb direction 44 7 N m Mc direction 89 1 N m Double Guide Block Allowable static moment Ma direction 620 N m Mb direction 620 N m Mc direction 458 N m Allowable dynamic moment 1 Ma direction 196 N m Mb direction 196 N m Mc direction 145 N m No of Encoder Pulses 16384 Ambient operating temperature humidity 0 to 40 C 85 RH or less Non condensing Overhang load length guideline Wi...

Page 58: ...ulation of Ma and Mc moments take the position pointed with an arrow as the datum Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the actuator Ma Pitching Mb Yawing Mc Rolling Guide Block Center Position 72 Single Block 127 Double Block 75 55 5 19 5 L L ...

Page 59: ...F is applied to the table tip with the table moved to the distance Z Mc direction moment Displacement angle Displacement angle when Mc direction moment is applied on the guide center section to the table Mc θ Guide Center Section Distance Z mm Amount of table displacement Displacement amount mm Distance Z mm Amount of table displacement Displacement amount mm Moment N m Table displacement angle Di...

Page 60: ...the table tip with the table moved to the distance Z Mc direction moment Displacement angle Displacement angle when Mc direction moment is applied on the guide center section to the table Mc θ Guide Center Section Distance Z mm Amount of table displacement Displacement amount mm Distance Z mm Amount of table displacement Displacement amount mm Distance Z mm Amount of table displacement Displacemen...

Page 61: ...the table tip with the table moved to the distance Z Mc direction moment Displacement angle Displacement angle when Mc direction moment is applied on the guide center section to the table Mc θ Guide Center Section Distance Z mm Amount of table displacement Displacement amount mm Distance Z mm Amount of table displacement Displacement amount mm Distance Z mm Amount of table displacement Displacemen...

Page 62: ...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 63: ...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 64: ...ft 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 the opposite side specification is selected if the home position direction is reversed in accordance with equipment l...

Page 65: ...l Code DB By making the guide block double dynamic allowable moment and transportable mass at the time of horizontal flat installation will improve Rear Attachment Plate Model Code RP It is a bracket plate to affix the motor reversed type TA4R at the back to a device Double Guide Block ...

Page 66: ...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 67: ...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 68: ...1 49 1 Specifications ...

Page 69: ...nd storage preservation environment 2 3 Installation Environment 2 3 Storage preservation environment 2 4 2 3 How to Install 2 5 Installation Orientation 2 5 Installation surface 2 6 Installation of the Main Unit 2 7 Mounting transported objects 2 20 ROBO Cylinder Chapter ...

Page 70: ...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 71: ...ctuator For the names of each part refer to Names of the Parts on page Intro 11 Handling when assembled into machinery system Fix the table 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 su...

Page 72: ...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 73: ...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 74: ...y 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 75: ...uld be a machined surface or a plane with similar accuracy with flatness within 0 02mm m The mounting frame should have a structure rigid enough to prevent the generation of vibration etc Also consider enough space necessary for maintenance work such as actuator replacement and inspection ...

Page 76: ...position and dimensions Refer to Chapter 5 External Dimensions Dimensions for Tapped Hole Positions Model Name Tapped Hole Size Tapped Holes Depth Reamed Hole mm Oblong Hole TA4C TA4R M4 Through screwing depth should be 7 5mm or less φ4H7 Depth 4 A 4H7 B 5 Depth 4 5mm or less TA6C TA6R M5 10mm φ5H7 Depth 5 5 A 5H7 B 6 Depth 5 5mm or less TA7C TA7R M6 12mm φ6H7 Depth 6 A 6H7 B 7 Depth 6mm or less O...

Page 77: ...uminum is used for the bolt seating surface TA4C TA4R M4 3 59N m 0 37kgf m 1 76N m 0 18kgf m TA6C TA6R M5 7 27N m 0 74kgf m 3 42N m 0 35kgf m TA7C TA7R M6 12 34 N m 1 26 kgf m 5 36 N m 0 55 kgf 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 diameter or more ...

Page 78: ...vers when installing For mounting bolts use hexagonal socket head bolts indicated in the following table depending on the platform material 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 diameter or more Model Name Through Hole Mounting Bolt Tightening Torque TA4C T...

Page 79: ...ck on Refer to Motor Replacement in 4 6 How to replace components 2 Remove the front cover and the ball screw cover made of resin Remove the two bolts and pull forward the front cover Deform the ball screw cover toward inside to remove it When the installation is completed affix the ball screw cover by the reverse order When affixing the front cover tighten the screws with the tightening torque de...

Page 80: ...ith the through holes at the tip of the side opposite the motor Perform the following procedure when mounting with the through holes at the tip of the side opposite the motor Figure viewed from bottom Through holes at the tip of the side opposite the motor ...

Page 81: ...ight bolts using an Allen wrench of 2 5 mm across flats and remove the front cover pull out The through holes at the tip will be seen once the front cover is removed Note For models with brakes please connect the controller release the brake and move the table Table Front Cover Front Cover ...

Page 82: ...the table to the motor side and insert the mounting bolts to the through holes While the table is pulled out the bolt head will hit the rod under the table preventing the bolt from being inserted into the holes Mounting bolt Table Rod under the table ...

Page 83: ...hten the mounting bolt 4 Pull the table forward after installation While the front cover is opened insert it into the rod under the table Attach the front cover and tighten the left and right bolts using an Allen wrench of 2 5 mm across flats Rod under the table Table Allen wrench with a short tip ...

Page 84: ...2 3 How to Install 2 15 2 Installation Front cover attachment bolt tightening torque 64 8N cm 6 61kgf cm Front cover Table Front cover ...

Page 85: ...ped holes on the reversing bracket it is available to screw in from the back It should be an option Model Code RP for TA4R For TA4R Option For TA6R Model Name A B Attachment Hole Diameter Attachment Hole Depth Tightening Torque TA4R 32 7 5 M4 8mm 1 76N m 0 18kgf m TA6R 47 5 5 M5 10mm 3 42N m 0 35kgf m ４M A A B ４M A A B ...

Page 86: ...s 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 diameter or more Model Name A B Attachment Hole Diameter Attachment Hole Depth Tightening Torque TA7R 58 6 M6 12mm 5 4N m 0 55kgf m ４M A A B ...

Page 87: ... shown below Caution Do not 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 Horizontal Vertical Ceiling Mount Installation Posture Support Horizontal Vertical Ceiling Mount No Yes ...

Page 88: ...2 3 How to Install 2 19 2 Installation Precautions for horizontal mounting using reversing brackets Prepare a support block for the body as shown in the figure below Support block ...

Page 89: ...endicularity etc is required use one of the reamed holes for this adjustment Do not fix the perpendicular biplanes of the front plate and the table at the same time The perpendicularity of the mounted parts may affect the center of the actuator axis which can lead to operational failures of the table Refer to the figure below for the screw in depth and reamed hole depth Model Name A B C D E F G H ...

Page 90: ...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 91: ...Connecting with the Controller 3 1 Connecting with the Controller 3 1 ROBO Cylinder Chapter ...

Page 92: ... hose etc having a large radius Do not cut and reconnect the dedicated connection cable for extension or shorten the cable Do not pull on the dedicated connection cable or bend it forcibly The actuator cable coming out of the motor unit is not meant to be bent Fix the cable so it would not be bent repeatedly Robot Cable r 51mm or more movable use r 46mm or more fixed use Dedicated Controller Dedic...

Page 93: ...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 94: ...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 95: ... 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 96: ...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 97: ...y timing Guideline 4 3 4 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 9 4 6 How to replace components 4 11 Belt replacement adjustment 4 11 Motor Replacement 4 16 ROBO Cylinder Chapter ...

Page 98: ...eleasing the brake make sure to check there is nothing that will interfere with moving parts within the operation range The table 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 99: ...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 100: ...igh operating rate inspect more often as needed Table type Stainless steel sheet life guideline 5 000km Inspection period External inspection Internal inspection Greasing 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 ...

Page 101: ... visual inspection Inspection items Maintenance work Is abnormal noise or vibration 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 drip...

Page 102: ...r debris found The ball screw guide may be damaged Contact IAI Has foreign matter penetrated inside Remove the foreign matter clean and inspect the interior for any damage Is the ball screw or guide grease not lubricating well Even if the grease is brown lubrication is adequate if the running surface is shiny Wipe away the old grease then replenish with new grease Is dust or foreign matter adhered...

Page 103: ...equipped with a brake For Motor Straight Type detach the motor unit once to move the table for installation and put the motor unit back on Refer to Motor Replacement Process in 4 6 How to replace components 2 Remove the ball screw cover made of resin Deform the ball screw cover toward inside to remove it 3 Check inside 4 After finishing the inspection assemble back in the reverse order Ball Screw ...

Page 104: ... 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 105: ... Application location During maintenance recommended product Default reference Ball screw Kyodo Yushi Multemp LRL No 3 Kyodo Yushi Multemp LRL No 3 Guide Caution Never use fluorine based grease Mixing with lithium based grease not only reduces the performance of the grease it may even cause damage to the actuator ...

Page 106: ...Apply the grease to ball screw directly by hand Wipe off excess grease 2 Grease the guide part With the table fully extended remove the hole cap from the table Insert the grease nozzle into the hole and apply the grease For the double block please apply the grease from two holes 3 For the ball screw apply the grease to it manually 4 Move the table several times to rub the grease Wipe off excess gr...

Page 107: ...w R1 8 Example GC 57K Yamada Corporation NZ3 NSK Model Name Amount of Grease Supply Reference TA4 0 35g TA6 0 7g TA7 1 6g Caution Supplying too much grease may increase sliding resistance and load to the motor resulting in a drop of performance Also excess grease on the ball screw may be splashed around in the ambience ...

Page 108: ...ons The timing 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 Also for the toothed belt it is recommended to set the interval of regular r...

Page 109: ...ntenance and Inspection Belt to Use IAI uses the following belt in our plant Model Belt to Use Manufacturer Name TA4R 60S2M162R Bando Chemical Industries Ltd TA6R 60S3M207GB Mitsuboshi Belting Ltd TA7R 100S3M249R Bando Chemical Industries Ltd ...

Page 110: ...otor unit affixing screw and take off the belt 3 Keep the table at the distance shown in the table below from the mechanical end Table Position Model Table Position mm TA4R TA6R and TA7R 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 111: ...n in the table 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 TA4R 20 to 25 TA6R 40 to 45 TA7R 70 to 80 Motor Unit Affixing Screw Tightening Torque Model Tightening Torque N m TA4R and TA6R 2 1 TA7R 4 1 Origin Mark Belt Motor Unit Affixing Screw Direction for Tension ...

Page 112: ... with the pulley cover affixing screws in the specified torque Pulley Cover Affixing Screw Tightening Torque Model Type of Screws Tightening Torque N m TA4R Cross Recessed Slim Head Screw SUS M3 0 4 TA6R and TA7R Cross Recessed Flat Head Screw SUS M3 0 4 Pulley Cover Pulley Cover Affixing Screw ...

Page 113: ...Type 1 Detach the motor cover affixing screws 2 Take off the end cover and motor cover 3 Move the table 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 114: ...ing Position mm Distance between Table and Mechanical End TA4C 2 TA6C 2 TA7C 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 TA4C 0 4 TA6C 0 9 TA7C 1 5 Coupling Tightening Position Distance between table and mechanical end when tight...

Page 115: ...TA4C 2 1 TA6C 2 1 TA7C 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 TA4C Hexagonal Socket Head Bolt M3 0 9 TA6C Hexagonal Socket Head Bolt M3 0 9 TA7C Hexagonal Socket Head Bolt M4 2 1 En...

Page 116: ...rsing Type 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 Belt Motor Unit Affixing Screw Motor Unit ...

Page 117: ...ce shown in the table below from the mechanical end Table Position Model Tightening Torque N m TA4R TA6R and TA7R 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 118: ...ighten the motor unit affixing screw in the tightening torque shown in the table below Tensile Force when Attaching Motor Unit Model Tension Force N TA4R 20 to 25 TA6R 40 to 45 TA7R 70 to 80 Motor Unit Affixing Screw Tightening Torque Model Tightening Torque N m TA4R and TA6R 2 1 TA7R 4 1 Direction For Tension Belt Motor Unit Affixing Screw ...

Page 119: ... with the pulley cover affixing screws in the specified torque Pulley Cover Affixing Screw Tightening Torque Model Type of Screws Tightening Torque N m TA4R Cross Recessed Slim Head Screw SUS M3 0 4 TA6R and TA7R Cross Recessed Flat Head Screw SUS M3 0 4 Pulley Cover Pulley Cover Affixing Screw ...

Page 120: ...ch is not equipped with a brake It will be dangerous as the table 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 121: ...External Dimensions 5 1 External Dimensions 5 1 RCS4 TA4C 5 1 RCS4 TA6C 5 3 RCS4 TA7C 5 5 RCS4 TA4R 5 7 RCS4 TA6R 5 9 RCS4 TA7R 5 11 ROBO Cylinder Chapter ...

Page 122: ...urface φ4H7 Reamed Depth 5 A L J Greasing Port for guide For Double Guide Block Greasing Port for guide For Single Guide Block Actuator Cable Allowable Bending Radius R50 Cable joint Connector P 13 5 B 23 5 5 19 5 19 5 Reference surface Range of Dimension S Reference surface Range of Dimension B Table attachment surface Front plate attachment surface Base seating surface 47 22 5 57 5 φ8 5 Openings...

Page 123: ... 195 5 35 5 3 8 0 4 37 3 8 192 1 7 2 0 90 390 426 257 220 5 10 5 4 10 0 4 62 3 8 217 1 8 2 1 140 440 476 307 270 5 10 5 5 12 1 6 62 4 10 267 2 0 2 3 190 490 526 357 320 5 10 5 6 14 1 6 62 5 12 317 2 1 2 4 240 540 576 407 370 5 10 5 7 16 2 8 62 6 14 367 2 3 2 6 Note L dimensions described in the table are those with no cable ejection direction option For cable ejection direction types option the di...

Page 124: ... 60 65 30 20 4 17 5 10 5 21 Q 38 5 30 K 50P 27 P 4 6 G 100P C 32 50 57 Z Z P φ8 5 Openings Greasing Port for guide Ball Screw Cover Removable Apply directly to the ball screw Table Base Through N M5 Screwing Depth 10 or less φ5H7 Reamed Depth 5 5 from table attachment surface Greasing Port for guide For Double Guide Block Greasing Port for guide For Single Guide Block 50 φ4 Hole Oblong Hole Actuat...

Page 125: ...267 13 5 12 0 4 56 4 10 265 3 3 3 6 120 476 5 512 5 330 5 292 38 5 12 0 4 81 4 10 290 3 4 3 7 170 526 5 562 5 380 5 342 38 6 14 1 6 81 5 12 340 3 7 4 0 220 576 5 612 5 430 5 392 38 7 16 1 6 81 6 14 390 4 1 4 4 270 626 5 662 5 480 5 442 38 8 18 2 8 81 7 16 440 4 4 4 7 320 676 5 712 5 530 5 492 38 9 20 2 8 81 8 18 490 4 7 5 0 Note L dimensions described in the table are those with no cable ejection ...

Page 126: ...to grease φ8 5 Openings Greasing Port for guide Ball Screw Cover Removable Apply directly to the ball screw Table Base Through N M6 Screwing Depth 11 or less φ6H7 Reamed Depth 6 from table attachment surface Greasing Port for guide For Double Guide Block Greasing Port for guide For Single Guide Block 50 φ6 Hole Oblong Hole Actuator Cable Allowable Bending Radius R50 Cable joint Connector φ6H7 Ream...

Page 127: ...314 5 7 6 2 140 566 601 416 369 64 6 14 1 6 103 5 12 364 6 2 6 7 190 616 651 466 419 64 7 16 1 6 103 6 14 414 6 6 7 1 240 666 701 516 469 64 8 18 2 8 103 7 16 464 7 1 7 6 290 716 751 566 519 64 9 20 2 8 103 8 18 514 7 5 8 0 340 766 801 616 569 64 10 22 3 10 103 9 20 564 8 0 8 5 390 816 851 666 619 64 11 24 3 10 103 10 22 614 8 4 8 9 Note L dimensions described in the table are those with no cable ...

Page 128: ...crew Cover Removable Apply directly to the ball screw Table Base Through N M4 Screwing Depth 6 or less φ4H7 Reamed Depth 4 5 from table attachment surface 50 φ4 Hole Oblong Hole Greasing Port for guide For Double Guide Block Greasing Port for guide For Single Guide Block 4 M4 Screwing Depth 8 or less Maintain it more than 100 Cable joint Connector Actuator Cable Allowable Bending Radius R50 159 W ...

Page 129: ...193 170 5 10 5 3 8 0 4 62 2 6 20 5 9 5 167 1 9 2 2 65 256 5 218 195 5 35 5 3 8 0 4 37 3 8 45 5 15 5 192 2 0 2 3 90 281 5 243 220 5 10 5 4 10 0 4 62 3 8 70 5 40 5 217 2 1 2 4 140 331 5 293 270 5 10 5 5 12 1 6 62 4 10 120 5 90 5 267 2 3 2 6 190 381 5 343 320 5 10 5 6 14 1 6 62 5 12 170 5 140 5 317 2 4 2 7 240 431 5 393 370 5 10 5 7 16 2 8 62 6 14 220 5 190 5 367 2 6 2 9 ...

Page 130: ...ble is fully extended Position to grease φ8 5 Openings Greasing Port for guide Ball Screw Cover Removable Apply directly to the ball screw Table Base Through N M5 Screwing Depth 10 or less φ5H7 Reamed Depth 5 5 from table attachment surface 50 φ5 Hole Oblong Hole Greasing Port for guide For Double Guide Block Greasing Port for guide For Single Guide Block φ9 5 φ6 Section Z Z Detail of T Slot and C...

Page 131: ...5 3 3 3 6 70 307 5 266 242 38 4 10 0 4 81 3 8 71 35 240 3 4 3 7 95 332 5 291 267 13 5 12 0 4 56 4 10 96 60 265 3 6 3 9 120 357 5 316 292 38 5 12 0 4 81 4 10 121 85 290 3 8 4 1 170 407 5 366 342 38 6 14 1 6 81 5 12 171 135 340 4 1 4 3 220 457 5 416 392 38 7 16 1 6 81 6 14 221 185 390 4 4 4 7 270 507 5 466 442 38 8 18 2 8 81 7 16 271 235 440 4 8 5 1 320 557 5 516 492 38 9 20 2 8 81 8 18 321 285 490 ...

Page 132: ...Ball Screw Cover Removable Apply directly to the ball screw Table Base Through N M6 Screwing Depth 11 or less φ6H7 Reamed Depth 6 from table attachment surface 50 φ6 Hole Oblong Hole Greasing Port for guide For Double Guide Block Greasing Port for guide For Single Guide Block φ11 φ7 Section Z Z Detail of T Slot and Counterbore for Base Attachment Cable joint Connector Maintain it more than 100 Act...

Page 133: ...12 0 4 78 4 10 104 82 289 6 3 6 8 90 398 348 319 64 5 12 0 4 103 4 10 129 107 314 6 5 7 0 140 448 398 369 64 6 14 1 6 103 5 12 179 157 364 7 0 7 5 190 498 448 419 64 7 16 1 6 103 6 14 229 207 414 7 4 7 9 240 548 498 469 64 8 18 2 8 103 7 16 279 257 464 7 9 8 4 290 598 548 519 64 9 20 2 8 103 8 18 329 307 514 8 3 8 8 340 648 598 569 64 10 22 3 10 103 9 20 379 357 564 8 8 9 3 390 698 648 619 64 11 2...

Page 134: ...5 13 5 External Dimensions ...

Page 135: ...Life 6 1 Concept of life 6 1 ROBO Cylinder Chapter ...

Page 136: ...6 1 Concept of life 6 1 6 Life 6 1 Concept of life The life is assumed under condition of operation with maximum transported mass and maximum acceleration deceleration and it is 5 000km reference ...

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: ...6 International Standard Compliance Intro 10 L Life 6 1 M Mass RCS4 TA4C 5 1 RCS4 TA6C 5 3 RCS4 TA7C 5 5 RCS4 TA4R 5 7 RCS4 TA6R 5 9 RCS4 TA7R 5 11 Max Speed 1 3 1 4 1 6 1 10 1 12 1 16 1 18 1 22 1 24 1 28 1 30 1 34 1 36 Max Payload 1 3 1 4 1 6 1 10 1 12 1 16 1 18 1 22 1 24 1 28 1 30 1 34 1 36 Moment Load Displacement Amount 1 40 to 42 Motor Cable 1 47 Motor Replacement 4 16 to 23 Motor Reversed Di...

Page 143: ...8 1 Index 8 2 8 Appendix W Warranty 7 1 to 2 With brake Model Code B 1 45 ...

Page 144: ...2 Revision history 8 3 8 Appendix 8 2 Revision history Revision date Revised content 2017 10 2018 04 First Edition 1B Edition Pg 2 5 Installation posture Horizontally Oriented Wall Mount and Ceiling Mount ...

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 3...

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