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Operating Manual

IAI ROBO Cylinder RGD3C, Operating Manual

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14

Mating

material

is

steel

Mating material is aluminum

Screw size

M6

M6

Tightening torque

12.3 N-m

5.4 N-m

Reversing type

Mounting hole

Affixing nut

Flange

Mounting hole

Affixing nut

Flange

Reversing type

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Summary of Contents for ROBO Cylinder RGD3C

Page 1: ...Type Built in Type RA3D RGS3D RGD3D RA4D RGS4D and RGD4D Motor Reversing Type RA3R RGS3R RGD3R RA4R RGS4R and RGD4R Rod Type RCA Actuators Motor Straight Type Coupling Type RA3C and RA4C Motor Straig...

Page 2: ...gh failure to do so will not result in injury It should be noted that the instructions under the Caution and Note headings may also lead to serious consequences if unheeded depending on the situation...

Page 3: ...heck the operation area of the equipment to ensure safety Supplying power to the product carelessly may cause electric shock or injury due to contact with the moving parts z Wire the product correctly...

Page 4: ...es if the product is used in any of the following places If proper measures are not taken the product may malfunction 1 Place where large current or strong magnetic field generates 2 Place where arc d...

Page 5: ...circuit that will cause the work to drop in case of power failure Configure a control circuit that will prevent the table or work from dropping when the power to the machine is cut off or an emergenc...

Page 6: ...the information carefully to connect the cables properly 1 Do not let the cable flex at a single point 2 Do not let the cable bend kink or twist 3 Do not pull the cable with a strong force 4 Do not l...

Page 7: ...e cable will not become too taut when bent z Do not cause the cables to occupy more than 60 of the space in the cable bearer z Do not lay signal lines together with circuit lines that create a strong...

Page 8: ...2 Handling the Actuator Assembly 10 5 2 1 Condition of Shipment from IAI Assembled 10 5 2 2 Handling after Assembly with Peripheral Equipment 10 6 Operating and Storage Environment 11 6 1 Operating E...

Page 9: ...ing Type RA3R RA4R Types 32 14 6 Replacing the Motor 37 14 6 1 Replacing the Motor of the Motor Straight Type Coupling Type RA3C RA4C Types 37 14 6 2 Replacing the Motor of the Motor Reversing Type RA...

Page 10: ......

Page 11: ...the unit when it is in operation or when the power is ON since this is dangerous 2 2 Maintenance and Inspection When doing maintenance and inspection work always shut down the controller power first W...

Page 12: ...wear out with use stainless sheet etc Unit seems to be noisy or similar impressions that do not affect machinery performance Damage resulting from improper handling by the user or lack of proper main...

Page 13: ...ight Type Coupling Type No Guide z RCA RA3C RCA RA4C Caution The cable directly connected to the actuator is not robot cable even when ordered with robot cable option When designing please be sure not...

Page 14: ...the actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the conn...

Page 15: ...not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables Rod...

Page 16: ...actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connectin...

Page 17: ...actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connectin...

Page 18: ...tuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting...

Page 19: ...sition Do not climb on top of the shipping box Do not place heavy objects on top of the shipping box 5 1 2 Handling the Actuator After It is Unpacked Lift the actuator up by the base to remove it from...

Page 20: ...as not to apply impact to the assembly or cause it to bounce After unpacking handle the actuator assembly correctly by observing the instructions given below 5 2 2 Handling after Assembly with Periphe...

Page 21: ...ich an operator can work without protective gear RCA Work space needed for maintenance inspection Motor straight type Motor reversing type If you are using the dustproof splash proof type RCAW type co...

Page 22: ...uator using screws set on the rod or head side of the actuator z Applicable models All models Type MA MB RA3 type M26 x 1 5 M35 x 1 5 RA4 type M30 x 1 5 M40 x 1 5 Straight type Rod cover Cylinder tube...

Page 23: ...lling the actuator Use this flange if necessary z Applicable models All models Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torque 12 3 N m 5 4 N m Straight type Mo...

Page 24: ...Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torque 12 3 N m 5 4 N m Reversing type Mounting hole Affixing nut Flange Mounting hole Affixing nut Flange Reversing ty...

Page 25: ...6 M6 Tightening torque 12 3 N m 5 4 N m Caution Affix the actuator using two feet optional one in the front and the other in the back If affixed using only one foot in the front or back the actuator m...

Page 26: ...unnion if necessary z Applicable models RA3C RA3D RA4C RA4D Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torque 12 3 N m 5 4 N m Straight type Mounting hole Affixin...

Page 27: ...stalled horizontally using any of the aforementioned means add a guide or other appropriate mechanism to prevent the rod from receiving the actuator weight Caution The optional clevis and trunnion are...

Page 28: ...lt the bush may wear quickly or internal mechanical parts may be damaged If the actuator is installed horizontally using any of the aforementioned means add a guide or other appropriate mechanism to p...

Page 29: ...is available for installing the actuator Use this rear mounting bracket if necessary z Applicable models Motor reversing type RCA RA3R RCA RA4R Type Tapped hole diameter Tapped depth Tightening torqu...

Page 30: ...acket for installing an actuator of the double guide type z Applicable models Double guide type RGD3 RGD4 Type Tapped hole diameter Tapped depth Tightening torque RA3 type M5 8 mm 3 4 N m RA4 type M5...

Page 31: ...acket for installing an actuator of the single guide type z Applicable models Double guide type RGD3 RGD4 Type Tapped hole diameter Tapped depth Tightening torque RA3 type M5 8 mm 3 4 N m RA4 type M5...

Page 32: ...t the load on the cable Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length The cables supplied with the actuator offer excellen...

Page 33: ...5 mm on the intake exhaust port and guide the air tube to a location where the external environment assures the tube will not come in contact with water Applicable tube Shown below is a representative...

Page 34: ...If the maximum speed limit is exceeded noise may increase or vibration may occur due to resonance of the ball screw shaft in which case the service life of the actuator may be significantly reduced If...

Page 35: ...the actuator in the moving direction of the load Do not allow the rod slide shaft to receive rotational torque Doing so may damage the internal parts Tighten the nut at the tip of the rod while secure...

Page 36: ...e actuator has a rated acceleration deceleration of 0 3 G and is combined with a controller of power saving specification with lower peak current Blank Conventional specification The actuator has a ra...

Page 37: ...2 Power saving specification ACON C 20ILA NP 2 0 3 Conventional specification ACON C 20I NP 2 0 Standard specification high acceleration deceleration option Power saving option Actuator Rated Maximum...

Page 38: ...eafter 1 Apply grease to the sliding surface of the rod at the startup check if grease has been consumed or every three months For the RCAW dustproof splash proof type apply grease when the bellows is...

Page 39: ...licable grease Kyodo Yushi Multemp LRL3 Warning Never use any fluorine based grease It will cause a chemical reaction when mixed with a lithium based grease and may cause damage to the actuator 2 How...

Page 40: ...to withstand several millions of flexing loads As a practical guideline replace the reduction belt when any of the conditions listed below is observed The teeth and end faces of the belt have worn sig...

Page 41: ...r unit and pull the string to the specified tension using a tension gauge In this condition uniformly tighten the motor unit affixing bolts Recommended tightening torque of adjustment bolts 162 N cm 1...

Page 42: ...mechanical end In this position loosen the motor unit affixing bolts and replace the belt 2 Restore the home position Affix the rod at a position 2 mm from the mechanical end on the home side pass the...

Page 43: ...sition Warning If the actuator is installed vertically move it after turning on the controller power and forcibly releasing the brake At this time beware of danger as the actuator may drop suddenly Al...

Page 44: ...st it to achieve proper alignment The ball screw side should be at a position where the rod projects 2 mm from the mechanical end After the check attach a new belt while holding the pulleys on both si...

Page 45: ...gauge to the specified tension In this condition uniformly tighten the motor unit affixing bolts Recommended tightening torque for adjustment bolts 162 N cm 16 5 kgf cm Tension 2 5 kgf Motor unit aff...

Page 46: ...te reset must be performed Check for deviation from the initial home position If there is a deviation adjust parameter No 22 Home offset if you are using an ACON controller If you are using an ASEL co...

Page 47: ...2 mm from the mechanical end In this position replace the motor 2 Perform homing using a PC or teaching pendant and check for deviation from the initial home position If there is a deviation adjust t...

Page 48: ...the brake At this time beware of danger as the actuator may drop suddenly Always provide a support to brace the actuator hand to prevent sudden drop so as not to pinch fingers or damage the load 2 Us...

Page 49: ...countermark on the cylinder tube at a position corresponding to the tab on the motor unit so that the motor unit and cylinder can be aligned in the correct position later on 4 Apply grease on the act...

Page 50: ...at of the actuator coupling adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end Apply countermarks to identify the current motor position phase Z position and coup...

Page 51: ...ench of 2 mm across flats Similarly turn the coupling and motor shaft simultaneously until the other screw is seen through the hole and tighten the setscrew Coupling setscrew hole Turn the coupling an...

Page 52: ...onfirm that the orientation of the actuator coupling adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end corresponds to the position of the coupling in the replace...

Page 53: ...is of absolute encoder specification an absolute reset must be performed Check for deviation from the initial home position If there is a deviation adjust parameter No 22 Home offset if you are using...

Page 54: ...e rod at a position 2 mm from the mechanical end on the home side pass the belt and adjust the belt to the specified tension 3 Perform homing using a PC or teaching pendant and check for deviation fro...

Page 55: ...olts using an Allen wrench of 2 5 mm across flats Slide the motor and loosen and remove the belt After the belt has been removed remove the motor unit affixing bolts Motor unit affixing bolts Use an A...

Page 56: ...46 Replacement motor 3 Take out the motor 4 Install the replacement motor Loosely tighten the motor unit affixing bolts...

Page 57: ...r may drop suddenly Always provide a support to brace the actuator hand to prevent sudden drop so as not to pinch fingers or damage the load 6 Check the following points before restoring the home posi...

Page 58: ...len wrench of 2 5 mm across flats 7 Adjust the belt tension Pass a looped strong string or long tie band around the motor cover and pull it with a tension gauge to the specified tension In this condit...

Page 59: ...te reset must be performed Check for deviation from the initial home position If there is a deviation adjust parameter No 22 Home offset if you are using an ACON controller If you are using an ASEL co...

Page 60: ...bellows unit RA3 JB RA3 stroke RA4 JB RA4 stroke Phillips screwdriver Torque driver Grease Kyodo Yushi Multemp LRL3 Procedure 1 Loosen the front and rear metal fittings affixing the bellows and remove...

Page 61: ...51 Bellows Install a metal fitting on the bellows 2 Apply grease evenly over the entire cylinder surface Apply grease evenly over the entire surface 3 Install a metal fitting on the bellows...

Page 62: ...e replacement new bellows and tighten the screws of the front and rear metal fittings affixing the bellows Tighten the screws to the specified torque using a torque driver Installation of bellows Tigh...

Page 63: ...ontroller end Actuator end 15 Cable Drawings 1 Motor cable Model CB ACS MA Wire Color Signal No No Signal Color Wire Red U 1 1 U Red White V 2 2 V White AWG22 crimped Black W 3 3 W Black AWG22 crimped...

Page 64: ...ge Green Green Purple Purple Gray Red Black Ground Black Gray Red White blue in the wire color field indicates the band color insulator color Ground LS LS BK BK A A B B SD Z SD Z BAT BAT VCC GND FG No...

Page 65: ...MEMO 55...

Page 66: ...MEMO 56...

Page 67: ......

Page 68: ...12 Atlanta Office 1220 E Kenneston Circle Marietta GA 30066 TEL 678 354 9470 FAX 678 354 9471 Website www intelligentactuator com Ober der R th 4 D 65824 Schwalbach am Taunus Germany TEL 06196 88950 F...

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