ROBO Cylinder IAI America RCA-SA4C Operating Manual Download

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1. Checking the Product

If based on a standard configuration, this product consists of the items listed below.

Caution: Check the packed items against the packing specification. Should you find a wrong model number

or any missing item, please contact your IAI dealer or IAI.

1.1 Component s

No. Name

Model

number Remarks

1 Actuator

Refer to “How to Read the Model
Nameplate” and “How to Read the Model
Number.”

Accessories

2 Motor/Encoder

Cable

Home Marking Seals

Quick Step Guide

Operation Manual (CD)

6 Safety

Guide

*1 The motor cable and encoder cable that come with the actuator vary depending on the controller used. [Refer

to 10, “Motor/Encoder Cables.”]

1.2 Operation Manuals for Controllers Supported by This Product

No. Name Control

No.

Operation Manual for ASEL Controller

ME0165

Operation Manual for ACON-C/CG/CF Controller

ME0176

Operation Manual for ACON-CY Controller

ME0167

Operation Manual for ACON-SE Controller

ME0171

Operation Manual for ACON-PL/PO Controller

ME0166

Operation Manual for MEC Controller

ME0245

Operation Manual for ASEP/PSEP Controller

ME0216

Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW

ME0154

Operation Manual for PC Software RCM-101-MW/RCM-101-USB

ME0155

Operation Manual for MEC PC Software

ME0248

Operation Manual for Teaching Pendant SEL-T/TD

ME0183

Operation Manual for Teaching Pendant CON-T/TG

ME0178

Operation Manual for Touch Panel Teaching Pendant CON-PT/PD/PG

ME0227

Operation Manual for Touch Panel Teaching Pendant SEP-PT

ME0217

Operation Manual for Simple Teaching Pendant RCM-E

ME0174

Operation Manual for Data Setter RCM-P

ME0175

Operation Manual for Touch Panel Display RCM-PM-01

ME0182

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Summary of Contents for IAI America RCA-SA4C

Page 1: ...cess underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In stock Ready to ship TAR certified secure asset solutions Expert team I Trust guarantee I 100 satisfaction All trademarks brand names and brands appearing herein are the property of their respect...

Page 2: ...4D SS5D SS6D Standard type Motor Reversing Type RCA SA4R SA5R SA6R Motor Straight Type Coupling Type RCACR SA4C SA5C SA6C Cleanroom type Motor Straight Type Built in Type RCACR SA5D SA6D IAI America Inc Eighth Edition Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 4: ...t place so that whoever is handling this product can reference it quickly when necessary Important This Operation Manual is original The product cannot be operated in any way unless expressly specified in this Operation Manual IAI shall assume no responsibility for the outcome of any operation not specified herein Information contained in this Operation Manual is subject to change without notice f...

Page 5: ...sections of the Operating Manual is for actuators of standard specification Using the grease for the standard actuators on the cleanroom actuators may generate dust C Grease by Kuroda Precision Industries is applied to the cleanroom actuators before shipment from IAI Recommended grease C Grease by Kuroda Precision Industries Ltd Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SO...

Page 6: ...ompliance with the CE Marking is required please follow Overseas Standards Compliance Manual ME0287 that is provided separately Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 7: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 8: ... Using the Mounting Holes on Top of the Base 31 5 3 3 Using Foot Bases Optional 32 5 4 Installation Surface 33 5 4 1 Using Side Faces of the Base as Reference Planes 33 5 4 2 Using Side Faces of the Foot Base as Reference Planes 34 5 5 Clamp Screws 35 5 6 Installing the Load on the Slider 36 5 6 1 Using the Slider 36 5 6 2 Using a Sub Slider Optional Optional for SA4 Type 37 5 7 Cleanroom Specific...

Page 9: ...terior 57 11 3 Cleaning 58 11 4 Adjusting the Stainless Sheet 58 11 5 Interior Inspection 59 11 6 Internal Cleaning 60 11 7 Grease Supply 60 11 7 1 Applicable Grease 60 11 7 2 How to Apply Grease 62 11 8 Replacing Adjusting the Stainless Sheet 63 11 9 Reduction Belt Motor Reversing Type 68 11 9 1 Inspecting the Belt 68 11 9 2 Applicable Belt 68 11 9 3 Adjusting the Belt Tension 68 11 9 4 Replacing...

Page 10: ...2 1 13 RCACR SA4R 108 12 1 14 RCACR SA5C 109 12 1 15 RCACR SA6C 110 12 1 16 RCACR SA5D 111 12 1 17 RCACR SA6D 112 13 Warranty 113 Change History 115 13 1 Warranty Period 113 13 5 Conditions of Conformance with Applicable Standards Regulations Etc 13 3 Honoring Warranty 113 13 4 Limited Liability 113 13 2 Scope of Warranty 113 and Applications 114 13 6 Other Items Excluded from Warranty 114 Artisan...

Page 11: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 12: ...ternational Standards ISO IEC The safety standards that apply to industrial robots are as follows Type C standards individual safety standards ISO10218 Manipulating industrial robots Safety JIS B 8433 Manipulating industrial robots Safety Also Japanese laws regulate the safety of industrial robots as follows Industrial Safety and Health Law Article 59 Workers engaged in dangerous or harmful operat...

Page 13: ... work is in progress Article 150 3 Provision of special education Article 36 31 During teaching etc Not cut off Checkup etc before commencement of work Article 151 To be performed after stopping the operation Article 150 5 Cut off Sign etc indicating that work is in progress Article 150 5 Preparation of work rules Article 150 5 Measures to enable immediate stopping of operation Article 150 5 Sign ...

Page 14: ...00 mm Among the products featured in our catalogs the following models are classified as industrial robots 1 Single axis ROBO Cylinders RCS2 RCS2CR SS8 RCS3 RCS3CR RCS3P RCS3PCR whose stroke exceeds 300 mm 2 Single axis robots The following models whose stroke exceeds 300 mm and whose motor capacity also exceeds 80 W ISA ISPA ISDA ISPDA ISWA ISPWA IF FS NS 3 Linear servo actuators All models whose...

Page 15: ...lace where the product receives direct vibration or impact Do not use this product outside the specified ranges Doing so may significantly shorten the life of the product or result in product failure or facility stoppage 2 Transportation When transporting the product exercise due caution not to bump or drop the product Use appropriate means for transportation Do not step on the package Do not plac...

Page 16: ... not be disconnected or come loose Failing to do so may result in fire electric shock or product malfunction Do not cut and reconnect the cables of the product to extend or shorten the cables Doing so may result in fire or product malfunction 3 Grounding Be sure to provide class D former class 3 grounding for the controller Grounding is required to prevent electric shock and electrostatic charges ...

Page 17: ...careful not to let the actuator drop due to its dead weight causing pinched hands or damaged work part etc Safety fences Indicate the movement range if safety fences are not provided 6 Confirmation operation After teaching or programming carry out step by step confirmation operation before switching to automatic operation When carrying out confirmation operation inside the safety fences follow the...

Page 18: ... appropriate grease for the guides and ball screws by checking the operation manual for each model Do not perform a withstand voltage test Conducting this test may result in product damage When releasing the brake of the vertically installed actuator be careful not to let the actuator drop due to its dead weight causing pinched hands or damaged work part etc Safety fences Indicate the movement ran...

Page 19: ...nger leading to death or serious injury Danger Warning Failure to observe the instruction may result in death or serious injury Warning Caution Failure to observe the instruction may result in injury or property damage Caution Note The user should take heed of this information to ensure the proper use of the product although failure to do so will not result in injury Note Artisan Technology Group ...

Page 20: ...xceeds the allowable value vibration or noise may occur 4 Grease film may run out after back and forth operations over a short distance Grease film may run out if the actuator is moved back and forth continuously over a distance of 30 mm or less As a guide perform a back and forth operation five times or over a distance of 50 mm or more after a back and forth operation over such short distance has...

Page 21: ...Acceleration deceleration during operation Note For the maximum payload capacity at maximum acceleration and the maximum acceleration deceleration refer to 2 Performance 2 Calculate the acceleration deceleration time ratio tod using the formula below Acceleration deceleration time ratio tod Acceleration time sec Deceleration time sec Acceleration mm s 2 Acceleration G x 9 800 mm s 2 Deceleration m...

Page 22: ...til the switch dog hits the micro switch the switch may be damaged If the slider must be moved manually toward the mechanical end for any reason such as replacing the motor do so slowly To change the direction of home on the shipped actuator such as when the actuator was shipped with its home set on the standard side but a need has arisen subsequently such as a specification change to move the hom...

Page 23: ...he actuator up by the base to remove it from the packing When carrying the actuator take care not to bump it Take particular care with the front cover and motor cover Do not exert excessive force on any part of the actuator Be careful not to cause the cables to receive a tensile force Note on handling the stainless sheet The stainless sheet is designed very thin thickness 0 1 mm in order to ensure...

Page 24: ...y or cause it to bounce After unpacking handle the actuator assembly correctly by observing the instructions given below 8 2 2 Handling after Assembly with Peripheral Equipment When transporting the actuators that have been assembled with peripheral equipment either at IAI or on your site observe the instructions given below Secure each slider to prevent unexpected movement during transportation I...

Page 25: ...D SA6D SS4D SS5D SS6D Caution The cable directly connected to the actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables Stainless Sheet Side Cover Right Side Opposite Motor End Motor End Base Motor Cover Slider Left Side Front Cover Bearing Hous...

Page 26: ...ion When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables Stainless Sheet Side Cover Right Side Opposite Motor End Motor End Base Motor Cover Slider Left Side Front Cover Bearing Housing Actuator Cable Plug Vacuum Tube Slider Cover Rear Cover Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURC...

Page 27: ...sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables Stainless Sheet Side Cover Right Side Opposite Motor End Motor End Base Motor Cover Slider Left Side Front Cover Bearing Housing Actuator Cable Pulley Cover Slider Cover Rear Cover Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 28: ...on Manual for ACON C CG CF Controller ME0176 3 Operation Manual for ACON CY Controller ME0167 4 Operation Manual for ACON SE Controller ME0171 5 Operation Manual for ACON PL PO Controller ME0166 6 Operation Manual for MEC Controller ME0245 7 Operation Manual for ASEP PSEP Controller ME0216 8 Operation Manual for PC Software IA 101 X MW IA 101 X USBMW ME0154 9 Operation Manual for PC Software RCM 1...

Page 29: ...from end BL Brake Wirings taken out from left BR Brake Wirings taken out from right FT Foot bracket HA High acceleration deceleration specification LA Power saving type HS Home check sensor NM Reversed home specification SR Slider roller specification SS Slider spacer ML Motor reversing at left MR Motor reversing at right VR Suction joint on opposite side Cable length N None P 1 m S 3 m M 5 m X Le...

Page 30: ...on to be set should correspond to the highest speed and largest acceleration deceleration among those of the combined axes In particular exercise caution because setting an acceleration deceleration exceeding the rated acceleration deceleration may cause the actuator to suffer creep or the coupling to slip Stroke mm Type Lead mm 50 100 150 200 250 300 350 400 450 500 550 600 2 5 165 5 330 SA4 10 6...

Page 31: ...3 G Installed vertically 0 2 G 3 0 5 High acceleration deceleration Type Maximum payload capacity kg Type Motor output W Lead mm Maximum acceleration G Horizontal Vertical 5 1 0 G 6 2 5 RCA SA4C 20 W 10 1 0 G 4 1 6 0 8 G 8 2 12 0 8 G 4 1 RCA SA5C 20 W 20 Installed horizontally 0 8 G Installed vertically 0 2 G 2 0 5 6 1 0 G 12 3 12 1 0 G 6 1 5 RCA SA6C 30 W 20 Installed horizontally 0 8 G Installed...

Page 32: ... 1 Driving method 2 5 5 SA4 SS4 20 W 10 Ball screw 8 mm Rolled C10 3 6 SA5 SS5 20 W 12 Ball screw 10 mm Rolled C10 SA5C 20 W 20 Ball screw 10 mm Rolled C10 3 6 SA6 SS6 30 W 12 Ball screw 10 mm Rolled C10 SA6C 30 W 20 800 Ball screw 10 mm Rolled C10 1 Number of pulses input to the controller 16 384 pulses are input when an absolute actuator is used with an ASEL controller Artisan Technology Group Q...

Page 33: ...20 mm SA5C SA6C Lead 20 mm Positioning repeatability 1 0 02 mm 0 03 mm Backlash 1 0 1 mm or less 0 1 mm or less Base Material Aluminum with special alumite treatment 1 Default value Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 34: ...gf m Allowable static moments Model Ma Mb Mc SA4 SS4 6 9 N m 0 7 kgf m 9 9 N m 1 0 kgf m 17 0 N m 1 73 kgf m SA5 SS5 18 6 N m 1 9 kgf m 26 6 N m 2 71 kgf m 47 5 N m 4 85 kgf m SA6 SS6 38 3 N m 3 91 kgf m 54 7 N m 5 58 kgf m 81 0 N m 8 27 kgf m Allowable overhang lengths Model Ma Mb Mc SA4 SS4 120 mm or less 120 mm or less 120 mm or less SA5 SS5 150 mm or less 150 mm or less 150 mm or less SA6 SS6 ...

Page 35: ...ections shift the reference position by L mm from the top face of the slider as shown below L SA4 SS4 31 2 mm SA5 SS5 39 mm SA6 SS6 40 mm Reference position L Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 36: ... top face shall be 0 1 mm m or less at any position over the stroke 2 The traveling parallelism shall be 0 05 mm m or less after the actuator has been installed secured on a flat smooth surface 1 Condition The above values have been calculated at 20ºC 1 Parallelism 0 05 mm m or less Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 37: ...erating conditions of these equipment Also note that guides are generally designed with a sufficient life against radial loads Moment loads that are applied at positions away from the guide center are most damaging to guides The traveling life is calculated by assuming that the actuator travels 5 000 km while receiving the allowable load moment based on a load coefficient of 1 2 For the allowable ...

Page 38: ...ent should be one in which an operator can work without protective gear Work space needed for maintenance inspection Motor straight type Motor reversing type 4 2 S torage Preservation Environment The storage preservation environment should be similar to the operating environment In addition you must take precautions against condensation if the unit is to be stored preserved for a long period of ti...

Page 39: ...ng on the surrounding environment especially high temperature caused by the grease being separated and the base oil flowing into the motor unit Ceiling mount Ceiling mount installation Sideway installation Vertical installation Horizontal installation 2 Can be installed sideways or ceiling mount but the actuators must be checked daily If the actuator is installed sideways or ceiling mount the stai...

Page 40: ... paying attention not to drop tools and work parts onto the sheet 3 Do not allow powder dust or iron powder to generate around the stainless sheet If generation of powder dust iron powder cannot be fully prevented wipe the stainless sheet after the operation to remove all particles attached to the sheet If the actuator is operated with the stainless sheet carrying foreign particles the particles m...

Page 41: ...Be careful not to let the ends of bolts project from the holes If necessary use the additional reamed holes that are provided for positioning purpose Two reamed holes are provided one on the motor side and the other on the counter motor side One slot is provided on the counter motor side Type Tap size Tap depth Reamed hole Slot SA4C D M3 5 mm 3H7 depth 5 mm or less A 3H7 B 4 depth 5 mm or less SA5...

Page 42: ...ng holes are not provided If any model other than those specified in 1 and 2 longer stroke is installed using the mounting holes alone the base may deform and the slider may slide abnormally generate noise or present other problems As for mounting bolts use hexagon socket head bolts conforming to the applicable specification in the table below in accordance with the machine frame material If neces...

Page 43: ...chine frame material If necessary the reamed holes slot can be used as positioning pin holes Refer to 5 3 1 The depth of reamed holes slot must conform to dimension A Dimension A considers the foot base thickness Type Mating material is steel Mating material is aluminum Flat washer Dimension A SA4 M4 length 8 mm or more M4 length 12 mm or more Nominal diameter 4 12 mm SA5 M4 length 8 mm or more M4...

Page 44: ...ider travel When precision is required use these surfaces as the reference planes for mounting Caution As shown above the side faces of the base provide the reference planes for slider travel When precision is required use these surfaces as the reference planes for mounting When using the base as the reference planes for mounting the actuator to the machine frame follow the machining dimensions sh...

Page 45: ...ot base provide the reference planes for slider travel When precision is required use these surfaces as the reference planes for mounting Type Dimension A SA4 9 5 mm SA5 11 mm SA6 12 mm Foot base Rreference plane side face of the base Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 46: ...bolts that comes with the actuator if the bolt is M8 or larger This is unnecessary for M6 or smaller bolts Do not use a common spring washer The recommended screw torque is given below Screw Torque Screw nominal diameter When the bolt seating surface is steel When the bolt seating surface is aluminum M3 1 5 N m 0 15 kgf m 0 8 N m 0 08 kgf m M4 3 6 N m 0 38 kgf m 1 8 N m 0 23 kgf m M5 7 3 N m 0 77 ...

Page 47: ...ths of tapped holes and reamed holes on slider Model Tap size Depth of thread A B C Hole size SA4 M3 7 mm 24 mm 16 mm 20 mm 3 H7 depth 5 mm SA5 M4 9 mm 30 mm 19 mm 26 mm 4 H7 depth 6 mm SA6 M5 9 mm 50 mm 32 mm 31 mm 5 H7 depth 6 mm SS4 M3 5 mm 24 mm 20 mm SS5 M4 5 mm 30 mm 26 mm SS6 M5 6 mm 50 mm 32 mm 31 mm 5 H7 depth 6 mm or less Caution When installing the load do not let adhesives paints or ot...

Page 48: ...r the SA4 type a sub slider is available as an option The figure below shows the positions of load mounting holes in actuators with a sub slider 2 3H7 depth 5 4 M3 depth 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 49: ...wer ejector etc to suction at an applicable flow rate as specified below Lead Recommended suction rate 2 5 mm 3 mm 15 NI min 5 mm 6 mm 30 NI min 10 mm 12 mm 50 NI min 20 mm 80 NI min 5 7 2 Suction Joint Remove the plug from either quick joint and insert an air tube to suction air from either the motor side or counter motor side Remember to cover the unused joint with a plug Plug Quick joint Quick ...

Page 50: ... ensure a large wiring radius so as to reduce the load received by the cable Do not cut to extend or shorten the cable or reconnect the cut end The standard cable has excellent flexibility but it is not a robot cable If the cable is to be stored in a movable wiring duct such as a cable track use a robot cable If you wish to change the cable please contact IAI Artisan Technology Group Quality Instr...

Page 51: ...cable CB ACS MA Encoder cable CB ACS PA Encoder robot cable CB ACS PA RB represents the cable length A desired length can be specified up to 20 m Example 080 8 m Dedicated cable for connecting the RCA RCARA with a dedicated controller r 68 mm or more movable r 34 mm or more fixed Dedicated controller AMEC ASEP Dedicated cable Motor encoder cable CB ASEP MPA represents the cable length A desired le...

Page 52: ...reduce the load on the cable by allowing it to deflect only by the weight of the cable or wire it in a self standing cable hose etc having a large radius Prevent the cable from bending at the same point Do not let the cable bend kink or twist Do not pull the cable with a strong force Do not let the cable receive a turning force at a single point Do not pinch drop a heavy object onto or cut the cab...

Page 53: ...the cables to occupy more than 60 of the space in the cable track Warning Always turn off the controller power before connecting disconnecting cables If cables are connected disconnected while the power is still supplied the actuator may malfunction and a serious injury or equipment damage may occur Loose connectors may cause the actuator to malfunction and create a dangerous situation Be sure to ...

Page 54: ...hanical stopper to home mm SA4C SA4R SA5C SA5R SA6C SA6R Approx 3 mm SA4D SS4D Approx 2 2 mm SA5D SS5D SA6D SS6D Approx 3 mm As long as the home return direction remains the same you can change the setting of an applicable parameter based on the above value to fine tune the home position for each actuator 1 Perform home return operation to check the home 2 Next move the actuator to a desired home ...

Page 55: ...ain from the surface 3 Avoid label or nameplate as a marking location 1 Used as home position of the actuator 2 Used as stop positions 3 Used for position deviation check Place the two markes when the actuator is stopped at home position Example of Use Contents of sticker x 1 sheet On the slider On the base home side home Motor On the slider At stop positions On the slider On the base Motor Artisa...

Page 56: ...PC software screen choose Select Position Number and then click OK The following screen appears 2 Compare the value of the current position against that of the position number corresponding to the desired position to which the actuator has been moved and check the deviation The current position is shown Position number MV Click the MV button Select the position to move the actuator to Click this b...

Page 57: ...from the value currently entered The setting unit is 0 001 mm Example When the measured difference is 1 mm Home preset Current setting 1000 7 Write the modified data Select the Axis specific parameter tab No 12 Select No 12 Home preset Click this button to open the parameter edit screen S E L Click this SEL button to write the data to the controller Artisan Technology Group Quality Instrumentation...

Page 58: ...d to the controller 9 Select OK 10 Write the data to the flash ROM 11 Restart the controller Select the Parameters check box Select Yes Y Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 59: ...urrent position against that of the position number corresponding to the desired position to which the actuator has been moved 2 Move the actuator in steps 1 Select a desired position No Click this button and make selection on the displayed position edit screen Point number The current position is shown Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 60: ...ting unit is mm Add or subtract the difference measured in 2 to from the value currently entered Example When the measured difference is 0 5 mm Home return offset Current setting 0 5 mm Click this button to select the parameter Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 61: ...he controller transfer button OK After the data has been written turn off the controller power OK Click this controller transfer button Select OK Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 62: ...this hole while the slider is moving as it is very dangerous While the slit is not in use attach the supplied seal or equivalent to cover the hole If the hole remains exposed a finger or object may enter accidentally creating a very dangerous situation With the cleanroom specification leaving this hole open may cause dust and other particles inside the actuator to escape through the hole and affec...

Page 63: ...ugh foot brackets are used the life of the actuator may be shortened A A A Actuator model number RCA FT SA4 Actuator model number RCA FT SA5 Actuator model number RCA FT SA6 If the actuator is ordered with the option code FT two foot brackets will be supplied If the actuator is ordered with the option code FT two foot brackets will be supplied If the actuator is ordered with the option code FT two...

Page 64: ... maximum current varies depending on the model For details refer to the operation manual for your controller The model number for this option is LA 9 5 Home Check Sensor When this option is selected the actuator comes with a sensor for checking if the slider has actually moved to the home position as a result of home return The model number for this option is HS 9 6 Reversed home Specification The...

Page 65: ...for motor reversing types including the SAR4 SA5R and SA6R 9 9 Suction Joint on Opposite Side On standard clean room actuators the suction joint is installed on the left side of the actuator as viewed from the motor side When this option is selected the suction joint is installed on the other opposite side The model number for this option is VR Artisan Technology Group Quality Instrumentation Guar...

Page 66: ...tion tape Yellow identification tape Red identification tape Green identification tape Shield Terminal No Terminal No Actuator end Controller end Controller end Mechanical end indicates the cable length L A desired length can be specified up to 20 m Example 080 8 m Minimum bending radius Movable 68 mm Fixed 34 mm Spare 10 Motor Encoder Cables 10 1 AMEC ASEP Controller Cables 1 Integrated motor enc...

Page 67: ...m bending radius Robot cable Movable 54 mm Standard cable Fixed 75 mm Mechanical end Controller end Cable color Pin Number Signal code Robot cable Standard cable d White Purple Blue White Gray Orange Yellow Green Blue Brown White Blue Gray White Yellow Red White Red Black White Black Pink Orange Purple Green White Purple Blue Red Gray Orange White Red Yellow Black Green White Ground Ground Cable c...

Page 68: ... 000 cycles This should restore oil film 11 2 Visual Inspection of the Machine Exterior Check the following items when carrying out visual inspection Body Loose mounting bolts Cables Damage to cables or connection to connector box Stainless sheet Damage foreign deposit or slacks General Unusual noise or vibrations If the stainless sheet is slacked adjust it as necessary to eliminate the slacks As ...

Page 69: ...iled apply a neutral detergent or alcohol to a soft cloth and wipe gently 11 4 Adjusting the Stainless Sheet On actuators whose stroke is 400 mm or more check the stainless sheet for slacks etc as necessary If the stainless sheet is found slacked adjust the stainless sheet For the stainless sheet adjustment procedure refer to 11 8 Replacing Adjusting the Stainless Sheet Artisan Technology Group Qu...

Page 70: ...he front cover is supporting the ball screw so do not disassemble the front cover If the front cover is misaligned the shaft centers may become offset thus increasing the traveling resistance reducing the service life of each part or generating noise If the actuator is equipped with a microswitch optional carefully install the side covers so that the switch cables are not pinched Make a visual che...

Page 71: ...unit Idemitsu Kosan Daphne Eponex Grease No 2 Other companies also sell a grease similar to this If ordering from another maker give the name of this product and request something comparable Comparable products include the following Showa Shell Oil Albania Grease No 2 Mobil Oil Mobilux 2 2 What Grease to Use on the Ball Screw The following grease is used when we ship the unit This grease offers ex...

Page 72: ...Kuroda Precision Industries C Grease 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 Caution Never use grease for the standard specification It may allow dust to generate Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 73: ...then move the slider back and forth several times to let the grease spread evenly At this time be careful not to deform the stainless sheet by accidentally touching the sheet Remove excess grease 3 Install the side covers Tightening torque Thin head screw M3 x 6 87 2 N cm 8 90 kgf cm Refer to 3 in 11 5 Interior Inspection for notes on installing the side covers Caution If the actuator is equipped ...

Page 74: ...ght excessive clearances will be created between the sheet and slider covers and the sheet may undergo a fatigue failure If the stainless sheet is too loose the sheet will contact the back of the slider covers and generate shaving Therefore use a dedicated adjustment tool to properly adjust the tension of the stainless sheet so that the clearances between the stainless sheet and slider covers conf...

Page 75: ... SA6 Caution Remove the slider covers slowly and gently If the actuator is installed on the ceiling or oriented vertically or horizontally on side place a plastic bag etc underneath the slider covers so as not to lose the coil springs and spacers in case they drop off Sheet slider Plate spring Sheet slider Sheet slider Coil spring Coil spring Coil spring Coil spring Spacer Roller Roller Spacer Art...

Page 76: ...5 SS6 Slightly bend the stainless sheet downward near the center of the mounting holes so that the sheet can be held securely 5 Install the clearance checking tool Sheet slider Stainless sheet retainer plates and screws Securely tighten the screws only on the motor side and leave the screws on the counter motor side loose Peripheral openings Center opening Stainless sheet Slightly bend the sheet d...

Page 77: ...oned tighten the screws on the loose end to a level that the stainless sheet no longer moves Move the stainless sheet in the directions of arrows to adjust the tension While looking through the center opening check the clearance between the top face of the stainless sheet and the back of the clearance checking tool If the clearance is within the specified tolerance range the tension is appropriate...

Page 78: ...t and the back of the clearance checking tool falls within the specified range along the entire stroke Slider body Stainless sheet Clearances between stainless sheet edges and slider body Checkpoint 2 Look through the peripheral openings and confirm that the stainless sheet edges do not contact the slider body Move the slider back and forth at least three times over the entire stroke to ensure the...

Page 79: ...1 9 2 Applicable Belt SA4 60S2M160R Rubber cleanroom type Bando Chemical Industries 6 mm wide SA5 60S2M180R Rubber cleanroom type Bando Chemical Industries 6 mm wide SA6 60S2M190R Rubber cleanroom type Bando Chemical Industries 6 mm wide 11 9 3 Adjusting the Belt Tension Remove the pulley cover and motor end cover and loosen the four motor affixing bolts Pass a looped strong string or long tie ban...

Page 80: ... motor unit affixing bolts and replace the belt 2 Restore the home position Affix the slider at a position 2 mm from the mechanical end on the home side pass the belt and adjust the belt to the specified tension 3 Perform homing using a PC or teaching pendant and check for deviation from the initial home position If there is a deviation adjust the home offset parameter Home position Z phase ON pos...

Page 81: ... cap and attached cables 3 Pull out the motor end cap Cross recessed screws M3 Affixing bolts at attached cable end Cross recessed screws Affixing bolts on motor end cap Cross recessed screws Push in the cable end while pulling out the motor end cap Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 82: ...rcibly releasing the brake At this time beware of danger as the actuator may drop suddenly Always provide a support to brace the actuator hand to prevent sudden drop so as not to pinch fingers or damage the load 2 mm 2 mm Return the slider 2 mm from the mechanical end Return the slider 2 mm from the mechanical end Draw a countermark with the slider contacting the mechanical end Draw a countermark ...

Page 83: ...e should be in a location corresponding to the slide position of 2 mm away from the mechanical end After the check attach a new belt while holding the pulleys on both sides in position Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Initial countermark position Corresponding to the slider position of 2 mm awa...

Page 84: ...tion 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 affixing bolts Use an Allen wrench of 2 5 mm across flats Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 85: ...orm homing If the actuator is of absolute encoder specification an absolute reset must be performed Check for deviation from the initial home position If there is a deviation adjust the home offset parameter Pull out the cable end while pushing in the motor end cap Affixing bolts on motor end cap Cross recessed screws Affixing bolts at attached cable end Cross recessed screws Cross recessed screws...

Page 86: ...ition so do not crush the encoder unit It may displace the encoder thus impairing proper actuator operation Overview of Replacement 1 Move the slider to a position where Z phase turns on home position 2 mm from the mechanical end Replace the motor in this position 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 87: ...the actuator hand to prevent sudden drop so as not to pinch fingers or damage the load 2 Use a Phillips screwdriver to securely tighten the affixing bolts for motor end cap and attached cables Return the slider 2 mm from the mechanical end Return the slider 2 mm from the mechanical end Draw a countermark with the slider contacting the mechanical end Draw a countermark with the slider contacting th...

Page 88: ...he motor end cap 4 Pull out the motor end cover to expose the motor Push in the cable end while pulling out the motor end cap Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 89: ...lso detach the brake connector Remove the grounding wire using a Phillips screwdriver While holding the motor with one hand pull out the encoder cable The photograph bellow shows the motor IAI encoder Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 90: ...ed cables 7 Take out the motor Remove the two motor affixing bolts using an Allen wrench of 2 5 mm across flats Motor affixing bolt Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 91: ... aligning it with the current orientation of the actuator coupling Apply grease on the inside of the coupling Coupling on actuator side Inserting the coupling with screws Inserted coupling with screws Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 92: ...ment motor into the actuator coupling and secure with two motor affixing bolts Mark the shaft and body of the replacement motor Insert the replacement motor Tighten two bolts at top and bottom using an Allen wrench of 2 5 mm across flats Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 93: ...nd tighten the screw in the same manner Tighten the screw on the coupling using an Allen wrench of 2 0 mm across flats Slightly move the slider Tighten the screw on the coupling using an Allen wrench of 2 0 mm across flats Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 94: ...with one hand insert the encoder cable The photograph bellow shows the motor IAI encoder Install a grounding wire using a Phillips driver Plug the cables into the motor Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 95: ...of absolute encoder specification an absolute reset must be performed Check for deviation from the initial home position If there is a deviation adjust the home offset parameter Store the connector inside the motor end cap Pull out the cable end while pushing in the motor end cap Affixing bolts on motor end cap Cross recessed screws Affixing bolts at attached cable end Cross recessed screws Artisa...

Page 96: ...l based marker pen PC or teaching pendant Caution When replacing the motor handle the replacement motor with due care The actuator has been shipped with the encode adjusted to an optimal position so do not crush the encoder unit It may displace the encoder thus impairing proper actuator operation Encoder Replacement motor IAI encoder Replacement motor Tamagawa encoder Artisan Technology Group Qual...

Page 97: ...pecified tension 3 Perform homing using a PC or teaching pendant and check for deviation from the initial home position If there is a deviation adjust the home offset parameter Home position Z phase ON position Mechanical end Approx 2 mm The countermark on the motor aligns with this position Set by the home offset parameter The above value is the factory setting Artisan Technology Group Quality In...

Page 98: ... cap and attached cables 3 Pull out the motor end cap Cross recessed screws M3 Affixing bolts at attached cable end Cross recessed screws Affixing bolts on motor end cap Cross recessed screws Push in the cable end while pulling out the motor end cap Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 99: ...er to expose the motor 5 Detach the attached cables Pull out the motor connector If the actuator has a brake also detach the brake connector Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 100: ...screwdriver While holding the motor with one hand pull out the encoder cable The photograph bellow shows the motor IAI encoder 6 Detach the attached cables Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 101: ...he motor unit affixing bolts 8 Take out the motor 9 Install the replacement motor Loosely tighten the motor unit affixing bolts Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Replacement motor Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 102: ...side should be aligned with the initial countermark If the position is offset adjust it to achieve proper alignment The ball screw side should be in a location corresponding to the slide position of 2 mm away from the mechanical end After the check attach a new belt while holding the pulleys on both sides in position 2 mm 2 mm Return the slider 2 mm from the mechanical end Return the slider 2 mm f...

Page 103: ...tion 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 affixing bolts Use an Allen wrench of 2 5 mm across flats Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 104: ...r cable The photograph bellow shows the motor IAI encoder Install a grounding wire using a Phillips driver Plug the cables into the motor If the actuator has a brake also plug in the brake connector Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 105: ...form homing If the actuator is of absolute encoder specification an absolute reset must be performed Check for deviation from the initial home position If there is a deviation adjust the home offset parameter Pull out the cable end while pushing in the motor end cap Affixing bolts on motor end cap Cross recessed screws Affixing bolts at attached cable end Cross recessed screws Cross recessed screw...

Page 106: ...SS5D SS6D If you must replace the motor of your built in type actuator please contact IAI because the built in type actuators are not designed to allow their motor to be replaced by the customer Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 107: ...End face of base 2 3H7 depth 5 4 M3 depth 7 End face of base Cable joint connector End face of base Offset reference position for Ma moment Bottom surface of base End face of base Slider height 40 m M3 depth 5 Oblong hole depth 5 from bottom surface of base P pitch between 3 hole and oblong hole N 3 hole pitch 2 3H7 depth 5 from bottom surface of base End face of base Reference surface Detail view...

Page 108: ...ustment 4 4 5 Depth 8 counterbore depth 4 5 for actuator installation End face of base 2 4H7 depth 6 4 M4 depth 9 Cable joint connector End face of base Offset reference position for Ma moment Bottom surface of base End face of base Slider height 50 m M4 depth 7 Oblong hole depth 5 from bottom surface of base P pitch between 4 hole and oblong hole N 4 hole pitch 2 4H7 depth 5 from bottom surface o...

Page 109: ... Reference surface Slit 8 hole For position adjustment Detail view of slit for slider position adjustment 2 5H7 depth 6 4 M5 depth 9 3 H7 depth 5 from bottom surface of base Cable joint connector Offset reference position for Ma moment Bottom surface of base Slider height 53 Oblong hole depth 5 from bottom surface of base P pitch between 4 hole and oblong hole N 4 hole pitch m M5 depth 8 End face ...

Page 110: ...pth 5 Oblong hole depth 6 from bottom surface of base 2 3H7 depth 5 from bottom surface of base End face of base Detail view of oblong hole Home 4 3 6 Depth 6 5 counterbore depth 3 5 for actuator installation Reference surface Brake dimensions P pitch between 3 hole and oblong hole N 3 hole pitch End face of base R Brake cable exit direction right E Brake cable exit direction end L Brake cable exi...

Page 111: ... view of A End face of base 4 M4 depth 9 2 4H7 effective depth 6 E Brake cable exit direction end Cable joint connector L Brake cable exit direction left Brake dimensions R Brake cable exit direction right Home Stroke 100 or more Tolerance between reamed holes 0 02 Incremental specification 75 5 Absolute specification 78 Incremental specification 60 5 Home Absolute specification 63 2 4H7 depth 5 f...

Page 112: ...onnector Incremental specification 75 5 Offset reference position for Ma moment Oblong hole depth 5 from bottom surface of base Detail view of oblong hole End face of base 4 M5 depth 9 2 5H7 effective depth 6 E Brake cable exit direction end L Brake cable exit direction left Brake dimensions R Brake cable exit direction right Home Stroke Tolerance between reamed holes 0 02 Home Absolute specificat...

Page 113: ... joint connector Offset reference position for Ma moment Reference surface 4 3 6 bit 6 5 counterbore E Brake cable exit direction L Brake cable exit direction Brake dimensions R Brake cable exit direction Stroke Home 2 M3 depth 5 4 M3 depth 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 114: ... 392 442 492 542 Cable joint connector 4 4 5 bit depth 8 counterbore depth 4 5 Offset reference position for Ma moment Reference surface 4 M4 depth 9 E Brake cable exit direction end L Brake cable exit direction left Brake dimensions R Brake cable exit direction right Home Stroke 2 M4 depth 5 100 or more 4 4 5 bit depth 8 counterbore depth 4 5 Artisan Technology Group Quality Instrumentation Guara...

Page 115: ...1 381 431 481 531 531 631 D 6 6 8 8 10 10 12 12 14 14 16 16 E 1 1 2 2 3 3 4 4 5 5 6 5 Cable joint connector 4 M5 depth 9 Offset reference position for Ma moment D M5 depth 6 for installation Reference surface 2 5H7 effective depth 6 E Brake cable exit direction L Brake cable exit direction Brake dimensions R Brake cable exit direction Home Stroke 100 or more 3 4H7 depth 4 Artisan Technology Group ...

Page 116: ...om surface of base 2 3H7 depth 5 4 M3 depth 7 Oblong hole depth 5 from bottom surface of base P pitch between 3 hole and oblong hole N 3 hole pitch 100 or more 2 3H7 depth 5 from bottom surface of base End face of base 50 stroke 50 U x 100 P stroke other than 50 End face of base End face of base Slider height End face of base Detail view of oblong hole m M3 depth 5 98 137 with brake Slit Detail vi...

Page 117: ...ce of base P pitch between 4 hole and oblong hole N 4 hole pitch 100 or more 2 4H7 depth 5 from bottom surface of base End face of base 50 stroke 50 U x 100 P stroke other than 50 End face of base Tolerance between reamed holes 0 02 Incremental specification 77 116 with brake Absolute specification 92 131 with brake End face of base m M4 depth 7 For position adjustment Cable joint connector Bottom...

Page 118: ...P stroke other than 50 Tolerance between reamed holes 0 02 Incremental specification 92 131 with brake Absolute specification 107 146 with brake Oblong hole depth 5 from bottom surface of base For position adjustment Cable joint connector Bottom surface of base Offset reference position for Ma moment End face of base 8 hole Actuator width 58 Detail view of oblong hole Reference surface Detail view...

Page 119: ...0 or more 100 or more Opposite side optional Incremental specification 108 2 147 2 with brake Absolute specification 123 2 162 2 with brake Oblong hole depth 5 from bottom surface of base 2 3H7 depth 5 from bottom surface of base Applicable tube outer diameter 6 Slit End face of base 8 hole For position adjustment Detail view of slit for slider position adjustment End face of base 4 M3 depth 9 Off...

Page 120: ... depth 5 from bottom surface of base P pitch between 4 hole and oblong hole N 4 hole pitch Motor width 2 4H7 depth 5 from bottom surface of base Standard side Motor height Incremental specification 84 2 123 2 with brake Absolute specification 99 2 138 2 with brake m M4 depth 7 100 or more End face of base Slit Applicable tube outer diameter 6 End face of base 2 4H7 depth 6 End face of base Bottom ...

Page 121: ... 4 hole and oblong hole N 4 hole pitch m M5 depth 8 3 4H7 depth 5 from bottom surface of base Detail view of slit for slider position adjustment Incremental specification 99 2 138 2 with brake Absolute specification 114 2 153 2 with brake Oblong hole depth 5 from bottom surface of base Applicable tube outer diameter 6 Slit End face of base 2 5H7 depth 6 Offset reference position for Ma moment Actu...

Page 122: ...g hole depth 5 from bottom surface of base P pitch between 4 hole and oblong hole N 4 hole pitch 2 4H7 depth 5 from bottom surface of base m M4 depth 7 Incremental specification Stroke 4 M4 depth 9 Offset reference position for Ma moment Reference surface Standard side Tolerance between reamed holes 0 02 Cable joint connector Home Absolute specification 100 or more E Brake cable exit direction end...

Page 123: ...diameter 6 inner diameter 6 Cable joint connector 2 5H7 effective depth 6 Reference surface P pitch between 4 hole and oblong hole N 4 hole pitch Absolute specification Incremental specification Stroke 4 M5 depth 9 Detail view of A Oblong hole depth 5 from bottom surface of base Standard side Tolerance between reamed holes 0 02 3 4H7 depth 5 from bottom surface of base m M5 depth 8 100 or more E B...

Page 124: ...ion or repair performed by a party other than us unless we have approved such modification or repair 3 Anything that could not be easily predicted with the level of science and technology available at the time of shipment from our company 4 A natural disaster man made disaster incident or accident for which we are not liable 5 Natural fading of paint or other symptoms of aging 6 Wear depletion or ...

Page 125: ...r health 2 A mechanism or mechanical equipment intended to move or transport people such as a vehicle railway facility or aviation facility 3 Important safety parts of mechanical equipment such as safety devices 4 Equipment used to handle cultural assets art or other irreplaceable items 3 Contact us at the earliest opportunity if our product is to be used in any condition or environment that diffe...

Page 126: ...thod Common specifications and Lead 20 under 2 Specification P 9 57 Added 1 If continuous back and forth operations are performed over a distance of 30 mm or less grease film may be broken As a guide operate the actuator back and forth five times or so over a distance of 50 mm or more after every 5 000 to 10 000 cycles This should restore oil film April 2011 Sixth edition A page for CE Marking add...

Page 127: ... 88950 FAX 06196 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 1261 Hamilton Parkway Itasca IL 60143 TEL 630 467 9900 FAX 630 467 9912 TEL 678 354 94...

Page 128: ...quipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentation Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate representative or authorized distributor for any manufacturer listed herein We re here to make your life easier How...

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