ROBO Cylinder RCP2 Series Instruction Manual Download Page 31

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1. Specifications Check

1.3.3 Home return operation

• 330-degree rotation specification

[1] Start of home return

→

[2] Detection of a mechanical stopper

→

[3] Reversing

→

[4] Movement by

a specified offset

→

[5] Home position

Range of operation (330 )

Home return

Home

(end of forward rotation)

Mechanical stopper

Rotating axis

Movement by a

specified offset

[1]

[2]

[3]

[4]

[5]

330-degree rotation specification RTBS/RTCS, RTB/RTC, RTBB/RTCB

Caution: The actuator always rotates in the specified direction during home return.

If the home return direction is of standard specification, the actuator always rotates in

the counterclockwise direction.

If you have guided a cable, etc., through an open hole in the actuator, pay attention to

the load received by the cable. The cable may be severed if an excessive load is

applied.

Summary of Contents for RCP2 Series

Page 1: ...Type 330 degree Rotation Specification RTB RTC Types Medium Type Multi rotation Specification RTBL RTCL Types Large Type 330 degree Rotation Specification RTBB RTCB Types Large Type Multi rotation Specification RTBBL RTCBL Types IAI America Inc Instruction Manual Fourteenth Edition ROBO Cylinder RCP2 Actuator ROBO Rotary Type ...

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Page 3: ...at whoever is handling this product can reference it quickly when necessary Important This Instruction Manual is original This product is not to be used for any other purpose from what is noted in this Instruction Manual IAI shall not be liable whatsoever for any loss or damage arising from the result of using the product for any other purpose from what is noted in the manual The information conta...

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Page 5: ...del NM 28 1 4 2 Shaft Adapters Model SA 28 1 4 3 Table Adapters Model TA 29 1 4 4 Brake Equipped Type Model B 30 1 5 Motor Encoder Cables 31 1 5 1 Small Type RTBS RTBSL RTCS RTCSL 31 1 5 2 Medium Type RTB RTBL RTC RTCL Large Type RTBB RTBBL RTCB RTCBL 33 1 5 3 Cleanroom Dust and Splash Proof Type 35 2 Installation 38 2 1 Transportation 38 2 2 Installation and Storage Preservation Environment 40 2 ...

Page 6: ...leanroom Specification 73 5 3 Large Type 77 5 3 1 Standard Specification 77 5 3 2 Dustproof Splash Proof Cleanroom Specification 81 6 Life 85 7 Warranty 86 7 1 Warranty Period 86 7 2 Scope of the Warranty 86 7 3 Honoring the Warranty 86 7 4 Limited Liability 86 7 5 Conditions of Conformance with Applicable Standards Regulations Etc and Applications 87 7 6 Other Items Excluded from Warranty 87 Chan...

Page 7: ...ant safety parts of machinery Safety device etc Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Do not use it in any of the following environments 1 Location where there is any inflammable gas inflammable object or explosive 2 Place with potential exposure to radiation 3 Location with the ambient temperature or relative humidity e...

Page 8: ...the safety factor of the hook in such factors as shear strength Do not get on the load that is hung on a crane Do not leave a load hung up with a crane Do not stand under the load that is hung up with a crane 3 Storage and Preservation The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation Store the ...

Page 9: ...seness Failure to do so may cause a fire electric shock or malfunction of the product Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failure to do so may cause the product to malfunction or cause fire 4 Installation and Start 3 Grounding The grounding operation should be performed to prevent an electric shock or electrost...

Page 10: ... to secure safety Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity 5 Teaching When the work is carried out with 2 or more persons make it c...

Page 11: ...minal block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction 7 Automatic Operation Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Before starting automatic operation make sure that all peripheral equipment is in an automatic operation ready...

Page 12: ...sult in a damage to the product When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Pay attention not to lose the cover or untigh...

Page 13: ...he product 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 Thi...

Page 14: ...r life may result 6 Set the allowable load moment within the allowable range If the robot is operated under a load equal to or greater than the allowable load moment abnormal noise or vibration failure or shorter life may result If it is extreme flaking may occur on the guide 7 Make sure to attach the actuator properly by following this operation manual Using the product with the actuator not bein...

Page 15: ...ing air Allowing water or oil to enter may cause failure Follow the indicated air flow volume for air supply It is mandatory to have air purging to satisfy dust and splash proof performance Do not attempt to have an operation without air purging It can allow liquid or foreign object to get in Pay attention especially at operation start and stop 3 Wipe off water drops around the output shaft with c...

Page 16: ... International Standards Compliances This actuator complies with the following overseas standard Refer to Overseas Standard Compliance Manual ME0287 for more detailed information RoHS Directive CE Marking ...

Page 17: ...uator are expressed in the way it is placed horizontally as shown in the figure below and is looked at from the motor side Vertical Type Flange Rear cover Actuator cable Output shaft Frame Front cover Flat Type Actuator cable Rear cover Front cover Output shaft Flange Frame ...

Page 18: ...l for PCON C CG CF Controller ME0170 3 Instruction Manual for PCON CY Controller ME0156 4 Instruction Manual for PCON SE Controller ME0163 5 Instruction Manual for PCON PL PO Controller ME0164 6 Instruction Manual for PCON CA CFA Controller ME0289 7 Instruction Manual for ASEP PSEP Controller ME0216 8 Instruction Manual for MSEP Controller ME0299 9 Instruction Manual for MSEL Controller ME0336 10 ...

Page 19: ...i rotation Specification RTBB Large Vertical Type 330 degree Rotation Specification RTBBL Large Vertical Type Multi rotation Specification RTCB Large Flat Type 330 degree Rotation Specification RTCBL Large Flat Type Multi rotation Specification Encoder Type I Incremental Motor Type 20P Pulse Motor 20 size 28P Pulse Motor 28 size 35P Pulse Motor 35 size Options NM Reversed home Specification SA Sha...

Page 20: ...deg Drive system Stepping motor Timing belt Spiral bevel gear 1 30 No of Encoder Pulses P R 800 Output torque The output torque of the rotating axis will vary depending on the rotational speed of the axis 0 100 200 300 400 0 00 0 05 0 10 0 15 0 20 0 25 0 30 0 35 0 40 0 45 0 50 0 50 100 150 200 250 0 00 0 05 0 10 0 15 0 20 0 25 0 30 0 35 0 40 0 45 0 50 Rotational speed deg sec Output torque N m Rot...

Page 21: ...cification RTBSL RTCSL deceleration ratio 1 30 Rotational speed deg sec Rotational speed deg sec Allowable Moment of Inertia 10 kg m 2 3 Allowable Moment of Inertia 10 kg m 2 3 RTCS deceleration ratio 1 30 330 degree rotation specification RTBS Multi rotation specification RTBSL RTCSL deceleration ratio 1 45 RTCS deceleration ratio 1 45 Caution When the rotational axis is used horizontally load to...

Page 22: ...pecification RTBS RTCS Multi rotation specification RTBSL RTCSL 3 6 N m 30 N Thrust force Load moment Caution Any work whose load moment or thrust force exceeds the allowable level may result in actuator malfunction or damage or shorten the life of the actuator Therefore the work must be set within the allowable ranges of moment and thrust If the rotational axis is used horizontally design an appr...

Page 23: ...fication Within 0 05 deg Drive system Stepping motor Timing belt Spiral bevel gear 1 20 No of Encoder Pulses P R 800 Holding Torque of Brake equipped Type N m 0 4 Converted to output axis Output torque The output torque of the rotating axis will vary depending on the rotational speed of the axis 100 200 300 400 500 600 200 400 100 300 2 0 1 5 1 0 0 5 2 0 1 5 1 0 0 5 Rotational speed deg sec Output...

Page 24: ...ion ratio 1 20 Multi rotation specification RTBL RTCL deceleration ratio 1 20 Moment of Inertia 10 kg m Rotational speed deg sec 2 3 330 degree rotation specification RTB RTC deceleration ratio 1 30 Multi rotation specification RTBL RTCL deceleration ratio 1 30 Moment of Inertia 10 kg m Rotational speed deg sec 2 3 Caution When the rotational axis is used horizontally load torque will generate due...

Page 25: ... specification RTB RTC Multi rotation specification RTBL RTCL 3 9 N m 50 N Thrust force Load moment Caution Any work whose load moment or thrust force exceeds the allowable level may result in actuator malfunction or damage or shorten the life of the actuator Therefore the work must be set within the allowable ranges of moment and thrust If the rotational axis is used horizontally design an approp...

Page 26: ...system Stepping motor Timing belt Spiral bevel gear 1 20 No of Encoder Pulses P R 800 Holding Torque of Brake equipped Type N m 2 9 Converted to output axis Output torque The output torque of the rotating axis will vary depending on the rotational speed of the axis 0 100 200 300 400 500 600 0 0 0 5 1 0 1 5 2 0 2 5 3 0 3 5 4 0 4 5 5 0 0 100 200 300 400 0 0 0 5 1 0 1 5 2 0 2 5 3 0 3 5 4 0 4 5 5 0 33...

Page 27: ...n ratio 1 20 Multi rotation specification RTBBL RTCBL deceleration ratio 1 20 Moment of Inertia 10 kg m 2 3 Rotational speed deg sec 330 degree rotation specification RTBB RTCB deceleration ratio 1 30 Multi rotation specification RTBBL RTCBL deceleration ratio 1 30 Moment of Inertia 10 kg m 2 3 Rotational speed deg sec Caution When the rotational axis is used horizontally load torque will generate...

Page 28: ...ecification RTBB RTCB Multi rotation specification RTBBL RTCBL 17 7 N m 200 N Thrust force Load moment Caution Any work whose load moment or thrust force exceeds the allowable level may result in actuator malfunction or damage or shorten the life of the actuator Therefore the work must be set within the allowable ranges of moment and thrust If the rotational axis is used horizontally design an app...

Page 29: ...SL RTCS RTCSL RTB RTBL RTC RTCL RTBB RTBBL RTCB RTCBL Vacuuming flow volume 10 Nl min 15 Nl min 20 Nl min 1 2 5 Dustproof Splash Proof Specification Protection Class IP54 or equiv Pipe joint for air purge Quick joint Applicable Tube O D φ6 RTBS RTBSL RTCS RTCSL RTB RTBL RTC RTCL RTBB RTBBL RTCB RTCBL Air purge flow volume 15 Nl min 20 Nl min 40 Nl min ...

Page 30: ...ar velocity deg sec Accelerations and decelerations are specified in G in operation programs Small type RTBS RTCS RTBSL RTCSL Rated angular acceleration deceleration 0 2 G 1 960 deg s2 Medium type RTB RTC RTBL RTCL Large type RTBB RTCB RTBBL RTCBL Rated angular acceleration deceleration 0 3 G 2 940 deg s2 1 3 2 Home return direction The moving end of the output shaft which turns in the countercloc...

Page 31: ... Rotating axis Movement by a specified offset 1 2 3 4 5 330 degree rotation specification RTBS RTCS RTB RTC RTBB RTCB Caution The actuator always rotates in the specified direction during home return If the home return direction is of standard specification the actuator always rotates in the counterclockwise direction If you have guided a cable etc through an open hole in the actuator pay attentio...

Page 32: ...ent home return operation Home return Home end of forward rotation Rotating axis Movement by a specified offset Home sensor position Home sensor detection range Multi rotation specification RTBL RTCL 1 3 4 5 2 Caution The actuator always rotates in the specified direction during home return If the home return direction is of standard specification the actuator always rotates in the counterclockwis...

Page 33: ...me sensor non detection range home side 10 Detection of a home sensor non detection range home side when the contact B logic is selected detection of the rising edge or ON state of the signal Offset movement operation 11 The offset reference position is determined from the center of 6 7 9 and 10 The position achieved after moving from the offset reference position by the offset travel becomes the ...

Page 34: ...bination of RCP2 RTCB RTCBL Unit model RCP2 SA RTS Unit weight 0 02 kg Unit model RCP2 SA RT Unit weight 0 04 kg Unit model RCP2 SA RTB Unit weight 0 2 kg Unit model RCP2 SA RTS Unit weight 0 02 kg Unit model RCP2 SA RT Unit weight 0 04 kg Unit model RCP2 SA RTB Unit weight 0 2 kg 4 M3 depth 7 4 M4 depth 7 4 M5 depth 8 6 depth 4 depth 3 Depth5 t f a h s L C T R C T R L B T R B T R t f a h s L S C ...

Page 35: ...odel RCP2 TA RTB Unit weight 0 06 kg Drawing based on combination of RCP2 RTCS RTCSL Drawing based on combination of RCP2 RTC RTCL Drawing based on combination of RCP2 RTCB RTCBL Unit model RCP2 TA RTS Unit weight 0 02 kg Unit model RCP2 TA RT Unit weight 0 03 kg Unit model RCP2 TA RTB Unit weight 0 06 kg depth 7 depth 4 depth 0 5 4 M4 depth7 depth 3 depth 1 5 8 M4 depth 7 5 4 M5 depth 8 6 8 M5 de...

Page 36: ...L table Design surface Design surface 6 2 counterbore depth 3 3 through R 0 2 o r l e s s Design surface 6 counterbore depth 3 3 5 holes are equally distributed 8 M4 through RTBB RTBBL RTCB RTCBL table 7 5 counterbore depth 4 5 B B section 1 4 4 Brake Equipped Type Model B ...

Page 37: ...G FG NC NC Black Identification tape BK Brown Identification tape BK Green Identification tape GNDLS Red Identification tape VPS White Identification tape VCC Yellow Identification tape GND Orange LS Gray LS Yellow VMM B1 A2 B2 A3 B3 A6 B6 A7 B7 A8 B8 A4 B4 A5 B5 A9 B9 A10 B10 A11 B11 Controller side Terminal No 1 2 5 3 4 6 7 8 13 14 15 16 7 8 9 10 20 18 17 19 21 24 22 23 45 18 30 L 10 26 Front vi...

Page 38: ... BK LS LS A A B B VPS VCC GND NC FG NC Pin No Signal A VMM A A1 B1 A2 B VMM B B2 A3 B3 NC NC A4 B4 BK BK LS LS A A B B NC VPS VCC GND NC FG A5 B5 A6 B6 A7 B7 A8 B8 B9 A10 B10 A11 B11 A9 Signal Pin No Yellow Identification tape Red Identification tape Green Identification tape Shield Minimum Bending R r 68 or more Movable Use r 34 or more Fixed Note The bending radius is that after the cables have ...

Page 39: ...Red φB Green VMM Yellow φ B NC NC Black LS Brown LS White A Yellow A NC NC NC Shield FG Red B Green B White Identification tape VCC Yellow Identification tape VPS Red Identification tape GND Green Identification tape Reserve Orange BK Gray BK Brown φ A 2 4 5 3 6 16 17 5 6 13 14 1 2 3 4 10 11 9 12 15 7 8 18 Controller side Terminal No 1 2 3 4 5 6 9 10 11 12 7 8 13 14 15 16 17 18 19 20 21 22 23 24 M...

Page 40: ...B RCP2 PB Encoder Robot Cable CB RCP2 PB RB L C N 2 CN4 PHDR 16VS XMP 18V CN4 CN2 10 11 12 13 14 15 16 17 18 1 2 3 4 5 6 7 8 9 ENA ENA ENB ENB GND VBB VPS LS LS BK BK F G 16 LS LS BK BK ENA ENA ENB ENB VPS VBB GND N C N C N C F G 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 18 25 35 8 5 15 13 9 φ Front view Controller side Front view JST JST Cable color Pin name Signal name Blue red 1 White Red Gray Brown ...

Page 41: ...22 19 AWG22 19 Gray VMM 9 4 VMM Gray AWG22 19 AWG22 19 Green φ_A 4 5 φ_A Green AWG22 19 AWG22 19 Red φ_B 15 6 φ_B Red AWG22 19 AWG26 Black LS 8 7 LS Black AWG26 AWG26 Yellow LS 14 8 LS Yellow AWG26 AWG26 Blue SA 12 11 SA Blue AWG26 AWG26 Orange SB 17 12 SB Orange AWG26 AWG26 Green A 1 13 A Green AWG26 AWG26 Brown A 6 14 A Brown AWG26 AWG26 Gray B 11 15 B Gray AWG26 AWG26 Red B 16 16 B Red AWG26 AW...

Page 42: ...AWG22 19 AWG22 19 Green φ_A 4 5 φ_A Green AWG22 19 AWG22 19 Red φ_B 15 6 φ_B Red AWG22 19 AWG26 Black LS 8 7 LS Black AWG26 AWG26 Yellow LS 14 8 LS Yellow AWG26 AWG26 Blue SA 12 11 SA Blue AWG26 AWG26 Orange SB 17 12 SB Orange AWG26 AWG26 Green A 1 13 A Green AWG26 AWG26 Brown A 6 14 A Brown AWG26 AWG26 Gray B 11 15 B Gray AWG26 AWG26 Red B 16 16 B Red AWG26 AWG26 Blue BK 20 9 BK Blue AWG26 AWG26 ...

Page 43: ...bol Electric Wire Color Thickness AWG22 Blue φA 3 B1 φA Blue AWG22 AWG22 Orange VMM 5 A2 VMM Orange AWG22 AWG22 Brown φB 10 B3 φB Brown AWG22 AWG22 Gray VMM 9 B2 VMM Gray AWG22 AWG22 Green φ_A 4 A1 φ_A Green AWG22 A3 φ_B Red AWG22 AWG22 Red φ_B 15 AWG26 Black LS 8 16 LS Black AWG26 AWG26 Yellow LS 14 15 LS Yellow AWG26 AWG26 12 4 AWG26 17 3 AWG26 Green A 1 12 A Green AWG26 AWG26 Brown A 6 11 A Bro...

Page 44: ...d for transportation y Keep the unit in a horizontal orientation when placing it on the ground or transporting Follow the instruction if there is any for the packaging condition y Do not step or sit on the package y Do not put any load that may cause a deformation or breakage of the package 2 Handling the Actuator After Unpacking y Do not carry the actuator by its motor unit or its cable or attemp...

Page 45: ...accidently move during transportation y If the tip of an actuator is overhanging have an appropriate way to fix it to avoid shake due to the external vibration In the transportation without the tip being fixed do not apply any impact with 0 3G or more y When hanging up with ropes have appropriate cushioning to avoid any deformation of the actuator body Also keep it in stable horizontal orientation...

Page 46: ...f the following locations provide sufficient shielding measures y Where noise generates due to static electricity etc y Where the actuator is subject to a strong electric or magnetic field y Where the actuator is subject to ultraviolet ray or radiation 2 Storage Preservation Environment y The storage and preservation environment should comply with the same standards as those for the installation e...

Page 47: ...mechanical system 2 3 1 Installation Orientation Follow the information below when installing the actuator as a rule Do pay attention to these items except with custom order models Possible Not possible Horizontal installation Vertical installation Sideways installation Ceiling Mount installation ...

Page 48: ... 0 020 φ7H7 0 015 0 3 0 04 0 4 M3 φ3 0 02 0 3 0 04 0 11 20 35 5 6 25 φ3 0 02 0 4 M3 4 M3 depth 3 5 4 M3 depth 7 depth 4 depth 4 depth 2 5 depth 2 5 depth 2 5 depth 2 5 depth 5 5 depth 5 5 depth 7 5 Flange side mounting surface Side mounting surface Bottom mounting surface Caution Some of the tapped mounting holes are through holes Therefore never use long screws whose effective thread length excee...

Page 49: ...2 0 φ11 4 0 05 0 3 0 04 0 φ3 0 02 0 4 M3 4 M3 depth 4 depth 2 5 depth 2 5 depth 5 5 depth 4 depth 7 depth 3 5 depth 7 5 depth 2 5 depth 5 5 depth 0 9 depth 2 5 Flange side mounting surface Bottom mounting surface 7 φ6 through hole Side mounting surface Caution Some of the tapped mounting holes are through holes Therefore never use long screws whose effective thread length exceeds the maximum screw...

Page 50: ... φ45h7 φ11H7 φ4 0 03 0 5 M3 depth 6 depth 4 depth 2 5 depth 8 depth 10 depth 2 5 depth 2 5 depth 2 5 4 M4 depth 7 4 M4 depth 8 depth 3 Flange side mounting surface 5 5 34 28 10 Bottom mounting surface Side mounting surface Caution Some of the tapped mounting holes are through holes Therefore never use long screws whose effective thread length exceeds the maximum screw in depth They may damage the ...

Page 51: ...6 φ11H 7 φ15 4 4 0 05 0 depth 3 depth 6 depth 4 depth 10 depth 2 5 depth 8 depth 5 5 depth 2 5 depth 2 5 depth 8 depth 2 5 depth 7 Bottom mounting surface Flange side mounting surface Side mounting surface φ10 through hole Caution Some of the tapped mounting holes are through holes Therefore never use long screws whose effective thread length exceeds the maximum screw in depth They may damage the ...

Page 52: ...1H7 0 021 0 5 0 05 0 4 M5 φ5 0 05 0 φ5 0 05 0 4 M5 5 0 05 0 40 5 68 44 5 9 5 depth 8 6 depth 7 depth 12 5 depth 10 depth 3 5 depth 3 5 depth 10 depth 3 5 depth 3 5 depth 5 depth 5 Flange side mounting surface Side mounting surface Bottom mounting surface Caution Some of the tapped mounting holes are through holes Therefore never use long screws whose effective thread length exceeds the maximum scr...

Page 53: ...30 φ40g6 0 009 0 025 φ21H7 0 021 0 5 0 05 0 depth 8 6 depth 7 depth 5 depth 12 5 depth 3 5 depth 10 depth 3 5 depth 3 5 depth 3 5 depth 3 5 depth 10 depth 5 Flange side mounting surface Bottom mounting surface φ20 through hole Side mounting surface Caution Some of the tapped mounting holes are through holes Therefore never use long screws whose effective thread length exceeds the maximum screw in ...

Page 54: ... degree Rotation Specification RTCB Multi Rotation Specification RTCBL Vertical Type Table adapter Shaft adapter 11 6 45 26 22 21 8 72 5 5 φ 3 0 36 4 M3 Table adapter 7 5 6 M3 4 0 05 0 φ36h7 0 0 025 φ35 φ20H7 0 021 0 76 68 5 67 61 17 5 45 5 5 7 5 36 26 22 21 8 72 4 M3 4 0 05 0 φ36h7 0 0 025 70 68 5 67 61 11 6 17 5 depth 7 depth 7 depth 7 depth 0 5 depth 4 depth 4 Shaft adapter ...

Page 55: ... φ36h7 0 0 025 φ35 φ20H7 0 021 0 3 0 04 0 36 4 51 43 5 42 22 12 7 φ3 0 02 0 4 M3 48 φ11 27 11 6 17 5 68 22 5 36 4 M3 7 5 26 22 21 8 72 5 5 4 0 05 0 12 63 43 5 42 22 12 4 7 7 7 φ3 0 02 0 27 48 4 M3 36 φ6h7 0 0 012 φ36h7 0 0 025 3 0 04 0 depth 4 depth 4 depth 7 depth 0 5 depth 2 5 depth 5 5 depth 0 9 depth 2 5 depth 2 5 depth 5 5 depth 7 depth 2 5 depth 7 Table adapter φ6 through hole Shaft adapter ...

Page 56: ...egree Rotation Specification RTB Multi Rotation Specification RTBL Vertical Type Table adapter Shaft adapter 30 88 71 77 82 42 90 φ44 φ45h7 φ 3 4 8 M4 φ24H7 83 5 82 77 71 88 30 φ45h7 110 20 φ10h7 depth 7 5 depth 1 5 Table adapter Shaft adapter ...

Page 57: ... Multi Rotation Specification RTCL Flat Type Table adapter Shaft adapter 56 25 52 81 30 88 53 5 61 5 φ44 φ45h7 φ 3 4 46 φ15 4 25 52 55 81 30 88 53 5 81 5 20 φ10h7 φ45h7 46 8 M4 depth 7 5 Table adapter Shaft adapter φ24H7depth 1 5 depth 5 5 φ10 through hole ...

Page 58: ...rtical Type Table adapter Shaft adapter φ 5 2 54 76 8 M5 7 54 43 38 5 124 5 0 05 0 φ65h7 0 0 030 φ64 φ40H7 0 025 0 115 105 103 φ 14 14 5 95 3 5 0 1 0 76 54 54 43 38 5 124 7 5 0 05 0 φ65h7 0 0 030 107 105 103 φ 14 14 5 95 4 M5 depth 8 6 4 M5 depth 8 6 depth 9 depth 1 5 depth 5 depth 5 Table adapter Shaft adapter ...

Page 59: ...65h7 0 0 030 φ64 φ40H7 0 025 0 5 0 05 0 76 66 64 40 6 8 φ5 0 05 0 68 φ27 78 5 4 M5 56 φ 14 14 5 54 43 38 5 124 7 54 114 56 6 40 8 64 66 78 5 105 5 30 68 4 M5 5 0 05 0 0 0 030 φ65h7 5 0 05 0 4 M5 3 5 0 1 0 38 φ5 0 05 0 8 M5 depth 9 depth 8 6 depth 1 5 depth 3 5 depth 3 5 depth 3 5 depth 8 6 depth 3 5 depth 3 5 depth 10 depth 10 depth 5 depth 5 Table adapter φ20 through hole Shaft adapter ...

Page 60: ...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 out of the motor unit is a fixed type cable Fix the cable so it would not be bent repeatedly Please consult with IAI if you require a different kind of cable than the one supplied The supplied cable is not a robot cable Accordingly never s...

Page 61: ...d 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 bending radius below the allowable value Make certain...

Page 62: ...g force Pay attention not to concentrate the twisting force to one point on a cable Do not pinch drop a heavy object onto or cut the cable When a cable is fastened to affix make sure to have an appropriate force and do not tighten too much Do not use spiral tube in any position where cables are bent frequently ...

Page 63: ...ack If there is an indication to the cable for the space 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 abra...

Page 64: ... the gripper is installed Disassemble the motor Disassemble the gear area Disassemble the bearing Cut a cable If the user has disassembled any of the above components or cut any of the gripper s cables IAI will not be responsible for any malfunction or problem that may occur thereafter 4 2 Visually Inspecting the Exterior Visually check the exterior of the following items Actuator Loosening of act...

Page 65: ...rease For details give the above grease name to the manufacturer you want to purchase from and ask what corresponding product they have available Showa Shell Oil Albania Grease S2 Mobil Oil Unirex N2 Warning Never use any fluorine based grease Mixing with lithium based grease with other grease not only reduces the performance of the grease it may even cause damage to the actuator ...

Page 66: ...rews on the rear cover countersunk head screw M2 6 x 6 and separate the rear cover from the actuator do not forcibly pull the cables inside The rear cover remains attached to the actuator through the cables RTBS RTBSL RTCS RTCSL RTB RTBL RTC RTCL RTBB RTBBL Vertical Type RTCB RTCBL Flat Type RTBS RTBSL RTCS RTCSL RTB RTBL RTC RTCL RTBB RTBBL Vertical Type RTCB RTCBL Flat Type ...

Page 67: ... Flat Type n r u T n r u T RTBS RTBSL Vertical Type RTCS RTCSL Flat Type rear opening rear opening Add grease to the gear Add grease to the gear Caution The multi rotation specification RTBL RTCL has the home sensor installed on the rear opening side Accordingly apply grease on the gears by exercising caution not to let grease attach to the home sensor In case the grease got into your eye immediat...

Page 68: ...CL Flat Type Caution The multi rotation specification RTBL RTCL has the home sensor installed on the rear opening side Accordingly apply grease on the gears by exercising caution not to let grease attach to the home sensor In case the grease got into your eye immediately go to see the doctor to get an appropriate care After finishing the grease supply work wash your hands carefully with water and ...

Page 69: ...Flat Type Caution The multi rotation specification RTBL RTCL has the home sensor installed on the rear opening side Accordingly apply grease on the gears by exercising caution not to let grease attach to the home sensor In case the grease got into your eye immediately go to see the doctor to get an appropriate care After finishing the grease supply work wash your hands carefully with water and soa...

Page 70: ...ause them to malfunction Warning The encoder phase has been precisely adjusted to ensure accurate detection of rotational angle and home signal To prevent actuator failure due to an offset encoder phase never touch the encoder When attaching the rear cover exercise caution not to pinch the cables between the cover and actuator Store the cables in the space provided in the upper section of the actu...

Page 71: ...ical Type φ13 11 20 39 11 27 48 0 04 0 3 4 φ 3 0 02 0 4 M3 4 M3 4 0 05 0 5 5 φ 3H7 0 010 0 7 5 26 22 21 8 72 45 36 4 M3 4 M3 φ 20g6 0 007 0 020 φ 7H7 0 015 0 φ 36h7 0 0 025 61 11 6 67 17 5 6 35 5 2 5 33 6 12 4 68 5 70 45 48 3 0 04 0 φ 3 0 02 0 12 5 12 5 depth 2 5 depth 2 5 depth 5 5 depth 4 depth 7 depth 2 5 depth 5 5 depth 2 5 depth 7 5 depth 3 5 depth 4 Mass kg 0 52 ...

Page 72: ... 34 48 0 04 0 φ 3 0 02 0 4 8 92 4 0 05 0 5 5 17 5 68 22 5 36 11 6 4 M3 7 5 26 22 21 8 72 6 M3 φ 36h7 0 0 025 φ 35 φ 20H7 3 φ 11 48 27 φ 3 0 02 0 0 021 0 0 04 0 36 4 12 22 42 43 5 51 7 depth 5 5 4 M3 depth 5 5 depth 2 5 depth 2 5 depth 7 depth 7 depth 0 5 depth 4 depth 2 5 depth 2 5 depth 0 9 φ6 through hole 7 Mass kg 0 48 ...

Page 73: ...68 5 67 61 4 11 39 12 3 4 M3 depth 3 5 φ3 H7 depth 3 φ7 H7 depth 7 5 φ36 h7 4 M3 depth 7 4 M3 depth5 5 4 M3 depth5 5 Joint for the Air Applicable Tube O D φ6 36 4 0 05 0 0 010 0 0 015 0 3 depth 2 5 0 04 0 φ3 depth 2 5 0 02 0 φ3 depth 2 5 0 02 0 3 depth 2 5 0 04 0 0 0 025 φ20 g6 0 007 0 020 φ13 21 78 4 5 11 48 27 4 5 6 6 33 48 4 2 21 8 7 5 25 69 48 5 5 26 depth 4 Mass kg 0 6 ...

Page 74: ... 4 2 32 7 22 5 43 5 23 68 45 42 22 36 36 8 29 4 4 M3 depth 3 5 4 M3 depth 7 φ13 21 4 5 7 7 4 4 5 78 26 7 5 21 8 27 69 5 5 48 48 4 0 05 0 depth 4 φ3 H7 depth 3 0 010 0 φ7 H7 depth 7 5 0 015 0 φ 20 g6 0 007 0 020 4 M3 depth2 5 3 depth 2 5 0 04 0 φ3 depth 2 5 0 02 0 φ36 h7 0 0 025 φ3 depth 2 5 0 02 0 4 M3 depth5 5 3 depth 2 5 0 04 0 48 34 Mass kg 0 54 ...

Page 75: ...ification RTBL Vertical Type Mass kg 0 86 4 0 05 0 6 42 37 φ 3H7 φ 4 0 03 0 φ 4 0 03 0 4 M4 φ17 5 φ 24h7 56 34 4 0 05 0 5 5 5 39 34 56 52 4 0 05 0 5 9 22 12 30 88 70 8 77 2 82 2 83 5 26 5 50 φ 45h7 φ 11H7 9 8 28 depth 2 5 depth 3 depth 4 depth 10 depth 2 5 depth 2 5 M3 depth 6 4 M4 depth 7 4 M4 depth 8 depth 2 5 depth 8 5 5 34 ...

Page 76: ...42 φ 45h7 φ 24h7 5 M 4 M 3 φ 3H7 φ17 φ 4 0 03 0 4 4 M 4 φ 4 0 03 0 44 4 0 05 0 34 5 56 34 6 25 56 35 7 5 4 0 05 0 4 0 05 0 5 52 2 55 81 30 88 53 7 6 26 5 46 φ 15 4 φ 11H7 4 M4 depth 8 depth 2 5 depth 4 depth 10 depth 8 depth 5 5 depth 2 5 depth 6 depth 7 depth 2 5 depth 3 depth 2 5 φ10 through hole Mass kg 0 92 ...

Page 77: ...5 External Dimensions 71 Brake Equipped 330deg Rotation Specification RTB Multi Rotation Specification RTBL Vertical Type φ 1 7 Mass kg 1 2 ...

Page 78: ...5 External Dimensions 72 Brake Equipped 330deg Rotation Specification RTC Multi Rotation Specification RTCL Flat Type Mass kg 1 3 ...

Page 79: ... 70 8 84 5 5 77 2 82 2 83 5 φ 24 h7 0 0 021 φ 45 h7 0 0 025 φ 1 7 6 37 26 5 95 56 28 42 50 4 0 05 0 φ3 H7 0 010 0 16 5 29 5 8 5 5 5 5 39 5 5 4 0 05 0 56 12 22 φ4 0 03 0 5 9 52 9 8 4 0 05 0 56 34 φ4 0 03 0 4 M4 5 5 depth 2 5 depth 2 5 depth 7 depth 2 5 depth 2 5 depth 10 4 M4 depth 7 4 M4 depth 8 5 M3 depth 6 depth 4 depth 3 Joint for the Air Applicable Tube O D φ6 Mass kg 0 96 ...

Page 80: ... 5 φ11 H7 0 018 0 5 34 56 84 5 5 5 5 6 34 46 52 2 53 7 55 4 0 05 0 φ24 h7 0 0 021 φ45 h7 0 0 025 φ4 0 03 0 5 44 56 7 5 35 4 0 05 0 φ4 0 03 0 A A B B 0 5 2 5 2 5 Section A A Section B B 0 5 4 M4 depth 8 depth 2 5 depth 10 4 M4 depth 7 4 M4 depth 8 5 M3 depth 6 depth 2 5 depth 2 5 depth 4 depth 3 depth 2 5 Joint for the Air Applicable Tube O D φ6 φ10 through hole Mass kg 1 04 ...

Page 81: ...5 External Dimensions 75 Brake Equipped 330deg Rotation Specification RTB Multi Rotation Specification RTBL Vertical Type Mass kg 1 3 ...

Page 82: ...5 External Dimensions 76 Brake Equipped 330deg Rotation Specification RTC Multi Rotation Specification RTCL Flat Type Mass kg 1 42 ...

Page 83: ... φ30 16 63 16 55 40 5 78 5 5 0 05 0 φ 5 0 05 0 6 φ 5 0 05 0 34 34 78 5 φ 65h7 0 0 030 φ 40g6 0 009 0 025 φ 21H7 0 021 0 5 0 05 0 4 M5 6 9 5 44 5 68 57 9 5 95 φ 14 103 105 107 14 5 76 5 0 05 0 φ 4H7 0 012 0 4 M5 6 M4 54 43 38 5 124 7 76 54 depth 3 5 depth 3 5 depth 12 5 depth 3 5 depth 5 depth 8 6 depth 7 depth 5 depth 10 depth 3 5 4 M5 depth 10 Mass kg 2 3 ...

Page 84: ... 38 56 68 78 5 8 04 64 66 68 6 54 54 11 6 78 5 φ 14 φ 3 0 5 0 05 0 0 0 030 φ 65h7 0 009 0 025 φ 40g6 φ 21H7 0 021 0 φ 5 0 05 0 φ 5 0 05 0 φ 27 4 M5 φ 5 0 05 0 5 0 05 0 φ 4H7 0 012 0 depth 3 5 depth 5 depth 3 5 depth 3 5 depth 10 depth 5 depth 12 5 depth 3 5 depth 3 5 4 M5 depth 10 6 M4 depth 7 4 M5 depth 8 6 φ20 through hole Mass kg 2 2 ...

Page 85: ...5 External Dimensions 79 Brake Equipped 330deg Rotation Specification RTBB Multi Rotation Specification RTBBL Vertical Type Mass kg 3 0 ...

Page 86: ...5 External Dimensions 80 Brake Equipped 330deg Rotation Specification RTCB Multi Rotation Specification RTCBL Flat Type Mass kg 2 9 ...

Page 87: ... 105 107 φ40g6 0 009 0 025 φ67h7 0 0 030 119 95 6 5 6 5 7 φ30 38 5 54 132 54 76 5 0 05 0 φ4 H7 0 012 0 78 5 40 5 4 M5 6 M4 12 5 15 5 45 68 9 5 57 9 5 6 78 5 5 0 05 0 φ5 0 05 0 6 55 16 63 16 5 0 05 0 78 5 φ5 0 05 0 depth 3 5 depth 12 5 depth 5 depth 8 6 depth 7 depth 5 depth 3 5 depth 3 5 depth 3 5 4 M5 depth 10 4 M5 depth 10 Joint for the air purge Applicable Tube O D φ6 Mass kg 2 5 ...

Page 88: ...021 0 6 8 40 64 66 68 56 68 φ40g6 0 009 0 025 φ67h7 0 0 030 78 5 5 0 05 0 φ5 0 05 0 119 6 5 6 5 6 54 78 5 11 54 φ5 0 05 0 5 0 05 0 C C D D 3 5 3 5 0 5 Section C C Section D D Scale 1 1 Scale 1 1 0 5 4 M5 depth 10 depth 3 5 depth 3 5 depth 5 depth 12 5 depth 3 5 depth 3 5 6 M4 depth 7 4 M5 depth 8 6 4 M5 depth 10 depth 5 Joint for the Air Applicable Tube O D φ6 φ18 through hole Mass kg 2 4 ...

Page 89: ...5 External Dimensions 83 Brake Equipped 330deg Rotation Specification RTBB Multi Rotation Specification RTBBL Vertical Type Mass kg 3 2 ...

Page 90: ...5 External Dimensions 84 Brake Equipped 330deg Rotation Specification RTCB Multi Rotation Specification RTCBL Flat Type Mass kg 3 1 ...

Page 91: ...6 Life 85 6 Life The product life is set to 10 000 000 times reference of 360deg turns in the condition of maximum output torque maximum acceleration and maximum deceleration ...

Page 92: ... warranty 1 Anything other than our product 2 Modification 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 o...

Page 93: ...ining to maintenance or management of human life or 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 ...

Page 94: ...Back and forth operation in a short distance may cause wear of grease deleted from Caution in Handling May 2014 Tenth edition P 20 Note of available and not available added to orientation of the installation P 38 Home return range reference in home return operation added June 2014 10B edition P 34 Note corrected deg sec deg s October 2014 Eleventh edition Dustproof Splash Proof Cleanroom Specifica...

Page 95: ...rex N2 July 2016 14D edition P 75 Change made to mass of brake equipped RTB RTBL 1 2kg 1 3kg P 76 Change made to mass of brake equipped RTC RTCL 1 3kg 1 42kg P 83 Change made to mass of brake equipped RTBB RTBBL 3 0kg 3 2kg P 84 Change made to mass of brake equipped RTCB RTCBL 2 9kg 3 1kg February 2017 14E edition P 8 Note added for protection in case cable is put through hollow P 58 Note added to...

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Page 98: ...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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