ROBO Cylinder RCP6SW Instruction Manual Download Page 118

Page: 118 / 146

110

xtern

al Dim

ensi

6.2 Dust-proof/splash-proof specification, built-in controller specification

RCP6SW-RA4C

Must be 100 or more.

168 (W/o Brake)
197 (With Brake)

2.5

41.5

Ø3

(21.3)

10.5

56.25

Greasing port (Ø2.5 hole)
(Same for opposite side)

Grease discharge hole
(same for opposite side)

(Ø32)

AC(2,5,10,15)

10.5

56.25

Status LED

Greasing port (Ø2.5 hole)

Actuator/controller connection cable
Actuator cable
(robot cable)

Air intake/exhaust port
Applicable tube O.D.: Ø6
Mounting surface can be changed

Grease fitting (for rod)
Mounting surface can be changed

Fitting rotation range

4-M4 Depth 8

4.3

7.3

.5 7.7

20.5

Cable exit direction (option)

CJB

Bottom

CJT

Top

CJR

Right Side

CJL

Left Side

)

Enclosed square nut

Scale 2:1

3.2

Stroke

Ø2

(ro

)

9.5

M10×1.25

M.E.

S.E.

Home

M.E.

The angle of the width
across flat is undefined

Detailed view P

Scale 2:1

(19

.6)

M10×1.25

Enclosed hexagonal nut

Scale 1:1

M.E. : Mechanical End
S.E. : Stroke End

*1 Make sure that the total length of the actuator cable and actuator/controller connection cable is 20m or less.
*2 The cable relay section within the dotted line is not splash-proof.

Stroke

Mass [kg]

W/o

Brake

With

Brake

W/o

Brake

With

Brake

331

360

163

1.6

1.7

100

381

410

213

1.8

1.9

150

431

460

263

2.0

2.1

200

481

510

313

2.2

2.3

(Note)

L dimensions described in the table are those with no cable exit direction (option).

For cable exit

direction types (option), the dimensions are longer in 20.5mm.

Summary of Contents for RCP6SW

Page 1: ...ROBO Cylinder RCP6W RCP6SW Actuator Rod Type Instruction Manual First edition Dust proof splash proof specification Motor Straight Type RA4C RA6C RA7C RA8C Side Mounted Motor Type RA4R RA6R RA7R RA8R ...

Page 2: ......

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...

Page 4: ...Description of RCP6SW controller unit is not included in this instruction manual With regard to RCP6SW controller unit refer to the separate instruction manual ...

Page 5: ...d 44 1 2 6 Current Limit Value and Pressing Force 45 1 2 7 Rod Tip Inclination Amount reference 49 1 2 8 Duty Ratio for Continuous Operation 51 1 2 9 Degree of protection 52 1 3 Options 53 1 3 1 Brake Type Model B 53 1 3 2 Reversed home Specification Model NM 53 1 3 3 Flange Bracket Front Model FL 53 1 3 4 Foot Bracket Model FT 54 1 3 5 T slot Nut Bar Model NTB 54 1 3 6 Tip Adapter Internal Thread...

Page 6: ...nging the position of the grease fitting 107 5 8 2 Changing the position of the air inlet outlet fitting 108 6 External Dimensions 109 6 1 Dust proof splash proof specification standard specification RCP6W RA4C 109 6 2 Dust proof splash proof specification built in controller specification RCP6SW RA4C 110 6 3 Dust proof splash proof specification standard specification RCP6W RA6C 111 6 4 Dust proo...

Page 7: ...sh proof specification standard specification RCP6W RA7R Top Side Mounted Model MT 125 6 18 Dust proof splash proof specification standard specification RCP6W RA7R Left Side Mounted Model ML 126 6 19 Dust proof splash proof specification built in controller specification RCP6SW RA7R Top Side Mounted Model MT 127 6 20 Dust proof splash proof specification built in controller specification RCP6SW RA...

Page 8: ...Honoring the Warranty 134 8 4 Limited Liability 135 8 5 Conditions of Conformance with Applicable Standards Regulations Etc and Applications 135 8 6 Other Items Excluded from Warranty 135 Change History 136 ...

Page 9: ...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 10: ...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 11: ...s no disconnection or looseness 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 3 Grounding The grounding operation should be performed to prevent an electric shock or electrost...

Page 12: ... 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 13: ...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 14: ...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 15: ...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 16: ...e repeated over a short distance they may degrade the film of grease Continuous return operation within a distance less than 30mm may cause the grease film to degrade As a reference have approximately 5 cycles of back and forth operation in a distance more than 50mm in every 5 000 to 10 000 cycles to regenerate the oil film Keep using the actuator with the grease worn out may cause malfunction If ...

Page 17: ... there are constant water jets Please take appropriate protective measures 13 For PCON CB RCON PC and MCON Controllers with option T parameter setting can be used to switch the high output setting between enabled and disabled please use with the high output setting enabled In the setting at delivery the high output setting is set to effective For MSEL Controller the high output setting is effectiv...

Page 18: ... 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 19: ...craper Frame Hex socket head bolt Ball screw rotation stopper grease port End cover Rod seal housing IP Motor cover Motor bracket Rear bracket Left Side Right Side Motor Side Opposite Side 1 2 Built in Controller Specification RCP6SW RA4C Grease fitting Rod sliding surface grease port Mounting surface can be changed Hex socket head bolt Rod sliding surface grease port Same for right side Hex socke...

Page 20: ...ng IP Motor cover Motor bracket Rear bracket Left Side Right Side Motor Side Opposite Side 1 4 Built in Controller Specification RCP6SW RA6C RA7C Rod tip adaptor Rod Scraper Status LED Hole cap Ball screw rotation stopper grease port Left Side Right Side Motor Side Opposite Side Grease fitting Rod sliding surface grease port Mounting surface can be changed Hex socket head bolt Rod sliding surface ...

Page 21: ...e can be changed Frame End cover Rod seal housing IP Motor cover Rear bracket Rear bracket 1 6 Built in Controller Specification RCP6SW RA8C Rod tip adaptor Rod Scraper Hole cap Ball screw rotation stopper grease port Left Side Right Side Motor Side Opposite Side Grease fitting Rod sliding surface grease port Mounting surface can be changed Hex socket head bolt Rod sliding surface grease port Same...

Page 22: ...lt air inlet outlet Frame Hex socket head bolt Ball screw rotation stopper grease port Same for right side Pulley cover 2 2 Built in Controller Specification RCP6SW RA4R Rod tip adaptor Rod Scraper Left Side Right Side Motor Side Opposite Side Grease fitting Rod sliding surface grease port Mounting surface can be changed Hex socket head bolt Rod sliding surface grease port Same for right side Fitt...

Page 23: ...et Frame Hole cap Ball screw rotation stopper grease port Same for right side Pulley cover 2 4 Built in Controller Specification RCP6SW RA6R RA7R Rod tip adaptor Rod Scraper Left Side Right Side Motor Side Opposite Side Grease fitting Rod sliding surface grease port Mounting surface can be changed Hex socket head bolt Rod sliding surface grease port Same for right side Fitting air inlet outlet Mou...

Page 24: ...et Frame Hole cap Ball screw rotation stopper grease port Same for right side Pulley cover 2 6 Built in Controller Specification RCP6SW RA8R Rod tip adaptor Rod Scraper Left Side Right Side Motor Side Opposite Side Grease fitting Rod sliding surface grease port Mounting surface can be changed Hex socket head bolt Rod sliding surface grease port Same for right side Fitting air inlet outlet Mounting...

Page 25: ...d the Model Number 1 Accessories 2 Motor Encoder Cables Note1 1 3 Nut 1 Refer to list below 4 Square Nut 1 set Refer to list below 5 First Step Guide 1 6 Instruction Manual DVD 1 7 Safety Guide 1 Note 1 The motor encoder cables supplied vary depending on the controller used Refer to 1 4 Motor Encoder Cables List of Included Nut Type Nut M10 1 25 Nut M14 1 5 Nut M20 1 5 RA4C RA4R RA6C RA6R 1 RA7C R...

Page 26: ...Manual for XSEL PC Software IA 101 X MW IA 101 X USBMW ME0154 6 Instruction Manual for Touch Panel Teaching Pendant CON PTA PDA PGA ME0295 7 Instruction Manual for Touch Panel Teaching Pendant TB 01 01D 01DR Conpatible with Position Controller ME0324 8 Instruction Manual for Touch Panel Teaching Pendant TB 02 02D Compatible with Position controller ME0355 9 Instruction Manual for Touch Panel Teach...

Page 27: ...length 2m AC5 Actuator cable length 5m AC10 Actuator cable length 10m AC15 Actuator cable length 15m B Brake NM Reversed home specification FL Flange bracket FT Foot bracket NTB T slot nut bar specification NFA Tip adapter Internal Thread ML Motor left side mounted MR Motor right side mounted MT Motor top side mounted CJT Cable exit direction changed Top CJR Cable exit direction changed Right CJL ...

Page 28: ...e Lead mm Horizontal Vertical Stroke mm 50 100 150 200 RA4C 35P 2 5 Horizontal 175 Vertical 150 5 Horizontal 350 Vertical 350 10 Horizontal 525 Vertical 435 50 100 150 200 250 300 RA6C 42P 3 Horizontal 210 Vertical 210 6 Horizontal 420 Vertical 370 12 Horizontal 630 Vertical 525 50 100 150 200 250 300 RA7C 56P 4 Horizontal 140 Vertical 140 8 Horizontal 350 Vertical 280 16 Horizontal 420 Vertical 4...

Page 29: ...ontal 260 Vertical 260 10 Horizontal 435 Vertical 435 50 100 150 200 250 300 RA6C 42P 3 Horizontal 105 Vertical 105 6 Horizontal 315 Vertical 315 12 Horizontal 525 Vertical 525 50 100 150 200 250 300 RA7C 56P 4 Horizontal 105 Vertical 105 8 Horizontal 140 Vertical 140 16 Horizontal 280 Vertical 280 50 100 150 200 250 300 RA8C 60P 5 Horizontal 80 Vertical 80 10 Horizontal 170 Vertical 170 20 Horizo...

Page 30: ...izontal Vertical Stroke mm 50 100 150 200 RA4R 35P 2 5 Horizontal 175 Vertical 150 5 Horizontal 350 Vertical 350 10 Horizontal 525 Vertical 435 50 100 150 200 250 300 RA6R 42P 3 Horizontal 210 Vertical 210 6 Horizontal 420 Vertical 370 12 Horizontal 630 Vertical 525 50 100 150 200 250 300 RA7R 56P 4 Horizontal 140 Vertical 140 8 Horizontal 350 Vertical 280 16 Horizontal 420 Vertical 420 50 100 150...

Page 31: ...al 315 Vertical 315 12 Horizontal 525 Vertical 525 50 100 150 200 250 300 RA7R 56P 4 Horizontal 105 Vertical 105 8 Horizontal 140 Vertical 140 16 Horizontal 280 Vertical 280 50 100 150 200 250 300 RA8R 60P 5 Horizontal 80 Vertical 80 10 Horizontal 170 Vertical 170 20 Horizontal 300 Vertical 300 Caution When a speed less than the minimum speed operation will not made in the set speed Do not attempt...

Page 32: ...ype Lead mm Horizontal Vertical Transportable Mass by Acceleration Deceleration kg Velocity mm s 0 1G 0 3G 0 5G 0 7G 1 0G RA4C 35P 2 5 Horizontal 0 40 40 40 35 30 20 40 40 40 35 30 40 40 40 40 35 30 65 40 40 40 30 30 85 40 40 35 30 30 105 40 40 35 30 30 130 40 40 35 30 30 150 40 35 35 29 24 175 33 24 22 19 12 Vertical 0 10 10 10 20 10 10 10 40 10 10 10 65 10 10 10 85 10 10 10 105 10 6 6 130 4 4 4 ...

Page 33: ... to 40 C Type Motor Type Lead mm Horizontal Vertical Transportable Mass by Acceleration Deceleration kg Velocity mm s 0 1G 0 3G 0 5G 0 7G 1 0G RA4C 35P 10 Horizontal 0 11 11 9 9 7 85 11 11 9 9 7 175 11 11 8 7 5 260 11 11 7 4 2 350 11 11 7 3 1 435 11 10 6 3 1 525 4 1 Vertical 0 2 2 2 85 2 2 2 175 2 2 2 260 2 2 2 350 2 2 2 435 1 5 1 1 ...

Page 34: ...65 40 40 40 30 30 85 40 40 35 30 30 105 40 40 35 30 30 130 40 40 35 30 30 Vertical 0 10 10 10 20 10 10 10 40 10 10 10 65 10 10 10 85 10 10 10 105 10 6 6 130 4 4 4 5 Horizontal 0 23 23 21 18 18 40 23 23 21 18 18 85 23 23 21 18 18 130 23 23 21 18 18 175 23 23 21 16 14 215 23 23 21 14 12 260 23 22 18 12 8 Vertical 0 4 4 4 40 4 4 4 85 4 4 4 130 4 4 4 175 4 4 4 215 4 4 4 260 4 4 4 10 Horizontal 0 11 11...

Page 35: ...50 45 40 45 60 60 50 45 40 70 60 60 50 45 40 105 60 60 50 45 40 130 60 60 50 40 30 155 60 50 40 30 25 180 60 40 35 25 20 210 60 26 22 20 14 Vertical 0 20 20 20 20 20 20 20 45 20 20 20 70 20 20 20 105 20 20 20 130 18 14 10 155 14 10 6 180 9 6 5 210 6 4 4 6 Horizontal 0 40 40 35 30 25 55 40 40 35 30 25 105 40 40 35 30 25 160 40 40 35 25 25 210 40 40 30 25 20 265 40 40 27 5 22 5 18 315 40 35 21 20 14...

Page 36: ...Type Motor Type Lead mm Horizontal Vertical Transportable Mass by Acceleration Deceleration kg Velocity mm s 0 1G 0 3G 0 5G 0 7G 1 0G RA6C 42P 12 Horizontal 0 25 25 18 16 12 105 25 25 18 16 12 210 25 25 17 14 10 315 25 25 15 10 6 420 20 20 10 10 6 525 15 15 8 6 4 5 630 8 3 2 1 Vertical 0 4 4 4 105 4 4 4 210 4 4 4 315 4 4 4 420 4 4 4 525 2 1 1 ...

Page 37: ...0 50 45 40 70 60 60 50 45 40 105 60 60 50 45 40 Vertical 0 20 20 20 20 20 20 20 45 20 20 20 70 20 20 20 105 20 20 20 6 Horizontal 0 40 40 35 30 25 55 40 40 35 30 25 105 40 40 35 30 25 160 40 40 35 25 25 210 40 40 30 25 20 265 40 40 27 5 22 5 18 315 40 35 21 20 14 Vertical 0 10 10 10 55 10 10 10 105 10 10 10 160 10 10 10 210 9 9 9 265 8 8 7 315 4 4 4 12 Horizontal 0 25 25 18 16 12 105 25 25 18 16 1...

Page 38: ...56P 4 Horizontal 0 80 80 70 65 60 35 80 80 70 65 60 70 80 80 70 65 60 105 80 80 60 50 40 140 67 47 10 6 6 Vertical 0 28 28 28 35 28 28 28 70 28 28 28 105 21 20 18 140 8 6 6 8 Horizontal 0 60 60 50 45 40 70 60 60 50 45 40 140 60 60 50 45 40 210 60 60 40 30 20 280 60 20 9 6 3 350 20 Vertical 0 18 18 18 70 18 18 18 140 16 16 12 210 8 7 6 280 3 2 1 16 Horizontal 0 50 50 40 35 30 140 50 50 40 35 30 280...

Page 39: ...kg Velocity mm s 0 1G 0 3G 0 5G 0 7G 1 0G RA7C 56P 4 Horizontal 0 80 80 70 65 60 35 80 80 70 65 60 60 80 80 70 65 60 70 80 80 70 65 60 105 80 80 60 50 40 Vertical 0 28 28 28 35 28 28 28 60 28 28 28 70 21 21 21 105 8 8 8 8 Horizontal 0 60 60 50 45 40 70 60 60 50 45 40 140 60 60 50 45 40 Vertical 0 18 18 18 70 18 18 18 140 8 8 8 16 Horizontal 0 50 50 40 35 30 140 50 50 40 35 30 280 50 45 32 22 17 Ve...

Page 40: ... Horizontal Vertical Transportable Mass by Acceleration Deceleration kg Velocity mm s 0 1G 0 2G RA8C 60P 5 Horizontal 0 100 80 100 90 100 100 75 Vertical 0 70 45 70 60 45 70 35 80 25 90 14 100 9 10 Horizontal 0 60 160 60 170 40 180 25 190 15 200 12 Vertical 0 35 80 35 90 34 100 28 110 23 120 18 130 15 140 12 150 10 160 8 170 6 180 4 190 3 200 2 20 Horizontal 0 30 300 30 350 14 Vertical 0 3 300 3 3...

Page 41: ...80 9 10 Horizontal 0 60 160 60 170 40 Vertical 0 35 80 35 90 34 100 28 110 23 120 18 130 15 140 12 150 10 160 8 170 6 20 Horizontal 0 30 300 30 Vertical 0 3 300 3 Caution Do not attempt to establish the settings for the acceleration deceleration above the allowable range It may cause a vibration malfunction or shorten the product life If any acceleration deceleration equal to or greater than the r...

Page 42: ...al 0 40 40 40 35 30 20 40 40 40 35 30 40 40 40 40 35 30 65 40 40 40 30 30 85 40 40 35 30 30 105 40 40 35 30 30 130 40 40 35 30 30 150 40 35 35 29 24 175 33 24 22 19 12 Vertical 0 10 10 10 20 10 10 10 40 10 10 10 65 10 10 10 85 10 10 10 105 10 6 6 130 4 4 4 150 2 2 2 5 Horizontal 0 23 23 21 18 18 40 23 23 21 18 18 85 23 23 21 18 18 130 23 23 21 18 18 175 23 23 21 16 14 215 23 23 21 14 12 260 23 22 ...

Page 43: ... C to 40 C Type Motor Type Lead mm Horizontal Vertical Transportable Mass by Acceleration Deceleration kg Velocity mm s 0 1G 0 3G 0 5G 0 7G 1 0G RA4R 35P 10 Horizontal 0 11 11 9 9 7 85 11 11 9 9 7 175 11 11 8 7 5 260 11 11 7 4 2 350 11 11 7 3 1 435 11 10 6 3 1 525 4 1 Vertical 0 2 2 2 85 2 2 2 175 2 2 2 260 2 2 2 350 2 2 2 435 1 5 1 1 ...

Page 44: ... 40 40 40 30 30 85 40 40 35 30 30 105 40 40 35 30 30 130 40 40 35 30 30 Vertical 0 10 10 10 20 10 10 10 40 10 10 10 65 10 10 10 85 10 10 10 105 10 6 6 130 4 4 4 5 Horizontal 0 23 23 21 18 18 40 23 23 21 18 18 85 23 23 21 18 18 130 23 23 21 18 18 175 23 23 21 16 14 215 23 23 21 14 12 260 23 22 18 12 8 Vertical 0 4 4 4 40 4 4 4 85 4 4 4 130 4 4 4 175 4 4 4 215 4 4 4 260 4 4 4 10 Horizontal 0 11 11 9...

Page 45: ...0 50 45 40 45 60 60 50 45 40 70 60 60 50 45 40 105 60 60 50 45 40 130 60 60 50 40 30 155 60 50 40 30 25 180 60 40 35 25 20 210 60 26 22 20 14 Vertical 0 20 20 20 20 20 20 20 45 20 20 20 70 20 20 20 105 20 20 20 130 18 14 10 155 14 10 6 180 9 6 5 210 6 4 4 6 Horizontal 0 40 40 35 30 25 55 40 40 35 30 25 105 40 40 35 30 25 160 40 40 35 25 25 210 40 40 30 25 20 265 40 40 27 5 22 5 18 315 40 35 21 20 ...

Page 46: ...C Type Motor Type Lead mm Horizontal Vertical Transportable Mass by Acceleration Deceleration kg Velocity mm s 0 1G 0 3G 0 5G 0 7G 1 0G RA6R 42P 12 Horizontal 0 25 25 18 16 12 105 25 25 18 16 12 210 25 25 17 14 10 315 25 25 15 10 6 420 20 20 10 10 6 525 15 15 8 6 4 5 630 8 3 2 1 Vertical 0 4 4 4 105 4 4 4 210 4 4 4 315 4 4 4 420 4 4 4 525 2 1 1 ...

Page 47: ...0 45 40 70 60 60 50 45 40 105 60 60 50 45 40 Vertical 0 20 20 20 20 20 20 20 45 20 20 20 70 20 20 20 105 20 20 20 6 Horizontal 0 40 40 35 30 25 55 40 40 35 30 25 105 40 40 35 30 25 160 40 40 35 25 25 210 40 40 30 25 20 265 40 40 27 5 22 5 18 315 40 35 21 20 14 Vertical 0 10 10 10 55 10 10 10 105 10 10 10 160 10 10 10 210 9 9 9 265 8 8 7 315 4 4 4 12 Horizontal 0 25 25 18 16 12 105 25 25 18 16 12 2...

Page 48: ...R 56P 4 Horizontal 0 80 80 70 65 60 35 80 80 70 65 60 70 80 80 70 65 60 105 80 80 60 50 40 140 67 47 10 6 6 Vertical 0 28 28 28 35 28 28 28 70 28 28 28 105 21 20 18 140 8 6 6 8 Horizontal 0 60 60 50 45 40 70 60 60 50 45 40 140 60 60 50 45 40 210 60 60 40 30 20 280 60 20 9 6 3 350 20 Vertical 0 18 18 18 70 18 18 18 140 16 16 12 210 8 7 6 280 3 2 1 16 Horizontal 0 50 50 40 35 30 140 50 50 40 35 30 2...

Page 49: ...celeration kg Velocity mm s 0 1G 0 3G 0 5G 0 7G 1 0G RA7R 56P 4 Horizontal 0 80 80 70 65 60 35 80 80 70 65 60 70 80 80 70 65 60 105 80 80 60 50 40 Vertical 0 28 28 28 35 28 28 28 60 28 28 28 70 21 21 21 105 8 8 8 8 Horizontal 0 60 60 50 45 40 70 60 60 50 45 40 140 60 60 50 45 40 Vertical 0 18 18 18 70 18 18 18 140 8 8 8 16 Horizontal 0 50 50 40 35 30 140 50 50 40 35 30 280 50 45 32 22 17 Vertical ...

Page 50: ... C Type Motor Type Lead mm Horizontal Vertical Transportable Mass by Acceleration Deceleration kg Velocity mm s 0 1G 0 2G RA8R 60P 5 Horizontal 0 100 80 100 90 100 100 75 Vertical 0 70 45 70 60 45 70 35 80 25 90 14 100 9 10 Horizontal 0 60 160 60 170 40 180 25 190 15 200 12 Vertical 0 35 80 35 90 34 100 28 110 23 120 18 130 15 140 12 150 10 160 8 170 6 180 4 190 3 200 2 20 Horizontal 0 30 300 30 3...

Page 51: ... 45 70 60 35 70 25 80 9 10 Horizontal 0 60 160 60 170 40 Vertical 0 35 80 35 90 34 100 28 110 23 120 18 130 15 140 12 150 10 160 8 170 6 20 Horizontal 0 30 300 30 Vertical 0 3 300 3 Caution Do not attempt to establish the settings for the acceleration deceleration above the allowable range It may cause a vibration malfunction or shorten the product life If any acceleration deceleration equal to or...

Page 52: ...time dependent change as it is used 1 2 5 Rod Tip Load Type lead Item Tolerance RA4C RA4R 2 5 5 10 Rod Tip Static Allowable Torque Note 1 1 0N m Rod Tip Maximum Displacement Angle Note 2 1 0 RA6C RA6R 3 6 12 Rod Tip Static Allowable Torque Note 1 1 5N m Rod Tip Maximum Displacement Angle Note 2 1 0 RA7C RA7R 4 8 16 Rod Tip Static Allowable Torque Note 1 2 5N m Rod Tip Maximum Displacement Angle No...

Page 53: ...ven a case that it would not operate An operation cannot be made also when it is beyond 70 Doing so may cause degradation in the motor coil insulation by heat radiation which results in shortening the product life 4 For CON system controllers such as PCON when the approach speed to the pressing start position setting in the position table is 20mm s or less pressing will be performed with the appro...

Page 54: ...ld not operate An operation cannot be made also when it is beyond 70 Doing so may cause degradation in the motor coil insulation by heat radiation which results in shortening the product life 4 For CON system controllers such as PCON when the approach speed to the pressing start position setting in the position table is 20mm s or less pressing will be performed with the approach speed In such a ca...

Page 55: ... would not operate An operation cannot be made also when it is beyond 70 Doing so may cause degradation in the motor coil insulation by heat radiation which results in shortening the product life 4 For CON system controllers such as PCON when the approach speed to the pressing start position setting in the position table is 20mm s or less pressing will be performed with the approach speed In such ...

Page 56: ... not operate An operation cannot be made also when it is beyond 60 Doing so may cause degradation in the motor coil insulation by heat radiation which results in shortening the product life 4 For CON system controllers such as PCON when the approach speed to the pressing start position setting in the position table is 10mm s or less pressing will be performed with the approach speed In such a case...

Page 57: ...Inclination Amount Reference RA6C RA6R Rod Tip Inclination Amount Reference Nominal st 50 Nominal st 100 Nominal st 150 Nominal st 200 Stroke Coordinate Position mm Stroke Coordinate Position mm Nominal st 200 Nominal st 150 Nominal st 100 Nominal st 50 Nominal st 250 Nominal st 300 Inclination Amount Amplitude Reference mm Inclination Amount Amplitude Reference mm ...

Page 58: ...Nominal st 150 Nominal st 100 Nominal st 50 Nominal st 250 Nominal st 300 Nominal st 200 Nominal st 150 Nominal st 100 Nominal st 50 Nominal st 250 Nominal st 300 Stroke Coordinate Position mm Stroke Coordinate Position mm Inclination Amount Amplitude Reference mm Inclination Amount Amplitude Reference mm ...

Page 59: ... Specification RCP6SW RA4C 4R It can operate continuously when the duty ratio is 100 RCP6SW RA6C 6R Lead 12mm can operate continuously when the duty ratio is 100 Operate with the duty ratio as in the following graph for lead 3mm and 6mm RCP6SW RA7C 7R Operate with the duty ratio as in the following graph for lead 4mm 8mm and 16mm Duty ratio Temperature C Lead 3mm Lead 6mm 38 C Duty ratio Temperatu...

Page 60: ...in one cycle by percentage Duty ratio The duty ratio is the operating rate shown in of the actuator operating time within one cycle D 100 1 2 9 Degree of protection IP65 IEC 60529 JIS C 0920 TM TM TR D Duty TM Operating time including pressing operation TR Stop time Speed Acceleration Constant speed Deceleration Stop Operating time TM Stop time TR Time of 1 cycle Time ...

Page 61: ... position will be reversed if it is desirable in view of the layout of the system etc Note The home position is adjusted at the factory before shipment If you wish to change the home after the delivery of your actuator you must return the actuator to IAI for adjustment 1 3 3 Flange Bracket Front Model FL This is the flange bracket to attach on the front of the main unit Model RA4 RA6 RA7 RA8 Model...

Page 62: ... Installation of the Main Unit 2 Installation by Using Foot Brackets 1 3 5 T slot Nut Bar Model NTB These are bar shaped brackets that plug into the actuator s T slots There is a nut hole in the predetermined position on the T slot nut bar For the dimensions refer to 2 3 2 Installation of the Main Unit 1 Using the T slot on the Bottom of the Base T Slot Nut Bar ...

Page 63: ...ture with one screw RA4C and RA4R Model code of single product RCP6 NFA RA4 M10x1 5 Depth 15 M10x1 5 Depth 15 17 0 1 5 0 2 0 17 0 1 5 0 2 0 26 The angle of the width across flat is undefined 35 41 20 62 5 home position RA6C and RA6R Model code of single product RCP6 NFA RA6 17 0 15 0 20 17 0 15 0 20 M10x1 5 Depth 15 32 The angle of the width across flat is undefined 35 41 20 62 5 home position ...

Page 64: ...22 0 15 0 20 M12x1 75 Depth 20 38 The angle of the width across flat is undefined 58 50 26 84 5 home position RA8C and RA8R Model code of single product RCP6 NFA RA8 3 0 0 1 5 0 2 0 3 0 0 1 5 0 2 0 M20x2 5 Depth 30 50 The angle of the width across flat is undefined 82 70 35 122 5 home position 50 ...

Page 65: ...model CJB and outside model CJO For the straight type only CJT CJR CJL and CJB can be selected For the right side mounted motor MR and left side mounted motor ML types only CJT CJB and CJO can be selected For the top side mounted motor MT type only CJR CJL and CJO can be selected Straight type Motor right side mounted MR motor left side mounted ML Motor top side mounted MT MR Right Side Mounted MT...

Page 66: ...58 1 Specifications Check 1 3 9 Change of Actuator Cable Length models AC5 AC10 AC15 The standard length is 2m For a longer actuator cable specify the length as follows AC5 5m AC10 10m AC15 15m ...

Page 67: ...6 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 Orange BK 2 10 BK Orange AWG26 AWG26 Gray VCC 21 17 VCC Gray AWG26 AWG26 Red GND 7 19 GND Red AWG26 AWG26 Brown VPS 18 18 ...

Page 68: ... 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 Orange BK 2 10 BK Orange AWG26 AWG26 Gray VCC 21 17 VCC Gray AWG26 AWG26 Red GND 7 19 GND Red AWG26 AWG26 Brown VPS 18 18 VPS Brown AWG26 AWG26 Green LS_GND 13 ...

Page 69: ... LS Yellow AWG26 AWG26 Blue SA A6 11 SA Blue AWG26 AWG26 Orange SB B6 12 SB Orange AWG26 AWG26 Green A A7 13 A Green AWG26 AWG26 Brown A B7 14 A Brown AWG26 AWG26 Gray B A8 15 B Gray AWG26 AWG26 Red B B8 16 B Red AWG26 AWG26 Blue BK A5 9 BK Blue AWG26 AWG26 Orange BK B5 10 BK Orange AWG26 AWG26 Green LS_GND A9 20 LS_GND Green AWG26 AWG26 Brown VPS B9 18 VPS Brown AWG26 AWG26 Gray VCC A10 21 VCC Gr...

Page 70: ... 8 LS Yellow AWG26 AWG26 Blue SA A6 11 SA Blue AWG26 AWG26 Orange SB B6 12 SB Orange AWG26 AWG26 Green A A7 13 A Green AWG26 AWG26 Brown A B7 14 A Brown AWG26 AWG26 Gray B A8 15 B Gray AWG26 AWG26 Red B B8 16 B Red AWG26 AWG26 Blue BK A5 9 BK Blue AWG26 AWG26 Orange BK B5 10 BK Orange AWG26 AWG26 Green LS_GND A9 20 LS_GND Green AWG26 AWG26 Brown VPS B9 18 VPS Brown AWG26 AWG26 Gray VCC A10 21 VCC ...

Page 71: ...12 SA Blue AWG26 AWG26 Orange SB 17 17 SB Orange AWG26 AWG26 Green A 1 1 A Green AWG26 AWG26 Brown A 6 6 A Brown AWG26 AWG26 Gray B 11 11 B Gray AWG26 AWG26 Red B 16 16 B Red AWG26 AWG26 Blue BK 20 20 BK Blue AWG26 AWG26 Orange BK 2 2 BK Orange AWG26 AWG26 Gray VCC 21 21 VCC Gray AWG26 AWG26 Red GND 7 7 GND Red AWG26 AWG26 Brown VPS 18 18 VPS Brown AWG26 AWG26 Green LS_GND 13 13 LS_GND Green AWG26...

Page 72: ...6 Orange SB 17 17 SB Orange AWG26 AWG26 Green A 1 1 A Green AWG26 AWG26 Brown A 6 6 A Brown AWG26 AWG26 Gray B 11 11 B Gray AWG26 AWG26 Red B 16 16 B Red AWG26 AWG26 Blue BK 20 20 BK Blue AWG26 AWG26 Orange BK 2 2 BK Orange AWG26 AWG26 Gray VCC 21 21 VCC Gray AWG26 AWG26 Red GND 7 7 GND Red AWG26 AWG26 Brown VPS 18 18 VPS Brown AWG26 AWG26 Green LS_GND 13 13 LS_GND Green AWG26 19 19 AWG26 Pink 22 ...

Page 73: ... Brown AWG26 AWG26 Light blue SA A6 12 SA Light blue AWG26 AWG26 Orange SB B6 17 SB Orange AWG26 AWG26 Green A A7 1 A Green AWG26 AWG26 Brown A B7 6 A Brown AWG26 AWG26 Gray B A8 11 B Gray AWG26 AWG26 Red B B8 16 B Red AWG26 AWG26 Light blue BK A5 20 BK Light blue AWG26 AWG26 Orange BK B5 2 BK Orange AWG26 AWG26 Green LS_GND A9 13 LS_GND Green AWG26 AWG26 Black VPS B9 18 VPS Black AWG26 AWG26 Gray...

Page 74: ... orientation when placing it on the ground or transporting Follow the instruction if there is any for the packaging condition Do not step or sit on the package Do not put any load that may cause a deformation or breakage of the package 2 Handling the Actuator After Unpacking Do not carry an actuator by motor cover and a cable or attempt to move it by pulling the cable Be careful not to bump the ac...

Page 75: ...prevent sudden movement during transport 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 When hanging up with ropes have appropriate cushioning to avoid any deformation of the actuator body Also keep it in stable horizontal orientation ...

Page 76: ... Where the actuator receives impact or vibration Where the altitude is more than 2000m If the actuator is used in any of the following locations provide sufficient shielding measures Where noise generates due to static electricity etc Where the actuator is subject to a strong electric or magnetic field Where the actuator is subject to ultraviolet ray or radiation 2 Storage Preservation Environment...

Page 77: ...nstallation Orientation Horizontal Vertical Sideways Ceiling mount Note ꞏ Grease has been applied to the outer periphery of the rod Protect the peripheral equipments if they are affected by grease adhesion ꞏ When the unit is installed vertically oriented Motor straight type is attempt to put the motor up unless there is a special reason ꞏ Putting the motor on the lower side would not cause a probl...

Page 78: ...frame front and the side mounted motor type rear bracket Using these parts the following installations can be realized ꞏ Installation by using T slots ꞏ Installation by using foot brackets option model FT ꞏ Installing main unit frame front ꞏ Installation by using flange option model FL ꞏ Installation by using rear bracket for side mounted motor types 1 Using the T slot on the Bottom of the Base Th...

Page 79: ... and the tightening torque in the following table RA4 RA6 RA7 RA8 Minimum Fixing Number Bolts 4 4 6 8 Tightening Torque Nm When the bolt seating surface is steel 3 59 12 34 12 34 29 9 When the bolt seating surface is aluminum 1 76 5 36 5 36 11 48 RA4 RA6 RA7 RA8 Quantities Enclosed 4 4 6 8 Attachment Bolts M4 M6 M6 M8 RA4 RA6 RA7 RA8 Screw Length mm From the Base Bottom 5 to 7 7 5 to 8 5 8 to 10 1...

Page 80: ...ing table to ensure the fitting length of the nut and the screw Install them according to the minimum fixing number of bolts and the tightening torque in the following table RA4 RA6 RA7 RA8 Minimum Fixing Number Bolts 4 4 6 8 Tightening Torque Nm When the bolt seating surface is steel 3 59 12 34 12 34 29 9 When the bolt seating surface is aluminum 1 76 5 36 5 36 11 48 RA4 RA6 RA7 RA8 Screw Length ...

Page 81: ... fixing nut bar RA4 Model number of single product RCP6W NTB RA4 60 60 Stroke 122 5 25 50 5 50 5 Maximum Stroke 12 5 Minimum 10 8 M6 Set screw for fixing nut bar Nut bar RA6 Model number of single product RCP6W NTB RA6 35 50 Maximum Stroke 37 5 Minimum 10 50 60 5 60 5 Stroke 147 5 8 M6 Set screw for fixing nut bar Nut bar RA7 Model number of single product RCP6W NTB RA7 ...

Page 82: ...74 2 Installation Stroke 190 5 65 65 40 50 7 5 50 7 5 Maximum Stroke 75 5 Minimum 15 8 M8 Nut bar Set screw for fixing nut bar RA8 Model number of single product RCP6W NTB RA8 ...

Page 83: ...ed Model MR Except RCP6S RA4R Motor Left Side Mounted Model ML Motor Right Side Mounted Model MR of RCP6S RA4R Tightening Torque RA4 RA6 RA7 RA8 Width Direction Hole Pitch mm 50 72 85 100 Thickness mm 8 10 12 16 Material Steel Steel Steel Steel Attachment Bolts M4 M6 M6 M8 RA4 RA6 RA7 RA8 Width Direction Hole Pitch mm 100 132 160 190 Thickness mm 8 10 12 16 Material Steel Steel Steel Steel Attachm...

Page 84: ...6 S W RA4C RCP6 S W RA4R Motor Top Side Mounted Type Model MT Model number of single product RCP6W FT RA4C Model number of single product RCP6W FT RA4R 1 for MT 5 90 5 25 75 100 110 6 Stroke 86 6 4 4 5 12 12 Foot bracket ML MR RCP6 S W RA4R Motor Left Side Mounted ML Motor Right Side Mounted MR Model number of single product RCP6W FT RA4R 2 for ML MR ...

Page 85: ...ounted Type Model MT Model number of single product RCP6W FT RA6C Model number of single product RCP6W FT RA6R 1 for MT 7 117 8 36 96 132 145 10 Stroke 102 5 10 20 20 4 6 6 Foot bracket ML MR RCP6 S W RA6R Motor Left Side Mounted ML Motor Right Side Mounted MR Model number of single product RCP6W FT RA6R 2 for ML MR ...

Page 86: ...ted Type Model MT Model number of single product RCP6W FT RA7C Model number of single product RCP6W FT RA7R 1 for MT 42 5 117 5 7 5 143 9 5 160 175 Stroke 32 5 65 65 8 6 6 Foot bracket ML MR 7 5 7 5 50 50 RCP6 S W RA7R Motor Left Side Mounted ML Motor Right Side Mounted MR Model number of single product RCP6W FT RA7R 2 for ML MR ...

Page 87: ...nted Type Model MT Model number of single product RCP6W FT RA8C Model number of single product RCP6W FT RA8R 1 for MT 50 175 5 7 5 210 Stroke 65 5 50 12 5 75 75 8 8 5 140 190 7 Foot bracket ML MR 12 5 50 RCP6 S W RA8R Motor Left Side Mounted ML Motor Right Side Mounted MR Model number of single product RCP6W FT RA8R 2 for ML MR ...

Page 88: ...ale thread provide at least the applicable value specified below Female thread is made of steel material Same length as the nominal diameter Female thread is made of aluminum 1 8 times of nominal diameter Caution Be careful when selecting the bolt length If bolts of inappropriate lengths are used actuator mounting strength may become insufficient or contact with driving parts may occur resulting i...

Page 89: ...diameter RA4 RA6 RA7 RA8 W mm 40 58 70 85 h mm 26 32 38 50 H mm 46 61 73 92 5 Pm mm 32 45 55 70 N M4 Depth 8 M6 Depth 12 M8 Depth 16 M8 Depth 16 D mm ø20 ø25 ø30 ø40 E mm ø38h9 ø46h9 ø52h9 ø64h9 F mm 2 5 2 5 3 4 Model Screw Nominal Diameter In the case that steel is used for the bolt seating surface In the case that aluminum is used for the bolt seating surface RA4 M4 3 59N m 0 37kgf m 1 76N m 0 1...

Page 90: ...shown in the figure below for the horizontal installation of the unit with its stroke more than 150 even if there is no external force applied on the body Even for those with the stroke less than 150 it is recommended to have a support block to avoid vibration being generated due to the operation condition or installation environment which may cause an operation failure or parts malfunction Suppor...

Page 91: ... cable exit direction cannot be the standard rod direction forward direction For the 100 stroke left side mounted motor type ML and right side mounted motor type MR when mounting the front flange horizontally width direction the cable exit direction cannot be the standard rod direction forward direction Note Front flange mounting is not available for 50 100 stroke built in controller side mounted ...

Page 92: ...as the nominal diameter Female thread is made of aluminum 1 8 times of nominal diameter RA4 RA6 RA7 RA8 Wf mm 70 90 108 135 Hf mm 40 56 68 84 Ph mm 60 75 90 115 Pv mm 25 40 50 65 h mm 4 5 6 6 8 5 8 5 Tf mm 10 12 16 19 Material Steel Steel Steel Steel Enclosed Bolts M4x12 M6x15 M8x20 M8x25 Tightening Torque of the Front Flange to the Main Unit N m 2 1 4 2 7 1 17 2 Model Screw Nominal Diameter In th...

Page 93: ... a support block as shown in the figure below for the horizontal installation of the unit with its stroke more than 150 even if there is no external force applied on the body Even for those with the stroke less than 150 it is recommended to have a support block to avoid vibration being generated due to the operation condition or installation environment which may cause an operation failure or part...

Page 94: ...t only with the tapped holes on the side mounted bracket Do not apply external force to the main body There may be caused vibration due to the operating condition or installation environment which may result in operational failures or components malfunction RA4 RA6 RA7 RA8 W mm 40 58 70 85 h mm 26 32 38 50 Pm mm 32 45 55 70 M M4 Depth 8 M6 Depth 12 M8 Depth 16 M8 Depth 16 Model Screw Nominal Diame...

Page 95: ... install rear bracket without any support Always use a support block or similar to support the main unit When it is perpendicular installation without support etc external force does not act it is not attempt to apply the radial load Support Block External Force External Force ...

Page 96: ...rge with air Note that the actuator cable connector is not waterproofed Connect it to the motor encoder cable at a location unaffected by dust water etc or perform waterproofing treatment Caution Make sure moisture is not absorbed from the air intake exhaust fitting as this may lead to malfunction アクチュエータケーブルモータエンコーダケーブル吸排気継手コネクタ Air intake exhaust fitting Connector Actuator cable Motor enco...

Page 97: ...ou require a different kind of cable than the one supplied Dedicated Controller Dedicated Cable RA4 RA6 RA7 ꞏ Motor Encoder Integrated Cables CB CAN MPA ꞏ Motor Encoder Integrated Robot Cables CB CAN MPA RB RA8 ꞏ Motor Encoder Integrated Cables CB CFA3 MPA ꞏ Motor Encoder Integrated Robot Cables CB CFA3 MPA RB represents the cable length The longest corresponds to 20m Note that the maximum length ...

Page 98: ...ted Connection Cable Robot Cable 5m or below r 68mm or more movable use In the case of exceeding 5m r 73mm or more movable use Standard Cable 5m or below r 85mm or more fixed use In the case of exceeding 5m r 91mm or more fixed use RCP6W RA8 Dedicated Controller ꞏ PCON r r Dedicated Cable ꞏ Motor Encoder Integrated Cables CB ADPC MPA ꞏ Motor Encoder Integrated Robot Cables CB ADPC MPA RB represent...

Page 99: ...ssibility 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 that the connectors are plugged properly Insufficient connection may cause an operation e...

Page 100: ...bend concentrating on one point Do not let the cable bend kink or twist Do not pull the cable with a strong force Pay attention not to concentrate the twisting force to one point on a cable Do not pinch drop a heavy object onto or cut the cable Steel Strap Piano Wire Tie them up softly ...

Page 101: ...sing a cable track 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 ca...

Page 102: ...y radial load and load moment to the rod Only the radial direction load that aligns with the rod axis can be applied In the case that radial load and load moment cannot be avoided attach an external guide such as a linear guide in order not to apply any load other than radial direction load to the rod When the gravity center of work is on the rod axis on vertical motions vibration may still be gen...

Page 103: ...eration within a distance 30mm or less may cause the grease film to degrade As a guideline in every 5 000 to 10 000 cycles have approximately 5 cycles of return operation over a 50mm distance or more This will regenerate the oil film 2 In order to maintain the waterproofing grease the scraper part on a regular basis Failure to do so may cause malfunction Caution An actuator after 6 months of stora...

Page 104: ...ced every 1 000km traveled or once every year if under 1 000km Degradation and wear may be accelerated depending on the operating environment and conditions Replace whenever an abnormality appears 5 3 Cleaning Clean exterior surfaces as necessary If there are drips of grease base oil or other oils on the rod sliding surface and the surrounding area wipe off with with a soft cloth Use a soft cloth ...

Page 105: ...amination Visually inspect the interior of the equipment Check for the entry of foreign matter and confirm the condition of the seal parts and grease The procedure for internal inspections is outlined below 1 Remove the mounting bolt on the rod seal assembly and detach it from the main body RA4 RA6 RA7 RA8 ロッドシールAssy Oリング取付けボルトロッドシールAssy Oリング取付けボルト 2 Perform the internal inspection スクレーパソフトワイパ...

Page 106: ...he bolts For RA6 RA7 RA8 insert the O ring into the main body first Be careful not to snag the O ring when inserting Model Bolt type Bolt size Tightening torque N cm RA4 Hex socket set screw hollow tip M 3 3 29 4 RA6 RA7 Slim head hex socket head bolt M 3 4 48 5 RA8 Slim head hex socket head bolt M 4 4 96 9 ...

Page 107: ...o Yushi Multemp ET R Ball Screw Kyodo Yushi Multemp ET R Rotation stopper body frame inner wall Kyodo Yushi Multemp ET R Use urea grease spray when greasing ball screw and rotation stopper NOK KLUEBER KLÜBER L 701 Warning Never use lithium or fluorine based grease Mixing with urea based grease not only reduces the performance of the grease it may even damage the actuator ...

Page 108: ...rews will match inside the main unit Connect the controller and adjust it to the home position Insert the tip of the spray grease in greasing port and inject it for one second One injection time should not exceed one second Whirl stop Adjust the rod position above 40mm Insert the tip of the spray grease in greasing port and inject it for one second One injection time should not exceed one second R...

Page 109: ...urer Model number Tightening torque N cm RA4 Seal washer for M3 MUSASHI OIL SEAL MFG SWS 3 6 4 A 48 5 Caution Supplying too much grease may increase sliding resistance and load to the motor resulting in a drop of performance In case the grease got into your eye immediately go see the doctor to get appropriate care After finishing the grease supply work wash your hands carefully with water and soap...

Page 110: ...ack and forth manually or using controller jog operation to distribute the grease Clean off any extra grease on the outside RA4 スリムヘッド六角穴付ボルトM4x4 Oリング M4用 RA6 RA7 RA8 スリムヘッド六角穴付ボルトM6x8 シールワッシャ M6用グリース補給グリース排出口の開放 Placement of grease fitting The grease fitting can be attached on the top left side or right side The two sides without a grease fitting attached will be extra outlets during grease res...

Page 111: ...n For RA4 caliber 6 Grease gun Mounting screws R1 8 Manufacturer Example GC 57K Yamada Nozzle Manufacturer N type dedicated nozzle U type Attach N type to the tip of the dedicated nozzle U type and mount it on the grease gun THK N type Dedicated nozzle U type N type Dedicated nozzle U type Grease gun mounting side Mounting screws R1 8 ...

Page 112: ...cement with new parts is recommended Model Location of use Manufacturer Model number Tightening torque N cm RA4 O ring for M4 IAI 1146323 96 9 RA6 RA7 RA8 Seal washer for M6 MUSASHI OIL SEAL MFG SWS 6x10 A 387 6 Caution Supplying too much grease may increase sliding resistance and load to the motor resulting in decreased performance If the grease enters your eye immediately see a specialist physic...

Page 113: ...ng bolts of the pulley cover Make sure to avoid any deposit or scratch inside the body and on the gasket After temporarily tightening all the mounting bolts fully tighten them in the order shown below and then tighten all locations again Once the seal gasket has been assembled its sealing effect is reduced when reassembling due to rubber deformation so periodic replacement with a new part is recom...

Page 114: ...egular intervals with the following conditions as reference When the gear and belt area show obvious friction When swelling occurs as a result of oil adhesion When damages such as a crack occurs on the belt gear and back side Also for the toothed belt it is recommended to set the interval of regular replacement cycle when in use under high wire fatigue condition in high acceleration and decelerati...

Page 115: ... or a side mounted motor specification After changing the grease fitting resupply grease and fill the fitting with grease Once the seal washer and O ring have been assembled their sealing effect is reduced when reassembling due to rubber deformation so replacement with new parts is recommended Maintenance parts Model Location of use Tightening torque N cm Name Manufacturer Model number RA4 Grease ...

Page 116: ...d its sealing effect is reduced when reassembling due to rubber deformation so replacement with new parts is recommended Maintenance parts Model Location of use Tightening torque N cm Name Manufacturer Model number RA4 Air inlet outlet fitting 150 Seal washer MUSASHI OIL SEAL MFG SWS 5 x 9 A Bolt for plug 193 8 RA6 RA7 RA8 Air inlet outlet fitting 250 Seal washer MUSASHI OIL SEAL MFG SWS 6 x 10 A ...

Page 117: ...ion 32 32 25 CJR Right Side CJT Top CJL Left Side CJB Bottom 9 9 7 M4 Enclosed square nut Scale 2 1 3 2 3 Stroke 3 125 W o Brake 156 With Brake 3 Ø20 rod O D 20 22 9 5 M10 1 25 M E S E Home M E 12 12 17 The angle of the width acrossflat isundefined P Detailed view P Scale 2 1 6 17 19 6 M10 1 25 Enclosed hexagonal nut M E Mechanical End S E Stroke End 1 Make sure that the total length of the actuat...

Page 118: ...20 5 Cable exit direction option 28 28 24 5 CJB Bottom CJT Top CJR Right Side CJL Left Side 9 9 7 M4 Enclosed square nut Scale 2 1 3 2 3 Stroke 3 3 Ø20 rod O D 20 22 9 5 M10 1 25 M E S E Home M E 12 12 17 Theangleofthewidth acrossflatisundefined P Detailed view P Scale 2 1 6 17 19 6 M10 1 25 Enclosed hexagonal nut Scale 1 1 M E Mechanical End S E Stroke End 1 Make sure that the total length of the...

Page 119: ...JB Bottom CJT Top 14 1 1 0 M6 Enclosed square nut Scale 1 1 5 3 3 Stroke 112 W o Brake 153 With Brake 4 Ø25 rod O D 20 22 9 5 M E S E Home M E 14 14 25 The angle of the width across flat is undefined P 58 6 17 19 6 Enclosed hexagonal nut Scale 1 1 M10 1 25 Detailed view P Scale 1 1 M E Mechanical End S E Stroke End 1 Make sure that the total length of the actuator cable and actuator controller con...

Page 120: ...ion option 28 28 4 CJR Right Side CJB Bottom CJL Left Side CJT Top 14 1 10 Enclosed square nut Scale 1 1 M6 5 3 3 Stroke 4 Ø25 rod O D 20 22 9 5 M E S E Home 14 14 25 The angle of the width across flat is undefined P 6 17 19 6 M10 1 25 Enclosed hexagonal nut Scale 1 1 Detailed view P Scale 1 1 M E Mechanical End S E Stroke End 1 Make sure that the total length of the actuator cable and actuator co...

Page 121: ...ross flat is undefined 75 5 68 26 5 3 5 3 10 5 6 3 10 3 Detailed view P Scale 1 1 22 25 4 M14 1 5 Enclosed hexagonal nut Scale 1 2 8 23 32 32 Cable exit direction option CJB Bottom CJL Left Side CJR Right Side CJT Top 19 5 14 1 1 0 Enclosed square nut Scale 1 1 M6 5 P M E Mechanical End S E Stroke End 1 Make sure that the total length of the actuator cable and actuator controller connection cable ...

Page 122: ... of the width across flat is undefined 68 75 5 21 3 5 3 10 5 6 3 10 3 Detailed view P Scale 1 1 22 25 4 M14 1 5 Enclosed hexagonal nut Scale 1 2 8 28 28 CJT Top CJR Right Side CJL Left Side CJB Bottom Cable exit direction option 20 5 14 1 10 M6 Enclosed square nut Scale 1 1 5 P M E Mechanical End S E Stroke End 1 Make sure that the total length of the actuator cable and actuator controller connect...

Page 123: ...unting surface can be changed 26 3 97 5 6 8 14 8 5 13 3 Detailed view P Scale 1 1 34 6 30 M20x1 5 Enclosed hexagonal nut Scale 1 2 12 19 5 Cable exit direction option 26 5 32 32 CJB Bottom CJL Left Side CJR Right Side CJT Top 18 4 1 3 M8 Enclosed square nut Scale 1 1 6 5 P M E Mechanical End S E Stroke End 1 Make sure that the total length of the actuator cable and actuator controller connection c...

Page 124: ... changed Fitting rotation range 85 97 7 5 24 5 5 6 8 14 8 5 13 3 Detailed view P Scale 1 1 34 6 30 M20x1 5 Enclosed hexagonal nut Scale 1 2 12 20 5 Cable exit direction option 24 5 28 28 CJB Bottom CJL Left Side CJR Right Side CJT Top 18 4 1 3 Enclosed square nut Scale 1 1 M8 6 5 P M E Mechanical End S E Stroke End 1 Make sure that the total length of the actuator cable and actuator controller con...

Page 125: ...2 39 40 15 4 96 46 1 49 32 4 M4 Depth 8 23 26 26 4 M4 Depth 8 2 3 5 7 7 4 3 7 3 32 32 69 Cable exit direction option CJO Outside CJR Right Side CJL Left Side 19 5 7 9 9 Enclosed square nut Scale 2 1 M4 3 2 3 Stroke 3 Ø20 rod O D 20 22 9 5 31 M10 1 25 M E S E Home M E 12 12 17 The angle of the width across flat is undefined P 32 32 Detailed view P Scale 2 1 6 17 19 6 M10 1 25 Enclosed hexagonal nut...

Page 126: ...Grease fitting for rod Mounting surface can be changed 2 39 40 32 1 49 6 46 26 4 M4 Depth 8 23 90 32 62 4 26 4 M4 Depth 8 26 4 3 7 3 2 3 5 7 7 32 32 26 Cable exit direction option CJO Outside CJT Top CJB Bottom 19 5 9 9 7 Enclosed square nut Scale 2 1 M4 3 2 3 Stroke 3 Ø20 rod O D 20 22 9 5 31 M10 1 25 M E S E Home M E 12 12 17 The angle of the width across flat is undefined P 32 32 Detailed view ...

Page 127: ...robot cable Grease discharge hole top and side 9 9 7 Enclosed square nut Scale 2 1 M4 3 2 3 Stroke 3 Ø20 rod O D 20 22 9 5 31 M10 1 25 M E S E Home M E 12 12 17 The angle of the width across flat is undefined P 32 32 Detailed view P Scale 2 1 6 17 19 6 M10 1 25 Enclosed hexagonal nut Scale 1 1 Air intake exhaust port Applicable tube O D Ø6 Mounting surface can be changed M E Mechanical End S E Str...

Page 128: ... be changed 70 1 40 39 111 6 46 32 32 22 5 26 4 M4 Depth 8 62 4 26 4 M4 Depth 8 26 2 3 5 7 7 4 3 7 3 28 28 26 Cable exit direction option CJO Outside CJB Bottom CJT Top 20 5 9 9 7 M4 Enclosed square nut Scale 2 1 3 2 3 Stroke 3 Ø20 rod O D 20 22 9 5 31 M10 1 25 M E S E Home M E 12 12 17 The angle of the width across flat is undefined P 32 32 Detailed view P Scale 2 1 6 17 19 6 M10 1 25 Enclosed he...

Page 129: ...4 M6 Depth 12 16 2 5 32 45 45 4 M6 Depth 12 9 5 2 5 5 3 9 6 3 10 3 32 32 5 91 Cable exit direction option CJL Left Side CJR Right Side CJO Outside 19 5 14 1 1 0 Enclosed square nut Scale 1 1 M6 5 3 3 Stroke Ø25 rod O D 20 22 9 5 M E Home 14 14 25 The angle of the width across flat is undefined P 6 17 19 6 Enclosed hexagonal nut Scale 1 1 M10 1 25 Detailed view P Scale 1 1 M E Mechanical End S E St...

Page 130: ...g surface can be changed 4 27 45 61 57 58 1 58 117 30 77 2 4 M6 Depth 12 32 45 45 4 M6 Depth 12 9 5 6 5 2 5 5 3 9 6 3 10 3 32 32 27 30 Cable exit direction option CJB Bottom CJT Top CJO Outside 19 5 14 1 1 0 M6 Enclosed hexagonal nut Scale 1 1 5 3 3 Stroke Ø25 rod O D 20 22 9 5 M E Home 14 14 25 The angle of the width across flat is undefined P 6 17 19 6 Enclosed hexagonal nut Scale 1 1 M10 1 25 D...

Page 131: ...h 12 9 5 2 5 5 3 9 6 3 10 3 28 87 12 28 Cable exit direction option CJR Right Side CJO Outside CJL Left Side 20 5 14 1 1 0 Enclosed square nut Scale 1 1 M6 5 3 3 Stroke Ø25 rod O D 20 22 9 5 M E Home 14 14 25 The angle of the width across flat is undefined P 6 17 19 6 Enclosed hexagonal nut Scale 1 1 M10 1 25 Detailed view P Scale 1 1 M E Mechanical End S E Stroke End 1 Make sure that the total le...

Page 132: ... 58 1 26 58 117 4 20 45 45 61 77 2 32 45 45 4 M6 Depth 12 9 5 2 5 5 3 9 6 3 10 3 26 20 28 28 4 CJO Outside Cable exit direction option CJB Bottom CJT Top 20 5 14 1 1 0 M6 Enclosed square nut Scale 1 1 5 3 3 Stroke Ø25 rod O D 20 22 9 5 M E Home 14 14 25 The angle of the width across flat is undefined P 6 17 19 6 Enclosed hexagonal nut Scale 1 1 M10 1 25 Detailed view P Scale 1 1 M E Mechanical End...

Page 133: ...e top and side 35 55 19 19 55 16 2 70 69 73 24 1 72 146 4 M8 Depth 16 38 The angle of the width across flat is undefined 55 55 10 5 4 M8 Depth 16 68 3 5 3 10 5 6 3 10 3 Detailed view P Scale 1 1 22 25 4 Enclosed hexagonal nut Scale 1 2 M14 1 5 8 32 32 97 CJL Left Side CJR RightSide CJO Outside Cable exit direction option 19 5 14 1 1 0 M6 Enclosed square nut Scale 1 1 5 P M E Mechanical End S E Str...

Page 134: ...anged Actuator controller connection cable Actuator cable robot cable 2 35 55 55 19 19 69 70 24 1 72 143 38 73 89 2 4 M8 Depth 16 4 38 The angle of the width across flat is undefined 55 55 38 4 M8 Depth 16 3 5 3 10 5 6 3 10 3 Detailed viewP Scale 1 1 22 25 4 M14 1 5 Enclosed hexagonal nut Scale 1 2 8 24 32 32 38 CJO Outside Cable exit direction option CJB Bottom CJT Top 19 5 14 1 1 0 M6 5 Enclosed...

Page 135: ...73 1 72 4 M8 Depth 16 18 5 146 38 The angle of the width across flat is undefined 55 55 10 5 4 M8 Depth 16 3 5 3 10 5 6 3 10 3 Detailed view P Scale 1 1 22 25 4 M14 1 5 Enclosed hexagonal nut Scale 1 2 8 91 5 28 28 CJR Right Side CJO Outside CJL Left Side Cable exit direction option 20 5 14 1 1 0 Enclosed square nut Scale 1 1 M6 5 P M E Mechanical End S E Stroke End 1 Make sure that the total leng...

Page 136: ...unting surface can be changed 35 55 55 19 19 69 70 1 18 5 72 143 73 4 M8 Depth 16 38 4 38 89 2 The angle of the width across flat is undefined 55 55 38 4 M8 Depth 16 3 5 3 10 5 6 3 10 3 Detailed view P Scale 1 1 22 25 4 M14 1 5 Enclosed hexagonal nut Scale 1 2 8 28 28 18 5 38 Cable exit direction option CJT Top CJB Bottom CJO Outside 20 5 14 1 1 0 Enclosed hexagonal nut Scale 1 1 M6 5 P M E Mechan...

Page 137: ...isundefined AC 2 5 10 15 1 20 Actuator cable robot cable Actuator controller connection cable 2 Grease discharge hole top and side 5 6 8 14 8 5 13 3 Detailed view P Scale 1 1 112 3 32 32 Cable exit direction option CJR Right Side CJO Outside CJL Left Side 19 5 30 34 6 M20 1 5 Enclosed hexagonal nut Scale 1 2 12 18 4 1 3 Enclosed square nut Scale 1 1 M8 6 5 M E Mechanical End S E Stroke End 1 Make ...

Page 138: ... robot cable Grease fitting for rod Mounting surface can be changed Air intake exhaust port Applicable tube O D Ø6 Mounting surface can be changed Fitting rotation range 50 70 4 M8 Depth 16 70 5 6 8 14 8 5 13 3 Detailed view P Scale 1 1 34 6 30 M20x1 5 Enclosed hexagonal nut Scale 1 2 12 32 50 32 19 8 Cable exit direction option CJB Bottom CJT Top CJO Outside 19 5 18 4 1 3 M8 Enclosed square nut S...

Page 139: ... 15 1 Status LED Actuator cable robot cable Actuator controller connection cable Grease discharge hole top and side 70 50 70 4 M8 Depth 16 8 5 13 3 5 6 8 14 Detailed view P Scale 1 1 34 6 30 M20x1 5 Enclosed hexagonal nut Scale 1 2 12 28 28 110 5 CJO Outside Cable exit direction option CJL Left Side CJR Right Side 20 5 18 4 1 3 Enclosed square nut Scale 1 1 6 5 P M E Mechanical End S E Stroke End ...

Page 140: ...r cable robot cable Grease fitting for rod Mounting surface can be changed Air intake exhaust port Applicable tube O D Ø6 Mounting surface can be changed Fitting rotation range 50 70 4 M8 Depth 16 70 5 6 8 14 8 5 13 3 Detailed view P Scale 1 1 34 6 30 M20x1 5 Enclosed hexagonal nut Scale 1 2 12 18 28 28 50 CJO Outside Cable exit direction option CJB Bottom CJT Top 20 5 18 4 13 M8 Enclosed square n...

Page 141: ...on and it is 5 000km reference 7 2 RA8C RA8R The life in the standard horizontal orientation is assumed under condition of operation with maximum transported mass and maximum acceleration deceleration and it is 5 000km reference The life in the vertical orientation may change depending on the transported mass The graph below shows the relation of transported mass and life 60kg Operation Life km Ve...

Page 142: ...s caused by a specification defect or problem or by a quality issue with our product Note that breakdowns due to any of the following reasons are excluded from the scope of 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 ...

Page 143: ... safety Accordingly as a rule our product cannot be used in these applications Contact us if you must use our product for any of these applications 1 Medical equipment used to maintain control or otherwise affect human life or physical health 2 Mechanisms and machinery designed for the purpose of moving or transporting people For vehicle railway facility or air navigation facility 3 Important safe...

Page 144: ... for when CB CFA3 MPA RB is 3m or less or over 3m Added 5 8 Changing the position of the grease fitting and fitting Edition 1C Added RC logo in the header section Edition 1D Pg 85 Added Do not purge with air Pg 107 108 Changed motor unit length for specification with brake Pg 110 Changed motor unit length for specification without brake Edition 1E Added description for RCON ...

Page 145: ......

Page 146: ... com Head Office 577 1 Obane Shimizu ku Shizuoka City Shizuoka 424 0103 Japan TEL 81 54 364 5105 FAX 81 54 364 2589 website www iai robot co jp Technical Support available in USA Europe and China US Headquarters 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 TEL 678 354 9470 FAX 678...

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