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IAI America, Inc.

ROBO Cylinder

RCP5 Actuator Belt Type

Instruction Manual

First Edition

BA4/BA4U

BA6/BA6U

BA7/BA7U

Содержание ROBO Cylinder RCP5-BA4

Страница 1: ...IAI America Inc ROBO Cylinder RCP5 Actuator Belt Type Instruction Manual First Edition BA4 BA4U BA6 BA6U BA7 BA7U...

Страница 2: ......

Страница 3: ...ver is handling this product can reference it quickly when necessary Important x This instruction manual is original x This product is not to be used for any other purpose from what is noted in this i...

Страница 4: ......

Страница 5: ...ft Horizontally Oriented Wall Mount Type Model SIL and Right Horizontally Oriented Wall Mount Type Model SIR 20 1 4 Motor Encoder Cables 21 1 4 1 Motor Encoder Integrated Cables 21 1 4 2 Motor Encoder...

Страница 6: ...2 RCP5 BA6 BA6U 74 5 3 RCP5 BA7 BA7U 75 6 Life 76 6 1 How to Calculate Operation Life 76 6 2 Operation Life 77 7 Warranty 78 7 1 Warranty Period 78 7 2 Scope of the Warranty 78 7 3 Honoring the Warra...

Страница 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 followin...

Страница 8: ...he 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...

Страница 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 cab...

Страница 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 vertica...

Страница 11: ...inal 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 operati...

Страница 12: ...ult 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 s...

Страница 13: ...e 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...

Страница 14: ...nuous back and forth operation within a distance less than 30mm may cause wear of grease As a reference have approximately 5 cycles of back and forth operation in a distance more than 50mm in every 5...

Страница 15: ...ernational 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...

Страница 16: ...n this manual the right and left sides of the actuator are expressed in the way it is placed horizontally as shown in the figure below and is looked at from the motor side Right side Left side Pulley...

Страница 17: ...ntroller used Refer to 1 4 Motor Encoder Cables 1 1 2 Related Instruction Manuals for the Each Controller Supported by This Product Shown below is a list of the instruction manuals for the controllers...

Страница 18: ...r Lower Mount BA7 Body width 70mm Belt Type Motor Upper Mount BA7U Body width 70mm Belt Type Motor Lower Mount Encoder type WA Battery less absolute Motor type 35P 35 size 42P 42 size 56P 56 size Lead...

Страница 19: ...0 1120 1160 1200 BA6 BA6U 42P 48 or equiv 890 1070 1220 1340 1400 1440 1500 BA7 BA7U 56P 48 or equiv 890 1070 1220 1340 1450 1520 1550 1600 Stroke mm Size Motor Type Lead mm 2000 2100 2200 2300 2400 2...

Страница 20: ...tting is effective Payload kg Type Motor Type Lead mm Speed mm s Max Acceleration Speed 0 5G 0 1 5 200 1 5 800 1 5 1000 1 BA4 BA4U 35P 48 or equiv 1200 0 5 0 6 600 6 800 4 1000 3 BA6 BA6U 42P 48 or eq...

Страница 21: ...oad kg Speed Payload Horizontal BA7 BA7U Speed mm s Payload kg Speed Payload Horizontal Caution Do not attempt to establish the settings for the acceleration deceleration above the allowable range It...

Страница 22: ...g is ineffective Payload kg Type Motor Type Lead mm Speed mm s Max Acceleration Speed 0 5G 0 1 200 1 800 1 1000 1 BA4 BA4U 35P 48 or equiv 1200 0 5 0 3 800 3 BA6 BA6U 42P 48 or equiv 1400 0 5 0 14 100...

Страница 23: ...0 200 400 600 800 1000 1200 1400 1600 Speed mm s BA7 BA7U Payload kg Speed Payload Horizontal 4 2 8 10 12 14 16 18 6 0 0 200 400 600 800 1000 1200 1400 1600 Speed mm s Caution Do not attempt to establ...

Страница 24: ...ype Lead Item Tolerance Positioning repeatability 0 08mm BA4 BA4U 48 or equiv Lost motion 0 1mm or less Positioning repeatability 0 08mm BA6 BA6U 48 or equiv Lost motion 0 1mm or less Positioning repe...

Страница 25: ...gth L BA4 BA4U 16 16 31 2 6 14 6 14 11 9 Ma direction 120mm Mb Mc direction 120mm BA6 BA6U 44 5 44 5 89 2 15 7 15 7 31 6 Ma direction 150mm Mb Mc direction 150mm BA7 BA7U 80 7 80 7 175 33 2 33 2 72 3...

Страница 26: ...CJT CJR CJL or CJB for this option 1 3 4 Ceiling Mount Type Model CIM Left Horizontally Oriented Wall Mount Type Model SIL and Right Horizontally Oriented Wall Mount Type Model SIR It is an option tha...

Страница 27: ...ellow 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...

Страница 28: ...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...

Страница 29: ...instruction if there is any for the packaging condition x Do not step or sit on the package x Do not put any load that may cause a deformation or breakage of the package Pay attention especially on th...

Страница 30: ...ent sudden movement during transport x 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 bei...

Страница 31: ...f the following locations provide sufficient shielding measures x Where noise generates due to static electricity etc x Where the actuator is subject to a strong electric or magnetic field x Where the...

Страница 32: ...ientation type or ceiling mount type in horizontally oriented wall mount Also do not attempt to install the horizontally oriented wall mount type in standard horizontal orientation or ceiling mount Do...

Страница 33: ...point on the motor side of the reamed holes when a fine tuning such as perpendicularity is required 1 Installation of the Main Unit This actuator is equipped with through holes on the base for install...

Страница 34: ...cable 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 Pay special attention wh...

Страница 35: ...of an unexpected accident x For upper motor type pay attention to the transferred work piece so it would not interfere with the motor motor cover Refer to next page Mounting screw Type A B C D E Screw...

Страница 36: ...2 Installation 30 Distance between slider center and motor cover at mechanical end A Type A BA4 BA4U 47 BA6 BA6U 66 5 BA7 BA7U 68 5...

Страница 37: ...it and the flatness should be 0 05mm or below x Have enough space for the maintenance work x The side and bottom surfaces of the base on the actuator work as the datum surfaces for the side of the sl...

Страница 38: ...pull on the dedicated connection cable or bend it forcibly The actuator cable coming out of the motor unit is not meant to be bent Fix the cable so it would not be bent repeatedly Please consult with...

Страница 39: ...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 ap...

Страница 40: ...end concentrating on one point Steel Strap Piano Wire Tie them up softly 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...

Страница 41: ...e independently routed in the duct Follow the instructions below when using a cable track If there is an indication to the cable for the space factor in a cable track refer to the wiring instruction g...

Страница 42: ...nspect the stainless sheet everyday for looseness etc Adjust the stainless steel sheet attachment in case of any looseness found on it Refer to 4 7 Procedures for Replacement and Adjustment of Stainle...

Страница 43: ...the sheet is to be conducted basically in our factory or at the site by a service engineer that we send 4 3 Cleaning Clean exterior surfaces as necessary Use a soft cloth to wipe away dirt and buildu...

Страница 44: ...ng on the sheet which could lead to earlier degradation or abrasion Therefore to avoid a touch to the sheet edge insert a shim approx 0 1 to 0 2mm between the sheet and cover to put the sheet up when...

Страница 45: ...oth Check if any tooth missing Hardening softening and deformation of belt Check if the belt is hardened softened or deformed shrunk or expanded Abrasion on pulley teeth Check if any remarkable abrasi...

Страница 46: ...Supply 4 6 1 What Grease to Use IAI uses the following grease in our plant Guide Kyodo Yushi Multitemp LRL 3 Other companies also sell similar types of grease For more detailed information ask the su...

Страница 47: ...ula to push the grease in between the slider and the base or supply grease with a grease injector and move the slider to spread the grease out evenly Confirm the ball feeding surface on the guide is g...

Страница 48: ...w 83 0N cm BA6 BA6U BA7 BA7U M3 cross recessed pan head machine screw 41 4N cm Caution x Pay attention not to have the stainless steel sheet bent forcefully or damaged when working Also there is a ris...

Страница 49: ...o 0 2mm between the sheet and cover to put the sheet up when pushing in the cover Note After the side covers are put back on move the slider from right to left in the full stroke to check such things...

Страница 50: ...r x Adhesive tape 2 Stainless steel sheet tension The degradation and consumption of the stainless steel sheet is influenced by how it is tensed If the stainless steel sheet is tensed with high force...

Страница 51: ...e on one end of the new stainless steel sheet Adhesive tape Stainless steel sheet Stainless steel sheet 4 Put the stainless steel sheet with an adhesive tape on the side cover Fold the tape over to co...

Страница 52: ...d move the slider to put through the stainless steel sheet 6 After the stainless steel sheet passes through the slider pull one end of the stainless steel sheet out to the position of the stainless st...

Страница 53: ...ainless steel sheet Redo the process from Step 7 in case of any problem Caution x Pay attention not to have the stainless steel sheet bent forcefully or damaged when working Also there is a risk of ge...

Страница 54: ...ide 3 mm BA6 BA6U BA7 BA7U Opposite side 3mm Opposite side 4 mm x Tension gauge with capacity of 18kgf of tension or more Procedures 1 Remove the screws 2 places in circles holding the stainless steel...

Страница 55: ...ith a tension gauge After reached the specified load tighten the hex socket flange head cap screw with a 2 5mm sized for BA4 BA4U or 3mm sized for BA6 BA6U BA7 BA7U hex wrench to hold the pulley unit...

Страница 56: ...r BA4 BA4U or M3 for BA6 BA6U BA7 BA7U screws Type Tightening Torque BA4 BA4U 45 8N cm BA6 BA6U BA7 BA7U 83 0N cm 6 Affix the stainless steel sheet retaining plate with screws 2 places in circles with...

Страница 57: ...idth 9 GATES UNITTA ASIA x Tension adjustment wire provide a commercially available wire like the one shown in the photograph at right x Hex wrench BA4 BA4U Opposite side 2 5mm Opposite side 3mm BA6 B...

Страница 58: ...te Caution x Pay attention not to have the stainless steel sheet bent forcefully or damaged when working Also there is a risk of getting hurt on the edge of the stainless sheet Make sure to have a saf...

Страница 59: ...e the one in red circle Detach the side covers with the sheet plate remained on For some stroke patterns there is another attachment screw on the side cover between two screws on right and left ends M...

Страница 60: ...head cap screws holding the pulley unit to detach the pulley unit 6 Remove the M3 screw holding the belt under the slider with using a hex wrench Slide away the belt and the belt retainer appears Det...

Страница 61: ...r through the hole on the slider and affix them with M3 screws Note Make sure the rolled bushings are seated on the slider and the belt retainer Note Make sure the belt is not pinched in between the r...

Страница 62: ...cribed in the table below with a tension gauge After reached the specified load tighten the hex socket flange head cap screw with a 2 5mm sized for BA4 BA4U or 3mm sized for BA6 BA6U BA7 BA7U hex wren...

Страница 63: ...t screws at arrows for the side covers Screw size M2 5 M3 BA4 BA4U M3 BA6 BA6U BA7 BA7U For some stroke patterns there is another attachment screw on the side cover between two screws on right and lef...

Страница 64: ...g Also there is a risk of getting hurt on the edge of the stainless sheet Make sure to have a safety countermeasure such as wearing gloves while working on There are two slits on the body as a guide f...

Страница 65: ...2 6 cross recessed flat head machine screw 43 1N cm BA6 BA6U M3 cross recessed flat head machine screw 76 8N cm BA7 BA7U M4 cross recessed flat head machine screw 179N cm 14 Move the slider manually i...

Страница 66: ...e wire like the one shown in the photograph at right x Hex wrench BA4 BA4U opposite side 2 5mm opposite side 3mm BA6 BA6U BA7 BA7U opposite side 3mm opposite side 4mm x Tension gauge with capacity of...

Страница 67: ...tion x Pay attention not to have the stainless steel sheet bent forcefully or damaged when working Also there is a risk of getting hurt on the edge of the stainless sheet Make sure to have a safety co...

Страница 68: ...e the one in red circle Detach the side covers with the sheet plate remained on For some stroke patterns there is another attachment screw on the side cover between two screws on right and left ends M...

Страница 69: ...head cap screws holding the pulley unit to detach the pulley unit 6 Remove the M3 screw holding the belt under the slider with using a hex wrench Slide away the belt and the belt retainer appears Deta...

Страница 70: ...e motor can be taken off in the condition that the motor cover is detached For BA4 BA4U and BA6 BA6U turn around the actuator if it is a type with the motor unit mounted on the top remove the screws s...

Страница 71: ...the detached pulley to the replacement motor with keeping gap of Dimension G Tighten the four M4 BA4 BA4U BA6 BA6U or M5 BA7 BA7U hex socket set screws holding the pulley with using a hex wrench to af...

Страница 72: ...n the figures below and tighten the four screws of M3 BA4 BA4U and BA6 BA6U to hold the motor For BA7 BA7U tighten the motor from the top with four M4 screws Type Tightening Torque BA4 BA4U BA6 BA6U 8...

Страница 73: ...4 Maintenance and Inspection 67 14 Put on the motor cover and tighten the four attachment screws holding the motor cover and end cover with using a Philips screwdriver...

Страница 74: ...r through the hole on the slider and affix them with M3 screws Note Make sure the rolled bushings are seated on the slider and the belt retainer Note Make sure the belt is not pinched in between the r...

Страница 75: ...a tension gauge After reached the specified load tighten the hex socket flange head cap screw with a 2 5mm sized for BA4 BA4U or 3mm sized for BA6 BA6U BA7 BA7U hex wrench to hold the pulley unit Tens...

Страница 76: ...rows for the side covers Screw size M2 5 M3 BA4 BA4U M3 BA6 BA6U BA7 BA7U For some stroke patterns there is another attachment screw on the side cover between two screws on right and left ends Make su...

Страница 77: ...g Also there is a risk of getting hurt on the edge of the stainless sheet Make sure to have a safety countermeasure such as wearing gloves while working on There are two slits on the body as a guide f...

Страница 78: ...2 6 cross recessed flat head machine screw 43 1N cm BA6 BA6U M3 cross recessed flat head machine screw 76 8N cm BA7 BA7U M4 cross recessed flat head machine screw 179N cm 22 Move the slider manually i...

Страница 79: ...h 3 From seating surface M3 depth 6 Same on opposite side For earth connection 140 With brake 171 Detail S Scale 2 1 Section X X Scale 1 1 Datum surface range Top side of slider Datum surface Body att...

Страница 80: ...d S E M E S E HOME 22 Mass kg BA6 BA6U Stroke L G H J K Q W O Brake With Brake W O Brake With Brake 300 558 430 340 4 0 330 2 2 2 6 2 4 2 8 400 658 530 440 6 1 80 2 4 2 8 2 6 3 0 500 758 630 540 6 1 1...

Страница 81: ...435 340 4 0 335 3 8 4 4 4 0 4 6 400 678 535 440 4 0 435 4 1 4 7 4 3 4 9 500 778 635 540 6 1 135 4 4 5 0 4 6 5 2 600 878 735 640 6 1 235 4 8 5 4 5 0 5 6 700 978 835 740 6 1 335 5 1 5 7 5 3 5 9 800 107...

Страница 82: ...m 5 000km Standard rated life of ROBO Cylinder In addition have a calculation for the drop of life with the formula below if there is a concern that the life could drop due to the condition of vibrati...

Страница 83: ...ace to figures for RCP5 Belt Type and select the attachment coefficient Even when in attachment in whole area and the actuator is seated in the whole length of the product select 1 2 or 1 5 for the at...

Страница 84: ...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...

Страница 85: ...ning 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...

Страница 86: ...Correction made to External Dimensions of BA6U 1D edition Pg 12 18 Note added to state option to change direction for cable ejection has to be selected Pg 13 14 Note added that it is performance when...

Страница 87: ......

Страница 88: ...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 He...

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