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IAI ROBO Cylinder RCP2 Series Operation Manual - Please Read Before Use

Other manuals for ROBO Cylinder RCP2 Series: Operating Manual, Operating Manual, Operating manual, Operation Manual
Manual is about: Slider Type

Summary of ROBO Cylinder RCP2 Series

  • Page 1

    Robo cylinder rcp2/rcp2w actuator rod type operation manual fourteenth edition iai america, inc. Motor straight types standard types rcp2- ra2cra3c ra4cra6cra8c ra10crgs4crgs6c rgd3crgd4crgd6c dustproof/splash proof type motor straight types rcp2w-ra4cra6cra10c motor reversing types rcp2- r...

  • Page 3: Please Read Before Use

    Please read before use thank you for purchasing our product. This operation manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and f...

  • Page 4

    Ce marking if a compliance with the ce marking is required, please follow overseas standards compliance manual (me0287) that is provided separately..

  • Page 5

    Table of contents safety guide ....................................................................................................................1 precautions in handling...................................................................................................8 names of the parts ...........

  • Page 6

    10.4 applying grease to the ball screw and rod slide surface ......................................................71 10.4.1 grease for ball screw ................................................................................................71 10.4.2 how to apply grease (keep the spraying time to ...

  • Page 7

    1 1 safety guide “safety guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety precautions for our products the common safety precautions for the use of any of our robots in ea...

  • Page 8

    2 2 no. Operation description description 2 transportation ● when carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● when the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communica...

  • Page 9

    3 3 no. Operation description description (2) cable wiring ● use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any...

  • Page 10

    4 4 no. Operation description description 4 installation and start (4) safety measures ● when the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. ● when the produ...

  • Page 11

    5 5 no. Operation description description 6 trial operation ● when the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. ● after the teaching or programming operati...

  • Page 12

    6 6 no. Operation description description 8 maintenance and inspection ● when the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. ● perform the work out of the sa...

  • Page 13: Alert Indication

    7 7 alert indication the safety precautions are divided into “danger”, “warning”, “caution” and “notice” according to the warning level, as follows, and described in the operation manual for each model. Level degree of danger and damage symbol danger this indicates an imminently hazardous situation ...

  • Page 14

    8 9 precautions in handling 1. Do not set the speed or acceleration/deceleration settings beyond the rated values. Please do not set the speed or acceleration/deceleration settings beyond the rated values. It may cause an occurrence of vibration, malfunction, or shorten the product life. Setting esp...

  • Page 15

    9 8． do not attempt to apply any force except for the radial load to actuators equipped with the single guide. Applying force other than radial load could cause a failure on the actuator. Single guide can receive load only to the vertical direction shown in the figure below (the direction of a line ...

  • Page 16

    10 9. Transportation 9.1 handling a single actuator please adhere to the following when handling a single actuator. 9.1.1 handling the packed unit unlessotherwisespecified,theactuatorisshippedwitheachaxispackagedseparately. • donotdamageordrop.Thepackageisnotappliedwithanyspecialtreatmentthatenables...

  • Page 17

    11 3 4. Names of the parts the names of the actuator parts are indicated below. In this manual, the right and left are determined by viewingthehorizontallyplacedactuatorfromthetop and from the motor side. The front indicates the counter-motor side. Ra2c type motor bracket cable joint connector greas...

  • Page 18

    12 ra4c type ra6c type cable joint connector grease supply port (thin head screw) motor end cap right front left motor bracket motor side rod tip adapter aluminum frame motor cover rod cable range of t-groove ra8c type right left grease supply port (thin head screw) aluminum frame rod rod tip adapte...

  • Page 19

    13 ra10c type brake type specification wire cover tie rod base front bracket rear cover right front left motor bracket motor side motor cover rod cable rod tip fitting brake bracket rod tip fitting wire cover tie rod base front bracket rear cover ra10c type right front left motor bracket motor side ...

  • Page 20

    14 rcp2 ra3r type right left front motor side grease supply port (thin head screw) reversing bracket end plate rod tip adapter cable joint connector cable wire cover motor cover motor end cover aluminum frame rod rcp2 ra4r type ra6r type grease supply port (thin head screw) cable joint connector end...

  • Page 21

    15 rcp2 ra4r type ra6r type grease supply port (thin head screw) cable joint connector end plate reversing bracket wire cover motor cover motor end cover aluminum frame rod rod tip adapter range of t-groove motor side right left front.

  • Page 22

    16 grease supply port (thin head screw) ra8r type aluminum frame rod right left rod tip adapter motor cover wire cover cable motor end cover reversing bracket end plate rcp2 motor side front.

  • Page 23

    17 rgd3c type rgd4c type rgd6c type (double guide type) mounting bracket guide bracket right front left motor side guide bearing guide rod grease supply port (thin head screw) guide bearing guide rod aluminum frame motor bracket motor end cap cable motor cover range of t-groove rgs4c type rgs6c type...

  • Page 24

    18 7 • connect a tube to the intake/exhaust port and extend the other end of the tube to a location not subject to water, etc. Internal structure of intake/exhaust port part no. Name material [1] intake/exhaust port pbt [2] gasket nbr [3] holder c3604bd [4] chuck sus301 [5] outer ring c3604bd [6] pu...

  • Page 25

    19 connect a tube to the intake/exhaust port and extend the other end of the tube to a location not subject to water, etc. (note) there is no grease supply port on those manufactured in the early time. Internal structure of intake/exhaust port part no. Name material [1] intake/exhaust port pbt [2] g...

  • Page 26

    20

  • Page 27

    21 1. Product check 1. Product check thisproductiscomprisedofthefollowingpartsifitisofstandardconfiguration. Caution:checkthepackinglisttoconfirmwhatisinthepackage.Ifyoufindanyfaultinthe contained model or any missing parts, contact us or our distributor. 1.1 parts no. Part name model remarks 1 actu...

  • Page 28

    22 1. Product check 1.2 operation manuals for controllers supported by this product no. Name manual no. 1 operation manual for psel controller me0172 2 operation manual for pcon-c/cg/cf controller me0170 3 operation manual for pcon-cy controller me0156 4 operation manual for pcon-se controller me016...

  • Page 29

    23 1. Product check 1.4 how to read the model no. 1.4.1 rcp2 r c p 2 - r a 2c - i - 2 0 p - 1 - 5 0 - p 1 - p - f l standard type rcp2 dust and splash-proof type rcp2w standard type motor straight type ra2c, ra3c ra4c, ra6c ra8c, ra10c single-guide type rgs4c, rgs6c double-guide type rgd3c, rgd4c rg...

  • Page 30

    24 2. Specifications 2. Specifications (1) maximum speed the maximum speed for the actuator is limited due to the resonance of the ball screw axis and the limitation of the number of motor rotation. Makesurethatthemaximumspeedofyouractuatordoesnotexceedtheapplicablelimitspecifiedinthe table below. [...

  • Page 31

    25 2. Specifications [motor reversing] restriction in stroke and maximum speed (unit: mm/s) type motor type lead (mm) stroke (mm) 50 100 150 200 250 300 rcp2-ra3r 28p 2.5 114 - - 5 187 - - rcp2-ra4r 42p 2.5 125 118 87 5 250 237 175 10 458 350 rcp2-ra6r 56p 4 110 8 210 16 400 rcp2-ra8r 60p 5 100 10 2...

  • Page 32

    26 2. Specifications [with double guides] restriction in stroke and maximum speed (unit: mm/s) type motor type lead (mm) stroke (mm) 50 100 150 200 250 300 rcp2-rgd3c 28p 2.5 114 - - 5 187 - - rcp2-rgd4c 42p 2.5 125 118 87 5 250 237 175 10 458 350 rcp2-rgd6c 56p 4 130 8 210 16 450 (note) values in b...

  • Page 33

    27 2. Specifications (2) speed and transportable weight caution: since rcp2 series apply the pulse motor, the thrust would drop when it reaches the maximum speed, thus the transportable weight would also decrease. Check the transportable weight at the speed that you would operate the actuator at on ...

  • Page 34

    28 2. Specifications [rcp2-ra6c] 0 0 100 200 300 400 500 600 700 10 20 30 40 50 60 70 horizontal 55 35 lead 4 lead 4 lead 8 lead 8 lead 16 lead 16 acceleration at horizontal mount : 0.2g acceleration at vertical mount : acceleration 0.2g velocity (mm/s) velocity (mm/s) 0 100 200 300 400 500 600 700 ...

  • Page 35

    29 2. Specifications ●motorreversing [rcp2-ra3r] velocity (mm/s) velocity (mm/s) load capacity (kg) load capacity (kg) horizontal 0 5 10 15 20 25 30 0 50 100 150 200 0 1 2 4 5 7 8 9 6 3 200 0 20 40 60 80 100 120 140 160 180 vertical lead 2.5 lead 2.5 lead 5 lead 5 lead 2.5 lead 2.5 lead 5 lead 5 acc...

  • Page 36

    30 2. Specifications [rcp2-ra8r] velocity (mm/s) velocity (mm/s) 0 40 60 80 100 120 0 20 100 200 300 0 20 30 40 50 60 70 80 0 10 100 200 300 acceleration at horizontal mount : lead 5 0.1g lead10 0.2g acceleration at vertical mount : lead 5 0.1g lead10 0.2g load capacity (kg) load capacity (kg) lead ...

  • Page 37

    31 2. Specifications ●withdoubleguide [rcp2-rgd3c] velocity (mm/s) velocity (mm/s) 0 0 50 100 150 200 250 300 350 5 10 15 20 25 30 35 4 2 lead 2.5 lead 2.5 lead 5 lead 5 0 50 100 150 200 250 300 350 0 2 4 6 8 10 12 14 9 1 0.5 5 lead 2.5 lead 2.5 lead 5 lead 5 horizontal vertical load capacity (kg) l...

  • Page 38

    32 2. Specifications ●splash-prooftype [rcp2w-ra4c] acceleration at horizontal mount : 0.2g velocity (mm/s) velocity (mm/s) 0 0 100 200 300 400 500 600 700 10 20 30 40 50 60 70 25 5 lead 2.5 lead 2.5 lead 5 lead 5 lead 10 lead 10 0 50 100 150 200 250 300 350 0 3 6 9 12 15 18 21 4.5 19 2.5 2.5 2 lead...

  • Page 39

    33 2. Specifications (3) drive system type motor type lead number of encoder pulses *1 drive system rcp2-ra2c *2 20p 1 800 ball screw f 6mm rolled c10 reducing ratio 1/2 speed reducer - rcp2-ra3c rcp2-ra3r rcp2-rgd3c 28p 2.5 ball screw f 8mm rolled c10 5 rcp2-ra4c rcp2-ra4r rcp2-rgs4c rcp2-rgd4c rcp...

  • Page 40

    34 2. Specifications ●motorreversing type motor type lead rod diameter rod non-rotating accuracy rcp2-ra3r 28p 2.5 f 22mm ± 1.5° 5 rcp2-ra4r 42p 2.5 f 22mm ± 1.5° 5 10 rcp2-ra6r 56p 4 f 30mm ± 1.0° 8 16 rcp2-ra8r 60p 5 f 40mm ± 1.0° 10 ●withsingleguide type motor type lead rod diameter rod non-rotat...

  • Page 41

    35 2. Specifications ●splash-prooftype type motor type lead rod diameter rod non-rotating accuracy rcp2w-ra4c 42p 2.5 f 22mm ± 1.5° 5 10 rcp2w-ra6c 56p 4 f 30mm ± 1.0° 8 16 rcp2w-ra10c 86p 2.5 f 40mm ± 1.0° 5 10 (5) protection structure of dustproof type type motor type lead protection structure rcp...

  • Page 42

    36 2. Specifications (7) relationship of current-limiting value and push force ●standard current limit value (ratio %) pressing force (n) [rcp2-ra2c] [rcp2-ra3c] 100 80 60 40 20 20 30 40 50 10 0 0 80 100 200 120 140 160 180 60 40 20 20 30 40 50 60 70 10 0 0 lead 1 lead 1 lead 2.5 lead 2.5 lead 5 cur...

  • Page 43

    37 2. Specifications ●motorreversing [rcp2-ra3r] [rcp2-ra4r] current limit value (ratio %) 100 120 140 160 60 80 40 20 20 30 40 50 60 70 10 0 0 lead 2.5 lead 5 current limit value (ratio %) 200 150 100 400 250 300 350 50 20 30 40 50 60 70 10 0 0 lead 2.5 lead 5 lead 10 pressing force (n) pressing fo...

  • Page 44

    38 2. Specifications ●withdoubleguide [rcp2-rgd3c] [rcp2-rgd4c] current limit value (ratio %) 80 100 200 120 140 160 180 60 40 20 20 30 40 50 60 70 10 0 0 lead 2.5 lead 5 current limit value (ratio %) 200 150 100 400 250 300 350 50 20 30 40 50 60 70 10 0 0 lead 2.5 lead 5 lead 10 pressing force (n) ...

  • Page 45

    39 3. Product life 3. Product life 3.1 rcp2/rcp2w rod type for other than rcp2-ra8c, ra8r, ra10c and rcp2w-ra10c the life is 5,000km (reference) under the condition that it is operated with maximum transportable weight, acceleration and deceleration. 3.2 rcp2-ra8c, ra8r the life of lead 5 is estimat...

  • Page 46

    40 3. Product life 3.3 rcp2-ra10c, rcp2w-ra10c since the maximum thrust is set greater than other models, the life varies considerably with the transportable weight. The graphs below show the relation of transportable weight and life. 10000 5000 1000 100 10 vertical transportable weight (kg) lead 2....

  • Page 47

    41 4. Installation environment, storage and preservation environment 11 6. Operating and storage environment 6.1 operating environment the actuator should be set up in an environment, which meets the following criteria: • avoid direct sunlight. • avoid radiant heat from strong heat sources such as a...

  • Page 48

    42 5. Installation 5. Installation 5.1 installing the main body (1) using tapped mounting holes at back [a] applicable models: ra2c, ra3c, ra3r, rgd3c, ra8c, ra8r types the thread depths of mounting holes provided in the base of respective actuators are specified below. Exercise caution to make sure...

  • Page 49

    43 5. Installation 13 (2) using t-grooves and square nuts applicable models: ra4c, ra6c, rgs4c, rgs6c, rgd4c, rgd6c types t grooves are provided on the actuator surface. Slide square nuts into the t-grooves to install the actuator to the mounting frame. T-groove applicable models: ra4c, ra6c, ra4r, ...

  • Page 50

    44 5. Installation 14 (3) using mounting feet [a] applicable models: ra2c, ra3c, rgd3c types [2] install the mounting feet to the mounting frame with bolts. [1] to install the ra3c type, first install mounting feet using the tapped mounting holes at the back of the actuator. Mounting foot mounting f...

  • Page 51

    45 5. Installation 14 (3) using mounting feet [a] applicable models: ra2c, ra3c, rgd3c types [2] install the mounting feet to the mounting frame with bolts. [1] to install the ra3c type, first install mounting feet using the tapped mounting holes at the back of the actuator. Mounting foot mounting f...

  • Page 52

    46 5. Installation 16 [c] applicable models: ra10c (optional) [1] install mounting feet using the tapped mounting holes at the back of the actuator. [2] install the mounting feet to the mounting frame with bolts (m8)..

  • Page 53

    47 5. Installation 16 [c] applicable models: ra10c (optional) [1] install mounting feet using the tapped mounting holes at the back of the actuator. [2] install the mounting feet to the mounting frame with bolts (m8). (4) using tapped holes on datum surface [a] applicable models: ra2c, ra3c, ra4c, r...

  • Page 54

    48 5. Installation for rcp2-ra4r, ra6r, ra8r 50st equipped with the brake, the motor cover/motor-end cover exceed the datum surface line. Pay attention to the interference of the motor cover when it is installed. Datum surface ra4r, ra6r, ra8r (50st, with brake) sticking out of datum surface whenmou...

  • Page 55

    49 5. Installation 19 (5) using a flange [a] applicable models: ra3c, ra4c, ra6c, rgd4c, rgd6c types [b] applicable models: ra10c (optional) install a flange on the reference surface using bolts (this method is not applicable to guide types). Next, install the flange to the mounting frame using bolt...

  • Page 56

    50 5. Installation whenmountingtheunitinthehorizontalorientationusingtheflange,haveasupportbaseasshowninthe figurebelow. Support base caution: when mounting the unit with using the datum surface and the back surface, pay attention so the external force is not applied to the main body. The body or th...

  • Page 57

    51 5. Installation (6) method to use tapped holes on back applicable model : ra3r, ra4r, ra6r, ra8r therearetappedholesonthebackforattachment.Utilizetheseholesforinstallation. The depth of attachment screw is as shown below: model name tappedholesize effectivethreaddepth ra3r m3 10mm ra4r m6 15mm ra...

  • Page 58

    52 5. Installation whenmountingtheunitinthehorizontalorientationusingthetappedholesonthebacksurface,havea supportbaseasshowninthefigurebelow. Support base caution: when mounting the unit with using the datum surface and the back surface, pay attention so the external force is not applied to the main...

  • Page 59

    53 6. Connecting the controller 6. Connection the controller 6.1 wiring ● inauseoftheactuatorwiththecablesnotfixed,considertoeasetheloadtothecablesbyusingthe actuator in the range of the cable bends only with its weight or by using a stand-alone cable hose to gain a large radius bending. ● donotcuta...

  • Page 60

    54 6. Connecting the controller when constructing an application system using the actuators and controllers, inappropriate wiring and connection of the cables may cause unexpected troubles such as cable break and connection failure. Listed below are the prohibited things to be done in cable handling...

  • Page 61

    55 6. Connecting the controller ● whenfixingthecable,provideamoderateslackanddonottensionittootight. Do not use spiral tube in any position where cables are bent frequently. ● separate the i/o line, communication line and power line from each other. Arrange so that such lines are independently route...

  • Page 62

    56 7. Cautions in operation 7. Cautions in operation 7.1 load on the actuator the actual load should not exceed the value specified in the catalog. Be sure to align the shaft center of the rod and the moving direction of the load. Lateral load may cause damage or breakdown of the actuator. If the ro...

  • Page 63

    57 7. Cautions in operation 7.2 caution for when setting to 60% or more of rcp2-ra8 pressing current limit value when the pressing current limit value, which determines the pressing force of the pressing operation, is 60% or less, continuous pressing and continuous operation are available. Set the p...

  • Page 64

    58 7. Cautions in operation 2)condition2 thecontinuousoperationtorqueofthecycleshouldbe2.08n•morless. Calculate the torque for continuous operation. In graph 2, shows the speed change of the actuator in continuous operation on the time-basis. In graph 3, shows the torque change in time-basis. T tw t...

  • Page 65

    59 7. Cautions in operation read the values for to and tw from table 2 and graph 5. 1.0 1.2 1.4 1.6 1.8 2.0 2.2 2.4 2.6 30 40 50 60 70 motor torque [n•m] pressing/stop current limit value [%] current limit value [%] motor torque [n•m] graph 5: current limit value and motor torque table 2: current li...

  • Page 66

    60 7. Cautions in operation (2) example of calculation and operation availability judgment as an example of a calculation, let's see if the continuous operation is available under the following operational conditions. Pressing after 100mm moving forward and standby after 100mm backwards refer to gra...

  • Page 67

    61 7. Cautions in operation 3)condition3 confirmationofthestoporpressingthatthecurrentlimitvaluegreaterthan60%isonly 1 time in 1 cycle. Thereisonly1timein1cyclethatthecurrentlimitvalueisgreaterthan60%,thus,itcanbedefined as okay. Sinceallof1,2and3areokay,exampleofthecalculationisdefinedavailablefort...

  • Page 68

    62 8. Option 8. Option 8.1 brake this is a function to protect the object attached to the actuator from being damaged when the slider is droppedatthepowercutortheservoisturnedoffinthecasetheactuatorisusedintheverticalmount orientation. An optional brake is required when the axis is used in the verti...

  • Page 69

    63 8. Option 8.2 flange bracket itisaflangedmetalplatetofixthemainbodyoftheactuatorontherodside.Themodelcodeisexpressed with “fl”. 99 82 50 63.5 (52) 12 4-φ9 drilled hole home 12.5 25 12.5 home 2.5 2.5 25 16 (2.5) 15 44.5 50 40 25 20 30 4-φ5 m8 24 35 5.5 45 55 10 (39) 4-φ4.5 drilled through hole hom...

  • Page 70

    64 8. Option 8.3 foot bracket itisametalcomponenttofixthemainbodyoftheactuatorwithscrewsfromtop. The model code is expressed with “ft”. 25 stroke 25 50 70 75 95 100 120 size part 50 40 4-φ5 25 42 6 48 16 10 b 5 10 10 home position 35 10 53 52 66 20 38 35 4-φ6.6 drilled through hole 57 71 47 10 67.5 ...

  • Page 71

    65 8. Option model code of component rcp2-ft-ra4 rcp2w-ra4c model code of component rcp2-ft-ra6 rcp2w-ra6c range of t-groove 57 71 20 4-φ6.6 drilled hole range of t-groove 79 95 25 4-φ9 drilled hole 49 10 75.3 50 64 12 94 68 17.

  • Page 72

    66 8. Option 8.4 single guide the position of the rod for each model equipped with the single guide is as shown below: • attachedonright :modelgs2 • attachedonbottom :modelgs3 • attachedonleft :modelgs4 8.5 reversedhomespecification the reversed home type has the home position on the opposite side o...

  • Page 73

    67 9. Motor •encoder cables 9. Motor•encodercables 9.1 cable for pmec and psep controllers 1) motor•encoderintegratedcablecb-psep-mpa□□□ 1 2 3 4 5 6 9 10 11 12 7 8 13 14 15 16 17 18 19 20 21 22 23 24 1 2 4 5 3 6 16 17 5 6 13 14 1 2 3 4 10 11 9 12 15 7 8 18 mechanical side mechanical side controller ...

  • Page 74

    68 9. Motor • encoder cables 9.2 cable for pcon and psel controllers 1) motorcablecb-rcp2-ma□□□ a vmm b a vmm b a vmm a b vmm b i-1318119-3 slp-06v m cable cn3 cn1 a1 a2 a3 b1 b2 b3 1 2 3 4 5 6 (20) (8) (1 5) l cn3 c n 1 (approx. φ 7) (2 8) (14) (1 4) (20) * □□□ indicates the cable length. Max. 20m....

  • Page 75

    69 9. Motor •encoder cables 4) encodercablecb-rfa-pa□□□ encoderrobotcablecb-rfa-pa□□□-rb (for rcp2-ra8c, ra8r, ra10c and rcp2w-ra10c) l c n 2 cn4 (5) (8) (13) (15) (18) ( φ 9) (35) (25) housing : phdr-16vs (j.S.T. Mfg.) contact : sphd-001t-p0.5 housing : xmp-18v (j.S.T. Mfg.) contact : bxa-001t-p0.6...

  • Page 76

    70 10. Maintenance 22 10. Maintenance 10.1 maintenance schedule 10.2 visual inspection of the machine exterior check the following items visually. Body loose mounting bolts cables damage to cables or connection to connector box general unusual noise or vibrations 10.3 cleaning • • clean the exterior...

  • Page 77

    71 10. Maintenance 22 10. Maintenance 10.1 maintenance schedule 10.2 visual inspection of the machine exterior check the following items visually. Body loose mounting bolts cables damage to cables or connection to connector box general unusual noise or vibrations 10.3 cleaning • • clean the exterior...

  • Page 78

    72 10. Maintenance [2] before applying grease, move the rod by more than a half the stroke. To apply grease to the ball screw, spray grease into the screw hole. (keep the spraying time to within 1 second.) apply grease to the rod slide surface using your fingers. Apply grease to the rod slide surfac...

  • Page 79

    73 10. Maintenance 10.5 grease supply to scrape applicable units : rcp2w-ra4c, rcp2w-ra6c 10.5.1 grease thededicatedgreasespecifiedbelowhasbeenappliedtothescraperbeforetheshipment. Kyodo yushi multemp lrl no.3 apart from above, there are equivalent sorts of grease sold in the market. For more detail...

  • Page 80

    74 11. Belt replacement and adjustment 11. Belt replacement and adjustment applicable unit : rcp2-ra8r 11.1 belt inspection remove the end plate and check the belt visually for the inspection process. The condition of the belt deteriorates as the time passes and would cause such problems as abrasion...

  • Page 81

    75 11. Belt replacement and adjustment 11.3 replacement belt [requirements for replacement] ● replacementbelt ● hexwrench(widthacrossflat=2mm,5mm) ● tensiongauge(shouldbecapableof25kgftension) ● longtieband(orthinstring) 1) remove the end plate. Droppingtoolstobeused: hexwrench(widthacrossflat=2mm) ...

  • Page 82

    76 11. Belt replacement and adjustment 3) replace the belt and adjust the belt tension. Droppingtoolstobeused: hexwrench(widthacrossflat=5mm),longtieband(orthinstring), tension gauge screwtobeused : hexagonsocketheadcapbolt(m6×20),plainwasher4foreach 20kgf 20kgf ● hangatieband(thinstring)onthemotoru...

  • Page 83

    77 12. Process for motor replacement 12. Process for motor replacement 12.1 process to replace motor for ra8c and ra8r 12.1.1 process to replace motor for ra8c [requirements for replacement] ● hexwrench ● phillipsscrewdriver ● newmotorforreplacement [replacement procedures] 1) remove the 4 screws re...

  • Page 84

    78 12. Process for motor replacement 3) removethe4screws(m4×14)retainingthemotor usinga3mmsizedhexwrench. 4) pull out the motor. Top side bottom side.

  • Page 85

    79 12. Process for motor replacement 5) align the slit on the actuator main body and the protrusion on the motor for replacement. 6) insertthemotorafterconfirmingthatthedirection of the protrusion on the main unit and the slit on the motor are in the same position. Align the protrusion and the slit..

  • Page 86

    80 12. Process for motor replacement 7) tightenthe4screws(m4×14)usinga3mmsized hex wrench to hold the motor. Tightening torque : 176n·cm (18.0kgf·cm) 8) plug the motor connector and encoder connector. Pay special attention to the encoder pcb so you would not touch it during the work. 9) attach the m...

  • Page 87

    81 12. Process for motor replacement 10) hold the motor cover with 4 screws and tighten them with a phillips screwdriver..

  • Page 88

    82 12. Process for motor replacement 12.1.2 process to replace motor for ra8r [requirements for replacement] ● hexwrench(widthacrossflat=2mm,5mm) ● tensiongauge(shouldbecapableof25kgftension) ● longtieband(orthinstring) ● replacementmotorunit(withpulley) [replacement procedures] 1) remove the end pl...

  • Page 89

    83 12. Process for motor replacement 2) remove the motor unit. Droppingtoolstobeused: hexwrench(widthacrossflat=5mm) screwtobeused : hexagonsocketheadcapbolt(m6×20),plainwasher4foreach 3) remove the motor cover and attach the motor for replacement. A. Remove the 4 screws retaining the motor cover us...

  • Page 90

    84 12. Process for motor replacement c. Plug the motor connector and the encoder connector into the connectors on the replacement motor. Plug the motor connector and encoder connector. Pay special attention to the encoder pcb so you would not touch it during the work. D. Attach the motor cover. Pay ...

  • Page 91

    85 12. Process for motor replacement 4) attach the replacement motor unit..

  • Page 92

    86 12. Process for motor replacement 5) hangatieband(thinstring)onthemotorunitandpullitwithaspecifiedloadusingthetensiongauge. Tightenthebolttokeepitinthepositiononcethetensionreachesthespecifiedtension. Droppingtoolstobeused: hexwrench(widthacrossflat=5mm),long tie band (or thin string), tension ga...

  • Page 93

    87 12. Process for motor replacement 12.2 process to replace motor for ra10c [requirements for replacement] ● hexwrench ● motorforreplacementshownbelow(assy) replacement motor for standard type replacement motor ass’y equipped with a brake for brake-equipped type (1) standard type (without brake) 1)...

  • Page 94

    88 12. Process for motor replacement 3) disconnect the encoder connector shown with an arrow. 4) slide the motor cover away from the motor to disconnect the motor cable connector. 5) remove the 4 screws (m5) retaining the motor onto the motor bracket. Themotorwillcomeoff. 6) align the positions of t...

  • Page 95

    89 12. Process for motor replacement 7) attach the motor to the motor bracket with the screws (m5). Tightening torque : 727n·cm (74.2kgf·cm) 8) connect the motor cable connector. 9) put the motor cover over the motor. Tidy the motor cable so it comes to the position as shown on the left..

  • Page 96

    90 12. Process for motor replacement 10) confirmthatthemotorcableconnectorisinthe position as shown on the left. Connect the encoder connector. 11) attach the rear cover. Tightening torque : approx. 80n·cm 12) attach the motor cover from the motor bracket side. Tightening torque : approx. 80n·cm mot...

  • Page 97

    91 12. Process for motor replacement (2) brake-equipped type for the brake-equipped type, the replacement is done with the whole unit of the motor ass’y equipped with a brake. 1) remove the 4 screws (m6) retaining the motor cover from the motor bracket side. (arrowed points shown in the picture on t...

  • Page 98

    92 13. Appendix 13. Appendix 13.1 external dimensions 13.1.1 rcp2-ra2c 4-m3, effective depth 5 14 19 10p home position se me me (1) 1 stroke 12 10 l ± 1 61 secure at least 100 (200) m8×1.25 2 14 20 20 25 φ20 12.5 2 rod diameter φ12 4-m3, effective depth 6 25 42 (2.5) cable joint connector ■dimension...

  • Page 99

    93 13. Appendix 13.1.2 rcp2-ra3c dimensions for accessory nut to attach on rod tip n-m4 depth 6 6 (19.6) 17 m10×1.25 14 28 35 1.5 1.5 14 17.5 28 35 38 14.5 0.5 42.5 4-m4 depth 10 (2.3) 2 st 39 90.5 l secure at least 100 20 n×50 p 30 27 me se me home 7.5 (square block part) 4 3.5 31.5 22 rod diameter...

  • Page 100

    94 13. Appendix 13.1.3 rcp2-ra4c detail: a dimensions for accessory nut to attach on rod tip 6 (19.6) 17 m10×1.25 4.3 7.3 1.8 4.3 14 17 34 45 2.5 2.5 14 34 47 24.5 10.5 13 50 (2.3) 2 st l t-groove effective range 39 86.5 7.5 (square block part) 31.5 3.5 4 22 rod diameter φ 22 φ32 m10×1.25 4-m6 depth...

  • Page 101

    95 13. Appendix 13.1.4 rcp2-ra6c detail: a 8 22 (25.4) m14×1.5 19 25 50 19 32 50 64 2 2 64 68 (4.8) 4 st 52 112 l 11 30.5 42 6 4 φ4 3 m14×1.5 me se home me 6.5 10.5 2.6 8 a secure at least 100 13 75 (240) □10 m6 5 brake unit 0.5 63.5 64 112 72.5 with the brake 4-m8 depth 15 dimensions for accessory ...

  • Page 102

    96 13. Appendix 13.1.5 rcp2-ra8c 4 st 4 35 (effective threaded length) (67) st+124.5 34.5 111 (2.6) l φ40 (rod diameter) 15 12 (square block part) 40 me home se me m20 × 1.5 67 67 86 85 (18) 4-m8 depth 16 43.5 55 35 50 50 a × 100 (b) 60 2-φ5h7 reame pitch depth 5 c-m8 depth 16 (reame pitch ±0.02) 5 ...

  • Page 103

    97 13. Appendix 13.1.6 rcp2-ra10c st+115 37 37 (effective threaded length) width across flat = 26 l 117.5 (200) 52.5 95 80 width across flat = 32 m22×1.5 37 13 4-m10 depth 18 100 100 home me me se (1) φ70h10 4-m10, through hole 40 m22×1.5 13.5 (square block part) 27.5 5 available st (81) 5 st+160 20...

  • Page 104

    98 13. Appendix 13.1.7 rcp2-ra3r dimensions for accessory nut to attach 17 (19.6) 6 m10×1.25 st (2.3) 2 0.2 y 39 z l 35.1 me home se me 20 50 20 27 17.5 13.5 14.2 103 35 0.5 (27.7) 27 φ32 φ22 φ20 22 31.5 4 32 32 32 m10×1.25 7.5 (square block part) 3.5 35 28 14 14 28 35 0.5 19 49 4-m4 depth 10 n×50 p...

  • Page 105

    99 13. Appendix 13.1.8 rcp2-ra4r dimensions for accessory nut to attach 17 (19.6) 6 a st (2.3) 2 0.2 y 39 z l 39.1 se me me home 19 14 17 34 45 47.5 24.5 14 34 47 68.5 1 24.5 2 47.5 34 34 134.5 φ20 φ22 φ32 22 31.5 4 37 32 32 7.5 (square block part) 3.5 4.3 1.8 7.3 4.3 detail diagram a scale 2 : 1 m1...

  • Page 106

    100 13. Appendix 13.1.9 rcp2-ra6r 8 22 25.4 dimensions for accessory nut to attach m4×1.5 secure at least 100 m14×1.5 4 st 4.8 0.2 y 52 z 47.1 l me se home me 17 19 25 50 64 19 50 64 32 84 1 w φ43 φ30 φ28 30.5 42 6 4 45.8 46 46 9.5 (square block part) 10.5 6.5 8 2.6 32 0.5 50 50 165 detail diagram w...

  • Page 107

    101 13. Appendix 13.1.10 rcp2-ra8r st+171.5 67 47 68.5 20.5 111 247 width across flat = 27 (square block part) 4-m8 depth 16 4 st 4 35 (effective threaded length) 40 15 st+124.5 47 l (67) 30 20.5 111 208.5 m20 × 1.5 me home se me φ70-0.05 0 5 67 85 67 1 176 43.5 43.5 67 86 67 85 177 (17) 35 60 50 50...

  • Page 108

    102 13. Appendix 13.1.11 rcp2-rgs4c st+69 st 14 (shaft length at se position) st+14 6.5 30 20 (for mounting of main body) t-groove pitch : 17 90 2.5 80 2 30 5 30 me home se me 2 (shaft movable length from me position on home side to home position) 2 (2.3) st 41 6-m5 depth 12 (for work attachment) bo...

  • Page 109

    103 13. Appendix 13.1.12 rcp2-rgs6c 16 st + 14.5 st + 72 home me se me 6-m6 depth 15 (for work attachment) 0.5 body width : 64 63 0.5 110 0.5 95 6.5 40 5 40 40 30 (for mounting of main body) t-groove pitch : 25 75 4 (4.8) st 54 st φ 12 φ 36 6 67.5 19 25 8.5 15 55 25 7 secure at least 100 l 44 10 112...

  • Page 110

    104 13. Appendix 13.1.13 rcp2-rgd3c me home se me (240) st st+58 33 st (2.3) 2 l 33 8 90.5 43 secure at least 100 (for mounting of main body) 4-m4 105 97 83 23 23 23 35 35 body width : 35 35 30 27 22 φ8 φ27 12 12.5 st+5 53 13 20 11 11 6.5 6.5 35 35 (for mounting of main body) n-m4 depth 6 30 n×50 p ...

  • Page 111

    105 13. Appendix 13.1.14 rcp2-rgd4c st+69 st home me se me 2 (2.3) st 41 57.5 secure at least 100 33 8 l 86.5 4.3 7.3 4.3 1.8 6.5 st+14 136 126 105 30 30 30 (for mounting of main body) 4-m5 45.5 45.5 body width : 45 30 20 2.5 0.5 44 34 (for mounting of main body) t-groove pitch : 17 15 φ10 φ34 63 13...

  • Page 112

    106 13. Appendix 13.1.15 rcp2-rgd6c st + 72 me home se me 4 (4.8) st 54 st secure at least 100 l 44 10 112 75 10.5 6.5 2.6 8 st + 14.5 16 19 25 φ 12 φ 36 15 67.5 13.5 10 55 13.5 10 55 68 (240) (for work attachment) 8-m6 depth 15 4-m6 (for mounting of main body) 46.5 46.5 64 40 30 64 0.5 0.5 63 53 15...

  • Page 113

    107 13. Appendix 13.1.16 rcp2w-ra4c 7 24.3 detail : a a dimensions for accessory square nut to attach on t-groove (4 pieces attachment) □6 dimensions for accessory nut to attach on rod tip 4-m8 depth 12 7.5 (square block part) rod diameter φ22 home t-groove effective range with the brake brake unit ...

  • Page 114

    108 13. Appendix 13.1.17 rcp2w-ra6c rod diameter φ30 9.5 (square block part) intake and exhaust port (360° rotation available) cable joint connector actuator cable t-groove effective range square nut insert port secure at least 100 hexagon socket head cap bolt : 4-m5×20 4-m8 depth 15 detail : a a di...

  • Page 115

    109 13. Appendix 13.1.18 rcp2w-ra10c st+115 37 37 (effective threaded length) width across flat = 26 l 117.5 (2m) 52.5 95 80 width across flat = 32 m22× 1.5 37 13 4-m10 depth 18 100 100 home me me se (1) φ70h10 120 4-m10, through hole 40 m22× 1.5 13.5 (square block part) 5 27.5 intake and exhaust po...

  • Page 116

    110 14. Warranty 2 14. Warranty 14.1 warranty period one of the following periods, whichever is shorter: 18 months after shipment from our factory 12 months after delivery to a specified location 2500 hours of operation time 14.2 scope of warranty our products are covered by warranty when all of the...

  • Page 117

    111 14. Warranty 2 14.5 conditions of conformance with applicable standards/regulations, etc., (1) if our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also...

  • Page 118

    112 change history change history revision date revision description 2010.01 2010.07 2011.04 2011.07 2011.08 2012.02 2012.02 2012.03 first edition second edition third edition • “caution”addedtothebeginning fourth edition • apageforcemarkingaddedg fifth edition • contentschangedin5.Transportationinp...

  • Page 119

    113 change history revision date revision description 2013.10 2013.11 2014.01 2014.02 2014.08 2015.06 2015.08 2016.03 2016.04 2016.10 2016.11 tenth edition • contentschangedin12.1.2.Processtoreplacemotorforra8r. Eleventh edition • methodtosupplygreaseaddedfordustproofanddripproofrodtype twelfth edit...

  • Page 120

    114 change history revision date revision description 2016.12 edition 14i • ra8c and ra8r to [a] applicable models added in page 42 2017.02 edition 14j • figuresaddedshowingdirectionsunacceptabletoreceiveloadonsingle guideinpage9 • speedreduceraddedtodrivingsystemofrcp2-ra2cinpage33 • notedeletedsta...

  • Page 122

    Manual no.: me3652-14j (february 2017) the information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2017. Feb. Iai corporation. All rights reserved. 17.02.000 head office: 577-1 obane shimizu-ku shizuoka city shizuoka 424-0103, japan...