SMC Networks 10/100 Switch User Manual
Contents
1. E 10 i 11 n E24V 12 Gray whitel oy 13 O O C Brown white LS 26 a CLEEP 25 2 OT 24 RSV 23 E 9 Note 4 AWG26 i i 18 Note 1 soldered 19 No Signal Pink A 1 1 A Pink Purple A 2 e 2 A Purple White Ba 3 Den 3 B White Blue red B 4 4 B Blue red Orange white Z 5 um 5 Z Orange white Green white Z 6 6 Z Green white Blue SRD 7 7 LS Brown white Orange SRD 8 8 AWG26 Black BAT 14 9 FG Ground crimped Yellow BAT 15 10 SD Blue Green VCC 16 11 SD Orange Brown GND 17 12 BAT Black Gray BKR 20 13 BAT Yellow Red BKR 21 14 VCC Green 22 15 GND Brown Clamp the shield to the hood SZ 16 LS Gray white Ground and shielded N Note 3 braided wires Note 2 7 BK aa BK e 67 MEMO 68 Catalog No MJ3656 3A IAI Quality and Innovation Al America Inc Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 1261 Hamilton Parkway Itasca IL 60143 TEL 630 467 9900 FAX 630 467 9912 Atlanta Office 1220 E Kenneston Circle Marietta GA 30066 TEL 678 354 9470 FAX 678 354 9471 Website www intelligentactuator com TA I Industrieroboter GmbH Ober der R th 4 D 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 The information contained in this document is subject to change without notice for th2. LU C Flange Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torque 12 3 N m 5 4 N m 17 CY LINDER Fe ROBO 3 Using screws on feet optional Optional feet are available for installing the actuator Use these feet if necessary Applicable model RCS2 RA4 F NES g W Mounting hole Affixing nut Affixing nut Mounting hole Foot A Mounting hole Mounting hole Reversing type RE eJ B Affixing nut Affixing nut Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torque 12 3 N m 5 4 N m Caution Affix the actuator using two feet optional one in the front and the other in the back If affixed using only one foot in the front or back the actuator may be negatively affected due to insufficient rigidity 18 CY LINDER Fe ROBO 4 Using screws on a trunnion optional An optional trunnion is available for installing the actuator Use this trunnion i
3. X x V 4 Do not let the cable receive a turning force at a 5 When fixing the cable provide a moderate slack single point and do not tension it too tight O x X x x gt K Use a curly cable 5 gc JP x 6 Do not pinch drop a heavy object onto or cut the cable il amp S X X X Do not use a spiral tube where the cable flexes frequently ROBO C gt CY LINDER 7 Notes on using cable bearers The supplied cables are not robot cables Accordingly never store the cables in a cable bearer Always use a robot cable for each relay cable Bending radius r radius r of 50 mm or greater Do not let the cable get tangled or kinked in a cable bearer or flexible tube When bundling the cable keep a certain degree of flexibility so that the cable will not become too taut when bent Do not cause the cables to occupy more than Do not lay signal lines together with circuit lines 6096 of the space in the cable bearer that create a strong electric field Cable bearer Power line Cable Signal lines flat cable Table of Contents User TE 1 2 Safety Precautions iii 1 2 1 Basic Operating Instructions ucro cata e atado oi td dee de SL 1 2 2 Maintenance and Inspection sise 1 SM EIC Cert 2 3 1 Warranty Pelo uuu aere tio naa coo te qiie ne Re ee ns 2 3 2 Scope of Warranty sio ccs Re pen c omesnbdi Cte uode dn eut s eaaceue 2 4 Name
4. opui a Motor e gt Eu Le 39i Rod cover Cylinder tube Cable Caution The cable directly connected to the actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables Fe ROBO CY LINDER The names of respective actuator parts are indicated below In this manual the right and left are determined by viewing the actuator from the top and from the motor side when the actuator is placed horizontally Front indicates the opposite side of the motor 4 6 Motor Straight Type Coupling Type No Guide e RCS2 RA5C Aluminum frame eee Connector box red Motor housi ncoder cover Rod tip adapter otor housing 4 7 Motor Reversing Type No Guide RCS2 RA5R Pulley cover ROBO QU CYLINDER 4 8 Motor Straight Type Coupling Type Single guide Type RCS2 RGS5C Guide bearing Guide rod 4 9 Motor Straight Type Coupling Type Double guide Type e RCS2 RGD5C Mou
5. e 18 months after shipment from our factory e 12 months after delivery to a specified location e 2500 hours of operation time 3 2 Scope of Warranty If a breakdown occurs within the period specified above and is due to the manufacturer s error we will repair the unit at no cost However the following items are not covered by this warranty e Faded paint or other changes that occur naturally over time e Consumable components that wear out with use stainless sheet etc e Unit seems to be noisy or similar impressions that do not affect machinery performance e Damage resulting from improper handling by the user or lack of proper maintenance e Any alterations made by other than IAI or its representatives e Breakdowns caused by using controllers made by other manufacturers e Any damages caused by fire and other natural disasters or accidents The warranty pertains to the purchased product itself and does not cover any damages that might arise from a breakdown of the supplied product Any repairs will be done at our factory Even if the product is still covered under the warranty period we will assess a separate charge for sending technicians to the customer s site Fe ROBO CY LINDER 4 Names of the Parts The names of the actuator parts are indicated below In this manual the right and left are determined by viewing the actuator from the top and from the motor side 4 1 Motor Straight Type Coupling Type
6. No Guide e RCS2 RA4C Head cover aid Rod cover Cylinder tube Ts Motor unit OO nd CI TR LA I Rod tip adapter Cable Caution The cable directly connected to the actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables Fe ROBO CY LINDER 4 2 Motor Straight Type Built in Type No Guide e RCS2 RA4D E NERIS 1 Motor unit i Feud i e ENT Rod tip adapter Cable Caution The cable directly connected to the actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables Fe ROBO CY LINDER 4 3 Motor Reversing Type No Guide RCS2 RA4R Cable Motor unit Pulley case HAE o Rod tip adapter ELE ET lt Rod j Rod cover V Cylinder tube Head cov
7. adjust the home offset if you are using an SCON controller If you are using an SSEL or X SEL controller adjust the home preset Mechanical end m Z phase ON Home position position 2mm 2mm gt X The countermark on the motor aligns with this position Set by the home offset parameter SCON or home preset parameter SSEL X SEL The above value indicates the factory setting 59 ROBO aS CY LINDER Procedure 1 Move the slider from the home position toward the mechanical end and check the rotating direction of the motor shaft If the actuator has its home located on the opposite side to the standard specification this check is always required because the motor shaft rotates in the different direction e Remove the pulley case cover Remove the three thin head screws using an Allen wrench of 2 5 mm across flats Check the rotating direction of the motor shaft 2 Loosen the four tension adjustment bolts to 3 Remove the belt from the pulleys slacken the belt Allen wrench of 3 mm across flats 3 Take out the motor Remove the four hexagon socket head bolts using an Allen wrench of 3 mm across flats 4 Install the new motor Uniformly tighten the four hexagon socket head bolts M4x15 using the Allen wrench of 3 mm across flats Recommended tightening torque 176 N cm 18 kgf cm 60 Fe ROBO CY LINDER 5 Make the following adjustment to restore the ho
8. apply grease when the bellows is changed 14 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 14 3 Cleaning e Clean the exterior as needed e Wipe off dirt with a soft cloth e Do not use strong compressed air on the actuator as this may force dust into the crevices e Do not use petroleum based solvent on plastic parts or painted surfaces e lf the unit is badly soiled apply a neutral detergent or alcohol to a soft cloth and wipe gently 33 34 Fe ROBO CYLINDER 14 4 Applying Grease to the Sliding Surface of the Rod 1 Applicable grease Kyodo Yushi Multemp LRL3 2 How to apply grease Apply grease over the entire surface of the rod CY LINDER Fe ROBO 14 5 Reduction Belt Motor Reversing Type 14 5 1 Inspecting the Belt Remove the pulley cover and visually inspect the belt Durability of the reduction belt is affected significantly by the operating condition and there is no standard guideline as to when the belt should be replaced Generally the belt is designed to withstand several millions of flexing loads As a practical guideline replace the reduction belt when any of the conditions listed below is observed The teeth and end faces of the belt have worn significantly The belt has swollen due to
9. Actuator end m PE U U V 0 75 sq 0 75 sq v Wi crimped W PE RO IN o 65 WER ROBO CY LINDER WH 2 Encoder cable robot encoder cable X SEL J K SCON SSEL X SEL P Q Model CB RCBC PA 000 CB RCBC PA 000 16 L 4 15 lt gt gt gt 8 1 10 3 z au 8 ERES DIETS E 3 Front view E 9 18 Front view Wire Signal No A U 1 AU AU 2 WU BM 3 BW B 4 BN ZWN 5 ZW 0 15sq ZW 6 ZW crimped SD 7 Sb EE BAT 9 FG 0 15 sq BAT 10 SD crimped VCC E Sb GND 12 BAT BK 13 BAT BK 14 VCC 15 GND Clamp the shield to the hood e 16 7 Ground and shielded braided wires P d 17 BK 18 BK 66 ER ROBO CY LINDER 3 Encoder cable robot encoder cable Model CB RCS2 PA LILILI CB X2 PA 000 RB 13 14 1 1 37 13 9 18 i Actuator end Front view Front view Controller end Actuator end
10. CR EN aM MEM 12 5 1 1 Handling the Packed Lines oe tei desee ete oe ee 12 5 1 2 Handling the Actuator After It is Unpacked 12 5 2 Handling the Actuator Assembly oie ter eene EIE eme ta cEe ES 13 5 2 1 Condition of Shipment from IAI Assembled sess 13 5 2 2 Handling after Assembly with Peripheral Equipment 13 6 Operating and Storage Environment sense 14 6 1 Operating Environments o cec s petat enr notar psu teen Line 14 6 2 Storage EnvIFOF freie s ode eet om ah a eta ee eat ace stu A eti ate d se 14 1 Installation 0e em REB D deh 15 7 4 Installing the Main Body iuste trece eni 15 8 Wiring Cable idee n e RR Rea o ER do e Re Ne a ER HR ra alu 27 9 Connecting the Air Tube of the RCS2W Dustproof Splash proof Type 28 TO Maxirm m Speed ee then aet teet diet pa Tee ede e etel tees 29 11 Load onthe Actuator diee iine ent ete et Le nun Re ee ia 30 12 Actuators with a Switch Optional ss 30 13 High Acceleration Deceleration Option 31 13 1 Applicable Actuator Models iniret iot Rp RE retarde 31 13 2 Specifications of High Acceleration Deceleration Actuators 31 13 3 NOTES xc nene bere tl erect eti eter reete eren ede rete dede qu 32 13 4 Applicable Controller Models SCON SSEL X SEL 32 14 Maintenarice eoo RR M Ren eI tienpo 33 TAAL Maintenance Schedules tee Een eer du iere dieses
11. On the RA7 type attach feet using the tapped 2 On the RAS type attach feet using square nuts mounting holes at the back inserted into the T grooves Install the feet to the frame using bolts 12 Using tapped holes on the reference surface Applicable models RA5 RASR RA7 excluding flat types and guide types Type Tapped hole diameter Effective thread depth RAS RA5R M6 12 mm RA7 M5 15 mm 26 CY LINDER Fe ROBO 8 Wiring Cable e In an application where the cable cannot be anchored try to place the cable so that it sags only under its own weight or use self standing type cable as large radial wire duct to limit the load on the cable e Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length e The cables supplied with the actuator offer excellent flexibility but they are not robot cables If the cables are to be stored in a movable cable duct cable bearer etc use robot cables For cable modification please contact your IAI sales representative 27 CYLINDER 9 Connecting the Air Tube of the RCS2W Dustproof Splash proof Type Fe ROBO Intake exhaust port Install the air tube outer diameter 10 mm inner diameter 6 5 mm on the intake exhaust port and guide the air tube to a location where the external environment assures the tube will not come in contact with water Applicable tube Shown b
12. ene t ee ee repr De Rae 33 14 2 Visual Inspection of the Machine Exterior 33 aS GIS ARING Essen es ere e C D DD DC nr EE 33 14 4 Applying Grease to the Sliding Surface of the Rod 34 14 5 Reduction Belt Motor Reversing Type 35 14 5 1 Inspecting the Belt irren ee terere tete eri terr 35 i45 2 Applicabie Belles net don ctio ter e Rs nr 35 14 5 3 Adjusting the Belt Tension RA4R Type 36 14 5 4 Adjusting the Belt Tension RASR ccescceesceesseeeeeeeeeeneeeeeeeeeeaeeeeaeeesneeeeeeeeaees 37 14 5 5 Replacing the Belt of the Motor Reversing Type RA4R Type 38 12 5 6 Replacing the Belt of the Motor Reversing Type RA5R Type 43 14 6 Replacing the MOIGE siete trn inia Do cotes etatem tonos mutent edic et nes ee 46 14 6 1 Replacing the Motor of the Motor Straight Type Coupling Type RA4C Type 46 14 6 2 Replacing the Motor of the Motor Reversing Type RA4R Type 53 14 6 3 Replacing the Motor of the Motor Reversing Type RABR Type 59 14 7 Replacing the Bellows of the RCAW Dustproof Splash proof Type 62 15 Cable Drawings iii 65 CY LINDER ER ROBO 1 Foreword Thank you for purchasing an IAI product This manual explains the structure correct operation and maintenance of the actuator Please read this manual carefully before
13. movement of the actuator ROBO C gt CY LINDER Operation Turn on the power to individual equipment one by one starting from the equipment at the highest level in the system hierarchy Failure to do so may cause the product to start suddenly resulting in injury or product damage Do not insert a finger or object in the openings in the product It may cause fire electric shock or injury Do not step on the product use it as a footstool or place any object on it It may cause scoring dents or deformation of the driving part resulting in product damage unintended stopping due to damage or performance drop Maintenance Inspection Repair Wear protective goggles when applying grease to the actuator Failure to do so may result in eye inflammation due to spattered grease Q Note Installation Ifthe product is used in a vertical setup be sure to use the vertical specification with brake Protection covers or other guards must be provided for the moving parts of the equipment to avoid direct contact with the operators Do not configure a control circuit that will cause the work to drop in case of power failure Configure a control circuit that will prevent the table or work from dropping when the power to the machine is cut off or an emergency stop is actuated The following conditions must be met in order to improve the straightness of the table movement and ensure the smooth movement of th
14. position Set by the home offset parameter SCON or home preset parameter SSEL X SEL The above value indicates the factory setting 53 WER ROBO CY LINDER Procedure 1 Remove the pulley case cover using two Allen wrenches one of 2 mm across flats and the other of 3 mm across flats M4 hexagon socket head screws M3 hexagon socket head screws 2 Loosen the motor unit affixing bolts using an Allen wrench of 2 5 mm across flats Slide the motor and loosen and remove the belt After the belt has been removed remove the motor unit affixing bolts Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats 54 Fe ROBO CY LINDER 3 Take out the motor 4 Install the replacement motor Loosely tighten the motor unit affixing bolts Replacement motor 55 CY LINDER WH Ee Fe ROBO 5 Move the rod to a position where Z phase turns on home position This corresponds to a position where the rod projects 2 mm from the mechanical end Apply countermarks in this position Cause the rod to project 2 mm from the mechanical end Apply countermarks once the rod has projected 2 mm from the mechanical end A Warning If the actuator is installed vertically move it after turning on the controller power and forcibly releasing the brake At this time beware of danger as the act
15. pulley cover Tighten the three hexagon socket head bolts M3x22 using an Allen wrench of 2 5 mm across flats 6 Perform homing using a PC or teaching pendant If the actuator is of absolute encoder specification an absolute reset must be performed Check for deviation from the initial home position If there is a deviation adjust parameter No 22 Home offset if you are using an SCON controller If you are using an SSEL or X SEL controller adjust axis specific parameter No 12 Home preset If your controller is of absolute encoder specification perform homing after changing the parameter and then perform an absolute reset 45 Fe ROBO CY LINDER 14 6 Replacing the Motor 14 6 1 Replacing the Motor of the Motor Straight Type Coupling Type RA4C Type Items Required for Replacement Replacement motor unit e Replacement motor unit e Coupling with screws e Allen wrenches e Scale e Oil based marker pen e Grease Idemitsu Kosan Daphne Eponex Grease No 2 e PC or teaching pendant Coupling with screws Overview of Replacement 1 Move the rod to a position where Z phase turns on home position 2 mm from the mechanical end In this position replace the motor 2 Perform homing using a PC or teaching pendant and check for deviation from the initial home position If there is a deviation adjust the home offset if you are using an SCON controller If you are using an SSEL or X SEL control
16. the actuators that have been assembled with peripheral equipment either at IAI or on your site observe the instructions given below e Secure the rod so that it will not move suddenly while transporting the actuator e f any actuator end is protruding secure it to prevent swinging due to external vibration e fthe actuator ends are not secured do not apply any impact force exceeding 0 3 G during transportation e When suspending the actuator assembled peripheral equipment using ropes etc make sure the ropes do not contact the actuators directly e Pass the ropes over appropriate cushion materials and make sure the loads from the ropes will be received by the base of each actuator e Secure the end of the Y axis using a separate rope to maintain the axis in a stable horizontal position At this time be careful not to apply loads on the screw cover e Becareful not to allow the brackets covers and connector box of each actuator to receive loads Also protect the cables from pinching or excessive deformation 13 Fe ROBO CYLINDER 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 furnace Ambient temperature should be 0 40 C The humidity should be less than 85 and there should be no condensation Avoid exposure to corrosive or combustible
17. Caution The optional clevis and trunnion are designed so that the fulcrum shaft can only receive radial load In a condition where play is not permitted or thrust load is received the customer must design a separate bearing structure Caution The optional clevis and trunnion provide structures whereby the bearing supports the fulcrum shaft Apply grease to the fulcrum shaft CY LINDER Fe ROBO 6 Using screws on a rear mounting bracket optional An optional rear mounting bracket is available for installing the actuator Use this rear mounting bracket if necessary Applicable model Motor reversing type RA4R Reversing type Tapped mounting hole Type Tapped hole diameter Tapped depth Tightening torque RAA type M4 7 mm 1 8 N m 22 CY LINDER Fe ROBO 7 Double guide type Use the tapped holes in the bracket for installing an actuator of the double guide type Applicable model Double guide type RGD4 Tapp
18. Corresponding to a position where the rod projects 2 mm from the mechanical end Motor side Ball screw side 40 CY LINDER Fe ROBO 5 Adjust the belt tension Pass a looped strong string or long tie band around the motor cover and pull it with a tension gauge to the specified tension In this condition uniformly tighten the motor unit affixing bolts Recommended tightening torque for adjustment bolts 162 N cm 16 5 kgf cm Tension 2 5 kgf a Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats E Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats 41 CY LINDER Fe ROBO 6 Install the pulley case cover using two Allen wrenches one of 2 mm across flats and the other of 3 mm across flats M4 hexagon socket head screws M3 hexagon socket head screws 7 Connect a PC or teaching pendant to the controller to perform homing If the actuator is of absolute encoder specification an absolute reset must be performed Check for deviation from the initial home position If there is a deviation adjust parameter No 22 Home offset if you are using an SCON controller If you are using an SSEL or X SEL controller adjust axis specific parameter No 12 Home preset If your controller is of absolute encoder specification perform homing after changing the parameter and then perform an absolute reset 42 ER ROBO CY LINDER 14 5 6 Re
19. ROBO aS CYLINDER ROBO Cylinder Rod Type RCS2 Actuators Motor Straight Type Coupling Type RA4C RA5C RGS4C RGS5C RGD4C and RGD5C Motor Straight Type Built in Type RA4D RA7AD RA7BD RGS4D and RGS7AD RGS7BD RGD4D RGD7AD and RGD7BD Motor Reversing Type RA4R and RA5R Flat Type F5D RCS2W Actuators Dustproof Splash proof Specification E Straight Type Coupling Type RA4C l Motor Straight Type Built in Type RA4D Motor Reversing Type RA4R Operating Manual Third Edition IAI America Inc ROBO QU CY LINDER Safety Precautions Please read before using the product Before installing operating maintaining or inspecting this product please peruse this operating manual as well as the operating manuals and other related documentations for all equipment and peripheral devices connected to this product in order to ensure the correct use of this product and connected equipment devices Those performing installation operation maintenance and inspection of the product must have sufficient knowledge of the relevant equipment and their safety The precautions provided below are designed to help you use the product safely and avoid bodily injury and or property damage In this operating manual safety precautions are classified as Danger Warning Caution and Note according to the degree of risk Failure to observe the instruction wi
20. actuator has its home located on the opposite side to the standard specification this check is always required because the motor shaft rotates in the different direction e Remove the pulley case cover Remove the three thin head screws using an Allen wrench of 2 5 mm across flats Check the rotating direction of the motor shaft 2 Loosen the four tension adjustment bolts to 3 Remove the belt from the pulleys slacken the belt Allen wrench of 3 mm across flats 3 Make the following adjustment to restore the home position e Move the slider to the mechanical end on the home side and keep it in contact with the mechanical end e Turn the motor shaft by the specified amount from the countermark position toward the return to mechanical end direction the direction checked at the beginning Type Amount returned from the countermark position RA5R 16 67 5 RA5R 8 135 RA5R 4 230 44 Fe ROBO CY LINDER 4 Adjust the belt tension Pass a looped strong string or long tie band around the motor cover and pull it with a tension gauge to the specified tension In this condition uniformly tighten the motor unit affixing bolts Recommended tightening torque for adjustment bolts M5 763 N cm 78 kgf cm Caution After tightening the bolts to the above torque tighten them slightly further by making sure that both pulleys do not move Tension 6 0 2 kgf 5 Install the
21. cations Using the product outside the specifications may cause it to fail stop functioning or sustain damage It may also significantly reduce the service life of the product In particular observe the maximum loading capacity and speed Installation lf the machine will stop in the case of system problem such as emergency stop or power failure design a safety circuit or other device that will prevent equipment damage or injury Before supplying power to and operating the product always check the operation area of the equipment to ensure safety Supplying power to the product carelessly may cause electric shock or injury due to contact with the moving parts Wire the product correctly by referring to the operation manual Securely connect the cables and connectors so that they will not be disconnected or come loose Failure to do so may cause the product to malfunction or cause fire Operation Before operating the moving parts of the product by hand for the purpose of manual positioning etc confirm that the servo is turned off using the teaching pendant Failure to observe this instruction may result in injury Do not scratch the cables Scratching forcibly bending pulling winding crushing with heavy object or pinching a cable may cause it to leak current or lose continuity resulting in fire electric shock malfunction etc Turn off the power to the product in the event of power failure Failure to d
22. d Installation Do not use this product in a place exposed to ignitable inflammable or explosive substances The product may ignite burn or explode When installing the product be sure to securely support and affix it including the work Failure to do so may cause the product to tip over drop or malfunction resulting in injury ROBO C gt CY LINDER Avoid using the product in a place where the main unit or controller may come in contact with water or oil droplets Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Doing so may result in fire Operation Do not enter the machine s range of operation while the product is operating or standing by The actuator may move suddenly causing injury Do not pour water onto the product Spraying water over the product washing it with water or using it in water may cause the product to malfunction resulting in injury electric shock fire etc Maintenance Inspection Repair Never modify the product Unauthorized modification may cause the product to malfunction resulting in injury electric shock fire etc Do not disassemble and reassemble the components relating to the basic structure of the product or its performance and function Doing so may result in injury electric shock fire etc N Warning General Do not use the product outside the specifi
23. dd a guide or other appropriate mechanism to prevent the rod from receiving the actuator weight Caution The optional clevis and trunnion are designed so that the fulcrum shaft can only receive radial load In a condition where play is not permitted or thrust load is received the customer must design a separate bearing structure Caution The optional clevis and trunnion provide structures whereby the bearing supports the fulcrum shaft Apply grease to the fulcrum shaft 20 Fe ROBO CYLINDER 5 Using screws on a clevis optional An optional clevis is available for installing the actuator Use this clevis if necessary Applicable model Motor reversing type RCS2 RA4R Reversing type Stopper ring Stopper ring Clevis bracket 7 UNMES EA Mounting hole Mating material is steel Mating material is aluminum Suewste me Tightening torque Caution Exercise caution when installing the actuator horizontally using the optional clevis or trunnion or any commercially available free joint because the rod will receive the actuator weight As a result the bush may wear quickly or internal mechanical parts may be damaged If the actuator is installed horizontally using any of the aforementioned means add a guide or other appropriate mechanism to prevent the rod from receiving the actuator weight
24. deposits of oil etc Cracks and other damages are found on the teeth or back of the belt The belt has broken 14 5 2 Applicable Belt e RA4R 60S2M152R Rubber cleanroom type Bando Chemical Industries 6 mm wide e RASR 100S3M219R Rubber cleanroom type Bando Chemical Industries 10 mm wide 35 36 Fe ROBO CY LINDER 14 5 3 Adjusting the Belt Tension RA4R Type Remove the pulley case cover and loosen the four motor unit affixing bolts Pass a looped string or long tie band around the motor unit and pull the string to the specified tension using a tension gauge In this condition uniformly tighten the motor unit affixing bolts Recommended tightening torque of adjustment bolts 162 N cm 16 5 kgf cm a 1 Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats CY LINDER Fe ROBO 14 5 4 Adjusting the Belt Tension RASR Remove the pulley case cover and loosen the four motor unit affixing bolts Pass a looped string or long tie band around the motor unit and pull the string to the specified tension using a tension gauge In this condition uniformly tighten the motor unit affixing bolts Recommended tightening torque for adjustment bolts Tension 6 0 2 kgf Motor unit affixing bolts Use an Allen wrench of 3 mm across flats 37 Fe ROBO CY LINDER 14 5 5 Replacing th
25. e Belt of the Motor Reversing Type RA4R Type Items Required for Replacement e Replacement belt RAA4R 60S2M152R Rubber cleanroom type Bando Chemical Industries 6 mm wide Allen wrenches Tension gauge capable of tensioning to 7 kgf or greater Strong string looped or long tie band Scale Oil based marker pen PC or teaching pendant Overview of Replacement 1 Move the rod to a position where Z phase turns on home position 2 mm from the mechanical end In this position loosen the motor unit affixing bolts and replace the belt 2 Restore the home position Affix the rod at a position 2 mm from the mechanical end on the home side pass the belt and adjust the belt to the specified tension 3 Perform homing using a PC or teaching pendant and check for deviation from the initial home position If there is a deviation adjust the home offset if you are using an SCON controller If you are using an SSEL or X SEL controller adjust the home preset Mechanical end Z phase ON Home position position I 1 l 1mm ale Approx 2 mm y B 7 x The countermark on the motor aligns with this position Set by the home offset parameter SCON or home preset parameter SSEL X SEL The above value indicates the factory setting 38 ROBO aS CY LINDER Procedure 1 Remove the pulley case cover using two Allen wrenches one of 2 mm across flats and the other of 3 mm across flat
26. e Head cover as Rod Rod e r4 Motor unit O CO H D A a Si E Rod tip adapter i Caution The cable directly connected to the actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables 11 CYLINDER Fe ROBO 5 Transporting and Handling 5 1 Handling the Actuator 5 1 1 Handling the Packed Unit Unless otherwise specified each actuator axis is shipped individually Please take care that the shipping box is not dropped or subjected to strong impact during transport The operator should not carry heavy shipping boxes by themselves If the shipping box is left standing it should be in a horizontal position Do not climb on top of the shipping box Do not place heavy objects on top of the shipping box 5 1 2 Handling the Actuator After It is Unpacked Lift the actuator up by the base to remove it from the packing e When transporting the actuator be careful not to hit it against nearby structures or object In particular exercise caution to protect the motor unit and pulley case against impact e Do not exert excessive force on any part of the actuator e Be care
27. e ball screw and linear guides 1 Flatness of the mounting surface must be within 0 05 mm 2 The mounting surface area must be large enough to ensure the rigidity of the actuator Installation Operation Maintenance When handling the product wear protective gloves protective goggles safety shoes or other necessary gear to ensure safety Maintenance Inspection Repair When performing maintenance apply the specified grease to the guides and ball screw Pay special attention not to let fluoride grease mix with lithium grease The machine may be damaged due to poor lubrication increased resistance etc Disposal When the product becomes no longer usable or necessary dispose of it properly as an industrial waste Others W IAI shall not be liable whatsoever for any loss or damage arising from a failure to observe the items specified in Safety Precautions ROBO lt lt CY LINDER Prohibited Handling of Cables When designing an application system using IAl s actuators and controllers incorrect wiring or connection of each cable may cause unexpected problems such as a disconnected cable or poor contact or even a runaway system This section explains prohibited handling of cables Read the information carefully to connect the cables properly 1 Do not let the cable flex at a single point amp reshband x piano wire ki k 2 Do not let the cable bend kink or twist
28. e purpose of product improvement Copyright 2008 Mar IAI Corporation All rights reserved
29. ed mounting hole 9 9 ceu 7 o 6 Bracket A Bracket B Type Tapped hole diameter Tapped depth Tightening torque RAA type M5 8 mm 3 4 N m 23 ROBO aS CY LINDER 8 Single guide type Use the tapped holes in the bracket for installing an actuator of the single guide type Applicable model Double guide type RGD4 Tapped mounting hole Bracket A Bracket B Type Tapped hole diameter Tapped depth Tightening torque im 24 ROBO aS CY LINDER 9 Using tapped mounting holes at the back Applicable model RA7 excluding 50 mm stroke models The RA7 type has tapped mounting holes at the back Use these holes to install the actuator RA7 Shown below is the maximum screw in depth of the tapping screws used for mounting the base Be careful not to allow the tip of the bolt to project Type Tapped hole diameter Maximum screw in depth RA7 10 Using T grooves and square nuts M5 Applicable models RA5C RA5R F5D The RAS and F5 types have T grooves Insert square nuts in these T grooves and install the actuator to the frame 15 mm 25 CY LINDER Fe ROBO 11 Using feet Applicable models RA5 RA5R RA7 excluding flat types 1
30. elow is a representative model of air tube that can be installed on the RCS2W e TU1065 Polyurethane tube Manufacturer SMC Caution The air tube should not be more than 3 m long 28 Fe ROBO CY LINDER _ 10 Maximum Speed The maximum speed of the actuator is limited to prevent resonance of the ball screw shaft and also in consideration of the restrictions on motor speed Observe the maximum speed limits specified below Maximum speed limits Type lar eee Maximum speed Lead 50 to 250 mm 300 mm 3 mm 150 mm sec RAA type 6 mm 300 mm sec 12mm 600 mm sec 4 mm 200 mm sec 188 mm sec RAS type 8 mm 400 mm sec 377 mm sec 16 mm 800 mm sec 755 mm sec 3 mm 150 mm sec 125 mm sec RA7AD type 6 mm 300 mm sec 250 mm sec 12 mm 600 mm sec 505 mm sec 4 mm 200 mm sec RA7BD type 8 mm 400 mm sec 16 mm 800 mm sec 3 mm 200 mm sec F5D type 6 mm 400 mm sec 12 mm 800 mm sec Caution If the maximum speed limit is exceeded noise may increase or vibration may occur due to resonance of the ball screw shaft in which case the service life of the actuator may be significantly reduced If multiple actuators are used together with each actuator operating independently create programs where each actuator does not exceed the applicable maximum speed see the table above If operations of multiple actuators are synchronized programs should be based on t
31. er Caution The cable directly connected to the actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables Fe ROBO CY LINDER 4 4 Motor Straight Type Coupling Type Single guide Type RCS2 RGS4C Guide bracket Guide bearing Guide rod Head cover Lg Motor unit A je Sa e hi l x V Rod cover i Cylinder tube Cable Caution The cable directly connected to the actuator is not robot cable even when ordered with robot cable option When designing please be sure not to give repeated bending loads to this cable The robot cable is applicable only to the connecting cables Fe ROBO CY LINDER 4 5 Motor Straight Type Coupling Type Double guide Type e RCS2 RGD4C Guide bracket Guide bearing Guide rod Head cover Mot it
32. eset must be performed Check for deviation from the initial home position If there is a deviation adjust parameter No 22 Home offset if you are using an SCON controller If you are using an SSEL or X SEL controller adjust axis specific parameter No 12 Home preset If your controller is of absolute encoder specification perform homing after changing the parameter and then perform an absolute reset 52 Fe ROBO CY LINDER 14 6 2 Replacing the Motor of the Motor Reversing Type RA4R Type Items Required for Replacement e Replacement motor unit e Allen wrenches e Tension gauge capable of tensioning to 7 kgf or greater e Strong string looped or long tie band e Scale e Oil based marker pen e PC or teaching pendant Replacement motor unit Overview of Replacement 1 Loosen the motor unit affixing bolts to remove the belt and replace the motor 2 Restore the home position Affix the rod at a position 2 mm from the mechanical end on the home side pass the belt and adjust the belt to the specified tension 3 Perform homing using a PC or teaching pendant and check for deviation from the initial home position If there is a deviation adjust the home offset if you are using an SCON controller If you are using an SSEL or X SEL controller adjust the home preset Z phase ON Mechanical end Home position position Approx 2 mm i n v The countermark on the motor aligns with this
33. f necessary Applicable model RCS2 RA4 3 Straight type cu Mounting hole s e Affixing nut Trunnion ring Bracket B Bracket A E Straight type amp lt Mounting hole 6 Trunnion ring Affixing nut d M BracketB W Bracket A B Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torque 12 3 N m 5 4 N m 19 Fe ROBO CYLINDER Bracket B Trunnion ring Reversing type Mounting hole Affixing nut Bracket A Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torque 12 3 N m 5 4 N m Caution Exercise caution when installing the actuator horizontally using the optional clevis or trunnion or any commercially available free joint because the rod will receive the actuator weight As a result the bush may wear quickly or internal mechanical parts may be damaged If the actuator is installed horizontally using any of the aforementioned means a
34. ful not to cause the cables to receive a tensile force Supplement Please refer to Section 4 above for the names of the actuator parts 12 ER ROBO CY LINDER 5 2 Handling the Actuator Assembly Pay attention to the following instructions when transporting an assembly of actuator axes 5 2 1 Condition of Shipment from IAI Assembled The actuators you have ordered are assembled at IAI after which the assembly receives a shipping inspection and is shipped in an outer frame with skids The assembly is packed with the rod securely affixed so that it will not move unexpectedly during transportation In the case of a combined unit the actuator ends are secured to prevent swinging due to external vibration e The package is not designed with special considerations for protection against impact due to dropping or collision so please handle the package with care Also do not place any heavy object on the outer frame as it is not strong enough to withstand loads e When suspending the package using ropes etc pass the ropes from underneath the reinforcement frames at the bottom of the skids When lifting with a forklift also place the forks underneath the skids e Set down the package carefully so as not to apply impact to the assembly or cause it to bounce After unpacking handle the actuator assembly correctly by observing the instructions given below 5 2 2 Handling after Assembly with Peripheral Equipment When transporting
35. gases The area should have very little dust and be suitable for normal assembly operations RCS2 Avoid exposure to oil mist or fluids used in cutting RCS2 Ambient air should be free from cutting or grinding fluids containing sulfur The unit should not be subject to impact or vibration Avoid extreme electromagnetic waves ultraviolet rays and radiation The installation environment should be such that the operator can work without wearing protective gears or clothes RCS2 Work space needed for maintenance inspection Motor straight type Motor reversing type If you are using the dustproof splash proof type RCS2W type consult IAI beforehand This product is not designed by considering chemical resistance Contact IAI for splash proof resistance to liquids other than water 6 2 Storage Environment The storage environment should be similar to the operating environment In addition you must take precautions against condensation if the unit is to be stored for a long period of time Unless there are special instructions we do not include moisture absorption agents when shipping the unit If you are storing the unit where condensation might occur then you must treat the entire package or treat the unit itself after it is unpacked to prevent condensation The unit can withstand up to 60 C during a short storage interval but only up to 50 C if the storage period is longer than one month 14 Fe ROBO CY LINDER 7 In
36. he lowest maximum speed among the combined actuators Create appropriate program by checking the maximum speed of each actuator 29 Fe ROBO CYLINDER 11 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 rod may receive lateral load provide a guide or other appropriate mechanism to support the actuator in the moving direction of the load e Do not allow the rod slide shaft to receive rotational torque Doing so may damage the internal parts Tighten the nut at the tip of the rod while securely holding the rod using a wrench of size 17 RA4 or 22 RA5 12 Actuators with a Switch Optional On actuators with a switch the switch is stored inside the actuator body on the motor side Do not increase the homing speed beyond the default factory setting If the homing speed is increased beyond the default the switch may be damaged 30 CY LINDER Fe ROBO 13 High Acceleration Deceleration Option 13 1 Applicable Actuator Models Actuators that support high acceleration deceleration are indicated by an option code at the end of the model name Other applicable options are the same as those available wi
37. ler adjust the home preset Mechanical end Z phase ON Home position position i P 5 1mm pprox 2 mm 4 gt i 1 1 The countermark on the motor aligns with this position Set by the home offset parameter SCON or home preset parameter SSEL X SEL The above value indicates the factory setting 46 ROBO aS CY LINDER Procedure 1 Move the rod to a position where Z phase turns on home position This corresponds to a position where the rod projects 2 mm from the mechanical end Apply countermarks in this position Cause the rod to project 2 mm from the mechanical end Apply countermarks once the rod has projected 2 mm from the mechanical end A Warning f the actuator is installed vertically move it after turning on the controller power and forcibly releasing the brake At this time beware of danger as the actuator may drop suddenly Always provide a support to brace the actuator hand to prevent sudden drop so as not to pinch fingers or damage the load 2 Using an Allen wench of 2 mm across flats remove the two motor unit affixing bolts on the right and left 2 affixing bolts on the motor end cap right and left hexagon socket head setscrews 47 FR ROBO CY LINDER 3 Pull out the motor unit Before pulling out the motor unit apply a countermark on the cylinder tube at a position corresponding to the tab on the motor unit so that the motor unit and c
38. licable value specified in the table under Specifications of High acceleration Deceleration Actuators regardless of the acceleration setting 3 Refer to p 29 for the maximum speed 13 4 Applicable Controller Models SCON SSEL X SEL The following code is appended after the encoder type HA High acceleration deceleration specification Blank Conventional specification Examples 1 High acceleration deceleration specification SCON C 20IHA NP 2 0 2 Conventional specification SCON C 20I NP 2 0 The applicable controllers vary depending on the actuator specification Check the model of the actuator you will be using 32 Fe ROBO CY LINDER 14 Maintenance 14 1 Maintenance Schedule Perform maintenance work according to the schedule below The schedule is set assuming eight hours of operation a day When the operation time is long such as 24 hour operation shorten the maintenance intervals as needed Visual inspection Grease supply Start of operation O After 1 month of operation O After 3 months of operation O O Sliding surface of the rod 1 Every 3 months thereafter O O Sliding surface of the rod 1 After 3 years of operation or upon O reaching 5 000 km in traveled distance Every year thereafter O 1 Apply grease to the sliding surface of the rod at the startup check if grease has been consumed or every three months For the RCS2W dustproof splash proof type
39. ll result in an imminent danger leading to AN Danger death or serious injury AN Warning Failure to observe the instruction may result in death or serious injury A Caution Failure to observe the instruction may result in injury or property damage Not The user should take heed of this information to ensure the proper use of the ote product although failure to do so will not result in injury It should be noted that the instructions under the Caution and Note headings may also lead to serious consequences if unheeded depending on the situation All instructions contained herein provide vital information for ensuring safety Please read the contents carefully and handle the product with due caution Please keep this operating manual in a convenient place for quick reference whenever needed and also make sure that the manual will get to the end user N Danger General Do not use this product for the following 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 3 Important safety parts of machinery This product has not been planned or designed for applications requiring high levels of safety Use of this product in such applications may jeopardize the safety of human life The warranty covers only the product as it is delivere
40. m accidentally turning on the power 2 If multiple operators work together to perform maintenance inspection work the operators should always give verbal cues to one another to ensure safety before turning on off the power or moving any axis Disposal Do not throw the product into flames The product may explode or toxic gases may generate MN Caution Installation Do not use the product in a place exposed to direct sunlight ultraviolet ray dusty place or place where air contains salt or iron powder humid place or in any ambience where the product may come in contact with organic solvent hydraulic oil containing phosphate ester etc If used in theses places ambiences the product may lose its function over a short period of time or suffer rapid performance deterioration or the service life of the product may be reduced Do not use the product in an ambience where it may come in contact with corrosive gases sulfuric acid hydrochloric acid etc The product may lose its strength due to rust Provide sufficient shielding measures if the product is used in any of the following places If proper measures are not taken the product may malfunction 1 Place where large current or strong magnetic field generates 2 Place where arc discharge occurs due to welding work etc 3 Place where noise generates due to electrostatic etc 4 Place where the product may come in contact with radiation Do not install
41. me position e Move the slider to the mechanical end on the home side and keep it in contact with the mechanical end e Turn the motor shaft by the specified amount from the countermark position toward the return to mechanical end direction the direction checked at the beginning mE RA5R 16 67 5 RA5R 8 135 RA5R 4 230 6 Adjust the belt tension Pass a looped strong string or long tie band around the motor cover and pull it with a tension gauge to the specified tension In this condition uniformly tighten the motor unit affixing bolts Recommended tightening torque for adjustment bolts M5 763 N cm 78 kgf cm Caution After tightening the bolts to the above torque tighten them slightly further by making sure that both pulleys do not move Tension 6 0 2 kgf 7 Install the pulley cover Tighten the three hexagon socket head bolts M3x22 using an Allen wrench of 2 5 mm across flats 8 Perform homing using a PC or teaching pendant If the actuator is of absolute encoder specification an absolute reset must be performed Check for deviation from the initial home position If there is a deviation adjust parameter No 22 Home offset if you are using an SCON controller If you are using an SSEL or X SEL controller adjust axis specific parameter No 12 Home preset If your controller is of absolute encoder specification perform homing after changing the parameter a
42. nd then perform an absolute reset 61 lt ROBO CY LINDER 14 7 Replacing the Bellows of the RCS2W Dustproof Splash proof Type Items Required for Replacement e Replacement bellows unit RA4 JB RA4 stroke e Phillips screwdriver e Torque driver e Grease Kyodo Yushi Multemp LRL3 Procedure Loosen the front and rear metal fittings affixing the bellows and remove the bellows 1 62 Loosening of front metal fitting Removal of bellows Bellows Loosening of rear metal fitting Bellows has been removed Fe ROBO CY LINDER 2 Apply grease evenly over the entire cylinder surface Apply grease evenly over the entire surface 3 Install a metal fitting on the bellows Install a metal fitting on the bellows 7 Bellows 63 FR ROBO CY LINDER 4 Install the replacement new bellows and tighten the screws of the front and rear metal fittings affixing the bellows Tighten the screws to the specified torque using a torque driver Installation of bellows Tightening of rear metal fitting Tightening of front metal fitting Tightening torque 2 N m Tightening torque 2 N m 64 Fe ROBO CY LINDER 15 Cable Drawings 1 Motor cable robot motor cable Model CB RCC MA LILILI CB RCC MA LIDIDI RB L 21 10 gt gt Front view 1 4 Front view Controller end
43. nting bracket Guide bearing Guide rod a Guide bracket Aluminum frame CY LINDER Fe ROBO 4 10 Short Type RCS2 RA7A B D ae I ions L 3 Aluminum frame Anti vibration screws 4 locations Connector box Never touch these screws ls Rod tip adapter Motor housing 4 11 Flat Type RCS2 F5D Encoder cover Slider Motor housing 10 Qu Encoder cover Fe ROBO CY LINDER 4 12 Dustproof Splash proof Motor Straight Type Coupling Type e RCS2W RA4C Intake exhaust port Bellows Cylinder tub
44. o so may cause the product to suddenly start moving when the power is restored thus resulting in injury or product damage Ifthe product is generating heat smoke or a strange smell turn off the power immediately Continuing to use the product may result in product damage or fire f noise or abnormally high vibration is detected stop the operation immediately Continuing to use the product may result in product damage malfunction due to damage runaway machine etc If any of the product s protective functions alarms has actuated turn off the power immediately Continuing to use the product may result in injury due to product malfunction or cause product breakdown or damage After the power has been cut off identify and remove the cause of the problem and then reconnect the power ROBO C gt CY LINDER Do not step on the product use it as a footstool or place any object on it You may slip and fall or the product may tip over or drop resulting in injury Malfunction runaway product etc may also result due to product breakdown or damage Maintenance Inspection Repair Before commencing maintenance inspection servicing replacement or any other work on the product be sure to completely cut off the power supply to the product Also take heed of the following precautions 1 Put up a sign bearing WORK IN PROGRESS DO NOT TURN ON POWER or other warning statement to that effect to prevent a bystander fro
45. ocket head screws 9 Connect a PC or teaching pendant to the controller to perform homing If the actuator is of absolute encoder specification an absolute reset must be performed Check for deviation from the initial home position If there is a deviation adjust parameter No 22 Home offset if you are using an SCON controller If you are using an SSEL or X SEL controller adjust axis specific parameter No 12 Home preset If your controller is of absolute encoder specification perform homing after changing the parameter and then perform an absolute reset 58 Fe ROBO CY LINDER 14 6 3 Replacing the Motor of the Motor Reversing Type RA5R Type Items Required for Replacement e Replacement motor with pulleys See the photograph to the right Confirm that the motor has countermarks PC or teaching pendant Allen wrenches Tension gauge capable of tensioning to 8 kgf or greater Strong string looped or long tie band Scale Oil based marker pen Overview of Replacement 1 Move the rod to a position where Z phase turns on home position 2 mm from the mechanical end In this position replace the motor 2 Restore the home position Affix the rod at a position 4 mm from the mechanical end on the home side pass the belt and adjust the belt to the specified tension 3 Perform homing using a PC or teaching pendant and check for deviation from the initial home position If there is a deviation
46. placing the Belt of the Motor Reversing Type RA5R Type Items Required for Replacement e Replacement belt RASR 100S3M219R Rubber cleanroom type Bando Chemical Industries 10 mm wide Allen wrenches Tension gauge capable of tensioning to 8 kgf or greater Strong string looped or long tie band Scale Oil based marker pen PC or teaching pendant Overview of Replacement 1 Move the rod to a position where Z phase turns on home position 2 mm from the mechanical end In this position loosen the motor unit affixing bolts and replace the belt 2 Restore the home position Affix the rod at a position 4 mm from the mechanical end on the home side pass the belt and adjust the belt to the specified tension 3 Perform homing using a PC or teaching pendant and check for deviation from the initial home position If there is a deviation adjust the home offset if you are using an SCON controller If you are using an SSEL or X SEL controller adjust the home preset Mechanical end 3s Z phase ON Home position position I i i l4 2 mm rh 2mm gt I The countermark on the motor aligns with this position Set by the home offset parameter SCON or home preset parameter SSEL X SEL The above value indicates the factory setting 43 Fe ROBO CY LINDER Procedure 1 Move the slider from the home position toward the mechanical end and check the rotating direction of the motor shaft If the
47. s M4 hexagon socket head screws M3 hexagon socket head screws 2 Move the rod to a position where Z phase turns on home position This corresponds to a position where the rod projects 2 mm from the mechanical end Apply countermarks in this position Cause the rod to project 2 mm from the mechanical end Apply countermarks once the rod has projected 2 mm from the mechanical end A Warning Ifthe actuator is installed vertically move it after turning on the controller power and forcibly releasing the brake At this time beware of danger as the actuator may drop suddenly Always provide a support to brace the actuator hand to prevent sudden drop so as not to pinch fingers or damage the load 39 FR ROBO CY LINDER 3 Loosen the motor unit affixing bolts using an Allen wrench of 2 5 mm across flats Slide the motor and loosen and remove the belt Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats 4 Check the following points before restoring the home position e The motor side should be aligned with the initial countermark If the position is offset adjust it to achieve proper alignment e The ball screw side should be at a position where the rod projects 2 mm from the mechanical end After the check attach a new belt while holding the pulleys on both sides in position
48. s of the Parteien a ED EI bees caue 3 4 1 Motor Straight Type Coupling Type No Guide 3 RCGS2 RA4C mcm 3 4 2 Motor Straight Type Built in Type No Guide 4 S RCS2RA4D oae tiic an secs CH OD ae anes eee NS eta esata te 4 4 3 Motor Reversing Type No Guide re NN ERE e seein 5 dni hal ESS Re Rte En ceed A te ne Ri 5 4 4 Motor Straight Type Coupling Type Single guide Type sese 6 DROS 2 BOSIO E E ute el Arr tei Rae eie ed 6 4 5 Motor Straight Type Coupling Type Double guide Type 7 BOS2 HODAG ut iei noe RM icon te biet dat Neate c a a 7 4 6 Motor Straight Type Coupling Type No Guide 8 e HOSE HADG ecce iter tabes e m ER ess eae n Sar ec d d ets uet 8 4 7 Motor Reversing Type INOXIDB s Rens torret cti le tedio ecole toten eee 8 e RGSS RAO ace tS od n ee cc aD LE A 8 4 8 Motor Straight Type Coupling Type Single guide Type sese 9 RCSAROSSC mU E EC m TL 9 4 9 Motor Straight Type Coupling Type Double guide Type 9 e RCS2RGD5G sec uda rcs nM EISE s n LEM nn eine rere 9 2 10 DOT pete eret ameet Ced ins Ars ns 10 S ROSSRAZA BIB S SMS nn nn vd E IL 10 AA U gpucvcee Ee LE 10 e RUSE E5D ne se Debug Landa E e dede 10 4 12 Dustproof Splash proof Motor Straight Type Coupling Type 11 RCS2W RA4C M 11 5 Transporting and Handing erien doter tercer chro e ae re 12 5 1 Handling the Actuator
49. stallation 7 1 Installing the Main Body 1 Using screws on the rod or head side Install the actuator using screws set on the rod or head side of the actuator Applicable model RCS2 RA4 Straight type MA Reversing type Rod cover Cylinder tube MB Motor unit Head cover MA MA ni rm Rod v res Cylinder tube Head cover Type MA MB RA4 type M30 x 1 5 M40 x 1 5 15 CY LINDER Fe ROBO 2 Using screws on a flange optional An optional flange is available for installing the actuator Use this flange if necessary Applicable model RCS2 RA4 Straight type Mounting hole Mounting hole Affixing nut Straight type Affixing nut Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torque 12 3 N m 5 4 N m 16 ROBO CY LINDER A Reversing type Mounting hole Flange Reversing type Affixing nut Mounting hole T f ES
50. th conventional models Encoder Motor Applicable Cable Series Model type output Lead Stroke controller length Options RA4C N RGS4C 16 P RGD4C 20 12 T1 S HA RE re enr e fee il sree ips mine RGS5C 60 6 XLILI RGD5C 100 ROO HA High acceleration deceleration option The actuator has a rated acceleration deceleration of 1 G and is combined with a controller of high acceleration deceleration specification Blank Conventional specification The actuator has a rated acceleration deceleration of 0 3 G and is combined with a conventional controller Example RCS2 RA4C I 20 10 50 T1 S HA High acceleration deceleration type RCS2 RA4C I 20 10 50 T1 S Conventional specification 13 2 Specifications of High Acceleration Deceleration Actuators Model Motor output Lead Maximum loading capacity Rated Rated W mm Horizontal kg Vertical kg thrust N acceleration deceleration G uc a A a r Rec s ES a5 568 F0 RGDAC 6 25 566 E RASC 30 o 77 i RGS5C 100 EN 83 2127 i RGDSC s 83 2127 i 31 CY LINDER Fe ROBO 13 3 Notes Take note of the following points if you are using a high acceleration deceleration type 1 Keep the duty within 50 If the duty exceeds 50 an overload error may occur 2 The maximum loading capacity follows the app
51. the coupling and motor shaft setscrew hole simultaneously until a setscrew on the coupling is seen through the hole Thereafter tighten the hexagon socket head setscrew using an Allen wrench of 2 mm across flats Fe ROBO CY LINDER 7 Return the coupling in the replacement motor unit to the initial motor position Z phase position Align the tab on the replacement motor unit with the countermark on the cylinder With the motor unit and cylinder positioned this way confirm that the orientation of the actuator coupling adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end corresponds to the position of the coupling in the replacement motor unit Coupling Apply countermarks on the replacement motor unit and coupling Replacement motor unit Align the tab on the replacement motor unit with the countermark on the cylinder Confirm that the coupling positions correspond 51 FR ROBO CY LINDER 8 Carefully insert the replacement motor unit into the cylinder by ensuring that the couplings do not lose their alignment 9 Using an Allen wench of 2 mm across flats tighten the two motor unit affixing bolts on the right and left 2 affixing bolts on the motor end cap right and left hexagon socket head setscrews 10 Connect a PC or teaching pendant to the controller to perform homing If the actuator is of absolute encoder specification an absolute r
52. the product in a place subject to vibration or shock Provide an emergency stop device in an easily accessible position so the device can be immediately actuated should danger occur during operation Failure to do so may result in injury Provide sufficient maintenance space when installing the product If sufficient space is not available daily inspection maintenance and other necessary work cannot be carried out resulting in system shutdown or product damage When transporting or installing the product support the product using a lift or suspension equipment or carry it with multiple operators working together and exercise due caution to ensure safety When installing the product do not hold the moving parts or cables of the product Doing so may result in injury Use IAI s genuine cables to connect the actuator and controller Also use IAl s genuine components for the actuator controller teaching pendant etc The brake mechanism is designed to prevent the slider from dropping upon turning off the power when the actuator is installed vertically Do not use the brake mechanism as a safety brake When installing adjusting or carrying out any other work on the actuator put up a sign bearing WORK IN PROGRESS DO NOT TURN ON POWER or other warning statement to that effect to prevent the product from being powered on accidentally If the power is turned on accidentally injury may result due to electric shock or sudden
53. uator may drop suddenly Always provide a support to brace the actuator hand to prevent sudden drop so as not to pinch fingers or damage the load 6 Check the following points before restoring the home position e The motor side should be aligned with the initial countermark If the position is offset adjust it to achieve proper alignment e The ball screw side should be at a position where the rod projects 2 mm from the mechanical end After the check attach a new belt while holding the pulleys on both sides in position ww p le at F a Corresponding to a position where A J A Mh Initial countermark position the rod projects 2 mm from the 2 mechanical end LR Motor side Ball screw side 56 CY LINDER Fe ROBO 7 Adjust the belt tension Pass a looped strong string or long tie band around the motor cover and pull it with a tension gauge to the specified tension In this condition uniformly tighten the motor unit affixing bolts Recommended tightening torque for adjustment bolts 162 N cm 16 5 kgf cm Tension 2 5 kgf a Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats Motor unit affixing bolts Use an Allen wrench of 2 5 mm across flats 57 CY LINDER FR ROBO 8 Remove the pulley case cover using two Allen wrenches one of 2 mm across flats and the other of 3 mm across flats M4 hexagon socket head screws M3 hexagon s
54. using the product For more complete information on operating the actuator please also refer to the controller operating manual 2 Safety Precautions 2 1 Basic Operating Instructions e Please do not attempt to use or operate the actuator in any manner not indicated in this manual or the controller manual e Please be sure to use only the cable provided by IAI to connect the actuator and controller e Please do not allow people within the moving range of the unit when itis in operation or when the power is ON since this is dangerous 2 2 Maintenance and Inspection When doing maintenance and inspection work always shut down the controller power first When doing inspection make sure that no one can inadvertently turn the power ON Make sure that a sign indicating work in progress is clearly visible If several persons are working be sure to watch out for each other s safety In particular check before turning power ON or OFF and let others know if you are doing work involving axis movement Note e The content of this manual is subject to change without notice for the purpose of improvement e This manual was created with utmost attention to accuracy Should you find any error however or if you have any question please contact IAls Sales Engineering or Technical Service Section Fe ROBO CY LINDER 3 Warranty 3 1 Warranty Period Warranty period shall be either of the following periods whichever ends first
55. ylinder can be aligned in the correct position later on Apply a countermark at a position corresponding to Fab On the motor tunt the tab on the motor unit 4 Apply grease on the actuator coupling Apply grease on the inside of the coupling 48 Fe ROBO CY LINDER 5 Align the tab on the replacement motor unit with the countermark on the cylinder With the motor unit and cylinder aligned properly insert the coupling into the replacement motor unit by aligning the orientation of this coupling with that of the actuator coupling adjusted to a position corresponding to a rod projection of 2 mm from the mechanical end Apply countermarks to identify the current motor position phase Z position and coupling Align the tab on the replacement motor unit with the countermark on the cylinder Position the couplings Coupling After the coupling has been A inserted apply countermarks on the replacement motor unit and coupling Replacement motor unit 49 FR ROBO 6 50 CY LINDER Turn the coupling and motor shaft simultaneously until a setscrew on the coupling is seen through the hole Thereafter tighten the hexagon socket head setscrew using an Allen wrench of 2 mm across flats Similarly turn the coupling and motor shaft simultaneously until the other screw is seen through the hole and tighten the setscrew 9 CNN A sr Coupling Turn
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