Iai-america RCA2-SA6R Manual de usuario Pagina 1

IAI America, Inc.ROBO Cylinder RCA2 Actuator Slider Type Eleventh EditionOperating ManualMotor couplingtypesSA3C SA4C SA5C SA6CMotor reversingtypesSA3

2No.Operation Description Description 2 Transportation  When carrying a heavy object, do the work with two or more persons or utilize equipment su

3No.Operation Description Description (2) Cable Wiring  Use our company’s genuine cables for connecting between the actuator and controller, and for

4No.Operation Description Description 4 Installation and Start (4) Safety Measures  When the work is carried out with 2 or more persons, make it cle

5No.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

6No.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

7Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

8Handling Precautions 1. Do not set a speed or acceleration/deceleration exceeding theapplicable rating.Do not set a speed or acceleration/deceleratio

97. Transportation7.1 Handling the Unassembled ActuatorWhen transporting the unassembled actuator alone, pay attention to the items specified below.7.

107.2 Handling the Actuator AssemblyWhen transporting the actuator with its axes already assembled, take note of the following items.7.2.1 Shipping fr

111. Part Names1. Part NamesThe names of the actuator parts are indicated below.In this manual, the right and left are determined by viewing the actua

121. Part Names“Motor reversing types” : RCA2-SA2AR* Refer to 2, “External Dimensions” for details.“Motor reversing types” : RCA2-SA3R/SA4R/SA5R/SA6R*

132. External Dimensions2. External Dimensions2.1 RCA2-SA2AC2214.5L230st 22.582L1Secure at least 100MESEME ORG15 (Reamer pitch tolerance p0.02)1033 31

142. External Dimensions2.2 RCA2-SA3CD-M3, depth 52-2H7, depth 52H7, depth 4 (from bottom face of base)Detail view of FScale 5:1Brake type4-M3, depth

152. External Dimensions4-M3, depth 62-2H7, depth 5D-M3, depth 52H7, depth 4 (from bottom face of base)Detail view of FScale 5:1Brake type(Side view o

162. External Dimensions4-M3, depth 62-2.5H7, depth 5D-M3, depth 52.5H7, depth 5 (from bottom face of base)Detail view of FScale 5:1Brake type(Side vi

172. External Dimensions2.5 RCA2-SA4C- with Side Cover 4-M3, depth 62- 2.5H7, depth 5D-M3, depth 52.5H7, depth 5 (from bottom face of base)Detail view

182. External Dimensions2.6 RCA2-SA5C2- 2.5H7, depth 52.5H7, depth 5 (from bottom face of base)4-M4, depth 8D-M4, depth 7Detail view of FScale 2:1Brak

192. External Dimensions2- 2.5H7, depth 52.5H7, depth 5 from bottom face of base4-M4, depth 8D-M4, depth 7Detail view of FScale 2:1Brake type(Side vie

202. External Dimensions2- 3H7, depth 53H7, depth 5 (from bottom face of base)4-M5, depth 102-M5, depth 8Detail view of FScale 2:1Brake type(Side view

212. External Dimensions2- 3H7, depth 53H7, depth 5 (from bottom face of base)4-M5, depth 10D-M5, depth 8Detail view of FScale 2:1Brake type(Side view

Please Read Before UseThank you for purchasing our product.This Operation Manual explains the handling methods, structure and maintenance of this prod

222. External Dimensions2.10 RCA2-SA2AR225514.5 st 30MEORGME SE312310389L1L2 32.51630A×25 15(25)27.215.24120 16.2(1.9)2.923.922.71R1.5R1.53H72-F2H7, D

232. External Dimensions2- 2H7, depth 52H7, depth 4 (from bottom face of base)D-M3, depth 54-M3, depth 6(with brake)Brake typeDetail view of FScale 5:

242. External Dimensions2H7, depth 4 from bottom face of base4-M3, depth 6D-M3, depth 5(with brake)Brake type(without brake)2-2H7, depth 5Detail view

252. External Dimensions2- 2.5H7, depth 52.5H7, depth 5 (from bottom face of base)4-M3, depth 6D-M3, depth 5(without brake)(with brake)Brake typeDetai

262. External Dimensions2- 2.5H7, depth 54-M3, depth 6Brake type(with brake)2.5H7, depth 5 (from bottom face of base)D-M3, depth 5(without brake)Detai

272. External Dimensions2- 2.5H7, depth 54-M4, depth 8Detail view of FScale 2:1Brake type(with brake)2.5H7, depth 5 (from bottom face of base)D-M4, de

282. External Dimensions2- 2.5H7, depth 54-M4, depth 8Brake type(with brake)2.5H7, depth 5 (from bottom face of base)D-M4, depth 7(without brake)Detai

292. External Dimensions2- 3H7, depth 54-M5, depth 10Brake type(with brake)3H7, depth 5 (from bottom face of base)D-M5, depth 8(without brake)Detail v

302. External Dimensions2- 3H7, depth 54-M5, depth 10Brake type(with brake)3H7, depth 5 (from bottom face of base)D-M5, depth 8(without brake)Detail v

313. Cable Drawings3. Cable Drawings 3.1 AMEC, ASEP Controller Cables Integrated motor/encoder cable (CB-APSEP-MPA***)*** indicates the cable length

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

323. Cable DrawingsTerminal number on actuator sideWiring diagram [for ABZ]and [for serial][3][5][1]BlackYellowRedPink (Redx)Pink (Bluex)White (Redx

334. Options4. Options 4.1 Brake Type The brake is a mechanism designed to prevent the slider from dropping on a vertically installed actuator when th

344. Options4.5 Changing the Cable Exit DirectionIf the cable exit direction is changed, the applicable part of the model number must also be changed.

355. Checking after Unpacking5. Checking after Unpacking After unpacking, check the product condition and the included items.5.1 Included ItemsmetI.oN

365. Checking after UnpackingModelSerial number<Series name><Stroke><Type>SA4CSA5CSA6CMotor reversingSA4RSA5RSA6R<Encoder type>

376. Specifications6. Specifications(1) Maximum speedThe maximum speed of this ROBO Cylinder is limited to prevent resonance of the ball screw shaft an

386. Specifications(2) Acceleration and payloadsHorizontal32.02Vertical0.21001.5Horizontal23.04Vertical0.22001Horizontal13.0SA3 10 W6Vertical0.23000.5H

396. Specifications(3) Rated thrust285443SA3 10 W6282.5 136568SA4 20 W10 34368634SA512 17SA5C20 W20 10.13 105653SA612 26SA6C30 W20 16(4) Drive method24

406. Specifications(5) Common specifications SpecificationItemSA5C, SA6C – Lead other than 20 mm SA5C, SA6C – Lead 20 mm Positioning repeatability*1r0.

417. Notes on Use Regarding Maximum Speed and Loading Mass7. Notes on Use Regarding Maximum Speed and Loading Mass[1] Maximum speed, loading mass Det

Table of ContentsSafety Guide...

427. Notes on Use Regarding Maximum Speed and Loading MassࠉSA3SA4SA5SA6100 200 300 400 500 600 700 800 900 100000246810100 200 300 400 500 600 700 800

438. Installation and Storage/Preservation8. Installation and Storage/Preservation 8.1 Installation Environment• Location exposed to radiant heat from

449. Installation9. InstallationThis chapter explains how to install the actuator on your mechanical system.9.1 General Rules on InstallationFollow th

459. InstallationThis actuator has the screw holes for mounting so it can be fixed from the rear side.Also, there are a reamed hole and a slotted hole

469. Installation9.2.2 Installation of RCA2-SA3C, SA4C, SA5C, SA6C, SA3R, SA4R, SA5R and SA6RThe surface to mount the main unit should be a machined s

479. InstallationTightening screwsUse hexagonal socket head bolts for the male threads for installing the base.Use of high-tension bolts meeting at le

489. InstallationR0.3 or less9.3 Mounting SurfaceThe platform to install the actuator should possess a structure that ensures enough stiffness, a

499. Installation9.4 Installation of the LoadPlease attach the load to the device using the tap holes in the slider.The process for attaching these to

5010. Connecting with ControllerRCA2-XXDedicated connection cable(connects controller and RCA2)r=68 mm min. (unfastened)r=34 mm min. (fastened)Dedicat

5110. Connecting with ControllerDedicated connection cableServo motor cable: CB-ACS-MPA****) *** indicates the cable length. Up to 20m can be specifie

8. Installation and Storage/Preservation ... 438.1 Installation Environ

5210. Connecting with ControllerWhen building an application system using the actuator and controller, incorrect wiring or connection ofeach cable may

5310. Connecting with Controllerx When fixing the cable, provide a moderate slack and do not tension it too tight. x Separate the IO and communicati

5411. Notes on Operation11. Notes on Operation11.1 Placing a Load on the Actuator11.1.1 Allowable momentDo not exceed the load ratings given in the sp

5511. Notes on OperationAllowable overhang lengthsModel Ma direction Mb direction Mc directionSA3SA4 120 mm or less 120 mm or less 120 mm or lessSA5 1

5611. Notes on Operation(Note) When calculating the moment in Ma or Mc direction, offset the reference position by l mm fromthe top surface of the sli

5711. Notes on Operation11.1.2 External force in axial direction Be careful not to subject the actuator to an external force or an impact load in the

5811. Notes on Operation11.2 Adjusting the Home Position The actuator home position can be adjusted by changing parameter *1. In order to make adjust

5911. Notes on Operation11.4 Stainless Sheet Section x The stainless sheet is attached by absorbtion to the side cover. If the environment contains

6012. Life12. Life One factor that affects the traveling life of an actuator is “Rated Load.” There are two types of rated loads: “Static Rated Load”

6113. Maintenance Inspection13. Maintenance Inspection 13.1 Inspection Items and Schedule Follow the maintenance inspection schedule below. It is ass

14. Warranty... 78Appendix

6213. Maintenance Inspection13.3 Cleaning y Clean exterior surfaces as necessary. y Use a soft cloth to wipe away dirt and buildup. y Do not blow t

6313. Maintenance Inspection13.5 Internal Inspections Turn off the power and inspect visually after turning up or removing the stainless sheet in the

6413. Maintenance Inspection13.6 Internal CleaningUse a soft cloth to wipe away dirt and buildup.Do not blow too hard with compressed air as it may ca

6513. Maintenance Inspection13.7.3 How to apply greaseWhen side cover and stainless sheet are present, remove these before beginning.(1) For the guide

6613. Maintenance Inspection(2) To grease ball screws, first clean, then put some grease on your finger and apply while moving theslider back and fort

6713. Maintenance InspectionTension SA3R: 1.5 r 0.1 kgf Other than SA3R: 2.5 r 0.1 kgf Tension adjustment bolt ModelNominal thread size Tightening to

6813. Maintenance Inspection13.9 Stainless Sheet Replacement (for models with slider cover) It is possible to replace the stainless sheet without rem

6913. Maintenance InspectionCellophane tapeStainless sheetStainless sheet[3] Apply cellophane tape to one side of the new stainless sheet.Apply the ce

7013. Maintenance InspectionDisconnect the cable. 13.10 Replacement of Motor (AC Servo Motor: RCA2) * Refer to 12.10 for the reversing type. [Items

7113. Maintenance InspectionHole for tool Pull apart Coupling hub Coupling spacer Replacement jig (large) Line up holes in center [3] Take out the co

7213. Maintenance Inspection[7] Align the marking on the motor shaft with the point indicated and insert the replacement motor unit into the actuator

7313. Maintenance Inspection[11] Turn the replacement jig (large) and the replacement jig (small) by the same amount. When the coupling fastening scr

7413. Maintenance Inspection13.11 Replacement of Belt and Motor for Reversing Type (AC Servo Motor: RCA2) [Items required for replacing the motor]

7513. Maintenance Inspection[3] Remove the belt from the pulleys. When replacing the belt, proceed to step [7]. [4] Remove the tension adjustment

7613. Maintenance InspectionTension gauge Tension SA3R: 1.5 r 0.1 kgfOther than SA3R: 2.5 r 0.1 kgf[6] Move the slider or table by 0.5 to 1 mm from

7713. Maintenance Inspection[9] Install the pulley cover. [10] Connect a PC or teaching pendant to the controller and perform a home return. Che

7814. Warranty14. Warranty14.1 Warranty PeriodOne of the following periods, whichever is shorter:18 months after shipment from IAI12 months after deli

7914. Warranty and Applications14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,(1) If our product is combined w

80AppendixAppendixUsing the home position marks  As necessary, affix these marks to the product to mark the home position of the actuator. Stickers

81Change HistoryChange History Description of RevisionRevision DateMarch 2007March 2010September 2010November 2010April 2011June 2011July 2011July 201

1Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read

82Change HistoryDescription of RevisionRevision DateMarch 2012 Eleventh edition P.1~7:P.8:P.13~30:P.64~66:Contents added and changed in Safety GuideNo

Manual No.: ME3669-11A (March 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvement.C