Iai-america RCS2-A6R Manual de usuario

ROBO Cylinder�Arm Type RCA RCS2 Actuators Operation Manual Sixth Edition� �Arm Type: RCA Type: A4R, A5R, A6R RCS2 Type: A4

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

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 l

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

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

8 Caution in Handling 1. Ensure use of the product in the specified conditions, environments and ranges. Operation out of the specified conditions

9International Standards Compliances This actuator complies with the following overseas standards. Refer to Overseas Standard Compliance Manual (ME

10 Names of the Parts In this Operation Manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actu

1. Specications Check 111. Specifications Check 1.1 Checking the Product The standard configuration of this product is comprised of the followi

1. Specications Check 12 [2] Manuals Related to Controllers for RCS2 Actuator (1) Manuals Related to XSEL-J/K Controllers No. Name Control No. 1

1. Specications Check 13(4) Manuals Related to SCON Controllers No. Name Control No. 1 Operation Manual for SCON Controller ME0161 2 Operatio

1. Specications Check 14 1.1.4 How to Read the Model Number R C A - A 4 R - I - 2 0 - 1 0 - 5 0 - A 1 - P - B -  

1. Specications Check 151.2 Specification 1.2.1 Speed ��Speed limits (Unit: mm/s)�Stroke [mm]�Size Motor Type Lead [mm] 50 to 200 (Every 50mm)

1. Specications Check 16 1.2.3 Driving System • Position Detector Ball Screw Type Series Type Motor Type Lead No. of Encoder Pulses Type Diamete

1. Specications Check 171.2.6 Allowable Load Moments of the Actuator Allowable Dynamic Load Moment [Nm] ([kgfm])TypeMa Mb Mc A4R 2.7 (0.28

1. Specications Check 18 1.3 Options 1.3.1 Brake Type (Model: B) This is a protection structure not to damage the attached objects by the rod be

1. Specications Check 191.4 Motor • Encoder Cables 1.4.1 Motor • Encoder Integrated Cables for the RCA Actuator [1] Motor Cable Model : CB-ACS

1. Specications Check 20 [2] Encoder Cable • Encoder Robot Cable Model : CB-ACS-PA��� • CB-ACS-PA���-RB 18 17 2 1 9 18 1 10 Controller Side

1. Specications Check 21[3] Motor • Encoder Integrated Cables for AMEC/ASEP Model : CB-ASEP-MPA��� Controller Side Mechanical Side Width Electr

1. Specications Check 22 1.4.2 Motor • Encoder Integrated Cables for the RCS2 Actuator [1] Motor Cable • Motor Robot Cable Model : CB-RCC-MA��� •

1. Specications Check 23[2] Encoder Cable � Encoder Robot Cable [For SCON, SSEL, XSEL-P/Q] Model : CB-RCS2-PA��� • CB-RCS2-PA���-RB LController

Please Read Before Use Thank you for purchasing our product. This Operation Manual describes all necessary information to operate this product sa

1. Specications Check 24 [3] Encoder Cable • Encoder Robot Cable [For XSEL-J/K] Model : CB-RCBC-PA��� • CB-RCBC-PA���-RB Controller sideMechanica

2. Installation 252. Installation� 2.1 Transportation [1] Handling of the Actuator Unless otherwise specified, the actuator is shipped with 1 a

2. Installation 26 [2] Handling in Assembled Condition This is the case when the product is delivered from our factory under a condition that it is

2. Installation 272.2 Installation and Storage • Preservation Environment [1] Installation Environment The actuator should be installed in a loc

2. Installation 28 2.3 How to Install This chapter explains how to install the actuator on your mechanical system. 2.3.1 General Rules on Install

2. Installation 292.3.2 Installation of Main Unit The surface to mount the main unit should be a machined surface or a plane that possesses an equ

2. Installation 30 Type In the case that steel is used for the bolt seating surface: In the case that aluminum is used for the bolt

2. Installation 312.3.4 Attachment of the Transported Object � Use four M4 screws to install the transported object to the slider.

3. Connecting with the Controller 32 3. Connecting with the Controller As the connection cable for the controller and actuator, use the IAI-dedicat

3. Connecting with the Controller 33[Connection with the AMEC, ASEP controller] ����������������� Dedicated cables � Motor encoder cable�CB-ASEP-MA

3. Connecting with the Controller 34 RCS2 Actuator [Connection with the SCON, SSEL controller] �������������������Dedicated cables � Motor cable�CB

3. Connecting with the Controller 35 Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equi

3. Connecting with the Controller 36 • Do not let the cable bend, kink or twist. • Do not pull the cable with a strong force. • Pay attention no

3. Connecting with the Controller 37• PIO line, communication line, power and driving lines are to be put separately from each other and do not tie

4. Maintenance Inspection 38 4. Maintenance Inspection 4.1 Inspection Items and Schedule Follow the maintenance inspection schedule below. It is

4. Maintenance Inspection 394.4 Interior Inspection �Turn off the power, remove the side covers, and then visually inspect the interior. Check th

4. Maintenance Inspection 40 4.5 Internal Cleaning � Use a soft cloth to wipe away dirt and buildup. � Do not use strong compressed air on the ac

4. Maintenance Inspection 414.6.2 How to Apply Grease (1) When greasing the ball screw, apply grease using a finger and then move the slider back

4. Maintenance Inspection 42 4.7 Reduction Belt 4.7.1 Inspection of the Belt For inspection work, detach the cover of a pulley cover and carry it

4. Maintenance Inspection 434.7.3 Adjusting the Belt Tension Remove the pulley cover and loosen the four motor-unit affixing bolts. Pass a loope

Table of Contents Safety Guide ··················································································································

4. Maintenance Inspection 44 Home position Z phase ON positionMechanical end The countermark on the motor aligns with this position. Set by the home

4. Maintenance Inspection 45[Procedure] (1) Remove the pulley cover using Allen wrenches, 2.5 mm across flats. �������������(2) Move the slider to

4. Maintenance Inspection 46 (3) Loosen the motor-unit affixing bolts using an Allen wrench of 3mm across the flats. ���������������������(4) Check

4. Maintenance Inspection 47(5) Adjust the belt tension. Pass a looped string (or long tie-band) around the motor housing, and pull the string to th

4. Maintenance Inspection 48 (6) Remove the pulley cover using Allen wrenches, 2.5mm across flats. ��������������(7) Connect a PC or teaching pendan

4. Maintenance Inspection 49Home position Z phase ON positionMechanical end The countermark on the motor aligns with this position. Set by the home

4. Maintenance Inspection 50 [Procedure] (1) Remove the pulley cover using Allen wrenches, 2.5mm across flats. ������������ (2) Loosen the motor-un

4. Maintenance Inspection 51(4) Install the replacement motor unit. If the actuator has a brake, solder and connect the brake cable. Cover the solde

4. Maintenance Inspection 52 (6) Check the following points before restoring the home position: � The motor side should be aligned with the initial

4. Maintenance Inspection 53(7) Adjust the belt tension. Pass a looped string (or long tie-band) around the motor housing, and pull the string to th

2. Installation·······································································································25 2.1 Transportation ······

4. Maintenance Inspection 54 (8) Remove the pulley cover using Allen wrenches, 2.5mm across flats. ��������������(9) Connect a PC or teaching pendan

5. External Dimensions 555. External Dimensions 5.1 RCA-A4R (2)4-M4, depth 5MESEMEHomeE-3.6 drilled hole, 6.5 counterbored depth 3.3 (back side)

5. External Dimensions 56 5.2 RCA-A5R Section of Base Attachment HoleDetail: A3.5φ8φ4.54.5(42.4)642Work Piece Attachment Area(13)A26533844910111130

5. External Dimensions 575.3 RCA-A6R A137.5(3)30461073370 (Work Piece Attachment Area)L130 D(13)3.514.55753.5 563110 20538(58)Section of Base Atta

5. External Dimensions 58 5.4 RCS2-A4R (2)3 3 D9020525103035L4652105337101.5A122.5(13)16Work Piece Attachment Area2.2533(33.4)Section of Base Attac

5. External Dimensions 595.5 RCA-A5R Section of Base Attachment HoleDetail: A3.5 4.5(42.4)642Work Piece Attachment Area(13)A5226533844910111130115

5. External Dimensions 60 5.6 RCA-A6R A137.5(3)30461073370 (Work Piece Attachment Area)L130 D(13)3.514.55753.5 563110538(58)Detail: AWork Piece Att

6. Life 616. Life The product life is assumed to be 5,000km (reference) under the condition that it runs with maximum transportable weight and max

7. Warranty 62 7. Warranty 7.1 Warranty Period One of the following periods, whichever is shorter: � 18 months after shipment from IAI � 12

7. Warranty 637.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with an

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

Change History 64 Change History Revision Date Description of Revision April 2011 March 2012 August 2012 January 2013 First edit

Manual No.: ME3655-6A (January 2013)The information contained in this document is subject to change without notice for purposes of product improvemen

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

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