Iai-america RCP2CR-SS8C Bedienungsanleitung

IAI America, Inc.Motor straight type RCP2-SA5C, SA6C,SA7CSS7C, SS8C, HS8CStandard typeMotor reversing types RCP2-SA5R, SA6R, SA7RSS7R, SS8R, HS9RClean

2No.Operation Description Description (1) Installation of Robot Main Body and Controller, etc. Make sure to securely hold and fix the product (inclu

929. Maintenance and InspectionƔSS7R, SS8R, HS8R [Items Required for Replacement]  5HSODFHPHQWPRWRUXQLW660IRU665660IRU665+

939. Maintenance and Inspection5) Install a new motor unit and temporarily tighten it with the tension adjusting bolts (hexagon socket-head screws: M

9410. Appendix240190.02302620 6615.5 9 15.513.857.5505250522640107.557.55.113.314.541.513.316.52.72.816.535.54352434.51 46.5 2.52.13119942.7162.8MESEL

9510. Appendix8 23 819.52119.531502.23119115162.73.1L13.859.556582843106.559.556A5850240MESE14.341.713.318.53.12.718.53.537.56.5 4348.51435813.35.184.

9610. AppendixStroke50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800L 353 403 453 503 553 603 653 703 753 803 853 903 953 1003 1053 1103

9710. Appendix57605541.52760A554.5155601266050320.0240.63223.419.5 19.5211225AL511390551525516S126S.E.M.E.M.E.24036.5521555327600+0.01245361818C3010.1

9810. Appendix50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800L 435 485 535 585 635 685 735 785 835 885 935 985 1035 1085 1135 1185A 280

9910. Appendix500.57059348043170907515157.57.5564534L5A1381163014M.E.681417305170S.E.M.E.240737770553480A747480450.02+0.01250648F151545Stroke50 100 15

10010. Appendix0+0.01245L190.025.555.530 5402620 66679432.1ME2.72.816246761202640 100.5529.5580.51204948 0.5490.50.524013.35.135.516.54341.5326256BStr

10110. Appendix2.250163.1SEME2.7115ME3678 8233160555099320.0212324676L1.51.5 500.5481230.5 58 6.5 581.5104328240B0+0.0124518.55.14313.337.541.7323119.

3No.Operation Description Description (4) Safety Measures When the work is carried out with 2 or more persons, make it clear who is to be the leader

10210. Appendix606130.5 0.560161280 6 730.5145033320.02184.8MESE3ME39 93039605550993126 106.2125.51041.2160L511880400+0.012455.115.318485244.7240B50 1

10310. Appendix9424013054M.E.52512610AL1266050320.025959S.E.5740.63223.425512M.E.550.541.5271327.550216.32.7675732.761.33615553276051.336.51818C30MN0+

10410. Appendix683527567055340.511730M.E.517090757.57.51515AL5M.E. 10735645343535201384216517067577845S.E.30590.57034805043240+0.012506450.02F15 15455

10510. Appendix683527567055340.511730M.E.517090757.57.51515AL5M.E. 10735645343535201384216517067577845S.E.30590.57034805043240+0.012506450.02F15154550

10610. Appendix5.113.314.041.513.316.52.72.30516.535.54352434.51 46.52.584.54.54.5350520+0.012457.5ME15.51.630L190.0220262.73SE57.510266 6524050118.52

10710. AppendixMESE12.841.713.318.51.62.718.53.537.56.54348.51435813.35.184.54.55556580+0.01245117.53118L13.859.556582843 10 6.559.556582.71.614.5SEME

10810. Appendix18183.815.344.713.352735.113.3485815275059.565.566717314.553173ME128SE4158L60320.02484.539394.53350 1412767173717376509 95 524240A43103

10910. Appendix36.5521555327604.51556015 90271605711312655L165525525541.5323225.495 5320.026050940.6A12602136240A18C18300+0.01245NM50 100 150 200 250

11010. Appendix500.570593480435174805513868143030A170L116141709015450.0275157.5564545351770805534777324240A48F1515450+0.01256NN50 100 150 200 250 300

11110. Appendix500.570593480435174805513868143030A170L116141709015450.0275157.5564545351770805534777324240A48F1515450+0.01256NN50 100 150 200 250 300

4No.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

11210. Appendix10.2 How to use the home mark  As necessary, affix these marks to the product to mark the home position of the actuator. Contents of

11311. Warranty11. Warranty 11.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from IAI 12 mo

11411. Warranty11.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with ano

115Change HistoryChange History Revision Date Description of Revision First edition Added information on RCS3 and RCS3CR actuators. March 2010

116Change HistoryRevision Date Description of RevisionDecember 2011February 2012Contents changed in Safety GuideCaution notes added for when working w

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Manual No.: ME3660-12A (May 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvement.Cop

5No.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 t

6Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

7Alert Indication 7KHVDIHW\SUHFDXWLRQVDUHGLYLGHGLQWR³'DQJHU´³:DUQLQJ´³&DXWLRQ´DQG³1RWLFH´DFFRUGLQJWRWKHZDUQLQJOHYHODVIROO

8Handling Precautions1. Do not set a speed or acceleration/deceleration exceeding the applicablerating.Do not set a speed or acceleration/deceleration

97. Transporting and Handling7.1 Handling the Actuator7.1.1 Handling the Packed UnitUnless otherwise specified, each actuator (axis) is shipped indivi

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

11Names of Parts The names of the actuator parts are indicated below. The left and right sides are indicated by looking at the actuator from the motor

122. Motor Straight Type (Cleanroom Specification) RCP2CR ƔSA5C, SA6C, SA7C ƔSS7C, SS8C, HS8C Caution: The cable directly connected to the actuator

133. Motor Reversing Type ƔSA5R, SA6R ƔSA7R Caution: The cable directly connected to the actuator is not a robot cable even when ordered with a robo

14ƔSS7R, SS8R, HS8R Caution: The cable directly connected to the actuator is not a robot cable even when ordered with a robot cable option. When desi

151. Checking the Product1. Checking the Product If based on a standard configuration, this product consists of the items listed below. Caution: Che

161. Checking the ProductModel numberSerial numberMODELRCP2 SA5CI42P1250P1PBESERIALNo.600090266MADE IN JAPANMODEL RCP21.3 How to Read Model Na

176SHFL¿FDWLRQ2. Specification(1) Maximum speedThe maximum speed of the actuator is limited to prevent resonance of the ball screw shaft and also i

186SHFL¿FDWLRQRCP2CRSA5CRCP2CRSA6C(2) Acceleration and payload capacity Caution: 1. The payload capacities at different accelerations, oth

196SHFL¿FDWLRQ0.2G0.3G0.5G0.7G0.2G0.3G0.1G0.2G0.3G0.5G0.7G0.2G0.3G0.1G0.5G0.7G0.2G0.3G0.1G0.2G0.3G0.5G0.7G0.2G0.3G0.1G0.2G>&RQWUROOHUZLWK

206SHFL¿FDWLRQ0.5G0.7G0.2G0.3G0.1G0.5G0.7G0.2G0.3G0.1G0.2G0.3G0.1G0.5G0.7G0.2G0.3G0.2G0.3G0.2G0.3G0.5G0.7G0.2G0.3G0.2G0.1GPayload (kg) Payload (kg)

216SHFL¿FDWLRQRCP2CRSA5RRCP2CRSA6RPayload (kg) Payload (kg) Payload (kg) Payload (kg) Speed (mm/s)Speed (mm/s)Lead 3Lead 6Lead 12Lead 3Lead 6

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

226SHFL¿FDWLRQ00 100 200 300 400 500 600 700102030405060700 100 200 300 400 500 600 70005101520253035RCP2(CR)-SA7C RCP2(CR)-SS7C00 100 200 300 400

236SHFL¿FDWLRQRCP2(CR)-SA7R00 100 200 300 400 500 600 7001020304050607072540 100 200 300 400 500 600 7000510152025303511.53RCP2(CR)-SS7R00 100 200

246SHFL¿FDWLRQRCP2(CR)-SA7C00 100 200 300 400 500 600 70051015202530350 100 200 300 400 500 600 700036912151821411105RCP2(CR)-SS7C00 100 200 300 40

256SHFL¿FDWLRQ(3) Driving method Type Motor type Lead [mm] Encoder pulses*1Driving method 2.55SA5C, SA5R 42P 10Ball screw 10 mm Rolled, C10 SA5

266SHFL¿FDWLRQ(6) Load on the Actuator Do not exceed the load shown in the load specification column. Please note the slider moment, allowable o

276SHFL¿FDWLRQMb, Mc directions Ma direction Directions of moment forces Directions of allowable overhangs 0E0D0F//x The allowable overhang values

286SHFL¿FDWLRQThe body of the base warps easily when the actuator is used as the Y-axis in an X-Y overhang setup. In this case, use the actuator so

293. Life3. Life One factor that affects the traveliQJOLIHRIDQDFWXDWRULV³5DWHG/RDG´7KHUHDUHWZRW\SHVRIUDWHGORDGV³6WDWLF5DWHG/RDG´D

304. Installation and Storage/Preservation Environment4. Installation and Storage/Preservation Environment 4.1 Installation Environment The actuator

315. Installation5. InstallationThe method to install your actuator in a mechanical system is explained.5.1 InstallationInstall the actuator as explai

NoteGreasing Actuators of Cleanroom SpecificationFor ROBO Cylinder actuators of cleanroom specification, use grease of low-dust-raising type for clean

325. Installation5.2 Notes on Installation The stainless sheet is designed very thin (thickness: approx. 0.1 mm) in order to ensure flexibility. Ther

335. Installation5.3 Installing the Main Body Mount the actuator to a machined surface or one of the flat surfaces of comparable precision. The side

345. InstallationSliderSheetRight and left clearances are nearly equal 5.3.2 Using the Mounting Holes on Top of the Base (SA5C, SA6C, SA7C) Through h

355. InstallationTapped hole Reamed hole5.4 Installing the Load to the Slider 7DSSHGKROHVDUHSURYLGHGRQWKHVOLGHUIRULQVWDOOLQJWKHORDG7KH

365. InstallationReference plane (Side face of the base)Reference plane (Side face of the base)5.5 Reference Surface and Mounting Surface 7KHPRXQW

375. Installation5.6 Clamp Screws 7KHPDOHVFUHZVIRUPRXQWLQJWKHEDVHVKRXOGEH0IRU6$&0IRU66&6$&6$&DQG0IRU66

385. Installation5.7 Cleanroom Specification This actuator can deliver performance which ensures its operation in conformance with the requirements of

396. Connection with ControllersEncoder cable CB-RCS2-PB*** / Encoder cable • Robot cable CB-RCP2-PB***-RBRCP2 RCP2CRrrRCP2 RCP2CRr6. Connection with

406. Connection with ControllersWhen building an application system using actuators and controllers, inappropriate wiring and connection of cables may

416. Connection with Controllersy When fixing the cable, provide a moderate slack and do not tension it too tight. y Separate the I/O lines and comm

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

427. OptionsMLLeftMRRight7. Options 7.1 Brake The brake is a retention mechanism that prevents the slider, when installed vertically, from dropping

438. Motor/Encoder Cable8. Motor/Encoder Cable8.1 PMEC/PSEP Controller Cables[1] Integrated motor/encoder cable CB-PSEP-MPA***Mechanical end1234569101

448. Motor/Encoder Cable8.2 PCON/PSEL Controller Cables [3] Encoder cable CB-RCP2-PB ***Encoder robot cable CB-RCP2-PB ***-RB* *** indicates the cab

458. Motor/Encoder Cable[4] Encoder cable CB-RFA-PA***Encoder Robot Cable CB-RFA-PA***-RB(for RCP2-HS8C, HS8R and RCP2CR-HS8C)LCN2CN4(5) (8) (13) (15)

469. Maintenance and Inspection9. Maintenance and Inspection 9.1 Inspection Items and Schedule Perform maintenance work according to the schedule be

479. Maintenance and Inspection9.3 Cleaning x Clean the exterior as needed. x Wipe off dirt with a soft cloth. x Do not use strong compressed air o

489. Maintenance and Inspection9.5 Interior Inspection Turn off the power, remove the side covers, and then visually inspect the interior. Check the f

499. Maintenance and Inspection9.6 Internal Cleaning :LSHRIIGLUWZLWKDVRIWFORWK'RQRWXVHVWURQJFRPSUHVVHGDLURQWKHDFWXDWRUDVWKL

509. Maintenance and Inspection[Cleanroom Specification] (1) What Grease to Use on the Guide and Ball Screw For guides and ball screw, a urea-based g

519. Maintenance and Inspection9.7.2 How to Apply Grease1) When greasing the guide, use a spatula or grease applicator to squeeze or inject grease int

529. Maintenance and Inspection9.8 Replacing/Adjusting the Stainless Sheet [Items Required for Replacement] 5HSODFHPHQWVWDLQOHVVVKHHW&OHDU

539. Maintenance and Inspection[Procedure] 1) Remove the slider-cover affixing screws and remove the covers. After the slider covers have been remove

549. Maintenance and InspectionPeripheral openings Center openings Install the clearance-checking tool instead of the slider covers. 2) Remove the st

559. Maintenance and Inspection6) Adjust the tension of the stainless sheet.[1] While looking through the center opening in the clearance-checking too

569. Maintenance and InspectionCheckpoint 1: Check if the clearance between the top face of the stainless sheet and the back of the clearance-checking

579. Maintenance and Inspection[4] When proper clearances are obtained between the slider body and stainless sheet and an absence of contact between

589. Maintenance and Inspection9.9 Reduction Belt [Motor Reversing Type]: SA5R, SA6R, SA7R, SS7R, SS8R, HS8R 9.9.1 Inspecting the Belt Remove the p

599. Maintenance and InspectionƔSA7RƔSS7R, SS8R, HS8R Tension adjusting bolts (4 pcs.)Tension adjusting bolt tightening torque: Use an Allen wrench of

609. Maintenance and Inspection9.9.4 Replacing the Belt : SA5R, SA6R, SA7R, SS7R, SS8R, HS8R ƔSA5R, SA6R [Items Required for Replacement] 5HSODFHPH

619. Maintenance and Inspection8) Attach the pulley cap. Tighten the hexagon socket-head bolts (M3 x 8mm, 2 pcs.) using an Allen wrench of 2.5mm acro

Table of Contents Safety Guide ...

629. Maintenance and InspectionTightening torque: 83 N·cm (8.47 kgf·cm) Tightening torque: 87.2 N·cm (8.90 kgf·cm)9) Install the pulley assembly. 䈄

639. Maintenance and InspectionƔSA7R[Items Required for Replacement] 5HSODFHPHQWUHGXFWLRQEHOW $OOHQZUHQFKVHW7HQVLRQJDXJH&DSDEOHRI

649. Maintenance and Inspection7) Install the pulley cap. Tighten the hexagon socket-head bolts (M3 × 10, 4 pcs.) using an Allen wrench of 2.5 mm acr

659. Maintenance and Inspection8) Install the pulley assembly. 䈄 Align the angles of projections and depressions on the couplings. 7LJKWHQWKHKH[DJ

669. Maintenance and InspectionƔSS7R, SS8R, HS8R [Items Required for Replacement] 5HSODFHPHQWUHGXFWLRQEHOW $OOHQZUHQFKVHW7HQVLRQJDXJH&a

679. Maintenance and Inspection6) Install the pulley cover. Tighten the thin-head screws (M4 × 6, 4 pcs.) using an Allen wrench of 2 mm across flats.

689. Maintenance and Inspection9.10 Replacing the Motor 9.10.1 Motor Straight Type ƔSA5C, SA6C [Items Required for Replacement]  5HSODFHPHQWPRWRU

699. Maintenance and Inspection6) Apply grease to the coupling on the actuator side. Pilot alignment metal If this metal is attached on the decoupled

709. Maintenance and Inspection7) Install a new motor. $IWHUFRQILUPLQJWKDWWKHDQJOHVRISURMHFWLRQVDQGGHSUHVVLRQVRQWKHFRXSOLQJVDUHDOLJQHG

719. Maintenance and Inspection11) Affix the motor end cap with the pan-head screws (M3 × 80, 4 pcs.). At this time, make sure not to pinch the cable

9. Maintenance and Inspection ...

729. Maintenance and InspectionƔSA7C[Items Required for Replacement] 5HSODFHPHQWPRWRU15&ZLWKDFRXSOLQJRQWKHPRWRUVKDIWVHHWKHSKRW

739. Maintenance and Inspection2) Push in the cable-end molding to create a slack along the inner cable. Push in the molding as far as possible. 3)

749. Maintenance and InspectionPilot alignment metal If this metal is attached on the decoupled motor, put it back to the pilot on the actuatorside..\

759. Maintenance and Inspection7) Install a new motor. $IWHUFRQILUPLQJWKDWWKHDQJOHVRISURMHFWLRQVDQGGHSUHVVLRQVRQWKHFRXSOLQJVDUHDOLJQHG

769. Maintenance and Inspection11) Affix the motor end cap with the pan-head screws (M3 × 105, 4 pcs.). At this time, make sure not to pinch the cabl

779. Maintenance and InspectionƔSS7C[Items Required for Replacement] 5HSODFHPHQWPRWRU660ZLWKDFRXSOLQJRQWKHPRWRUVKDIWVHHWKHSKRWRJUD

789. Maintenance and Inspection3) Push in the motor-end cap into the motor cover. 4) Pull out the motor connector. 5) Pull out the encoder connecto

799. Maintenance and InspectionMotor flange 6) Remove the motor. 䈄 Remove the affixing bolts (M3 × 15, 2 pcs./M3 × 18, 2 pcs.) using an Allen wrench o

809. Maintenance and Inspection7) Install a new motor. 8) Connect the encoder connector. 9) Connect the motor connector. &RQILUPWKDWWKHDQJ

819. Maintenance and Inspection11) Affix the motor cover. ,IWKHSRVLWLRQLQJSLQGRHVQRWJRLQVPRRWKO\JHQWO\WDSWKHPRWRUHQGFDSXVLQJDSODV

1Safety Guide When designing and manufacturing a robot system, ensure safety by following the safety precautions provided below and taking the necessa

829. Maintenance and InspectionƔSS8C, HS8C [Items Required for Replacement]  5HSODFHPHQWPRWRU660IRU66&+60IRU+6&ZLWKDFR

839. Maintenance and Inspection4) Push in the motor-end cap into the motor cover. 5) Pull out the motor connector. 6) Pull out the encoder connecto

849. Maintenance and Inspection7) Remove the motor. 䈄 Remove the affixing bolts (M4 × 15, 4 pcs.) using an Allen wrench of 3 mm across flats. '

859. Maintenance and Inspection9) Connect the encoder connector. 10) Connect the motor connector. 11) Pull out the motor-end cap from the motor co

869. Maintenance and Inspection9.10.2 Motor Reversing Type ƔSA5R, SA6R [Items Required for Replacement]  5HSODFHPHQWPRWRU15&ZLWKDFRXS

879. Maintenance and Inspection4) Pull out the four tension adjusting bolts and two motor cover affixing bolts, and remove the motor unit. 6) Pull o

889. Maintenance and Inspection8) Connect the encoder connector and motor connector to a new motor. &RQQHFWLRQRIWKHHQFRGHUFRQQHFWRU &

899. Maintenance and Inspection11) Install the motor cover. Tighten the hexagon socket-head screws (M3 × 12, 2 pcs.) using an Allen wrench of 2.5 mm

909. Maintenance and InspectionƔSA7R[Items Required for Replacement]  5HSODFHPHQWPRWRUXQLW660* (See the photograph at the right.)  $OOHQZU

919. Maintenance and Inspection5) Install a new motor unit and temporarily tighten it with the tension adjusting bolts (hexagon socket-head screws: M