IAI RCD RA1D Mini Cylinder RCD Actuator Operation Manual

Thin and Small ROBO Cylinder
Mini Cylinder
RCD Actuator
Operation Manual
First Edition
Rod Type
RA1D
IAI America, Inc.
1
Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to
ensure safe use of the product.
The CD/DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
�
�
�
�
�
�
This Operation Manual is original.
The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall
assume no responsibility for the outcome of any operation not specified herein.
Information contained in this Operation Manual is subject to change without notice for the purpose of product
improvement.
If you have any question or comment regarding the content of this manual, please contact the IAI sales office
near you.
Using or copying all or part of this Operation Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the sentences are
registered trademarks.
Table of Contents
Safety Guide ............................................................................................................................ 1
Caution in Handling ................................................................................................................. 6
Names of the Parts .................................................................................................................. 7
1. Product Check ................................................................................................................... 8
1.1
1.2
1.3
1.4
Parts.......................................................................................................................................................8
Related Operation Manuals for the Each Controller Supported by this Product ...................................8
How to Read the Model Nameplate.......................................................................................................8
How to Read the Model Number ...........................................................................................................9
2. Specification .................................................................................................................... 10
3. Product Life ..................................................................................................................... 12
4. Installation and Storage • Preservation Environment....................................................... 13
4.1
4.2
Installation Environment ......................................................................................................................13
Storage • Preservation Environment....................................................................................................13
5. Transportation ................................................................................................................. 14
5.1
5.2
Handling of Robot ................................................................................................................................14
5.1.1
Handling the Packed Unit ....................................................................................................14
5.1.2
Handling the Actuator After Unpacking ................................................................................14
Handling in Assembled Condition........................................................................................................15
6. Installation ....................................................................................................................... 16
6.1
6.2
6.3
Installation of Main Unit .......................................................................................................................16
Attachment of Work Piece (Object to Transport) .................................................................................17
Precaution in Installation......................................................................................................................18
7. Connecting with Controller .............................................................................................. 19
8. Caution for Operation ...................................................................................................... 22
8.1
8.2
Load Applied to Actuator......................................................................................................................22
External Force Applied in Thrust Directions ........................................................................................23
9. Motor • Encoder Cables................................................................................................... 24
9.1
9.2
Motor • Encoder Integrated Cable Connection....................................................................................24
Motor • Encoder Integrated Cables Robot Type..................................................................................25
10. Maintenance Inspection................................................................................................... 26
10.1
10.2
10.3
10.4
Inspection Items and Schedule ...........................................................................................................26
External Visual Inspection ...................................................................................................................26
Cleaning...............................................................................................................................................26
Grease Supply .....................................................................................................................................27
10.4.1 Grease to be applied on Rod (Sliding Surface) ...................................................................27
10.4.2 Applying the Grease on the Rod (Sliding Surface)..............................................................27
11. Appendix ......................................................................................................................... 28
11.1 External Dimensions............................................................................................................................28
12. Warranty.......................................................................................................................... 29
12.1
12.2
12.3
12.4
12.5
12.6
Warranty Period ...................................................................................................................................29
Scope of Warranty ...............................................................................................................................29
Honoring the Warranty.........................................................................................................................29
Limited Liability ....................................................................................................................................29
Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ..............30
Other Items Excluded from Warranty ..................................................................................................30
Change History ...................................................................................................................... 31
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage
beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
1
Operation
Description
Model Selection
2
Transportation
3
Storage and
Preservation
No.
Precautions
� This product has not been planned and designed for the application where high
level of safety is required, so the guarantee of the protection of human life is
impossible. Accordingly, do not use it in any of 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 (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
� Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding the
specification range
4) Location where radiant heat is added from direct sunlight or other large heat
source
5) Location where condensation occurs due to abrupt temperature changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
� Do not use the product outside the specifications. Failure to do so may
considerably shorten its life and cause a product breakdown or facility operation
stop.
� Consider well so that it is not bumped against anything or dropped during the
transportation.
� Transport it using an appropriate transportation measure.
� Do not step or sit on the package.
� Do not put any heavy thing that can deform the package, on it.
� When using a crane capable of 1t or more of weight, have an operator who has
qualifications for crane operation and sling work.
� When using a crane or equivalent equipments, make sure not to hang a load that
weighs more than the equipment’s capability limit.
� Use a hook that is suitable for the load. Consider the safety factor of the hook in
such factors as shear strength.
� Do not get on the load that is hung on a crane.
� Do not leave a load hung up with a crane.
� Do not stand under the load that is hung up with a crane.
� The storage and preservation environment conforms to the installation
environment.
However, especially give consideration to the prevention of condensation.
1
No.
4
2
Operation
Description
Installation and
Start
Precautions
(1) Installation of Robot Main Body and Controller, etc.
� Make sure to securely hold and fix the product (including the work part). A fall,
drop or abnormal motion of the product may cause a damage or injury.
� Do not get on or put anything on the product. Failure to do so may cause an
accidental fall, injury or damage to the product due to a drop of anything,
malfunction of the product, performance degradation, or shortening of its life.
� When using the product in any of the places specified below, provide a sufficient
shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or chemical
droplets�
(2) Cable Wiring
� Use our company’s genuine cables for connecting between the actuator and
controller, and for the teaching tool.
� Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it
around. Do not insert it. Do not put any heavy thing on it.
Failure to do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
� Perform the wiring for the product, after turning OFF the power to the unit, so that
there is no wiring error.
� When the direct current power (�24V) is connected, take the great care of the
directions of positive and negative poles. If the connection direction is not correct,
it might cause a fire, product breakdown or malfunction.
� Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction of the
product.
� Never cut and/or reconnect the cables supplied with the product for the purpose
of extending or shortening the cable length. Failure to do so may cause the
product to malfunction or cause fire.�
(3) Grounding
� Make sure to perform the grounding of type D (Former Type 3) for the controller.
The grounding operation should be performed to prevent an electric shock or
electrostatic charge, enhance the noise-resistance ability and control the
unnecessary electromagnetic radiation.�
No.
4
Operation
Description
Installation and
Start
5
Teaching
6
Trial Operation
Precautions
(4) Safety Measures
� When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that nobody
can enter the area within the robot’s movable range. When the robot under
operation is touched, it may result in death or serious injury.
� Make sure to install the emergency stop circuit so that the unit can be stopped
immediately in an emergency during the unit operation.
� Take the safety measure not to start up the unit only with the power turning ON.
Failure to do so may start up the machine suddenly and cause an injury or
damage to the product.
� Take the safety measure not to start up the machine only with the emergency stop
cancellation or recovery after the power failure. Failure to do so may result in an
electric shock or injury due to unexpected power input.
� When the installation or adjustment operation is to be performed, give clear
warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
� Take the measure so that the work part is not dropped in power failure or
emergency stop.
� Wear protection gloves, goggle or safety shoes, as necessary, to secure safety.
� Do not insert a finger or object in the openings in the product. Failure to do so
may cause an injury, electric shock, damage to the product or fire.
� When releasing the brake on a vertically oriented actuator, exercise precaution
not to pinch your hand or damage the work parts with the actuator dropped by
gravity.�
� Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably inside the
safety protection fence, prepare the “Stipulations for the operation” and make
sure that all the workers acknowledge and understand them well.
� When the operation is to be performed inside the safety protection fence, the
worker should have an emergency stop switch at hand with him so that the unit
can be stopped any time in an emergency.
� When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be stopped
any time in an emergency. Also, keep watch on the operation so that any third
person can not operate the switches carelessly.
� Place a sign “Under Operation” at the position easy to see.
� When releasing the brake on a vertically oriented actuator, exercise precaution
not to pinch your hand or damage the work parts with the actuator dropped by
gravity.
* Safety protection Fence : In the case that there is no safety protection fence, the
movable range should be indicated.
� After the teaching or programming operation, perform the check operation one
step by one step and then shift to the automatic operation.
� When the check operation is to be performed inside the safety protection fence,
perform the check operation using the previously specified work procedure like
the teaching operation.
� Make sure to perform the programmed operation check at the safety speed.
Failure to do so may result in an accident due to unexpected motion caused by a
program error, etc.
� Do not touch the terminal block or any of the various setting switches in the power
ON mode. Failure to do so may result in an electric shock or malfunction.
3
No.
7
4
Operation
Description
Automatic
Operation
8
Maintenance and
Inspection
9
Modification
10
Disposal
Precautions
� Before the automatic operation is started up, make sure that there is nobody
inside the safety protection fence.
� Before the automatic operation is started up, make sure that all the related
peripheral machines are ready for the automatic operation and there is no error
indication.
� Make sure to perform the startup operation for the automatic operation, out of the
safety protection fence.
� In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn OFF the
power switch. Failure to do so may result in a fire or damage to the product.
� When a power failure occurs, turn OFF the power switch. Failure to do so may
cause an injury or damage to the product, due to a sudden motion of the product
in the recovery operation from the power failure.
� Perform the work out of the safety protection fence, if possible. In the case that
the operation is to be performed unavoidably inside the safety protection fence,
prepare the “Stipulations for the operation” and make sure that all the workers
acknowledge and understand them well.
� When the work is to be performed inside the safety protection fence, basically
turn OFF the power switch.
� When the operation is to be performed inside the safety protection fence, the
worker should have an emergency stop switch at hand with him so that the unit
can be stopped any time in an emergency.
� When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be stopped
any time in an emergency. Also, keep watch on the operation so that any third
person can not operate the switches carelessly.
� Place a sign “Under Operation” at the position easy to see.
� For the grease for the guide or ball screw, use appropriate grease according to
the Operation Manual for each model.
� Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
� When releasing the brake on a vertically oriented actuator, exercise precaution
not to pinch your hand or damage the work parts with the actuator dropped by
gravity.
* Safety Protection Fence : In the case that there is no safety protection fence, the
movable range should be indicated.
� Do not modify, disassemble, assemble or use of maintenance parts not specified
based at your own discretion.
� In such case, the warranty is not applied.
� When the product becomes no longer usable or necessary, dispose of it properly
as an industrial waste.
� Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
Applicable Modes of IAI’s Industrial Robot
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level,
as follows, and described in the Operation Manual for each model.
Level
Degree of Danger and Damage
Symbol
Danger
This indicates an imminently hazardous situation which, if the product is not
handled correctly, will result in death or serious injury.
Danger
Warning
This indicates a potentially hazardous situation which, if the product is not
handled correctly, could result in death or serious injury.
Warning
Caution
This indicates a potentially hazardous situation which, if the product is not
handled correctly, may result in minor injury or property damage.
Caution
Notice
This indicates lower possibility for the injury, but should be kept to use this
product properly
Notice
5
Caution in Handling
1. Do not set speeds and accelerations/decelerations equal to or greater than the respective
ratings.
If the actuator is operated at a speed or acceleration/deceleration exceeding the allowable value, abnormal
noise or vibration, failure, or shorter life may result.
In the case of interpolated operation of combined axes, the speed and acceleration/deceleration settings
should correspond to the minimum values among all combined axes.
2. In the case of moving it in low speed, the difference of the speed grows.
In the case of moving it with 10mm/s or less, note that the difference of the speed grows in addition.
3. When operating, the main body is likely to become a high temperature though.
Warning: When operating, the temperature of the main body is likely to become a high temperature
though.
Note that you may get burned and injured if you touch the actuator.
6
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 actuator placed horizontally, as shown in the figure below.
Mount Nut
Opposite Side
of the Motor
Rod Tip Nut
Motor Side
Rod
Main Body
Cable
7
1. Product Check
1.
Product Check
If based on a standard configuration, this product consists of the items listed below.
Caution: Check the packed items against the packing specification. Should you find a wrong model or any
missing item, please contact your IAI dealer or IAI.
1.1
Parts
No.
1
Name
Actuator
Model number
Refer to “How to Read the Model Nameplate”
and “How to Read the Model Number.”
Accessories
2
Motor • Encoder Cables *1
3
Nut
4
First Step Guide
5
Operation Manual (CD/DVD)
6
Safety Guide
*1 Refer to “9. Motor • Encoder Cables” for the enclosed motor • encoder cables.
Type
RA1D
1.2
No.
1
2
3
1.3
Refer to list below
Rod Tip Nut
(M4 × 0.7)
2
Related Operation Manuals for the Each Controller Supported by this Product
Name
ASEP/PSEP/DSEP Controller Operation Manual
RC PC Software RCM-101-MW/RCM-101-USB Operation Manual
CON-PTA/PDA/PGA Operation Manual
Control No.
ME0267
ME0155
ME0295
How to Read the Model Nameplate
Model
Serial number
8
Attachment Nut
(M10 × 1.0)
1
Remarks
MODEL RCD-RA1D-I-3-2-10-D3-S
S/N 000090366
MADE IN JAPAN
1.4
How to Read the Model Number
<Series>
Identification for IAI use only
<Type>
RA1D
<Cable length>
N : None
S : 3m
M : 5m
X�� : Length specification
R��: Robot cable
<Encoder type>
I : Incremental
<Motor type>
3 : 3W
<Lead>
2
1. Product Check
RCD-RA1D-I-3-2-10-D3-S-**
*1
<Controller>
D3 : DSEP
<Stroke>
*1 This may be displayed for the manufacturing reason.
(This is not to indicate the manufacturing model code.)
9
2. Specification
2.
Specification
(1) Maximum Speed
The maximum speed of the actuator is limited to prevent resonance of the lead screw shaft by the motor speed
limit.
Be sure to observe the applicable maximum speed shown in the table below.
Strokes and maximum speed limits (Unit: mm/s)
Type
RA1D
Motor Type
[W]
Lead
[mm]
3
2
Stroke [mm]
Horizontal/
Vertical
10
20
Horizontal
30
300
Vertical
(Note) For short strokes, the rated speed may not be achieved.
Caution: Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings.
Doing so may result in vibration, failure or shorter life.
(2) Rated Acceleration and Payload Capacity
Type
Motor Type
[W]
Lead
[mm]
RA1D
3
2
Horizontal/
Vertical
Rated
Acceleration [G]
Horizontal
0.7
1.0
Vertical
Payload
Capacity [kg]
0.3
Caution: Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings.
Doing so may result in vibration, failure or shorter life.
(3) Driving System • Position Detector
The drive system is a rectangular lead screw.
*1
Type
Motor Type
[W]
Lead [mm]
No. of Encoder
*1
Pluses
Lead Screw
Diameter
RA1D
3
2
400
�3mm
This is the number of encoder pulses per revolution of the lead screw.
(4) Positioning Precision
Type
Lead [mm]
Item
Performance
*1
RA1D
*1
10
2
Initial value
Positioning Repeatability
*1
Lost Motion
Allowable Static Load Moment
Non-Rotating Accuracy
±0.05mm
0.2mm or less
0.02N•m
±0.3�
(5) Current Limit Value and Pressing Force
Current Limit Value and Pressing Force
2. Specification
Pressing Force (N)
7
6
5.98
5
4.99
4
4.01
3.02
3
2.04
2
1.05
0.41
1
0
0%
10%
20%
0.85
1.28
1.72
2.16
30% 40% 50% 60%
Current Limit Value (%)
2.60
70%
80%
Caution: (1) The relation of the pressing force and current limiting value is a reference. There will be a little
variance in the actual pressing force.
(2) If the current limiting value is low, the pressing force may largely vary.
(3) The movement speed at the pressing operation is fixed to 5mm/s.
The graph, shows the values when pressing at 5mm/s, and it differs if the speed changes.
11
3.
Product Life
3. Product Life
This actuator applies a lead screw and the plastic nut gets worn away. As the plastic nut is worn, the accuracy of
the lost motion mainly gets worse. Based on the abrasion of the plastic nut and the degradation in the
performance of the grease on the screw, the product life is determined as it is described below. (It is the value
when an external guide and a free joint are used.)
Horizontal/vertical
12
10,000,000 cycles
4.
4.1
Installation and Storage • Preservation Environment
Installation Environment
The actuator should be installed in a location other than those specified below.
In general, the installation environment should be one in which an operator can work without protective gear.
Also provide sufficient work space required for maintenance inspection.
If the actuator is used in any of the following locations, provide sufficient shielding measures:
� Where noise generates due to static electricity, etc.
� Where the actuator is subject to a strong electric or magnetic field
� Where the actuator is subject to ultraviolet ray or radiation
4.2
Storage • Preservation Environment
The storage • preservation environment should be similar to the installation environment. In addition, make sure
condensation will not occur when the actuator is to be stored or preserved for a long period of time. Unless
specified, we do not include drying agents when shipping the actuator. If you are storing the actuator in an
environment where condensation might occur, you must treat the entire shipping box, or treat the actuator itself
after unpacking, to prevent condensation. The unit can withstand temperatures up to 60ºC during a short
storage/preservation period, but only up to 50ºC if the storage/preservation period is longer than one month.
The actuator should be lying flat during storage • preservation.
If the actuator is to be stored in a packed state, follow the specified actuator position if indicated.
13
4. Installation and Storage • Preservation Environment
Where the actuator receives radiant heat from strong heat sources such as heat treatment furnaces
Where the ambient temperature exceeds the range of 0 to 40�C
Where the temperature changes rapidly and condensation occurs
Where the relative humidity exceeds 85% RH
Where the actuator receives direct sunlight
Where the actuator is exposed to corrosive or combustible gases
Where the ambient air contains a large amount of powder dust, salt or iron (at level exceeding what is normally
expected in an assembly plant)
� Where the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or chemical solutions
� Where the actuator receives impact or vibration
�
�
�
�
�
�
�
5.
5.1
5. Transportation
5.1.1
Transportation
Handling of Robot
Handling the Packed Unit
Unless otherwise specified, the actuator is shipped with each axis packaged separately.
� Do not damage or drop. The package is not applied with any special treatment that enables it to resist an
impact caused by a drop or crash.
� Transport a heavy package with at least more than two operators. Consider an appropriate method for
transportation.
� Keep the unit in horizontal orientation when placing it on the ground or transporting. Follow the operation if
there is any for the packaging condition.
� Do not step or sit on the package.
� Do not put any load that may cause a deformation or breakage of the package.
5.1.2
Handling the Actuator After Unpacking
� Do not carry an actuator by a cable or attempt to move it by pulling the cable.
� Hold the body base when transporting the actuator.
� Be careful not to bump the actuator into anything when moving it.
� Do not apply an excessive force to each part of the actuator.
Supplement) For the names of each part of the actuator, refer to “Names of the Parts”.
14
5.2
Handling in Assembled Condition
� When carrying the actuator, exercise caution not to bump it against nearby objects or structures.
� Secure the rods to prevent sudden movement during transport.
� If any end of the actuator is overhanging, secure it properly to avoid significant movement due to external
vibration.
� If the actuator assembly is transported without the ends being secured, do not apply an impact of 0.3G or more.
� When suspending the mechanical equipment (system) with ropes, avoid applying force to actuator, connector
box, etc. Also, avoid the cables being pinched or caused an excessive deformation.
5. Transportation
15
6.
6.1
Installation
Installation of Main Unit
� The installation bracket should possess enough stiffness, and also prevent vibration exceeding 0.3G from
being applied to the main unit.
� Have enough space for the maintenance work.
�
6. Installation
Install the main body in the clearance hole (�10) of a smooth plate of about 1 to 3mm in thickness and fix it. Both
horizontal and vertical are available for the installation orientation.
� The root of the male screw on the unit possesses (M10 × 1.0) the accuracy of h8. Utilize it for fitting.
� The maximum tightening torque should be 9.0N•m when using a mount nut including the enclosed one.
Tightening with higher torque may break the unit.
Attachment Plate
Mount Nut
16
General-purposed products as shown below can be used for the foot bracket and flange bracket.
Please contact directly to the supplier for the foot bracket and flange bracket.
Foot brackets
6.2
SMC Co., Ltd.
CJ-L016B
CJ-F016B
CKD Co., Ltd.
P2-LS-16
P2-FA-16
6. Installation
Foot brackets
Flange brackets
Flange brackets
KOGANEI Co., Ltd.
1A-PBDA-16
3-PBDA-16
Attachment of Work Piece (Object to Transport)
� Attach the work piece (object to transport) with using the male screw (M4 × 0.7) on the rod tip and enclosed nut.
Do not attempt to apply torque of 0.2N•m or more to the rod when attaching the work piece. Doing so may
cause risk of a breakage or malfunction of the actuator.
� When transporting a heavy work piece (0.02kg or more), make sure to join either the work piece or the rod to
the external guide. In this case, use a free joint to eliminate the difference in the moving directions of the work
piece and the rod (traveling parallelism).
(Refer to 8.1 Load Applied to Actuator)
� The specified transportable weight may not be able to be carried if the guide load is large while in move of the
work piece. Be careful.
17
6.3
Precaution in Installation
1) Keep a space for allocating the cable at the rear side of the motor side of the actuator.
Also, attempt to make the cable exiting straight from the actuator.
50 or more
r
0o
R3
6. Installation
20 or more
re
mo
2) Prevent external force being applied on the body when installed. It may cause a risk of an operation failure or
breakage.
External
force
External
force
18
7.
Connecting with Controller
Both for the controller itself and for the connection cable between the controller and RCD (this controller), use a
dedicated IAI controller and dedicated connection cable.
This section explains the wiring method for a single axis.
� If the dedicated connection cable cannot be secured, reduce the load on the cable by allowing it to deflect only
by the weight of the cable or wire it in a self-standing cable hose, etc., having a large radius.
� Do not cut and reconnect the dedicated connection cable for extension or shorten the cable.
� Do not pull on the dedicated connection cable or bend it forcibly.
� The actuator cable coming out of the motor unit is that for fixing.
Fix the cable so it would not be bent repeatedly.
Please consult with IAI if you require a different kind of cable than the one supplied.
Dedicated connection cable
(connects controller and RCD)
Dedicated controller
• DSEP
Robot cable
r=84mm or mere (Movable Use)
Standard cable
r=84mm or mere (Fixed Use)
Dedicated connection cable
Motor-encoder cable: CB-CA-MPA***
Motor-encoder cable robot cable: CB-CA-MPA***- RB
*) *** indicates the cable length. Up to 20m can be specified.
Example) 080 = 8 m
19
7. Connecting with Controller
RCD-XX
When designing an application system, incorrect wiring or connection of each cable may cause unexpected
problems such as a disconnected cable or poor contact. The following explains examples of prohibited handling
of cables.
�
�
�
Do not cut and reconnect the cable to extend or shorten the cable.
Use a robot cable for any section where the cable will flex.
[For the bending radius, refer to “9. Motor • Encoder Cable”.]
Provide a sufficient bending radius and prevent the cable from bending at the same point.
Steel Strap
(Piano Wire)
7. Connecting with Controller
Tie them up softly.
�
Do not let the cable bend, kink or twist.
�
Do not pull the cable with a strong force.
�
Do not let the cable receive a turning force at a single point.
�
Do not pinch, drop a heavy object onto or cut the cable.
20
When fixing the cable, provide a moderate slack and do not tension it too tight.
�
Do not use spiral tube in any
position where cables are bent
frequently.
Separate the I/O and communication lines from the power and drive lines. Do not wire them together in the
same duct.
�
Duct
I/O Line
(Flat Cable, etc.)
�
If a cable track is used, use a robot cable and prevent the cable from getting tangled or kinked in the cable
track or flexible tube. Also make sure the cable retains a certain degree of flexibility (so that the cable will not
become too taut when bent).
[For the bending radius, refer to “9. Motor • Encoder Cable”.]
�
Do not cause the cables to occupy more than 60% of the space in the cable track.
Cable Track
Cable
�
�
Warning:
Always turn off the controller power before connecting/disconnecting cables. If cables are connected/
disconnected while the power is still supplied, the actuator may malfunction and serious injury or equipment
damage may occur.
Loose connectors may cause the actuator to malfunction and create a dangerous situation.
Be sure to confirm that all connectors are securely connected.
21
7. Connecting with Controller
Power Line
8.
8.1
Caution for Operation�
Load Applied to Actuator
8. Caution for Operation
� RCD-RA1D actuator cannot accept the load from sides (radial load) or rotation torque. Applying these types of
load may cause an operation failure, breakage of components or shortened life. Use a device such as the
external guide.
� Pay attention to the reaction force so it would not become the load from a side. Utilize a guide so it receives the
side load.
Pay attention to the direction of the reaction force.
� When joining a work piece guided by an external guide with the rod, pay attention to the difference in the
moving directions of the external guide and the rod (traveling parallelism). Use a free joint that gives a freedom
to the joint of the work piece and the rod to eliminate the variance in the attachment and the difference in the
moving direction. Not using it may cause a generation of abnormal noise or shortened product life.
External guide
Free Joint
Work
� Be careful not to apply a huge load on the side of the rod due to the attaching variance when joining a guide to
the work piece.
22
8.2
External Force Applied in Thrust Directions
� Do not attempt to apply an excessive external force on the rod.
� Avoid applying an external force or impact that exceeds the allowable external force in the thrust directions.
The allowable external force (maximum pressing force) is 6.0N.
Thrust Directions
8. Caution for Operation
23
9.
9.1
Motor • Encoder Cables
Motor • Encoder Integrated Cable Connection
L
(30)
(25)
(25)
(15)
CN1
CN2
Connector : 1-1827863-1
Contact : 1827570-2
Connector : PADP-24V-1-S
Contact
SPND-002T-C0.5 (AWG26)
SPND-001T-C0.5 (AWG22)
Connection diagram
CN1
1-1827863-1(AMP)
9. Motor • Encoder Cables
Pin No.
A1
B1
A2
B2
A3
B3
A4
B4
A6
B6
A7
B7
A8
B8
A5
B5
A9
B9
A10
B10
A11
B11
24
(30)
Symbol
Color
φA/U BL(AWG22/19)
VMM/V OR(AWG22/19)
φ_A/W GN(AWG22/19)
φB/- BR(AWG22/19)
VMM/- GY(AWG22/19)
φ_B/- RD(AWG22/19)
LS+/BK+ BK(AWG26)
LS-/BK- YW(AWG26)
-/A+ BL(AWG26)
-/A- OR(AWG26)
A+/B+ GN(AWG26)
A-/B- BR(AWG26)
B+/Z+ GY(AWG26)
B-/Z- RD(AWG26)
BK+/LS+ BL(AWG26)
BK-/LS- OR(AWG26)
LS_GND GN(AWG26)
VPS BR(AWG26)
VCC GY(AWG26)
GND RD(AWG26)
―
FG
―
BK
CN2
PADP-24V-1-S(JST)
Pin No. Symbol
φA/U
1
VMM/V
2
φ_A/W
5
3
φB/4
VMM/φ_B/6
LS+/BK+
7
LS-/BK8
-/A+
11
-/A12
A+/B+
13
A-/B14
B+/Z+
15
B-/Z16
BK+/LS+
9
10 BK-/LS20 LS_GND
VPS
18
VCC
17
GND
19
21
―
Center Intervention
22
―
23
―
FG
24
Color
BL(AWG22/19)
OR(AWG22/19)
GN(AWG22/19)
BR(AWG22/19)
GY(AWG22/19)
RD(AWG22/19)
BK(AWG26)
YW(AWG26)
BL(AWG26)
OR(AWG26)
GN(AWG26)
BR(AWG26)
GY(AWG26)
RD(AWG26)
BL(AWG26)
OR(AWG26)
GN(AWG26)
BR(AWG26)
GY(AWG26)
RD(AWG26)
―
―
―
BK
9.2
Motor • Encoder Integrated Cables Robot Type
CB-CA-MPA���-RB
L
(30)
(25)
(25)
(15)
CN1
(30)
CN2
Connector : 1-1827863-1
Contact : 1827570-2
Connector : PADP-24V-1-S
Contact
SPND-002T-C0.5 (AWG26)
SPND-001T-C0.5 (AWG22)
Connection diagram
CN1
1-1827863-1(AMP)
Color
BK(AWG22/19)
WT(AWG22/19)
BR(AWG22/19)
GN(AWG22/19)
YW(AWG22/19)
RD(AWG22/19)
OR(AWG25)
GY(AWG25)
WT(AWG25)
YW(AWG25)
RD(AWG25)
GN(AWG25)
BK(AWG25)
BR(AWG25)
BK(AWG25)
BRAWG25)
GN(AWG25)
RD(AWG25)
WT(AWG25)
YW(AWG25)
―
Pin No. Symbol
1
φA/U
2
VMM/V
5
φ_A/W
3
φB/4
VMM/6
φ_B/7
LS+/BK+
8
LS-/BK11
-/A+
12
-/A13
A+/B+
14
A-/B15
B+/Z+
16
B-/Z9
BK+/LS+
10 BK-/LS20 LS_GND
18
VPS
17
VCC
19
GND
21
Center Intervention
―
22
―
23
―
24
FG
Color
BK(AWG22/19)
WT(AWG22/19)
BR(AWG22/19)
GN(AWG22/19)
YW(AWG22/19)
RD(AWG22/19)
OR(AWG25)
GY(AWG25)
WT(AWG25)
YW(AWG25)
RD(AWG25)
GN(AWG25)
BK(AWG25)
BR(AWG25)
BK(AWG25)
BR(AWG25)
GN(AWG25)
RD(AWG25)
WT(AWG25)
YW(AWG25)
―
―
―
Shield
9. Motor • Encoder Cables
Pin No. Symbol
A1
φA/U
B1 VMM/V
A2 φ_A/W
B2
φB/A3 VMM/φ_B/B3
A4 LS+/BK+
B4 LS-/BKA6
-/A+
B6
-/AA7
A+/B+
B7
A-/BA8
B+/Z+
B8
B-/ZA5 BK+/LS+
B5 BK-/LSA9 LS_GND
B9
VPS
A10 VCC
B10 GND
A11
―
B11
FG
CN2
PADP-24V-1-S (JST)
25
10. Maintenance Inspection
10.1
Inspection Items and Schedule
Follow the maintenance inspection schedule below.
It is assumed that the equipment is operating 8 hours per day.
If the equipment is running continuously night and day or otherwise running at a high operating rate, inspect more
often as needed.
Start of work inspection
1-month inspection
3-month inspection
6-month inspection
Every 6-month since
10.2
External visual
inspection
�
�
�
�
�
Greasing
� (Rod sliding surface)
� (Rod sliding surface)
External Visual Inspection
10. Maintenance Inspection
An external visual inspection should check the following things.
Main unit
Rod
Cables
Overall
10.3
�
�
�
�
�
26
Loose actuator mounting bolts, other loose items
Lubrication, dust, foreign object on sliding surfaces
Scratches, proper connections
Irregular noise, vibration
Cleaning
Clean exterior surfaces as necessary.
Use a soft cloth to wipe away dirt and buildup.
Do not blow too hard with compressed air as it may cause dust to get in through the gaps.
Do not use oil-based solvents as they can harm lacquered and painted surfaces.
To remove severe buildup, wipe gently with a soft cloth soaked in a neutral detergent or alcohol.
10.4
Grease Supply
10.4.1
Grease to be applied on Rod (Sliding Surface)
The following grease is applied when the product is shipped out from IAI factory.
Rod (sliding surface)
Sumico Lubricant Co., Ltd.
Sumitec 308
Even though an equivalent type of grease can be purchased from other suppliers, please be very careful in
selecting grease since an inappropriate choice may give an impact to the actuator life.
Caution: Do not attempt to apply any grease other than poly � olefin synthetic grease.
Mixing the grease with other types does not only drop the grease performance, but also may
damage the actuator.
10.4.2
Applying the Grease on the Rod (Sliding Surface)
Pull out the rod, clean the sliding surface, and then supply grease with fingers on the rod sliding surface. Move the
rod back and forth to evenly allocate the grease through the area. Lastly, wipe off the excess grease.
10. Maintenance Inspection
27
11. Appendix
11.1
Rod Tip Nut
0.5
0.2
Stroke
M.E
S.E Home M.E
0
φ10H8 -0.022
0.2
φ5
26.6
(Attachment nut not shown)
13.3
0
0
12-0.2
Attachment Nut
φ8.3
φ5.1
φM10×1.0
0
-0
.2
12-0.2
4
M4×0.7
φ1
External Dimensions
10
12
8
11. Appendix
Stroke
10
20
30
28
8
L
L
52
62
72
Mass [g]
47
51
55
220
61
ORG : Home
M.E : Mechanical End
S.E : Stroke End
12. Warranty
12.1
Warranty Period
12.2
Scope of Warranty
One of the following periods, whichever is shorter:
� 18 months after shipment from IAI
� 12 months after delivery to the location specified by the user
� 2,500 hours after start of operation
Our products are covered by warranty when all of the following conditions are met. Faulty products covered by
warranty will be replaced or repaired free of charge:
(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
(2) The breakdown or problem in question occurred during the warranty period.
(3) The breakdown or problem in question occurred while the product was in use for an appropriate purpose
under the conditions and environment of use specified in the operation manual and catalog.
(4) The breakdown or problem in question was caused by a specification defect or problem, or by the poor
quality of our product.
Note that the warranty only covers our product as delivered and that any secondary loss arising from a
breakdown of our product is excluded from the scope of warranty.
12.3
Honoring the Warranty
12.4
Limited Liability
As a rule, the product must be brought to us for repair under warranty.
(1) We shall assume no liability for any special damage, consequential loss or passive loss such as a loss of
expected profit arising from or in connection with our product.
(2) We shall not be liable for any program or control method created by the customer to operate our product or
for the result of such program or control method.
29
12. Warranty
Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:
[1] Anything other than our product
[2] Modification or repair performed by a party other than us (unless we have approved such modification or
repair)
[3] Anything that could not be easily predicted with the level of science and technology available at the time
of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
[5] Natural fading of paint or other symptoms of aging
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or maintenance
12.5
Conditions of Conformance with Applicable Standards/Regulations, Etc., and
Applications
(1) If our product is combined with another product or any system, device, etc., used by the customer, the
customer must first check the applicable standards, regulations and/or rules. The customer is also
responsible for confirming that such combination with our product conforms to the applicable standards, etc.
In such a case we will not be liable for the conformance of our product with the applicable standards, etc.
(2) Our product is for general industrial use. It is not intended or designed for the applications specified below,
which require a high level of safety. Accordingly, as a rule our product cannot be used in these applications.
Contact us if you must use our product for any of these applications:
[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such as a vehicle,
railway facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items
(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that differs
from what is specified in the catalog or operation manual.
12.6
Other Items Excluded from Warranty
12. Warranty
The price of the product delivered to you does not include expenses associated with programming, the dispatch
of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during the warranty
period:
[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
[4] Technical guidance and education on programming and other items related to programs
30
Change History
Revision Date
October 2011
Description of Revision
First edition
Change History
31
Manual No.: ME3721-1A (October 2011)
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/
Technical Support available in USA, Europe and China
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 Kennestone Circle, Suite 108, Marietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com
The information contained in this document is subject to change without notice for purposes of
product improvement.
Copyright © 2011. Oct. IAI Corporation. All rights reserved.
11.10.000