FIRST-STEP_RCP2_RCS2
3.2 RCS2 Type
1.2 Small Flat Type, 330-degree Rotation Specification (RCP2-RTCS) and Multi-Rotation
Specification (RCP2-RTCSL)
RCS2-RT6-I-60-18-300-T1-S-L
RCP2/RCS2 Actuator
Rotary Type/Hollowed Rotary Type
First Step Guide
Third Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (CD/DVD) included with the product in addition to this
First Step Guide to ensure correct use.
This Instruction Manual is original.
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the CD/DVD Manual included in the box this device was packaged in. It should be
retained with this device at all times.
A copy of the CD/DVD Manual can be requested by contacting your nearest IAI Sales Office listed
at the back cover of the Instruction Manual or on the First Step Guide.
• Using or copying all or part of this Instruction Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Model
Refer to “How to read the model
plate”, “How to read the model.”
Remarks
Accessories
2
Motor • Encoder Cable*1
3
First Step Guide
4
Instruction Manual
(CD/DVD)
5
Safety Guide
*1 Enclosed motor cable and encoder cable differ depending on the model and the applied controller.
Please refer to [Wiring] for the applicable cables.
2. How to read the model plate
Model
Serial number
MODEL RCP2-RTBS-I-20P-30-330-P1-S-NM
SERIAL No. 800061901
MADE IN JAPAN
3. How to read the model
3.1 RCP2 Type
RCP2-RTBS-I-20P-30-330-P1-S-NM
<Series>
<Type>
RTBS : Small Vertical Type
330-degree Rotation Specification
RTBSL : Small Vertical Type
Multi-Rotation Specification
RTCS : Small Flat Type
330-degree Rotation Specification
RTCSL : Small Flat Type
Multi-Rotation Specification
RTB
: Medium Vertical Type
330-degree Rotation Specification
RTBL : Medium Vertical Type
Multi-Rotation Specification
RTC
: Medium Flat Type
330-degree Rotation Specification
RTCL : Medium Flat Type
Multi-Rotation Specification
RTBB : Large Vertical Type
330-degree Rotation Specification
RTBBL : Large Vertical Type
Multi-Rotation Specification
RTCB : Large Flat Type
330-degree Rotation Specification
RTCBL : Large Flat Type
Multi-Rotation Specification
<Encoder Type>
A : Absolute
I : Incremental
<Motor Type>
12 : Servo-Motor 12W
20 : Servo-Motor 20W
60 : Servo-Motor 60W
150 : Servo-Motor 150W
Rear Cover
Output Shaft
Flange
<Controller>
T1 : XSEL-J/K
T2 : SCON
SSEL
XSEL-P/Q
<Rotation Angle>
300 : 300 degrees
360 : 360 degrees
[Refer to the Catalog or Instruction Manual (CD/DVD) for specification details.]
1.3 Medium Vertical Type, 330-degree Rotation Specification (RCP2-RTB) and Multi-Rotation
Specification (RCP2-RTBL)
1. Handling of the Packed Product
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts (The option is excluded.)
Part Name
Actuator Main Body
<Cable Length>
N
: None
P
: 1m
S
: 3m
M
: 5m
X□□ : Specified Length
(Example: X07=7m)
R□□ : Robot Cable
(Example: R05=5m)
Front Cover
Precautions in Handling
Product Check
No.
1
<Type>
RT6
: Motor Straight Type
RT6R : Motor Reversing Type
RT7R : Motor Reversing Hollowed Shaft Type
RTC8L : Hollowed Small Standard Type
RTC8HL : Hollowed Small High Output Type
RTC10L : Hollowed Medium Type
RTC12L : Hollowed Large Type
<Gear Ratio>
4 : 1/4
15 : 1/15
18 : 1/18
24 : 1/24
30 : 1/30
Actuator Cable
<Option>
L
: Limit Switch
(Standard Equipment)
B
: Brake
NM : Reversed Home
Specification
CE
: CE Marking
<Series>
<Option>
NM : Reversed Home
Specification
SA : Shaft Adapter
TA : Table Adapter
<Cable Length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Specified Length
(Example: X07=7m)
<Applicable Controller>
P1 : PCON
RPCON
PSEL
P3 : PMEC
PSEP
<Encoder Type>
I
: Incremental
<Rotation Angle>
330 : 330 Degrees
(RTBS, RTB, RTBB,
RTCS, RTC, RTCB)
360 : 360 Degrees
(RTBSL, RTBL, RTBBL,
RTCSL, RTCL, RTCBL)
<Motor Type>
20P
: Pulse Motor 20 □Size
28P
: Pulse Motor 28 □Size
35P
: Pulse Motor 35 □Size
<Gear Ratio>
20 : 1/20
30 : 1/30
45 : 1/45
Unless otherwise specified, the actuator is shipped with each axis packaged separately.
• Do not damage or drop. The package is not supplied with any special treatment that enables it to resist
an impact caused by a drop or crash.
• If the shipping box is to be left standing, it should be in a horizontal position. Follow the instruction 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.
Flange
Output Shaft
Front Cover
Rear Cover
2 Handling of Robot without Package
• Do not carry the actuator by holding the cable, or do not move it by pulling the cable.
• When carrying the actuator, exercise caution not to bump it against nearby objects or structures.
• Do not give any excessive force to any of the sections in the actuator.
Installation Environment, Storage Environment
Actuator Cable
Frame
1. Installation Environment
An environment that satisfies the following conditions is required during installation.
• There should be no direct sunlight.
• Any radiant heat from a large heat source such as a heat treatment furnace should not be directed at
the machine main body.
• The ambient temperature should be 0 to 40°C.
• The relative humidity should be 85% or less. There should not be dew condensation.
• There should be no corrosive gas or flammable gas.
• There should be no flammable dust or ignitable liquid in the surroundings.
• Oil mist or cutting liquid should not be directed at the machine.
• Chemical liquid should not be splashed on it.
• An impact or vibration should not be transmitted to it.
• There should be no strong electromagnetic waves, ultraviolet rays or radiation.
• The actuator should not be installed where it gets dipped in liquid.
• The working space required for maintenance or inspection should be secured.
1.4 Medium Flat Type, 330-degree Rotation Specification (RCP2-RTC) and Multi-Rotation
Specification (RCP2-RTCL)
Actuator Cable
Front Cover
Rear Cover
2. Storage and Preservation Environment
The storage and preservation environment should comply with the same standards as those for the
installation environment. In particular, when the machine is to be stored and preserved for a long time,
pay close attention to environmental conditions so that no dew condensation forms.
Unless specially specified, moisture absorbency protection is not included in the package when the
machine is delivered. In the case that the machine is to be stored and preserved in an environment
where dew condensation is anticipated, take the condensation preventive measures from outside of the
entire package, or directly after opening the package.
For storage and preservation temperature, the machine withstands temperatures up to 60°C for a short
time, but in the case of the storage and preservation period of 1 month or more, control the temperature
to 50°C or less.
Storage and preservation should be performed in the horizontal condition.
Names of the Parts
Output Shaft
Frame
Flange
1.5 Large Vertical Type, 330-degree Rotation Specification (RCP2-RTBB) and Multi-Rotation
Specification (RCP2-RTBBL)
1. RCP2
1.1 Small Vertical Type, 330-degree Rotation Specification (RCP2-RTBS) and Multi-Rotation
Specification (RCP2-RTBSL)
Flange
Output Shaft
Rear Cover
Flange
Front Cover
Output Shaft
Rear Cover
Front Cover
[Refer to the Catalog or Instruction Manual (CD/DVD) for specification details.]
Actuator Cable
Actuator Cable
Frame
Frame
1.6 Large Flat Type, 330-degree Rotation Specification (RCP2-RTCB) and Multi-Rotation
Specification (RCP2-RTCBL)
Attachment
Refer to the Instruction Manual (CD) for the attachments of the actuator and loads.
[Precautions for Attachments]
Actuator Cable
Front Cover
No.
Rear Cover
Item
Flange
Attachment Surface
• The actuator mounting surface and other surfaces that are used as a
datum should be flat enough with an accuracy of machining or
equivalent treatment, and the flatness of the mounting surface needs to
be ±0.05mm/m or less.
• Secure the space where maintenance work can be performed.
2
Bolts to be used
• For the bolts to be used, a high-tensile bolt complying with ISO-10.9 or
more is recommended.
• If using the tapped holes, use screws with the thread length dimension
being less than the effective depth of the holes.
• In case the tapped hole is a through hole, be careful so the screw tip
does not exceed the surface of the tapped hole.
• For the actuator mounting, use a bolt with the dimension of its effective
mating length to the tapped hole size as stated below.
If tapped hole in steel → thread length same as nominal diameter
If tapped hole in aluminum → thread length 2 times longer than nominal
diameter
2. RCS2
2.1 Rotary Type
2.1.1 Motor Straight Type (RCS2-RT6)
Frame
Driving Shaft
Motor Cover
End Cover
3
4
Motor Bracket
Precautions
1
Frame
Output Shaft
Tightening Torque
Moment of Inertia
Load Moment
Thrust Load
• Please follow the specification values stated in the Instruction Manual
(CD) for the tightening torque.
Failure to do so may cause an operation problem.
r
r
Dedicated Controller
PCON
PSEL
Dedicated Connection Cable
• Motor Cable (Robot Cable) CB-RCP2-MA***
• Encoder Cable CB-RCP2-PB***/Encoder Cable Robot Cable
*** shows the cable length.
The max. length should be 20m.
Example) 080=8m
For the controller, only the dedicated controller manufactured by our company can be used.
Use the dedicated cable enclosed in the package when connecting the actuator and the
controller.
[Connection to the PMEC, PSEP Controller]
Dedicated Connection Cable
(Connect RCP2 with the dedicated controller)
2. RCS2
The drawing below is that of Rotary Type as an example.
[Connection to the SCON, SSEL Controller]
RCS2
Pulley Cover
Motor Cover
r
r
Flange
Dedicated Controller
PCON
PSEL
Robot Cable
r = 54mm or more (Movable Use)
Standard Cable
r = 75mm or more (Fixed Use)
Apply a robot cable for moveable area.
Dedicated Connection Cable
• Motor Cable (Robot Cable) CB-RCP2-MA***
• Encoder Cable CB-RCP2-PB***/Encoder Cable Robot Cable
*** shows the cable length.
The max. length should be 20m.
Example) 080=8m
Driving Shaft
Frame
CB-RCP2-PB***-RB
[Connection to the PMEC, PSEP Controller]
Pulley Cover
Dedicated Connection Cable
(Connect RCS2 with the dedicated controller)
r
r
2.1.3 Motor Reversing Hollowed Shaft Type (RCS2-RT7R)
Actuator Cable
r = 84mm or more (Movable Use)
r = 42mm or more (Fixed Use)
Dedicated Controller
PMEC
PSEP
Dedicated Connection Cable
• Motor Cable (Robot Cable) CB-PSEP-MPA***
*** shows the cable length.
The max. length should be 10m.
Example) 080=8m
Dedicated Connection Cable
(Connect RCP2 with the dedicated controller)
Frame
CB-RCP2-PB***-RB
Wiring
1. RCP2
1.1 Small Vertical Type (RCP2-RTBS, RCP2-RTBSL)
Small Flat Type (RCP2-RTCS, RCP2-RTCSL)
[Connection to the PCON, PSEL Controller]
Driving Shaft
Robot Cable
r = 54mm or more (Movable Use)
Standard Cable
r = 75mm or more (Fixed Use)
Apply a robot cable for moveable area.
r
Actuator Cable
Flange
Motor Cover
Dedicated Connection Cable
(Connect RCP2 with the dedicated controller)
• Please follow the specified values stated in the Instruction Manual (CD)
for the moment of inertia, load moment and thrust load. Failure to do so
may not only cause vibration and abnormal noise, but it may also
shorten the product life extraordinarily.
2.1.2 Motor Reversing Type (RCS2-RT6R)
Actuator Cable
1.2 Medium Vertical Type (RCP2-RTB, RCP2-RTBL)
Medium Flat Type (RCP2-RTC, RCP2-RTCL)
Large Vertical Type (RCP2-RTBB, RCP2-RTBBL)
Large Flat Type (RCP2-RTCB, RCP2-RTCBL)
[Connection to the PCON, PSEL Controller]
Dedicated Controller
SCON
SSEL
Robot Cable
r = 58mm or more (Movable Use)
Standard Cable
r = 93mm or more (Fixed Use)
Apply a robot cable for moveable area.
Dedicated Connection Cable
• Motor Cable CB-RCC-MA***/Motor Cable Robot Cable CB-RCC-MA***-RB
• Encoder Cable CB-RCS2-PLA***/Encoder Cable Robot Cable CB-X2-PLA***
*** shows the cable length.
The max. length should be 30m.
Example) 080=8m
[Connection to the X-SEL Controller]
RCS2
2.2 Hollowed Rotary Type
Dedicated Connection Cable
(Connect RCS2 with the dedicated controller)
Dedicated Connection Cable
(Connect RCP2 with the dedicated controller)
r
r
Cylinder
r
Output Shaft
Front Cover
Rear Cover
Dedicated Controller
PMEC
PSEP
Frame
Actuator Cable
Refer to the Catalog or Instruction Manual (CD) for the dimensioned drawing and the
detailed appearance drawing.
Dedicated Connection Cable CB-RPSEP-MPA***
*** shows the cable length.
The max. length should be 10m.
Example) 080=8m
r = 68mm or more (Movable Use)
r = 34mm or more (Fixed Use)
Dedicated Controller
X-SEL
Robot Cable
r = 58mm or more (Movable Use)
Standard Cable
r = 93mm or more (Fixed Use)
Apply a robot cable for moveable area.
Dedicated Connection Cable
• Motor Cable CB-RCC-MA***/Motor Cable Robot Cable CB-RCC-MA***-RB
• Encoder Cable for XSEL-J/K Type CB-RCBC-PA***
/ Encoder Cable Robot Cable for XSEL-J/K Type CB-RCBC-PA***-RB
• Encoder Cable for XSEL-P/Q Type CB-RCS2-PLA***
/ Encoder Cable Robot Cable for XSEL-P/Q Type CB-X2-PLA***
*** shows the cable length.
The max. length should be 15m. The max. length for other cables is 20m.
Example) 080=8m
(Note) Hollowed Rotary cannot be operated with a XSEL-J/K controller.
[Prohibited Items in the Cable Processing]
•
•
•
•
•
Take care of the following items using the cable carrier.
Arrange the wiring so that there is no entanglement or kink of the cables in the cable
carrier or flexible tube, and do not bind the cables so that the cables are relatively free.
(Do not bend it at an angle of 90° or less)
•
The cable track capacity for cables to put in should be 60% or less to prevent cables
from breaking. (Cable heat is not considered.)
Do not pull or bend forcibly the cable so as not to give any extra load or tension to the
cable.
Do not process the cable for extension or shortening by means of cutting out,
combination or connecting with another cable.
Do not let the cable flex at a single point.
Steel Strap
(Piano Wire)
Tie them up softly.
•
Cable Track
Do not let the cable bend, kink or twist.
Cable
Note:
• When the cable is connected or disconnected, make sure to turn off the power to the controller.
When the cable is connected or disconnected with the controller power turned ON, it might cause a
malfunction of the actuator and result in a serious injury or damage to the machinery.
• When the connector connection is not correct, it would be dangerous because of a malfunction of
the actuator. Make sure to confirm that the connector is connected correctly.
•
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.
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/
•
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 line, communication line and power line from each other.
Arrange so that such lines are independently routed in the duct.
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
Power Line
Duct
I/O Line
(Flat Cable, etc.)
Manual No.: ME3699-3A
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement