RCP3-RCA2_Slider-Table_Types_Operation_5thEd(ME3664

RCP3-RCA2_Slider-Table_Types_Operation_5thEd(ME3664
ROBO Cylinder
Slider/Table type
RCP3/RCA2 Actuator
Slider types
Table types
Reverse (slider) types
Reverse (table) types
: SA3C・SA4C・SA5C・SA6C
: TA5C・TA6C・TA7C
: SA3R・SA4R・SA5R・SA6R
: TA5R・TA6R・TA7R
Operating Manual
Fifth Edition
IAI America, Inc.
Safety Precautions (Please read before using this device.)
For the sake of correct usage, carefully read this operation manual and the operation manuals for all
equipment connected to this product and peripheral devices as well as related documents before
installing, running, maintaining, or inspecting this product. Also, have all this work performed by personnel
with adequate knowledge of equipment and safety. The precaution items shown below are for the sake of
safe use of this product and for the sake of preventing any harm to persons or damage to property.
In this operating manual, safety precautions are classified as “Danger,” “Warning,” “Caution” and
“Note,” according to the degree of risk.
Danger
This covers a situation in which mishandling represents an imminent danger of
death or severe injury.
Warning
This covers a situation in which mishandling could possibly result in death or
severe injury.
Caution
This covers a situation in which mishandling could possibly result in injury or
material damage.
Note
This does not indicate a possibility of harm, but rather an item to be followed for
the sake of appropriate use of the product.
It should be noted that the instructions under the Caution and
Note headings may also lead to
serious consequences, if unheeded, depending on the situation.
All instructions contained herein provide vital information for ensuring safety. Please read the contents
carefully and handle the product with due caution.
Please keep this operating manual in a convenient place for quick reference whenever needed, and also
make sure that the manual will get to the end-user.
Danger
General
 Do not use this product for the following applications:
1. Medical equipment used to maintain, regulate, or otherwise affect human life or physical health
2. Mechanisms and machinery designed for the purpose of moving or transporting people
3. Key safety parts of machinery
This product is not intended or designed for applications requiring high levels of safety. We make no
warranty as to its safety toward human life. Furthermore, the warranty covers only the product as it is
delivered.
Installation
 Do not use this product in a place exposed to ignitable, inflammable or explosive substances. The
product may ignite, catch fire, or explode.
 When installing this product, always maintain and fasten securely (including the work pieces). Failure
to do so may cause the product to tip over, fall, or malfunction, resulting in injury.
 Avoid using the product in a place where the main unit or controller may come in contact with water or
oil droplets.
 Never cut and/or reconnect the cables supplied with the product for the purpose of extending or
shortening the cable length. Doing so may result in fire.
Operation
 Do not enter the machine’s range of operation while the product is operating or standing by. The
actuator may move suddenly, causing injury.
 Do not pour water onto the product. Spraying water over the product, washing it with water or using it
underwater may cause the product to malfunction, resulting in injury, electric shock, fire, etc.
Maintenance, Inspection, Repair
 Never modify the product, as it may cause the product to malfunction, resulting in injury, electric shock,
fire, etc.
 Do not attempt to disassemble and reassemble the main structural or functional components of the
product, as doing so may result in injury, electric shock, fire, etc.
Warning
General
 Do not use the product outside the specifications. Using the product outside the specifications may
cause it to fail, stop functioning or sustain damage. It may also significantly reduce the service life of
the product. In particular, please observe the maximum loading capacity and speed.
Installation
 In case the machine should stop in due to a system problem such as an emergency shutdown or
power failure, design a safety circuit or other device that will prevent damage to equipment and injury.
 Be sure to provide Class D grounding for the controller and actuator (formerly Class 3 grounding:
Grounding resistance at 100 Ω or less). A current leak due to inadequate grounding could cause
electrical shock and malfunction.
 Before supplying power to and operating the product, always check the operation area of the
equipment to ensure safety. Supplying power to the product carelessly may cause electric shock or
injury due to contact with the moving parts.
 Wire the product correctly by referring to the operation manual. Securely connect the cables and
connectors so that they will not be disconnected or come loose. Failure to do so may result in product
malfunction or fire.
Operation
 Before operating the moving parts of the product by hand (for the purpose of manual positioning, etc.),
confirm that the servo is turned off (using the teaching pendant). Failure to do so may result in injury.
 Do not scratch the cables. Scratching, forcibly bending, pulling, winding, pinching, or placing a cable
under a heavy object may cause it to leak current or lose continuity, resulting in fire, electric shock,
malfunction, etc.
 Turn off the power to the product in the event of power failure, as sudden movement when power is
restored may result in injury or product damage.
 If the product is generating abnormal heat, smoke, or a strange smell, turn off the power immediately.
Continuing to use the product may result in product damage or fire.
 If noise or abnormally high vibration is detected, stop the operation immediately. Continuing to use in
these circumstances may result in damage to the product and cause it to malfunction, run out of
control, etc.
 If any of the product’s protective functions (alarms) have triggered, turn off the power immediately.
Continuing to use the product may result in injury due to product malfunction, or cause product
breakdown or damage. After the power has been cut off, identify and remove the cause of the problem,
and then reconnect the power.
 Do not get on top of the product, use it to support footing, or place any object on it. You may slip and
fall or the product may tip over or fall, resulting in injury. The product may sustain damage or break
down, and thus malfunction, run out of control, etc. as a result.
Maintenance, Inspection, Repair
 Before commencing maintenance, inspection, servicing, replacement or any other work on the product,
be sure to completely cut off the power supply to the product. Also, please follow the following
precautions:
1. Post a sign saying “SERVICING IN PROGRESS. DO NOT TURN ON POWER” or other warning
statement to that effect in order to prevent a bystander from accidentally turning on the power.
2. If multiple operators work together to perform maintenance or inspection work, the operators
should always verify verbally with one another to ensure safety before turning on/off the power
or moving any axis.
Disposal
 Do not throw the product into flames. The product may explode or give off toxic gases.
Caution
Installation
 Do not use the product in direct sunlight (ultraviolet rays), dusty areas, areas where air contains salt or
iron powder, humid areas, or any area where the product may come in contact with organic solvents,
hydraulic oil containing phosphate ester, etc. If used in such an environment, the product may quickly
lose functionality, suffer rapid performance deterioration, or undergo a reduction in service life.
 Do not use the product in an environment where it may come in contact with corrosive gases (sulfuric
acid, hydrochloric acid, etc). The product may be weakened by corrosion.
 Provide sufficient shielding measures if the product is used in any of the following environments. If
proper measures are not taken, the product may malfunction where:
1. Heavy electric currents or strong magnetic fields are present
2. Arc discharge occurs due to welding work, etc.
3. Electrostatic or other noise is present
4. Product may be exposed to radiation
 Do not install in any locations where strong vibrations or mechanical shock is transmitted (4.9 m/S2 or
higher). Transmission of strong vibrations or mechanical shock can cause malfunction.
 Provide an emergency stop device in an easily accessible position so the device can be immediately
deactivated should danger occur during operation. Failure to do so may result in injury.
 Provide sufficient maintenance space when installing the product. If sufficient space is not available,
daily inspection, maintenance and other necessary work cannot be carried out, resulting in equipment
breakdown or product damage.
 When transporting or installing the product, support the product using a lift or suspension equipment or
carry it with multiple operators working together, and exercise due caution to ensure safety.
 When installing the product, do not hold the moving parts or cables of the product. Doing so may result
in injury.
 Use IAI’s genuine cables to connect the actuator and controller. Also use IAI’s genuine components for
the actuator, controller, teaching pendant, etc.
 The brake mechanism is designed to prevent the slider from falling when power is turned off if the
actuator is installed vertically. Do not use the brake mechanism as a safety brake.
 When installing, adjusting or carrying out any other work on the actuator, post a sign saying
“SERVICING IN PROGRESS. DO NOT TURN ON POWER” or other warning statement to that effect,
to prevent the product from being powered on accidentally. If the power is turned on accidentally, injury
may result due to electric shock or sudden movement of the actuator.
Operation
 Turn on the power to individual equipment one by one, starting from the equipment at the highest level
in the system hierarchy. Failure to do so may cause the product to start suddenly, resulting in injury or
product damage.
 Do not insert fingers or objects in product openings, as it may cause fire, electric shock or injury.
 Do not get on top of the product, use it to support footing, or place any object on it. Doing so may
cause scoring, dents, or deformation of the driving parts, resulting in product damage, unintended
stopping due to damage, or deterioration in performance.
Maintenance, Inspection, Repair
 Wear protective goggles when applying grease to the actuator. Grease may splatter into eye, causing
irritation.
Note
Installation
Do not carry an actuator by a cable or attempt to move it by pulling the cable. Always hold by the base.
When disconnecting the connector from the actuator, always pull the plug straight out while holding the
lock release button.
Lock release button
 If the product is used in a vertical setup, be sure to use the vertical specification (with brake).
 Protective covers or other guards must be provided for the moving parts of the equipment to avoid
direct contact with the operators.
 Do not configure a control circuit in a way that will cause the work to fall in case of power failure.
Configure a control circuit that will prevent the table or work from falling in case of power failure or
emergency shutoff.
 The following conditions must be met to ensure the straightest table movement and smooth movement
of the ball screws and linear guides:
1. Flatness of the mounting surface must be within 0.05 mm.
2. The mounting surface area must be large enough to ensure the rigidity of the actuator.
Installation, Operation, Maintenance
 When handling the product, wear protective gloves, protective goggles, safety shoes or other
necessary gear to ensure safety.
Maintenance, Inspection, Repair
 When performing maintenance, apply the specified grease to the guides and ball screws. Pay special
attention not to let fluoride grease mix with lithium grease, as this may be result in damage to the
machine due to poor lubrication, increased resistance, etc.
Disposal
 When product is no longer usable or necessary, dispose of it properly as an industrial waste.
Others
 "Safety precautions" IAI shall not be liable whatsoever for any loss or damage arising from failure to
observe the items specified in “Safety Precautions”.
MEMO
Cautions and Prohibited Uses of Cables
When designing an application system using IAI’s actuators and controllers, incorrect wiring or connection
of any cable may cause unexpected problems such as disconnection or poor contact, and possibly even
the system running out of control. This section explains prohibited uses of cables. Read the information
carefully to ensure proper connection of the cables.
1.
Do not let cable bend acutely at a single point.
Steel band
(piano wire)
Bundle loosely.
2.
Do not let cable fold, kink or twist.
3.
Do not pull cable forcefully.
4.
Do not let cable rotate at a single point.
5.
Fasten cables appropriately and do not tighten
them excessively.
Use a curly
cable.
6.
Do not pinch, drop a heavy object onto or cut
cable.
Do not use a spiral tube where
the cable flexes frequently.
7.
Notes on using cable bearers
Bending radius (r)
 Use a cable bearer with a bending
radius (r) of 84 mm or greater.
 Do not let the cable get tangled or kinked in a cable bearer or flexible tube. When bundling the cable,
keep a certain degree of flexibility (so that the cable will not become too taut when bent).
 Do not cause the cables to occupy more than
60% of the space in the cable bearer.
 Do not lay signal lines together with circuit lines
that create a strong electric field.
Cable bearer
Power line
Cable
Signal lines (flat cable)
Duct
Table of Contents
1. Preface
1
2. Summary
1
3. Safety cautions
1
3.1 Basic Operating Instructions
1
3.2 Maintenance and Inspection
1
4. Warranty
2
4.1 Warranty Period
2
4.2 Scope of Warranty
2
5. Part Names
3
6. Transport and Handling
5
6.1 Handling a Single Actuator
5
6.1.1 Handling the Packed Unit
5
6.1.2 Handling the Actuator After Unpacking
5
6.2 Handling the Actuator Assembly
6
6.2.1 Shipping from IAI Already Assembled
6
6.2.2 Handling After Assembly With Peripheral Equipment
6
7. Operating and Storage Environment
7
7.1 Where to Install
7
7.2 Where to Store
7
8. Installation
8
8.1 Installation of Main Unit
8
8.2 Installation Surface
9
8.3 Fastening Screws
10
8.4 T Grooves
10
8.5 Installation of Transportation Equipment
11
9. Connecting with Controller
13
10. Usage Precautions
14
10.1 Placing a Load on the Actuator
14
10.2 Adjusting the Home Position
18
10.3 Changing the Home Position Direction
18
10.4 Stainless Sheet Section (Slider Type)
11. Choosing the Right Model
19
20
11.1 Choosing an RCP3/RCA2 Slider Type (or Reverse Slider Type)
20
11.2 Choosing an RCP3 Slider Type (or Reverse Slider Type) - Pressure
23
11.3 Choosing an RCP3/RCA2 Table Type (or Reverse Table Type)
24
11.4 Choosing an RCP3 Table Type (or Reverse Table Type) - Pressure
30
12. Maintenance Inspections
32
12.1 Inspection Items and Timing
32
12.2 External Visual Inspection
32
12.3 Cleaning
32
12.4 Internal Inspections
33
12.5 Belt
34
12.6 Internal Cleaning
35
12.7 Greasing the Guides
35
12.8 Stainless Sheet Replacement
38
12.9 Motor Replacement (Pulse Motor: RCP3)
40
12.10 Motor Replacement (AC Servo Motor: RCA2)
42
12.11 Belt and Motor Replacement for Reverse Type (Pulse Motor: RCP3)
46
12.12 Belt and Motor Replacement for Reverse Type (AC Servo Motor: RCA2)
49
13. Specifications
53
13.1 Actuator Main Unit
53
13.2 Cable Diagrams
55
13.3 External Dimension Diagrams
57
Appendix: Using the Home Position Marks
96
1.
Preface
Thank you for purchasing an IAI product.
This manual explains the structure, correct operation and maintenance of the actuator.
For the sake of correct handling, please read this operation manual carefully before using this actuator.
Please store this document carefully and review relevant items as the need arises.
In order to understand operation, please read this document together with the controller operations
manual.
2.
Summary
This actuator has two types of drive source: AC servo motor (RCA2) or pulse motor (RCP3). This allows
you to select the model that best suits your application.
The slider type standard model has a side cover and a stainless sheet. Optionally, it is available without a
side cover or stainless sheet.
The table type standard model uses a ball screw cover.
This prevents foreign matter from entering the device.
3.
Safety Precautions
3.1
Basic Operating Instructions
• Please do not attempt to use or operate the actuator in any manner not indicated in this manual or the
controller manual.
• Please be sure to use only genuine IAI cables to connect the actuator and controller.
• When unit is in operation or when the power is ON, please do not allow people within the moving range
of the unit as this may be dangerous.
3.2
•
•
•
•
Maintenance and Inspection
When completing maintenance and inspection work, always shut down the controller power first.
During inspection, make sure that no one can inadvertently turn the power ON.
During maintenance, make sure that a sign indicating servicing in progress is clearly visible.
If several technicians are working, be sure to watch out for each other's safety. In particular, check
before turning power ON or OFF and let others know verbally if you are doing work involving axis
movement.
(Note)
• The contents of this manual are subject to change without notice for the purpose of improvement.
• Every effort has been made to ensure the accuracy and clarity of the contents of this manual. However,
in case any mistake or issue should come to your attention, please contact us.
1
4.
Warranty
4.1
Warranty Period
The warranty period shall be the soonest ending of the following:
• 18 months after shipment from IAI
• 12 months after delivery to a specified location
• 2500 hours of operation time
4.2
Scope of Warranty
If a breakdown occurs within the period specified above and is due to the manufacturer's error, we will
repair the unit at no cost. However, the following items are not covered by this warranty.
• Faded paint or other changes that occur naturally over time.
• Consumable components that wear out with use.
• Unit is noisy, or similar perceptions unrelated to machinery performance.
• Damage resulting from improper handling by the user or lack of proper maintenance.
• Any alterations made by other than IAI or its representatives.
• Breakdowns caused by using controllers made by other manufacturers.
• Any damages caused by fire or other natural disasters or accidents.
The warranty pertains to the purchased product itself and does not cover any consequential damages that
might arise from a breakdown of the supplied product.
Any repairs will be completed at the IAI factory.
Even if the product is still covered under the warranty period, we will assess an additional charge for
sending technicians to the customer's site.
2
5.
Part Names
The names of the actuator parts are indicated below.
In this manual, the right and left are determined by viewing the actuator from the top and from the motor
side.
Also, the front side means the side opposite from the motor.
● "Slider types":
RCP3-SA3C/SA4C/SA5C/SA6C (pulse motor)
RCA2-SA3C/SA4C/SA5C/SA6C (servo motor)
Slider cover
Side cover
Stainless sheet
Right Side
Other side
Motor side
Left Side
Motor unit
Slider
● "Reverse (slider) types":
Connector
RCP3-SA3R/SA4R/SA5R/SA6R (pulse motor)
RCA2-SA3R/SA4R/SA5R/SA6R (AC servo motor)
3
● "Table types":
RCP3-TA5C/TA6C/TA7C
RCA2-TA5C/TA6C/TA7C
Ball screw cover
Right Side
Other side
Motor side
Front plate
Left Side
Table
Connector
Motor unit
● "Reverse (table) types":
RCP3-TA5R/TA6R/TA7R (pulse motor)
RCA2-TA5R/TA6R/TA7R (AC servo motor)
Front plate
Other side
Right Side
Table
Ball screw cover
Reversal bracket
Left Side
Connector
Motor unit
Caution : When the table has moved away from its starting position, there is a gap between the
table and the motor unit. Keep hands clear of gap.
4
Motor side
6.
Transport and Handling
6.1
Handling a Single Actuator
Please adhere to the following when handling a single actuator.
6.1.1
Handling the Packed Unit
Unless otherwise specified, single-axis actuators are shipped in individual packaging.
Please handle packages carefully during transport to ensure that product is not damaged by bumping or
dropping.
• Never attempt to move heavy packages by yourself.
• Always set packages down on a level surface.
• Never climb on top of packages.
• Never place heavy objects or objects where weight is concentrated in one place on top of
packages, as this may cause deformation.
6.1.2
Handling the Actuator After Unpacking
Do not carry an actuator by a cable or attempt to move it by pulling the cable.
When unpacking the actuator and handling it thereafter, always hold it by the base.
Never hold an actuator by the stainless sheet.
• Be careful not to bump the actuator into anything when moving it, paying particular care to the
side covers.
• Do not attempt to force any part of the actuator. Take particular care not to force the stainless
sheet.
Caution: Never hold the actuator by the stainless sheet.
Supplement) For the names of each part of the actuator, see “5. Part Names”.
5
6.2
Handling the Actuator Assembly
Please pay attention to the following when moving actuator axes after assembly.
6.2.1
Shipping from IAI Already Assembled
After assembly at IAI, your actuators undergo a shipping inspection, are placed into a crate with skids, and
finally shipped.
The actuators are packaged with the slider securely fastened in place to prevent movement during
shipping. Combined units have the ends of their actuators fastened so as to prevent them from moving
around during shipping.
•
•
•
The crate is not designed to withstand dropping or collision. Please handle it carefully. It is also
not built to have items stacked on it, so please avoid placing heavy objects on top of the crate.
When lifting the package using ropes or the like, be sure to attach the ropes to the reinforcement
frames under the skids. The same applies for lifting the item with a forklift; please ensure that the
forklift goes under the skids.
When setting the object down, do not let it hit the ground forcefully or bounce.
After unpacking the unit, please follow the instructions in the next section.
6.2.2
Handling After Assembly With Peripheral Equipment
Please adhere to the following instructions when handling the assembled unit, whether it was
shipped pre-assembled at IAI or assembled on your site.
•
•
•
•
•
•
•
6
Always secure the slider section so that it does not move when you transport the device.
If the end of the actuator is protruding, fasten it down so that it does not move when you
transport the device.
When transporting the device without the actuators fastened, do not subject the assembly to
a shock greater that 0.3 G.
When using ropes or the like to lift an assembly consisting of an actuator and peripheral
equipment, be sure that the rope does not touch the actuator itself.
Make sure the ropes support the actuator directly by its base, using appropriate cushioning
materials to protect against damage.
Lift the end of the Y-axis with a separate rope, ensuring that the product remains level, while
simultaneously ensuring that weight is not placed on the screw cover.
Take care to ensure that weight is not placed on brackets, covers, or the connector box.
Please also ensure that cables are not pinched or bent excessively.
7.
Operating and Storage Environment
7.1
Where to Install
Please be sure installation environment meets the following conditions.
• Is not in direct sunlight.
• Does not expose the machine to radiant heat from heat treatment ovens or large heat sources.
• Is at an ambient temperature between 0-40° C.
• Is at a humidity of 85% or less, and is not subject to condensation.
• Does not contain corrosive gas or combustible gas.
• Is similar to the environment where the machine will be used, and contains minimal dust.
• Does not expose the machine to oil mist or liquids used in wet cutting.
• Is not subject to shock or vibration.
• Does not contain powerful electromagnetic waves, ultraviolet rays, or radiation.
• Is safe for a machine which was not designed to withstand chemicals.
In general, an operator should be able to work in this environment without protective gear.
Open space required for maintenance inspection (both slider and table types)
250 mm
7.2
Where to Store
The storage environment should be similar to the operating environment, but also be sure to avoid areas
where condensation may take place if you expect to store it for a long period of time.
Unless specifically requested to do so by our customers, we do not pack the unit with any moisture
absorbing agents when we ship it. If you plan to store it in an environment where it may be subject to
condensation, either treat the entire crate to prevent condensation, or unpack the device and treat it
directly.
For short periods of time, the unit can withstand storage at 60° C, but do not store at a temperature above
50° C for longer than one month.
7
8
Installation
Install the main unit only on a machined surface, or other a surface that is highly flat.
8.1
Installation of the Main Unit
This actuator contains installation tap holes which allow it to be secured from the rear.
(Note that tap hole size depends on model. Please see diagrams below and package dimensions.)
The actuator also contains reamer holes for use with positioning pins.
Slider type
Table type
Model
Hole size and maximum threading depth (mm)
A (mm)
Reamer hole (mm)
SA3
M3 D5
17
depth 4 from base φ2
SA4
M3 D5
21
depth 5 from base φ 2.5
SA5
M4 D7
26
depth 5 from base φ 2.5
SA6
M5 D8
31
Depth 5 from base φ 3
TA5
M5 D10
45
depth 5 from base φ 5
TA6
M5 D10
55
depth 5 from base φ 5
TA7
M6 D12
64
depth 6 from base φ 6
Note)
Select bolt length carefully. Using the wrong bolt can damage tap holes, result in insecure installation
of actuator, interfere with the operation of the drive section, reduce the precision of the device, and
cause unexpected accidents.
8
8.2
Installation Surface
•
•
•
•
•
Mount on a strong, rigid structure to prevent vibration.
Install the main unit only on a machined surface, or other surface that is highly flat, within ±0.05
mm/m.
Provide adequate space around the device to allow for future maintenance.
The orientation of the slider or table will be primarily determined by the positions of the actuator
base and the bottom of the device.
When it is necessary that the slider or table move in a highly precise fashion, please ensure that
the device is installed at an orientation that is based on the position of these surfaces.
Reference
surface
Reference
surface
Reference
surface
Slider type
Table type
Caution: Because the direction of the slider’s motion is based on the position of the base side,
please conduct installation based on the position of this side when precision is required.
Please follow the diagram below when mounting the device by the base side.
Model
Length of A (mm)
Slider type
2-4 or less
Table type
9
8.3
Fastening Screws
•
•
Use Allen bolts to install the base.
We recommend using high-strength bolts conforming to ISO-10.9 standards or higher.
Recommended tightening torques are as follows.
Model
Screw
Diameter
Tightening torque
On steel surface
On aluminum surface
SA3
M3
1.54 N·m (0.16 Kgf·m)
0.83 N·m (0.085 Kgf·m)
SA4
M3
1.54 N·m (0.16 Kgf·m)
0.83 N·m (0.085 Kgf·m)
SA5
M4
3.59 N·m (0.37 Kgf·m)
1.76 N·m (0.18 Kgf·m)
SA6, TA5/6
M5
7.27 N·m (0.74 Kgf·m)
3.42 N·m (0.35 Kgf·m)
TA7
M6
12.34 N·m (1.26 Kgf·m)
5.36 N·m (0.55 Kgf·m)
8.4
T Grooves
The main unit surface side of the table type contains T grooves (M3 size) for attaching peripheral devices.
These grooves are to be used for whatever needs may arise, such as installing sensors, fastening wiring,
etc.
T groove measurements are shown below.
10
8.5
Installation of Transportation Equipment
“Slider type”
• Please attach transportation equipment to the device using the tap holes in the slider.
• The process for attaching these to the main unit is similar to the installation process of the main
unit. Use of high-strength bolts conforming to ISO-10.9 standard or higher is recommended for
attaching. The chart below shows the recommended torque.
• There are two reamer holes on the slider, so if you need to be able to secure and detach the
equipment multiple times, please use these holes. Also, if you require precision in your
attachment, such as a right angle, use one of the reamer holes to make fine adjustments.
*
When using reamer holes, we recommend using an H7 pin. Also, do not force the pin
into the hole. Instead, press it gently in until it fits.
• For exact thread depth and reamer hole depth, please see the table below.
Do not screw in pins deeper than indicated in the table below, as this can damage the tap holes, resulting
in insecure installation of transportation equipment, reduced precision of device, and possible accidents.
Model
A
B
C
D
E
SA3C
17
11
17
φ2 H7 D5
SA4C
20
14
21
SA5C
26
14
SA6C
31
15
Installation Bolts
Bolt Size
Torque
M3 D6
M3
0.83 N·m
(0.085 Kgf·m)
φ2.5 H7 D5
M3 D6
M3
0.83 N·m
(0.085 Kgf·m)
22
φ2.5 H7 D5
M4 D8
M4
1.76 N·m
(0.18 Kgf·m)
25
Φ3 H7 D5
M5 D10
M5
3.42 N·m
(0.35 Kgf·m)
11
“Table type”
• There are tap holes in the front plate of the table type. Please use these to secure transportation
equipment.
• There are also tap holes and reamer holes in the top surface of the table. Please use these to
secure transportation equipment.
• There are two reamer holes on the slider, so if you need to be able to secure and detach the
equipment multiple times, please use these holes. Also, if you require precision in your
attachment, such as a right angle, use one of the reamer holes to make fine adjustments.
• The process for attaching these to the main unit is similar to the installation process of the main
unit. The attaching bolts and torque required are also similar. (See 8.3)
• For exact thread depth please see the table below.
• Do not screw in pins deeper than indicated in the table below, as this can interfere with internal
parts and damage the actuator.
12
Model
A
B
C
D
TA5C
29
6.5
14
M6 D10
TA6C
35
7
18
M6 D13
TA7C
44
6.5
21.5
M8 D15
9
Connecting with Controller
Both for the controller itself and for the connecting cable between the controller and actuator
(RCP3/RCA2), use a dedicated IAI controller and dedicated connecting cable.
This section explains the wiring method for a single axis.
•
•
•
When it is not possible to secure the dedicated connection cable, take necessary precautions
to minimize the load on the dedicated connection cable. Either allow the cable enough slack
so that it sags, or use large-diameter wire, such as freestanding cable hose or a similar
product.
Never cut and reconnect the connection cable to make it longer or shorter.
Do not pull on the dedicated connection cable or bend it forcibly.
Please consult with IAI if you require a different kind of cable than the one supplied.
Dedicated connection cable
(connects controller and RCP3/RCA2)
RCP3/RCA2-xx
r=84 mm min. (unfastened)
r=42 mm min. (fastened)
Dedicated controller
Dedicated connection cable
• Pulse motor cable: CB-PCS-MPA***
• Servo motor cable: CB-ACS-MPA***
Note) Asterisks (***) indicate cable length
010: 1,000 mm
030: 3,000 mm
050: 5,000 mm
13
10
Usage Precautions
10.1
Placing a Load on the Actuator
• Do not exceed the load ratings given in the specification table below.
Be careful not to exceed the load moment, extension load length, and maximum movable load for
the particular slider or table device.
(See diagram below.)
•
Maximum load moment
Units: N·m (kgf·m)
Ma
Mb
Mc
SA3
1.96 (0.2)
2.84 (0.29)
3.14 (0.32)
SA4
3.04 (0.31)
4.31 (0.44)
5.00 (0.51)
SA5
3.92 (0.40)
5.58 (0.57)
8.53 (0.87)
SA6
4.31 (0.44)
6.17 (0.63)
10.98 (1.12)
TA5
6.57 (0.67)
9.32 (0.95)
14.32 (1.46)
TA6
7.26 (0.74)
10.3 (1.05)
18.25 (1.86)
TA7
9.91 (1.01)
14.13 (1.44)
28.65 (2.92)
Make sure that the load on the table front plate does not exceed the moment Ma if operating a slider
type.
When calculating the load moment, see [10.1.1 Positioning the guide to calculate the load moment]
below.
Load moment orientation
"Slider type"
14
"Table type"
Extension load orientation
Mb, Mc orientation
Ma orientation
15
10.1.1
Positioning the guide to calculate the load moment
When calculating the load moment, please take the following operating positions into account.
Please note that extension length may vary depending on the stroke of a particular table type.
“Slider type”
“Table type”
Ma, Mc moment
Offset base position
Ma moment operation position
Model
SA3
SA4
SA5
SA6
TA5
TA6
TA7
A (mm)
29.5
36.5
43.5
47
34.5
37
42
(Note)
Excessive load moments may reduce the service life of the guide. Also, exceeding the extension load
length may cause vibration as well as reduce the service life of the guide.
16
10.1.2
Thrust direction external force
For both slider and table types, be careful not to subject the actuator to external force or mechanical
shock in the thrust direction in excess of allowable capacity.
Subjecting the actuator to levels of external force or mechanical shock above the allowable capacity
may damage or destroy internal components.
Thrust direction external force capacity
Units: N (kgf)
SA3
50 (5.1)
SA4
160 (16.3)
SA5
220 (22.4)
SA6
220 (22.4)
TA5
160 (16.3)
TA6
220 (22.4)
TA7
220 (22.4)
"Slider type"
Thrust direction
"Table type"
Thrust direction
17
10.2
Adjusting the Home Position
The actuator home position can be adjusted by changing parameter *1. In order to make
adjustments, please do the following.
① Verify the home position by performing a home return operation.
② Move the actuator to the desired position, verify the distance between the old and new positions,
and adjust the parameter accordingly. The parameter can be set to a positive value in the
direction of movement. (It cannot be set to a negative value.)
③ Increasing the offset amount restricts the movement range by the amount of the increase. If you
set an offset greater than 1 mm, please reset the stroke soft limit.
*1 ACON, PCON controller:
No. 22, home return offset distance
ASEL, PSEL controller:
Parameter No. 12 for each axis, preset home position value
10.3
Changing the Home Position Direction
To change the home position direction after delivery, it is necessary to change the movement
direction parameter. Please contact with IAI if you need to do this.
Warning:
The encoder serves not only to detect the actuator’s position and the home position signal, it also
plays a crucial role in phase switching for the AC servo power line, and is calibrated at a high level
of precision for that purpose. Never touch the encoder in order to change the home position.
18
10.4
•
•
•
Stainless Sheet Section (Slider Type)
The stainless sheet is attached by adsorption to the side cover. If the environment contains high
levels of iron filings or other magnetic matter, this may become adsorbed between the stainless
sheet and the rubber and cause malfunction. For that reason, avoid usage in such an
environment.
Keep adhesive, paint, and other viscous material off the stainless sheet. Such material sticking to
the stainless sheet can lead to defective slider operation and stainless sheet damage.
Be careful to avoid localized force on the stainless sheet. Such force could deform the stainless
sheet and cause malfunctions.
Also, during installation and transport, do not hold on to or press on the stainless sheet. Doing so
could damage the stainless sheet.
19
11
Choosing the Right Model
11.1
Choosing an RCP3/RCA2 Slider Type (or Reverse Slider Type)
[1] Maximum speed, load weight
Determine which models you can choose from by the maximum speed and movable load.
• Pulse motor (Graph 1)
• AC servo motor (Graph 2)
How to decide: If your maximum speed and load weight are within the usage range in the graph, you
can use the model.
20
Graph 1
Pulse Motor: RCP3
Horizontal
Vertical
Correlation of speed and weight
Correlation of speed and weight
Lead 2
Lead 4
SA3
Lead 6
Correlation of speed and weight
Lead 2.5
Lead 5
SA4
Lead 10
Correlation of speed and weight
Lead 3
Lead 2
Lead 4
Lead 6
Correlation of speed and weight
Lead 2.5
Lead 5
Lead 10
Correlation of speed and weight
Lead 3
Lead 6
SA5
Lead 6
Lead 12
Lead 12
Correlation of speed and weight
Lead 3
Lead 6
SA6
Correlation of speed and weight
Lead 3
Lead 12
Lead 6
Lead 12
21
Graph 2
Servo M otor: RCA2
Horizontal
Vertical
Correlation of speed and weight
Correlation of speed and weight
Lead 2
Lead 4
SA3
Lead 6
Correlation of speed and weight
Lead 2.5
Lead 5
SA4
Lead 10
Correlation of speed and weight
Lead 2
Lead 4
Lead 6
Correlation of speed and weight
Lead 2.5
Lead 5
Lead 10
Correlation of speed and weight
Lead 3
Lead 6
SA5
Lead 12
Lead 3
Lead 6
Lead 12
Correlation of speed and weight
Lead 3
SA6
22
Correlation of speed and weight
Lead 3
Lead 6
Lead 12
Lead 6
Lead 12
11.2
Choosing an RCP3 Slider Type (or Reverse Slider Type) - Pressure
Due to the dynamics of motors, choose a pulse motor for pressing operations.
[1] Usage conditions
Verify the proper usage conditions for a given pressure F (N).
* For pressing operations, movement speed is set at 20 mm/s.
[2] Pressure
Determine which models you can choose based on the pressure.
How to decide: If your desired pressure is within the usage range in Graph 3, 4, or 5 below, you can
select the model.
RCP3 SA3
RCP3 SA4
RCP3 SA5, 6
Current
Limit
(%)
Pressure
Lead 2
(N)
Pressure
Lead 4
(N)
Pressure
Lead 6
(N)
Pressure
Lead 2.5
(N)
Pressure
Lead 5
(N)
Pressure
Lead 10
(N)
Pressure
Lead 3
(N)
Pressure
Lead 6
(N)
Pressure
Lead 12
(N)
10
20
30
40
50
60
70
27
35
44
-
14
18
22
-
9
12
15
-
82
109
136
-
41
55
68
-
21
27
34
-
113
151
189
-
57
76
95
-
28
38
47
-
Graph 3
Lead 2
Graph 5
Lead 2
RCP3 Slider Type Pressure
SA3
Lead 4
Lead 6
Graph 4
Lead 2
RCP3 Slider Type Pressure
SA4
Lead 4
Lead 6
RCP3 Slider Type Pressure
SA5, SA6
Lead 4
Lead 6
23
11.3
Choosing an RCP3/RCA2 Table Type (or Reverse Table Type)
[1] Usage conditions
Verify usage conditions for items ① through ⑥.
① Work placement orientation (horizontal, upright, vertical)
② Stroke L (mm)
③ Maximum speed V (mm/s)
④ Acceleration a (G)
⑤ Movable weight W (kg)
⑥ Overhang T (mm) T: Distance from end of table surface to load center of gravity
Placement orientation
Horizontal
24
Upright
Vertical
[2] Stroke, maximum speed, acceleration
Determine which models you can use based on ② stroke, ③ maximum speed, and ④
acceleration.
Table 1 * Maximum speed based on acceleration of 0.3 G (0.2 G for lead 2.5 or 3, or vertical usage).
Placement
Lead
Acceleration
Max Speed
Longest stroke
Model
Orientation
(mm)
(G)
(mm/s)
(mm)
2.5
0.2
125
TA5
5
0.3
250
100
10
0.3
465
3
0.2
150
Horizontal
TA6
6
0.3
300
150
12
0.3
560
3
0.2
150
TA7
6
0.3
300
200
12
0.3
600
2.5
0.2
125
TA5
5
0.2
250
100
10
0.2
400
3
0.2
150
Vertical
TA6
6
0.2
300
150
12
0.2
500
3
0.2
150
TA7
6
0.2
300
200
12
0.2
580
How to decide: ② Desired stroke ≤ model stroke
③ Desired speed ≤ maximum speed for selected stroke
④ Desired acceleration ≤ 0.3 G (0.2 G for lead 2.5 or 3, or vertical usage)
[3] Maximum speed, load weight
Determine which models you can use based on ③ maximum speed and ⑤ movable load.
• Pulse motor (RCP3) (Graph 6)
• AC servo motor (RCA2) (Graph 7)
How to decide: You can use any model that has a ③ maximum speed and ④ load weight that
exceeds your usage range.
25
[4] Moment
Determine which models you can use based on the moment as determined by the ② moment, ④
acceleration, ⑤ movable load, and ⑥ overhang.
• Static moment (M1) calculation
Static moment (M1) equation
M1 = W x L x 9.8/1000 (Nm); L (mm): Distance from the operation point to load center of gravity
Stroke consideration: L = T + Hn + stroke (Patterns A and B)
No stroke consideration: L = T + Hn (Patterns C, D, and E)
Use Figure 2 and Table 2 to choose an Hn measurement based on the placement orientation of
the work piece.
Table 2: Hn measurement (distance from the operation point to end of table)
TA5
TA6
TA7
H1 (mm)
49
54.5
61.5
H2 (mm)
25
30
37
H3 (mm)
13.5
15.5
17.5
Static Moment
Figure 2
Horizontal
Vertical
26
•
Dynamic moment (M2) calculation
Dynamic moment equation
M2 = W x L x a x 9.8/1000 (Nm)
L = T + Hn
From Figure 3 and Table 2, select the Hn measurement based on the placement orientation of
the work piece.
Dynamic moment Figure 3
Horizontal
Vertical
•
Generated moment (M) calculation
Generated moment equation
M = M1 + M2 (Nm)
* Pattern C has different directions for the static moment and the dynamic moment, so set
whichever is larger as M.
From Table 3, select an allowable moment based on the generated moment calculated above.
Table 3: Allowable moments
TA5
TA6
TA7
Allowable moment: Ma (Nm)
6.57
7.26
9.91
Allowable moment: Mb (Nm)
9.32
10.30
14.13
Allowable moment: Mc (Nm)
14.32
18.25
28.65
How to decide: You can use any model for which the generated moment (M) < allowable moment for
all three of Ma, Mb, Mc.
27
Graph 6
Pulse Motor: RCP3
Horizontal
Vertical
Correlation of speed and weight
Lead 2.5
Correlation of speed and weight
Lead 2.5
TA5
Lead 5
Lead 5
Lead 10
Lead 10
Correlation of speed and weight
Lead 3
Lead 12
Lead 6
Correlation of speed and weight
Lead 3
TA6
Lead 6
Correlation of speed and weight
Lead 12
Correlation of speed and weight
Lead 3
Lead 6
TA7
Lead 12
Lead 3
Lead 6
28
Lead 12
Graph 7
AC Servo Motor: RCA2
Horizontal
Vertical
Correlation of speed and weight
Correlation of speed and weight
Lead 2.5
Lead 5
TA5
Lead 2.5
Lead 5
Lead 10
Lead 10
Correlation of speed and weight
Correlation of speed and weight
Lead 3
Lead 6
TA6
Lead 12
Lead 3
Lead 6
Lead 12
Correlation of speed and weight
Correlation of speed and weight
Lead 3
Lead 6
TA7
Lead 12
Lead 3
Lead 6
Lead 12
29
11.4
Choosing an RCP3 Table Type (or Reverse Table Type) - Pressure
Due to the dynamics of motors, choose a pulse motor for pressing operations.
[1] Usage conditions
Verify usage conditions ① and ②.
① Pressure (N)
② Overhang T (mm) T: Distance from the end of table surface to load point
* For pressing operations, the movement speed is set at 20 mm/s.
[2] Pressure
Determine which models you can choose based on ① pressure.
RCP3 TA5
RCP3 TA6, TA7
Current Pressure Pressure Pressure Pressure Pressure Pressure
Limit
Lead 2.5
Lead 5
Lead 10
Lead 3
Lead 6
Lead 12
(%)
(N)
(N)
(N)
(N)
(N)
(N)
10
20
30
82
41
21
113
57
28
40
109
55
27
151
76
38
50
136
68
34
189
95
47
60
70
-
Graph 8
Lead 2.5
RCP3 Table Type Pressure
TA5
Lead 5
Lead 10
Graph 9
Lead 3
How to decide: If your desired ① pressure is within the usage range
either Graph 8 or 9, select a model indicated in that graph.
30
RCP3 Table Type Pressure
TA6, TA7
Lead 6
Lead 12
indicated in
[3] Moment
Determine which models you can use based on the moment determined by the ① pressure and ②
overhang.
Figure 1
Horizontal Ma
Mb
Table 1: Allowable moments
TA5
TA6
TA7
Allowable moment: Ma (Nm)
6.57
7.26
9.91
Allowable moment: Mb (Nm)
9.32
10.30
14.13
Table 2: Hn measurements (distance from operation point to end of table surface)
TA5
TA6
TA7
H1 (mm)
49
54.5
61.5
H2 (mm)
25
30
37
H3 (mm)
13.5
15.5
17.5
Generated moment M equation
M = F x L/1000 (Nm)
L = (T + Hn) L (mm): Distance from operation point to the load point
Hn (mm): Distance from operation point to end of table surface
Use the Hn dimensions from Figure 1 and Table 2 for your press load point and calculate the value of
L.
How to decide: The generated moment (M) must be < 0.8 x permitted moment (Ma, Mb).
When calculating, do not go higher than 80% of the permitted moment.
You can use any model which meets all these conditions.
31
12.
Maintenance inspection
12.1
Inspection Items and Timing
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.
External Visual
Inspection
Internal Inspection
Greasing
Start of work inspection
○
1-month inspection
○
6-month inspection
○
○
12-month inspection
○
○
○
Every 6 months thereafter
○
Every 12 months thereafter
○
○
○
12.2
External Visual Inspection
An external visual inspection should check the following things.
Main unit
Loose bolts, other loose items, buildup
Cables
Scratches, proper connections
Stainless sheet
Scratches
Overall
Irregular noise, vibration
* As a rule of thumb, the stainless sheet should last for about 5000 km of slider motion. However,
under certain conditions, the stainless sheet may need to be replaced earlier.
Generally, replacing the stainless sheet will require that you bring the unit to our plant or have one of
our technicians come to your plant to perform the replacement.
**If the actuator is installed vertically, certain conditions may cause grease to drip from the guide.
Please ensure that proper cleaning is performed and grease is replenished.
12.3
•
•
•
•
•
32
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.
12.4
Internal Inspections
First, make sure the power is off.
Slider type:
If the machine has the stainless sheet, remove it or peek under it and inspect visually.
Table type:
Remove the ball screw cover and inspect visually.
For reverse (slider or table) types, remove the reversal bracket and inspect visually.
An internal inspection should check the following things.
Main unit
Loose bolts, other loose items
Guide section
Lubrication, buildup
Belt section
(reverse types only)
Belt wear and tear
Visually inspect the interior of the machine. Check whether dust or other foreign matter has gotten
inside and check the lubrication state.
The lubrication may have turned brown. This is not a problem as long as the travel surfaces shine as
though they are wet.
If the grease is mixed with dust and does not have a shiny appearance, or if the grease has lost its
efficacy due to prolonged use, then clean each section and reapply grease.
The procedure for internal inspections is outlined below. For belt inspection and maintenance, please
see section 12.5.
"Slider type" Steps ② through ⑤ are only necessary if the cover is attached. If you do not have a
cover, only do step ①.
① Move the slider to the home position side.
② Remove the cover.
③ Remove the sheet retainer screws.
④ Peek under the stainless sheet and check inside.
⑤ When you have completed the inspection, reassemble by doing the reverse of the above.
.
Cautions for attached cover:
When checking inside the machine, be careful not to forcibly bend the stainless
sheet or scratch it.
Do not tug on the stainless sheet or in any way attempt to reposition it.
If the sheet is repositioned, it may not be even which may shorten its service life.
Should this happen, adjust the stainless sheet by referring to the replacement
instructions.
Keep in mind that the edges of the stainless sheet can cause injuries. Always
wear gloves when working on it.
"Table type"
① Move the table to the opposite side from the home position.
② Remove the ball screw cover.
③ Check the inside.
④ When you have completed the inspection, reassemble by doing the reverse of the above.
33
12.5
Belt
12.5.1 Belt Inspection
To conduct the belt inspection, remove the pulley cover and visually inspect the belt.
The life of the belt varies significantly depending on the manner of use, but generally it should last for
several million cycles. The belt should be changed when conditions below are observed.
• The teeth and the ends of the belt are noticeably worn down
• The belt is swollen due to application of oil or the like
• Belt teeth or back side shows damage from cracking
• The belt breaks in two
12.5.2 Usage Belt
Manufacturer: Bando Chemical Industries, Ltd.
Belt Model (Type)
40S2M138R Width: 4 mm (rubber clean type)
60S2M152R Width: 4 mm (rubber clean type)
60S2M180R Width: 4 mm (rubber clean type)
60S2M180R Width: 4 mm (rubber clean type)
60S2M168R Width: 4 mm (rubber clean type)
60S2M198R Width: 4 mm (rubber clean type)
60S2M198R Width: 4 mm (rubber clean type)
IAI Model
SA3R
SA4R
SA5R
SA6R
TA5R
TA6R
TA7R
12.5.3 Adjusting Belt Tension
Remove pulley cover, loosen tension-adjusting bolts (4), move motor to the left side as shown below
and attach tensile load to belt, re-tighten the tension-adjusting bolts.
Tensile Load
SA3R : 1.5 ± 0.1 kgf
others : 2.5 ± 0.1 kgf
Tension-Adjusting Bolt
34
Type
Screw
Diameter
Applicable
Torque
SA3R
M2.6
0.46 Nm
(0.047 kgfm)
SA4R/TA5R
M3
0.83 Nm
(0.085 kgfm)
SA5R/SA6R
TA6R/TA7R
M4
1.76 Nm
(0.18 kgfm)
12.6
•
•
•
Internal Cleaning
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.
12.7
Greasing Guides
12.7.1
Usable greases for guide
The grease initially used is lithium-based grease.
IAI uses the following grease in our plant.
Idemitsu Kosan
Daphne Eponex Grease No. 2
Other companies also sell similar types of grease. For details, give the above grease name to the
manufacturer you want to purchase from and ask what corresponding product they have available.
Here are some examples of similar products.
Showa Shell Oil
Albania Grease No. 2
Mobil Oil
Mobilax 2
Warning:
Never use fluorine-based grease. Mixing fluorine-based grease with lithium-based grease not
only reduces the performance of the grease, it may even cause damage to the actuator.
12.7.2 Usable greases for ball screws
The grease initially used is lithium-based grease.
IAI uses the following grease in our plant. (Excludes SA3C type)
Kyodo Yushi
Multitemp LRL 3
* RCP3/RCA2 SA3C type uses the following grease.
Idemitsu Kosan
Daphne Eponex Grease No. 2
35
12.7.3
How to apply grease
For the slider type, when side cover and stainless sheet are present, remove these before beginning.
For the table type, pull the table all the way out before removing the ball screw cover.
Pinch in the direction of the arrows
to remove ball screw cover
Ball screw cover
(1)
36
For the guide section, remove the grease by moving the slider back and forth and spreading it
out, either by pushing a scraper between the slider and base or by lubricating with a grease
injector.
Grease the guides on both sides.
When complete, wipe away any excess grease.
Slider Type
Slider Type
Table Type
Table Type
(2)
To grease ball screws, first clean, then put some grease on your finger and apply while moving
the slider back and forth.
When finished, wipe off excess grease.
For the slider type, put the side cover and stainless sheet back on.
For the table type, put the ball screw cover back on.
Note: When moving the slider or table back and forth by hand, be certain never to apply force
in excess of the thrust direction external force capacity (see 10.1.2). If the slider will not
move, jiggle it back and forth.
37
12.8
Stainless Sheet Replacement (for model with slider cover)
It is possible to replace the stainless sheet without removing the slider cover.
[Items required for replacing the stainless sheet]
• Replacement stainless sheet
• Hex wrench set
• Cellophane tape
[Part names]
Stainless sheet
retainer plates
Stainless sheet
Slider cover
[Procedure]
① With a 1.5 mm hex wrench, remove the four screws securing the stainless sheet and the two
stainless sheet retainer plates.
② Pull out the old stainless sheet.
38
③ Apply cellophane tape to one side of the new stainless sheet.
Cellophane tape
Stainless sheet
Stainless sheet
Apply the cellophane tape as though sandwiching the stainless sheet, leaving about 3 mm of tape
sticking out from the stainless sheet. Cut off the excess tape.
④ Slide the stainless sheet, taped end first, in through the gap under the slider cover.
Do not let stainless sheet fall in this hole.
⑤ Fasten the two stainless sheet retainer plates with the four screws. Use a 1.5 mm hex wrench.
Two grooves are cut into the main unit to serve
as guides for attaching the stainless sheet.
Install the stainless sheet so that it comes to
the center of the two grooves. Be careful not to
install it in a position where it bends.
⑥ After fastening the stainless sheet retainer plate, move the slider by hand a full stroke and ensure
that the stainless sheet neither floats up nor is warped. If there is a problem, go back to step ⑤.
Note: When moving the slider back and forth by hand, be certain never to apply force in excess
of the thrust direction external force capacity (see 10.1.2). If the slider will not move, jiggle
it back and forth.
39
12.9
Motor Replacement (Pulse Motor: RCP3)
* See 12.11 for reverse type
[Items required for replacing the stainless sheet]
•
Replacement motor unit
Axis Type
RCP3
(black
encoder
cable
connector)
•
Slider
type
Table
type
SA3C
SA4C
SA5C
SA6C
TA5C
TA6C
TA7C
Model
Without Brake
With Brake
RCP3-MU1A
RCP3-MU1A-B
RCP3-MU2A
RCP3-MU2A-B
RCP3-MU3A
RCP3-MU3A-B
RCP3-MU2A
RCP3-MU2A-B
RCP3-MU3A
RCP3-MU3A-B
Hex wrench set
[Procedure]
① Disconnect the cable from the motor unit, then use a 2 mm hex wrench to remove the screw which
holds together the actuator unit and the motor unit.
Disconnect the cable.
② Detach the motor unit.
40
Actuator-motor unit connecting screw
③ Align the actuator side and replacement motor unit side projection section and the slit orientation.
Align protrusion with recess.
Apply grease to coupling.
(TL101Y grease made by NOK)
④ Install the replacement motor by fitting the protrusion of one unit in the recess of the other.
⑤ Use a 2 mm hex wrench to remove the screw fastening the motor unit and the actuator.
41
12.10 Motor Replacement (AC Servo Motor: RCA2)
* See 12.12 for reverse type
[Items required for replacing the stainless sheet]
• Replacement motor unit
Model
Axis Type
Without Brake
With Brake
SA3C
RCA2-MU1A
RCA2-MU1A-B
RCA2-MU2A
RCA2-MU2A-B
Slider SA4C
RCA2
type
SA5C
RCA2-MU3A
RCA2-MU3A-B
(brown
encoder
SA6C
RCA2-MU4A
RCA2-MU4A-B
cable
TA5C
RCA2-MU2A
RCA2-MU2A-B
connector) Table TA6C
RCA2-MU3A
RCA2-MU3A-B
type
TA7C
RCA2-MU4A
RCA2-MU4A-B
• Hex wrench set
• Special replacement jigs
(Option)
Type
Model
RCA2-JG-1
RCA2-SA3
RCA2-JG-2
RCA2-SA4/TA5
RCA2-JG-3
RCA2-SA5/SA6/TA6/TA7
[Procedure]
1
Disconnect the cable from the motor unit, then use a 2 mm hex wrench to remove the screw
fastening the actuator unit and the motor unit.
Disconnect the cable.
② Detach the motor unit.
42
Actuator-motor unit connecting screw
③ Take out the coupling hub and coupling spacer from the detached motor unit. Twist the coupling
hub or coupling spacer on the motor side to align the screw holes with the hole for the tool to go
through. Then remove both screws with a 2 mm hex wrench.
* If there is only a coupling hub on the motor unit side, then there is a coupling spacer on the
actuator side which can be removed by pulling.
* If both coupling hub and coupling spacer are present, pull them apart.
(They should separate with a gentle pull.)
Coupling hub
Pull apart
Hole for tool
Coupling spacer
④ Fit the protruding part of the coupling hub into the groove of the replacement jig (large), and
temporarily hold them together with two M 3x3 Allen screws (tighten just enough so that the
coupling hub does not fall off)
Replacement jig (large)
Line up holes in center
⑤ Turn the shaft to move the slider or table about 0.5 mm to 1 mm from the mechanical end.
⑥ Fit the groove of the replacement jig assembled in ④ over the protrusion of the actuator.
Fit groove over protrusion
43
⑦ Align the marking on the motor shaft with the point indicated and insert the replacement motor unit
into the actuator.
Motor shaft
Top view
Alignment mark
⑧ Take out the motor unit and the replacement jig (large). (Do not allow the jig to turn.)
⑨ In order to keep the jig from turning, draw a mark using a pen or marker.
⑩ Insert the replacement jig (small) in such a way that its protrusion is aligned with the groove in the
motor shaft.
Replacement jig (small)
44
⑪ Turn the replacement jig (large) and the replacement jig (small) by the same amount. When the
coupling fastening screws appear through the tool holes, tighten them with a 2 mm hex wrench.
(There are two fastening screws.)
Tighten with hex wrench
Rotate same amount to keep aligned
⑫ Align the marks made in ⑨. After the marks are aligned, remove the replacement jig (large) and
(small).
⑬ Apply the specified grease (TL101Y grease made by NOK) to the coupling spacer (front and rear),
then install the coupling spacer on the actuator side.
⑭ Install the replacement motor unit on the actuator side, then tighten the fastening screws with a 2
mm hex wrench.
(The actuator side groove and replacement motor unit protrusion should have been aligned in
⑫, but if not, align them here.)
Tighten with hex wrench
45
12.11
Belt and Motor Replacement for Reverse Type (Pulse Motor: RCP3)
[Items required for replacing the stainless sheet]
•
Replacement motor unit for reverse type
Model
Axle
RCP3
(black
encoder
cable)
•
Slider
type
Without brake
With brake
SA3R
RCP3-MU1B
RCP3-MU1B-B
SA4R
RCP3-MU2B
RCP3-MU2B-B
RCP3-MU3B
RCP3-MU3B-B
RCP3-MU2B
RCP3-MU2B-B
RCP3-MU3B
RCP3-MU3B-B
SA5R
SA6R
Table
type
TA5R
TA6R
TA7R
Belt
Manufacturer: Bando Chemical Industries, Ltd.
Belt Model (Type)
40S2M138R, width 4 mm (rubber clean type)
60S2M152R, width 6 mm (rubber clean type)
60S2M180R, width 6 mm (rubber clean type)
60S2M180R, width 6 mm (rubber clean type)
60S2M168R, width 6 mm (rubber clean type)
60S2M198R, width 6 mm (rubber clean type)
60S2M198R, width 6 mm (rubber clean type)
• Tension gauge
• Hex wrench set
Model
SA3R
SA4R
SA5R
SA6R
TA5R
TA6R
TA7R
[Procedure]
① Remove pulley cover.
Remove attaching screws (SA3R: 2 screws, others: 3 screws)
Attaching Screws
Model
Screw Diameter
Hex Wrench to Use
SA3R/SA4R
TA5R
M 2.5
1.5 mm diameter
SA5R/SA6R
TA6R/TA7R
M3
2 mm diameter
② Loosen tension-adjusting bolts (4) and slacken the belt.
Tension-Adjusting Bolts
46
Model
Screw
Diameter
Hex Wrench to Use
SA3R
M 2.6
2 mm diameter
SA4R/TA5R
M3
2.5 mm diameter
SA5R/SA6R
TA6R/TA7R
M4
3 mm diameter
③ Remove belt from pulley. If replacing the belt, proceed to step ⑥.
④ Remove tension-adjusting bolts and take out motor unit.
⑤ Install replacement motor unit.
Make sure that the actuator base and the indicated surface of the motor unit face each other, as
in the diagram below.
Temporarily fasten in place with tension-adjusting bolts.
Install so that the base of the actuator
and the side of the motor unit containing 2 holes
face each other.
The side of the motor unit with
two holes fits against the
ungrooved surface
47
⑥ Move the motor unit in the direction indicated by the arrow and put on the belt.
If replacing the belt, put on the replacement belt.
⑦ Place a loop of thick string (or a long band) around the base of the unit and stretch with tension
gauge, tightening the tension-adjusting bolts uniformly at the specified tension.
Tension Gauge
Tensile load
SA3R : 1.5 ± 0.1 kgf
Others : 2.5 ± 0.1 kgf
Tension-Adjusting Bolts
Model
Screw
Diameter
Tightening
Torque
SA3R
M 2.6
0.46 Nm
(0.047 kgf m)
SA4R/TA5R
M3
0.83 Nm
(0.085 kgf m)
SA5R/SA6R
TA6R/TA7R
M4
1.76 Nm
(0.18 kgf m)
⑧ Attach pulley cover.
Attaching screws (SA3R: 2 screws, others: 3 screws)
48
12.12 Belt and Motor Replacement for Reverse Type (AC Servo Motor: RCA2)
[Items required for replacing the stainless sheet]
•
Replacement motor unit for reverse type
Model
Axle Type
RCA2
(black
encoder
cable)
•
Slider
type
Table
type
Without brake
With brake
SA3R
RCA2-MU1B
RCA2-MU1B-B
SA4R
RCA2-MU2B
RCA2-MU2B-B
SA5R
RCA2-MU3B
RCA2-MU3B-B
SA6R
RCA2-MU4B
RCA2-MU4B-B
TA5R
RCA2-MU2B
RCA2-MU2B-B
TA6R
RCA2-MU3B
RCA2-MU3B-B
TA7R
RCA2-MU4B
RCA2-MU4B-B
Belt
Manufacturer: Bando Chemical Industries, Ltd.
Belt Model (Type)
40S2M138R, width 4 mm (rubber clean type)
60S2M152R, width 6 mm (rubber clean type)
60S2M180R, width 6 mm (rubber clean type)
60S2M180R, width 6 mm (rubber clean type)
60S2M168R, width 6 mm (rubber clean type)
60S2M198R, width 6 mm (rubber clean type)
60S2M198R, width 6 mm (rubber clean type)
• Tension gauge
• Hex wrench set
Model
SA3R
SA4R
SA5R
SA6R
TA5R
TA6R
TA7R
[Procedure]
① Remove pulley cover.
Remove attaching screws (SA3R: 2 screws, others: 3 screws)
Attaching Screws
Model
Screw Diameter
Hex Wrench to Use
SA3R/SA4R
TA5R
M 2.5
1.5 mm diameter
SA5R/SA6R
TA6R/TA7R
M3
2 mm diameter
② Loosen tension-adjusting bolts (4) and slacken the belt.
Tension-Adjusting Bolts
Model
Screw
Diameter
Hex Wrench to Use
SA3R
M 2.6
2 mm diameter
SA4R/TA5R
M3
2.5 mm diameter
SA5R/SA6R
TA6R/TA7R
M4
3 mm diameter
49
③ Remove belt from pulley. If replacing the belt, proceed to step ⑦.
④ Remove tension-adjusting bolts and take out motor unit.
⑤ Install replacement motor unit.
Make sure that the actuator base and the indicated surface of the motor unit face each other, as
in the diagram below.
Temporarily fasten in place with tension-adjusting bolts.
Install so that the base of the actuator
and the side of the motor unit containing 2 holes
face each other.
The side of the motor unit with
two holes fits against the
ungrooved surface
50
⑥ Move the slider or table between 0.5 and 1 mm away from the mechanical end of the origin side.
0.5 mm – 1 mm
⑦ Move the motor unit in the direction indicated by the arrow and put on the belt.
Ensure that the motor unit lines up with the positioning mark on the actuator.
If replacing the belt, put on the replacement belt.
⑧ Place a loop of thick string (or a long band) around the base of the unit and stretch with tension
gauge, tightening the tension-adjusting bolts uniformly at the specified tension.
Tension Gauge
Tensile load
SA3R : 1.5 ± 0.1 kgf
Others : 2.5 ± 0.1 kgf
Tension-Adjusting Bolts
Model
Screw
Diameter
Tightening
Torque
SA3R
M 2.6
0.46 Nm
(0.047 kgf m)
SA4R/TA5R
M3
0.83 Nm
(0.085 kgf m)
SA5R/SA6R
TA6R/TA7R
M4
1.76 Nm
(0.18 kgf m)
51
⑨ Attach pulley cover.
Attaching screws (SA3R: 2 screws, others: 3 screws)
⑩ Connect a computer or teaching box to the controller and perform a home position reset.
Check to see whether the actuator is off position, and if so, correct using the parameters below.
ACON Parameter No. 22:
Home Position Offset Amount
ASEL Parameter No. 12:
Home Position Preset Value
If using the absolute encoder specification, perform a home position return / absolute reset after
changing parameters.
52
13
Specifications
13.1
Actuator Main Unit
"RCP3 Slider Type Pulse Motor (including Reverse Type) Specifications"
Item
Unit
Lead
mm
2
4
6
2.5
5
10
3
6
12
3
6
12
Max Speed
mm/sec
100
200
300
125
250
500
150
300
600
150
300
600
Max Horizontal Load
kg
3
2
1
6
4
2
10
8
5
10
8
5
Max Vertical Load
kg
1.5
1
0.5
3
1.5
1
4
2
1
4
2
1
Stroke (increments of 50)
mm
Load Moment
N·m
(kgf·cm)
SA3
SA4
SA5
SA6
50-300
50-400
50-500
50-600
Ma: 1.96 (0.2)
Ma: 3.04 (0.31)
Ma: 3.92 (0.40)
Ma: 4.31 (0.44)
Mb: 2.84 (0.29)
Mb: 4.31 (0.44)
Mb: 5.58 (0.57)
Mb: 6.17 (0.63)
Mc: 3.14 (0.32)
Mc: 5.00 (0.51)
Mc: 8.53 (0.87)
Mc: 10.98 (1.12)
5,000 km service life
Repetition Precision
±mm
0.05
*) Maximum speed may not be reached on all strokes.
*) Maximum load depends on operating conditions.
"RCA2 Slider Type AC Servo Motor (including Reverse Type) Specifications"
Item
Unit
Lead
mm
2
4
6
2.5
5
10
3
6
12
3
6
12
Max Speed
mm/sec
100
200
300
125
250
500
150
300
600
150
300
600
Max Horizontal Load
kg
3
2
1
6
4
2
8
6
3
12
8
5
Max Vertical Load
kg
1.5
1
0.5
3
1.5
1
3
1.5
1
4
2
1.5
Stroke (increments of 50)
Mm
50-300
50-400
50-500
50-600
Rated Output
W
10
20
12
18.5
Rated Thrust
N
Load Moment
N·m
(kgf·cm)
SA3
255
129
SA4
84
342
170
SA5
85
204
102
SA6
51
315
159
78
Ma: 1.96 (0.2)
Ma: 3.04 (0.31)
Ma: 3.92 (0.40)
Ma: 4.31 (0.44)
Mb: 2.84 (0.29)
Mb: 4.31 (0.44)
Mb: 5.58 (0.57)
Mb: 6.17 (0.63)
Mc: 3.14 (0.32)
Mc: 5.00 (0.51)
Mc: 8.53 (0.87)
Mc: 10.98 (1.12)
5,000 km service life
Repetition Precision
±mm
0.05
*) Maximum speed may not be reached on all strokes.
*) Maximum load depends on operating conditions.
53
"RCP3 Slider Type Pulse Motor (including Reverse Type) Specifications"
Item
Unit
Lead
mm
2.5
5
10
3
6
12
3
6
12
Max Speed
mm/sec
125
250
465
150
300
560
150
300
600
Max Horizontal Load
kg
6
4
2
8
6
4
10
8
6
Max Vertical Load
kg
3
1.5
1
4
2
1
4
2
1
Max Pressure
N
194
101
51
258
157
78
258
157
78
Stroke (increments of 25)
mm
Load Moment
N·m
(kgf·cm)
TA5
TA6
TA7
25-100
25-150
25-200
Ma: 6.57 (0.67)
Ma: 7.26 (0.74)
Ma: 9.91 (1.01)
Mb: 9.32 (0.95)
Mb: 10.30 (1.05)
Mb: 14.13 (1.44)
Mc: 14.32 (1.46)
Mc: 18.25 (1.86)
MC: 28.65 (2.92)
5,000 km service life
Repetition Precision
±mm
0.05
*) Maximum speed may not be reached on all strokes.
*) Maximum load depends on operating conditions.
"RCA2 Table Type AC Servo Motor (including Reverse Type) Specifications"
Item
Unit
Lead
mm
2.5
5
10
3
6
12
3
6
12
Max Speed
mm/sec
125
250
465
150
300
560
150
300
600
Max Horizontal Load
kg
5
3.5
2
6
4
2
8
6
4
Max Vertical Load
kg
3
2
1
3
1.5
0.5
4
2.5
1
Stroke (increments of 25)
mm
25-100
25-150
25-200
Rated Output
W
20
12
18.5
Rated Thrust
N
Load Moment
N·m
(kgf·cm)
TA5
342
170
TA6
85
315
159
TA7
78
51
Ma: 7.26 (0.74)
Ma: 9.91 (1.01)
Mb: 9.32 (0.95)
Mb: 10.30 (1.05)
Mb: 14.13 (1.44)
Mc: 14.32 (1.46)
Mc: 18.25 (1.86)
MC: 28.65 (2.92)
±mm
*) Maximum speed may not be reached on all strokes.
*) Maximum load depends on operating conditions.
54
102
Ma: 6.57 (0.67)
5,000 km service life
Repetition Precision
204
0.05
13.2
13.2.1
Cable Diagrams
RCP3: Pulse Motor Cable Diagram
(CB-PCS-MPA***)
Part No.
①
②
③
④
⑤
⑥
⑦
L (mm)
1000
3000
5000
***sectio
n
010
030
050
Part Name
Receptacle housing
Model
D-1100D 1-1827863-1
Manufacturer
AMP
Receptacle contact
D-1 1827570-2
AMP
Socket
D-2100D 1-1318119-3
Hirose
Socket contact
D-2 1318105-1
Hirose
Housing
PHDR-16VS
JST
Contact
SPHD-001T-P0.5
JST
UL2854-VVSWKA
TS06V1200 (25AWG×7P+22AWG×6C)
Tatsuta Electric
Controller side
Actuator side
Terminal number Wiring diagram [Signal] Terminal number
Blk[ΦA]
Wht[VMM]
Red[Φ/A]
Grn[ΦB]
Yel[VMM]
Brn[Φ/B]
NC
NC
Pnk(Red·)[BK+]
Pnk(Blu·)[BK-]
Wht(Red·)[LS+]
Wht(Blu·)[LS-]
Org(Red·)[A+]
Org(Blu·)[A-]
Gra(Red·)[B+]
Gra(Blu·)[B-]
NC
Org(Blu·cont)[VPS]
Gra(Red·cont)[VCC]
Gra(Blu·cont)[GND]
NC
(shield)[FG]
55
13.2.2
RCA2: Servo Motor Cable Diagram
(CB-ACS-MPA***)
Part No.
①
②
③
④
⑤
⑥
⑦
L (mm)
1000
3000
5000
***sectio
n
010
030
050
Part Name
Receptacle housing
Model
D-1100D 1-1827863-1
Manufacturer
AMP
Receptacle contact
D-1 1827570-2
AMP
Socket
DF1E-3S-2.5C
Hirose
Socket contact
DF1E-2022SCF
Hirose
Housing
PHDR-18VR
JST
Contact
SPHD-001T-P0.5
JST
UL2854-VVSWKA
TS06V1200 (25AWG×7P+22AWG×6C)
Tatsuta Electric
Wiring diagram
[for ABZ]
[for serial communications] Controller side
Actuator side
Terminal number
Terminal number
Red[U][U]
Yel[V][V]
Blk[W][W]
NC
NC
NC
Yel(Red·)[BK+]{BK+}
Yel(Blu·)[BK-]{BK-}
Pnk(Red·)[LS+]{LS+}
Pnk(Blu·)[LS-]{LS-}
Wht(Red·)[A+]{-}
Wht(Blu·)[A-]{-}
Org(Red·)[B+]{-}
Org(Blu·)[B-]{-}
Gra(Red·)[Z+]{SD+}
Gra(Blu·)[Z-]{SD-}
Org(Red·cont)[-]{BAT+}
Org(Blu·cont)[/PS]{BAT-}
Gra(Red·cont)[VCC]{VCC}
Gra(Blu·cont)[GND]{GND}
NC
(shield)[FG]{FG}
56
13.3
External Dimension Diagrams
13.3.1
RCP3-SA3C (Pulse Motor Specifications)
RCA2-SA3C (AC Servo Motor Specifications)
57
13.3.2
58
RCP3-SA3C with Slider Cover (Pulse Motor Specifications)
RCA2-SA3C with Slider Cover (AC Servo Motor Specifications)
13.3.3
RCP3-SA4C (Pulse Motor Specifications)
59
13.3.4
60
RCA2-SA4C (AC Servo Motor Specifications)
13.3.5
RCP3-SA4C with Slider Cover (Pulse Motor Specifications)
61
13.3.6
62
RCA2-SA4C with Slider Cover (AC Servo Motor Specifications)
13.3.7
RCP3-SA5C (Pulse Motor Specifications)
RCA2-SA5C (AC Servo Motor Specifications)
63
13.3.8
64
RCP3-SA5C with Slider Cover (Pulse Motor Specifications)
RCA2-SA5C with Slider Cover (AC Servo Motor Specifications)
13.3.9
RCP3-SA6C (Pulse Motor Specifications)
65
13.3.10 RCA2-SA6C (AC Servo Motor Specifications)
66
13.3.11 RCP3-SA6C with Slider Cover (Pulse Motor Specifications)
67
13.3.12 RCA2-SA6C with Slider Cover (AC Servo Motor Specifications)
68
13.3.13 RCP3-TA5C (Pulse Motor Specifications)
69
13.3.14 RCA2-TA5C (AC Servo Motor Specifications)
70
13.3.15 RCP3-TA6C (Pulse Motor Specifications)
RCA2-TA6C (AC Servo Motor Specifications)
71
13.3.16 RCP3-TA7C (Pulse Motor Specifications)
72
13.3.17 RCA2-TA7C (AC Servo Motor Specifications)
73
13.3.18
74
RCP3-SA3R-Reverse Direction Left (Right) With Slider Cover (Pulse Motor Specifications)
13.3.19 RCP3-SA3R-Reverse Direction Left (Right) With Slider Cover (AC Servo Motor Specifications)
75
13.3.20 RCP3-SA3R-Reverse Direction Left (Right) (Pulse Motor Specifications)
76
13.3.21 RCP3-SA3R-Reverse Direction Left (Right) (AC Servo Motor Specifications)
77
13.3.22 RCP3-SA4R-Reverse Direction Left (Right) With Slider Cover (Pulse Motor Specifications)
78
13.3.23 RCA2-SA4R- Reverse Direction Left (Right) With Slider Cover (AC Servo Motor Specifications)
79
13.3.24 RCP3-SA4R- Reverse Direction Left (Right) (Pulse Motor Specifications)
80
13.3.25 RCA2-SA4R- Reverse Direction Left (Right) (AC Servo Specifications)
81
13.3.26 RCP3-SA5R- Reverse Direction Left (Right) With Slider Cover (Pulse Motor Specifications)
82
13.3.27 RCA2-SA5R- Reverse Direction Left (Right) With Slider Cover (AC Servo Motor Specifications)
83
13.3.28 RCP3-SA5R Reverse Direction Left (Right) (Pulse Motor Specification)
84
13.3.29 RCA2-SA5R Reverse Type Left (Right) (AC Servo Motor Specifications)
85
13.3.30 RCP3-SA6R Reverse Direction Left (Right) With Slider Cover (Pulse Motor Specification)
86
13.3.31 RCA2-SA6R Reverse Direction Left (Right) With Slider Cover (AC Servo Motor Specification)
87
13.3.32 RCP3-SA6R Reverse Direction Left (Right) (Pulse Motor Specification)
88
13.3.33 RCA2-SA6R Reverse Direction Left (Right) (AC Servo Motor Specification)
89
13.3.34 RCP3-TA5R Reverse Direction Left (Right) (Pulse Motor Specification)
90
13.3.35 RCA2-TA5R Reverse Direction Left (Right) (AC Servo Motor Specification)
91
13.3.36 RCP3-TA6R Reverse Direction Left (Right) (Pulse Motor Specification)
92
13.3.37 RCA2-TA6R Reverse Direction Left (Right) (AC Servo Motor Specification)
93
13.3.38 RCP3-TA7R Reverse Direction Left (Right) (Pulse Motor Specification)
94
13.3.39 RCA2-TA7R Reverse Direction Left (Right) (AC Servo Motor Specification)
95
Appendix
Using the home position marks
♦ As necessary, affix these marks to the product to mark the home
position of the actuator.
Stickers Included
Home position mark stickers
×1 sheet
Mark stickers with scales x 4
Mark stickers x 4
(10 mm wide with 1 mm scales)
♦ Peel from backing and attach.
Notes: 1. Adhesive surface is on rear.
2. Clean surface of oil and dust before attaching.
3. Do not paste over slider precautions/name plate.
Example
① To mark the home position
Attach to slider
Motor
Attach to base

Attach both stickers when actuator is stopped in home position
② To show different movement positions
Attach to slider
Motor
Attach to movement
positions
96
MEMO
97
MEMO
98
99
Catalog No.: MJ3664-5A (June 2008)
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-E Kenneston Circle, Marrietta, 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
The information contained in this document is subject to change without notice for purposes of product improvement.
Copyright  2008. Jun. IAI Corporation. All rights reserved.
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