IAI RCP4 User manual

RCP4 Actuator
Gripper Type
First Step Guide Second 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.
• 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.
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.)
No. Part Name Model Quantity Remarks
1
Actuator
Refer to “How to Read the Model
Nameplate” and “How to Read the Model
Number.”
1
Accessories
2 Motor • encoder
cables (Note1)
1
3 First Step Guide 1
4 Instruction Manual
(DVD)
1
5 Safety Guide 1
Note 1 Please refer to the wiring layout for the enclosed motor cable and encoder cable.
2. How to read the model plate
3. How to read the model No.
Note 1 Identification for IAI use only : It may be displayed for IAI use. It is not a code to show the model
type.
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
Precautions in Handling
1. Handling the Packed Unit
y 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.
y Transport a heavy package with at least more than two operators. Consider an appropriate method for
transportation.
y Keep the unit in a horizontal orientation when placing it on the ground or transporting. Follow the
instruction if there is any for the packaging condition.
y Do not step or sit on the package.
y Do not put any load that may cause a deformation or breakage of the package.
2. Handling the Actuator After Unpacking
y Do not carry the actuator by its motor unit or its cable or attempt to move it by pulling the
cable.
y Hold the frame or motor cover section of the body when transporting the actuator main body.
y Do not hit or drop the actuator during transportation.
y Do not attempt to force any part of the actuator. Do not apply excess force especially on the fingers,
finger guide and levers.
y In case of removing the grease applied on the fingers and finger guides after delivery, make sure to
implement a rust prevention treatment.
There is grease applied on the fingers and finger guides at the delivery for rust prevention treatment.
The fingers and finger guides may gather rust if the grease is wiped away.
Also, have grease or an anti-rust agent applied on the fingers and finger guides regularly.
[Refer to 5.4.1 Applicable Greases for the Guide, Finger and Finger Guide in 5.4 Grease Supply in
Instruction Manual]
Environments for Installation, Storage and Preservation
1. Installation Environment
The actuator should be installed in a location other than those specified below.
Also provide sufficient work space required for maintenance inspection.
y Where the actuator receives radiant heat from strong heat sources such as heat treatment furnaces
y Where the ambient temperature exceeds the range of 0 to 40°C
y Where the temperature changes rapidly and condensation occurs
y Where relative humidity smaller than 20% or larger than 85%RH
y Where the actuator receives direct sunlight
y Where the actuator is exposed to corrosive or combustible gases
y 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)
y Where the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or chemical
solutions
y Where the actuator receives impact or vibration
y Place with an altitude of 2,000m or more
If the actuator is used in any of the following locations, provide sufficient shielding measures:
y Where noise generates due to static electricity, etc.
y Where the actuator is subject to a strong electric or magnetic field
y Where the actuator is subject to ultraviolet ray or radiation
2. Storage • Preservation Environment
y 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 for a long time, pay close
attention to environmental conditions so that no dew condensation forms.
y 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.
y 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.
y Storage and preservation should be performed in the horizontal condition. In the case it is stored in
the packaged condition, follow the posture instruction if any displayed on the package.
Names of the Parts
1. Slide Type GRSML, GRSLL, GRSWL
2. Lever Type GRLM, GRLL, GRLW
Open/Close Screw
Actuator Cable
Motor Cover
Frame
Motor Cover Cap
Lever
[For the details of dimensions and outlines, refer to the catalog or Instruction Manual (DVD).]
Attachment
Refer to the Instruction Manual (DVD) for the attachments of the actuator and loads.
[Precautions for Attachments]
No. Item Precautions
1Attachment Surface • Make sure that the surface to install the actuator and that used as the
datum are a well-finished machined surface or one that possesses an
accuracy equivalent to it.
• Have enough space for the maintenance work.
2Bolt 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.
• For the actuator mounting, use a bolt with the dimension of its effective
mating length to the tapped hole is as stated below.
If tapped hole on steel → thread length same as nominal diameter
If tapped hole on aluminum → thread length 1.8 times longer than
nominal diameter
3Tightening Torque • Please follow the specification values stated in the Instruction Manual
(DVD) for the tightening torque.
Failure to do so may cause an operation problem.
4Load Moment • Please follow the specification values stated in the Instruction Manual
(DVD) for the load moment.
Applying load exceeding the allowable load moment may cause a drop
in the product life. If it is extreme, flaking may occur.
Product Check
MODEL RCP4-GRSML-I-28P-30-10-P3-P-NW
SERIAL No.000090266 MADE IN JAPAN
R
CP4
–
GRSML - I - 28P - 30 - 10 - P3
–
P
–
NW - * *
Series
<Type>
Slide Type
Medium types:
GRSML
Large types:
GRSLL
Extra-large types:
GRSWL
Lever Type
Medium type:
GRLM
Large type:
GRLL
Extra-large type:
GRLW
<Encoder Type>
I : Incremental
<Motor Type>
28P : 28□ size
35P : 35□ size
42P : 42□ size
<Deceleration Ratio>
30 : 1/30
28 : 1/28
Identification for IAI use only(Note1)
<Options>
NM : Reversed-home
specification
AC1 : Actuator cable 1m
specification
<Cable Length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Length specification
R□□ : Robot cable
<Controller>
P3 : PCON-CA
MSEP
<Stroke>
Model
Serial numbe
r
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 hard copy of Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cove
r
of the Instruction Manual or on the First Step Guide.
Actuator Cable
Finger Guide
Motor Cover
Frame
Open/Close Screw
Finger
Motor Cover Cap
Finger Guide
Finger

Wiring
For the controller, only the dedicated controller manufactured by our company can be used.
Using an undedicated controller may cause an accident such as burnout, combustion or heat generation.
Use the dedicated cable enclosed in the package when connecting the actuator and the controller.
RCP4-Gripper
Dedicated connection cable
(Connect RCP4 with the dedicated controller)
Dedicated controller
• PCON-CA
• MSEP
Dedicated connection cable
Motor-encoder cable: CB-CAN-MPA□□□
*) □□□ indicates the cable length. Up to 20m can be specified.
Example) 080 = 8m
L: 5m then longer cases
L: 5m or less
Standard cable
r = 85mm or more (Fixed use)
r = 91mm or more (Fixed use)
r = 50mm or more
r
[Prohibited Items in the Cable Processing]
• Do not pull or bend forcibly the cable so as to give any extra load or tension to the cable.
• Do not process the cable to extend or shortening by means of cutting out, combination or connecting
with another cable.
CB-CAN-MPA□□□, CB-CAN-MPA□□□-RB
150mm 150mm
• Do not let the cable flex at a single point.
• 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.
• When fixing the cable, provide a moderate slack and do not tension it too tight.
• Separate the I/O line, communication line and power line from each other.
Do not store in the same duct.
Follow the instructions below when using a cable track.
• If there is an indication to the cable for the space factor in a cable track, refer to the wiring instruction given by the
supplier when storing the cable in the cable track.
• Avoid the cables to get twined or twisted in the cable track, and also to have the cables move freely and do not tie them
up. (Arrange the wiring so the cables are not to be pulled when bent.)
Do not pile up cables. It may cause faster abrasion of the sheaths or cable breakage.
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.
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL [phone] FAX [phone]
website: www.iai-robot.co.jp/
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL [phone] FAX [phone]
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL [phone] FAX [phone]
website: www.iai-robot.com
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL [phone] FAX [phone]
Chicago Office: 110 East State Parkway, Schaumburg, IL 60173
TEL[phone] FAX [phone]
TEL [phone] FAX [phone]
website: www.intelligentactuator.com
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL [phone] FAX [phone]
Steel Strap
(Piano Wire)
Tie them up softly.
Do not use spiral tube in any
position where cables are bent
frequently.
Power Line
Duct
I/O Line
(Flat Cable, etc.)
Manual No.: ME3731-2A