RCP4 Actuator
Gripper Type
First Step Guide First 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
yDo 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.
yTransport a heavy package with at least more than two operators. Consider an appropriate method for
transportation.
yKeep 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.
yDo not step or sit on the package.
yDo not put any load that may cause a deformation or breakage of the package.
2. Handling the Actuator After Unpacking
yDo not carry the actuator by its motor unit or its cable or attempt to move it by pulling the
cable.
yHold the frame or motor cover section of the body when transporting the actuator main body.
yDo not hit or drop the actuator during transportation.
yDo not attempt to force any part of the actuator. Do not apply excess force especially on the fingers,
finger guide and levers.
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.
yWhere the actuator receives radiant heat from strong heat sources such as heat treatment furnaces
yWhere the ambient temperature exceeds the range of 0 to 40°C
yWhere the temperature changes rapidly and condensation occurs
yWhere relative humidity smaller than 20% or larger than 85%RH
yWhere the actuator receives direct sunlight
yWhere the actuator is exposed to corrosive or combustible gases
yWhere the ambient air contains a large amount of powder dust, salt or iron (at level exceeding what is
normally expected in an assembly plant)
yWhere the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or chemical
solutions
yWhere the actuator receives impact or vibration
yPlace with an altitude of 2,000m or more
If the actuator is used in any of the following locations, provide sufficient shielding measures:
yWhere noise generates due to static electricity, etc.
yWhere the actuator is subject to a strong electric or magnetic field
yWhere the actuator is subject to ultraviolet ray or radiation
2. Storage • Preservation Environment
yThe 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.
yUnless 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.
yFor 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.
yStorage 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
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
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
of the Instruction Manual or on the First Step Guide.
Actuator Cable
Finger Guide
Motor Cover
Frame
Open/Close Screw
Finger
Motor Cover Cap
