IAI ROBO Cylinder RCP2 Series User manual

Motor reversing type:
IAI America, Inc.
Motor coupling type: RCP2-SA5C, SA6C,SA7C
RCP2-SA5R, SA6R, SA7R
SS7C, SS8C, HS8C
Standard type:
SS7R, SS8R, HS8R
Cleanroom type: Motor coupling type: RCP2CR-SA5C, SA6C, SA7C
SS7C, SS8C, HS8C
ROBO Cylinder
RCP2/RCP2CR Actuators
Slider Type
Operating Manual
Fifteen Edition

Please Read Before Use
Thank you for purchasing our product.
This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to
ensure safe use of the product.
The DVD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
This Operation Manual is original.
The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI
shall assume no responsibility for the outcome of any operation not specified herein.
Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
If you have any question or comment regarding the content of this manual, please contact the IAI
sales office near you.
Using or copying all or part of this Operation Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.

4
CAUTION
BE SURE TO CHECK SCREW LENGTH.
DAMAGE CAN OCCUR IF TOO LONG OF SCREWS ARE USED!
Model Actuator Base Thread Depth
SA5 4 mm or more and 7 mm or less
SA6 5 mm or more and 9 mm or less
SA7 5 mm or more and 9 mm or less
SS7 5 mm or more and 8 mm or less
SS8 8 mm or more and 10 mm or less
HS8 8 mm or more and 10 mm or less

5
Note
Greasing Actuators of Cleanroom Specification
For ROBO Cylinder actuators of cleanroom specification, use grease of low-dust-raising
type for cleanroom applications.
The grease specified in the maintenance/inspection sections of the Operating Manual is for
actuators of standard specification.
Using the grease for the standard actuators on the cleanroom actuators may generate dust
C Grease by Kuroda Precision Industries is applied to the cleanroom actuators before
shipment from IAI.
Recommended grease: C Grease by Kuroda Precision Industries Ltd.

6

Table of Contents
Safety Guide .................................................................................................................................................................1
Handling Precautions....................................................................................................................................................8
Names of Parts ...........................................................................................................................................................12
1. Checking the Product..........................................................................................................................................16
1.1 Components ................................................................................................................................................16
1.2 Operation Manuals for Controllers Supported by This Product ..................................................................16
3.1 How to Calculate Operaition Life.................................................................................................................33
3.2 Operation Life ............................................................................................................................................ 34
1.3 How to Read Model Nameplate ..................................................................................................................17
1.4 How to Read Model Number .......................................................................................................................17
2. Specification........................................................................................................................................................18
3. Life.......................................................................................................................................................................33
4. Installation and Storage/Preservation Environment............................................................................................35
4.1 Installation Environment ..............................................................................................................................35
4.2 Storage/Preservation Environment .............................................................................................................35
5. Installation ...........................................................................................................................................................36
5.1 Installation ...................................................................................................................................................36
5.2 Notes on Installation....................................................................................................................................37
5.3 Installing the Main Body ..............................................................................................................................38
5.3.1 Using the Tapped Holes at Back of the Base (All Types) .....................................................................38
5.3.2 Using the Mounting Holes on Top of the Base (SA5C, SA6C, SA7C)..................................................39
5.4 Installing the Load to the Slider ...................................................................................................................40
5.5 Reference Surface and Mounting Surface ..................................................................................................41
5.6 Clamp Screws .............................................................................................................................................42
5.7 Cleanroom Specification .............................................................................................................................43
5.7.1 Recommended Suction Rate................................................................................................................. 43
5.7.2 Suction Joint ..........................................................................................................................................43
6. Connection with Controllers ................................................................................................................................44
6.1 Wiring ..........................................................................................................................................................44
7. Options................................................................................................................................................................48
7.1 Brake ...........................................................................................................................................................48
7.2 Reversed Home Specification .....................................................................................................................48
7.3 Motor Reversing at Left, Motor Reversing at Right .....................................................................................48
7.4 Slider Roller Specification ...........................................................................................................................48
7.5 Suction Joint on Opposite Side ...................................................................................................................48
8. Motor/Encoder Cable ..........................................................................................................................................49
8.1 PMEC/PSEP Controller Cables...................................................................................................................49
8.2 PCON/PSEL Controller Cables ...................................................................................................................50

9. Maintenance and Inspection ...............................................................................................................................52
9.1 Inspection Items and Schedule ...................................................................................................................52
9.2 Visual Inspection of the Machine Exterior ...................................................................................................52
9.3 Cleaning ......................................................................................................................................................53
9.4 Adjusting the Stainless Sheet......................................................................................................................53
9.5 Interior Inspection........................................................................................................................................54
9.6 Internal Cleaning .........................................................................................................................................55
9.7 Grease Suppiy.............................................................................................................................................55
9.7.1 Applicable Grease ................................................................................................................................. 55
9.7.2 How to Apply Grease.............................................................................................................................57
9.8 Replacing/Adjusting the Stainless Sheet ....................................................................................................58
9.9 Reduction Belt [Motor Reversing Type]: SA5R, SA6R, SA7R, SS7R, SS8R, HS8R...................................64
9.9.1 Inspecting the Belt .....................................................................................................................................64
9.9.2 Applicable Belt....................................................................................................................................... 64
9.9.3 Adjusting the Belt Tension.....................................................................................................................64
9.9.4 Replacing the Belt : SA5R, SA6R, SA7R, SS7R, SS8R, HS8R ...........................................................66
9.10 Replacing the Motor ....................................................................................................................................74
9.10.1 Motor coupling Type ..............................................................................................................................74
9.10.2 Motor Reversing Type ...........................................................................................................................92
10. Appendix ...........................................................................................................................................................100
10.1 External Dimensions..................................................................................................................................100
10.2 How to use the home mark ........................................................................................................................100
10.1.1 RCP2-SA5C.........................................................................................................................................100
10.1.2 RCP2-SA6C.........................................................................................................................................101
10.1.3 RCP2-SA7C.........................................................................................................................................102
10.1.4 RCP2-SS7C.........................................................................................................................................103
10.1.5 RCP2-SS8C.........................................................................................................................................104
10.1.6 RCP2-HS8C ........................................................................................................................................105
10.1.7 RCP2-SA5R.........................................................................................................................................106
10.1.8 RCP2-SA6R.........................................................................................................................................107
10.1.9 RCP2-SA7R.........................................................................................................................................108
10.1.10 RCP2-SS7R.........................................................................................................................................109
10.1.11 RCP2-SS8R.........................................................................................................................................110
10.1.12 RCP2-HS8R ........................................................................................................................................111
10.1.13 RCP2-SA5C.........................................................................................................................................112
10.1.14 RCP2CR-SA6C ...................................................................................................................................113
10.1.15 RCP2CR-SA7C ...................................................................................................................................114
10.1.16 RCP2CR-SS7C ...................................................................................................................................115
10.1.17 RCP2CR-SS8C ...................................................................................................................................116
10.1.18 RCP2CR-HS8C ...................................................................................................................................117
119
119
119
119
120
120
11. Warranty............................................................................................................................................................119
Change History ........................................................................................................................................................ 121
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11.1 ᴾᴾᴾWarranty Period
11.2 ᴾᴾᴾScope of Warranty
11.3 ᴾᴾᴾHonoring the Warranty
11.4 ᴾᴾᴾLimited Liability
11.6 ᴾᴾᴾOther ltems Excluded from Warranty
ᴾᴾᴾand Applications
11.5 ᴾᴾᴾConditions of Conformance with Applicable Standards/Regulations, Etc.,

1
Safety Guide
When designing and manufacturing a robot system, ensure safety by following the safety precautions
provided below and taking the necessary measures.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No. Operation
Description Description
1 Model
Selection
This product has not been planned and designed for the application where
high level of safety is required, so the guarantee of the protection of human
life is impossible. Accordingly, do not use it in any of the following
applications.
1) Medical equipment used to maintain, control or otherwise affect human life
or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding the
specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Do not use the product outside the specifications. Failure to do so may
considerably shorten
2 Transportation When the work is carried out with 2 or more persons, make it clear who is to
be the leader and who to be the follower(s) and communicate well with each
other to ensure the safety of the workers.
Consider well so that it is not bumped against anything or dropped during the
transportation.
Transport it using an appropriate transportation measure.
Do not step or sit on the package.
Do not put any heavy thing that can deform the package, on it.
When using a crane capable of 1t or more of weight, have an operator who
has qualifications for crane operation and sling work.
When using a crane or equivalent equipments, make sure not to hang a load
that weighs more than the equipment’ s capability limit.
Use a hook that is suitable for the load. Consider the safety factor of the hook
in such factors as shear strength.
Do not get on the load that is hung on a crane.
Do not leave a load hung up with a crane.
Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
The storage and preservation environment conforms to the installation
environment.
However, especially give consideration to the prevention of condensation.
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No. Operation
Description Description
1 Model
Selection
ƔThis product has not been planned and designed for the application where
high level of safety is required, so the guarantee of the protection of
human life is impossible. Accordingly, do not use it in any of the following
applications.
1) Medical equipment used to maintain, control or otherwise affect human
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
ƔDo not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
ƔDo not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
ƔFor an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving part
may drop when the power is turned OFF and may cause an accident such
as an injury or damage on the work piece.

2
No. Operation
Description Description
(1) Installation of Robot Main Body and Controller, etc.
Make sure to securely hold and fix the product (including the work part). A fall,
drop or abnormal motion of the product may cause a damage or injury.
Do not get on or put anything on the product. Failure to do so may cause an
accidental fall, injury or damage to the product due to a drop of anything,
malfunction of the product, performance degradation, or shortening of its life.
When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or chemical
droplets
(2) Cable Wiring
Use our company’ s genuine cables for connecting between the actuator and
controller, and for the teaching tool.
Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil
it around. Do not insert it. Do not put any heavy thing on it. Failure to do so
may cause a fire, electric shock or malfunction due to leakage or continuity
error.
Perform the wiring for the product, after turning OFF the power to the unit, so
that there is no wiring error.
When the direct current power (+24V) is connected, take the great care of the
directions of positive and negative poles. If the connection direction is not
correct, it might cause a fire, product breakdown or malfunction.
Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction of
the product.
Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
4 Installation and
Start
(3) Grounding
Make sure to perform the grounding of type D (Former Type 3) for the
controller. The grounding operation should be performed to prevent an
electric shock or electrostatic charge, enhance the noise-resistance ability
and control the unnecessary electromagnetic radiation.
No. Operation
Description Description
2 Transportation ƔWhen carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
ƔWhen the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
ƔWhen in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
ƔTransport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions
in the operation manual for each model.
ƔDo not step or sit on the package.
ƔDo not put any heavy thing that can deform the package, on it.
ƔWhen using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
ƔWhen using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
ƔUse a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
ƔDo not get on the load that is hung on a crane.
ƔDo not leave a load hung up with a crane.
ƔDo not stand under the load that is hung up with a crane.
3 Storage and
Preservation
ƔThe storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
ƔStore the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
ƔMake sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
ƔDo not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
ƔWhen using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets

3
No. Operation
Description Description
(4) Safety Measures
When the work is carried out with 2 or more persons, make it clear who is to
be the leader and who to be the follower(s) and communicate well with each
other to ensure the safety of the workers.
When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’ s movable range. When the robot
under operation is touched, it may result in death or serious injury.
Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an injury
or damage to the product.
4 Installation and
Start
Take the safety measure not to start up the machine only with the emergency
stop cancellation or recovery after the power failure. Failure to do so may
result in an electric shock or injury due to unexpected power input.
When the installation or adjustment operation is to be performed, give clear
warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden
power input may cause an electric shock or injury.
Take the measure so that the work part is not dropped in power failure or
emergency stop.
Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Do not insert a finger or object in the openings in the product. Failure to do so
may cause an injury, electric shock, damage to the product or fire.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the actuator
dropped by gravity.
5 Teaching When the work is carried out with 2 or more persons, make it clear who is to
be the leader and who to be the follower(s) and communicate well with each
other to ensure the safety of the workers.
Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably inside
the safety protection fence, prepare the “Stipulations for the Operation” and
make sure that all the workers acknowledge and understand them well.
When the operation is to be performed inside the safety protection fence, the
worker should have an emergency stop switch at hand with him so that the
unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so that
any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the actuator
dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection fence,
the movable range should be indicated.
No. Operation
Description Description
(2) Cable Wiring
ƔUse our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
ƔDo not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
ƔPerform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
ƔWhen the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is
not correct, it might cause a fire, product breakdown or malfunction.
ƔConnect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction
of the product.
ƔNever cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
4 Installation
and Start
(3) Grounding
ƔThe grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise-resistance ability and control
the unnecessary electromagnetic radiation.
ƔFor the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair cable
with wire thickness 0.5mm2(AWG20 or equivalent) or more for grounding
work. For security grounding, it is necessary to select an appropriate wire
thickness suitable for the load. Perform wiring that satisfies the
specifications (electrical equipment technical standards).
ƔPerform Class D Grounding (former Class 3 Grounding with ground
resistance 100Ωor below).

4
No. Operation
Description Description
6 Trial Operation When the work is carried out with 2 or more persons, make it clear who is to
be the leader and who to be the follower(s) and communicate well with each
other to ensure the safety of the workers.
After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Make sure to perform the programmed operation check at the safety speed.
Failure to do so may result in an accident due to unexpected motion caused
by a program error, etc.
Do not touch the terminal block or any of the various setting switches in the
power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Before the automatic operation is started up, make sure that there is nobody
inside the safety protection fence.
Before the automatic operation is started up, make sure that all the related
peripheral machines are ready for the automatic operation and there is no
error indication.
Make sure to perform the startup operation for the automatic operation, out of
the safety protection fence.
In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn OFF
the power switch. Failure to do so may result in a fire or damage to the
product.
When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of the
product in the recovery operation from the power failure.
No. Operation
Description Description
4 Installation
and Start
(4) Safety Measures
ƔWhen the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
ƔWhen the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range. When the
robot under operation is touched, it may result in death or serious injury.
ƔMake sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
ƔTake the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
ƔTake the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
ƔWhen the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
ƔTake the measure so that the work part is not dropped in power failure or
emergency stop.
ƔWear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
ƔDo not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
ƔWhen releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching ƔWhen the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
ƔPerform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
ƔWhen the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
ƔWhen the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
ƔPlace a sign “Under Operation” at the position easy to see.
ƔWhen releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.

5
No. Operation
Description Description
8 Maintenance
and Inspection
When the work is carried out with 2 or more persons, make it clear who is to
be the leader and who to be the follower(s) and communicate well with each
other to ensure the safety of the workers.
Perform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety protection
fence, prepare the “Stipulations for the Operation” and make sure that all the
workers acknowledge and understand them well.
When the work is to be performed inside the safety protection fence, basically
turn OFF the power switch.
When the operation is to be performed inside the safety protection fence, the
worker should have an emergency stop switch at hand with him so that the
unit can be stopped any time in an emergency.
When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so that
any third person can not operate the switches carelessly.
Place a sign “Under Operation” at the position easy to see.
For the grease for the guide or ball screw, use appropriate grease according
to the Operation Manual for each model.
Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the actuator
dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection fence,
the movable range should be indicated.
9 Modification
and Dismantle
Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
No. Operation
Description Description
6 Trial Operation ƔWhen the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
ƔAfter the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
ƔWhen the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
ƔMake sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
ƔDo not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
ƔCheck before starting the automatic operation or rebooting after operation
stop that there is nobody in the safety protection fence.
ƔBefore starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm
indication.
ƔMake sure to operate automatic operation start from outside of the safety
protection fence.
ƔIn the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
ƔWhen a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.

6
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the Operation Manual for each model.
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Danger This indicates an imminently hazardous situation which, if the product
is not handled correctly, will result in death or serious injury. Danger
Warning This indicates a potentially hazardous situation which, if the product is
not handled correctly, could result in death or serious injury. Warning
Caution This indicates a potentially hazardous situation which, if the product is
not handled correctly, may result in minor injury or property damage. Caution
Notice This indicates lower possibility for the injury, but should be kept to use
this product properly. Notice
No. Operation
Description Description
8 Maintenance
and Inspection
ƔWhen the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
ƔPerform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
ƔWhen the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
ƔWhen the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
ƔWhen the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
ƔPlace a sign “Under Operation” at the position easy to see.
ƔFor the grease for the guide or ball screw, use appropriate grease
according to the Operation Manual for each model.
ƔDo not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
ƔWhen releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
ƔThe slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
ƔPay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
ƔDo not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal ƔWhen the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
ƔWhen removing the actuator for disposal, pay attention to drop of
components when detaching screws.
ƔDo not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ƔDo not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing so
may affect the performance of your medical device.
ƔSee Overseas Specifications Compliance Manual to check whether
complies if necessary.
ƔFor the handling of actuators and controllers, follow the dedicated
operation manual of each unit to ensure the safety.

7
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the Operation Manual for each model.
Level Degree of Danger and Damage Symbol
Danger This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious injury. Danger
Warning This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury. Warning
Caution
This indicates a potentially hazardous situation which, if the product
is not handled correctly, may result in minor injury or property
damage.
Caution
Notice This indicates lower possibility for the injury, but should be kept to
use this product properly. Notice

8
Handling Precautions
1. Do not set a speed or acceleration/deceleration exceeding the applicable
rating.
Do not set a speed or acceleration/deceleration exceeding the applicable rating. Doing so may result in vibration,
failure or shorter life. If an acceleration/deceleration exceeding the rating is set, creep may occur or the coupling
may slip.
2. Keep the load moments to within the allowable value.
Keep the load moments to within the allowable value. If a load exceeding the allowable load moment is applied,
the life of the actuator may be reduced. In an extreme case, even flaking may occur.
3. Keep the overhang length to within the allowable value.
Keep the overhang length of the load to within the allowable value. If the overhang length exceeds the allowable
value, vibration or noise may occur.
4. Grease film may run out after back-and-forth operations over a short
distance.
Grease film may run out if the actuator is moved back and forth continuously over a distance of 30 mm or less. As
a guide, perform a back-and-forth operation five times or over a distance of 50 mm or more after a back-and-forth
operation over such short distance has been repeated 5,000 to 10,000 times. This will restore oil film.
5. Turn on the servo after making sure the slider or rod is away from the
mechanical end.
If the servo is turned on when the slider or rod is positioned near the mechanical end, the pole phase may not be
detected and a pole non-confirmation error or excitation detection error may occur.
Accordingly, turn on the servo after making sure the slider or rod is away from the mechanical end.
6. Make sure to attach the actuator properly by following this operation manual.
Using the product with the actuator not being certainly retained or affixed may cause abnormal noise, vibration,
malfunction or shorten the product life.

9
7. Transporting and Handling
7.1 Handling the Actuator
7.1.1 Handling the Packed Unit
Unless otherwise specified, each actuator (axis) is shipped individually. Please make sure that the shipping box
is not dropped or subjected to strong impact during transport.
• Operators should not carry heavy shipping boxes by themselves.
• If the shipping box is left standing, it should be in a horizontal position.
• Do not climb on top of the shipping box.
• Do not place heavy objects which may deform the shipping box or objects with concentrated loads on top of
the box.
7.1.2 Handling the Actuator after It is Unpacked
Lift the actuator up by the base to remove it from the packing.
• When carrying the actuator, make sure not to bump it. Take particular care with the front cover and motor
cover.
• Do not exert excessive force on any part of the actuator.
• Be careful not to cause the cables to receive a tensile force.
• Be careful when handling the stainless sheet
The stainless sheet is designed very thin (thickness: 0.1mm) in order to ensure flexibility. Therefore, the
stainless sheet is easily dented or scratched. Once dented or scratched, the stainless sheet may break during
use.
* Please refer to “Name of Parts” for the names of the actuator parts.
Caution: Do not press the sheet directly with hands.

10
7.2 Handling the Actuator Assembly
When transporting the actuator with its axes already assembled, take note of the following items.
7.2.1 Shipping from IAI Already Assembled
After assembly at IAI, your machine undergoes a shipping inspection, is packed in a crate with skids, and finally
shipped.
If any of the combined actuators is a slider, the slider is securely fastened in place to prevent unexpected
movement during shipping. Combined units have the ends of their actuators fastened so as to prevent them from
moving significantly due to external vibration.
•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 belts or the like, be sure to pass the belts around the reinforcement frames
under the skids. The same applies for lifting the package with a forklift; please ensure that the forks are placed
under the skids.
•When setting the package down, do not let the package receive an impact upon contacting the floor.
7.2.2 Handling After Unpacking
Please adhere to the following instructions when handling the assembled unit, whether it was shipped
pre-assembled at IAI or assembled on your site.
•Secure the slider so that it does not move unexpectedly during transport.
•If the end of the actuator is protruding, fasten it down properly so that it does not move significantly due to
external vibration.
•When transporting the assembly without the ends of the actuators fastened, do not subject the assembly to an
impact of 0.3 G or more.
•When using belts or the like to lift an assembly consisting of an actuator and peripheral equipment, make sure
the belts are not passed around the actuator itself or otherwise do not touch the actuator.
•Make sure the belts support the actuator load by its base by using appropriate cushioning materials.
•Lift the end of the Y-axis with a separate belt, ensuring that the assembly remains level. At this time, also
make sure the load is not placed on the screw cover.
•Make sure the load is not placed on the brackets, covers, or connector box.
Also make sure the cables are not pinched or deformed excessively.

11
International Standards Compliances
This actuator complies with the following overseas standards.
Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
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12
Names of Parts
The names of the actuator parts are indicated below.
The left and right sides are indicated by looking at the actuator from the motor end with the actuator set down
horizontally. Front end means the side opposite the motor end.
1. Motor Coupling Type (Standard) RCP2
SA5C, SA6C, SA7C
SS7C, SS8C, HS8C
Caution: The cable directly connected to the actuator is not a robot cable even when
ordered with a robot cable option. When designing, please make sure not to give
repeated bending loads to this cable.
The robot cable is applicable only to the connecting cables.
Stainless Sheet
Opposite
Motor End
Side Cover
Right Side
Left Side
Cable Joint Connector
A
ctuator Cable
Motor
End
Front Cove
r
Base
Bearing Housing
Slider
Motor End Cap
Motor Cove
r
Opposite
Motor End
Motor
End
Stainless Sheet
Side Cover Cable Joint Connector
Right Side
Left Side
Front Cove
r
Slider Bearing Housing Motor End Cap
Motor Cove
r
Base
A
ctuator Cable