IAI ROBO Cylinder RCP6 User manual

ROBO Cylinder
RCP6/RCP6S Actuator
Rod Type
Instruction Manual
Second edition
Motor Straight Type:
RA4C, RA6C, RA7C, RA8C
Side-Mounted Motor Type:
RA4R, RA6R, RA7R, RA8R
IAI America, Inc.

Please Read Before Use
Thank you for purchasing our product.
This instruction 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 instruction manuals for IAI products.
When using the product, refer to the necessary portions of the applicable instruction manual
by printing them out or displaying them on a PC.
After reading the instruction manual, keep it in a convenient place so that whoever is
handling this product can reference it quickly when necessary.
[Important]
•This instruction manual is original.
•This product is not to be used for any other purpose from what is noted in this instruction
manual. IAI shall not be liable whatsoever for any loss or damage arising from the result of
using the product for any other purpose from what is noted in the manual.
•The information contained in this instruction manual is subject to change without notice for
the purpose of production improvement.
•
If you have any question or finding regarding the information contained in this instruction
manual, contact our customer center or our sales office near you.
•Using or copying all or a 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.

Description of RCP6S controller unit is not included in this instruction manual.
With regard to RCP6S controller unit, refer to the separate instruction manual.

Table of Contents
Safety Guide.....................................................................................................................................1
Caution in Handling..........................................................................................................................9
International Standards Compliances .............................................................................................11
Names of the Parts.........................................................................................................................13
1. Specifications Check...................................................................................................................... 19
1.1 Checking the Product................................................................................................................. 19
1.1.1 Parts ............................................................................................................................... 19
1.1.2 Related Instruction Manuals for the Each Controller Supported by This Product.......... 20
1.1.3 How to Read the Model Nameplate ............................................................................... 20
1.2 Specifications............................................................................................................................. 22
1.2.1 Speed.............................................................................................................................. 22
1.2.3 Driving System • Position Detector................................................................................. 49
1.2.4 Positioning Precision ...................................................................................................... 49
1.2.5 Rod Tip Load .................................................................................................................. 49
1.2.6 Current Limit Value and Pressing Force......................................................................... 50
1.2.7Rod Tip Inclination Amount (reference).......................................................................... 54
1.2.8Duty Ratio for Continuous Operation ............................................................................. 56
1.3 Options....................................................................................................................................... 57
1.3.1 Brake Type (Model: B).................................................................................................... 57
1.3.2 Reversed-home Specification (Model: NM).................................................................... 57
1.3.3 Flange Bracket (Front) (Model: FL)................................................................................ 57
1.3.4 Foot Bracket (Model: FT)................................................................................................ 58
1.3.5 T-slot Nut Bar (Model: NTB)........................................................................................... 58
1.3.6Tip Adapter (Internal Thread) (Model: NFA) ................................................................... 59
1.3.7 Motor Left Side-Mounted, Motor Top Side-Mounted, Motor Right Side-Mounted
(Model: ML, MT, MR) ..................................................................................................................... 61
1.3.8 Cable Exit Direction Changed (Model: CJT, CJR, CJL, CJB, CJO)............................... 61
1.4 Motor • Encoder Cables............................................................................................................. 62
1.4.1 Motor • Encoder Integrated Cables (RA4, RA6 and RA7).............................................. 62
1.4.2 Motor • Encoder Integrated Cables Robot Type (RA4, RA6 and RA7).......................... 63
1.4.3 Motor • Encoder Integrated Cables (RA8)...................................................................... 64
1.4.4 Motor • Encoder Integrated Cables (RA8)...................................................................... 65
2. Installation...................................................................................................................................... 66

2.1 Transportation............................................................................................................................ 66
2.2 Installation and Storage • Preservation Environment ................................................................ 68
2.3 How to Install.............................................................................................................................. 69
2.3.1 Installation....................................................................................................................... 69
2.3.2 Installation of the Main Unit ............................................................................................ 70
3. Connecting with the Controller....................................................................................................... 88
4. Caution for Operation..................................................................................................................... 92
5. Maintenance and Inspection.......................................................................................................... 93
5.1 Inspection Items and Schedule.................................................................................................. 93
5.2 External Visual Inspection.......................................................................................................... 94
5.3 Cleaning..................................................................................................................................... 94
5.4 Grease Supply ........................................................................................................................... 94
5.4.1 What Grease to Use....................................................................................................... 94
5.4.2 How to Apply Grease...................................................................................................... 95
5.5 Procedure for Belt Replacement and Tuning............................................................................. 96
5.5.1 Inspection of the Belt...................................................................................................... 96
5.5.2 Belt to Use...................................................................................................................... 96
5.5.3 Belt Replacement........................................................................................................... 97
5.6 Motor Replacement Process.................................................................................................... 101
5.6.1 RA4C, RA6C, RA7C..................................................................................................... 101
5.6.2 RA8C ............................................................................................................................ 103
5.6.3 RA4R, RA6R, RA7R, RA8R......................................................................................... 106
6. External Dimensions.....................................................................................................................113
6.1 Standard Specification RCP6-RA4C.........................................................................................113
6.2 Built-in Controller Specification RCP6S-RA4C.........................................................................114
6.3 Standard Specification RCP6-RA6C.........................................................................................115
6.4 Built-in Controller Specification RCP6S-RA6C.........................................................................116
6.5 Standard Specification RCP6-RA7C.........................................................................................117
6.6 Built-in Controller Specification RCP6S-RA7C.........................................................................118
6.7 Standard Specification RCP6-RA8C.........................................................................................119
6.8 Built-in Controller Specification RCP6S-RA8C........................................................................ 120
6.9 Standard Specification RCP6-RA4R Top Side-Mounted (Model: MT)..................................... 121
6.10 Standard Specification RCP6-RA4R Left Side-Mounted (Model: ML)................................... 122
6.11 Built-in Controller Specification RCP6S-RA4R Top Side-Mounted (Model: MT) ..................... 123
6.12 Built-in Controller Specification RCP6S-RA4R Left Side-Mounted (Model: ML) ................... 124
6.13 Standard Specification RCP6-RA6R Top Side-Mounted (Model: MT)................................... 125

6.14 Standard Specification RCP6-RA6R Left Side-Mounted (Model: ML)................................... 126
6.15 Built-in Controller Specification RCP6S-RA6R Top Side-Mounted (Model: MT) ................... 127
6.16Built-in Controller Specification RCP6S-RA6R Left Side-Mounted (Model: ML) ..................... 128
6.17 Standard Specification RCP6-RA7R Top Side-Mounted (Model: MT)................................... 129
6.18 Standard Specification RCP6-RA7R Left Side-Mounted (Model: ML)................................... 130
6.19Built-in Controller Specification RCP6S-RA7R Top Side-Mounted (Model: MT) ..................... 131
6.20Built-in Controller Specification RCP6S-RA7R Left Side-Mounted (Model: ML) ..................... 132
6.21 Standard Specification RCP6-RA8R Top Side-Mounted (Model: MT)................................... 133
6.22 Standard Specification RCP6-RA8R Left Side-Mounted (Model: ML)................................... 134
6.23 Built-in Controller Specification RCP6S-RA8R Top Side-Mounted (Model: MT) ................... 135
6.24 Standard Specification RCP6S-RA8R Left Side-Mounted (Model: ML)................................. 136
7. Life................................................................................................................................................ 137
7.1 RA4C, RA4R, RA6C, RA6R, RA7C, RA7R............................................................................. 137
7.2 RA8C, RA8R............................................................................................................................ 137
8. Warranty....................................................................................................................................... 138
8.1 Warranty Period ....................................................................................................................... 138
8.2 Scope of the Warranty ............................................................................................................. 138
8.3 Honoring the Warranty............................................................................................................. 138
8.4 Limited Liability ........................................................................................................................ 139
8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications ..... 139
8.6 Other Items Excluded from Warranty....................................................................................... 139
Change History.................................................................................................................................... 140

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
● 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 the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
● 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
● For 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.

No.
Operation
Description
Description
2
Transportation
● When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
● 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 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.
● Transport 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 instruction manual for each model.
● 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.
● Store 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.
● 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.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
● 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

No.
Operation
Description
Description
4
Installation
and Start
(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.
(
3
)
Grounding
● 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.
● For 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).
● Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100Ω or below).

No.
Operation
Description
Description
4
Installation
and Start
(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.
● 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
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
● Check before starting the automatic operation or rebooting after
operation stop that there is nobody in the safety protection fence.
● Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
● Make sure to operate automatic operation start from outside 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
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 instruction 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.
● The 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.
● Pay 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
● 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.
● When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
● Do not put the product in a fire when disposing of it. The product may
burst or generate toxic gases.
11
Other
● Do 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.
● See Overseas Specifications Compliance Manual to check whether
complies if necessary.
● For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.

Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the instruction 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

Caution in Handling
1. Make sure to follow the usage condition, environment and specification
range of the product.
In case it is not secured, it may cause a drop in performance or malfunction of the product.
2. Do not attempt to have any handling or operation that is not stated in this
Instruction manual.
3. It is recommended to apply our products for the wiring between the actuator
and the controller.
4. Do not attempt to establish the settings for the speed and
acceleration/deceleration above the allowable range.
An operation with speed and acceleration/deceleration beyond the allowable range may cause an
abnormal noise, vibration, malfunction or shortened life.
5. Do not apply radial load and load moment to the rod.
Loads can only be applied in the axial direction matching with the rod axis.
6. If back and forth operations are performed repeatedly in short distance, it
may wear out the film of grease.
Continuous back and forth operation within a distance less than 30mm may cause wear of grease.
As a reference, have approximately 5 cycles of back and forth operation in a distance more than 50mm in
every 5,000 to 10,000 cycles to regenerate the oil film. Keep using the actuator with the grease worn out
may cause malfunction. If it is extreme, flaking may occur on the guide, ball screw.
7. Do not attempt to hit the rod against an abstacle with high speed.
It may destroy the coupling.
8. Make sure to attach the actuator properly by following this instruction
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. Grease has been applied to the outer periphery of the rod. Protect the
peripheral equipments if grease adhesion affects them.

10.For PCON-CB and MCON Controllers (with option: T), it is available to
switch over the setting between effective and ineffective of the high-output
setting in the parameter setting.
(In the setting at delivery, the high output setting is set to effective.)
For MSEL Controller, the high output setting is effective and cannot switch it over to ineffective.
[Refer to an instruction manual for each controller for details]
The performance of weight capacity at each velocity and acceleration/deceleration setting differs
between the high output setting being effective and ineffective. Refer to the applicable
performance specification when the high-output setting is effective or ineffective in 1.2
Specifications.
Controller Parameter Remarks
PCON-CB
No.152 High Output Setting
[0: Ineffective, 1: Effective]
MCON
No.152 High Output Setting
[0: Ineffective, 1: Effective]
Option T: In high output setting, available to
have high output setting effective.
International Standards Compliances
This actuator complies with the following overseas standard.
Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
RoHS Directive
CE Marking
○
○

13
Names of the Parts
In this Instruction Manual, the left and right sides are indicated by looking at the actuator from the motor
end, with the actuator placed horizontally, as shown in the figure below.
1. Straight Type
1.1 Standard Specification RCP6-RA4C
1.2 Built-in Controller Specification RCP6S-RA4C
Rod
Rod Tip Adaptor
Motor Unit
Screw for Motor Unit Attachment
Grease Supply (Φ2.5 hole)
(Hexagonal Socket Head Bolt)
Grease Supply (Φ2.5 hole)
(Hexagonal Socket Head Bolt)
(The same applies to the other side)
Body Frame
Bearing
Tapped Hole for
Ground Cable
Connection
Connector
Rod Tip Adaptor
Rod
Motor Side
Right Side
Opposite Side
Left Side
Opposite Side
Motor Side
Left Side
Right Side
Teaching Port
Status LED
Screw for Motor Unit Attachment
Motor Unit
Grease Supply (Φ2.5 hole)
(Hexagonal Socket Head Bolt)
Grease Supply (Φ2.5 hole)
(Hexagonal Socket Head Bolt)
(The same applies to the other side)
Body Frame
Bearing
Tapped Hole for
Ground Cable
Conn
ection
Power · I/O Cable
Connector

14
1.3 Standard Specification RCP6-RA6C, RA7C
1.4 Built-in Controller Specification RCP6S-RA6C, RA7C
Rod
Rod Tip Adaptor
Body Frame
Bearing
Grease Supply (Φ5 hole)
(Rubber Cap)
(The same applies to the other side)
Grease Supply (Φ5 hole)
(Rubber
Cap)
Motor Unit
Screw for Motor Unit Attachment
Tapped Hole for
Ground Cable
Connection
Connector
Rod
Rod Tip Adaptor
Grease Supply (Φ5 hole)
(Rubber Cap)
(The same applies to the other side)
Grease Supply (Φ5 hole)
(Rubber Cap)
Body Frame
Screw for Motor Unit Attachment
Motor Unit
Tapped Hole for
Ground Cable
Connection
Teaching Port
Bearing
Status LED
Power · I/O Cable
Connector
Motor Side
Right Side
Opposite Side
Left Side
Motor Side
Right Side
Opposite Side
Left Side

15
1.5 Standard Specification RCP6-RA8C
1.6 Built-in Controller Specification RCP6S-RA8C
Rod
Rod Tip Adaptor
Grease Supply (Φ5 hole)
(Rubber Cap)
(The same applies to the other side)
Grease Supply (Φ5 hole)
(Rubber Cap)
Body Frame
Motor Cover
End Cover
Tapped Hole for
Ground Cable
Connection
Teaching Port
Bearing
Status LED
Power · I/O Cable
Connector
Rod
Rod Tip Adaptor
Grease Supply (Φ5 hole)
(Rubber Cap)
(The same applies to the other side)
Grease Supply (Φ5 hole)
(Rubber Cap)
Body Frame
Motor Cover
End Cover
Tapped Hole for
Ground Cable
Connection
Bearing
Connector
Motor Side
Right Side
Opposite Side
Left Side
Motor Side
Right Side
Opposite Side
Left Side