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