Manuale d’uso / di manutenzione del prodotto RA4D del fabbricante SMC Networks
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IAI America, Inc. ROBO Cylinder Third Edition Motor Straight Type (Coupling Type): RA4C, RA5C, RGS4C, RGS5C, RGD4C and RGD5C Motor Straight Type (Built-in Type): RA4D, RA7AD, RA7BD, RGS4D and RGS7AD R.
Safety Precautions (Please read before using the product.) Before insta lling, operat ing, mainta in ing or inspec ting this produc t, please per us e this op erating manu al as well as the operating .
z Avoid using the product in a place where the main unit or controller may come in con tact with water or oil droplets. z Never cut and/or re connect the cables supplied with the pr oduct for the purpose of extending or shortening the cable len gt h. D o ing so may result in fire.
z Do not step on the product, use it as a foots too l or plac e any obj ect on it. You may slip an d fall or the product may tip over or drop, r esulting in injury. Malfunction, runaway produ ct, etc., may also result due to product breakdown or d amage.
[Operation] z Turn on the power to indivi dual equipment one by one, startin g from the eq uipment at the h ighest level in the system hierarchy. Failur e to do so may cause the product to start suddenly, result ing in injury or product damage. z Do not insert a finger or object in the op enings in the product.
Prohibited Handling of Cables When designing an applicat ion system using IAI’s act uators and controllers, incorrect w iring or connection of each cable may cause unexpected proble ms such as a disconnected cable or poor contact, or even a runaway system.
Cable Cable bearer Power l ine Signal lines (flat cable) Duct 7. Notes on using cable bearers z Do not let th e c able get tan gle d or kinked in a cable beare r or flexible tu be. When bundli ng the cable , keep a certain degree of flexibility (so that the cable will not become too taut when bent).
Table of Contents 1. Foreword .......... ....... ... ... ... ...... ... ... .... ...... ... ... ...... ... .... ... ...... ... ... ... ....... ... ... ... ...... ... ... ... ....... ............... .. 1 2. Safety Preca utions .........................
9. Connecting the Air Tube of the RCS2 W Dustproof/Splash-proof Type ............ ............. ... ............ ... 28 10. Maximum Speed ............... ................ ............... ............. ... ............ ... ................ ............
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1 1. Foreword Thank you fo r purchasi ng an IAI prod uc t. This manual explains the structure , correct operation and maintenance o f the actuator. Please read this m anual carefully be fore using the product. For more c omplete in formation on oper at ing the act u ator, please also refer to the controller operating manual.
2 3. Warranty 3.1 Warranty P eriod Warranty period shall be either of th e following periods whichever ends first: • 18 months after shipment from our factory • 12 months after delivery to a specified location • 2500 hours of operation time 3.
3 Rod side Motor side Right Left Rod Rod co ve r Cylinder tube Head cove r Motor unit Cable Rod tip adapte r 4. Names of the Parts The names of the act uator parts are indica ted below . In this manual, th e right and left are determined by view in g the actuat or from the to p an d from the m otor side.
4 Rod si de Motor side Right Left Rod Rod cove r Cylinder tu be Head c ove r Motor unit Cable Rod tip adapt e r 4.2 Motor S traight T ype (Built-in T ype): No Guid e z RCS2-RA4D Caution: The cable directly connected to the actuator is not robot cab le even when ordered with robot cable op tion.
5 Rod side Motor side Right Left Rod Rod cove r Cylinder tube Head cove r Motor unit Cable Rod tip adapte r Pull ey case 4.3 Motor Reversing T ype: No Guide z RCS2-RA4R Caution: The cable directly connected to the actuator is not robot cab le even when ordered with robot cable op tion.
6 4.4 Motor S traight T ype (Coupling T ype): Single-guide T ype z RCS2-RGS4C Caution: The cable directly connected to the actuator is not robot cab le even when ordered with robot cable op tion. When designing, please be sure not to give re peated bending loads to this cable.
7 Rod side Motor side Rod Rod cove r Cylinder tube Head cove r Motor unit Cable Guide bracket Guide bearing Guide rod Right Left 4.5 Motor S traight T ype (Coupling T ype): Double-guide T ype z RCS2-RGD4C Caution: The cable directly connected to the actuator is not robot cab le even when ordered with robot cable op tion.
8 Front Motor side Right Left Rod Rod tip adapter A luminum fram e Motor housing Conne ctor box Encoder cover Pulley cover The names of re s pec tive actuator part s are indic ate d be low . In this manual, th e right and left are determined by view ing the actuator from the to p an d from the mo to r side when the actuato r is placed horizontally.
9 Guide bearing Guide rod Mounting bracket Guide bearing Guide rod Guide br acket A luminum frame 4.8 Motor S traight T ype (Coupling T ype): Single-guide T ype z RCS2-RGS5C 4.
10 4.10 Short T ype z RCS2-RA7A(B)D 4.1 1 Fl at T ype z RCS2-F5D Front Motor side Right Left Rod tip adapter A luminum frame Motor housing Connector box Encoder cover A nti-vibration screws (4 locations) Never touch these screws.
11 Rod si de Motor side Right Left Rod Rod cove r Cylinder tube Head cove r Motor unit Cable Bellows Intake/ exhaust po rt Rod ti p adapt er 4.12 Dustproof/S plash-proof Motor S traight T ype (Coupling T ype) z RCS2W -RA4C Caution: The cable directly connected to the actuator is not robot cab le even when ordered with robot cable op tion.
12 5. Transporting and Handling 5.1 Handling the Actuator 5.1.1 Handling the Packed U nit Unless otherwise specified, each actu ator (axis) is shippe d individually. Please take care that the shipp ing box is not dropped or subjected to str ong impact during transport.
13 5.2 Handling the Actuator Assembly Pay attentio n to the f ollow ing instructions w hen transp orting an as s e mbly of act ua tor axe s. 5.2.1 Condition of Shipment from IAI (Assembled) The actuator s you have ordered are assembled at IAI, after which the assemb ly receives a shipping inspection and is shipped in an outer frame with skids.
14 6. Operating and Storage Environment 6.1 Operating Environment The actuator should be set up in an environment, which meets the following criteria: • Avoid direct sunlight. • Avoid radiant h eat from str ong heat source s such as a furnace. • Ambient temperature should be 0 ~ 40 ° C.
15 7. Installatio n 7.1 Inst alling the Main Body (1) Using screws on the rod or head side Install the actua tor using screws set on the rod or head side of the actuator.
16 Straight type Mounting hole Affixing nut Flange Straight type Mounting hole Affixing nut Flange (2) Using screws on a flange (opt ional) An optional flange is available fo r installing the actuator.
17 Reversing type Mounting hole Affixing nut Flange Mounting hole Affixing nut Flange Reversing type Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torq ue 12.
18 (3) Using screws on feet (optional) Optional feet are available for installing the actuator. Use these feet, if necessary. z Ap plicable model: RCS2-RA4 Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torq ue 12.3 N-m 5.
19 (4) Using s c rews on a trunnion (o ptional) An optional trunnion is available for in stalling the actuator. Use this trun nion, if necessary. z Applicable model: RCS2-RA4 Mating material is steel Mating material is aluminum Screw size M6 M6 Tightening torq ue 12.
20 Mounting hole Affixing nut Trunnion ring Bracket A Bracket B Rever sin g type Mating material is steel Ma ting material is aluminum Screw size M6 M6 Tightening torq ue 12.
21 Mounting hole Reversing type Stopper ring Stopper ring Clevis brack et (5) Using screws on a clevis (optional ) An optional clevis is available for installing the actuator.
22 (6) Using s crews on a rear mo unting br ac ket (opt ional) An optional rear mounting bracket is available f or installing the actuator. Use this rear mounting bracket, if necessary. z Applicable model: Motor reversing type RA4R Type Tapped hole diameter Tapped depth Tighten ing torque RA4 type M4 7 mm 1.
23 (7) Double-guide type Use the tapped holes in the br acket for installing an actuat or of the double-guide type. z Ap plicable model: Double-guide type RGD4 Type Tapped hole diameter Tapped depth Tighten ing torque RA4 type M5 8 mm 3.
24 Tapped mounting hole Bracket A Bracket B (8) Single-guide type Use the tapped holes in the br acket for installing an actuator of the single-guide type. z Ap plicable model: Double-guide type RGD4 Type Tapped hole diameter Tapped depth Tighten ing torque RA4 type M5 8 mm 3.
25 (9) Using tapped mounting holes at the back Applicable model: RA7 ( excluding 50-mm stroke models) The RA7 type ha s tappe d mo untin g ho l es at the bac k. Use these holes to install th e actuator. RA7 Shown below is the maximum scre w-in depth of the tapping scre ws used for mounting the base.
26 (11) Using feet Applicable models: RA5, RA5R, RA7 (excluding flat types) [1] On the R A7 ty pe, at tac h feet using th e tap pe d mounting hol es at the back.
27 8. Wiring Cable • In an application where the cab le cannot be anchored, tr y to place the cable so that it sags only un der its own weight or use self-standing typ e cable as large radial wire duct to limit the load on the cable.
28 Caution: The air tube should not be mor e than 3 m long. 9. Connecting the Air Tube of the RCS 2W Dustproof/Splash-pr oof Ty pe Intake/exhaust port Install the air tube ( outer diameter: 10 mm, inner diamet er: 6.
29 10. Maximum Speed The maximum speed o f the actuator is limite d to prevent r esonance of the ba ll screw shaft and also in consideration of the restrictions on motor speed.
30 11. Load on the Actuator • The actual load should not exceed the value spe cified in the catalog. • Be sure to align the shaft center of th e rod and the moving d irection of the load. • Lateral load may cause damage or breakdown of the actuator.
31 13. High Acceleration/Deceleration Option 13.1 Applicab le Actuator Models Actuators that suppor t high acceleration/dece leration are indicated by an option code at the end of the model name. Other applicable options are the same as tho se available with conventional models.
32 13.3 Notes Take note of th e following points if you are us ing a high acc eleration/dece leration typ e: (1) Keep the duty within 50%. If the duty exceeds 50%, an overload error may occur.
33 14. Maintenan ce 14.1 Maintenance Schedule Perform mainte nance work a ccord ing to the schedu le below. The schedule is set assuming eight hours of oper ation a day. When the operation time is long such as 24-hour operation, shorten the main tenance intervals as needed.
34 14.4 Applying Grease to the Sliding Surface of the Rod (1) Applicable grease Kyodo Yushi Multemp LRL3 Warning: Never use any fluor ine-based grease. It will cause a c hemical reaction when mixed with a lith ium-based grease and may cause dam age to the actuator.
35 14.5 Reduction Belt [Motor Reversing T ype] 14.5.1 Inspecting the Belt Remove the pulley cover and visually inspect the belt. Durability of the r eduction belt is affected sig nificantly by the operating con dition, and there is n o standard guideline as to when the belt should be repla ced.
36 14.5.3 Adjusting the Belt T ens ion (RA4R T ype) Remove the pulley case cover and loosen the four motor-unit affixing bolts. Pass a looped string (or lo ng tie-band) around the m otor unit, an d pull the s tring to the sp ecified tens ion using a tension gauge.
37 14.5.4 Adjusting the Belt T ens ion (RA5R) Remove the pulley case cover and loosen the four motor-unit affixing bolts. Pass a looped string (or lo ng tie-band) around the m otor unit, an d pull the s tring to the sp ecified tens ion using a tension gauge.
38 14.5.5 Replacing the Bel t of the Motor Reversing T ype: RA4R T ype [Items Required for Replacement] • Replacement be lt RA4R --- 60S2M152R Rubber, cleanroom type (Ba ndo Chemical Industries) 6 m.
39 [Procedure] 1) Remove the pulley case cover using two Allen wrenches, one of 2 mm ac ross flats and the other of 3 mm ac ross f l ats. 2) Move the rod to a posit ion where Z phase turns on (home po sition). This corresponds to a po sition where the rod projects 2 mm from the mechanical en d.
40 3) Loosen th e motor-unit affixing bolts using an Allen wrench of 2.5 mm across flats. Slide th e motor, and loosen and remove the belt. 4) Check the following points befo re restoring the home position: • The motor side should be alig ned with the initial c ountermark.
41 Tension: 2.5 kgf Motor-unit affix ing bolts (Use an Allen wrench of 2.5 mm across flats.) Motor-unit affix ing bolts (Use an Allen wrench of 2.5 mm across flats.) 5) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tensio n gauge to the specified tension.
42 6) Install the pulley case cover using t wo Allen wrenches, one of 2 mm across flats and the other of 3 mm across flats. 7) Connect a PC or teaching p endant to the contr oller to per form homing. (If th e actuator is of absolute encoder specification, an ab solute reset must be performed.
43 14.5.6 Replacing the Bel t of the Motor Reversing T ype: RA5R T ype [Items Required for Replacemen t] • Replacement be lt RA5R ---100S3M219R Rubber, clea nroom type (Bando Chemical Industries) 10.
44 [Procedure] 1) Move the slider from the home position toward the mechan ical end and check the rotating direction of the motor shaft. (If the actua tor has its home located on the op posite side to the standard specification, this check is always required because the mo to r shaft rotates in the different direction.
45 4) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tensio n gauge to the specified tension.
46 14.6 Re placing the Motor 14.6.1 Re placing the Motor of the Motor S traight T ype (Coupling T ype): RA4C T ype [Items Required for Replacement] • Replacement motor unit • Coupling (with screws) • Allen wrenches • Scale • Oil-based marker p en • Grease Idemitsu Kosan Daph ne Eponex Grease No.
47 Cause the rod to project 2 mm from the mechanica l end. Apply countermarks once the ro d has projected 2 mm from the me ch anic a l en d. [Procedure] 1) Move the rod to a posit ion where Z phase turns on (home po sition). This corresponds to a po sition where the rod projects 2 mm from the mechanical en d.
48 3) Pull out the motor unit. Before pullin g out the motor unit, apply a co untermark on the cylinder tu be at a position co rresponding to the tab on the motor unit, so th at the motor un it and cylinder can be aligned in the correct position later on.
49 5) Align the tab on the r eplacement motor unit with the countermark on the cylinder. With the mot or unit and cylinde r aligned properly, ins ert the couplin g into the repla c ement motor unit by.
50 6) Turn the coupling and m otor shaft simulta neously until a setscre w on the coup ling is seen th rough the hole. Thereafter, tighten th e hex agon sock et head setscre w usin g an Allen w rench of 2 mm across flats .
51 7) Return the couplin g in the replacement motor un it to the initial motor positi on (Z phas e pos itio n). Align the tab on the r eplacement motor unit with the cou ntermark on the cylinder.
52 8) Carefully insert the replacement moto r unit into the cylinder by ensuring that the couplings do not lose their alignment. 9) Using an Allen wench of 2 mm across flats, tighte n the two motor-unit affixing bolts on the r ight and left. 10) Connect a PC or te aching pendant to the controller to perform homin g.
53 Z phase ON position Mechanical end Home position Approx. 2 mm The countermark on the motor aligns with this position. Set by the home offset parameter (SCON) o r home preset parameter (SSEL, X-SEL). (The above value i ndicates the factory setting.) 1 mm 14.
54 [Proced ure] 1) Remove the pulley case cover using two Allen wrenches, one of 2 mm ac ross flats and the other of 3 mm ac ross f l ats. 2) Loosen the motor-unit af fixing bolts using an Allen w rench of 2.5 mm acros s flats. Slide the motor, and loosen and remove the be lt.
55 Replacement motor 3) Take out the motor. 4) Install the replacement m otor. Loos ely tighten th e motor- unit affixing b olts..
56 5) Move the rod to a posit ion where Z phase turns on (home po sition). This corresponds to a po sition where the rod projects 2 mm from the mechanical en d. Apply countermarks in this position. Warning: If the actuator is installed vertically , move it after turning on the controller power and forcibly relea sing the brake.
57 Tension: 2.5 kgf 7) Adjust the belt tension. Pass a looped strong string (or long tie-band) around the motor cover and pull it with a tensio n gauge to the specified tension. In this condition, uniformly tighten the motor-unit affixing bolts. [Recommended tighten ing torque for a djustment bolts] 162 N-cm (16.
58 8) Remove the pulley case cover using two Allen wrenches, one of 2 mm ac ross flats and the other of 3 mm ac ross f l ats. 9) Connect a PC or teaching pen dant to the controller to per form homing. (If the actuator is of absolute encoder specification, an ab solute reset must be performed.
59 14.6.3 Replacing the Motor of the Motor Reversing T ype: RA5R T ype [Items Required for Replacemen t] • Replacem ent motor w ith pulleys (S ee the photog raph t o the righ t .
60 [Proced ure] 1) Move the slider from the home position toward the mechan ical end and check the rotating direction of the motor shaft. (If the actu ator has its home located on the opposite side to the sta ndard specification, this check is always required because the mo to r shaft rotates in the different direction.
61 5) Make the following adjustm ent to restore the home posi tion: • Move the slider to the mechanical end on the ho me side and keep it in contact with the mechanical end. • Turn the motor shaft by the specified amo unt from the countermark position toward the retu rn-to- mechanica l-end d irection (the directio n checke d at the be ginning).
62 Bellows 14.7 Replaci n g th e B e ll ows of t h e RCS2 W D ust proof/Splash-p r oof T ype [Items Required for Replacemen t] • Replacement bellows unit : RA4 --- JB-R A4- (strok e) • Phillips sc.
63 Bellows Install a metal fittin g on the bellows. 2) Apply grease evenly over the entire cylinder surface. Apply grease ev enly ov er the entire surfac e.
64 Tightening t orque: 2 N-m Tightening torque: 2 N-m 4) Install the replacemen t (new) bellow s and tigh ten the screw s of the f ront and re a r metal fittings affixing the bellows. Tighten the screws to the specifi ed torque using a torq ue driver.
65 (Front view) (Front view) Controller end Actuator end Wire Signal No. Wire Signal No. 0.75 sq PE 0.75 sq (crimped) U V W PE U V W 1 2 3 4 1 2 3 4 (16) (20) (21) (10) 4 1 4 1 (21) (18) (9 ∅ ) (41) L 15.
66 (Front view) (Front view) Controller end Actuator end Wire Signal No. Wire Signal No. 0.15 sq (crimped) 0.15 sq (crimped) 1 2 3 4 1 2 3 4 (16) (57) (14) (15) 9.
67 (Front view) (Fro n t vie w) Controller end Actuator end Wire Signal No. (13) (41) (14) (15) 9.18 1.10 (25) (37) L 26 14 1 13 Color Color Signal Wire No.
MEMO 68.
Catalog No.: MJ3656-3A Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143 TEL (630) 467-9900 FAX (630) 467-9912 Atlanta Office: 1220-E Kenneston Circle, Marietta, GA 3 0066 TEL (678) 354-9470 FAX (678) 354-9471 Website: www.
Un punto importante, dopo l’acquisto del dispositivo (o anche prima di acquisto) è quello di leggere il manuale. Dobbiamo farlo per diversi motivi semplici:
Se non hai ancora comprato il SMC Networks RA4D è un buon momento per familiarizzare con i dati di base del prodotto. Prime consultare le pagine iniziali del manuale d’uso, che si trova al di sopra. Dovresti trovare lì i dati tecnici più importanti del SMC Networks RA4D - in questo modo è possibile verificare se l’apparecchio soddisfa le tue esigenze. Esplorando le pagine segenti del manuali d’uso SMC Networks RA4D imparerai tutte le caratteristiche del prodotto e le informazioni sul suo funzionamento. Le informazioni sul SMC Networks RA4D ti aiuteranno sicuramente a prendere una decisione relativa all’acquisto.
In una situazione in cui hai già il SMC Networks RA4D, ma non hai ancora letto il manuale d’uso, dovresti farlo per le ragioni sopra descritte. Saprai quindi se hai correttamente usato le funzioni disponibili, e se hai commesso errori che possono ridurre la durata di vita del SMC Networks RA4D.
Tuttavia, uno dei ruoli più importanti per l’utente svolti dal manuale d’uso è quello di aiutare a risolvere i problemi con il SMC Networks RA4D. Quasi sempre, ci troverai Troubleshooting, cioè i guasti più frequenti e malfunzionamenti del dispositivo SMC Networks RA4D insieme con le istruzioni su come risolverli. Anche se non si riesci a risolvere il problema, il manuale d’uso ti mostrerà il percorso di ulteriori procedimenti – il contatto con il centro servizio clienti o il servizio più vicino.
