Iai-america RCA2-TW4N Manual do Utilizador

ROBO CylinderRCA2 ActuatorTable TypeOperating ManualNinth EditionIAI America, Inc.Motor reversing typesCompact typesWide typesFlat typesMotor coupling

2No.Operation Description Description 2 Transportation  When carrying a heavy object, do the work with two or more persons or utilize equipment suc

9211. Notes on Operation11.2 Adjusting the Home Position The actuator home position can be adjusted by changing parameter *1. In order to make adjustm

9311. Notes on Operation11.4 How to Move Table by Hand On low-lead types with a lead of 1, 2, etc., the table is too heavy to slide and cannot be move

9412. Life12. Life12.1 Life of Actuator Using Ball ScrewsRefer to the following for the product life of the ball screw type actuator assuming it was o

9512. Life(2) Vertical applicationThe graph below shows the relationship between the cycle time for one back-and-forth operation and thelife of the pr

9613. Maintenance and Inspection13. Maintenance and Inspection13.1 Inspection Items and SchedulePerform maintenance and inspection at the schedule spe

9713. Maintenance and Inspection13.3 Cleaning  Clean exterior surfaces as necessary.  Use a soft cloth to wipe away dirt and buildup.  Do not bl

9813. Maintenance and Inspection13.4.2 Short types When inspecting the interior, check the items specified below. Main unit Loose bolts, other loose

9913. Maintenance and Inspection[Internal inspection of guide rail] Turn off the power and pull out the table. If the lead is too small to move the ta

10013. Maintenance and Inspection13.5 Internal CleaningUse a soft cloth to wipe away dirt and buildup.Do not blow too hard with compressed air as it m

10113. Maintenance and Inspection13.6.2 Applicable grease for ball screw[Slide screw types]All slide screw products have been shipped with synthetic p

3No.Operation Description Description (2) Cable Wiring  Use our company’s genuine cables for connecting between the actuator and controller, and for

10213. Maintenance and Inspection13.6.3 How to apply grease Pull the table all the way out before removing the ball screw cover. (1) For the guide s

10313. Maintenance and Inspection(2) To grease ball screws, first clean, then put some grease on your finger and apply while moving thetable back and

10413. Maintenance and InspectionShort types[How to apply grease for ball screw][1] Turn off the power and check the surface of the spiral cover for s

10513. Maintenance and Inspection[How to apply grease for guide rail][1] Turn off the power and pull out the table.If the lead is too small to move th

10613. Maintenance and Inspection[How to apply grease for guide rail]Short types Ball Guide Type (Option: Model Code BG) 1) To apply grease, suppl

10713. Maintenance and Inspection13.7 Belt 13.7.1 Inspection of Belt Visually inspect the belt after removing the pulley cover. Although the durabili

10813. Maintenance and InspectionDisconnect the cable. 13.8 Motor Replacement (AC Servo Motor: RCA2) * Refer to 13.9 for the reversing types. [Items r

10913. Maintenance and Inspection[3] Take out the coupling hub and coupling spacer from the detached motor unit. Twist the coupling hub or coupling s

11013. Maintenance and Inspection[7] Align the marking on the motor shaft with the point indicated and insert the replacement motor unit into the act

11113. Maintenance and Inspection[11] Turn the dedicated replacement jig (large) and the replacement jig (small) by the same amount. When the couplin

4No.Operation Description Description 4 Installation and Start (4) Safety Measures  When the work is carried out with 2 or more persons, make it cle

11213. Maintenance and Inspection13.9 Replacement of Belt and Motor for Reversing Type (AC Servo Motor: RCA2) [Items required for replacement]  Repl

11313. Maintenance and Inspection[3] Remove the belt from the pulleys. When replacing the belt, proceed to step [7]. [4] Remove the tension adjustme

11413. Maintenance and Inspection[6] Move the table by 0.5 to 1 mm from the mechanical end on the home side. [7] Move the motor unit in the directio

11513. Maintenance and Inspection[9] Install the pulley cover. [10] Connect a PC or teaching pendant to the controller to perform a home return. Che

11613. Maintenance and Inspection[Required Item for Replacement][Procedure]New spiral cover for replacementRCA2-SPC-30Model13.10 How to Replace Spiral

11713. Maintenance and InspectionGrab the new spiral cover for replacement and pull the thinner side of it to get its tip inside out.3)Push the cover

11813. Maintenance and InspectionKeep winding the spiral cover around the shaft.6)Put the tip of the cover outside and push it into the groove on the

11914. Warranty14. Warranty14.1 Warranty PeriodOne of the following periods, whichever is shorter:14.2 Scope of WarrantyOur products are covered by wa

12014. Warranty14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,and Applications(1) If our product is combined with another

121Appendix: Using the home position marksAppendixUsing the home position marks  As necessary, affix these marks to the product to mark the home pos

5No.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

122Change HistoryChange HistoryDescription of RevisionRevision DateFourth editionApril 2011Model names changed. Ball Guide Type excluded.Appearance fe

123Description of RevisionRevision DateMarch 2012Ninth editionContents added and changed in Safety Guide on pages 1 to 7Note “Make sure to attach the

Manual No.: ME3670-9A (March 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvement.Co

6No.Operation Description Description 8 Maintenance andInspection  When the work is carried out with 2 or more persons, make it clear who is to be t

7Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

8Handling Precautions1. Do Not Set Speed and Acceleration/Deceleration HigherDo not set speed and acceleration/deceleration higher than the rated valu

96. Transportation6.1 Handling a Single ActuatorPlease adhere to the following when handling a single actuator.6.1.1 Handling the Packed UnitUnless ot

106.2 Handling the Actuator Assembly Secure the sliders to prevent sudden movement during transport.If any end of the actuator is overhanging, secure

111. Part NamesOther sideRightMotor sideLeftRightLeftBall screw coverTableMotor unit ConnectorFront plateBall screw coverTableMotor unitConnectorFront

121. Part Names1.2 Short Types1.2.1 Compact typesRCA2-TCA3NA, TCA3N (Slide screw, Ball screw), TCA4NA,TCA4N (Slide screw, Ball screw)* Refer to 2, “Ex

131. Part Names1.2.3 Flat typesRCA2-TFA3NA, TFA3N (Slide screw, Ball screw),TFA4NA, TFA4N (Slide screw, Ball screw)* Refer to 2, “External Dimensions

142. External DimensionsST338A 2B 25.5C 92L12 D 20MESEME4016 G×40520503155E× 50F53740295135294837409.537.516.7 1844.511590 253237.518H-M4, depth 6Brak

152. External Dimensions92.5 25503218117.5Brake type 3-M6, depth 10φ5H7, depth 5φ5H7, depth 55H7, depth 55H7, depth 5H-M5, depth 6J-M5, depth 10Detail

162. External Dimensions96 25573218121Detail view of T-groove (2:1)Brake type H-M5, depth 85H7, depth 55H7, depth 5φ5H7, depth 5φ5H7, depth 5J-M5, dep

172. External Dimensionsφ6H7, depth 6H-M6, depth 10J-M6, depth 12φ6H7, depth 696 25573218121Detail view of T-groove (2:1)Brake type 3-M8, depth 156H7,

182. External Dimensions2.5 RCA2-TA4RST3 38A 2B 32L12 D 7 19.5MESEME4016G×40520505315 E× 50 F 5295135294837403.137.98137 113740511590 253237.518φ4H7,

192. External Dimensions92.5 25503218117.5Detail view of AScale 2:1(Without brake)H-M5, depth 5J-M5, depth 10φ5H7, depth 5φ5H7, depth 55H7, depth 55H7

202. External Dimensions2.7 RCA2-TA6R, Reversing to Left (Right)Detail view of AScale 2:1(Without brake)H-M5, depth 8H-M5, depth 10φ5H7, depth 5φ5H7,

212. External Dimensions2.8 RCA2-TA7R, Reversing to Left (Right)(*) On ST-25 models brake type, the motor unit projects from the tip of the table(at t

[Important]This Operating Manual is original. The product cannot be operated in any way unless expressly specified in this Operating Manual.IAI shall

222. External Dimensions302889.58 73.526 40786.5ME420 64626 4010.522 4303 224195.525301041616722.632312343454-M4, throughEnsure100 or more2-M3, depth

232. External Dimensions4-M4, throughEnsure100 or more2-M3, depth 44-M4, depth 52-M4, depth 84-M4, depth 5.53028081028 4095987ME10.54237 2036342420495

242. External DimensionsEnsure100 or moreHome302889.58 73.586.5ME437 6.54626 4010.595403 224376.52510 30412 261650214143294-M4, depth 63-M4, depth 64-

252. External DimensionsEnsure100 or more[Option] Cable Exit Direction: K2Home230108 809895ME10.5414 30582331212046484486.54528 404256.5 4510 304504 2

262. External DimensionsEnsure100 or moreHome3-M4, depth 62-M3, depth 34-M4, depth 44-M4, depth 5.52-M4, throughConnector Cable exit direction: K23028

272. External Dimensions[Option] Cable Exit Direction: K223080810Ensure100 or more28 4095987HomeME10.52334 1.51739 287118.530.535.544828 4042224256.5

282. External Dimensions4-M4, through4-M4, depth 44-M4, depth 5.52-M3, depth 32-M4, depth 6HomeEnsure100mm or more30+0.030depth 330+0.030depth 330+0.0

292. External Dimensions2-M4, depth 8[Option] Cable Exit Direction ChangedEnsure100 or more30+0.050depth 330+0.050depth 330+0.030depth 34-M4, depth 62

302. External Dimensions[Option] Cable Exit Direction Changed3-M4, depth 6Ensure100 or moreHome30+0.050depth 330+0.030depth 34-M4, depth 830+0.050dept

312. External Dimensions4-M4, depth 8[Option] Cable Exit Direction ChangedEnsure100 or moreHome30+0.050depth 330+0.030depth 34-M4, depth 830+0.050dept

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

322. External Dimensions3-M4, depth 6[Option] Cable Exit Direction Changed30+0.050depth 330+0.030depth 34-M4, depth 5.52-M3, depth 3HomeEnsure100 or m

332. External Dimensions3-M4, depth 8[Option] Cable Exit Direction Changed4-M4, depth 630+0.030depth 330+0.050depth 32-M3, depth 4HomeEnsure100 or mor

343. Cable Drawings3. Cable Drawings3.1 ASEP Controller CablesMotor/encoder cable(CB-APSEP-MPA***)*** indicates the cable length (L). Up to 10 m can b

353. Cable Drawings3.2 ACON, ASEL Controller Cables RCA2 Integrated motor/encoder cable (CB-ACS-MPA***) *** indicates the cable length (L). Up to 10

364. Options4. Options4.1 Optional Connector Cable Exit DirectionIn the standard specification, the cable exit direction is opposite to the rod and gu

374. Options4.5 Cable Exit Direction ChangedIn case of the motor unit type (TA**), the cable exit direction is changed when a change to the cable exi

385. Checking after Unpacking5. Checking after Unpacking After unpacking, check the condition of the product and also check the included items.5.1 Inc

395. Checking after Unpacking5.4 How to Read ModelB: Brake typeCJT: Optional cable exit direction (upper side)CJR: Optional cable exit direction (rig

406. Specifications6. Specifications(1) Max. speedThe maximum speed for this ROBO Cylinder is limited due to the sympathetic vibration of the ball scr

416. SpecificationsStrokes and maximum speed limits (Unit: mm/s)Model name Motor type Lead [mm]Stroke [mm]30 50TCA3NA(Lead screw)10W150 -2 100 -4 200

Table of ContentsSafety Guide ...

426. SpecificationsStrokes and maximum speed limits (Unit: mm/s)Model name Motor type Lead [mm]Stroke [mm]30 50TFA4NA(Lead screw)20W2 100 -4 200 -6 22

436. SpecificationsStrokes and maximum speed limits (Unit: mm/s)Model name Motor type Lead [mm]Stroke [mm]30TCA3NTC3N (Option BG)(Lead screw)10W1502 1

446. SpecificationsStrokes and maximum speed limits (Unit: mm/s)Model name Motor type Lead [mm]Stroke [mm]30TFA3NTF3N (Option BG)(Lead screw)10W1502 1

456. Specifications(2) Acceleration and load capacityModel name Motor type Lead [mm] Rated acceleration [G]Load capacity [kg]TA4 10W2Horizontal 0.2 3V

466. SpecificationsModel name Motor type Lead [mm] Rated acceleration [G]Load capacity [kg]TCA3NATCA3NTC3N (Option BG)(Lead screw)10W1Horizontal 0.2 1

476. SpecificationsModel name Motor type Lead [mm] Rated acceleration [G]Load capacity [kg]TWA4NATWA4NTW4N (Option BG)(Lead screw)20W2Horizontal 0.2 1

486. Specifications(3) Rated thrustModel name Motor type Lead [mm] Rated thrust [N]TA4 10W285443628TA5 20W2.5 13756810 34TA6 20W36863412 17TA7 30W3 10

496. SpecificationsModel name Motor type Lead [mm] Rated thrust [N]TWA4NATWA4NTW4N (Option BG)(Lead screw)20W2 59.74 29.86 19.9TWA4NATWA4NTW4N (Option

506. Specifications(4) Drive systemModel name Motor type Lead [mm]No. of encoder pulses*1Drive systemTA4 10W2800Ball screwφ6mmRolled C1046TA5 20W2.5Ba

516. SpecificationsModel name Motor type Lead [mm]No. of encoder pulses*1Drive systemTWA4NATWA4NTW4N (Option BG)(Lead screw)20W21048Lead screwφ6mmRoll

3. Cable Drawings ...343.1 ASEP Controller Ca

527. Operation7. Operation7.1 Operational Conditions for Positioning OperationBy following the procedures below, check whether the operation is availa

537. Operation[2] Stroke, maximum speed, accelerationCheck whether the operation is available by [2] stroke, [3] maximum speed and [4] acceleration.Ta

547. OperationInstallation orientation Model Lead [mm] Acceleration [G]Max speed[mm/s]Max stroke [mm]HorizontalTCA4NATWA4NATFA4NATCA4NTWA4NTFA4NTC4N (

557. OperationInstallation orientation Model Lead [mm] Acceleration [G]Max speed[mm/s]Max stroke [mm]VerticalTCA4NATWA4NATFA4NATCA4NTWA4NTFA4NTC4N (Op

567. Operation[4] MomentCheck whether the operation is available by [2] moment, [4] acceleration, [5] loading capacity,and [6] overhang.Static moment

577. OperationStatic Moment Figure 2Dynamic moment (M2) calculationDynamic moment equationM2 = W x L x a x 9.8/1000 (Nm)L=T+HnFrom Figure 3 and Table

587. OperationTable 3: Allowable momentsAllowable moment: Ma (Nm)Allowable moment: Mb (Nm)Allowable moment: Mc (Nm)TCA3N, TFA3N(Slide screw) (Ball scr

597. OperationCorrelation of speed and loading capacity (Horizontal)Loading capacity (kg) Loading capacity (kg) Speed (mm/sec) Speed (mm/sec) Correla

607. OperationGraph 2 AC Servo Motor: RCA2Short types (TCA***, TWA***, TFA***)HorizontalLoading capacity (kg)Speed (mm/sec)Lead 1 Lead 2 Lead 4 Correl

617. OperationGraph 2 AC Servo Motor: RCA2Short types (TCA***, TWA***, TFA***)VerticalLoading capacity (kg)Speed (mm/sec)Lead 1 Lead 2 Lead 4 Correlat

11.2 Adjusting the Home Position ...9211.3 Chang

628. Installation Environment and Storage Environment8. Installation Environment and Storage Environment8.1 Installation EnvironmentInstall the actuat

639. Installation9. InstallationInstall the main unit only on a machined surface, or other a surface that is highly flat. Also, the platform should ha

649. InstallationTightening screwsFor the male threads for installing the base, use hexagonal socket head bolts.Use of high-tension bolts meeting at l

659. Installation9.1.2 Short types[1] TCA3NA, TCA3N (Slide screw, Ball screw), TCA4NA, TCA4N (Slide screw, Ball screw)This actuator contains installat

669. Installation26 434446.55.5213015 3030+0.050Long hole Long hole Long hole Tightening torqueModelTap size and maximumscrew-in depth ApplicableboltB

679. InstallationTightening screwsFor the male threads for installing the base, use hexagonal socket head bolts.Use of high-tension bolts meeting at l

689. Installation[2] TWA3NA, TWA3N (Slide screw, Ball screw), TWA4NA, TWA4N (Slide screw, Ball screw)This actuator contains installation tapped holes

699. Installation450424.530415 306.5 45Long hole 4-M4, depth 8Tightening torqueModelTap size and maximumscrew-in depth ApplicableboltBolt bearing surf

709. InstallationTightening screwsFor the male threads for installing the base, use hexagonal socket head bolts.Use of high-tension bolts meeting at l

719. Installation[3] TFA3NA, TFA3N (Slide screw, Ball screw), TFA4NA, TFA4N (Slide screw, Ball screw)This actuator contains installation tapped holes

729. InstallationTightening torqueModelTap size and maximumscrew-in depth ApplicableboltBolt bearing surface issteelBolt bearing surface isaluminumLon

739. InstallationTightening screwsFor the male threads for installing the base, use hexagonal socket head bolts.Use of high-tension bolts meeting at l

749. Installation9.2 Installation Surface Motor unit types TA4*, TA5*, TA6*, TA7*  Mount on a strong, rigid structure to prevent vibration.  In

759. Installation9.3 Installation of the Load9.3.1 Motor unit types TA4*, TA5*, TA6*, TA7*Please attach the load to the device using the tapped hol

769. Installation9.3.2 Short types[1] TCA3NA, TCA3N (Slide screw, Ball screw), TCA4NA, TCA4N (Slide screw, Ball screw)Please attach the load to the de

779. Installation(TCA3NA, TCA3N (Slide screw, Ball screw)) (TCA4NA, TCA4N (Slide screw, Ball screw))Caution: A work part shall be mounted on a machine

789. Installation[2] TWA3NA, TWA3N (Slide screw, Ball screw), TWA4NA, TWA4N (Slide screw, Ball screw)Please attach the load to the device using the ta

799. Installation(TWA3NA, TWA3N (Slide screw, Ball screw)) (TWA4NA, TWA4N (Slide screw, Ball screw))Caution: A work part shall be mounted on a machine

809. Installation[3] TFA3NA, TFA3N (Slide screw, Ball screw), TFA4NA, TFA4N (Slide screw, Ball screw),Please attach the load to the device using the t

819. Installation(TFA3NA, TFA3N (Slide screw, Ball screw))) (TFA4NA, TFA4N (Slide screw, Ball screw))Caution: A work part shall be mounted on a machin

1Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read

829. Installation9.4 T GroovesThe main unit surface side of TA5C, 6C, 7C and TR type contains T grooves (M3 size) for attachingexternal devices.These

8310. Connection with Controller10. Connection with ControllerFor the controller and the connection cable between the controller and RCA2 (this actuat

8410. Connection with ControllerDedicated connection cableServo motor cable : CB-ACS-MPA****) *** indicates the cable length. Up to 10 m can be specif

8510. Connection with ControllerWhen building an application system using the actuator and controller, incorrect wiring or connection ofeach cable may

8610. Connection with Controller When fixing the cable, provide a moderate slack and do not tension it too tight.  Separate the I/O and communicat

8711. Notes on Operation11. Notes on Operation11.1 Placing a Load on the ActuatorDo not exceed the load ratings given in the specification table below

8811. Notes on OperationMcMbMa[Short compact types]MbMaMc[Motor unit types]McMbMa[Short wide types]Motor unit type Ma Mb McTA5TA6TA7On table types, be

8911. Notes on OperationMa directionMb, Mc directionLLMcMbMaOn motor unit types (TA**), keep the extension length to within the ranges of load moments

9011. Notes on Operation11.1.1 Positioning the guide to calculate the load momentWhen calculating the load moment, please take the following operating

9111. Notes on Operation11.1.2 Thrust direction external forceDo not to subject the actuator to external force or mechanical shock in the thrust direc