TECHNICAL REFERENCE.

Transcription

1 TECHNICAL REFERENCE 7

2 /Others /Others (IAI Products) -33 /Others Considerations when Switching from Air Cylinders -3 Allowable Moment -37 Operational Life -38 Caution when Using a guide with a Rod Type -33 Caution when Using a guide with a Slider Type -33 Structure and Principles of Movement of a Single-Axis Robot/ Ballscrew Accuracy -33 Intermediate Support Structure (patented)/ Types of Robot Feedback Control -33 Protection Structure -33 Double Slider Allowable Dynamic Moment/Overhang Load Length -337 Safety Category Support Type -3 Actuator Installation Method -3 Actuator Installation Orientation -3 IF Series Motor Installation Orientation -39 RCPW-SA Installation Orientation -3 Installation Notes (DD DDA DDW RCS3-CT8C CT) -3 Mini rod type rotating stop installation method -33 RCD Rod Type Installation Method/Other Installation Methods -3 Memo -3 Special Specification -37 Overseas Standard -39 Correlation Table by RoHS Order/CE Mark/UL Listed Models -3 Super SEL Language -39 Sample program Rivet stopping device -373 Sample program Palletizing device -37 Explanation of Terms -377 Pressing Operation -387 Force Control Function -388 Correlation Graph of Push Force and Electric Current Limitation -389 Duty -7 Off-board Tuning Function - Table of Load Capacity per /Acceleration -7 Guide-Equipped Type -3 Radial Cylinder Allowable Load Mass Selection -7 RCA Guide-Equipped Type -79 Gripper Selection Method -8 Rotary Selection Method -8 DD Motor Selection Method -9 RS series Selection Method -9 Reference for setting the speed of SCARA IX -93 Reference for setting the speed of PowerCON SCARA IXP -9

3 /Others (General) Discontinued and Replacement Models International System of Units -97 Illustration method of geometric tolerance -99 Normal Tolerance of Processing Dimensions - Name and symbol of quantity symbol, unit symbol, and chemical element -3 Method of calculating properties/volume/weight of metal material - Second moment of cross-section, other calculation method - Foundation of Mounting Selection - Dimensional tolerance used for most mounting holes -7 Surface roughness - Illustration method - Metric coarse thread -3 Metric fine thread - Unified coarse thread/fine thread - Parallel thread for pipe - Taper thread for pipe -7 Hardness Conversion Table -8 Hexagon socket head cap screw -9 Hexagon socket set screw - Hexagon bolt - Hexagon nut -3 Split pin - C type snap ring - Spring pin/e type snap ring -7 Spring calculation -8 Key and Key groove -9 Surface Treatment -3 Mechanical Materials -33 Deflection Calculation Formula -3 Classification and Features of Plastics -3 Material - Steel -37 Material - Stainless steel -39 Material - Aluminum alloy - Material - Resin/Rubber -3 Electric Wire - Discontinued and Replacement Models -7 Old Type Conversion Table (ROBO Cylinder stepper motor system) - Old Type Conversion Table (ROBO Cylinder servo motor system) - Old Type Conversion Table (Single axis robot) - /Others -3

4 Considerations when Switching from Air Cylinders Air Cylinder and ROBO Cylinder Air cylinders are devices used to push and grasp objects by means of supplying and releasing compressed air. Air cylinders are used widely in all industries, mainly for transfer equipment, assembly systems, various automation systems, etc. Air cylinders generally have diameters between mm and 3mm, and their lengths (strokes) can also be set in fine steps. There are hundreds of thousands of different air cylinder products, which makes it easy to select optimal models for a variety of applications. However, since product lines are overly complex, many with identical specs, it can be difficult to select the best model for your specifications. For this reason, there are many cases where air cylinders are selected largely out of past experience and familiarity. ROBO Cylinders are easy-to-use electric cylinders offering a variety of functions not achievable with air cylinders. The ROBO Cylinder product family makes it easy for you to select the model that best suits the needs of your application. However, the controls and configuration possibilities of ROBO Cylinders are completely different from air cylinders. This section explains some of the key points to consider when switching from air cylinders to ROBO Cylinders. Overview of Switching The following explains the differences in the basic items to be checked when selecting ROBO Cylinders and air cylinders. Since both are linear motion actuators, there are some common matters that must be taken into consideration. However, the different configurations and controls described below result in different designations for adjustments and mechanical specifications between the two. A comparison of these various items is shown at right. [Air Cylinders] [ROBO Cylinders] Thrust (Diameter) Mechanical stopper selection Absorber selection Wiring diameter Installation space Payload capacity Maximum speed Positioning accuracy Acceleration, Deceleration Installation space The above diagram shows that the two have different mechanical viewpoints to consider. Installation space ROBO Cylinders are driven by a motor. Compared with air cylinders, ROBO Cylinders are larger, so it is necessary to pay attention to the installation space. Home Return Unlike air cylinders, ROBO Cylinder operation is based on the concept of coordinates. It is necessary to have a set home position at the beginning of operation, because operations are controlled in movement quantities which reference that home position. In the case of incremental encoders, homing occurs by traveling to the hard stop and needs to be performed when the power is turned ON. Incremental Specification: Return home operation after power is turned ON Absolute Specification : Reset absolute operation when initialization by setting. Home return. Move to target position Target Position -3 Home mm

5 Critical Rotating The ballscrew will always deflect due to bending and its own weight. In order to run the ROBO Cylinders at high speeds, the ballscrew must rotate at high speeds. As the speed increases, the amount of deflection also increases, which may ultimately cause damage to the rotating axis. These speeds that create a dangerous state in which the rotating axis is damaged are called critical speeds, whirling speeds, or whipping speeds. Ballscrew type ROBO Cylinders operate linearly by rotating the ballscrew while the ballscrew end is supported by a bearing. Although the maximum speed for each ROBO Cylinder is set by actuator type, some strokes for certain models have their maximum speed limited by the effect of the critical rotating speed, so please be careful when making a selection. General Purpose (Type, Mode, Parameter) There are air-cylinder type (or air cylinder mode) ROBO Cylinders that can be used like air cylinders. When using these, it is possible to operate the actuator by controlling it with ON/OFF external signals, just like air cylinders. This type and mode should be sufficient for simply substituting out an air cylinder. For customers who desire a high value-added usage, various types and parameters have been released. When actually constructing the equipment, we will introduce the functions that meet the needs and usage conditions of customers, so please feel free to contact our customer service. Please contact IAI for more information. Maintenance This section compares the main maintenance points of air cylinders and ROBO Cylinders. The air cylinders require periodic maintenance depending on the usage frequency and conditions. Although they are flexible since it is possible to temporarily operate cylinders that have minor damages and malfunctions by significantly increasing the air pressure, they cannot be used for very long if maintenance is neglected. On the other hand, when compared to air cylinders, ROBO Cylinders tend to be seen as requiring troublesome maintenance, due to its structure and number of parts. In actuality, however, they are clearly easier to handle than air cylinders, and they have a long life. Of course, both the ROBO Cylinders and air cylinders require lubrication of the sliding parts. However, the sliding parts of the ballscrews and guides have lubrication units (AQ seal) equipped on them. This makes it possible to have long-term maintenance free periods of,km travel or 3 years. After traveling,km or 3 years, the product life can be prolonged significantly by greasing it every months to a year as described in the instruction manual. In addition, regarding the controllers, the absolute types are equipped with a position retention battery. This is a consumable product, so periodic replacements are needed (time varies by product). [Primary Maintenance] [Air cylinders] Greasing the sliding parts Replacing gaskets Draining Replacing absorbers [ROBO Cylinders] Greasing ballscrews and guides (after AQ seals wear down) Replacing batteries (absolute specification only) Operation Air cylinders are generally operated with the use of a direction control valve to determine the direction of reciprocating motion, as well as a flow control valve (speed controller) to determine the speed. After their system is started up, many users operate the air cylinder at low speed by restricting the flow control valve. The same procedure is also recommended for ROBO Cylinders after the system is started up. With ROBO Cylinders, speed setting replaces the flow control valve, and it is recommended that operation is performed at a slower speed to ensure safety, and then changing to a desired speed after confirming safety. -3

6 Allowable Moment The allowable moment of a single-axis actuator represents the load capability of the built-in linear guide, and there are the types indicated below, the allowable static moment and the allowable dynamic moment. Static allowable moment The allowable static moment is an index for damage and is the maximum moment that can be applied to a single-axis actuator at rest. This index is calculated based on the condition where an indentation is made on the track of the built-in linear guide (basic rated static load) and the durability of used parts. If a moment greater than this value acts on the actuator, movement defects and damages can occur. Since our allowable static moment also takes into account the durability of the parts, it cannot be compared to a moment that is calculated only based on the basic rated static load (static rated moment). The durability of the parts is inspected by testing and analyzing them, so the product can be used safely if the allowable value is not exceeded. However, please avoid excessive vibrations and impacts to the product. Dynamic allowable moment The allowable dynamic moment is an index for service life and is the value through which our standard rated life of a single-axis actuator is calculated. Our company has set the standard rated life of a ROBO Cylinder as, km and the standard rated life of a single-axis robot as, km (excludes some models). This index is calculated based on the condition where the track of the built-in linear guide flakes due to wear (basic rated dynamic load). If a moment greater than this value acts on the actuator, service life can become less than the standard value. Since our allowable dynamic moment also takes into account the decrease in life due to operating conditions (standard load coefficient), it cannot be compared to a moment that is calculated only based on the basic rated dynamic load (dynamic rated moment). Under normal usage environment, the life can be calculated with a simple formula. There are 3 directions, Ma (pitching), Mb (yawing), Mc (rolling), on which moments act on a single-axis actuator, and allowable moments are calculated for each direction. I Bracket work piece Moment M= m x m : Load weight (include work piece and bracket) l : Load length (he center of gravity including work piece and length) <Moment calculation method> Ma Mc l l m Mb m m m l l m l m Offset reference point l3 l l Ma = (m 9.8 l /) + (m 9.8 l /) +a {(m 9.8 l3 /) + (m 9.8 l /)} Mb = a {(m 9.8 l /) + (m 9.8 l /)} Mc = (m 9.8 l /) + (m 9.8 l /) a : acceleration (G) Ma m Mb m m m l m m : mass of work (kg) m : mass of bracket (kg) : Distance from center of slider to center of gravity of work (mm) m Mc l : Distance from center of slider to Offset reference point l l3 l l l l l3 center of gravity of bracket (mm) : Distance from offset reference point to center of gravity of work (mm) Ma = (m 9.8 l3 /) + (m 9.8 l /) +a {(m l3 /) + (m 9.8 l /)} Mb = (m 9.8 l /) + (m 9.8 l /) +a {(m 9.8 l /) + (m 9.8 l /)} l : Distance from offset reference point to center of gravity of bracket (mm)

7 Operational life Operational life of a linear guide represents the total distance that can be traveled, without flaking, by 9% of a group of products that are operated separately under the same conditions. The operational life calculation method is as follows. Operational life calculation method Operational life of a linear guide can be calculated with the following formula using the allowable dynamic moment that is determined for each model. L = 3 C M URL ( M ) L: Operational Life (km), CM: Allowable Dynamic Moment (N m), M: Acting moment (N m), URL: Standard rated life (km) For applications where the operational life may be decreased from vibrations and installation conditions, the operational life is calculated with the following formula. L = f ( WS M f W ) fα C M 3 URL L: Service Life (km), CM: Allowable Dynamic Moment (N m), M: Acting moment (N m), fws: Standard load coefficient, fw: Load coefficient, fα: Attachment coefficient, URL: Standard rated life The load coefficient fw is a coefficient for taking into account the decrease in life from operating conditions. The standard load coefficient fws is a standard value of the load coefficient that is determined for each model. This coefficient is generally., but in the case that it is not., it is indicated in the specification of that model. The attachment coefficient fα is a coefficient for taking into account the decrease in life from the attachment condition of the actuator. Load Coefficient Operating Condition Load coefficient fw Acceleration/Deceleration Guideline Little vibration/impact, slow operation.-. (Less than.g) Moderate vibration/impact, sudden braking/acceleration.-..g-.g Large vibration/impact with sudden acceleration/deceleration.-3. (Greater than.g) Attachment Coefficient Attachment Condition Fixing entire surface Fixing at both ends Fixing sections Attachment coefficient Fα... * As a general rule, please use every tapped hole on the mounting surface. * Even when mounting the entire surface, please use the attachment coefficients of. or. depending on the length of the bolt for fixing. -38

8 Operational life The formula shows that the service life depends on the acting moment. With a light load, the service life will be longer than the standard rated life. For example, when a moment of.cm (half of the allowable dynamic moment) acts on a model with a standard rated life of, km, the diagram below shows that the service life becomes, km, which is 8 times the standard rated life.,, Relationship between working moment and operational life Standard rated life, km Standard rated life, km Standard rated life, km Operational life (km),,,. C M. C M. C M. C M.8 C M. C M. C M. C M Working moment (N m) * It is assumed that fws=fw and fα=., and CM indicates allowable dynamic moment. Example calculation of service life An example service life will be calculated using the operation conditions below. Work m=8kg Bracket m=kg l=mm l=mm Model RCP-SAC-WA-P- Installation Condition Horizontal Installation Attachment Condition Fixing entire surface Controller PowerCON specification Acceleration/Deceleration.G m: mass of work I: Distance to the center of gravity of the work m: mass of bracket I: Distance to the center of gravity of the bracket Since moment acting in the Mc direction of the actuator is the dominant one, calculation will be made using the moment acting in the Mc direction. Moment acting in the Mc direction is calculated as follows. l l M = ( m = 8.8 N m, ) ( m 9.8 =, ) ( , ) ( 9.8, ) The load coefficient will be. since acceleration/deceleration is.g. The attachment coefficient will be. since the attachment condition is fixing the entire surface. For this model, the allowable dynamic moment in the Mc direction is. N m, the standard rated life is,km, and the standard load coefficient is., so the service life is calculated as follows. ( ) f L = WS. N m. URL =, km = 9,98 km M f W f α 8.8 N m. C M 3-39 ( ) This shows that the service life for the above operation conditions is 9,98 km. 3

9 Caution when using a guide with a rod type Rod type actuators are classified into two main categories of Radial cylinder type and Anti-rotation type. Depending on the type, methods for dealing with radial loads and cautionary notes will be different, as indicated below. Radial Cylinder Type A ball-rotating linear guide mechanism is built inside the actuator. It can manage radial load without an external guide. <Applicable Models> RCP(W)-RA RCP(W)-RA RCP-RRA Radial load Radial load < Allowable radial load External guide unnecessary Radial load > Allowable radial load Use an external guide Anti-rotation rod type An anti-rotation mechanism is built inside the actuator. An external guide needs to be used if radial load is to be applied. <Applicable models> RCP(W)-RA RCA/RCS-RA RCP3-RA ERC/ERC3-RA RCA-RA RCD-RAD RCP-RA Radial load Use an external guide [Caution when using an external guide with a rod type] Parallelism of the actuator and the external guide When using an external guide, if there is a deviation in the level of parallelism between the actuator and the external guide (either the horizontal or vertical surfaces), operation defects or early actuator damage may occur. When the external guide is attached, adjustments have to be made to align the actuators and the guides. Then the uniformity of the sliding resistance throughout the entire stroke has to be checked. This is done by checking the uniformity of the current value through the current monitoring function of the controller. -33

10 Caution when using a guide with a rod type External guide mounting method The method for mounting the external guide differs by type. Even if the parallelism between the guide and the actuator could be adjusted, please be careful as there is a danger of accidental damage of the actuator with the incorrect mounting method. Radial Cylinder type For mounting the external guide for a radial cylinder type, a floating joint mount is recommended. The floating joint compensates for the deviation in the parallelism of the built-in guide and the external guide, and this makes adjustments easy. With rigid mounting, adjusting the parallelism of the built-in guide and the external guide is difficult, and even a slight deviation causes stress on the guide and can lead to early damaging. Actuator Floating joint External guide Anti-rotation rod type For mounting the external guide for an anti-rotation rod type, rigid mounting is recommended. Since the anti-rotation rod type cannot handle force in the rod rotation direction, it is necessary to regulate the rod rotation direction. The rod rotation direction is not regulated with the floating joint, so force in the rod rotation direction could be applied to the anti-rotation mechanism during actuator operation, and this could cause early wearing of the anti-rotation mechanism. (There is no problem if it is a floating joint whose direction of rotation is regulated.) Actuator External guide Rigid fixing -33

11 Installation reference surface of X-axis When installing an actuator, please mount by using the reference surface below. Caution when using a guide with a slider type Slider reference plane Motor side Reference plane (side) Reference plane (Bottom) Illustration from anti-motor side Anti-motor side Height of the attaching surface of the X and X axes Please keep the height difference of the mounting surfaces for the X and X axes below.mm per mm distance between the axes (measurement A on the diagram below). -33

12 Caution when using a guide with a slider type Parallelism when X and X axes are installed The connection between the X axis and the Y axis is a pin bracket structure (*). The base-installing parallelism of the X and X axes should be within +/-mm over the entire stroke (measurement B on the diagram below). <Gantry assembly top view> X axis X axis Y axis Angular error Pin bracket part <Pin bracket section details> X axis Parallel pin Y axis fixing bracket Y axis Connecting pin B * Pin bracket structure This structure absorbs any parallelism errors between the X axis and X axis. X axis and Y axis are rigidly fixed. The Y axis mounting bracket is positioned with the center of the Y-axis using parallel pin, and this allows adjustment in the rotation direction, which makes it possible to absorb the angle deviation between the X and X axes. The Y-axis and the X-axis are linked with connecting pins, and this allows sliding in the direction of the axes, which absorbs the variations in the distance between the X-axis slider and the X-axis slider. -333

13 Structure and principles of movement of a single-axis robot The actuator basically has the structure as shown in the figure below. The ballscrew rotates when the motor rotates, and this causes the slider to move. The amount of movement and speed are detected by the encoder, positioning is performed by controlling the rotation of the motor (ballscrew). Slider Encoder Motor Ballscrew Since the screw and the slider are in contact with the ball bearings as shown in the figure below, the ballscrew can rotate with less frictional resistance like a bearing. Endcap Ballscrew Guide Ballscrew Base Ball Bearings Nut Ballscrew Accuracy The lead accuracy of our company's ball screw is equivalent to the accuracy class C or C of JIS standard (JIS B 9). The accuracy of C is defined as ± μm for the typical transfer amount error (see figure below) for 3mm. The accuracy of the C (the typical transfer amount error and the allowance value of the variation) is as follows. Note: The numbers in the table below are reference values, and absolute positioning accuracy is not guaranteed. Typical transfer amount error Explanation of terms Call movement amount (The amount of axial movement when arbitrary rotation is performed according to the lead having no tolerance) Units: μm Screw effective length (mm) Over - 3 Items Screw effective length (mm) Below 3 Typical transfer amount error 3 7 Variation 8 Transfer amount error + - Actual movement amount 3 Variation per 3mm Typical transfer amount Standard movement amount Variation Typical transfer amount error mm Standard movement amount: The amount of movement in the axis direction when a standard lead (lead without tolerance) is rotated an arbitrary number of times. 3 Actual movement amount: The measured value of actual movement in the axis direction Typical transfer amount: A straight line representing the trend of the actual movement amount. It is determined by the least squares method from the curve showing the actual moving amount. Typical transfer amount error: Difference between the typical movement amount and the standard movement amount. Variation: The maximum width of the actual movement amount curve between two straight lines parallel to the typical movement amount line. -33

14 Intermediate support structure (patented) The intermediate support is an innovative structure that significantly improves the maximum speed of a long stroke type by adding a ballscrew support system that moves with the slider in order to limit the swinging of the ballscrew and increase the critical speed of the actuator. The structure of the intermediate support is fixed with the ball screw supports fixed at the connecting rod (half the length of the stroke) penetrating the slider through a wire as shown in the right figure. One end of the wire is fixed on the middle section of the stroke of the base, and is fixed to the slider with the pulley of the ballscrew support. This mechanism moves the ball screw support by only / of the slider movement, and the ball screw support always supports the ball screw halfway between the position of the slider and the stroke end, resulting in suppressing the deflection of the ball screw. Intermediate support models ISB/ISPB-MXMX/LXMX/LXUWX ISA/ISPA-MXMX/LXMX/LXUWX/WXMX ISDB/ISPDB-MX/LX NS-MXMXS/LXMXS L L/ Ballscrew Slider Ballscrew Connecting support rod (Note) Horizontal installation is standard. If you install the main unit vertically or vertically, the wire may come off. Install vertically only. Types of robot feedback control Commanding to do operations in order to check whether the robot is moving as commanded and to correct if there are deviations is called feedback control, and there are a few methods to do this. The single-axis robots, ROBO Cylinders, SCARA robots, and Cartesian robots of IAI use the semi-closed loop control. This is a general servo control method, and the actuator movement is detected by the encoder and fed back. In contrast to this, the open loop control and the full closed loop control have the following characteristics. Open loop control This is a general stepper motor method, and is inexpensive since there is no encoder, but cannot make corrections when there are deviations between the operation commands and the movement because it is not a feedback control. Types of feedbacks Open loop control Movement command Controller Full closed loop control The slider position can be determined accurately because the absolute position of the slider is measured and fed back. (Due to actuator accuracy errors, for semi-closed loop, there will be errors within a set range between the actual actuator position and the position information that is fed back from the encoder.) Semi-closed control (General servo control) No signals that are returned to the controller (It can not be corrected even if the position is shifted.) (Movement command) Motor Cable Encoder Cable (Feedback of position and speed calculated from motor rotation) Controller Full closed loop control (High accuracy positioning) (Movement command) Motor Cable Controller Linear Scale Encoder Cable (Feed back motor speed) -33 Feedback Cable (Feed back the absolute position of the slider)

15 Protection structure Protection structure refers to the level of protection from water, human body, and solid foreign objects. The the levels indicated below are based on the standards of IEC (International Electrotechnical Commission), JIS (Japanese Industrial Standards), and JEMA (Japan Electrical Manufacturers' Association). IEC standard Connector Second indicating number Protection against water penetration First indicating number Protection against human body and solid foreign objects Avoid water entering here Caution: Although the protection structure is designed to include cables, the cable end connector is not subjected to splash proof treatment, so it is not subject to the protection structure. Therefore, please avoid mounting the actuator in such a way that water may come in contact with the connector. Level of protection indicated by the first indicating number Level of protection indicated by the second indicating number First indicating number Details Second indicating number JIS standard Details Unprotected Unprotected Things like human hands do not touch the internal charging section. (φmm) φ Drip-resistant type No harmful effect from vertical drips of water Things like human fingertips do not touch the internal charging section. (φmm) φ Drip-resistant type No harmful effects from drips of water from angles within degrees of the vertical 3 Solids such as tools and wires exceeding. mm in diameter or thickness do not enter. Thickness. 3 Rain-resistant type No harmful effects from drips of water from angles within degrees of the vertical Solids such as tools and wires exceeding. mm in diameter or thickness do not enter. Thickness. Splash-resistant type No harmful effects from splashes of water from any direction No harmful effects from dust that enters the inside. Jet-resistant type No harmful effects from direct jets of water from any direction Dust does not enter the inside. (Completely prevented) Water-resistant type No water enters the inside when direct jets of water from any direction hits 7 Immersion type No water enters the inside when immersed in water under certain conditions It can be used at all times by 8 Submersion type submerging into water of specified pressure. -33

16 Double Slider Allowable Dynamic Moment/Overhang Load Length Double slider (addition of a second slider carriage)) can be chosen as an option for the following models. The allowable dynamic moment and the overhang load length vary depending on the span between the sliders. A representative example follows after the specifications tables, so please use it for reference. Allowable dynamic moment direction diagram The value of the allowable dynamic moment assumes a standard rated life. Please note that when using beyond the moment specification value, the life of the guide will decrease. Overhang load length diagram When using beyond the overhanging allowance value of each model, vibration may occur, so please be sure to use within the allowable value. Moment direction Ma Mb Mc L Ma Mc L Double slider diagram With slider cover Without slider cover IF Series [Double slider specification table] Series name RCP RCPCR RCA RCACR RCS3(P) RCS3(P)CR RCS RCSCR Type name SAC(R) Standard rated life (km) Allowable dynamic moment Slider span (mm) Actual slider span Slider cover span Ma direction (N m) Mb direction (N m) Overhang load length (mm) Mc Ma direction direction Mb Mc (N m) direction Cleanroom specification maximum speed (mm/sec) Cleanroom specification suction volume (Nl/min) SAC(R) 9 3. SA7C Slider mass (kg) SA7C(R) SAC SAC 9 3. SA7C SAC(R) SAC(R) 9 3. SAC SAC SA8C(R) SS8C(R) SA8C SS8C SAC(R) SAC(R) 9 3. SA7C(R) SAC SAC Slider length (mm) Minimum stroke with double slider (mm)

17 [Double slider specification table] Series name ISB ISPB ISA ISPA IS(P)DB IS(P)DBCR IS(P)DBCR-ESD Type name SXM SXL MXM MXL LXM LXL Standard rated life (km) WXM S M L IS(P)DACR W IF-SA- IF-SA- IF-MA- IF-MA- FS-NM FS-NO FS-WM FS-WO FS-LM FS-LO FSHM Allowable dynamic moment Slider span (mm) Actual slider span Slider cover span Ma direction (N m) Mb direction (N m) Overhang load length (mm) Mc Ma direction direction Mb Mc (N m) direction Cleanroom specification maximum speed (mm/sec) Cleanroom specification suction volume (Nl/min) Slider mass (kg) Slider length (mm) Minimum stroke with double slider (mm) minimum 3 9 maximum minimum maximum minimum maximum minimum maximum minimum maximum minimum maximum 3 minimum maximum minimum maximum minimum maximum minimum maximum minimum 9 maximum 8. 9 minimum maximum When slider is in close contact When slider is in close contact When slider is in close contact Caution when using double slider () When the double slider option is specified, please calculate the effective stroke length by subtracting the slider length and the slider actual span from the stroke in the model number. When specifying a model number, please specify the total stroke of the actuator, including the extra slider length and slider actual span. Please make sure that the total stroke is greater than the minimum effective stroke with the double slider specification. NO. Actuator form Stroke length specified in model number Model with slider cover Greater than effective stroke + slider cover span + slider length Model without slider cover Greater than effective stroke + actual slider span + slider length Example RCP-SAC (Model with slider cover) Required stroke: mm Slider cover span: mm Slider length: 9mm mm + mm + 9mm = 3mm or greater should be specified Example RCS3-SA8C (Model without slider cover) Required stroke: mm Actual slider span: 7mm Slider length: 78mm mm + 7mm + 78mm = 3mm or greater should be specified () The double slider payload quantity is the maximum value obtained by subtracting the slider mass to be added from the catalog specification value. However, this does not need to be considered for FS. (3) Please note that the maximum speed can not be set depending on the stroke. () For the clean (CR) type double slider specification, the suction amount does not include the influence of piping resistance. Please note that piping resistance is caused by piping length and piping diameter, causing loss of flow rate. -338

18 Double Slider Allowable Dynamic Moment/Overhang Load Length [RCP (CR) Double slider specification table] Series name RCP(S) RCP(S) CR Type name SAC(R) SAC(R) SA7C(R) SA8C(R) SAC SAC SA7C SA8C Lead (mm) Standard rated life (km) Allowable dynamic moment Slider span (mm) Actual slider span Slider cover span Ma direction (N m) Mb direction (N m) Mc direction (N m) Overhang load length (mm) Ma direction Mb Mc direction Cleanroom suction volume (Nl/min) * Conveying mass Compensation value A (kg) * Conveying mass Compensation value B (kg) * Conveying mass Compensation speed (*) (*) Slider length (mm) Minimum stroke with double slider (mm) [Double slider unavailable list] Series name RCP(S) RCP(S)CR Type name SAC(R) SAC(R) SA7C(R) SA8C(R) SAC SAC SA7C SA8C Lead (mm) Double slider can not be selected Horizontal installation Vertical installation 3 3 [Double slider Span diagram] * In the double slider specification (other than RCP(CR)-SA8), to obtain the allowable payload of the actuator when traveling at speeds up to the transport mass compensation speed, subtract the value in transport mass compensation weight A from the standard payload rating of the actuator. When traveling at speeds that exceed the conveying mass compensation speed, subtract the value in transport mass compensation weight B from the standard payload rating of the actuator in order to obtain the allowable payload of the actuator. In addition, please refer to the maximum speed specification for the actuator's total stroke (stroke specified in the model number). * In the double slider specification of RCP(CR)-SA8, to obtain the allowable payload of the actuator when traveling at any speed within the allowable range, subtract the value in transport mass compensation weight A from the standard payload rating of the actuator. Please refer to the maximum speed specification for the actuator's total stroke (stroke specified in the model number). Note Please calculate the double slider load capacity in the specification table above and "Payload mass table by speed / acceleration" <?>-<?>. Please check the maximum speed from calculated payload quantity. (Refer to the instruction manual for details) Double sliders can not be selected depending on the lead. Please check "Double slider unavailable list". When selecting double slider specification and reverse homing specification at the same time, please be sure to perform the home return operation after connecting the drive slider and the free slider. -339

19 Safety category supported type <Response to safety category for each controller> Please use the touch panel teaching pendant (TB - D) and the TP adapter (RCB - LB - TGS) to configure the system to be compliant with the safety category (ISO 389-). By changing the wiring of the system I / O connector, it is possible to handle safety category B ~ (B~3 for some controllers). Controller type Safety category ISO standard MCON-C/CG/LC/LCG B ~ PCON-CB/CGB/CFB/CGFB B ~ ACON-CB/CGB B ~ DCON-CB/CGB B ~ SCON-CB/CGB/CAL/CGAL/LC/LCG B ~ PSEL-CS B ~ ASEL-CS B ~ SSEL-CS B ~ MSEL-PG B ~ 3 XSEL-Q/SA/QX/SAX/QCT/SAXD8 B ~ TTA B ~ 3 ISO389- The response to the safety category is as follows. Safety categories B to are compatible. * For MSEL and TTA up to Category 3 TP adapter for position controller RCB-LB-TGS Position controller PCON ACON SCON MCON DCON.m Controller connection cable CB-CON-LB m Safety circuit With deadman switch TB-D Program controller PSEL ASEL SSEL XSEL-Q/SA/ QX/SAX/ QCT/SAXD8 TTA* (Safety category supported type).m Controller connection cable for PSEL/ASEL/SSEL CB-SELH-LBS TP adapter for program controller IA-LB-TGS m Safety circuit With deadman switch TB-D MSEL-PG* (Safety category supported type) m With deadman switch TB-D <Note> When using the TP adapter, a dummy plug DP - S is required. -3

20 Actuator mounting methods The mounting method varies depending on the model of the actuator. The following table shows the mounting methods for each model. * For mounting using options, refer to each product page. Classification Series Type Threaded mounting holes on the bottom of the base Counterbored through holes on the base T-slot mounting Others (See -3) Slider Type Rod Type SA/SA/SA7 * RCP(S) SA8 * WSA * RCP SA * BA RCP SA * RCP3 SA RCA SA RCA SA/SA (*) SA RCS3/RCS3P SA8/SS8 CT8 SA/SA (*) RCS SA SA7 ISB/ISPB SXM/SXL/MXM/ MXL/LXM/LXL MXMX/LXMX/ LXUWX SSPA S/M/L ISA WXM WXMX ISDB/IDPDB S/M/L MX/LX NS All models IF SA/MA FS All models RA *, * RCP(S) RRA *, * WRA (Side) *, * RCP RA/RA/RA7 *Note *, * RA8/RA *, * RCP RA(*) *, * RCP3 RA RA * RCP RA3/RA8 *, * RA * SR * * RCD RA -3 RN/RP -33 RCA GS/GD *3 ( sides) SD *3 (3 sides) RA *Using option RCA RGD * SRA/SRGD/SRGS *, * RCS RA *Using option RA * RN/RP -33 GS/GD *3 ( sides) SD *3 (3 sides) RGS/RGD * SRA/SRGD/SRGS *, * RCP(S) TA * RCP3 TA Table type RCA TA/TCA/TWA/ TFA RCS3 CTZC RCS TCA/TWA/TFA -3

21 Classification Series Type Threaded mounting holes on the bottom of the base Counterbored through holes on the base T-slot mounting Others (See -3) Linear servo Servo press Gripper Rotary Direct drive motor S/S8/S LSA N/N W LSAS N/N RA/RA/RA7 *, * RCS3 RA8/RA * RA/RA * RCS RA3 * RCP GR *3 RCP GR *3 RCD GRSNA RCS GR8 RCP RT *, *3 ( sides) RCS RTC *, *3 RT * DDA LT/LH DD LT/LH Rotation RS -33 Stopper cylinder RCP ST (Using option) Vertical/ Rotation ZR S/M -33 RCPCR(S) SA WSA RCPCR SA RCPCR SA RCPCR GR *3 RT *3 RCACR SA Cleanroom RCS3CR SA/SS RCSCR SA/SS DDACR LT/LH ISDBCR/ ISPDACR S/M/L SSPDACR S/M/L ISDACR/ ISPDACR W RCPW RA/RA7 * RA8/RA * RCPW SA (Using option) (Using option) RA * Dust-proof and splash-proof SA RA/RA * RCPW RA * GR *3 RT *, *3 RCAW RA *, * ISWA/ISPWA S/M/L DDW LH -3

22 Actuator mounting methods IS /SSPA/NS/FS/RCP /RCA /RCS Series Mounted using the threaded holes on the bottom of the base Mounted using the counterbored through holes on the top of the base. * Refer to the dimensions diagram of the product page for the sizes of the screw holes. * Refer to the dimensions diagram of the product page for the sizes of the through holes. Installing from the top Installing from the top without removing removing the cover the cover Mounted using the T-slots Mounted using the T-slot on the bottom surface of the actuator * Refer to table below for T-nut attachment. RCP(S)-WRA RCP(S)-RA, RCS-RA Square T-nut FS Series RCS-GR8 FS-NM( T-slot row) FS-NO( T-slot row) FS-WM( T-slot row) FS-WO( T-slot row) FS-LM( T-slot rows) FS-LO( T-slot rows) FS-HM( T-slot rows) Framework by customer T-slot (Standard accessory) Quantity of attached T-nuts Stroke Quantity * LM / LO / HM type will be double the above quantity. FS Series Framework by customer RS Series Mounted using the through holes on the back surface of the actuator * Refer to the dimensions diagram of the product page for the sizes of the through holes RS-3 RS- Cover ZR Series Mounted using the through holes on the back surface of the actuator * Refer to the dimensions diagram of the product page for the sizes of the through holes ZR-S ZR-M -33

23 DD/DDA Series Mounted using the through holes from the top of the actuator Mounted using the threaded holes on the bottom of the actuator Linear servo actuator LSA/LSAS series Mounted using the threaded holes on the bottom of the actuator Mounted using the counterbored through holes from the top of the actuator Cleanroom type Mounted using the threaded holes on the bottom of the actuator * Refer to the dimensions diagram of the product page for the sizes of the threaded holes. Mounted using the counterbored through holes on the top of the base. * Refer to the dimensions diagram of the product page for the sizes of the through holes. Installing from the top removing the cover Installing from the top without removing the cover Drip-proof type ISWA/ISPWA/RCPW-SA C Series Mounted using the threaded holes on the bottom of the actuator * Refer to the dimensions diagram of the product page for the sizes of the threaded holes. Mounted using the counterbored through holes. from the top of the actuator * Refer to the dimensions diagram of the product page for the sizes of the through screw holes. Mounted using the T-slots Mounted using the T-slots on the bottom surface of the actuator * Refer to table below for T-nut attachment -3

24 Actuator Installation Orientation Depending on the actuator model, there are Installation orientations that cannot be used or require caution. Please check the details of the Installation orientations of each model on the table below before using. :Can be installed :Required daily checking :Can not install Installation Orientation Classification Series Type Horizontal flat plane Vertical installation installation (*) Sideways installation Ceiling installation RCP(S) SA/WSA (*) (*) SA (*) (*) RCP (*) (*3) (*) (*3) BA (Only for strokes less than mm) (Only for strokes less than mm) RCP SA (*) (*) SA RCP3 SA3 (*) SA/SA/SA (*) (*) RCA SA3 (*) SA/SA/SA (*) (*) RCA SA (*) (*) SA (*) (*) RCS3 SS (*) (*) CT8 RCS SA (*) SA/SA/SA7 (*) (*) Slider Type ISB/ISPB SXM/SXL/MXM/ MXL/LXM/LXL MXMX/LXMX/ LXUWX (*) (*7) (*7) (Only for strokes less than 3mm) SSPA S/M/L (*) (*7) ISA WXM (*) (*7) (Only for strokes less than 3mm) WXMX (*7) (Only for strokes less than 3mm) ISDB/IDPDB S/M/L (*) (*) MX/LX SXMX/SXMM/ MXMS/MXMM/ LXMS/LXMM (*8) (Only for strokes less than mm) NS SZMS/SZMM/ MZMS/MZMM/ LZMS/LZMM MXMXS/LXMXS IF SA/MA (*7) FS All models (*) RCP(S) RA/RRA/WRA RCP RA RCP RA (*) RCP3 RA RCP RA/SR RCD RA Rod Type RCA RN/RP/GS/GD SD (*3) RA/RFS/RGS/ RCA RGD/SRA/SRGS/ SRGD RA/RN/RP/GS/ RCS GD/SR/RG SD (*) -3

25 Classification Series Type Table Type Linear servo Servo press Gripper Rotary Direct drive motor Horizontal flat plane installation Vertical installation (*) :Can be installed :Required daily checking :Can not install Sideways installation Ceiling installation RCP(S) TA (*) RCP3 TA RCA TA/TCS/TWA/ TFA RCS3 CTZC RCS TCA/TWA/TFA S/S8/S LSA N/N W LSAS N/N RA/RA/RA7/ RCS3 R8/R RA/RA RCS RA3 RCP GR RCP GR RCD GRSNA RCS GR8 RCP RT RCS RTC RT DDA LT/LH DD LT/LH Rotation RS Stopper cylinder RCP ST (Only rod up) Vertical/Rotation ZR S/M (Refer to -38) RCPCR(S) SA/WSA (*) (*9) (*) (*9) RCPCR SA (*) (*9) (*) (*9) RCPCR SA (*) (*9) (*) (*9) RCPCR GR RT RCACR SA (*) (*9) (*) (*9) RCS3CR SA/SS (*) (*9) (*) (*9) Cleanroom RCSCR SA/SS (*) (*9) (*) (*9) DDACR LT/LH Dust-proof and splashproof ISDBCR/ ISPDACR S/M/L (*) (Only for strokes less than mm) (*) (Only for strokes less than mm) MX/LX SSPDACR S/M/L ISDACR/ ISPDACR W (*) (Only for strokes less than mm) (*) (Only for strokes less than mm) WX RCPW RA RCPW SA (*) (*) RA (*) SA RCPW RA GR RT RCAW RN/RP/GS/GD SD (*) (*3) RCAW RA RN/RP/GS/GD/ RCSW RA SD (*) ISWA/ISPWA S/M/L DDW LH -3

26 Regarding Actuator Installation Orientation Cautions about installation orientation (*) In the case of vertical installation, please install so that the motor is on top, if possible. During normal operation, there is no problem when mounting the actuator with the motor on the bottom, but when the motor stops for a long period of time, the grease can separate chemically and the base oil can flow into the motor unit, causing malfunctions on rare occasions. (*) Although it is possible to install the actuator sideways, in that case there is a possibility of slack and slippage in the stainless sheet. When continuing to be used this way, malfunctions like broken stainless sheets may occur. Therefore, please perform daily inspections, and make adjustments if the stainless sheet is slack or displaced. (*3) Sideways and ceiling installation for the RCP belt types are options. It is not possible to install the horizontal/ceiling specifications in a sideways orientation. It is not possible to install the sideways specification in the horizontal or ceiling orientations. Please do not install in a slanted or vertical orientation since it will cause operation failures. (*) If RCS3 - SA8C / SA8R is used in a sideways / ceiling installation, the screw cover may bend and interfere with the slider installation. Therefore, please keep the distance between the slider mounting surface and the work as shown in the table below. Stroke Distance between slider mounting surface and work At least mm, less than 8 mm At least mm At least 8mm, less than mm At least mm (for custom order) At least 7mm At least mm [Sideways installation] [Ceiling installation] (*) Optional mounting bracket is required when RCPW slider type is used in a sideways and ceiling orientation. When installing ceiling-mounted and sideways with a different bracket, splash-proof performance can not be guaranteed, so please be sure to use the correct optional bracket. Refer to page -3 for installing orientation when option bracket is installed. (*) Oil separated from the grease may drip from the opening on the side of the actuator. There is a possibility that parts dropped from the inside of the equipment will enter the opening of the actuator side face. If necessary, please attach protective parts. (*7) Since ceiling mounting a screw cover type actuator may cause the screw cover to bend and interfere with the work, please install the work away from the top of the slider. The distance A from the slider mounting surface is as follows. Series Stroke Distance A ISB/ISPB At least mm, less than mm At least mm ISA/ISPA At least mm, less than 3mm At least mm SSPA At least 8mm, less than mm At least mm At least 9mm, less than mm At least mm IF At least mm, less than mm At least mm At least mm, less than mm At least mm At least mm, less than mm At least mm (*8) When the NS actuators are suspended from the ceilings, the cable track may hang and become damaged. If a cable track support is installed, ceiling mounting becomes possible. For the standard cable track specifications for the LXMS and LXMM, ceiling mounting is not possible, because the cable wiring box sticks out about the cable track. When using the LXMS or LXMM with ceiling mounting, please use the extended cable track option. Type Cable track support size (units: mm) SXMS, SXMM 89 MXMS, MXMM 9 LXMS, LXMM (Expanded bare OP) (*9) There may be cases where maintaining cleanroom class can not be maintained if slack or slippage occurs in the stainless sheet, when installing in a in sideways and ceiling mount. Therefore, please perform daily inspections, and make adjustments if the stainless sheet is slack or displaced. -37 length of Cable track support Cable track support

27 (*) Please note that ceiling mount is not possible when the option Stainless sheet specification (D/D) is selected. (*) Motor types SP, SP are models for vertical installation only. (*) There are two ways to mount the slide unit type: mounting the main unit and mounting the guide bracket. (In the case of bracket mounting, the payload capacity will be reduced by. <Installing the guide bracket> kg.) (*3) There are two ways to mount the slide unit type: mounting the main unit and mounting the guide bracket. Please note that vertical mounting is not possible when mounting the bracket. (*) Slide unit type lead can not be installed vertically. (*) When using the reversing bracket mounting holes, depending on the installation condition and operating conditions, damage or malfunction of parts may occur due to external force, bending moment, vibration. Please secure the main body with a supporting base etc. <Caution when installing a rod type> When installing a front housing and a flange (option), please make sure no external force acts on the actuator. (malfunctions and parts damages can occur from external force). When there will be external forces or if the actuator is going to be combined with something like a Cartesian robot, please use the mounting holes on the actuator to secure it. Please install a support block when front installing or back installing an actuator that is st or longer in a horizontal orientation. However, adding the support block even for less than st is recommended since vibration might occur depending on the operation and installation conditions and damage the actuator. external forces <Flange installation specifications> support <Side-mount motor specification > support external forces <Caution when installing a RCS3 rod type> Customer s tooling is to be installed on the load cell. Please provide guides to the outside so that radial load and moment load will not be applied to the load cell. When using the reversing bracket mounting holes, depending on the installation condition and operating conditions, damage or malfunction of parts may occur due to external force, bending moment, vibration. Please secure the base frame main body with a supporting base etc. <ZR mounting orientation> The ZR series can only be used for vertical downward installation. Install Vertically downward -38

28 IF Series Motor Installation Orientation Depending on the installation condition of the actuator, the positions of the motor and sensors can be changed to types as shown below. This makes it possible to change the motor position according to the installation environment. Where the motor is installed horizontally or below, the position of the motor will be lower than the slider so there is no work interference. In addition, when attaching the creep sensor (C) and the origin limit switch (L) as an option, when the motor installing direction is L, they are mounted as standard (on the right side as viewed from the motor side, symbols C and L). R they are mounted to the reverse side (on the left side as viewed from the motor side, symbols CL and LL). Standard type Type: L Installing motor horizontally Type: L Installing motor below Type: 3L In the case of sensor installed R In the case of sensor installed S type R = 9 M type R = 9 In the case of sensor installed Standard type Type: R Installing motor horizontally Type: R Installing motor below Type: 3R In the case of sensor installed In the case of sensor installed In the case of sensor installed -39

29 RCPW-SA Installation Orientation Illustration when optional ceiling mounting is selected (Model TFL/HFR) When the optional ceiling installation (model HFL / HFR) is selected, or when lateral wall installation (model TFL / TFR) is selected, the direction of the actuator body is horizontal. Please refer to the following for installation orientation. RCPW-SA Ceiling installation specification Installing with the bracket option for ceiling mounting (Model HFL/HFR) Left Right Left Right Top view Reamed hole (Through) Through hole Reamed hole (Through) Through Tapped Through hole Tapped hole Tapped hole hole hole Tapped hole Through hole Bracket Bracket (front) Bracket (rear) Ceiling mount to the left type (HFL) Ceiling mount to the right type (HFR) Bottom view (View from motor side shaft end) Bracket (front) Bracket (rear) RCPW-SA Wall installation specification Installing with the bracket option for wall mounting (model TFL / TFR). Left Right Left Right Through hole Side view Reamed hole (Through) Tapped Tapped hole hole Through hole Through hole Tapped hole Reamed hole (Through) Tapped hole Through hole Bracket Left wall mounting specification (TFL) Right wall mounting specification (TFR) Bracket (front) Bracket (rear) (View from motor side shaft end) -3

30 Caution for Installation (DD DDA DDW RCS3-CT8C CT) Direct drive motor DD φ Main body positioning hole -φ Reamer penetration Body mounting hole -φpenetrating through DDA DDW Installation orientation Ceiling installation Vertical installation H Installation surface Installation surface height (H measurement) H measurement T8 3 LT8 33 H8 3 LH8 3 Installation surface * For brake option and cable exit downward direction option, a hole or holes for the room for those items. Horizontal installation Gravity Note) Please use this product by mounting it to a surface that has heat dissipation characteristics equivalent to w x d x t aluminum plate. Please contact us if the installation conditions have poor heat dissipation. Note) Please use this product by mounting it to a surface that has heat dissipation characteristics equivalent to w x d x t aluminum plate. Please contact us if the installation conditions have poor heat dissipation. RCS3-CT8C Secure the high-speed type ROBO Cylinder by preparing a sufficiently rigid rack and mount it so that the gantry does not move when operating the ROBO Cylinder. The reaction force during ROBO Cylinder operation is determined by the mass of the moving part and the acceleration. A F Reaction force: F = ma m: Mass of moving part A: Acceleration m Moment load due to the above reaction force and the height H to the center of gravity position is added to the mount. Moment load: M = FH = mah H: Distance from gantry to movable part center of gravity Gantry Consider the rigidity against this load moment. CT Installation gantry The mounting surface shall be a machined plane or flat plane of equivalent accuracy. The flatness shall be within. mm/m. The frame shall have a structure that allows the robot to be installed horizontally. The frame on which the robot is installed receives a large reactive force. The table to the right shows the maximum instantaneous reactive force (rough guide) received by each axis when the axis moves at the maximum speed and maximum acceleration carrying kg of load. Provide a frame of sufficient rigidity. Secure the frame to the floor, etc., using anchor bolts, etc., so that the CT will not move as a result of robot operation. Make sure the natural frequency of the frame is 7 Hz or more. Example of the Installation gantry An example of the installation frame is shown to the right. Fabricate the installation frame by referring to this example. Use the hexagonal head bolt, as described below, for the mounting bolts, depending on the installation frame material. Use high-strength bolts of ISO-.9 or more. <When the gantry base material is steel> Applicable bolt: M x (effective engagement length: or more), Applicable washer: M (. x 8 x ) Tightening torque: N m w x d x t.mm <When the gantry base material is aluminum> (Rectangular steel material) Applicable bolt: M x (effective engagement length: or more), Applicable washer: M (. x 8 x ) Tightening torque: N m Axis X axis Y axis Z axis Reactive force N 3N 8N./ H mm or more 8mm or less Danger Please use the specified bolt. Please be careful in selecting the bolt length. Using bolts that are not specified or bolts of inappropriate length will cause the tapped holes to break and insufficient mounting strength, which will cause abnormal noise / vibration, breakdown and shortened life, but also the CT body will move. There is a danger of causing serious accidents such as breaking occurring in the CT and peripheral parts, including the payload, as well as the possibility for death or serious injury to occur. 9mm mm -3

31 MEMO -3

32 Small size rod type anti-rotation installation method Thin and small rod type anti-rotation In the following models, there is no anti-rotation of the ball screw inside the main body, so be sure to set the anti-rotation on the outside when using. When installing the anti-rotation, please install according to the following installation conditions. If you operate in a state where the anti-rotation mechanism is not installed, the ball screw idles, the rod does not move back and forth, and the rotation speed of the encoder and the actual movement distance can not be matched and the position may be misaligned. Applicable model Installation image Body installing plate End fitting installing hole Anti-rotation RCA-RN3NA/RNNA/RP3NA/RPNA RCS-RNN/RPN Body installing hole Please do not connect the tip of the actuator rod and the anti-rotation with the floating joint. Radial load due to eccentricity is applied to the screw shaft, leading to malfunction of the actuator and premature failure. Installation method, condition the body installing hole of the fixed plate and the coaxial level of the tip bracket installing hole of the guide side brackets should be within. mm. The degree of parallelism should be within. mm. Guide side bracket not include unit, please supply) Fixed nut Tip fittings Anti-rotation guide not include unit, please supply) Front side Rear side Body installing plate When moving the rod part of the actuator, please use the optional position adjustment knob. Position adjustment knob (Option) <Position adjustment knob> () (9) () For Series Model number: RCS-AK-R -33 For Series Model number: RCA-AK-R For 3 Series Model number: RCA-AK-R3

33 RCD Rod Type Installation Method/ Other Installation Methods RCD series Installation method The installation hardware is a structure with sufficient rigidity so that vibration exceeding.3 G is not transmitted. Please set up a space where maintenance work can be done. Fit and fix the main body into the through hole (φ) of a smooth plate with a thickness of to 3 mm. The installation posture can be either horizontal installation or vertical installation. The base of the body of the male thread (m.) is a tolerance h8, so please use it as an in-row. When tightening with the attached mount nut etc., the maximum tightening torque should be 9. N m. If it is tightened with more torque, breakage may occur. The following general-purpose products can be used for foot brackets and flange fittings. For foot brackets and flange fittings, please contact the manufacturer directly. Foot bracket Mounting plate Mounting nut Flange fittings Other installation methods Depending on the type of actuator, the following installation is possible. * Fixed the motor part In the case of motor turning back, it is possible to install using the tapped hole of the bracket part. (Please check the dimensions of the product page for the size of the screw hole.) * Rod end fixing It is possible to install using the tapped hole of the front bracket part of the rod tip. (Please check the dimensions of the product page for the size of the screw hole.) *3 Fixing the main unit side Actuator side mounting is possible. (Please check the dimensions of the product page for the mounting surface and the size of the screw hole.) -3

34 MEMO -3

35 MEMO -3

36 Special Specification In addition to the standard products that are listed in the catalog, I have been dealing with various special specification products. If you do not have your desired product, please feel free to contact our sales office or Customer center eight (see the back cover). Special Product Examples Double Slider It is effective when the actuator protrudes from the slider a lot and it exceeds the overhang load length or when it exceeds the allowable load moment. By adding a free slider, the effective stroke will be shorter than the standard product. No motor / Special motor When customer prepares motor and driver, only actuator without motor can be shipped. In addition, we can ship it by installing the motor specified by the customer. Special ball screw lead It is possible to use lead screw ball screws not available in standard products. Special home position It is possible to change the home position.(mechanical end) Limiting the operating range of the actuator Turning back motor Motor turning back can be prepared even for models that do not have motor- turning back type lineup. Special Stroke We can correspond strokes not found in standard products. -37

37 Special Product Examples Surface treatment Surface treatment can be changed by black alumite treatment or hard alumite treatment. Air purge specification By air purge, it is possible to make it harder for foreign matter to enter the inside of the actuator and the motor part than standard parts. Sensor specifications Sensors can be installed on models that do not have sensor options. Grease It is possible to change grease such as food grease, low dust grease, and customer specified grease. Standard grease Food grease Special orthogonal robot combination Clean room specification product combination XY table combination Special orthogonal robot combination Special table top type robot combination Table top robot + rotary shaft XY table combination Xθ combination -38

38 Overseas standard. RoHS Directive The RoHS Directive is a directive by the European Union on the "restriction on the use of certain hazardous substances contained in electrical and electronic equipment" and is called RoHS taking the initials of Restriction of Hazardous Substances. The purpose of RoHS is to prescribe hazardous substances contained in electrical and electronic equipment and to minimize the impact on people and the environment by prohibiting the use of substances. Beginning in July, we prohibited or restricted the use of the following six substances.. lead. mercury 3. cadmium. Hexavalent chromium. Polybrominated biphenyl (PBB). Polybrominated diphenyl ether (PBDE) We are promoting efforts towards the complete elimination of RoHS-compliant substances, and in January, except for some exceptions, we are switching to RoHS compliant parts sequentially. Please refer to the correspondence table below for the current situation.. CE Marking Products sold in the European Union (EU) area are obliged to indicate CE marking. The CE marking indicates compliance with the EU (EC) Directive's mandatory safety requirements, and the manufacturer will display it at its own risk. The essential safety requirements are specified by the adoption of the New Approach Directive in 98, such as "EMC Directive", "Low Voltage Directive", "Machine Directive", etc. are stipulated. These directives stipulate the consistent provisions that embody and embody the essential requirements that each product must observe. () EMC Directive It is a directive concerning products that emit electromagnetic waves or that may be affected by functions by external electromagnetic waves. A design that does not emit strong electromagnetic waves to the outside or is not affected by external electromagnetic waves is required. Our products decide wiring / installation model (condition) of controller, actuator, and peripheral equipment and conform to the relevant standards of EMC directive. () Low Voltage Directive It is a directive on the safety of electrical machinery driven by a power supply of AC to V, DC 7 to V. The actuators of ISA / ISPA, ISB / ISPB, ISDA / ISPDA, ISDB / ISPDB, ISDACR / ISPDACR, ISDBCR / ISPDBCR, ISWA / ISPWA, IX and TT series are designed to conform to the low voltage command in combination with the controller. (TT series integrated controller type) This command is not applicable for V series ROBO Cylinder. (3) Machinery Directive For general products, especially industrial machinery, those for which moving parts are recognized as dangerous are targeted. In the machine directive, IX, IXP, TT and TTA (Safety Category Correspondence specification) series are supported. In the machine directive, IX, IXP, TT and TTA (Safety Category Correspondence specification) series are supported. All other products are not supported by the machine directive. () Concept of EC directive by IAI Corporation Our actuator and controllers (hereinafter referred to as our components) are treated as parts (embedded devices) to be incorporated in customer's equipment. Our components are declared as "semi-finished products" of the machine Directive "machine Directive //EC". However, this does not guarantee that your device conforms to the EC Directive. When customers complete the equipment incorporating our components and ship them to Europe within the European region as final products, always make sure that you comply with the EC Directive by yourself. Our components are a requirement to conform to en-, which is one of the harmonization standards of the machine directive, and to regulate the electrical safety of industrial equipment, and our component is low voltage directive "Voltage Directive /3/EU" and EMC Directive "EMC Directive /3/EU" must be compliant. -39

39 For Low Voltage Directive "Low Voltage Directive /3 / EU", our components are roughly divided into those operating only with VDC power supply and those operating on AC V power supply. The former is lower than the voltage of the low voltage Directive (AC ~ v or dc7 ~ V), the latter is a manual for overseas standards (mj87-8a.3. Note ) The use described in the method is considered to be compatible with the low voltage directive. The EMC Directive "EMC Directive /3/EU" is applicable to the company's limited terms of use when responding to the radio interference indicated in this overseas standard. Finally, it is necessary to attach it to the customer's device and confirm it. Directive / / EU "RoHS Directive requires that the EC Directive covered by our components require that specified hazardous substances be below specified values. Our component has been responding to this from early time. This directive has been renewed as of 7// by Directive //EU, and since //3 (after 7//7 for controllers), it has become necessary to include RoHS compliance in the EC declaration of conformity form. By the above, the CE marks attached to our individual components indicate that they comply with the RoHS directive/emc directive (DCV) or the RoHS directive/ EMC directive and the low voltage directive (V) under limited operation conditions. English is the original language used for the instruction manuals and warning labels of our components. Customers who need support in other languages should contact our sales representatives. In some warning/caution labels, in cases where notes are written, Japanese may be added occasionally. If the customers are to make their equipment CE compliant, they should select products (such as safety relays) that correspond to the safety category demanded for the equipments, and should make sure to construct external safety circuits themselves. 3. UL standard UL (Underwriters Laboratories Inc American Insurer Safety Test Laboratory) was a non-profit organization founded by the American fire insurance association in 98 and was established to protect human life and property from fire, disaster, theft and other accidents We conduct research, testing and inspection. The UL standard is a product safety standard relating to functions and safety, UL can test and evaluate samples of the product, UL required products can be shipped with UL certification mark attached. Some of our models are certified. For details, please contact our sales representative.. KCs marking From 3//3, industrial robots have become part of the self-regulatory safety confirmation declaration program, and products used in Korea or shipped from Japan to Korea are regulated. The KCs definition of industrial robots is robots that have controllers of 3 axes or more, and products that we have declared and registered with the KCs are as follows: Some of the IX/IXP SCARA robot series (high-speed specification) Some of the single-axis combinations (please contact our sales representatives for details) TTA table top robot series -3

40 Correlation Table by RoHS Order/CE Mark/UL Listed Models Actuator : Standard/ : Option : Special order/ : No plan Product structure Series name Type, model RoHS Directive Compatible CE mark UL standard Slider (standard) SAC/SAC/SA7C/SA8C SAR/SAR/SA7R/SA8R Slider (wide) WSAC/WSAC/WSAC/WSAC WSAR/WSAR/WSAR/WSAR RAC/RAC/RA7C/RA8C Rod (standard) RCP RAR/RAR/RA7R/RA8R RCPS RRAC/RRAC/RRA7C/RRA8C Rod (radial cylinder) RRAR/RRAR/RRA7R/RRA8R Rod (wide) WRAC/WRAC/WRAC/WRAC WRAR/WRAR/WRAR/WRAR Table (motor unit type) TAC/TAC/TA7C Table (Motor turn back type) TAR/TAR/TA7R Slider (motor unit type) SAC/SAC/SA7C Slider (motor return type) SAR/SAR/SA7R RCP Slider (belt drive) BA/BA/BA7/BAU/BAU/BA7U Rod (motor unit type) RAC/RAC/RA7C/RA8C/RAC Rod (Motor return type) RAR/RAR/RA7R/RA8R/RAR RCPCR Slider SAC/SAC/SA7C RCPW Rod RAC/RA7C/RA8C/RAC Slider (motor unit type) SA3C/SAC/SAC/SA7C Slider (motor return type) SA3R/SAR/SAR/SA7R RCP Rod (motor unit type) RA3C/RAC/RAC Rod (Motor return type) RA3R/RAR/RAR Gripper GRSML/GRSLL/GRSWL/GRLM/GRLL/GRLW Stopper cylinder ST8E/STE/STE RCPCR Slider SA3C/SAC/SAC/SA7C RCPW Slider SAC/SAC/SA7C Rod RAC/RA7C Slider (motor unit type) SAAC/SABC/SA3C/SAC/SAC/SAC Slider (motor return type) SAAR/SABR/SA3R/SAR/SAR/SAR RCP3 Rod (standard) RAAC/RABC/RAAR/RABR Table (motor unit type) TA3C/TAC/TAC/TAC/TA7C Table (Motor turn back type) TA3R/TAR/TAR/TAR/TA7R Slider (coupling) SAC/SAC/SA7C/SS7C/SS8C Slider (motor return type) SAR/SAR/SA7R/SS7R/SS8R Slider (belt drive) BA/BA7/BAU/BA7U ROBO Cylinder High speed slider type HS8C/HS8R Actuator RAC/RA3C/RAC/RAC/RA8C/RAC Rod (standard) RA3R/RAR/RAR/RA8R/SRAR RCP Rod (with guide) RGSC/RGSC/RGD3C/RGDC/RGDC SRGSR/SRGDR Gripper GRLS/GRSS/GRS/GRM/GRHM/GRHB GR3LM/GR3LS/GR3SM/GR3SS Gripper (long stroke) GRST Rotary RTBS/RTBSL/RTB/RTBL/RTBB/RTBBL RTCS/RTCSL/RTC/RTCL/RTCB/RTCBL Simple absolute type Simple absolute supported model Slider SAC/SAC/SA7C/SS7C/SS8C/HS8C RCPCR Gripper GRSS/GRLS/GRS/GRM/GR3SS/GR3SM Rotary RTBS/RTBSL/RTCS/RTCSL/RTB/RTBL/RTC/RTCL/RTBB/RTBBL/RTCB/RTCBL Slider SAC Rod RAC/RAC RCPW Rod (High thrust) RAC Gripper GRSS/GRLS/GRS/GRM/GR3SS/GR3SM Rotary RTBS/RTBSL/RTCS/RTCSL/RTB/RTBL/RTC/RTCL/RTBB/RTBBL/RTCB/RTCBL RCP Slider (motor return type) SA/SA/SS/SM/SSR/SMR Rod RS/RM ERC3 Slider SAC/SA7C Rod RAC/RAC ERC3D Slider SAC/SA7C ERC3CR Slider SAC/SA7C Slider SAC/SA7C ERC Rod (standard) RAC/RA7C Rod (with guide) RGSC/RGS7C/RGDC/RGD7C ERC Slider SA/SA7 Rod RAGS/RDGD/RAGS/RAGD RCD Rod RADA/RAD Gripper GRSNA/GRSN Slider SAAC/SA3C/SAC/SAC/SAC SAAR/SA3R/SAR/SAR/SAR RCA Rod -3 RAAC/RAAR/RN3N/RNN/RP3N/RPN GS3N/GSN/GD3N/GDN/SD3N/SDN RN3NA/RNNA/RP3NA/RPNA/GS3NA/GSNA GD3NA/GDNA/SD3NA/SDNA (as of November, )

41 Product structure Series name Type, model RoHS Directive Compatible CE mark Table (short length type) TCA3N/TCAN/TWA3N/TWAN/TFA3N/TFAN TCA3NA/TCANA/TWA3NA/TWANA/TFA3NA/TFANA RCA Table (motor unit type) TAC/TAC/TAC/TA7C Table (Motor turn back type) TAR/TAR/TAR/TA7R Gripper GRKS RCACR Rod RN3NA/RNNA/RP3NA/RPNA/GS3NA/GSNA GD3NA/GDNA/SD3NA/SDNA RCAW Rod RN3NA/RNNA/RP3NA/RPNA/GS3NA/GSNA GD3NA/GDNA/SD3NA/SDNA Slider (coupling) SAC/SAC/SAC Slider (motor direct connection) SAD/SAD/SAD/SSD/SSD/SSD Slider (motor return back type) SAR/SAR/SAR RA3C/RAC/RA3D/RAD/RA3R/RAR Rod (standard) SRAR RCA RGS3C/RGSC/RGS3D/RGSD/SRGSR Rod (with guide) RGD3C/RGDC/RGD3D/RGDD RGD3R/RGDR/SRGDR Arm AR/AR/AR Absolute type All models RCACR Slider (coupling) SAC/SAC/SAC Slider (motor direct connection) SAD/SAD RCAW Rod RA3C/RA3D/RA3R/RAC/RAD/RAR High speed slider type CT8C RCS3 Rod (servo press) RAR RAR/RA7R/RA8R/RAR/RAR/RAR High speed table type CTZC ROBO Cylinder Actuator Single axis robot : Standard/ : Option : Special order/ : No plan RCS3/RCS3P Slider (coupling) SA8C/SS8C Slider (motor return back type) SA8R/SS8R RCS3CR/RCS3PCR Slider (coupling) SA8C/SS8C Slider (coupling) SAC/SAC/SAC/SA7C/SS7C/SS8C Slider (motor direct connection) SAD/SAD/SAD Slider (motor return back type) SAR/SAR/SAR/SA7R/SS7R/SS8R Rod (standard) RNN/RPN/RAC/RAC/RAD/RAR/RAR SRA7BD Rod (servo press) RA3R GSN/GDN/SDN RCS Rod (with guide) RGSC/RGSC/RGSD/RGDC/RGDC RGDD/RGDR SRGS7BD/SRGD7BD Table TCAN/TWAN/TFAN Arm AR/AR/AR Flat FD Gripper GR8/GRKL Rotary RT/RTR/RT7R/RTC8L/RTCL/RTCL Absolute type All models Slider (coupling) SAC/SAC/SAC/SA7C/SS7C/SS8C RCSCR Slider (motor direct connection) SAD/SAD Rod RNN/RPN/GSN/GDN/SDN RCSW Rod RNN/RPN/GSN/GDN/SDN RAC/RAD/RAR Slider (motor return back type) SA/SA/SA/SS/SM/SSR/SMR Rod RA/RB RCS Flat F Gripper G Rotary R/R/R3 Absolute type ISB/ISPB Standard SXM/SXL/MXM/MXL/MXMX/LXM/LXL/LXMX/LXUWX ISDB/ISPDB Simple dust protection S/M/MX/L/LX ISDBCR/ISPDBCR Clean S/M/MX/L/LX SSPA High rigidity (iron base) SXM/MXM/LXM SSPDACR Clean high rigidity (iron base) S/M/L ISA/ISPA Standard SXM/SYM/SZM/MXM/MYM/MZM/MXMXLXM/LYM/LZM/LXMX/LXUWX/ WXM/WXMX ISDA/ISPDA Simple dust protection S/M/MX/L/LX ISDACR/ISPDACR Clean S/M/MX/L/LX/W/WX ISWA/ISPWA Dust-proof and drip-proof S/M/L IS Standard S/M/L/T ISP Standard S/M/L/W ISD/ISPD Simple dust protection S/M/L SS Standard S/M SSCR Clean UL standard -3

42 Correlation Table by RoHS Order/CE Mark/UL Listed Models Product structure Series name Type, model RoHS Directive Compatible CE mark SXMS/SXMM/SZMS/SZMM NS Standard MXMS/MXMM/MXMXS/MZMS/MZMM LXMS/LXMM/LXMXS/LZMS/LZMM IF Standard SA/MA Standard N/W/L/H FS Guide module NO/WO/LO Single axis robot RS Axis of rotation 3/ ZR Vertical/rotation integrated type S/M Slider SA/SA/SA DS Arm A/A/A Clean Absolute type DDA Standard LT8 /LH8 (*) DDACR Clean LT8 /LH8 Direct drive motor DD Standard T8 /LT8 /H8 /LH8 DDCR Clean T8C /LT8C /H8C /LH8C DDW Dust-proof and drip-proof LH8C Slider (single slider) SAL/SAL/SA3L/SAL/SAL/SAL RCL Slider (multi slider) SML/SML/SML Rod RAL/RAL/RA3L Small size H Linear Medium size N LSA Large size W LSAS Shaft S Flatness L LS Small size/large size S/L High-speed orthogonal type Orthogonal robot Table top Scalar Other Controller Controller for ROBO Cylinder Standard G CT Specification with rotary shaft GRT Pick & rotary specification GPR ICSA/ICSPA ICSB/ICSPB TT Old TT-3 New TT-A/A3/C/C3 TTA TTA-A /A3 /A /C /C3 /C (*3) IH 3N88/3N8/N88/N8 Standard 3N3/3N/N3/N 3N/N/3N/N 3N8GM/3N3GM/3NGM/ With gripper 3N3GL/3NGL IXP 3NGL/3NGW/3NGL/3NGW Clean 3C3/C3/3C/C/ 3C/C/3C/C Dust-proof and drip-proof 3W3/W3/3W/W 3W/W/3W/W //8 H/3H Standard (NNN) H/ H/7 H/8 H IX / Clean/Dust-proof and drip-proof //8/H/3H/3H Ceiling mounted, high speed, wall hanging H/ H/7 H/8 H TX Motor unit ISAC W/W ISAC High rigidity (T) W(RS)/W/W -33 : Standard/ : Option : Special order/ : No plan UL standard PMEC Incremental C (*) AMEC Incremental C PSEP Incremental C/CW Simple Absolute C/CW-ABU ASEP Incremental C/CW Simple Absolute C/CW-ABU DSEP Incremental C/CW MSEP Incremental C/LC Simple Absolute C-ABB/LC-ABB PSEP/ASEP Absolute battery unit SEP-ABUM/SEP-ABUM-W MCON C/CG/LC/LCG (*) CB/CGB/CFB/CGFB (*) CA/CF/CFA PCON C/CG (*) CY/SE/PL/PO CYB/PLB/POB (* ) V specification limited (* ) Mechatronical link specification of field network is not supported (* 3) Safety category supported specifications limited (* ) Brake option is excluded

43 Product structure Series name Type, model RoHS Directive Compatible CE mark UL standard CB/CGB (*) CA (*) ACON C/CG (*) CY/SE/PL/PO CYB/PLB/POB CB/CGB (*) DCON CA (*) CYB/PLB/POB CB/LC (*) (*) CB-F (Servo press only)/lc-f (*)(*) (*)(*) SCON CA (*) C CAL/CGAL MSCON C PSEL ASEL SSEL Controller for Standard PC MSEL ROBO Cylinder Safety category supported type PG Gateway R unit RGW-DV/RGW-CC RGW-PR/RGW-SIO Controller Unit RACON/RPCON ROBONET Simple Absolute R Unit RABU Expansion Unit REXT Expansion Unit (unit turn back) REXT-SIO Expansion unit (controller connection) REXT-CTL Standard C/CG RCP High thrust CF Absolute V/V C v (general purpose) V (low price) E RCS EU CC-Link () DeviceNet ProfiBus Standard EU E-Con CC-Link () DeviceNet ProfiBus Absolute type P-Driver TX TX-C MSEL Standard PCX3/PCX Safety category supported type PGX3/PGX XSEL-RA/SA Standard RA/RAX/RAXD8 Safety category supported type SA/SAX/SAXD8 XSEL-R/S Standard R/RX/RXD8 Safety category supported type S/SX/SXD8 Small type J General purpose K Safety category supported type KT Controller XSEL-J/K CE KE/KET for single axis Scalar JX/KX for orthogonal for scalar General purpose extension SIO IA--X-MW-A/B/C Standard P XSEL-P/Q Safety category supported type Q Scalar PX/QX CT PCT/QCT XSEL-J/K Option DS-S-C SEL-E/G CC-Link () IA-NT-3/-CC CC-Link () IA-NT-3-CC DeviceNet IA-NT-3/-DV ProfiBus IA-NT-3/-PR EtherNet IA-NT-3/-ET Extended PIO IA-3-X-3/ Multipoint I /O IA-IO-3/-NP/PN Standard EU Standard EU SEL-F IH : Standard/ : Option : Special order/ : No plan (* ) V specification limited (* ) Mechatronical link specification of field network is not supported (* 3) Safety category supported specifications limited (* ) Large type (for 3 tons / tons) will be acquired. -3

44 Correlation Table by RoHS Order/CE Mark/UL Listed Models Option Product structure Series name Type, model Position controller/ Program controller dual use Standard With deadman switch : Standard/ : Option : Special order/ : No plan RoHS Directive Compatible CE mark UL standard TB- TB- TB-D/DR TB-D Standard CON-T Safety category supported type CON-TGS SEP controller only Touch panel teaching SEP-PT Universal touch panel teaching Standard type (color liquid crystal type) CON-PTA-C New RC System Universal Touch Panel Teaching Type with enable switch (same as above) CON-PDA-C Universal Touch Panel Teaching Safety category supported type (same as above) CON-PGAS-C Universal Touch Panel Teaching Standard type (monochrome liquid crystal type) CON-PT-M Universal Touch Panel Teaching Type with enable switch (same as above) Teaching box CON-PD-M Universal Touch Panel Teaching Safety category supported type (same as above) CON-PG-M RCP Standard RCA-T/TD ERC (With deadman switch) RCM-T/TD RCS RCA-E Simple type E-Con RCM-E RC Data setting device RCA-P RCM-P RCP ERC Jog teach RCB-J Standard SEL-T New SEL System With deadman switch SEL-TD Safety category supported type SEL-TG XSEL Standard (With deadman switch) IA-T-X(IA-T-XD) DS DS-S-T E/G,F NE-T-SS IH IA-T-IH TX TX-JB Quick teach ERC3 RCM-PST Touch panel RCM-PM- IXP/RCP/RCP/ RCP-SA3 RA3/ RCP/RCD Motor/Encoder integrated cable CB-CAN-MPA CB-CAN-MPA-**-RB RCP/RCP Motor/Encoder integrated cable CB-CFA3-MPA Motor/Encoder integrated CB-CA-MPA RCP/RCD cable CB-CA-MPA-**-RB RCP3/RCP/ RCA/RCA/RCL Motor/Encoder integrated cable CB-APSEP-MPA RCP3/RCP Motor/Encoder integrated cable CB-PCS-MPA Motor/Encoder integrated cable CB-PSEP-MPA Motor/Encoder integrated cable (Small rotary type only) CB-RPSEP-MPA RCP/RCP Motor cable CB-RCP-MA CB-RCP-PB M/PG Cable CB-RFA-PA Encoder cable CB-RCP-PB-**-RB CB-RFA-PA-**-RB RCA Motor/Encoder integrated cable CB-ACS-MPA Motor/Encoder integrated CB-ASEP-MPA cable CB-ASEP-MPA RCA/RCA/RCL Motor cable CB-ACS-MA Encoder cable CB-ACS-PA CB-ACS-PA-**-RB RCS3-RAR/R Motor cable CB-RCS3-MA To be acquired To be acquired CB-RCS3-MA**-RB Encoder cable CB-RCS3-PLA To be acquired To be acquired CB-RCS3-PLA**-RB Motor cable CB-RCC-MA CB-RCC-MA-**-RB CB-RCS-PA RCS3/RCS CB-RCS-PLA Encoder cable CB-RCBC-PA CB-RCS-PLLA (RA3R/with load cell) CB-RCBC-PA-**-RB -3

45 : Standard/ : Option : Special order/ : No plan Product structure Series name Type, model RoHS Directive Compatible CE mark UL standard CB-X-MA Motor cable CB-XMC-MA CB-XEU-MA CB-X-PA XSEL CB-X-PA/PLA Encoder cable CB-X-PA/PLA CB-X-PA-**-WC M/PG Cable CB-X3-PA Limit switch cable CB-X-LC Motor cable CB-CT-MA CB-CTR-MA XSEL-PCT/QCT CB-CT-PA Encoder cable CB-CTR-PA CB-CTPR-PA TX Motor cable CB-TX-ML-RB PMEC/AMEC For standard CB-APMEC-PIO***-NC PSEP/ASEP/DSEP For Standard/Dust-proof CB-APSEP-PIO/CB-APSEPW-PIO MSEP For standard CB-MSEP-PIO For LC CB-PAC-PIO I/O Cable Communication cable for SIO Others PCON/ACON/ DCON For standard (C/CA/CB/CG/CGB type) CB-PAC-PIO For solenoid valve type (CY type) CB-PACY-PIO For solenoid valve type (CYB type) CB-PAD-PIO For pulse train control (PL/PO type) CB-PACPU-PIO For pulse train control (PLB/POB type) CB-PAD-PIOS SCON For standard CB-PAC-PIO MSEL Standard CB-PAC-PIO PSEL/ASEL/SSEL For standard CB-DS-PIO XSEL For standard CB-X-PIO ERC3 Power supply for PIO type CB-ERC3P-PWBIO To be acquired To be acquired Power supply for SIO type CB-ERC3S-PWBIO To be acquired To be acquired Power supply for PIO type CB-ERC-PWBIO***(-RB) ERC/ERC Power supply/i/o cable CB-ERC-PWBIO***-H CB-ERC-PWBIO***-RB-H Power supply for SIO type CB-ERC-PWBIO***(-RB) ERC3 CB-PST-SIO To be acquired To be acquired Software for PC RCM--MW RCM--USB External communication cable CB-RCA-SIO*** RS3C conversion cable RCB-CV-MW CB-SEL-USB*** USB cable RC CB-SEL-USB3 USB conversion adapter CB-CV-USB Link cable CB-RCB-CTL*** Unit link cable CB-REXT-SIO*** Controller connection cable CB-REXT-CTL*** Adapter for CON-TG RCB-LB-TGS SCON Pulse train control cable CB-SC-PIOS RCPS Connection cable (between actuator - gateway unit/hub unit) CB-RCPS-PWBIO (-RB) To be acquired To be acquired Connection cable (between gateway unit and hub unit) CB-RCPS-PLY (-RB) To be acquired To be acquired ERC PC connection cable CB-ERC-SIO*** Cable for network connection CB-ERC-CTL*** MSEL (included with MSELABB) Connection cable CB-MSEL-AB*** IA--X-MW IA--XA-MW Software for PC IA--X-USBS (Cable + EMG BOX) IA--X-USBMW EMG SW BOX CB-ST-EMW*** Insulated cable (single item) CB-ST-AMW*** CB-SEL-USB XSEL USB conversion adapter IA-CV-USB Adapter for SEL-TG IA-LB-TGS Joint cable CB-ST-3J/CB-ST-J SEL-TG connection cable CB-SEL-LBS*** Brake box ~controller connection cable CB-XBB-PA3/-CS To be acquired Cable for brake box release switch CB-XBB-SW To be acquired Connection cable (included with EIOU - ) CB-RS-IAN To be acquired A/P/SSEL SEL-TG connection cable CB-SELH-LBS*** -3

46 Correlation Table by RoHS Order/CE Mark/UL Listed Models : Standard/ : Option : Special order/ : No plan RoHS Directive Product structure Series name Type, model CE mark UL standard Compatible Panel unit PU- SEL 系 Connector conversion cable CB-SEL-SJS*** Others TX Connection cable CB-TX-PMW TTA Software for PC IA--TTA-USB Simple absolute unit Simple Absolute Battery Unit PCON/ACON -37 PCON-ABU ACON-ABU ACON-CB/CGB SEP-ABU/ABUS DcV Power supply PS-/PS- PLC connection unit RCPS RCB-PPLC To be acquired To be acquired Hub unit RCPS RCM-PHUB To be acquired To be acquired RCPS RCM-PGW To be acquired To be acquired ERC3 RCM-EGW Gateway unit DV RCM-GW-DV RCM-GW CC RCM-GW-CC PR RCM-GW-PR RC gateway (dedicated XSEL-P/Q Communication cable CB-RCB-SIO*** cable for communication port connection) XSEL-R/S Controller link cable CB-RCB-CTL*** SSEL Expansion I / O unit Regenerative resistance unit Absolute battery Absolute battery box Dummy plug MSEL TTA XSEL EIOU- EIOU- SCON (RCS3- RAR 用 ) RESU-3T To be acquired MSCON XSEL RESU-/RESUD- SCON MSCON RESU-/RESUD- SSEL E-Con PDR REU- XSEL SCON SSEL REU- XSEL-P/Q MSEP MCON RER- HAB IA-HAB RCP AB- * XSEL-J/K IA-XAB-BT RCS E-Con AB- P-Driver IX Scalar (-8 用 ) AB-3 RCP AB- XSEL-P/Q/R/S * ASEL EU battery command (//E) is ACON AB- applicable. SCON When RoSH MSCON command, it is not SSEL applicable. IX Scalar (-8 用 ) AB- PCON-ABU ACON-ABU MCON AB-7 MSEL MSEP MCON MSEP-ABB MSEL MSEL-ABB XSEL DP- PSEL ASEL SSEL DP-S MSEL MCON ACON-CGB DCON-CGB DP- SCON-CGB/ CGBL/CAL

47 Product structure Series name Type, model RoHS Directive Compatible CE mark UL standard -Axis AC H-9- A -axis DC H-9- D E/G Brake Box H-- A -axis DC H-- D Brake box Coil H- GDS -Axis H- -Axis H- RCS-RA3R RCB--RA3R- XSEL-J/K IA--X- MSEP (for pulse motors) MSEP-PPD/PD/PD MSEP (for AC Servomotor) MSEP-AD/AD Driver board MSEP (for DC brushless motor) MSEP-DD/DD MCON (for pulse motors) MCON-PPD/PD/PD MCON (for AC Servomotor) MCON-AD/AD MCON (for DC brushless motor) MCON-DD/DD Replacement fan MSEP MSEP-FU unit SCON SCON-FU PIO converter ERC3 RCB-CV PIO terminal block RCB-TU-PIO-A/B SIO converter RCB-TU-SIO-A/B RS3 conversion uni RCS New RCB-CV-MW ERC Old RCA-ADP-MW XSEL RCB-CV-GW Multipoint I/O board Terminal block XSEL-K TU-MA9(-P) Filter box E-Con PFB- : Standard/ : Option : Special order/ : No plan PDR/ACON/SCON AK- Pulse converter SCON-CB JM-8 I/O expansion box E/G H

48 Introduction to SEL language Configuration using XSEL <Example of using the ICSB3 series> Base axis "x-axis" (st axis) Axis to be placed perpendicular to the y-axis Z axis (3rd axis) Axis to be installed at right angles to the x-axis Y-axis (nd axis) The arrow in the motion diagram is the trajectory drawn by the tip of the Z axis. Actuator <ICSB 3 series> Controller <XSEL> Software for PC <IA--X-MW> * SEL language is used in XSEL controller, PSEL controller, ASEL controller, SSEL controller, table top robot TTA series. The above actuator combines three linear actuators. ❶ The three actuators are expressed as " axis, axis, 3 axis", respectively. ❷ This actuator is called "3 axis orthogonal robot" which uses 3 axes in combination orthogonally. ❸ Each axis is classified into X axis, Y axis, Z axis from its installation status. Base axis <X axis> Axis installed at right angles to the X axis <Y axis> Axis installed perpendicular to the Y axis <Z axis> Z axis (3 axis) Y axis ( axis) ❹ In program data and position data, it is expressed as follows. X axis ( axis) X axis (first axis) = Axis Y axis (second axis) = Axis Z axis (third axis) = Axis 3-39

49 What is necessary for robot operation In order to operate the robot, Program Position data (The position where the robot moves) It is necessary to enter these two data to the controller using a personal computer. Controller Program PC Position data Program Enter "SEL language" (our company's original language) which instructs the contents and order of action in the program data sheet in PC software. * The program actually entered is displayed as follows. Software for PC IA--X-MW Program Input screen Position data (position where the robot moves) The position to move the actuator is indicated by coordinates and entered in the position data sheet in the personal computer software. * The position data actually entered is displayed as follows. Data not transferred to the controller will be displayed in red and will be black after transfer. Software for PC IA--X-MW Position Input screen -37

50 Introduction to SEL language Basics of program Basics of program creation Use the instruction word "Super SEL language" (hereinafter "SEL language") to instruct the operation. "SEL language" basically executes instructions one by one in order from the top. 3 Enter the command word in the [Cmnd] field of the program data sheet. * [Cmnd] stands for Command. In the [Operand ] [Operand ] field, enter various numerical values following the command word on the same line. Numeric values are various types, such as position number, axis number, axis pattern, speed, number of seconds. * [Operand] is a computer term and is "numerical value and variable to be calculated". In SEL language, Operand is called "operation " and perand is called "operation ". The basic program configurations are "move to reference point", "speed specification", "operation designation", and "end declaration". Move to reference point... Return to origin and use the command word "HOME". specification... Specify the moving speed with the command word "VEL (abbreviation for speed translation English)". It will not work unless speed is specified. The maximum speed depends on the actuator used. Operation specification... Set various actions. End declaration... Ends the operation. At the end of the program, enter the instruction word "EXIT". If this is not entered, repeat the program. <Example of program> The following program shows The X, Y and Z axes return to the reference point of motion and then move from the reference point to position No. at a speed of mm / s. After that, it moves to No. and end the operation. Step No. Column for command Column for comment -37

51 Basics of position data Basics of creating position data In the position data sheet, enter the "coordinates" of the position to move. Axis is the axis, Axis = first axis, Axis = second axis, Axis 3 = third axis respectively. In ICSB 3, Axis = X axis, Axis = Y axis, Axis 3 = Z axis. 3 Even if position data is entered, it will not operate unless a move is instructed by the program. Since the order of moving is set by the program, the order of the position numbers is not related to the moving order. <Example of Position Data> Move from No. to No. by setting the target position to points. Z axis (3 axis) No. (,3,9) Y axis ( axis) No.3 (,,9) Home position (,,) No. (,3,) No. (,,) X axis ( axis) The four three-dimensional coordinates (distance from the origin) are set from position No. to No.. * The unit is mm. Position No. -37

52 Sample program Rivet stop device Device outline This device consists of X / Y table and riveting machine by axis / axis actuator. This is a rivet stop device that sets a work on the X Y table at the work home position and makes the rivet stop to the specified three points on the work by turning on the start switch. Work Riveting machine axis XY table axis Operation box Body frame Operation explanation Describe the operation of this device. The XY table moves to the work origin (P) and waits. The operator sets the work on the XY table and turns on the start SW. 3 In the XY table, riveting position No. (P) of the work moves to riveting position and riveting command is outputted to the riveting machine. Riveting operation is completed, the rivet position No. (P3), No. 3 (P) is moved to the riveting position in the same operation after the completion signal is entered. After returning to riveting on all 3 points, return to the work origin (P). Operation position, input / output allocation of external input / output, and operation flowchart are shown below. Operating position Operation flowchart XY table Start Move to position No. P (Work origin) P Work Work counter = Start N P3 P Y Rivet position movement Riveting command ON Riveting position Rivet end N I / O allocation Classification I / O No. Signal name Specification Start command Pushbutton SW Enter 7 Riveting complete Contact signal XSEL Output 39 Rivet Command v DC * Flag used more than -373 N Riveting command OFF Work counter + Work completion Y

53 Application Program Step Extended condition Input condition Cnd Command Operation Operation Output condition Comment HOME XY table home return (servo ON) VEL mm / s setting 3 TAG MOVL Move to position No. (work origin) LET Set to work counter BTOF Clear completion flag 7 WTON Waiting for start command 8 TAG 9 MOVL * Work counter position movement BTON 39 Riveting command ON WTON 7 Waiting for riveting completion BTOF 39 Riveting command OFF 3 ADD Work counter + CPEQ Flag ON when work is completed N GOTO If it is not completed jump TAG GOTO If it is completed jump TAG

54 Sample program Rivet stop device Device outline This device is a palletizing device that consists of a single axis / two axis actuator and Z axis air cylinder, grips workpieces from the work supply point and transfers them sequentially on the pallet. (using the offset instruction instead of using the palletizing function) axis axis Air cylinders Air Chuck Pallet Operation box Operation explanation Describe the operation of this device. Move to standby point and wait for start input. After starting input, move to the work supply point. 3 The Z axis descends and the air chuck grips the workpiece. The Z axis rises and moves onto the pallet. The Z axis descends and the air chuck releases the work. The Z axis rises and moves to the work supply point. 7 At the end of the pallet, the pallet completion indication is outputted, after waiting for restart after moving to P8. Operation position, input / output allocation of external input / output, and operation flowchart are shown below. Operating position I / O allocation axis P8 axis Classification I / O No. Signal name Specification Z-axis cylinder upper limit Proximity SW Enter 7 Z-axis cylinder lower limit Proximity SW 8 Start Pushbutton SW XSEL 39 Z-axis cylinder SV DCV Output 3 Z axis chuck SV DCV 3 Pallet completion DCV * Flag used more than Pallet specification axis direction: mm pitch Biaxial direction: 3 mm pitch -37 P P7 Operation flowchart Start Variable clear Move to position No. 8 Waiting for input 8 Move to position No. 7 Call chuck subroutine Move to position No. Call chuck subroutine axis offset + mm Variable 3 = 8 N Y Variable 3 clear axis offset + 3 mm Variable 3 = N Y Completion signal ON Chuck subroutine Cylinder lowering N Lower limit Y Chuck output reversal N Timer Y (.s) Cylinder rising N Upper limit Y Subroutine ends

55 Application Program Step Extended condition Input condition Cnd Command Operation Operation Output condition Comment HOME axes home return VEL VEL speed mm / s setting 3 ACC. 3 ACC. Acceleration / Deceleration. G TAG LET 3 Variable clear LET 3 Variable clear 7 OFST Offset value clear 8 MOVL 8 Move to position No. 8 9 WTON 8 Wait for start input BTOF 3 Output 3 off TAG OFST Offset value clear 3 MOVL 7 Move to position No. 7 EXSR Call chuck subroutine (chuck) OFST * 3 axis, value offset for variable 3 OFST * 3 axis, value offset for variable 3 7 MOVL Move to position No. + offset value 8 EXSR Call chuck subroutine (unchuck) 9 ADD 3 Add to variable 3 CPEQ 3 8 If variable 3 = 8, flag on N GOTO If flag is off, jump to TAG LET 3 Variable 3 clear 3 ADD 3 3 Add 3 to variable 3 CPEQ 3 If variable 3 =, flag is on N GOTO If flag is off, jump to TAG BTON 3 Output 3 ON 7 GOTO Jump to TAG 8 BGSR Start of chuck subroutine 9 BTON 39 Z-axis cylinder descent 3 WTON 7 Wait for lower limit input 3 BTNT 3 Air chuck output reversal 3 TIMW. Timer. seconds 33 BTOF 39 Z axis rising cylinder 3 WTON Wait for upper limit input 3 EDSR Chuck subroutine ends

56 Explanation of Terms (This terminology is related to IAI products, and so the definitions are more limited than general meaning.) AQ seal Lubricating components obtained by solidifying lubricating oil with resin. Lubricating oil seeps out to the surface due to capillary phenomenon, the optimal amount of oil is secured on the raceway surface of the ball screw / linear guide, and lubricating performance is maintained. A phase (signal) output B phase (signal) output The incremental type output judges the forward and reverse rotation of the axis with the phase difference between A phase and B phase. In the case of forward rotation (CW), the A phase precedes the B phase. Output mode diagram Forward rotation (CW) A phase B phase Phase difference * 3 (T) 8 Reverse rotation (CCW) A signal B signal Phase difference * CW Clockwise (Clock Wise). It is used to indicate the direction of rotation of the motor. G A unit representing the magnitude of acceleration. Non SI unit. Acceleration is indicated based on standard gravity acceleration. G = 9.87 m/s I/O Input / Output (Input / Output). An interface used for input and output information (signal) with devices connected to the outside of the device. Ma direction Front-to-rear direction with respect to the traveling direction. Z phase * The A-signal is ahead by 9 (T/) * The B-signal is ahead by 9 (T/) Note 3 ( T) is electrical angle and not mechanical angle. bit (bit) Mb direction Horizontal direction with respect to the traveling direction. Unit of information amount in the network. In addition, there are byte (word) and word (word). The amount of information that can be handled in order of minimum bit, next byte, maximum word changes. Concept: 8 bits = byte bits = bytes = word CCW Mc direction Rotational direction with respect to the direction of travel. N Counter clock wise. It is used to indicate the direction of rotation of the motor. CP control Control with all orbits or all routes specified. (Continuous Path) CT effect By replacing the air cylinder of the facility with an electric actuator, it is possible to shorten the cycle time and reduce Choco Tei. As a result of improved productivity, capital investment and personnel expenses can be suppressed and the benefit of increasing customer profits. CT is an abbreviation for Cycle Time and Choco Tei Unit of force in SI unit system. It shows the force to accelerate an object with a mass of kg at m/s. kgf = 9.87 N N m Unit of force moment (torque) in SI unit system. The moment of force around the center point is N m when N force is applied in the direction perpendicular to the center point to the point m away from the center point. PLC Abbreviation for Programmable Logic Controller. Programmable controller for controlling production facilities / equipment.

57 PTP control Control where pass points on the route are specified intermittently. (Point to Point) SEL language Abbreviation for Shimizukiden Ecology Language. Our proprietary programming language. Positioning complete width Width regarded as positioning completion with respect to the coordinates to be positioned. (Pend Band) Positioning accuracy The degree of coincidence between the commanded stop position and the actually stopped position. Z phase It is a phase (signal) that detects the reference point of the incremental encoder and is used to detect the origin during home return operation. Searching the Z phase signal serving as a reference during the homing operation is called Z phase search. Output mode diagram Forward rotation (CW) Reverse rotation (CCW) 3 (T) 8 Inertia ratio A phase A signal Ratio of load inertia moment to moment of inertia of motor shaft. B phase Phase difference * B signal Phase difference * Incremental encoder Encoder with the function to detect the relative position. Since only the relative position can be grasped, return to home is required every time the Z phase power is turned on. * The A-signal is ahead by 9 (T/) * The B-signal is ahead by 9 (T/) Note 3 ( T) is electrical angle and not mechanical angle. Earth Connect the equipment casing, the reference potential wiring of the electronic equipment, etc. to the reference potential point. Or the reference potential point itself. It is connected for the purpose of noise countermeasure, electric shock prevention, etc. (Ground, ground) Air purge To ensure dust-proof and drip-proof properties in dust-proof and drip-proof type actuators, apply air pressure inside the actuator to prevent dust and other substances from entering the inside of the actuator. Encoder Sensor that detects the position of the motor. Incremental Absolute Absolute battery Battery to hold encoder information when power is cut off. Lightreceiving element A-phase slit B-phase slit Lightemitting element Lightreceiving element Slit Lightemitting element Z-phase slit Absolute encoder Encoder with absolute position detection function. Since absolute position can always be grasped, return to home is not required every time power is turned on. Safety category It is prescribed by ISO 389- of the international standard and classified as a function (safety function) to ensure safety. Classification is divided into stages of B,,, 3, and according to safety standards, and the standard (category) indicates the standard with the highest safety. An incremental encoder detects the rotational angle and the RPM of the axis from the number of output pulses. To detect the rotational angle and the RPM, a counter is needed to cumulatively add the number of output pulses. An incremental encoder allows you to electrically increase the resolution by using the rise and fall points on the pulse aveform to double or quadruple the pulse generation frequency. An absolute encoder detects the rotation angle of the axis from the state of the rotation slit, enabling you to know the absolute position at all times, even when the rotating slit is at rest. Consequently, the rotational position of the axis can always be checked even without a counter. In addition, since the home position of the input rotation axis is determined at the time it is assembled into the machine, the number of rotations from home can always be accurately expressed, even when turning the power ON during startup or after a power outage or an emergency stop. -378

58 Explanation of Terms Push and return to origin A method of determining the hime position by pushing against a stopper. Return to home is possible without using the home sensor. Overshoot The response goes over the target value too much. Overhang The object to be mounted on the actuator protrudes in either front, back, left, right, up or down. Guide module Guide mechanism with drive mechanism removed from direct acting actuator. External operation mode An operation mode activated by a start signal of an external device (PLC etc.). (self-driving) Load factor Coefficient to consider lifetime reduction due to operating conditions in lifetime calculation. Coupling Shaft coupling. Machine element for fastening shaft and shaft. Overload check Check overload. (One of protection functions) Open collector output Slider A system with no overload resistance in the voltage output circuit, that outputs signals by sinking the load current. Since this circuit can turn the load current ON/OFF regardless of voltage potential to which the current is connected, it is useful for switching an external load and is widely used as a relay or ramp circuit or the like for switching external loads, etc. Open loop system Stainless steel sheet Encoder AC Servomotor Linear guide Ball Screw Coupling A type of control system. This system only outputs commands and does not take feedback. A typical example of this is the stepping motor. Since it does not compare each actual value against the commanded value, even if a loss of synchronization (i.e signal error) occurs, the controller would not be able to correct it. Regenerative energy Energy generated by itself when the motor rotates. Overvoltage Voltage above the specified value will be applied to the motor. Payload quantity Mass which can be conveyed by actuator slider / rod / table. kg Regenerative resistor Resistance to discharge regenerative current. Regenerative brake It is a brake that uses the rotational resistance generated when the motor decelerates as a braking force. Inertia As long as no external force acts on the object, it is a property to sustain the current state. (Inertia) Moment of inertia The amount that indicates the degree of difficulty of rotation (difficulty of stopping). -379

59 Gantry Combination type with a guide for Y axis support attached to XY axis combination. Creep sensor Sensor for returning to home at high speed. Creep sensor Motor High speed Creep sensor ON Low speed Key Grooves The grooves to be machined into the shaft or mounting parts for key mounting. (Key: The part to prevent the position shift in the rotation direction of the shaft and the mounting part.) Cleanliness An index showing the cleanliness in a clean room. feet feet Critical speed The speed of the slider where the ball screw resonates. (Ball screw rotation speed) feet under.μm Reference rated life Standard value of running life. We have set the standard rated life of ROBO Cylinder to, km and the standard rated life of single axis robot to, km. (Except some models) Ground A place that becomes a reference potential that is installed in the earth and used for security. <Ground sign> Frame ground Earth (ground) Repetitive positioning accuracy Reproducibility when repeatedly positioned by the same command under the same condition. Repeat positioning from the same direction to an arbitrary point seven times, measure the stop position, and find the maximum difference in reading. This measurement is performed at the center of the moving distance and almost at both ends, and the maximum one of the obtained values is taken as the measured value, and / of the value is displayed with a sign of ±. Grease Suspended thickener in lubricating oil to make it semisolid or solid. Grease up Injecting and applying grease to sliding parts. Global specification Type of controller and teaching box equipped with functions such as duplex emergency stop circuit and 3 position enable switch so that it can correspond to safety category. -38

60 Explanation of Terms Gain A numerical value that adjusts the response when the controller controls the servomotor. Generally, the higher the gain, the more quick response is improved. speed When the set value is high (overshoot) Three phase AC Exchange consisting of three phases. Since it can transmit with less current compared with single phase, it is widely used for power supply. Shielded wire An electric wire structured by covering the core wire with an electrostatic shield (aluminum tape, netting etc). It is less sensitive to noise. When the set value is low time Bellows A stretched sheet that is mounted for dust-proof or drip-proof purposes. Home Bellows Reference point of actuator operation. Return to home Go back to the point that is the basis of the movement of the actuator. Coil A component that generates an electromotive force proportional to a change in current per unit time when the flowing current changes. There is a property that only high-frequency electric signals are passed through, and only direct current or low-frequency alternating current is passed. Condenser Passive element that acts to store electric charge. Also referred to as electrostatic capacity or capacitor. Servo control A control method that detects the current speed and position from the motor and compares the actual result against the command value by feeding back the result to the upper side to make the difference as small as possible. Servomotor Motor operated by giving feedback. Cycle time The time taken for one process. Differential line driver It is one of the input / output method of the pulse train signal, and has the feature that it is more resistant to noise than the "open collector" method of the same input / output method. On the other hand, it is more expensive than the open collector type. Jog feed Send it manually at a predetermined feed speed. Serial communication Use one or two transmission lines to send and receive data. bit is a communication method that transmits and receives continuously. Switch It is made possible to connect and shut off the path of electricity by lever or push button. <Types of representative switches> Toggle switch (snap switch) Switch to turn ON / OFF by tilting the lever. There are P, 3P, P depending on the pin pin number. Momentary switch A switch that turns ON when the operation part is pushed, and returns to the original when you release the hand. 3 Alternate switch A switch that holds the ON state even when you release your hand and turns it OFF when you press it again. -38

61 Scraper A part for removing foreign objects on the sliding surface and preventing intrusion into the inside of the main body. Settling time In the positioning operation, it means the time until the speed command value becomes zero and then stops. Stainless steel sheet Scraper Slider cover speed (Actuator top view) response Stainless steel sheet Scraper Slider cover command Stepping motor Slider (Actuator side view) Positioning time Settling time time Motor for angular positioning by input pulse signal. Also called a pulse motor. Allowable Static Moment Stainless steel sheet Dust-proof sheet used for slider type. Slider Stainless steel sheet Linear guide Balls crew Stroke Operating range of the actuator. Thrust load Load applied in the axial direction. (Axial load) Coupling Encoder AC Servomotor Calculated based on the static load rating (N) * that can be added to the slider while the slider is stopped. * When a certain load is applied, a small indentation (the total permanent deformation amount of the guide ball becomes about / times the ball diameter) remains on the contact surface between the guide and the ball (steel ball)). Software limit Limit of operating range set on software. Diode A part that makes the flow of electricity one way. <Type of diode>. Switching diode It is used most frequently for small signal diodes. The shape is also small and it is sealed with glass.. Light emitting diode LED. It is used for display, infrared remote control etc. Timer An electronic component that can be activated after an electrical start signal is given, and can switch circuits after a predetermined time has passed. <Start switch> Start Switch ON! After the set time has passed... <Timer> Timer start! <Timer> Switch ON! Light up Light off v v Switch OFF! v v -38

62 Explanation of Terms Tact time In the production line, within a certain time, the working time per piece allocated to produce target production quantity. (Planned value) Step-out Synchronization between input pulse signal (command position) and motor rotation (position after movement) is lost due to shock, overload, etc. In the open-loop control, it is impossible to detect step-out, so the operation is continued with the position shift. Double slider A free slider (slider not connected to the ball screw/drive belt) is added separately from the drive slider. Single phase AC AC consisting of one phase. It is used for household power supply etc. Intermediate support mechanism A ball screw support mechanism that moves in conjunction with a slider. A mechanism that greatly improves the maximum speed of the long stroke type, suppressing the runout of the ball screw in the case of long stroke, increasing the band of critical revolution number. Slider Ball screw Connecting support rod Ball screw Rated torque Torque that can be generated continuously. Dispenser Equipment that restricts the flow of liquids. It is incorporated into adhesive and sealant coating equipment. Duty The ratio between the time the actuator is operating and the elapsed time. Solenoid valve type The type of controller that made it possible to operate with the same signal as the signal operating the solenoid valve of the air cylinder. Allowable Dynamic Moment Indicator for guide life. In our company, the moment where the mileage is, km for ROBO Cylinder and, km for Single Axis Robot shall be the standard rated life. Inrush current Current flowing to charge the capacitor at the moment of power-on. It is much larger than the steady state current. A transistor When a small amount of current is passed through the base (B) part, current flows between the collector (C) and the emitter (E), and it functions as a switching element. There are two types, PNP type and NPN type. Trance Direct numerical designation control A control method in which a numerical value is entered from a touch panel and is directly reflected on the target position even if the target position is not memorized in the controller in advance. Teaching Make the controller store the information necessary for the required work. (Teaching) Electrical equipment or parts that convert AC voltage or current. Noise Distortion of electrical signal caused by unnecessary electromagnetic wave leaked from equipment. Noise filter Equipment that prevents leakage or intrusion of noise in power supplies, signals, etc. Rated thrust Thrust that can be generated continuously. -383

63 Backup memory A storage device for storing information necessary for moving the actuator in the controller. Backlash Gaps between the mechanical elements that move together. Parameter The data that the controller holds to operate the actuator, such as setting the input and output of the signal and how the voltage and current for rotating the motor are changed. Overhang load length Estimated maximum length that can be extended from the slider. Vision Sensor A device that uses a camera to capture an object (a workpiece), read a position or contour, and send data to a control device. Normal visual sensor connection Image controller Camera PLC Controller Actuator Direct connection with visual sensor Image controller Camera Pulse Train Control A method that controls the operation of the motor by modulating the pulse train output by the driver. Hunting The phenomenon in which the response is vibrating near the target value. Emergency stop circuit Circuit that stops the device either artificially or automatically if the device is in a hazardous state. Pitching Controller Benefits of direct connection Improve communication speed Easy PLC ladder program It is an angle that shows how far it is inclined in the fore-and-aft direction (Ma direction) with respect to the traveling direction. Standard load factor Actuator The standard value of the load factor set for each model. -38

64 Explanation of Terms Feedback control A mechanism to control so that the control results from the controller and the command from the encoder can match. There are the following types of control of the actuator. Open loop control Move command Controller Protocol Conventions stipulated mainly when communicating. It decided how to arrange the data and give meaning. Belt drive Drive system that transmits power from drive shaft to driven shaft (driven shaft) with belt. IAI mainly uses toothed belts. No signal returned to controller (It cannot be corrected even if the position shifts) Driven shaft Drive shaft Toothed belt Semi-closed loop control (General servo control) (Move command) Motor Cable Controller Rotation Encoder Cable (The calculation position and the speed of the motor (rotation) are feedback) Ball screw Full closed loop control (High precision positioning) (Move command) Motor Cable Controller Machine parts where the screw shaft and nut operate through the ball. Protective structure (IP ) Encoder Cable Linear scale (feedback on motor speed) Feedback Cable (feedback on the absolute position of the slider) Load factor The ratio of the load to the rated output of the motor. Brake box A device to be connected between the brake controller. The degree of protection from water, human body and solid foreign matter. It is based on the standards of IEC (International Electrotechnical Commission), JIS (Japan Industrial Standard) and JEMA (Japan Electric Industry Association). Multi Slider Specifications equipped with multiple sliders that can be operated individually. Slider Frame ground A place with a stable electric potential consisting of a large conductor such as the frame of the equipment. Slider Flexible Hoses A pipe that is through the motor, encoder cables and user wiring of SCARA robot. Flexible hose, flexible tube and so on. Flexible Hoses Mechanical end Mechanical movable limit position of the slider. Motor / encoder cable Cable connecting the actuator and the controller. Moment The power to try to rotate the object. -38

65 Leak current It is a small current flowing from a part etc. used in a device using a high voltage power supply (AC V etc.) to a surrounding conductor (mainly a frame). Yawing It is an angle that shows how much it tilts in the left-right direction (Mb direction) with respect to the traveling direction. Radial load Load acting perpendicularly to the direction of motion of the direct acting actuator. Circuit It is defined as "the one to operate the contact mechanism by using the electromagnetic suction force caused when the current more than the value in the electromagnet is flowed" composed of the electromagnet and the contact mechanism. The contacts are opened and closed by voltage and current (input signal) applied to the coil. Load cell Sensor that detects the magnitude of force. Rolling It is an angle that shows how tilted in the direction of rotation (Mc direction) with respect to the direction of travel. Lost motion Difference between both stopping positions by positioning in a positive direction to a certain position and positioning in a negative direction. Repeat positioning from positive and negative directions seven times at an arbitrary point, measure the stop position, and find the average difference between the positive and negative measured values. This measurement is performed at the center of the moving distance and almost at both ends, and the largest one of the obtained average differences is taken as the measured value. Lead Distance at which the slider moves when the feed screw rotates once. When the lead is large, the speed of the slider is fast, but the thrust is small. Linear encoder Encoder to detect linear distance. Linear guide Mechanism for guiding the slider of the actuator. Robot cable A cable excellent in resistance to bending and twisting. Linear motor Motor that performs linear motion. -38

66 Pressing operation As with pneumatic cylinders, push motion is a function to keep holding rods and sliders pressed against workpiece etc. Some models may not be used depending on the model of the actuator, so please make sure the following usage instructions and notes. [Compatible with push motion] Motor type Series Model Availability Notes Pulse motor RCP/ RCP/RCP RCP3/RCP Slider type Push motion is possible. (See note below) Rod type It is suitable for pushing operation. (See note below) RCP/RCP Belt type Since the pushing force of the belt is not stable, it can not be pushed. Servo motor (DCV) RCA/RCA All model See notes below Servo motor (AC/V) [Notes] RCS3 RCS RAR/RAR/RA7R/ RA8R/RAR/ RAR/RAR It is suitable for pushing operation. Other models See notes below RA3R It is suitable for pushing operation. Other models See notes below. When pushing with the slider type, it is necessary to consider the allowable dynamic moment of the guide. For details, please refer to the correlation diagram page of push force and current limit value of each slider type. (Page-389). RCP / RCP / RCP / RCP3 / RCP series are recommended for pushing applications. The RCP / RCP / RCP / RCP3 / RCP series are excellent in stopping stability at the time of pushing, and when compared with the RCA / RCA / RCS series of equivalent product cross section, a large pushing force can be obtained. Please contact our company for pressing on the RCA / RCA / RCS series. [Adjustment of pressing force] The pushing force (pushing force) can be adjusted by changing the current limit value of the controller. Check the pushing force of each model on the page model "Correlation diagram of pushing force and current limit value" and select the model that suits the condition. * Please confirm the following caution concerning "Correlation diagram of pressing force and current limit value". (Note) Push force (N) 8 RAC Lead Lead 8 Lead Lead Current limit (%) <Correlation diagram of pressing force and current limit value> Caution The correlation diagram between the pushing force and the current limit value shows the lower limit of the pushing force at each current limit value. Even if the current limit value is the same, depending on the aircraft, due to the individual differences of the motor and the variation of the mechanical efficiency, the pushing force lower limit value may be about % higher. Except for the force control function, pushing force is not controlled by thrusting operation but by feedback control of current value. As a result, individual differences and variations may occur in the pressing force due to variations in the holding torque of the motor, individual differences such as ball screws and bearings, and changes in lubrication conditions. It is assumed that the holding torque of the motor itself has variations of about 3% due to the difference of the lot. When accurate pushing force is required, please use actuator and controller which can use force control function. (See the right page) -387

67 Force control function The force control function enables highly accurate push control compared to conventional push motion by taking feedback of pushing force with a dedicated load cell attached to the actuator. All eight models are available, and you can choose from a wide range of products. The corresponding thrust is from kg to t (, N). We have a variety of lineup. RCS3 RAR RCS3 RAR RCS RA3R(Note) RCS3 RAR ~,N RCS3 RA8R ~,N RCS3 RA7R ~,N RCS3 RAR ~N RCS3 RAR ~N Note: The load cell is optional.,~,n,~3,n,~9,n t, t type It can operate by entering steps the position, speed, acceleration, load etc. in the press operation on the press program sheet of the software for PC. STEP Operation mode selection STEP Home position input STEP 3 Position, load, speed input STEP Pressurization determination condition input Caution It is only for pressing. It is not possible to control the force in the tensile direction. When operating in pulse train mode, force control function can not be used. Use applications RCS3-RA3R wiring Used for press-fitting pins It is possible to manage accurate pressing power.even when the pin to be press-fitted is thin and loose, it is possible to confirm the failure judgment by setting the threshold value. Riveting Work A detailed push force setting is possible for each product, and it is also possible to check whether the riveting completion position has been reache With brake Without brake Brake power supply DCV Encoder cable with load cell wiring Model B-RCS-PLLA (attached with the brake box) Connect to the back Encoder cable with load cell wiring Model CB-RCS-PLLA CB-LDC-CTL -JY Brake box RCB--RA3- Model CB-LDC-CTL (Attached with the actuator) RCS-RA3R (with load cell) Model CB-LDC-CTL (Attached with the actuator) RCS-RA3R (with load cell) Motor cable model CB-RCC-MA Encoder cable model CB-RCS-PLA Motor cable model CB-RCC-MA * Option for RCS-RA3R: When BN is selected for the brake option (no brake) and is used for the nd axis of the brake box, separate purchase of CB-LDC-CTL -JY and CB-RCS-PLLA is necessary. -388

68 Correlation diagram between pressing force and current limit value RCP(CR) Series Slider type / Rod type / Table type The pushing force at the time of pushing operation can be changed by changing the controller current limit value % (3%) to 7%. Maximum pushing force varies depending on the model, so please check the required pushing force from the table below and select the type of object. When pushing with the slider type, please limit the pushing current so that the anti-moment generated by the pushing force does not exceed the allowable dynamic moment (Ma, Mb) of the catalog spec. To calculate moment, use the guide moment action position shown in the figure below, and consider the amount of offset at the push force action position. If an excessive force exceeding the allowable dynamic moment is applied, the guide may be damaged and the life may be shortened, carefully set the current with safety in mind. h measurement Slider type Table type Slider type Table type SA 3 TA h h SA TA. SA7 8 TA7 9. SA8. WSA. WSA 3 WSA 3 WSA 38. Operating position of guide moment * Unit: mm Calculation example) With RCP -SA 7 C type, when pushing N at the position on the right figure The moment the guide receives is Ma = (8 + ) = 9 (N mm) = 9. (N m). N mm The allowable dynamic moment of SA 7 C is Ma =.7 (N m) Therefore it is OK because it is.7> 9.. When Mb's moment is generated by pushing, it is calculated from the overhang amount Make sure that it is within the allowable dynamic moment as well. Correlation diagram of pressing force and current limit value * In the table below, standard figures are shown. Actual figures will differ slightly. SA/RA/RRA/TA Type SA/RA/RRA/TA Type Pushing force (N) Lead. Lead Lead Lead 7 8 Pushing force (N) Lead3 Lead Lead Lead 7 8 Current limit value (%) Current limit value (%) SA7/TA7/WSA Type SA8/WSA Type Pushing force (N) Lead Lead8 Lead Lead 7 8 Pushing force (N) Lead Lead Lead Lead Current limit value (%) Current limit value (%)

69 WSA/WRA Type WSA/WRA Type Pushing force (N) Pushing force (N) Lead. RA7/RRA7/WRA Type Current limit value (%) 3 Lead Lead Lead Lead8 Lead 7 8 Lead Lead 7 8 Pushing force (N) Pushing force (N) RA8/RRA8/WRA Type Current limit value (%) 3 Lead Lead Lead3 Lead Lead Lead Lead Current limit value (%) Current limit value (%) Vertical conveying mass and running life * In the table below, standard figures are shown. Actual figures will differ slightly. When using the RCP (S) - RA8, RRA8, WSA (lead only), WRA (lead only) vertically, the service life varies greatly depending on payload quantity. Please check the graph below. RA8/RRA8/WSA/WRA Type kg Running life (km) Vertical conveying mass (kg) -39

70 Correlation diagram between pressing force and current limit value RCP(CR) Series Slider type / Rod type The pushing force at the time of pushing operation can be changed by changing the controller current limit value % (3%) to 7%. Maximum pushing force varies depending on the model, so please check the required pushing force from the table below and select the type of object. When pushing with the slider type, please limit the pushing current so that the anti-moment generated by the pushing force does not exceed the allowable dynamic moment (Ma, Mb) of the catalog spec. To calculate moment, use the guide moment action position shown in the figure below, and consider the amount of offset at the push force action position. If an excessive force exceeding the allowable dynamic moment is applied, the guide may be damaged and the life may be shortened, carefully set the current with safety in mind. h SAC:h=3mm SAC:h=mm SA7C:h=.mm Operating position of guide moment Calculation example) With RCP -SA 7 C type, when pushing N at the position on the right figure The moment the guide receives is Ma = (. + ) = 8 (N mm) = 8 (N m). N mm The allowable dynamic moment of SA 7 C is Ma = (N m) Therefore it is OK because it is >.8. When Mb's moment is generated by pushing, it is calculated from the overhang amount Make sure that it is within the allowable dynamic moment as well. Correlation diagram of pressing force and current limit value * In the table below, standard figures are shown. Actual figures will differ slightly. RCP SA/RA Type SA/RA Type Pushing force (N) Lead. Lead Lead Lead 7 8 Pushing force (N) Lead3 Lead Lead Lead 7 8 Current limit value (%) Current limit value (%) SA7 Type RA7 Type 7 Pushing force (N) 3 3 Lead Lead8 Lead Lead 7 8 Pushing force (N) 8 3 Lead Lead8 Lead Lead 7 8 Current limit value (%) Current limit value (%) -39

71 RCPW RAC Type <RAC Lead 3 high thrust specification> <RAC Lead 3 Standard Specification> <RAC Lead Standard Specification> <RAC Lead Standard Specification> Pushing force (N) Current limit value (%) Pushing force (N) Current limit value (%) Pushing force (N) Current limit value (%) Pushing force (N) Current limit value (%) RA7C Type <RA7C Lead high thrust specification> Pushing force (N) Current limit value (%) <RA7C Lead Standard Specification> <RA7C Lead 8 Standard Specification> <RA7C Lead Standard Specification> Pushing force (N) Current limit value (%) Pushing force (N) Current limit value (%) Pushing force (N) Current limit value (%) RCP, RCPW RA8 Type RA Type Pushing force (N) Lead Lead Lead 7 8 Pushing force (N) 3 3 Lead. Lead Lead 7 8 Current limit value (%) Current limit value (%) Caution The push force and current limit correlation figures are given as standard. Actual figures will slightly differ. For RCP W - RA C / RA 7 C, please select the model whose desired pushing force is within the red line frame of the graph. If the current limit value is less than %, the pushing force may vary, so please use RCP W - RA C / RA 7 C at 3% or more, otherwise at % or more. The moving speed during push operation is when the RA8C / RA8R / RAC / RAR is mm / s, and otherwise at mm/s. A limits the power supply limit value that can be continuously operated to % or less from the motor heat restriction. The upper limit of number of pushing times when RCP - RA C / RA R is operated with the maximum pushing force and pushing displacement mm, please use the following table as a guide. Lead (Type) Pushing times.. million cycles million cycles 7. million cycles * The maximum number of pressing varies depending on the operating conditions of the shock/vibration. The number of times left is a numerical value when there is no impact vibration. RCP (W)-RAC/RAR pushing operation caution From the relationship of the buckling load of the ball screw, limitation is placed on the pushing force of some models of RAC / RAR. (See table below) Item Lead Lead Lead. Stroke mm or less Stroke mm or less Stroke mm or less Stroke 7mm or less Stroke 7mm or less (N) Stroke 8mm or less As shown in the push force graph As shown in the graph 9 8 As shown in the graph 9-39

72 Correlation diagram between pressing force and current limit value RCP(CR) Series Slider type / Rod type The pushing force at the time of pushing operation can be changed by changing the controller current limit value % (3%) to 7%. Maximum pushing force varies depending on the model, so please check the required pushing force from the table below and select the type of object. When pushing with the slider type, please limit the pushing current so that the anti-moment generated by the pushing force does not exceed the allowable dynamic moment (Ma, Mb) of the catalog spec. To calculate moment, use the guide moment action position shown in the figure below, and consider the amount of offset at the push force action position. If an excessive force exceeding the allowable dynamic moment is applied, the guide may be damaged and the life may be shortened, carefully set the current with safety in mind. Calculation example) With RCP -SA 7 C type, when pushing N at the position on the right figure The moment the guide receives is Ma = (3 + ) = 93 (N mm) = 9.3 (N m). The allowable dynamic moment of SA 7 C is Ma = 3.9 (N m) Therefore it is OK because it is 3.9> 9.3. When Mb's moment is generated by pushing, it is calculated from the overhang amount Make sure that it is within the allowable dynamic moment as well. Correlation diagram of pressing force and current limit value * In the table below, standard figures are shown. Actual figures will differ slightly. SA3 Type RA3 Type Pushing force (N) Lead Lead Lead Current limit value (%) Pushing force (N) Lead. Lead Lead Lead Current limit value (%) SA/SA/RA Type SA7 Type RA Type Pushing force (N) 3 3 Lead3 Lead Lead Lead Current limit value (%) Pushing force (N) 7 3 Lead Lead8 Lead Lead Current limit value (%) Pushing force (N) 8 Lead Lead8 Lead Lead Current limit value (%) Caution The push force and current limit correlation figures are given as standard. Actual figures will slightly differ. When the current limit value is less than %, the pressing force may vary, so please use at % or more. The moving speed during pressing operation is mm / s. -393

73 RCPW-RAC/RA7C Type <RAC Lead 3 high thrust specification> <RAC Lead 3 Standard Specification> <RAC Lead Standard Specification> <RAC Lead Standard Specification> Pushing force (N) Current limit value (%) Pushing force (N) Current limit value (%) Pushing force (N) Current limit value (%) Pushing force (N) Current limit value (%) <RA7C Lead high thrust specification> Pushing force (N) Current limit value (%) <RA7C Lead Standard Specification> <RA7C Lead 8 Standard Specification> <RA7C Lead Standard Specification> Pushing force (N) Current limit value (%) Pushing force (N) Current limit value (%) Pushing force (N) Current limit value (%) Caution Pushing force causes fluctuation of force due to influence of sliding resistance and secular change. Therefore, the graph gives a width to the current limit value. Please select the model whose desired pushing force is within the red line frame of the graph. When the speed is changed, the pushing force also changes. -39

74 Correlation diagram between pressing force and current limit value RCP3 Series Slider type When pushing with the slider type, please limit the pushing current so that the anti-moment generated by the pushing force does not exceed the allowable dynamic moment (Ma, Mb) of the catalog spec. To calculate moment, use the guide moment action position shown in the figure below, and consider the amount of offset at the push force action position. If an excessive force exceeding the allowable dynamic moment is applied, the guide may be damaged and the life may be shortened, carefully set the current with safety in mind. Moment offset reference position h SA3C : h = 9.mm SAC : h = 3.mm SAC : h = 3.mm SAC : h = 7.mm When performing the push motion with the slider type, please set so that the reaction moment generated by the pushing force does not exceed the allowable moment of the catalog spec. Calculation example) With RCP 3-SA C (Lead ) type, when pushing 3 N at the position of mm from the upper surface of the slider The moment the guide receives is Ma = (7 + ) 3 = 9 (N mm) =.9 (N m). Since the allowable moment (Ma) of SAC is.3 (N m), it can be judged that it is possible to use because it is larger than the moment load actually received by the guide (.9). mm 3N 7mm Point of action (guide) Correlation diagram of pressing force and current limit value SA3 Type * In the table below, standard figures are shown. Actual figures will differ slightly. SA Type Pushing force (N) 8 Lead Lead Lead Pushing force (N) Lead. Lead Lead 3 3 Current limit value (%) 3 3 Current limit value (%) SA/SA Type Lead3 Pushing force (N) Lead Lead Lead 3 3 Current limit value (%) -39

75 RCP3 Series Table type When pushing with the table type, please limit the pushing current so that the anti-moment generated by the pushing force does not exceed the allowable dynamic moment (Ma, Mb) of the catalog spec. To calculate moment, use the guide moment action position shown in the figure below, and consider the amount of offset at the push force action position. If an excessive force exceeding the allowable dynamic moment is applied, the guide may be damaged and the life may be shortened, carefully set the current with safety in mind. Moment offset reference position h TA3 : h =.mm TA : h =.mm TA : h = 3.mm TA : h =.mm TA7 : h = 7.mm When performing the push motion with the slider type, please set so that the reaction moment generated by the pushing force does not exceed the allowable moment of the catalog spec. Calculation example) With RCP 3-TA C (Lead ) type, when pushing N at the position on the figure N The moment the guide receives is Ma = (. + ) = (N mm) =. (N m). Since the allowable moment (Ma) of SAC is 7.(N m), it can be judged that it is possible to use because it is larger than the moment load actually received by the guide (.). mm Point of action (guide).mm Correlation diagram of pressing force and current limit value TA3 Type * In the table below, standard figures are shown. Actual figures will differ slightly. TA Type Lead 8 Pushing force (N) 3 Lead Lead Pushing force (N) Lead Lead Lead 3 3 Current limit value (%) TA Type 3 3 Current limit value (%) TA/TA7 Type Pushing force (N) 8 Lead. Lead Lead Pushing force (N) Lead3 Lead Lead 3 3 Current limit value (%) 3 3 Current limit value (%) -39

76 Correlation diagram between pressing force and current limit value RCP3 Series Thin and Small ROBO Cylinder (RAAC/RABC/RAAR/RABR) * Specification value within the red line range To perform push motion, please select the model with the desired pushing force within the red line range of the lower graph. (The graph has width in consideration of efficiency reduction due to secular change of sliding screw.) Caution The moving speed during pushing operation is fixed at mm/s. Ball Screw High Thrust Type <Lead > Ball Screw High Thrust Type <Lead > Ball Screw High Thrust Type <Lead > Ball Screw High Thrust Type <Lead > Pushing force (N) Pushing force (N) Pushing force (N) Pushing force (N) % % % 3% % % % 7% 8% Current limit value (%) % % % 3% % % % 7% 8% Current limit value (%) % % % 3% % % % 7% 8% Current limit value (%) % % % 3% % % % 7% 8% Current limit value (%) Ball Screw Standard Type <Lead > Ball Screw Standard Type <Lead > Ball Screw Standard Type <Lead > Ball Screw Standard Type <Lead > Pushing force (N) % % % 3% % % % 7% 8% Current limit value (%) Pushing force (N) % % % 3% % % % 7% 8% Current limit value (%) Pushing force (N) % % % 3% % % % 7% 8% Current limit value (%) Pushing force (N) % % % 3% % % % 7% 8% Current limit value (%) Sliding screw type <Lead > Sliding screw type <Lead > Sliding screw type <Lead > Sliding screw type <Lead > Pushing force (N) % % % 3% % % % 7% 8% Current limit value (%) Pushing force (N) % % % 3% % % % 7% 8% Current limit value (%) Pushing force (N) % % % 3% % % % 7% 8% Current limit value (%) Pushing force (N) % % % 3% % % % 7% 8% Current limit value (%) -397

77 RCP Series Rod type The pushing force at the time of pushing operation can be changed by changing the controller current limit value % (3%) to 7%. Maximum pushing force varies depending on the model, so please check the required pushing force from the table below and select the type of object. Correlation diagram of pressing force and current limit value RAC/RA3C Type * In the table below, standard figures are shown. Actual figures will differ slightly. SRAR/SRGSR/SRGDR Type 8 Pushing force (N) 8 RAC Lead RA3C Lead. RA3C Lead Pushing force (N) Lead. Lead 3 7 Current limit value (%) 3 7 Current limit value (%) * The upper limit of the pushing force is set for RAC by the stroke. stroke: N, 7 stroke: 7 N, stroke: N -398

78 Correlation diagram between pressing force and current limit value Correlation diagram of pressing force and current limit value * In the table below, standard figures are shown. Actual figures will differ slightly. RCPW-RAC Type RCPW-RAC Type Pushing force (N) 3 Lead. Lead Lead Pushing force (N) 3 Lead Lead8 Lead 3 7 Current limit value (%) 3 7 Current limit value (%) RCP Series High thrust rod type The pushing force at the time of pushing operation can be changed by changing the controller current limit value % (3%) to 7%. Maximum pushing force varies depending on the model, so please check the required pushing force from the table below and select the type of object. Correlation diagram of pressing force and current limit value RA8 Type * In the table below, standard figures are shown. Actual figures will differ slightly. RA Type 7 Pushing force (N) Lead Lead Pushing force (N) 3 Lead. Lead Lead Current limit value (%) Current limit value (%) Important If the pushing operation is performed in rcp-ra8c, the current limit of % can be used for continuous pressing operation, but the condition of the driving pattern is generated when using % to 7%. Please confirm the operation pattern to be used meets the conditions on the next page selection materials. Caution The upper limit of the number of pushing times when each lead type is operated with the maximum pushing force and pushing displacement mm, please use the following table as a guide. Lead (Type). Pushing times. million cycles million cycles 7. million cycles * The maximum number of pressing varies depending on the operating conditions of the shock/vibration. The number of times left is a numerical value when there is no impact vibration. -399

79 RCP - RA 8 Selection Material RCP - RA 8 limit the current limit value that can be operated continuously to % or less due to motor heat restriction. Therefore, when pushing or stopping with a current limit value larger than % is used, it is necessary to set the operating torque of one cycle to % (.8 N m) or less. Please confirm that the operation pattern meets the conditions according to the selection document below. <Operating Conditions> Condition. Pushing and stopping time for the current limit value must be less than or equal to the specified time Condition. Continuous operation torque of cycle shall be.8 N m or less Condition 3. One push or stop that the current limit value is greater than % during one cycle Condition. Pushing and stopping time Refer to Table / Fig. for pushing and stopping time Table Current limit value and maximum time When pushing / stopping Maximum time (S) Current limit value (%) 7 8 or less 8 7 (Capable of continuous operation) Maximum time (S) Current limit value (%) Condition. Continuous operation torque Fig. Current limit value and maximum time Refer to Table / Fig. for pushing and stopping torque Table Current limit value and motor torque When pushing / stopping Current limit value (%) 7 3 Motor torque (Nm) Motor torque (N m) Current limit value (%) Fig. Current limit value and motor torque Refer to the torque required for the constant speed movement from Fig. 3 Refer to Fig. 3 for the motor torque required for acceleration / deceleration and the speed at reaching speed 3. Lead 3. Lead.. Motor torque (N m)... Motor torque (N m) (mm/sec) (mm/sec) Fig. 3 and motor torque -

80 Correlation diagram between pressing force and current limit value Continuous operation torque calculation t ta tf td t ta tf td tw : Operating time of one cycle (s) : Acceleration time : Constant speed movement time : Deceleration time : Push operation time * within the range of condition : Acceleration time : Constant speed movement time : Deceleration time : Standby time Fig. Actuator speed change per hour Fig. Change in torque per hour Ta Tf Td T Ta Tf Td Tw Motor torque required for acceleration : Motor torque required for constant speed movement : Motor torque required for deceleration : Motor torque required for pressing operation : Motor torque required for acceleration : Motor torque required for constant speed movement : Motor torque required for deceleration : Motor torque required for standby Fomula ) Tt.8 Fomula ) Example calculation G = 9.8m/s Perform the operation pattern selection work using the above selection method. Operating condition Model Acceleration / deceleration Moving distance Pushing command value Pushing time Stop current limit value Waiting time mm forward after pressing operation, mm wait after mm retraction The operation pattern is as shown in Fig. : RCP-RA8 Lead : mm/sec :.9m/s (.G) : mm : 7% (N) : seconds : % : 3 seconds When the above operation pattern is graphed, it will be as shown on the right. Fig. Operation pattern Condition Check push operation time From Table, the maximum pressing time at the pressing instruction value of 7% is s, whereas the motion pattern is s. From the above, the pressing time is OK. Condition Confirming continuous operation torque Fomula Substitute motion pattern into continuous torque calculation formula. Fomula ) Ta = Td = Ta = Td =.93 N m ( mm / sec = mm / sec See torque from FIG. 3) Tf = Tf =. N m ( mm / sec See torque from FIG. 3) T =.3 N m (7% See torque from Table ) Tw =.39 N m (% See torque from Table ) ta = td = ta = td =.s, tf=tf=.9s, To=s, Tw=3s, Therefore, the continuous operation torque in the above operation pattern is Tt =.7 Therefore, (Formula ) is satisfied, so the continuous operation torque is OK. -

81 RCS3 RCS Series Rod type with load cell When using this machine, it is necessary to clear the following three conditions. Condition. The pressing time is shorter than the fixed time Condition. The continuous operation thrust of cycle is less than the permissible thrust of continuous operation of actuator Condition 3. One push operation must be performed within one cycle Selection method Condition. Pushing time The maximum pushing time for each push command value is determined as shown in the table below. Be sure to use the pressing time below the time shown in the table below. Please be aware that malfunction may occur in the actuator if you use it without following the table below. There is no limit on the continuous push time for RAR. RCS3 RAR Push command value (%) 7 or less Maximum pressing time (S) Capable of continuous pushing Pushing time (S) Pushing force (N) Pushing command value (%) RA7R Push command value (%) Maximum pressing time (S) 7 or less Capable of continuous pushing Pushing time (S) Pushing force (N) Pushing command value (%) RA8R Push command value (%) 7 or less 3 3 Maximum pressing time (S) Capable of continuous pushing Pushing time (S) Pushing force (N) Pushing command value (%) -

82 Correlation diagram between pressing force and current limit value RCS3 RCS Series Rod type with load cell RAR Push command value (%) 7 or less Maximum pressing time (S) Capable of continuous pushing Pushing time (S) Pushing force (N) Pushing command value (%) RCS Pushing force (N) RA3R Push command value (%) 7 or less Maximum pressing time (S) (Capable of continuous pushing) Pushing time (S) Pushing command value (%) RCS3 RAR Push command value (%) 9 or less Maximum pressing time (S) Capable of continuous pushing Pushing time (S) Pushing force (kn) Pushing command value (%) RAR Push command value (%) 9 or less Maximum pressing time (S) Capable of continuous pushing Pushing time (S) Pushing force (kn) Pushing command value (%)

83 Condition. Continuous operation thrust It is confirmed that the continuous operation of the one cycle with load and duty is less than the continuous operation allowable thrust of the actuator. The push operation should be performed once in one cycle. Approach Return Regarding the driving pattern on the left, When rewritten with the vertical axis as thrust, : Operating time of one cycle (s) : Acceleration time : Constant speed movement time : Deceleration time : Acceleration time : Constant speed movement time : Deceleration time : Standby time : Push operation time * within the range of condition : Thrust required for acceleration : Thrust required for constant speed movement : Thrust required for deceleration : Thrust required for pressing operation : Thrust required for acceleration : Thrust required for constant speed movement : Thrust required for deceleration : Thrust required for standby Calculate the continuous operation thrust Ft of one cycle from the following calculation formula. Since Fa / Fa / Fd / Fd varies depending on the direction of motion, calculate by the following formula. In case of horizontal use (common for acceleration / deceleration) Horizontal use For constant speed movement Horizontal use For standby state Horizontal use Case of acceleration during descent Vertical use Case of constant speed movement during descent Vertical use Case of deceleration during descent Vertical use Case of acceleration during ascent Vertical use Case of constant-speed movement during descent Vertical use Case of deceleration during descent Vertical use Case of standby state RCS3-RAR RCS3-RAR [mm/s] Fs [N] [mm/s] Fs [N] Fa = d = Fa = Fd =m d FS Ff = Ff = f FS FW = Fa =m 9.8 m d FS Ff =m 9.8 α FS Fd =m 9.8 m d FS Fa =m 9.8 m d FS Ff =m 9.8 α FS Fd =m 9.8 md FS FW =m 9.8 Actuator Mass of moving part: M: Weight of moving part (kg) m: Load weight (kg) d: Command acceleration / deceleration (m/s ) α: Thrust considering running resistance of the external guide f: Running resistance (N) generated when an external guide or the like is attached FS: For RAR, R only Please calculate the thrust for each speed from the table below * When installing an external guide etc., it is necessary to consider running resistance f. -

84 Correlation diagram between pressing force and current limit value RCS3 RCS Series Rod type with load cell ta is the acceleration time, but the calculation method differs depending on the trapezoidal pattern triangular pattern of the motion pattern. The difference between the trapezoidal pattern and the triangular pattern can be judged by operating the moving distance at the set speed, depending on whether the arrival speed is higher or lower than the set speed. Reaching speed (Vmax) = moving distance (m) set acceleration (m/s ) Set speed < Arrival speed Trapezoidal pattern Setting speed > Arrival speed Triangular pattern In case of trapezoidal pattern In case of triangular pattern ta = Vs/a Vs: set speed (m/s) a: command acceleration (m/s ) ta = Vt/a Vt: arrival speed (m/s) a: command acceleration (m/s ) Trapezoidal pattern Triangular pattern mm/s Position convergence time mm/ s Position convergence time Acceleration range Constant speed range Deceleration range Positioning time Time s Acceleration range Deceleration range Positioning time Time s tf is the constant-speed movement time. Calculate by calculating the constant speed moving distance. tf = Lc/V Lc : Constant speed moving distance (m) V: Command speed (m/s) * Constant speed movement distance = movement distance - acceleration distance - deceleration distance acceleration distance (deceleration distance) = V /a td is the deceleration time, but it is the same as the acceleration time if the acceleration and deceleration are the same. td = V/a V: Set speed (trapezoidal pattern) or reaching speed (triangular pattern) (m/s) a: Command deceleration (m/s ) [RCS 3 - RA R / RA R only] Calculate average speed. The average speed is given by the following equation. v : Constant velocity speed at approach v : Constant velocity at return (during trapezoidal pattern) Arrival speed (in triangular pattern) Then, calculate the final continuous operation thrust from the calculated continuous operation thrust Ft and average speed vt. The coefficient K is selected from the table below. Model RAR RAR Coefficient K. Please confirm that the calculated continuous operation thrust Ft (F in the case of RAR, R, calculated by the above formula) is smaller than the continuous operation allowable thrust. The permissible thrust of continuous operation of this product is as follows. Model RAR-LC RA7R-LC RA8R-LC RAR-LC RA3R-LC RAR-LC RAR-LC Allowable continuous thrust force [N] t t 3 If conditions can not be satisfied, take measures such as shortening the pressing time or prolonging the waiting time. -

85 Example G 9.8m/s Using the selection method, perform the operation pattern selection work. Operating condition V Model used Mounting posture Acceleration Moving distance Load weight Push command value Pressing time Waiting time : RCS - RA 3 R Lead. Type : vertical : mm/s :.98 m/s (. G, deceleration is assumed to be the same) : mm : kg : % ( kgf) : 3 seconds : seconds After pushing down mm, push operation, mm raised and wait for seconds. In addition, the operating conditions for rising and falling are the same. When the above operation pattern is graphed, it will be as shown on the right. t a tf t d t t t a t f t d t w T Then calculate according to the selection method. Condition. Confirm push operation time Condition. Calculate the continuous operation thrust By comparing our push time of 3 seconds with the maximum push time for a push order value of %, which is 3 seconds (see Table RCS-RA3R on page A-9), it is clear that the pressing time is acceptable. Substitute the above operational pattern to the previously mentioned equation for continuous operation thrust. F t F a a F f f F d d F F a a F f f F d d F w w Next, calculate tf/tf: Distance moved at constant speed =. {(..) (.98)}.m, so tf/tf =...7s. Also, calculating the Fa/Ff/Fd/Fa/Ff/Fd from the equations yields the following: By substituting these values to the continuous operation thrust equation, Since this exceeds the rated thrust for the -ton ultra-thrust actuator, which is N, operation with this pattern is not possible. In response, let us increase the wait time. (i.e. decrease the duty) Recalculating with tw=.s(t=s) will change the thrust to Ft=98N, making it operable. Information on Moment Selection The ultra-high thrust actuator can apply a load on the rod within the range of conditions calculated below. At this point, by looking at the motion pattern for ta/td/ta/td, the peak speed (Vmax) =..98.7m/s,which is greater that the set speed, mm/s (.m/s). Hence this is a trapezoidal pattern. Hence, ta/td/ta/td =..98.3s. Moment Load Load Torque Moment Load M (N m) * g = gravitational acceleration 9.8 * L = Distance from rod center to work center of gravity * L = Distance from actuator mounting surface to work center of gravity +.7 Load Torque T (N m) L m L m If the above conditions are not satisfied, please pay attention so that no load is applied to the rod by providing guides to the outside. Wkg -

86 Duty Duty refers to the operating rate of the actuator (the time during which the actuator is operating during one cycle). Please note that the calculation method of the duty is different between the pulse motor type and the AC servo motor type actuator. <Pulse motor> Regarding the pulse motor specification, the duty can be operated at %. The model that requires duty limitation is RCP S (CR). In the case of RCP S (CR) Duty ratio by type RCPS series 3 pulse motor type SA / RRA / RA / TA / WSA / WRA (Motor straight / Motor turn back common) pulse motor type SA / RRA / RA / TA / WSA / WRA (Motor straight / Motor turn back common) pulse motor type SA7 / RRA7 / RA7 / TA7 / WSA / WRA (Motor straight / Motor turn back common) High Thrust Pulse Motor Type SA8 / WSA (Motor straight / Motor turn back common) High Thrust Pulse Motor Type RRA 8 / RA 8 / WRA (Motor straight / Motor turn back common) [Duty ratio] The duty ratio is the operating rate in% of the time the actuator is operating in one cycle. Temperature D: Duty TM: operating time (include push force time) TR: Stop time Acceleration constant speed deceleration stop time operation time TM operation time TR Cycle time Duty ratio % Refer to graph below Refer to graph below % 7% Relationship between ambient temperature and duty ratio of pulse motor type Duty Leadmm Lead3mm Pulse motor type SA / RRA / RA / TA / WSA / WRA (Motor straight / Motor turn back common) Lead 3mm mm mm/mm Duty ratio 38 or less % 9% or less % Restriction 9% or less 3 3 Ambient temperature Relationship between ambient temperature and duty ratio of pulse motor type (excluding high thrust motor) 9 Lead8mm Leadmm Pulse motor type SA7/RRA7/RA7/TA7/WSA/WRA (Motor straight / Motor turn back common) Duty 8 7 Leadmm Lead mm 8mm mm mm Duty ratio 3 or less 8% 37 or less 9% 9% or less % Restriction % or less 78% or less 3 3 Ambient temperature -7

87 <AC servomotor> Since the standard of the usable duty varies depending on the operating conditions (conveying mass, acceleration / deceleration etc.), calculate the load factor LF and the acceleration / deceleration time ratio tod from the following calculation formula and obtain it from the graph. ❶ Calculate the load factor LF from the following formula. The load factor LF calculation formula varies depending on the model. Please check the target model and calculate the load factor. IF / FS / RCA / RCA / RCS series ALoad factor: LF = M α M α (%) (Note) Please refer to model / spec table of each model for payload capacity and rated acceleration / deceleration at rated acceleration / deceleration. Payload capacity at rated acceleration : M Rated acceleration / deceleration : α Actual carrying mass : M (M M ) Command acceleration / deceleration : α ( α α) When operating under the following operating conditions, the load factor is as follows. <Example > Actual conveying mass : kg Command acceleration / deceleration :.3 G Load capacity at rated acceleration / deceleration : kg Rated acceleration / deceleration :.3 G Load factor: LF = % <Example > Actual conveying mass :. kg Command acceleration / deceleration :.3 G Load capacity at rated acceleration / deceleration : kg Rated acceleration / deceleration :.3 G Load factor: LF = % <Example 3> Actual conveying mass : kg Command acceleration / deceleration :. G Load capacity at rated acceleration / deceleration : kg Rated acceleration / deceleration :.3 G Load factor: LF = % -8

88 Duty In the case of the DBAC / SSPDACR / IS (P) DACR / RCS 3 / TTA series DB / NS / IS (P) DB / NS / IS (P) B / SSPA / IS Acceleration / deceleration above the rating is set for the above compatible models. Depending on the command acceleration / deceleration rating or below the rating, the calculation formula to use will differ. () When command acceleration / deceleration is less than rated acceleration / deceleration, please use calculation formula A. () When the command acceleration / deceleration is not less than the rated acceleration / deceleration, please use calculation formula B. BLoad factor: LF = M α M = ( % ) M α M (Note) For payload capacity corresponding to acceleration / deceleration and acceleration / deceleration of each model, please refer to the acceleration weighted payload quantity table of each model. Actual conveying mass : M Command command acceleration / deceleration : α Payload quantity of command acceleration / deceleration : M (M M ) When operating under the following operating conditions, the load factor is as follows. As an example, we will use the acceleration weighted payload table of "RCS 3 - SA 8 C W Lead 3". Model Type Motor outpu Lead [mm] Payload quantity by acceleration [kg].3g.g.7g G RCS3 SA8C W 3 (Note) When horizontal use, Low speed acceleration / deceleration.3g <Example > Actual conveying mass : kg Command acceleration / deceleration :. G Payload quantity of command acceleration / deceleration : kg Load factor: LF = % <Example > Actual conveying mass : kg Command acceleration / deceleration :. G Payload quantity of command acceleration / deceleration : kg Load factor: LF = % <Example > Actual conveying mass : kg Command acceleration / deceleration :. G Payload quantity of command acceleration / deceleration : kg Load factor: LF = % 3 RCA, RCS For high acceleration / deceleration option use model Calculate the load factor LF 3 from the calculation formula C. Even in case of high acceleration / deceleration specification, the rated acceleration is the same value as the standard specification. CLoad factor: LF3 = M α % M α <Example > Actual conveying mass : kg Command acceleration / deceleration :. G Load capacity at rated acceleration / deceleration : kg Rated acceleration / deceleration :.3 G Load factor: LF 3 = % -9 Actual conveying mass : M Command acceleration / deceleration : α Payload quantity at rated acceleration / deceleration : M Rated acceleration / deceleration : α(.3g) <Example > Actual conveying mass : kg Command acceleration / deceleration :.9 G Load capacity at rated acceleration / deceleration : kg Rated acceleration / deceleration :.3 G Load factor: LF 3 = % Maximum acceleration / deceleration by model: α max (M M, α<α αmax) α max (maximum acceleration / deceleration by model) list Model Lead αmax RCA/RCS-SAC.8 RCA/RCS-SAC.8 RCA/RCS-SAC RCS-SA7C 8.8 RCA-RA3C RCA-RAC 3W RCS-RAC 3W RCS-RAC W 8

89 ❷ Calculate the acceleration / deceleration time ratio tod from the following calculation formula. Acceleration / deceleration time ratio: tod = Acceleration time + deceleration time Operating time % (mm / s) Acceleration time = (sec) Deceleration time = (sec) Acceleration (mm/s ) Deceleration (mm/s ) Acceleration (mm/s ) = 9,8mm/s Deceleration (mm/s ) = Deceleration (G) 9,8mm/s ❸ Read the standard of duty from the calculated "load factor" and "acceleration / deceleration time ratio". For RCA, RCS high acceleration / deceleration option use model, please use "Duty guide (for high acceleration / deceleration specification)"). Duty measure guide (for standard use) Example: When the load factor is 8% and the acceleration / deceleration time ratio is 8%, the guideline for the duty is approximately 7%. LF = less than % Estimated operating duty (%) 8 Approximately 7% LF = % LF = 7% LF = 8% LF = 9% LF = % 8 Acceleration / deceleration time ratio tod (%) Duty guide (for high acceleration / deceleration specification) Example: When the load factor is % and the acceleration / deceleration time ratio is 8%, the guideline for the duty is approximately %. Estimated operating duty (%) 8 % 8 Acceleration / deceleration time ratio tod (%) High acceleration / deceleration specification LF = % High acceleration / deceleration specification LF = % High acceleration / deceleration specification LF = % High acceleration / deceleration specification LF = 33% -

90 Offboard tuning function Increase conveying capacity of actuator The off-board tuning function improves the general mass and acceleration / deceleration by automatically setting the optimum gain according to the conveying load, enabling to increase the payload quantity and shorten the takt time. By performing off-boat tuning, the following three effects can be obtained. By setting the acceleration / deceleration speed low, it is possible to convey more than the rated payload quantity. If the conveying mass is smaller than the rated payload quantity, acceleration / deceleration can be increased. 3It is possible to increase the maximum speed. Example) The graph on the right shows the off-board tuning effect of RCS - SA C lead. When lowering the acceleration / deceleration from the rated acceleration.3 G to. G, the maximum payload quantity will increase from kg to 3 kg. If the convey mass is low, acceleration / deceleration can be increased up to. G. 3The maximum speed can be increased from the standard 3 mm/s to mm/s. Offboard tuning is effective for combinations of ACON-CB / SCON-CB / MCON / MSCON.. controller and actuators listed in the table below. (Actuators with high acceleration / deceleration specification are not supported off-board tuning.) The contents of the effect will differ depending on the model of the actuator. (See table below) For detailed data on each model, please check our website. Payload quantity [kg] Supported software ver.8... after RCS-SAC Lead (Maximum speedmm/s) Standard specification Off-Board Tuning Specification Acceleration / deceleration [G] オフボートチューニング対象機種 -

91 Models to be upgraded with off-board tuning Spec List RCA system ~ Horizontal installation ~ : Standard specification : Offboard tuning specification Series RCA Type Motor W number SAC SAC SAC 3 SAR SAR SAR 3 RA3C RAC 3 Payload quantity per lead acceleration / deceleration [kg] Maximum speed [mm/s] Lead.G.G.3G.G.G.G.7G.8G.9G.G.G.G.3G.G.G.G.7G.8G.9G.G Standard After tuning RCA system ~ Vertical installation ~ Series RCA Type Motor W number SAC SAC SAC 3 SAR SAR SAR 3 RA3C RAC 3 Payload quantity per lead acceleration / deceleration [kg] Maximum speed [mm/s] Lead.G.G.3G.G.G.G.7G.8G.9G.G.G.G.3G.G.G.G.7G.8G.9G.G Standard After tuning

92 Models to be upgraded with off-board tuning Spec List RCS system ~ Horizontal installation ~ : Standard specification : Offboard tuning specification Series RCS RCS CR RCS3 RCS3 CR Type Motor W number SAC SAC SAC 3 SA7C SS7C SAR SAR SAR 3 SA7R SS7R RAC RAC Lead -3 3 SAC SAC SAC 3 SA7C SS7C SA8C/ SS8C SA8R/ SS8R SA8C/ SS8C Payload quantity per lead acceleration / deceleration [kg] Maximum speed [mm/s].g.g.3g.g.g.g.7g.8g.9g.g.g.g.3g.g.g.g.7g.8g.9g.g Standard After tuning

93 RCS system ~ Vertical installation ~ : Standard specification : Offboard tuning specification Series RCS RCS3 Type Motor W number SAC SAC SAC 3 SA7C SS7C SAR SAR SAR 3 SA7R SS7R RAC RAC SA8C/ SS8C SA8R/ SS8R 3 Payload quantity per lead acceleration / deceleration [kg] Maximum speed [mm/s] Lead.G.G.3G.G.G.G.7G.8G.9G.G.G.G.3G.G.G.G.7G.8G.9G.G Standard After tuning

94 Models to be upgraded with off-board tuning Spec List IS system ~ Horizontal installation ~ : Standard specification : Offboard tuning specification Series Type Motor W number Lead ISB ISDB ISDB CR SSPA SSP DACR SXM/ SXL MXM/ MXL - Payload quantity per lead acceleration / deceleration [kg] Maximum speed [mm/s].g.g.3g.g.g.g.7g.8g.9g.g.g.g.3g.g.g.g.7g.8g.9g.g.g.g.3g.g.g.g.7g.8g.9g 3.G Standard After tuning MXMX 8. LXM/ LXL S M MX 8. L S M L SXM MXM LXM 7 S M L

95 IS system ~ Vertical installation ~ : Standard specification : Offboard tuning specification Series Type Motor W number Lead Payload quantity per lead acceleration / deceleration [kg] Maximum speed [mm/s].g.g.3g.g.g.g.7g.8g.9g.g.g.g.3g.g.g.g.7g.8g.9g.g Standard After tuning SXM/SXL MXM/MXL ISB MXMX 8 8 (Note) LXM/LXL S M ISDB MX 8 (Note) L (Note) Can not use vertical instillation -

96 Tables of Payload by /Acceleration The tables below shows the maximum payload in each acceleration/deceleration for different models. Please select a model that satisfies the operational conditions you desire. For the MCON-C/LC controller, high-output enabled operation is only available if "high-output setting" is selected as an option. For the double slider payload, refer to page RCP Series High-output Setting Enabled RCP/RCPS-SAC Lead ,...7,.. Slider Type Motor Coupling Specification Lead Lead Lead. * RCPCR is the same RCP/RCPS-SAC Lead ,. 3...,8.,. Lead Lead Lead RCP/RCPS-SA7C Lead Lead Lead 8 Lead ,8 8., RCP/RCPS-SA8C Lead , 8 3,. -7 Lead , * SA8C does not have high output enable/disable settings. Lead Lead

97 RCP Series High-output Setting Disabled Slider Type Motor Coupling Specification * RCPCR is the same. RCP/RCPS-SAC Lead Lead Lead Lead RCP/RCPS-SAC Lead Lead Lead Lead RCP/RCPS-SA7C Lead Lead Lead 8 Lead

98 Tables of Payload by /Acceleration RCP Series Slider Type Side-Mounted Motor Specification High-output Setting Enabled RCP/RCPS-SAR Lead ,..,.. Lead Lead Lead RCP/RCPS-SAR Lead , 3...,8.. Lead Lead Lead RCP/RCPS-SA7R Lead Lead Lead 8 Lead , RCP/RCPS-SA8R Lead , 3, Lead , * SA8C does not have high output enable/disable settings. Lead Lead

99 RCP Series Slider Type Side-Mounted Motor Specification High-output Setting Disabled RCP/RCPS-SAR Lead Lead Lead Lead RCP/RCPS-SAR Lead Lead Lead Lead RCP/RCPS-SA7R Lead Lead Lead 8 Lead

100 Tables of Payload by /Acceleration RCP Series High-output Setting Enabled Slider Type Motor Coupling Specification * RCPCR is the same. RCP/RCPS-WSAC Lead Lead Lead Lead RCP/RCPS-WSAC Lead Lead Lead Lead RCP/RCPS-WSAC Lead Lead Lead 8 Lead RCP/RCPS-WSAC Lead Lead Lead * WSAC does not have high output enable/disable settings

101 RCP Series High-output Setting Disabled Slider Type Motor Coupling Specification * RCPCR is the same. RCP/RCPS-WSAC Lead Lead Lead Lead RCP/RCPS-WSAC Lead Lead Lead Lead RCP/RCPS-WSAC Lead Lead Lead 8 Lead

102 Tables of Payload by /Acceleration RCP Series Slider Type Side-Mounted Motor Specification High-output Setting Enabled RCP/RCPS-WSAR Lead Lead Lead Lead RCP/RCPS-WSAR Lead Lead Lead Lead RCP/RCPS-WSAR Lead Lead Lead 8 Lead RCP/RCPS-WSAR Lead Lead Lead * WSAR does not have high output enable/disable settings

103 RCP Series Slider Type Side-Mounted Motor Specification High-output Setting Disabled RCP/RCPS-WSAR Lead Lead Lead Lead RCP/RCPS-WSAR Lead Lead Lead Lead RCP/RCPS-WSAR Lead Lead Lead 8 Lead

104 Tables of Payload by /Acceleration RCP Series Rod Type Motor Coupling Specification High-output Setting Enabled RCP/RCPS-RRAC Lead ,.7. Lead Lead Lead RCP/RCPS-RRAC Lead Lead Lead Lead RCP/RCPS-RRA7C Lead Lead Lead 8 Lead RCP/RCPS-RRA8C Lead Orientation Horizontal Orientation Vertical Lead Orientation Horizontal Orientation Vertical * RRA8C does not have high output enable/disable settings. Lead Orientation Horizontal Orientation Vertical

105 RCP Series Rod Type Motor Coupling Specification High-output Setting Disabled RCP/RCPS-RRAC Lead Lead Lead Lead RCP/RCPS-RRAC Lead Lead Lead Lead RCP/RCPS-RRA7C Lead Lead Lead 8 Lead

106 Tables of Payload by /Acceleration RCP Series Rod Type Side-Mounted Motor Specification High-output Setting Enabled RCP/RCPS-RRAR Lead Lead Lead Lead RCP/RCPS-RRAR Lead Lead Lead Lead RCP/RCPS-RRA7R Lead Lead Lead 8 Lead RCP/RCPS-RRA8R Lead Orientation Horizontal Orientation Vertical Lead Orientation Horizontal Orientation Vertical * RRA8R does not have high output enable/disable settings. Lead Orientation Horizontal Orientation Vertical

107 RCP Series Rod Type Side-Mounted Motor Specification High-output Setting Disabled RCP/RCPS-RRAR Lead Lead Lead Lead RCP/RCPS-RRAR Lead Lead Lead Lead RCP/RCPS-RRA7R Lead Lead Lead 8 Lead

108 Tables of Payload by /Acceleration RCP Series Rod Type Motor Coupling Specification High-output Setting Enabled RCP/RCPS-WRAC Lead Lead Lead Lead RCP/RCPS-WRAC Lead Lead Lead Lead RCP/RCPS-WRAC Lead Lead Lead 8 Lead RCP/RCPS-WRAC * WRAC does not have high output enable/disable settings. Lead Lead Lead Orientation Horizontal Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical

109 RCP Series Rod Type Motor Coupling Specification High-output Setting Disabled RCP/RCPS-WRAC Lead Lead Lead Lead RCP/RCPS-WRAC Lead Lead Lead Lead RCP/RCPS-WRAC Lead Lead Lead 8 Lead

110 Tables of Payload by /Acceleration RCP Series Rod Type Side-Mounted Motor Specification High-output Setting Enabled RCP/RCPS-WRAR Lead Lead Lead Lead RCP/RCPS-WRAR Lead Lead Lead Lead RCP/RCPS-WRAR Lead Lead Lead 8 Lead RCP/RCPS-WRAR Lead Lead Lead Orientation Horizontal Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical * WRAR does not have high output enable/disable settings

111 RCP Series Rod Type Side-Mounted Motor Specification High-output Setting Disabled RCP/RCPS-WRAR Lead Lead Lead Lead RCP/RCPS-WRAR Lead Lead Lead Lead RCP/RCPS-WRAR Lead Lead Lead 8 Lead

112 Tables of Payload by /Acceleration RCP Series Rod Type Motor Coupling Specification High-output Setting Enabled RCP/RCPS-RAC Lead Lead Lead Lead RCP/RCPS-RAC Lead Lead Lead Lead RCP/RCPS-RA7C Lead Lead Lead 8 Lead RCP/RCPS-RA8C Lead Lead Lead Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical * RA8C does not have high output enable/disable settings.

113 RCP Series Rod Type Motor Coupling Specification High-output Setting Disabled RCP/RCPS-RAC Lead Lead Lead Lead RCP/RCPS-RAC Lead Lead Lead Lead RCP/RCPS-RA7C Lead Lead Lead 8 Lead

114 Tables of Payload by /Acceleration RCP Series Rod Type Side-Mounted Motor Specification High-output Setting Enabled RCP/RCPS-RAR Lead Lead Lead Lead RCP/RCPS-RAR Lead Lead Lead Lead RCP/RCPS-RA7R Lead Lead Lead 8 Lead RCP/RCPS-RA8R Lead Lead Lead Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical * RA8R does not have high output enable/disable settings.

115 RCP Series Rod Type Side-Mounted Motor Specification High-output Setting Disabled RCP/RCPS-RAR Lead Lead Lead Lead RCP/RCPS-RAR Lead Lead Lead Lead RCP/RCPS-RA7R Lead Lead Lead 8 Lead

116 Tables of Payload by /Acceleration RCP Series High-output Setting Enabled RCP/RCPS-TAC Lead RCP/RCPS-TAC Lead RCP/RCPS-TAC Lead RCP/RCPS-TAC Lead Lead Lead Lead Lead Lead. Lead 3 RCP/RCPS-TA7C Lead Lead Lead 8 Lead Motor Coupling Specification Single Block Lead Lead RCP/RCPS-TA7C Lead Lead Lead 8 Lead High-output Setting Disabled Lead Lead Lead Lead

117 RCP Series High-output Setting Enabled RCP/RCPS-TAC Lead RCP/RCPS-TAC Lead RCP/RCPS-TAC Lead RCP/RCPS-TAC Lead Lead Lead Lead. Lead 3 RCP/RCPS-TA7C Lead Lead 8 Lead Motor Coupling Specification Double Block Lead Lead RCP/RCPS-TA7C Lead Lead 8 Lead High-output Setting Disabled Lead Lead

118 Tables of Payload by /Acceleration RCP Series Side-Mounted Motor Specification Single Block High-output Setting Enabled RCP/RCPS-TAR Lead RCP/RCPS-TAR Lead Lead Lead Lead Lead Lead. Lead 3 RCP/RCPS-TA7R Lead Lead Lead 8 Lead RCP/RCPS-TAR Lead RCP/RCPS-TAR Lead High-output Setting Disabled Lead Lead Lead Lead RCP/RCPS-TA7R Lead Lead Lead 8 Lead Lead Lead

119 RCP Series High-output Setting Enabled RCP/RCPS-TAR Lead RCP/RCPS-TAR Lead Lead Lead Lead. Lead 3 RCP/RCPS-TA7R Lead Lead 8 Lead RCP/RCPS-TAR Lead RCP/RCPS-TAR Lead Side-Mounted Motor Specification Double Block High-output Setting Disabled Lead Lead RCP/RCPS-TA7R Lead Lead 8 Lead Lead Lead

120 Table of Load Capacity per /Acceleration The table below shows the maximum payload capacity per acceleration / deceleration and the maximum speed that can be operated. Please check the model that satisfies the desired operation condition. For MCON - C / LC, it is possible to set high power enable only if you specify "high power setting specification" as optional. RCP Series Belt type motor installing top/installing below specification RCP-BA/BAU RCP-BA/BAU RCP-BA7/BA7U Posture Horizontal Posture Horizontal Posture Horizontal (Mm/s).G (Mm/s).G (Mm/s).G High-power setting enabled RCP Series Slider motor coupling specification * RCPCR is also the same. RCP-SAC Lead Posture (Mm/s) Horizontal Vertical RCP-SAC Lead Posture (Mm/s) Horizontal Vertical RCP-SAC Lead Posture (Mm/s) Horizontal Vertical RCP-SAC Lead. Posture (Mm/s) Horizontal Vertical RCP-SAC Lead Posture (Mm/s) Horizontal Vertical RCP-SAC Lead Posture (Mm/s) Horizontal Vertical RCP-SAC Lead Posture (Mm/s) Horizontal Vertical RCP-SAC Lead3 Posture (Mm/s) 7 7. Horizontal Vertical RCP-SA7C Lead Posture (Mm/s) 8. Horizontal Vertical RCP-SA7C Lead Posture (Mm/s) Horizontal Vertical RCP-SA7C Lead8 Posture (Mm/s) Horizontal Vertical RCP-SA7C Lead Posture (Mm/s) Horizontal Vertical

121 - RCP Series Slider motor coupling specification * RCPCR is also the same.* RCPCR is also the same. RCP-SAC Lead. RCP-SAC Lead RCP-SAC Lead Posture Horizontal Vertical RCP-SAC Lead RCP-SAC Lead3 RCP-SAC Lead RCP-SAC Lead RCP-SAC Lead RCP-SA7C Lead RCP-SA7C Lead8 RCP-SA7C Lead RCP-SA7C Lead Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) High-power setting disabled

122 Table of Load Capacity per /Acceleration High-power setting enabled RCP Series Slider motor turning back specification RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead. Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead3 Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical RCP-SA7R Lead RCP-SA7R Lead RCP-SA7R Lead8 RCP-SA7R Lead Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical

123 High-power setting disabled RCP Series Slider motor turning back specification RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead. Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead3 Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical RCP-SA7R Lead RCP-SA7R Lead RCP-SA7R Lead8 RCP-SA7R Lead Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical

124 - Table of Load Capacity per /Acceleration High-power setting enabled RCP Series Rod motor coupling specification Posture Horizontal Vertical RCP-RAC Lead Posture Horizontal Vertical RCP-RAC Lead Posture Horizontal Vertical RCP-RAC Lead Posture Horizontal Vertical RCP-RAC Lead RCP-RAC Lead RCP-RAC Lead3 RCP-RAC Lead RCP-RAC Lead RCP-RA7C Lead RCP-RA7C Lead RCP-RA7C Lead8 RCP-RA7C Lead Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s) (Mm/s)

125 High-power setting disabled RCP Series Rod motor coupling specification RCP-RAC Lead Horizontal Posture (Mm/s) Vertical RCP-RAC Lead Posture Horizontal Vertical (Mm/s) RCP-RAC Lead Posture Horizontal Vertical (Mm/s) RCP-RAC Lead. Posture Horizontal Vertical (Mm/s) RCP-RAC Lead Posture Horizontal Vertical (Mm/s) RCP-RAC Lead Posture Horizontal Vertical (Mm/s) RCP-RAC Lead Posture Horizontal Vertical (Mm/s) RCP-RAC Lead3 Posture Horizontal Vertical (Mm/s) RCP-RA7C Lead Posture Horizontal Vertical (Mm/s) RCP-RA7C Lead Posture Horizontal Vertical (Mm/s) RCP-RA7C Lead8 Posture Horizontal Vertical (Mm/s) RCP-RA7C Lead Posture Horizontal Vertical (Mm/s) RCP-RA8C Lead RCP-RA8C Lead RCP-RA8C Lead Posture Horizontal Posture Vertical Posture Horizontal Posture Vertical Posture Horizontal (Mm/s).G (Mm/s).G (Mm/s).G (Mm/s).G (Mm/s).G Posture (Mm/s) Vertical.G 3. RCP-RAC Lead. RCP-RAC Lead RCP-RAC Lead Posture (Mm/s) Horizontal.G Posture (Mm/s) Vertical.G Posture (Mm/s) Horizontal.G Posture (Mm/s) Vertical.G Posture (Mm/s) Horizontal.G Posture (Mm/s) Vertical.G

126 Table of Load Capacity per /Acceleration High-power setting enabled RCP Series Rod motor turning back specification RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead. Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead3 Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical RCP-RA7R Lead RCP-RA7R Lead RCP-RA7R Lead8 RCP-RA7R Lead Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical

127 High-power setting disabled RCP Series Rod motor turning back specification RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead. Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead3 Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical RCP-RA7R Lead RCP-RA7R Lead RCP-RA7R Lead8 RCP-RA7R Lead Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical Posture Horizontal Vertical RCP-RA8R Lead Posture (Mm/s) 3 3 Horizontal.G 3 3 Posture (Mm/s) Vertical.G 3.. RCP-RA8R Lead Posture (Mm/s) Horizontal.G Posture (Mm/s) Vertical.G RCP-RA8R Lead Posture (Mm/s) 9 Horizontal.G 7 Posture (Mm/s) Vertical.G RCP-RAR Lead Posture (Mm/s) Horizontal.G 8 8 Posture (Mm/s) Vertical.G RCP-RAR Lead Posture (Mm/s) Horizontal.G Posture (Mm/s) Vertical.G RCP-RAR Lead. Posture (Mm/s) Horizontal.G 3 3 Posture (Mm/s) Vertical.G 9 7 RCP-RA8R Lead RCP-RA8R Lead -8 RCP-RA8R Lead

128 Table of Load Capacity per /Acceleration High-power setting enabled RCP Series Slider motor coupling specification * RCPCR is also the same. RCP-SA3C Lead Posture Horizontal Vertical Acceleration RCP-SA3C Lead Posture Horizontal Vertical Acceleration RCP-SA3C Lead Posture Horizontal Vertical Acceleration RCP-SAC Lead RCP-SAC Lead RCP-SAC Lead RCP-SAC Lead3 RCP-SAC Lead RCP-SAC Lead RCP-SAC Lead RCP-SAC Lead3 RCP-SA7C Lead RCP-SA7C Lead RCP-SA7C Lead8 RCP-SA7C Lead -9

129 High-power setting disabled RCP Series Slider motor coupling specification * RCPCR is also the same. RCP-SA3C Lead Posture Horizontal Vertical Acceleration RCP-SA3C Lead Posture Horizontal Vertical Acceleration RCP-SA3C Lead Posture Horizontal Vertical Acceleration RCP(CR)-SAC Lead RCP(CR)-SAC Lead RCP(CR)-SAC Lead RCP(CR)-SAC Lead3 RCP(CR)-SAC Lead RCP(CR)-SAC Lead RCP(CR)-SAC Lead RCP(CR)-SAC Lead3 RCP(CR)-SA7C Lead RCP(CR)-SA7C Lead RCP(CR)-SA7C Lead8 RCP(CR)-SA7C Lead -

130 Table of Load Capacity per /Acceleration High-power setting enabled RCP Series Slider motor turning back specification RCP-SA3R Lead RCP-SA3R Lead RCP-SA3R Lead RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead3 RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead3 RCP-SA7R Lead RCP-SA7R Lead RCP-SA7R Lead8 RCP-SA7R Lead -

131 High-power setting disabled RCP Series Slider motor turning back specification RCP-SA3R Lead RCP-SA3R Lead RCP-SA3R Lead RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead3 RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead RCP-SAR Lead3 RCP-SA7R Lead RCP-SA7R Lead RCP-SA7R Lead8 RCP-SA7R Lead -

132 Table of Load Capacity per /Acceleration High-power setting enabled RCP Series Rod motor coupling specification * RCPCR is also the same. RCP-RA3C Lead RCP-RA3C Lead RCP-RA3C Lead RCP-RA3 Lead. Posture Horizontal Vertical Acceleration Posture Horizontal Vertical Acceleration Posture Horizontal Vertical Acceleration Posture Horizontal Vertical Acceleration RCP-RAC Lead RCP-RAC Lead RCP-RAC Lead RCP-RAC Lead3 RCP-RAC Lead RCP-RAC Lead RCP-RAC Lead8 RCP-RAC Lead -3

133 High-power setting disabled RCP Series Rod motor coupling specification RCP-RA3C Lead RCP-RA3C Lead RCP-RA3C Lead RCP-RA3C Lead. Posture Horizontal Vertical Acceleration Posture Horizontal Vertical Acceleration Posture Horizontal Vertical Acceleration Posture Horizontal Vertical Acceleration RCP-RAC Lead RCP-RAC Lead RCP-RAC Lead RCP-RAC Lead3 RCP-RAC Lead RCP-RAC Lead RCP-RAC Lead8 RCP-RAC Lead -

134 Table of Load Capacity per /Acceleration High-power setting enabled RCP Series Rod motor turning back specification RCP-RA3R Lead RCP-RA3R Lead RCP-RA3R Lead RCP-RA3R Lead. RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead3 RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead8 RCP-RAR Lead -

135 High-power setting disabled RCP Series Rod motor turning back specification RCP-RA3R Lead RCP-RA3R Lead RCP-RA3R Lead RCP-RA3R Lead. RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead3 RCP-RAR Lead RCP-RAR Lead RCP-RAR Lead8 RCP-RAR Lead -

136 Table of Load Capacity per /Acceleration RCP3 Series Slider Type RCP3-SAC Lead Posture Horizontal Vertical (Mm/s) Lead Posture Horizontal Vertical (Mm/s) Lead. Posture Horizontal Vertical (Mm/s) RCP3-SAC Lead Posture Horizontal Vertical (Mm/s) Lead Posture Horizontal Vertical (Mm/s) Lead Posture Horizontal Vertical (Mm/s) Lead3 Posture Horizontal Vertical (Mm/s) RCP3-SAC Lead Posture Horizontal Vertical (Mm/s) Lead Posture Horizontal Vertical (Mm/s) Lead Posture Horizontal Vertical (Mm/s) Lead3 Posture Horizontal Vertical (Mm/s)

137 RCPW Series RAC Type <When the environmental temperature exceeds C> RCPW-RAC Lead3 Posture Horizontal Posture Vertical (3) 3 3 (3) (3) 3 9 (7) () * ( ) is the maximum value in case of high thrust specification Posture Horizontal Posture Vertical <When the environmental temperature exceeds C> RCPW-RA7C Lead Posture Horizontal Posture Vertical () () () (8) () * ( ) is the maximum value in case of high thrust specification Posture Horizontal Posture Vertical RCPW-RA8C Lead Posture Horizontal Posture Vertical () (7) (7) () * ( ) is the maximum value when the ambient temperature is C or lower RCPW-RAC Lead. Posture Horizontal Posture Vertical RCPW-RAC Lead <When the environmental temperature is C or lower> RCPW-RAC Lead3 RCPW-RAC Lead RA7C Type Posture Horizontal Posture Vertical Posture Horizontal Posture Vertical RCPW-RA7C Lead8 <When the environmental temperature is C or lower> RCPW-RA7C Lead RCPW-RA7C Lead8 RA8C Type RAC Type Rod motor coupling specification Posture Horizontal Posture Vertical Posture Horizontal Posture Vertical RCPW-RA8C Lead Posture Horizontal Posture Vertical () () (7) (). * ( ) is the maximum value when the ambient temperature is C or lower RCPW-RAC Lead Posture Horizontal Posture Vertical RCPW-RAC Lead Posture Horizontal Posture Vertical RCPW-RAC Lead Posture Horizontal Posture Vertical RCPW-RA7C Lead Posture Horizontal Posture Vertical RCPW-RA7C Lead Posture Horizontal Posture Vertical RCPW-RA8C Lead Posture Horizontal Posture Vertical RCPW-RAC Lead Posture Horizontal Posture Vertical

138 Table of Load Capacity per /Acceleration RCPW Series Rod type RCPW-RAC Lead Posture Horizontal Vertical (Mm/s) () 3 3 Lead Posture Horizontal Vertical (Mm/s) Lead3 Posture Horizontal Vertical (Mm/s) RCPW-RA7C Lead Posture Horizontal Vertical (Mm/s) () Lead8 Posture Horizontal Vertical (Mm/s) (8) 3 Lead Posture Horizontal Vertical (Mm/s) () 7 RCS3 Series Slider Type The following table is common to each series of RCS3 / RCS3P / RCS3CR / RCS3PCR. Payload by acceleration Type name Motor (W) Lead (mm) Mounting posture.g.3g.g.7g.g SA8C SS8C SA8R SS8R Horizontal 8 3 Vertical

139 ISB/ISPB/SSPA Series Series Type Motor (W) Horizontal use Payload by acceleration(kg) Vertical use Lead Maximum speed (mm) (Mm/s) SXM SXL MXM MXL Ball Screw High performance MXMX specification It is horizontal only. ISB/ISPB LXM LXL LXMX LXUWX It is horizontal only SXM IS Cast Iron base High rigidity specification MXM SSPA LXM : The column becomes inoperable. -

140 Table of Load Capacity per /Acceleration ISDB/ISPDB/ISDBCR/ISPDBCR/ISDACR/ISPDACR/SSPDACR Series Series Type Motor (W) Lead (mm) Horizontal use Payload by acceleration(kg) Vertical use Maximum speed (Mm/s) S Ball Screw Simple Dustproof Type ISDB ISPDB Clean room type ISDBCR ISPDBCR M MX It is horizontal only L LX It is horizontal only Clean room type ISDACR ISPDACR W Clean type IS cast iron base High rigidity specification SSPDACR S M L : The column becomes inoperable.

141 ISA/ISPA Series Payload by acceleration(kg) Horizontal use Vertical use Series Type Motor (W) Lead (mm) Maximum speed (Mm/s) WXM 9 7 Ball Screw Standard type ISA/ISPA WXMX It can not be used vertically. : The column becomes inoperable. NS Series Payload by acceleration(kg) Horizontal use Vertical use Series Type Motor (W) Lead (mm) Maximum speed (Mm/s) SXMS SXMM SZMS SZMM It is horizontal only. It is vertical only Ball Screw Nut rotation type NS MXMS MXMM MXMXS MZMS MZMM It is vertical only. 3 It is horizontal only. LXMS LXMM LXMXS It is horizontal only. LZMS LZMM It is vertical only : The column becomes inoperable. -

142 Guide-Equipped Type RCA/RCP/RCA/RCS Allowable rotating torque The allowable torque of each model is as shown below. When giving rotational torque, please use within the range of the following values. In addition, single guide type can not receive rotational torque. RCA-GD3NA Type RCA-GDNA Type RCS-GDN Type RCA-SD3NA Type Allowable rotational moment (N m) Stroke(mm) RCA-SDNA Type RCS-SDN Type Allowable rotational moment (N m) Stroke(mm) RCA / RCS-RGD3 Type Double guide RCS-RGD Type Double guide RCS-RGDC Type (Double guide specification) Double guide RCS-SRGD7BD Type Double guide -3

143 RCP-RGD3C Type RCP-RGDC Type RCP-RGDC Type RCP-SRGDR Type Relationship between tip allowable load and running life The longer the load at the guide tip becomes, the lower its life. Please select the model considering considering the balance between the load and the life span. Single guide Single guide type * The single-guide specification can only be used with vertical loads. Double guide type <Vertical> <Horizontal> RCA-GS3NA Type RCA-GSNA Type RCS-GSN Type RCA-RGS3 Type Radial load(n) st 7st,, Distance(km) RCA / RCS-RGS Type RCS-RGSC Type -

144 RCS-SRGS7BD Type RCP-RGSC Type RCP-RGSC Type RCP / RCA-SRGSR Type Double guide RCA-GD3NA Type RCA-GDNA Type RCS-GDN Type RCA-SD3NA Type Radial load(n) 3 3,, Distance(km) st 7st RCA-SDNA Type - RCS-SDN Type Radial load(n) 8 8,, Distance(km) st 7st

145 RCA-RGD3 Type RCA / RCS-RGD Type RCS-RGDC Type RCS-SRGD7BD Type RCP-RGD3C Type RCP / RCA-SRGDR Type RCP-RGDC Type RCP-RGDC Type -

146 Radial load and tip deflection Single-guide type Double-guide type <Vertical> <Horizontal> It is a correlation diagram between the load applied to the guide tip and the amount of deflection at that time. Caution The load on the graph does not show the allowable load. Lifetime greatly decreases as the load increases. Please refer to "Relationship between tip allowable load and running life" * The single-guide specification can only be used with vertical loads. Single guide RCA-GS3NA Type RCA-GSNA Type RCS-GSN Type RCA / RCS-RGS3 Type.. Deflection(mm) st st st 7st.. 3 Load(N) RCS-RGS Type RCS-RGSC Type RCS-SRGS7BD Type RCP-RGSC Type -7

147 RCP-RGSC Type RCP-SRGSR Type Double guide RCA-GD3NA Type Double guide <Vertical> specification RCA-GD3NA Type Double guide <Horizontal> specification RCA-GDNA Type Double guide <Vertical> specification RCA-GDNA Type Double guide <Horizontal> specification RCS-GDN Type Double guide <Vertical> specification.3 RCS-GDN Type Double guide <Horizontal> specification.3 Deflection(mm)..... st st st 7st Deflection(mm)..... st st st 7st. 3 Load(N). 3 Load(N) RCA-SD3NA Type Double guide <Vertical> specification RCA-SD3NA Type Double guide <Horizontal> specification -8

148 RCA-SDNA Type RCA-SDNA Type Double guide <Vertical> specification Double guide <Horizontal> specification RCS-SDN Type RCS-SDN Type Double guide <Vertical> specification. Double guide <Horizontal> specification. Deflection(mm) st st st 7st Deflection(mm) st st st 7st. 3 Load(N). 3 Load(N) RCA / RCS-RGD3 Type RCA / RCS-RGD3 Type Double guide <Horizontal> specification Double guide <Vertical> specification RCS-RGD Type RCS-RGD Type Double guide <Horizontal> specification Double guide <Vertical> specification RCS-RGDC Type RCS-RGDC Type Double guide <Horizontal> specification Double guide <Vertical> specification -9

149 RCS-SRGD7BD Type Double guide <Horizontal> specification RCS-SRGD7BD Type Double guide <Vertical> specification RCP-RGD3C Type Double guide <Horizontal> specification RCP-RGD3C Type Double guide <Vertical> specification RCP-RGDC Type Double guide <Horizontal> specification RCP-RGDC Type Double guide <Vertical> specification RCP-RGDC Type Double guide <Horizontal> specification RCP-SRGDR Type Double guide <Horizontal> specification RCP-RGDC Type Double guide <Vertical> specification RCP-SRGDR Type Double guide <Vertical> specification -7

150 Allowable load mass selection materials Since the radial cylinder has a built-in guide, it can apply a constant load to the rod even without an external guide. Please refer to the graph below for allowable load mass. In addition, when the conditions necessary for operation exceed the allowable load, please use the external guide. RCP-RRA series horizontal mounting Allowable load mass [Horizontal mounting flat] [Horizontal ontal mounting in sideways] Offset distance dx Offset distance dx Overhang distance dz dz Load m dx Overhang distance dz dz Load m dx RCP-RRA/RRA/RRA7/RRA8 <Offset mm / Overhang distance mm> <Offset mm / Overhang distance mm> <Offset mm / Overhang distance mm> Conditions for calculation of allowable load Considering the moment due to acceleration and deceleration, the load mass with guided travel life of km. (Acceleration G, speed mm/s) -7

151 RCP-RRA series vertical mounting allowable load mass RCP-RRA RCP-RRA RCP-RRA7 RCP-RRA8-7

152 Allowable load mass selection materials RCP-WRA series allowable load mass RCP-WRA/WRA RCP-WRA/WRA RCP-WRA RCP-WRA RCP-WRA RCP-WRA -73

153 (Table type) RCP -TA series Allowable load mass -7

154 Radial cylinder allowable load mass selection materials Since the radial cylinder has a built-in guide, it can apply a constant load to the rod without an external guide. Please refer to the graph below for allowable load mass. In addition, when the conditions necessary for operation exceed the allowable load, we apologize for the inconvenience, but please use the external guide together. CP horizontal mounting Allowable loa RCP/RCP CP horizontal mounting Allowable load mass RA/RA/RA7 RCP-RA/RA/RA7RA/RA/RA7 RCP-RA8/RA -7

155 RCP-RA3/RA/RA RCP/RCP Vertical mounting Allowable load mass s RCP-RA RCP-RA RCP-RA7RA7 Eccentric distancemm Allowable load mass (kg) RCP-RA8 RCP-RA -7

156 Radial cylinder allowable load mass selection materials RCP-RA3 RCP-RA RCP-RA RCPW-RAC/7C Horizontal mounting Allowable load mass RCPW-RAC/7C Vertical mounting Allowable load mass -77 Technical Reference

157 RCPW-RAC/7C/8C/C Allowable load mass [Horizontal mounting flat] Offset distance dx [Horizontal mounting in sideways] Offset distance dx [Vertical mounting] dz dx dy dx dy dz dx dy Overhang distance dz dz Load m dx dz Load m dx Eccentric distance dx Load m Load m Eccentric distance dy RCPW-RAC/RA7C <Offset mm / Overhang distance mm> RA RA7 3 Allowable load mass (kg) 3 Stroke(mm) <Offset mm / Overhang distance mm> RA RA7 3 3 Stroke(mm) Allowable load mass (kg) <Offset mm / Overhang distance mm> RA RA7 3 3 Stroke(mm) Allowable load mass (kg) <Offset mm / Overhang distance mm> RA RA7 3 3 Stroke(mm) Allowable load mass (kg) RCPW-RA8C/RAC <Offset mm / Overhang distance mm> RA RA7 3 3 Stroke(mm) Allowable load mass (kg) <Offset mm / Overhang distance mm> RA RA7 3 3 Stroke(mm) Conditions for calculation of allowable load: Considering the moment due to acceleration, the load mass with guided travel life of km. (Acceleration G, speed m / s). Allowable load mass (kg) <Offset mm / Overhang distance mm> RA8 RA Stroke(mm) Allowable load mass (kg) <Offset mm / Overhang distance mm> RA8 RA Stroke(mm) Allowable load mass (kg) <Offset mm / Overhang distance mm> RA8 RA Stroke(mm) Allowable load mass (kg) <Offset mm / Overhang distance mm> RA8 RA Stroke(mm) Allowable load mass (kg) <Offset mm / Overhang distance mm> RA8 RA Stroke(mm) Allowable load mass (kg) <Offset mm / Overhang distance mm> RA8 RA Stroke(mm) Allowable load mass (kg) RCPW-RAC RCPW-RA7C RCPW-RA8C RCPW-RAC <Vertical mounting Allowable load mass> Lead3 Lead Lead Allowable load mass (kg) 8 Eccentric distance(mm) <Vertical mounting Allowable load mass> 3 Lead Lead8 Lead 8 Eccentric distance(mm) Allowable load mass (kg) <Vertical mounting Allowable load mass> Lead Lead 3 Lead Allowable load mass (kg) Eccentric distance(mm) <Vertical mounting Allowable load mass> Allowable load mass (kg) 3 Lead. Lead Lead Eccentric distance(mm) Considering the moment due to acceleration / deceleration the load mass with guided travel life of km. (RA8C: acceleration.3 G, speed mm / s, RA C: acceleration. G, speed mm / s, other: acceleration. G, speed mm / s) -78

158 RCA Guide-Equipped type technical materials Load moment and estimated service life Since the thin miniature slider type (RCA - SA AC / SA AR) has a built - in guide, it can receive a load that protrudes outward from the slider. However, please note that when using exceeding the allowance dynamic moment the running life will decrease. (See table below) When calculating the moment, please set mm down from the top of the slider as the reference point. Even within the allowable moment value, the length (overhang length) projecting from the main body should be within mm. Moment reference point Allowable moment direction Overhang load length Ma Mb Mc L Ma Mc Fig. A -79 L

159 Gripper selection method Slide type Step Check necessary gripping force and transportable work part weight Step Check necessary gripping force and transportable work part weight When gripping with frictional force, calculate the necessary gripping force as shown below. Normal transportation F : Gripping force [N] Sum of push forces μ : Coefficient of static friction between the finger attachment and the work part m : Work part weight [kg] g : Gravitational acceleration [= 9.8m/s ] A condition in which a work part does not drop when the work part is Step Check distance to gripping point Fμ> W mg F> μ Necessary gripping force as the recommended safety factor of in normal transportation: mg F> (safety factor) μ F/ W(mg) F/ Friction coefficient μ When the friction coefficient μ is between. and.: F> mg.~. =(~) mg Normal work part transportation Step 3 Necessary gripping force Transportable work part weight to times the work part weight or more One-tenth to one-twentieth or less of Check external force applied to the finger attachment gripping force * As the Coefficient of static friction increases, the work part weight also increases. Select a model which can achieve the gripping force of to times or more. * Please refer to page -8 for an estimate of the shape and mass of the load. Friction coefficient μ W (mg) F/3 F/3 F/3 When remarkable acceleration, deceleration and/or impact occur at work part transportation Stronger inertial force is applied to a work part by gravity. In this case, consider the sufficient safety rate when selecting a model. When remarkable acceleration, deceleration and/or impact occur Necessary gripping force Transportable work part weight 3 to times the work part weight or more One-thirtieth to one-fiftieth or less of gripping force -8

160 Gripper selection method Step Distance between finger attachment (claw) to gripping point Keep the distance (L, H) from the finger (claw) mounting surface to the gripping point within the following range. If such distance does not fall within such range, excessive moment applies to the finger sliding parts and internal mechanism and the service life may be affected. -Finger gripper 3-Finger gripper Overhang H (mm) 8 RCP-GRSL GRSW RCP-GRHM GRHB RCP-GRSM RCP-GRM RCP-GRST RCP-GRS RCP-GRSS RCD-GRSNA RCP-GR3SS L: mm or less RCP-GR3SM L: 8mm or less L 8 Gripping point L (mm) Grasping point H Keep the fingers mounted to the actuator as small and light as possible, even if the distance to the gripping point falls within a restricted range. There are cases in which performance will be decreased or the guides will be adversely affected by inertial forces or bending moment if the finger is too long or too heavy. L Step 3 Checking external force applied to finger Allowable vertical load Confirm that the vertical load applied to each finger is the allowable load or less. Allowable load moment Calculate Ma and Mc using L and Mb using L. Confirm that the moment applied to each finger is the maximum allowable load moment or less. Allowable external force when the moment load is applied to each claw: Allowable load F(N)> M (Maximum allowable moment (N m) L(mm) -3 Ma L Mc Calculate the allowable load F (N) using both of L and L. Confirm that the external force applied to finger is the calculated allowable load F (N) (L or L, whichever is smaller) or less. Mb F Load point L Model RCD-GRSN RCD-GRSS RCP-GRSM RCP-GRSL RCP-GRSW RCP-GRSS RCP-GRS RCP-GRM RCP-GRHM RCP-GRHB RCP-GRST RCP-GR3SS RCP-GR3SM Allowable vertical load F (N) Maximum allowable load moment (N m) Ma Mb Mc The allowable value ky above shows a static value.. The allowable value per finger is shown. -8 * The above load point indicates the load position on the fingers. The position varies depending on the type of load. Load due to grasping force: Grasping point Gravity load: Center of gravity position Inertial force during movement, centrifugal force during turning: Center of gravity position The load moment is the total value calculated for each type of load. * Finger weight and work part weight are also a part of the external force. Centrifugal force when the gripper rotated gripping a work part and inertial force due to acceleration or deceleration when moving are also the external force applied to the finger.

161 Approximate grip point distance and grip force. The graph shows the gripping force according to the gripping point distance when the maximum gripping force is taken as %.. The gripping point distance indicates the vertical distance from the finger attachment mounting surface to the gripping point. 3. Gripping force has variations due to individual differences. Please refer as a guide. RCP-GRSS RCP-GRS RCP-GRM RCP-GR3SS RCP-GR3SM RCP-GRST (Standard type) RCP-GRST (High speed type) RCP-GRHM RCP-GRHB RCD-GRSNA Change in gripping force due to gripping point distance 8 Gripping force (%) Gripping point distance (mm) RCP-GRSS Change in gripping force due to gripping point distance 8 3 Gripping point distance (mm) Gripping force (%) Gripping force (%) RCP-GRSML RCP-GRSLL RCP-GRSWL Change in gripping force due to gripping point distance Change in gripping force due to gripping point distance Change in gripping force due to gripping point distance 8 Gripping force (%) 8 Gripping force (%) 8 8 Gripping point distance (mm) 8 Gripping point distance (mm) 8 Gripping point distance (mm) -8

162 Gripper selection method Gripper Lever Type Step Check necessary gripping force and transportable work part weight Step Check necessary gripping force and transportable work part weight Like Step of Slide type, calculate the necessary gripping force and confirm that the gripping force meets conditions. Normal work transportation Necessary gripping force Transportable work part weight to times the work part weight or more One-tenth to one-twentieth or less of gripping force When remarkable acceleration, deceleration and/or impact occur Step Check moment of inertia of the finger attachment (claw) Necessary gripping force Transportable work part weight 3 to times the work part weight or more One-thirtieth to one-fiftieth or less of gripping force F/ W(mg) F/ Friction coefficient μ Step 3 Check external force applied to the finger Step Check moment of inertia of the finger attachment (claw) Confirm that all moments of inertia around the Z axis (fulcrum) of the finger attachment (claw) fall within an allowable area. Depending on the configuration and/or shape of the finger, divide it into several elements when calculating. For your reference, an example of calculation by dividing into two elements is shown below. Friction coefficient μ W (mg) F/3 F/3 F/3 Z: Fulcrum Moment of inertia around Z axis (the center of gravity of A) (section A) m: Weight of A [kg] a, b, c: Dimension of Section A [mm] Z Section B a Z R R Section A m [kg] = a b c specific gravity c IZ(kg.m )= m(a +b ) - b b c a Moment of inertia around the Z axis (the center of gravity of B) (section B) m: Weight of B [kg] a, b, c: Dimension of Section B [mm] m [kg] = a b c specific gravity IZ(kg.m )= m(a +b ) Z: Fulcrum

163 3 All moments of inertia around the Z axis (fulcrum) R : Distance from the center of gravity of A to the finger opening/closing fulcrum [mm] R : Distance from the center of gravity of B to the finger [mm] I (kg.m )= (IZ+mR - )+ (IZ+mR - ) Model Allowable moment of inertia [kg m ] Weight (Reference) [kg] RCD-GRLS RCP-GRLS RCP-GRLM RCP-GRLL RCP-GRLW RCP-GR3LS RCP-GR3LM Z: Fulcrum Step 3 Check external force applied to the finger Allowable load torque Confirm that the load torque applied to the finger is the maximum allowable load torque or less. The load torque is calculated by finger and work part weight as stated below. m : Work part weight R : Distance from the center of gravity of work part to the finger opening/ closing fulcrum m : Claw weight R : Distance from the center of gravity of the claw to the finger opening/ closing fulcrum g : gravitational acceleration (9.8 m / s ) W W R Z: Fulcrum T =(W R -3 )+(W R -3 )+(other load torque) =(mg R -3 )+( m g R -3 )+(other load torque) R * Centrifugal force when the gripper rotated gripping a work part and inertial force due to acceleration or deceleration when moving horizontally are also the load torque applied to the finger. If applicable, confirm that the total torque including the torque above is the maximum allowable load torque or less. Model Maximum allowable load torque T [N m] RCP-GRLS RCP-GRLM RCP-GRLL RCP-GRLW RCP-GR3LS RCP-GR3LM W W Z: Fulcrum Allowable thrust load Confirm that the thrust load of finger opening/closing the axis is the allowable load or less. R R F =W+W+(other thrust load) =mg+mg+(other thrust load) Model Allowable thrust load F [N] F RCP-GRLS RCP-GRLM RCP-GRLL RCP-GRLW RCP-GR3LS RCP-GR3LM 3 W W -8

164 Rotary Selection Method When selecting a rotation axis, it is necessary to calculate the moment of inertia of the condition to be used and to use a model that allows the moment of inertia. Please calculate the moment of inertia of the work to be used and the mounting jig by calculating the moment of inertia of the representative shape shown below. (Please refer to the correlation diagram of the shape and mass of the attached item is posted on the next page.) In addition to the allowable moment of inertia, it is also necessary to check the load moment. Please select the model that can tolerate the moment generated from the shape and size. Inertial Moment Inertial moment represents the amount of inertia in a rotational motion, and corresponds to weight for linear motion. The greater the inertial moment, the more difficult it is for that object to move and stop. Inertial moment differs with the weight and shape of the object, but refer to the calculation formula in the typical example illustrated below. The allowable inertial moment value for a ROBO Rotary is shown as load inertia. A ROBO Rotary can be used if the calculated inertial moment is less than its load inertia. Calculating the Moment of Inertia for Typical Shapes. When the rotation axis passes through the center of the object () Moment of inertia of cylinder * The same formula can be applied irrespective of the height of the cylinder (even on a circular plate). When the center of the object is offset from the rotation axis () Moment of inertia of cylinder 3 * The same formula can be applied irrespective of the height of the cylinder (even on a circular plate) Moment of inertia of cylinder: I (kg m ) Moment of inertia of cylinder: I (kg m ) Mass of cylinder: M (unit kg) Mass of cylinder: M (unit kg) Diameter of cylinder: D (m) Diameter of cylinder: D (m) D D Distance from rotation axis to center: L (m) L () Moment of inertia of cylinder () Moment of inertia of cylinder Moment of inertia of cylinder: I (kg m ) Moment of inertia of cylinder: I (kg m ) Mass of cylinder: M (unit kg) Mass of cylinder: M (unit kg) D Diameter of cylinder: D (m) D Diameter of cylinder: D (m) H H/ Cylinder length: H (m) H L Cylinder length: H (m) Distance from rotation axis to center: L (m) (3) Moment of inertia of prisms * The same formula can be applied irrespective of the height of the cylinder (even on a circular plate) () Moment of inertia of prisms * The same formula can be applied irrespective of the height of the cylinder (even on a circular plate) B Moment of inertia of prisms: I (kg m ) B Moment of inertia of prisms: I (kg m ) One side of a rectangular column: A (m) Mass of prism: M (kg) One side of the rectangular column: B (m) One side of a rectangular column: A (m) One side of the rectangular column: B (m) A/ L Distance from rotation axis to center: L (m) A A -8

165 Estimate of load shape and mass A. In the case of disc shaped loads centered on the output shaft r (Radius of disk) RCP-RTBS/RTCS Type RCP-RTB/RTC Type RCP-RTBB/RTCB Type Reduction ratio / degrees / s or less Reduction ratio / degrees / s Reduction ratio /3 3 degrees / s or less Reduction ratio / degrees / s RCS-RTC8L/RTC8HL Type RCS-RTCL Type RCS-RTCL Type B. In the case of a load that is offset from the center of the output shaft r (Radius of disk) RCP-RTBS/RTCS Type RCP-RTB/RTC Type RCP-RTBB/RTCB Type Reduction ratio / degrees / s or less Reduction ratio / degrees / s Reduction ratio /3 3 degrees / s or less Reduction ratio / degrees / s RCS-RTC8L/RTC8HL Type RCS-RTCL Type RCS-RTCL Type -8

166 Rotary Selection Method Calculation method for sideways installation When using the rotary part of the rotary perpendicular to the floor surface, please check whether it can be used by the following formula.. Calculate the differential torque. * The difference torque is the difference between the maximum torque of the main unit and the torque calculated in. Gravity direction r (turning radius) Tmax: Output shaft maximum torque [N m] m : Work mass [kg] g : gravitational acceleration [m/s ] r : Rotation radius [m] m (workpiece mass) Model Reduction ratio Maximum torque RTBS, RTBSL, RTCS, RTCSL /3. /.3 RTB, RTBL, RTC, RTCL /. /3.7 RTBB, RTBBL, RTCB, RTCBL / 3. /3. RTC8L /. RTC8HL /.3 /.8 RTCL /.7 /.8 RTCL /8. /3 8. RCS-RTC8(H)L RCS-RTCL. Check the difference torque to see if the desired model meets the torque. Unusable. It is necessary to change to a high torque model or reduce the mass and turning radius. Available. Proceed to the next confirmation. 3. Calculate the allowable moment of inertia (Jp) when installing in sideways from the differential torque (ΔT) calculated in. Since the allowable moment of inertia varies depending on the model, calculate from the graph below. There is no difference depending on the speed reduction ratio of each model. Example) When the differential torque is. N m at RTB, the allowable moment of inertia is. kg m. RCS-RTCL RTBS/RTBSL/RTCS/RTCSL RTB/RTBL/RTC/RTCL RTBB/RTBBL/RTCB/RTCBL. Determination of allowable moment of inertia It can be used if the calculated allowable moment of inertia (Jp) is larger than the moment of inertia (Jw) of the workpiece. Allowable moment of inertia Jp> Moment of inertia Jw It is available. Allowable moment of inertia Jp moment of inertia Jw It is unusable. (It is necessary to change to a high torque model or reduce the mass and turning radius.) -87

167 Load Moment If the inertial moment is a controllable (electrical) guide, the load moment is a guide for the limit to forced (mechanical) use. Using the actuator body end of the output shaft mounting base as the reference position for moment, check whether the load moment exerted on the output axis is within the load moment tolerances in the catalog. Use in excess of the allowable load moment may cause damage and shortened service life. Notes on the origin of the RCP rotary type Load Moment Thrust load There are two types of "33 degree type" and "3 degree type" with different operating ranges for rotary type. Both have the same home position, but please be careful about the following points when you change the home return operation and the operation (rotation) direction. 33 degree type 3 degree type Home return method (standard specification) It rotates counterclockwise from the current position, pushes to the stopper, and reverses and becomes home. (See below) It rotates counterclockwise from the current position, it becomes the home after confirming the position by reciprocating the home sensor detection range after sensing the sensor. (See below) Reverse home specification (reverse rotation specification) Home return accuracy When returning to the home position, rotate clockwise from the current position, push to the stopper reverses and becomes home. In addition, the position of the stopper is different from the standard specification. Therefore, please note that the standard specification can not be reversed to the home origin later. When returning to the home position, it rotates clockwise from the current position, it is the home after confirming the position by reciprocating the home detection range after sensing the sensor. Since there is no stopper, it is possible to change the standard specification later to the reverse home specification later. Small size within ±. within ±. Medium size within ±. within ±. Large size within ±. within ±.3 33 degree rotation specification Multi-turn specification RTBSL/RTCSL, RTBL/RTCL, RTBBL/RTCBL Operating range (33 degrees) Return to home Return to home Home (Forward rotation side swing end) Home (Forward rotation side swing end) Offset displacement (Home side) Offset displacement Mechanical stopper Axis of rotation Offset reference position (Center position of,,, Ditect the home sensor detection range (Opposite side from the home) Home return range Axis of rotation (Note ) (reference) RTBSL/RTCSL : Approx. deg RTBL/RTCL : Approx. 3deg RTBBL/RTCBL : Approx. deg (Note ) There could be a slight dispersion depending on the distance of home sensor detection. Take these values as a reference. [Detection of Home Sensor Detection Range (Home Side)] Home return start (search for the Home sensor detection range) Home sensor detection range (Home side) detected (B contact: falling signal or detection of signal OFF) Inversion (Search for non-detection range of Home sensor) Home sensor non-detection range (Detects the Home (rise of signal at B contact or detection of signal ON) Inversion [Detection of four points,,, of the origin sensor detection range. Set the center position of,,, to the offset reference position. ] Home sensor detection range (Home side) detected (B contact: falling signal or signal OFF detected), move to the home sensor non-detection range (anti-origin side) Detection of home sensor non-detection range (The opposite side from home) (at B Contact: signal rise or signal on detection) Move to the detection range of the inversion and origin (The opposite side from the home ) Ditect the home sensor detection range (The opposite side from the home )(At B contact: falling edge of signal or detection of signal OFF), and move to the home sensor non-detection range (the home side) Ditect home sensor Detects non-detection range (home side) (B contact: rising of signal or detection of signal ON) [Offset Movement Operation] Determine the offset reference position from the center of,,,. The position moved from the offset reference position by the offset movement amount is the home. Move from the current position to the home. Home position -88

168 Rotary Selection Method Notice on selection of rotary actuator Please note that it can not be operated in the index mode when used in combination with the following table. * Combinations that can not operate in index mode Actuator Encoder Controller RCP(CR)(W)-RTBBL RCP(CR)(W)-RTBL RCP(CR)(W)-RTBSL RCP(CR)(W)-RTCBL RCP(CR)(W)-RTCL RCP(CR)(W)-RTCSL RCS-RTCL RCS-RTCL RCS-RTC8HL RCS-RTC8L RS All models DD/DDA(CR)(W)All models RCS-RTCL RCS-RTCL RCS-RTC8HL RCS-RTC8L RS All models DD/DDA(CR)(W)All models I I AI A AM PCON-CB/CGB PCON-PLB/POB MCON-C/CG * The above pulse train control MECHATROLINK III SSCNET SCON-CB/CGB * The above pulse train control MECHATROLINK III SCON-CB/CGB * Operation in normal mode is possible. However, when SSCNET is selected, since home return operation is required, please do not select absolute specification (including simple absolute). For DD / DDA, please select the encoder type "AM" (multi revolution absolute type). * The network that can be selected differs depending on the controller. -89

169 DD motor selection method Selection condition Please confirm the following contents as to whether this product can be used under customer's desired conditions. Check load condition For the following three points, confirm that the conditions actually used are below the allowable value of the product. Thrust load Load moment load 3 Load inertia Total load of items to be mounted on actuator Total load moment of items to be mounted on actuator Load inertia of the object to be mounted on the actuator To calculate the load condition, calculate the load inertia of the object to be mounted on the actuator and check with the DD motor selection software. Then, we will post a load inertia calculation formula of a typical shape, so please refer to it. DD motor selection software download address J = /8 x M x D J = M x R + /8 x M x D J = / x M x ( a + b ) J = MxR +/xmx (a + b ) D D Center of rotation Weight: M Center of rotation R Weight: M a Center of rotation b Weight: M Center of rotation R a b Weight: M Confirm operating condition From the conditions such as actual distance, speed, acceleration, deceleration, and stop time, check whether the specifications of DD motor can be used under operating conditions. For calculation of operating conditions, please use DD motor selection software. DD motor selection software download address 3 Estimated travel time The travel time varies depending on load inertia. Please confirm the standard of travel time from the table below. * Since the figures in the table are approximate, it is not a guarantee of traveling time. DD-LT8/DDA-LT8C Load inertia lower limit [kg m ] Load inertia upper limit [kg m ] degree travel time [sec] degree movement time [sec] degree movement time [sec] degree movement time [sec] (Note) The time in the above table is the time from receipt of the movement command until convergence to the positioning width.8 degrees (about angular seconds). DD-LH8/DDA-LH8C Load inertia lower limit [kg m ] Load inertia upper limit [kg m ] degree travel time [sec] degree movement time [sec] degree movement time [sec] degree movement time [sec] (Note) The time in the above table is the time from receipt of the movement command until convergence to the positioning width.8 degrees (about angular seconds). -9

170 DD motor selection method Notes Operation type Two types of operation can be selected for this product depending on usage conditions. Please check the features and caution points of each type before use. In the case of bits in ( ) Operation type Controller type Operating range Maximum movement amount of one movement command Infinite rotation action Home return operation Absolute battery Index absolute type SCON-CB(*) XSEL(*) ~ (*) Possible (*3) No need No need Multi-turn absolute type SCON-CB XSEL(*) Up to ± 9999 (± ) The operating range Impossible Unnecessary (*) necessary (*) (*) (*3) (*) (*) High resolution specification can be connected only to SCON - CB. When moving the index absolute type of XSEL 8 or more from the current position, it moves to the target position by rotating in the direction of less movement amount. Please note that the direction of rotation changes depending on the current position and amount of movement. To specify the moving direction, use SCON - CB. The index absolute type can rotate indefinitely in the same direction, however since one movement amount of XSEL is 8 degrees maximum, it can not rotate continuously in the same direction without stopping like a motor. Please use SCON-CB when you want to perform continuous rotation. Multiple revolution absolute requires home return when initial setting or when absolute battery is replaced. When SCON-CB index absolute type and pulse string control is used, it is necessary to change the parameters. For details, please refer to the instruction manual. Controller Although the motor output of the DD motor is W, the external dimension of the SCON - CB controller is W spec. (Refer to the page -9 for the external dimensions of SCON - CB) When operating the DD motor with SCON - CB, one regenerative resistor unit is required for LT8 and two LH 8. When operating the DD motor with the XSEL controller, the regenerative resistance unit is required as follows. Number of DD motors Regereneative resistor LT8 units LH (Can not connect) When connecting multiple DD motors to the XSEL controller, up to 8 LT8 types and up to LH 8 types are connected. When operating the DD motor with SCON - CB, please note that it can not be connected to the robot cylinder gateway function of the XSEL controller. For LT8 type, calculate the power capacity as W single phase specification W, three phase specification W for LH8 type, single phase specification W three phase specification W. -9

171 RS series selection method When selecting a model, decide from the following points, taking into consideration the operation, the load of loads to be installed, etc. and load inertia of each model Model RS-3W RS-W For the required operation speed by the use method, the load inertia is obtained from the weight and the shape such as the arm chuck to attach to the spindle tip, R e d u c t i o n r a t i o Rated speed (degrees / S) / 3 / 8 / 3 / 8 and the value indicated by the catalog load inertia, please use the model that is Load inertia kg m (kgf cm - S ) larger than this load inertia demanded. (.9) (.3) (.) (.3) Motor load capacity and load inertia The load inertia is determined by the intrinsic value of the object determined by mass and shape, J = r dm, and those with simple shape are represented by J = MK. The RS series (rotary actuator) is an actuator that provides rotational power to the loading, resulting in rotational motion of the loaded object. The torque is used to represent the rotational force, and the torque is also called the moment of force. When the linear motion is compared with the rotational motion, the force is applied to the mass (inertia), and the acceleration is generated in the direction of the force. F=M α F : force N(kgf) M : Mass kg α : Acceleration cm/s Calculation method of load inertia of typical shape Calculation of Load Inertia J / J: Load inertia kg/m M: Load weight kg r, a, a, A, B: Distance m In the rotational force, the relationship between this force, mass and acceleration becomes torque, load inertia, angular acceleration. When torque is applied to an object with load inertia, angular acceleration is generated. Therefore, the load capacity is expressed in rotary with this load inertia. T=J ω T : Torque N m(kgf cm) J : Load inertia kg m (kgf cm-s ) ω :Angular acceleration rad rad/s Cylindrical (including thin circular plate) Thin rectangle (rectangular box) 3 Thin rectangular plate (rectangular box) Position of rotating axis: central axis Position of of rotating axis: through the center of gravity of the board, perpendicular to the plate (same as the thick box) Position of rotating axis: passing through one end perpendicular to the plate RS Series Lineup RS-W RS-3W Reference for model selection Depending on the state of the load of the load on the rotary shaft output shaft, select the model based on the following chart as a reference. A In the case of disc shaped load directly under rotating shaft B In the case of loads offset from the rotating shaft Mass of disk (kg) Mass of disk (kg) Mass of load (kg) Mass of load (kg) 3 RS RS 3 3 RS RS 3 (Load) RS RS 3 RS RS 3 r (Radius of disk) r (Offset distance) 3 Radius of disk (cm) <Reduction ratio /> 3 Radius of disk (cm) <Reduction ratio /> 3 3 Offset distance (cm) Offset distance (cm) <Reduction ratio /> <Reduction ratio /> -9

172 Reference for setting the speed of SCARA robot IX SCARA robot IX can not operate continuously at maximum acceleration / deceleration and maximum speed of the catalog. When operating at maximum acceleration / deceleration, please set stop time referring to the reference graph of continuous operation duty. When continuous operation is required, please operate with the acceleration / deceleration setting of the continuous operation guide range of the reference graph of acceleration / deceleration setting. (Caution) ) In the case of PTP operation, be sure to set the mass and moment of inertia and operate it using the WGHT command on the program. For SCARA high-speed products, the maximum acceleration / deceleration that can be operated with each conveying mass is taken as %. Please note that the operation time also differs if the conveying mass differs even with the same acceleration / deceleration, speed setting. ) Adjust the acceleration / deceleration by gradually increasing the setting value from the continuous operation reference value. 3) If an overload error occurs, lower the acceleration / deceleration appropriately, or make an adjustment with a stop time referring to the estimate of the continuous operation duty. ) Duty (%) = (operation time / (operation time + stop time)) ) When moving the robot horizontally at high speed, please operate the vertical axis as close as possible to the rising edge. ) Moment of inertia,conveying mass should be less than allowable value. 7) Conveying load indicates the moment of inertia and mass of the fourth axis rotation center. 8) Please operate the robot to adequate acceleration / deceleration according to mass and moment of inertia. If not, it will lead to early life, damage and vibration of the drive part. 9) If the moment of inertia of the load is large, vibration may occur on the vertical axis depending on the position of the vertical axis. If the vibration occurs, reduce the speed and use it appropriately. Arm length //8 Acceleration / deceleration (%) PTP operation Reference for setting the speed IX//8 IX arm length //8 Reference for setting the speed of PTP Maximum setting range Continuous operation guide range. Conveying load mass (kg) Moment of inertia (kg m ) Arm length /3/3 Acceleration / deceleration (%) PTP operation Reference for setting the speed IX/3/3 IX arm length /3/3 Reference for setting the speed of PTP Maximum setting range IX arm length /3/3 Reference for continuous operation duty Continuous operation Reference range of continuous operation duty guide range 3 Conveying load mass (kg) Duty... Moment of inertia (kg m ) Acceleration / deceleration (%) Acceleration / deceleration (%) CP operation Reference for setting the speed IX//8 IX arm length //8 Reference for setting the speed of CP..7 Maximum setting range Continuous operation guide range. Conveying load mass (kg) Moment of inertia (kg m ) Arm length CP Operation maximum speed 3 mm / sec Arm length CP Maximum operating speed mm / sec Arm length 8 CP Maximum operating speed mm / sec Acceleration / deceleration (%) CP operation Reference for setting the speed IX/3/3 IX arm length /3/3 Reference for setting the speed of CP... Maximum setting range= Continuous operation guide range 3 Conveying load mass (kg) Arm length CP Operation maximum speed mm / sec Arm length 3 CP Operation maximum speed mm / sec Arm length 3 CP Maximum operating speed 7 mm / sec -93

173 Arm length / Acceleration / deceleration (%) PTP operation Reference for setting the speed IX/ IX arm length / Reference for setting the speed of PTP Maximum setting range Continuous operation guide range Conveying load mass (kg). 3. Moment of inertia (kg m ) Acceleration / deceleration (%) IX arm length / Reference for continuous operation duty Only the fourth axis (rotation axis) Reference range of continuous operation duty Duty (%) High speed type (arm length /) PTP operation Reference for setting the speed IX/ high speed Acceleration / deceleration (%) IX arm length /High speed(nsn) Reference for setting the speed of PTP Continuous operation guide range 3 Conveying load mass (kg) Maximum setting range... Moment of inertia (kg m ) IX arm length /High speed(nsn) Reference for PTP continuous operation duty Acceleration / deceleration (%) Continuous operation guide range Duty (%).3 CP operation Reference for setting the speed IX IX arm length Reference for setting the speed of CP IX arm length Reference for CP continuous operation duty.3 3. CP operation Reference for setting the speed IX IX arm length High speed(nsn) Reference for setting the speed of CP IX arm length High speed(nsn) Reference for CP continuous operation duty 3. Acceleration / deceleration (G). Maximum setting range. Continuous operation guide range Acceleration / deceleration (G) Conveying kg or less. Conveying kg. Reference range of continuous operation duty Maximum setting range.. Continuous operation guide range Conveying kg or less. Conveying 3 kg Continuous operation guide range. 3 Conveying load mass (kg) Duty (%) Conveying load mass (kg) Duty (%) CP operation maximum speed mm / sec Arm length CP Operation maximum speed mm / sec Acceleration / deceleration (G) Acceleration / deceleration (G) Acceleration / deceleration (G)... CP operation Reference for setting the speed IX IX arm length IX arm length Reference for setting the speed of CP Reference for CP continuous operation duty Maximum setting range Continuous operation guide range Conveying load mass (kg) CP operation maximum speed 8 mm / sec Acceleration / deceleration (G). Conveying kg or less.. Conveying kg Reference range of continuous operation duty Acceleration / deceleration (G) 3... CP operation Reference for setting the speed IX IX arm length High speed(nsn) Reference for setting the speed of CP Maximum setting range Continuous operation guide range IX arm length High speed(nsn) Reference for CP continuous operation duty 3 Duty (%) Conveying load mass (kg) Duty (%) Arm length CP Operation maximum speed mm / sec Acceleration / deceleration (G) 3... Conveying kg or less Conveying 3 kg Continuous operation guide range -9

174 Reference for setting the speed of SCARA robot IX Arm length 7/8 Acceleration / deceleration (%) Acceleration / deceleration (G) Acceleration / deceleration (G) PTP operation Reference for setting the speed IX7/8 IX arm length 7/8 Reference for setting the speed of PTP Continuous operation guide range Conveying load mass (kg) Maximum setting range.. Moment of inertia (kg m ) IX arm length 7/8 Reference for PTP continuous operation duty CP operation Reference for setting the speed IX7 IX arm length 7 Reference for setting the speed of CP Maximum setting range Continuous operation guide range Conveying load mass (kg) CP operation maximum speed mm / sec IX arm length 7 Reference for CP continuous operation duty CP operation Reference for setting the speed IX8 IX arm length 8 Reference for setting the speed of CP Maximum setting range Continuous operation guide range CP operation maximum speed 7 mm / sec Acceleration / deceleration (%) Acceleration / deceleration (G) Conveying kg or less IX arm length 8 Reference for CP continuous operation duty Acceleration / deceleration (G) Reference range of continuous operation duty Conveying kg or less Duty (%) Conveying kg Reference range of continuous operation duty Duty (%) Conveying kg Reference range of continuous operation duty Conveying load mass (kg) Duty (%) Arm length/ PTP operation Reference for setting the speed IX arm length / Reference for setting the speed of PTP Operable area Continuous 3 operation guide area 3 Conveying load mass (kg) Acceleration / deceleration (G) IX arm length / Reference for PTP continuous operation duty 9 Conveying ~ kg 8 7 IX arm length / Restriction on PTP overhang load / speed setting % 7 7% % 3 Conveying load mass (kg) 3 Conveying - kg 3 CP operation Reference for setting the speed IX arm length / Reference for setting the speed of CP Acceleration / deceleration (G).3 Restriction on overhang load (mm). Operable area. Continuous operation guide area 3 IX arm length / Restriction on CP overhang load / speed setting 7 3 IX arm length / Reference for CP continuous operation duty Acceleration / deceleration (G).3.. % % 7% 3 Conveying load kg Conveying load mass (kg) CP operation maximum speed mm / sec Duty (%) Conveying load kg Conveying load -kg Conveying load mass (kg) Duty (%) Restriction on overhang load (mm) Acceleration / deceleration (G) -9 (Caution concerning arm length /) For acceleration / deceleration, to kg or less is regarded as speedoriented, when it is larger than kg, it is based on behavior and operation setting emphasis on continuous operation. In addition, it is 8% when it exceeds kg for 3% if it is less than kg for the continuous operation of the PTP operation speed. This is because the determination criterion of the PTP maximum speed function is changed by more than kg or less. Even if you set more than kg and 8%, basically it will not be faster than 3 kg setting of kg.

175 Reference for setting the speed of PowerCON SCARA IX When continuous operation is required, please operate within the graph range of acceleration / deceleration setting and duty cycle setting guide. PTP operation and acceleration / deceleration are applied assuming that the operable value is % depending on the carrying load (optimum speed optimum acceleration / deceleration function). Adjust so as to achieve the target speed and acceleration / deceleration. Caution The optimum speed and optimum acceleration / deceleration functions do not guarantee that they can operate with any motion pattern. If a significant vibration occurs, it will cause a failure and a decrease in the service life, so please use the speed and acceleration / deceleration rate as appropriate. PTP operation Acceleration / Deceleration / [%] 8 3 Conveying load mass [kg] PTP operation maximum speed % CP operation Please set the speed and acceleration / deceleration as the upper limit of the following graph. Caution If a significant vibration occurs, it will cause a failure and decrease of the service life, so be sure to use with the appropriate speed. IXP-3/N88, 8 IXP-3/ 3, IXP-3/, CP operation speed [mm / sec] Conveying load mass [kg] CP operation speed [mm / sec] Conveying load mass [kg] CP operation speed [mm / sec] Conveying load mass [kg] CP operation speed [mm / sec] Conveying load mass [kg] CP operation speed [mm / sec] Conveying load mass [kg] CP operation speed [mm / sec] Conveying load mass [kg] Duty cycle setting Duty cycle is the operation rate in% of time during which the robot is operating during one cycle. In order to suppress the heat generation of the motor unit and speed reducer in this robot, a duty cycle restriction is set according to the ambient temperature. For both PTP operation and CP operation, operate with the upper limit of the values in the graph below. Also, please set continuous operation for less than 3 minutes. Caution Since the life of the motor unit and reduction gear may be drastically lowered, operate at a duty cycle within the upper limit. IXP-3/N88, 8 IXP-3/ 3, IXP-3/, Duty [%] % % 3 Ambient temperature [ ] Duty [%] Ambient temperature [ ] Duty [%] With brake Without brake 3 Ambient temperature [ ] -9

176 General International unit system SI Excerpt from JIS Z 83 () International unit system (SI) and its usage. Scope This standard specifies how to use units in the International System of Units (SI) and international unit systems, as well as units used in conjunction with international unit systems and units that may be used together.. Terms and Definitions The main terms used in this standard and their definitions shall be as follows. () International System of Units (SI) Consistent unit system adopted and recommended at the International Association of Measurement and Measurement. It consists of basic units, ancillary units and assembly units assembled from them and their integer multiplier of ten. SI is an abbreviation for the international unit system. () SI unit A general term for basic units, auxiliary units and assembly units in the International Unit System (SI). - Basic unit The one shown in Table is the basic unit. - Auxiliary unit The one shown in Table shall be an auxiliary unit. - Assembled Unit The unit represented by an algebraic method (using multiplicative / divisional mathematical symbols) using the basic unit and auxiliary unit is an assembly unit. Assembly units with unique names are given in Table. Table. Basic unit Amount Name of unit Unit symbol Definition Length meters m The meter is the length of travel that the light travels through the vacuum in the time of 99,79,8 minutes. Mass kilogram kg Kilogram is a unit of mass (neither weight nor force), which is equal to the mass of the international kilogram prototype. Time Seconds s Current Ampere A Thermodynamic temperature Substance quantity Mol mol Luminous candela cd Table. Auxiliary unit Amount Name of unit Unit symbol Definition Plane angle radian rad Radian is a plane angle included between two radii cutting off an arc of a length equal to the length of its radius on the circumference of the circle. Solid angle steradian sr A steradian is a solid angle in which the center of the sphere is the vertex, and the area equal to the square area of the sphere is cut off on the surface of the sphere. Table 3. Examples of assembly units Amount Name of unit Unit symbol Area square meters m Volume cubic meter m 3 meter per second m/s Acceleration meter per second per second m/s Wave number per meter m - Density kilogram per cubic meter kg/m 3 Current density amperes per square meter A/m Magnetic field strength ampere meter per meter A/m (amount of substance) Concentration Mole per cubic meter mol/m 3 of substance Specific volume Cubic meters per kilogram m 3 /kg Luminance Candela per square meter cd/m -97 Seconds is the duration of 9, 9, 3, 77 cycles of radiation corresponding to the transition between the two hyperfine levels of the ground state of the cesium 33 atom. Ampere, a constant current that flows through each of the infinitely long two straight conductors that have an infinitely small circular cross-sectional area, placed parallel at a distance of meter in a vacuum, and each of these conductors exert a power of -7 newton per meter long. Kelvin K Kelvin is a 73. of the thermodynamic temperature of the triple point of water. Mol is the amount of substance in a system composed of a number of element particles or aggregates of element particles (limited to compositions whose composition is clarified) equal to the number of atoms present in. kilograms of carbon. Element particles are used by specifying an aggregate of element particles. Candela emits monochromatic radiation with a frequency of Hertz and the intensity in that direction of the light source whose radiation intensity in a given direction is 83 watts per steradian. Table. Assembly unit with unique name Amount Name of unit Unit A pair of cubic cubic or other assembly symbol units with basic or supplementary units frequency Hertz Hz Hz=s - Power Newton N N=kg m/s Pressure, stress Pascal Pa Pa=N/m Energy Work, calorie Joule J J= N m Power factor, power factor, power Watt W W=J/s Electric charge Coulomb C C= A s Potential Voltage Bolt V V=J/C Capacitance capacitance Farad F F=C/V Electric resistance Ohm Ω Ω=V/A Conductance Siemens S S=Ω - Magnetic flux Weber Wb Wb=V s Magnetic flux density Magnetic induction Tesla T T=Wb/m Inductance Henry H H=Wb/A Celsius temperature Celsius degree or degrees C t=t-to Luminous flux Lumen lm lm=cd sr Illuminance lux lx lx=lm/m

177 General 3. Integer multiplication of in SI unit () Prefix The multiples and the prefix names and the prefix symbols for constituting the integer multiple of in the SI unit are shown in Table. Table. Prefixes multiple prefix symbol multiple prefix symbol multiple prefix symbol. Handling of units not included in SI unit Units not included in SI are practically important, so the units shown in Table are used in conjunction with SI units. Table. Units used in conjunction with SI units. Other 8 Exa E Hecto h -9 Nano n Peta P Deca da - Pico p Peta T - Digi d - Femto f 9 Giga G - Centimeter c -8 Atto a Mega M -3 Milli m 3 Km k - Micro μ Amount Name of unit Unit symbol Definition Amount Name of unit Unit symbol Definition Time Table 7. Conversion table of main SI unit Minute min min=s Degree =(π/8)rad Hour h h=min Plane angle Minute =(/) Day d d=h Second =(/) Volume Liter l L l=7dm 3 Mass Ton t t= 3 kg Amount SI unit Weight unit (Units previously used) Weight unit SI unit SI unit dynamic unit Mass kg Weight (tons) t= 3 kg kg= 3 t Power Torque Pressure Stress Work, Thermal energy, Heat quantity, enthalpy, Electric energy Heat flow, power, electricity N (Newton) kg m/s N m (Newton meters) Pa (Pascal) N/m Pa (Pascal) N/m J(Joule) N m W (Watt) J/s kgf (weight kilogram) dyn (dyne) kgf=9.8 N dyn= - N N=. 97 kgf N= dyn kgf m kgf m=9.8 N m N m=. 97 kgf m kgf/cm mmaq(mmho) mmhg(torr) bar (bar) kgf/cm =9.8 Pa mmaq=9.8 Pa mmhg=33.3 Pa bar= Pa Pa= kgf/cm Pa=. 97mmAq Pa=7. - mmhg Pa= - bar kgf/mm kgf/mm =9.8 Pa Pa= kgf/mm kcal kgf m kw h kcal/h kgf m/s Ps (French horsepower, metric horsepower) kcal=.8 kj kgf m=9.8 J kw h=3. J kcal/h=.3w kgf m/s=9.8 W Ps=7.3 W kj=.39 kcal J=. 97 kgf m J=(/3.) - kw h W=.89 8 kcal/h W=. 97kgf m/s W=.39 - Ps Heat flow density W/m kcal/h m kcal/h m =.3W/m W/m =.89 8 kcal/h m Heat capacity J/K kcal/ kcal/ =.8 kj/k kj/k=.39 kcal/ Specific heat J/(kg K) kcal/kg kcal/kg =.8 kj/(kg K) kj/(kg K)=.39 kcal/kg Thermal conductivity J/kg kcal/kg kcal/kg=.8 kj/kg kj/kg=.39 kcal/kg Heat passage rate W/(m K) kcal/ h kcal/m h =.3W/(m K) W/(m K)=.89 8 kcal/m h Thermal conductivity W/(m K ) kcal/m h kcal/m h =.3W/(m K) W/(m K)=.89 8 kcal/m h Temperature K(Kelvin) (Celsius degree) T K =t +73. t =T K -73. [Remarks] () In this table, kcal may adopt the calorie method of weighing method. For international calories kcal =.8 8 kj. () Weight: kg (SI unit) = / 9.8 kgf s / m (unit of gravity) Weight: kg (f gravity unit) = 9.8 kg m = s ( SI units) Standard atmospheric pressure: 7 mmhg (gravity unit) = 3 Pa (SI unit) Japan frozen tones: 3 3 kcal / h (gravity unit) = 3.8 kw (SI unit) USA (country system) frozen tons: 3 kcal / h (gravity unit) = 3.7 kw (Sl unit) (3) In this manual, as a conventional unit, weighing [kgf] instead of weight [kg] is displayed. -98

178 Mechanical Illustration of geometric tolerances Excerpt from JIS b (998) Types of geometric tolerances and their symbols Types of tolerance Characteristic symbol Definition of tolerance zone Illustration and interpretation Straightness tolerance φt If the symbol φ is added before the tolerance value, the tolerance zone is regulated by the cylinder of the diameter t. φ.8 The actual (reproduced) axis of the cylinder to which the tolerance is applied must be within the cylindrical tolerance range of diameter.8. Flatness tolerance t The tolerance zone is regulated by parallel two planes that are separated by a distance t..8 The actual (reproduced) surface must be between two parallel planes separated by.8. Shape tolerance Roundness tolerance t In the symmetrical cross section, the tolerance zone is regulated by two coaxial circles..3 In any cross section of the cylinder and the surface of the cone, the actual (reproduced) radial line must be between two coaxial circles on the common plane, separated by a radius distance of.3. Cylindrical tolerance t The tolerance zone is regulated by two coaxial cylinders that are separated by a distance t.. The actual (reproduced) cylindrical surface must be between two coaxial cylinders which are separated by a radius distance of.. Line Contour Tolerance: Line contour tolerance not related to datum (ISO ) φt The tolerance zone is regulated by the two envelopes of each circle of diameter t and the centers of these circles lie on the line with theoretically exact geometric shape. R R. In each section that is parallel to the projection plane in the direction indicated, the actual (reproduced) contour line is. in diameter, and the center of those circles must be between the two envelopes of the circle located on the line with the ideal geometric shape. Surface Contour Tolerance: Surface contour tolerance not related to datum (ISO ) Sφt The tolerance zone is regulated by the two envelopes of each circle of diameter t and the centers of these circles lie on the line with theoretically exact geometric shape. SR. The actual (reproduced) surface must be between the enveloping surfaces of each sphere with a diameter of., the centers of which spheres lie on a surface with a theoretical exact geometric shape. The lines used in the definition column of the tolerance zone represent the following meanings. Thick solid line or broken line: Form Thick dash-dotted line: Datum Thin solid line or broken line: Tolerance area Thin dotted line: center line Thin two-dot chain line: Supplementary projection plane or section Thick, two-dot chain line: projection of feature on supplemental projection plane or section -99

179 t t Mechanical Types of tolerance Characteristic symbol Definition of tolerance zone. Parallelism tolerance of lines related to Datum straight line Illustration and interpretation Datum A Datum B The tolerance zone is regulated by parallel two planes that are separated by a distance t. The planes are parallel to the datum and are in the indicated direction. B A. A B The actual (reconstructed) axes must be separated by., parallel to datum axis A and between parallel two planes in the indicated direction. Parallelism tolerance φt If the symbol φ is added before the tolerance value, the tolerance zone is regulated by a cylinder of diameter t parallel to the datum. φ.3 A A The actual (reproduced) axis must be within the cylindrical tolerance range.3 in diameter parallel to the datum axis straight line A.. Parallelism tolerance of the line associated with the datum plane Datum B The tolerance zone is separated by a distance t and regulated by parallel two planes parallel to datum plane B. B. B The actual (reproduced) axes must be.apart and be between parallel two planes parallel to datum plane B.. Right angle tolerance of line related to datum axis line Attitude tolerance t The tolerance zone is separated by a distance t and regulated by parallel two planes parallel to datum plane B. A. A The actual (reproduced) axis must be. apart and be between parallel two planes perpendicular to datum axis line A. Square tolerance. Linear angle tolerance of the line relative to the datum plane φ t Datum A If the symbol φ is added before the tolerance value, the tolerance zone is regulated by a cylinder of diameter t perpendicular to the datum. A φ. A The actual (reproduced) axis of the cylinder must be within the cylindrical tolerance area of diameter. perpendicular to datum axis line A. Slope tolerance. Linear slope tolerance relative to datum plane t α Datum A The tolerance zone is separated by a distance t and regulated by parallel two planes inclined at a specified angle with respect to the datum.. Slope tolerance of the plane relative to datum plane.8 A A The actual (reproduced) axis should be perpendicular to datum A and datum B perpendicular to each other, theoretically exactly tilted with respect to datum plane A, and parallel two planes separated by.8. t α Datum A The tolerance zone is separated by a distance t and regulated by parallel two planes inclined at a specified angle with respect to the datum..8 A A The actual (reproduced) surface should be.8 apart and be between parallel two planes which are theoretically exactly inclined with respect to datum plane A. -

180 t t Mechanical Illustration of geometric tolerances Excerpt from JIS b (998) Types of geometric tolerances and their symbols Types of tolerance Characteristic symbol Definition of tolerance zone Illustration and interpretation. Line position angle tolerance Position angle tolerance Datum C φ t Datum A Datum B When the tolerance value is marked with the symbol φ, the tolerance zone is regulated by the cylinder of diameter t. Its axis is positioned with theoretically exact dimensions with respect to datum C, A and B. C φ.8 C A B A 3 B The actual (reconstructed) axis must be within the cylindrical tolerance area with a diameter of.8 whose axis is at theoretically exact position with respect to datum planes C, A and B. Position tolerance Concentricity tolerance and coaxiality toleranc φt φ t Datum A When the tolerance value is marked with the symbol φ, the tolerance zone is regulated by a circle of diameter t. The center of the circular tolerance zone matches Datum A When the tolerance value is marked with the symbol φ, the tolerance zone is regulated by a cylinder of diameter t. The axis of the cylindrical tolerance zone coincides with datum A. A A A φ A φ. A Side view φ.8 A-B B φ φ The actual (reproduced) center of the outer circle must be in a circle with diameter. concentric with datum circle A. The actual (reproduced) axis of the inner cylinder must be within the cylindrical tolerance range.8 in diameter coaxial to the common datum axis line A-B. Symmetry tolerance (Symmetry tolerance of center plane) t/ Tolerance zones are separated by t and are regulated by parallel two planes symmetrical about the datum with respect to the center plane. A.8 A The actual (reproduced) center plane must be between two parallel planes that are.8 symmetrical to the datum center plane A.. Circumferential runout tolerance - radial direction Form with tolerance Side view The tolerance zone is restricted within an arbitrary transverse plane perpendicular to the axis of two coaxial circles whose radius is t and coincides with the datum axis straight line. A. B A-B The actual (reproduced) circumferential deflection should be less than. in any cross section while making one revolution around the common datum axis line A - B. Circumferential deflection tolerance. Circumferential runout tolerance - axis direction Runout tolerance t Tolerance zone t The tolerance zone is restricted within an arbitrary transverse plane perpendicular to the axis of two coaxial circles whose radius is t and coincides with the datum axis straight line. D. D On the cylindrical axis coinciding with the datum axis straight line D, the actual (reproduced) line in the axial direction must be between two circles. away. Full runout tolerance: Total runout tolerance in the circumferential direction t The tolerance zone is separated by t and its axis is regulated by two coaxial cylinders matching the datum. A. B A-B The actual (reproduced) surface must be between the coaxial two cylinders with a radius difference of., whose axis coincides with the common datum axis line A-B. -

181 Mechanical Normal tolerance of machining size Excerpt from JIS B, B 9 (99) Normal tolerance. Tolerance to length dimension excluding chamfer Tolerance grade Symbol Description. or more* and less than 3 3 or more and less than or more and less than 3 * For reference dimensions less than. mm, tolerance is individually indicated following the reference dimension. Classification of reference dimensions 3 or more and less than or more and less than or more and less than or more and less than Unit: mm or more and less than tolerance f Precision ±. ±. ±. ±. ±. ±.3 ±. - m Intermediate level ±. ±. ±. ±.3 ±. ±.8 ±. ± c Coarse level ±. ±.3 ±. ±.8 ±. ± ±3 ± v Extremely coarse level - ±. ± ±. ±. ± ± ±8. Tolerance to length dimension of chamfered portion (Roundness of corner and chamfered dimension of corner) Tolerance grade Symbol f m c v Description Precision Intermediate level Coarse level Extremely coarse level Unit: mm Classification of reference dimensions. or more* and less than 3 3 or more and less than tolerance more than ±. ±. ± ±. ± ± 3. Angular dimension tolerance The division of the length (mm)of the shorter side of the Tolerance grade target angle Symbol Description less than or more and less than or more and less than tolerance or more and less than more than f Precision m Intermediate ± ±3' ±' ±' ±' level c Coarse level ± 3' ± ±3' ±' ±' v Extremely coarse level ±3 ± ± ±3' ±' * For reference dimensions less than. mm, tolerance is individually indicated following the reference dimension.. Normal tolerance of straight angle Classification of shorter side nominal length Tolerance grade less than or more and less than 3 3 or more and less than Unit: mm or more and less than 3 Straight angle tolerance H..3.. K...8 L... Normal tolerance of circumferential deflection Unit: mm Tolerance grade Tolerance of circumferential deflection H. K. L.. Normal tolerance of straightness and flatness Tolerance grade less than or more and less than 3 Classification of nominal length 3 or more and less than or more and less than 3 3 or more and less than Unit: mm or more and less than 3 Straightness tolerance and flatness tolerance H K L

182 Mechanical Quantity symbol Unit symbol Name and symbol of chemical element Excerpt from JIS Z8 Name and symbol of chemical element Atomic number [Remarks] Element name Element symbol Atomic number Element name Element symbol Atomic number Element name Hydrogen H 3 Krypton Kr 7 Lutetium Lu Helium He 37 Rubidium Rb 7 Hafnium Hf 3 Lithium Li 38 Strontium Sr 73 Tantalum Ta Beryllium Be 39 Yttrium Y 7 Tungsten W Boron B Zirconium Zr 7 Rhenium Re Carbon C Niobium Nb 7 Osmium Os 7 Nitrogen N Molybdenum Mo 77 Iridium Ir 8 Oxygen O 3 technetium Tc 78 Platinum Pt 9 Fluorine F ruthenium R 79 Gold Au Neon Ne rhodium Rh 8 Mercury Hg Sodium Na palladium Pd 8 Thallium Tl Magnesium Mg 7 Silver Ag 8 Lead Pb 3 Aluminum Al 8 Cadmium Cd 83 Bismuth Bi Silicon Si 9 indium In 8 rhenium Po Rin P tin Sn 8 astatine At Sulfur S Antimony Sb 8 Radon Rn 7 Chlorine Cl Tellurium T 87 francium Fr 8 Argon Ar 3 Iodine I 88 Radium Ra 9 Potassium K Xenon Xe 89 Actinium Ac Calcium Ca Cesium Cs 9 Thorium Th Scandium Sc Barium Ba 9 Protactinium Pa Titanium Ti 7 Lanthanum La 9 Uranium U 3 Pana V 8 Cerium Ce 93 Neptunium Np Chromium Cr 9 Praseodymium Pr 9 Plutonium Pu Manganese Mn Neodymium Nd 9 Americium Am Iron Fe Promethium Pm 9 Curium Cm 7 Cobalt Co Samarium Sm 97 Berklium Bk 8 Nickel Ni 3 Eurobium Eu 98 Californium Cf 9 Copper Cu Gadolinium Gd 99 Einsteinium Es 3 Zinc Zn Terbium Tb Fermium Fm 3 Gallium Ga Dysprosium Dy Mendelebium Md 3 Germanium Ge 7 Holmium Ho Nobelium No 33 Arsenic As 8 Erbium Er 3 Laurenzium Lr 3 Selenium Se 9 Thulium Tm 3 Bromine Br 7 Ytterbium Yb Element symbol This table shows Appendix A (element names and symbols) of ISO 3 / 8-98 (Amount and unit of physicochemical and molecular physics) and Annex C (radioactivity (quantity and unit of atomic physics and nuclear physics) of ISO 3 / 9-98 Nuclide name and symbol). Quantity symbol Unit symbol uppercase letter Lower case How to Read Usual use [Remarks] Lowercase letters except upper case letters -3 uppercase letter Α α Alpha angle, coefficient Ο ο Omicron Β β Beta Angle, factor Γ γ Gamma Δ δ Delta angle, unit area weight (capital letters) product sign Micro change, density, displacement Lower case How to Read Usual use Π π pie Pi pi (3.9...), Angle (uppercase) product sign Ρ ρ Low Radius, density Ε ε Epsilon Small amount, strain Stress, standard deviation, Σ σ Sigma Ζ ζ Geeta Variable (uppercase) Sum of the number Η η Eta Variable Τ τ Tau Time constant, time, torque Θ θ Theta Angle, temperature, time Υ υ Epsilon Ι ι Eota Φ φ File Angle, function, diameter Κ κ Kappa Turning radius Χ χ Kai Λ λ Lambda Wavelength, Eigenvalue Ψ ψ Psi Angle, relationship Μ μ Mu Ν ν New frequency Ξ ξ Qsai Variable coefficient of friction - (micro) Ω ω Omega angular velocity = π f (capital letters) Ohm = electrical resistance unit

183 Mechanical Method of calculating properties / volume / weight of metal material Properties of metallic materials Material Specific gravity Coefficient of thermal expansion Longitudinal elastic modulus / N/mm {kgf/mm } Mild steel {} NAK {} SKD {} SKD {} SKH {3} Carbide V3. 88 {} Carbide V {} Cast iron ~.8 73 ~ 9 {7 ~ } SUS {97} SUSC {} Oxygen free copper C {7} / brass {3} Beryllium copper C {3} Aluminum A {9} Duralumin A {7} Titanium {} How to calculate volume Solid Volume V Solid Volume V Solid Volume V Solid Volume V Truncated cylinder h h d h π V = d h = ( ) π h + h d b Ellipsoidal ring a d π a + b V = d Sphere h r V = π r h 3 =.9r h h Spherical zone b a πh V = (3a + 3b + h ) Pyramid h h V = A = arn 3 a h A = Base area r = Radius of inscribed circle a = Length of side of regular polygon n = Number of sides of a regular polygon l, Crossover Cylinder l d π d V = d ( l + l - ) 3 d Torus V =π Rr D rr =9.739Rr π = Dd =.7Dd Barrel shape d D l When the circumference forms a curvature equal to an arc πl V = (D + d ) When the circumference forms a curvature equal to a parabola V =.9L (D Dd + /d ) h Ball crown π h V = (3r - h) 3 r a π h = (3a + h ) a is the radius Hollow cylinder (pipe) d D t h π V = h ( D - d ) =π th (D - t) =πth (d+t) Conical r h V = π r h 3 =.7r h Ellipsoid V = π abc 3 Spheroid Truncated pyramid h V = (A+ a+ Aa ) 3 Ball r V = πr 3 =.888r 3 3 a c b V = π ab 3 h A,a=Area of both end faces d π = d 3 =.3d 3 Weight calculation method Weight W [g] = Volume [cm 3 ] Specific Gravity [Example] Material: mild steel D = φ Weight of mm is L W = π - D L specific gravity D π = [g] -

184 Mechanical Second moment of cross-section, other calculation method Correlation table of Cross-sectional shape and cross-sectional area, Secondary moment of area, Section modulus and rotational radius. Shape area of cross section Cross section A Distance from the neutral axis to the farthest position e Sectional moment of inertia I Section modulus Z= I e Turning radius p= I A a a e a a a 3 a 3 3 a =.77a 3 a b a b e a +b a -b a -b a -b a a =.89 a +b d b e bd d bd 3 bd d =.89d d h b k e bd-hk bd 3 -hk 3 bd 3 -hk 3 d d =.89 bd 3 -hk 3 (bd -hk) bd 3 -hk 3 bd-hk d b e bd 3 d bd 3 3 bd d =.3d 8 d b e bd d bd 3 bd a =.8d d e 3d tan3 =.8d d A =.d d (+cos 3 ) cos 3 d (+cos 3 ) 8cos 3 =.d d e 3d tan3 =.8d d cos3 =.77d A =.d d (+cos 3 ) cos 3 A d(+cos 3 ) cos 3 =.d3 d (+cos 3 ) 8cos 3 =.d d e πd d =.78d πd =.9d πd 3 3 =.98d 3 d D d e π(d -d ) =.78(D -d ) d π(d -d ) =.9(D -d ) π(d -d ) 3D D -d =.98 D D -d a e πab=3.ab a πa 3 b =.78a 3 b πa b =.78a b a b e n l a t h s d dt+a(s+n) b - d I = bd 3 - (h g -l ) ただし g= つばのこう配 d bd 3 - (h g -l ) bd 3 - (h g - dt+a(s+n)

185 Mechanical Foundation of Fit Selection Extract of JIS usage series drafting manual (Accuracy) Standard of Fit selection H H7 H8 H9 Applicable part Functional classification Application example Relaxation c9 Especially, there may be a large gap, or a moving part that needs a gap. A part that can increase the gap to make assembly easier. A part that needs an appropriate gap even at high temperature. A part requiring a large gap in terms of function. (Expands, position error is large.) (The fitting length is long.) Fitting of piston ring and ring groove loose stop pin Parts are moved relatively Clearance Light rotation Rotation f d9 d9 There is a large clearance, or a part that needs a gap. e7 e8 e9 f7 f7 f8 There is a slightly large gap, or a moving part that needs a gap. Slightly large clearance, bearing part with good lubrication. High temperature, high speed, high load bearing part (advanced forced lubrication). There is a suitable clearance and fit can be exercised (fine fit). General temperature room bearing part for grease and oil lubrication. Try to lower the cost. (Production cost) (Maintenance cost) General rotation or sliding parts. (Good lubrication is required) A normal fit part. (Often decomposed) Crank web and pin bearing (side) Exhaust valve casing and splash ring slide piston ring and ring groove Fitting of exhaust valve seat Main bearing for crankshaft General sliding section Cooling type exhaust valve valve box insertion part General axis and bush Link device lever and bushing Rerotation g g Continuous rotating part of light load precision equipment. A fit that allows for small gap movement (spikot, positioning). Precise sliding part. Part that requires precise exercise without rattling. Link device pin and lever Key and key groove Precise control valve stem Sliding h h h7 h8 h9 If you use a lubricant you can move by hand (fitting in fine quality). Particularly precise sliding parts. A static part that is not important. Fits the rim and the boss Fitting of a gear of a precise gear device Parts cannot be moved relatively Intermediate fit Driving Driving Light press fitting Press fitting h h js k m n n js k m n p There is a slight interference in the mounting part. High precision positioning that prevents mutual movement during use. Fit to the extent that it can stand and disassemble with trees and lead hammers. Fitting to the extent of using iron hammer / hand press for assembly / disassembly (keys and others are necessary to prevent rotation axis between parts). High precision positioning. Assembly / disassembly is the same as above. High precision positioning where little clearance is not allowed. It requires considerable force to assemble and disassemble. High precision fixed mounting (Key and others are necessary for transmission of large torque). Fitting that requires a large force for assembly / disassembly (key and others are required for transmission of large torque). However, in the case of non-ferrous components, the press-fitting force is lightly pressed. Standard press fitting fixation of iron and iron, bronze and copper. It can disassemble and assemble without damaging parts. It is impossible to transmit force only by the fitting force of fitting. It can be transmitted by the coupling force of small fitting force. Fitting between joint flanges Governor way and pin Fitting of gear rim and boss Fastening of gear pump shaft and casing Reamer bolt Reamer bolt Hydraulic equipment Piston and shaft fixing Fitting of fitting flange and shaft Flexible coupling and gear (passive side) High accuracy fit Intake valve, valve guide insertion Intake valve, valve guide insertion Fixing the gear and shaft (small torque) Flexible joint shaft and gear (drive side) Interference fit Strong press fitting, sintering fitting, cold fitting p r r s t u x Assembly / disassembly is the same as above. For large-size parts, sintering, cold fitting, strong press fitting. It is firmly fixed to each other, and the assembly requires sintering, cold fitting, and strong press fitting. It will be a permanent assembly without disassembly. In the case of a light alloy, it is press fit. It is difficult to disassemble without damaging parts. A considerable force can be transmitted by the fitting force of the fitting. Fitting and shaft Inserting and fixing of bearing bush Inlet valve, insertion of valve seat Fitting flange and shaft fixing (large torque) Fastening of drive gear rim and boss Bearing bush fixed in -

186 Mechanical Dimensional tolerance of used in many fit holes Extracted from JIS B (998) Correlation table of standard dimension classification and hole tolerance area class Classification of reference dimensions (mm) Tolerance range class of holes Over Below B C9 C D8 D9 D E7 E8 E9 F F7 F8 G G7 H H7 H8 H9 H Remarks For each table, the upper side shows the upper dimensional tolerance and the lower side shows the lower dimensional tolerance. -7

187 Mechanical Units: μm Classification of reference dimensions (mm) Tolerance range class of holes Over Below JS JS7 K K7 M M7 N N7 P P7 R7 S7 T7 U7 X7-3 ±3 ± ± ± ±. ± ±. ± ±. ± ±8 ± ±9. ± ± ± ±. ± ±. ± ± ± ±8 ± ± ±

188 Mechanical Dimensional tolerance of used in many fit holes Extracted from JIS B (998) Correlation table of standard dimension classification and hole tolerance area class Classification of reference dimensions (mm) Tolerance range class of holes Over Below b9 c9 d8 d9 e7 e8 e9 f f7 f8 g g h h h7 h8 h Remarks For each table, the upper side shows the upper dimensional tolerance and the lower side shows the lower dimensional tolerance. -9

189 Mechanical Units: μm Classification of reference dimensions (mm) Tolerance range class of holes Over Below js js js7 k k m m n p r s t u x - 3 ± ±3 ± ±. ± ± ±3 ±. ± ± ±. ± ±. ±. ± ±. ±8 ± ±. ±9. ± ±7. ± ± ±9 ±. ± ± ±. ± ±. ± ± ±. ±8 ± ±3. ± ±

190 Mechanical Surface roughness Extracted from JIS B (99), JIS B3 (99) Types of Surface Roughness Parameters representing the surface roughness of industrial products are defined as arithmetic average roughness (Ra), maximum height (Ry), ten-point mean roughness (Rz), average irregularities spacing (Sm), mean spacing of local peaks (S), and load length rate (tp). The surface roughness is the arithmetic mean value of each part randomly extracted from the surface of the object. [Center line average roughness (Ra7) is defined in the appendix of JIS B 3 JIS B.] How to obtain representative surface roughness Arithmetic average roughness Ra Y m l Ra= f( l χ) dχ Extract only the reference length from the roughness curve in the direction of the average line and set the X axis in the direction of the average line of the extracted portion and the Y axis in the direction of the longitudinal magnification. Refers to a value obtained by the following equation expressed in micrometers (μm) when a roughness curve is expressed by y = f (χ). Ra l X Maximum height Ry l From the roughness curve, extract only the reference length in the direction of the average line, measure the interval between the summit line and the valley line of this extracted portion in the direction of the longitudinal magnification of the roughness curve. Rp Ry m Remarks In the case of obtaining Ry, it extracts the reference length only from the portion which is out of the ordinary and which has no high mountain and low valley which is regarded as a flaw. Ry= Rp+ Rv Rv Ten point average roughness Rz Extract only the reference length from the roughness curve in the direction of the average line. The average value of the absolute values of the altitudes (Yp) of the mountain peaks from the highest peak to the fifth highest measured from the average line of the extracted portion in the direction of the longitudinal magnification and the average value of the altitudes of the valleys at the lowest valley bottom (Yv), and the average of the absolute values of the absolute values. This value is expressed in micrometers (μm). Yp YV Yp YV Yp3 Yp+ Yp+ Yp3+ Yp + Yp + Yv+ Yv + Yv3+ Yv+ Yv Rz = Yp Yp Yp3 Yp Yp The elevation of the summit from the highest mountain peak to the fifth highest peak in the sampling length with respect to the reference length l Yv Yv Yv3 Yv Yv The elevation of the summit from the lowest mountain peak to the fifth lowest peak in the sampling length with respect to the reference length l l YV3 Yp YV Yp YV m Reference Standard sequence..... a a a a a Relation between arithmetic average roughness (Ra) and conventional notation Arithmetic average roughness Ra Maximum height Ry Ten point average roughness Rz Cutoff value entered c (mm) Illustration of surface skin Standard sequence.8. s. z.. s. z. ~.. s. z. s. z.8 s.8 z Reference length of Ry Rz l (mm).8. Conventional standard sequence..8. a a a.8. ~ s s s z z z a a. 3. ~.3. s s. z z.. a a a a 8. ~ - ~ s s s s z z z z 8 - * The three kinds of mutual relations represent relationships for convenience and are not strict. * Ra: The evaluation length of Ry, Rz is a value obtained by multiplying the cutoff value and the reference length by respectively. -

191 Mechanical Diagrammatic representation of plane surface Extracted from JIS B3 (99) The position of each instruction symbol with respect to the instruction symbol in the figure Instruction marks related to the skin of the face are obtained by placing the value of the surface roughness, the cutoff value or the reference length, the processing method, the mark of the line direction, the surface waviness and the like at the position shown in FIG. Represent Fig. Input position of each instruction symbol a c e d g Reference In the reference e in Fig., the finishing fee is to be filled in ISO 3. e d b f c g a: Value of Ra b: Processing method c: cutoff value evaluation length c ': Reference length / evaluation length d: Symbol of line direction f: Parameters other than Ra (parameter / disconnection level when tp) g: Surface waviness (according to JIS B ) Remarks Please fill in as necessary except for a or f. Symbol Description Illustration drawing The direction of the stitch of the cutter by processing is parallel to the projection plane of the figure filled with the symbol Illustrated example of skin of the face Surface texture symbol Example Shaped surface Direction of blade stitch Texture symbol for surface requiring removal processing texture symbol The direction of the stitch of the cutter by machining is perpendicular to the projection plane of the drawing in which the symbol is written Example Shaped surface (state viewed from the side) Turning, cylindrical grinding surface The direction of the stitch of the knife by machining diagonally crosses in two directions on the projection plane of the figure in which the symbol is written Example Honing surface Direction of blade stitch Direction of blade stitch Texture symbol for surface that does not allow removal processing An example indicating the upper limit of Ra (a) (b) (c).3 Cutting stitch of the cutter by processing intersects or diverges in many directions Example Lapped surface, superfinished surface, Front-face milling with cross-feed, or end mill cutting surface.3 An example of instructing the line direction The stitch of the cutter by machining is almost concentric with the center of the face on which the symbol is written An example showing the upper and lower limits of Ra (a) (b) Example Surface ground surface Approximately radial shape of the blade stitch by machining against the center of the face on which the symbol is written Example of instructing processing method (a) (b) Milling M

192 Mechanical Metric coarse thread Extracted from JIS B (997) (Previous standard) Metric coarse thread reference chevron, official and standard dimensions H 8 H H H H H 3 3 Male thread P Female thread d or D d or D d or D H =.8P d = d-.99p D = d H =.P d = d-.83p D = d D = d 9 Thread axis Thread type* column column 3 column M M. M. M M. M3 M M M M8 M M M M M M3 M3 M M8 M M Pitch P. M... M..3.3 M.8.3. M.... M3...7 M..7.8 M7. M9.. M..7 M M8.. M. 3 M M33 3. M39. M. M. M. M8 * Select the column preferentially, if necessary, in the nd and 3rd columns. -3 Height of snag H Female thread Diameter of valley D Effective diameter D Inner diameter D Male thread Outer diameter d Effective diameter D Diameter of valley d Unit: mm

193 Mechanical Metric fine thread Extracted from JIS B7 (98) (Previous standard) Metric fine thread standard chevron, official and standard dimensions H H H 8 H H H 3 3 Male thread P Female thread d or D d or D d or D H =.8P d = d -.99P D = d H =.P d = d -.83P D = d D = d 9 Thread axis Unit: mm Female thread Thread type Pitch P Height of snag H Diameter of valley D Effective diameter D Inner diameter D Male thread M. M.. M.. M.. M.. M.8. M. M.. M..3 M3.3 M3..3 M. M.. M. M.. M.7 M7.7 M8 M8.7 M9 M9.7 M. M M.7 M M.7 M. M. M M. M. M M. M M. M M7. M7 M8 M8. M8 M M. M M M. M M M. M Outer diameter d Effective diameter d Diameter of valley d

194 Mechanical Unified coarse thread/fine thread Extracted from JIS B (973), JIS B8 (973) Unified coarse / fine thread standard chevron, official and standard dimensions H H H 8 H 3 3 Female thread H =. n H =.8. n H =. n. d = (d). d = ( d-.99 n ). D = d D = d H H Male thread n:.mm of Thread height d = ( d-.83 n ). D = d P d or D d or D d or D Unified coarse thread Thread type* (reference) No. - UNC No. - UNC No. - UNC No. - 3 UNC No. 8-3 UNC No. - UNC / - UNC / - 8 UNC 3 /8 - UNC 7 / - UNC / - 3 UNC 9 / - UNC /8 - UNC 3 / - UNC 7 /8-9 UNC - 8 UNC /8-7 UNC /8-7 UNC No. - UNC No. 3-8 UNC No.- UNC.73- UNC.8- UNC.99-8 UNC.- UNC.- UNC.38-3 UNC.-3 UNC.9- UNC.- UNC.- UNC.3-8 UNC.37- UNC.37- UNC.-3 UNC.- UNC.- UNC.7- UNC.87-9 UNC.- 8 UNC.- 7 UNC.- 7 UNC Number of threads (Per. mm) n Pitch P (reference) Height of snag H * Select the column preferentially, if necessary, in the nd.in the reference column, the designation of the screw is shown in decimal form Female thread Diameter of valley D Effective diameter D Inner diameter D Male thread Outer diameter d Effective diameter d Diameter of valley d Unit: mm Unified fine thread No. - 8 UNF No. - UNF No. - 8 UNF No. - UNF No. - UNF No. 8-3 UNF No. - 3 UNF / - 8 UNF / - UNF 3 /8 - UNF 7 / - UNF / - UNF 9 / - 8 UNF /8-8 UNF 3 / - UNF 7 /8 - UNF - UNF /8 - UNF No. -7 UNF No. 3- UNF No.-8 UNF.-8 UNF.73-7 UNF.8- UNF.99- UNF.-8 UNF.- UNF.38- UNF.-3 UNF.9-3 UNF.-8 UNF.-8 UNF.3- UNF.37- UNF.37- UNF.- UNF.-8 UNF.-8 UNF.7- UNF.87- UNF.- UNF.- UNF * Select the column preferentially, if necessary, in the nd.in the reference column, the designation of the screw is shown in decimal form Unit: mm

195 Mechanical Parallel thread for pipe Extracted from JIS B (999) Standard chevron shape of parallel threads for pipes, official and standard dimensions H H h H H H r Male thread P Female thread r d or D d or D d or D P =. n H =.99 P h =.37 P r =.3739 P d = d-h d = d-h D = d D = d 9 Thread axis Unit: mm Thread type Number of threads (Per. mm) n Pitch P (reference) Thread height h Round of peaks and valleys of mountains r Male thread Outer diameter d Effective diameter d Diameter of valley d Female thread Diameter of valley D Effective diameter D Inner diameter D G / G /8 G / G 3 / G / G /8 G 3 / G 7 /8 G G / G / G / G 3 / G G / G / G 3 / G3 G3 / G G / G G / G

196 r r Mechanical Taper thread for pipe Extracted from JIS B3 (999) Standard chevron shape of pipe taper thread, official and standard size Standard chevron applicable to taper male thread and taper female thread Fitting of taper thread with tapered female thread or parallel female thread Parallel female thread h h h H H h H h 7. h 7. r r The thick solid line indicates the reference mountain shape. L' D D D ねじの軸線 9 P P Thread axis 9. P = n H =.9 37 P h =. 37 P r = P Tapered female thread L D D D Position of reference diameter H' Standard chevrons to be applied to parallel internal threads Tapered female thread D D h r' H' t D H' h h h H' 7. H' h h H' 9 ねじの軸線 Thread axis P 7. r' 9 r' 7. P D 7. D r' D D D D The thick solid line indicates the reference mountain shape. P =. n H' =.9 9 P h =. 37 P r' = P d a d d f Tapered male thread * Thread type R / R /8 R / R 3 /8 R / R 3 / R R / R / R R / R3 R R R Number of threads (Per. mm) n Pitch P (reference) ねじ山 Reference diameter Position of reference diameter Female Male thread Male thread thread Mountain Height h Roundness r or r ' Outer diameter d Diameter of valley D Effective diameter d Female thread Effective diameter D Diameter of valley d Inner diameter D From the pipe end Length of reference a Axis direction Tolerance b Tolerance of D, D and D of parallel internal thread Effective thread length (minimum) Male Female thread thread * This is for taper threads. For tapered female threads and parallel female threads, let R be R or RP. * The length of the tapered screw from the position of the reference diameter toward the smaller diameter side, and the parallel female thread length from the end of the pipe or pipe joint ±.9 ±.9 ±.3 ±.3 ±.8 ±.8 ±.3 ±.3 ±.3 ±.3 ±3. ±3. ±3. ±3. ±3. Pipe end Axis direction Tolerance c ±.3 ±.3 ±.7 ±.7 ±.7 ±.7 ±.89 ±.89 ±.89 ±.89 ±3. ±3. ±3. ±3. ±3. ±.7 ±.7 ±. ±. ±. ±. ±.8 ±.8 ±.8 ±.8 ±. ±. ±. ±. ±. From the position of the reference diameter toward the larger diameter side, f When there is an incomplete thread portion Taper female thread From the position of the reference diameter toward the smaller diameter side, l Parallel female thread From the pipe or pipe joint end l' When there is no incomplete thread Taper female thread, Parallel female thread * t Dimensions of carbon steel pipe for piping (reference) Outline Unit: mm Thickness

197 Mechanical Hardness conversion table SAE J7 * Revised in 983 Approximate conversion value for steel Rockwell C hardness () (HRC) Rockwell C scale hardness Note (HV) Vickers hardness Brinell hardness (HB) mm ball Load 3 kgf Standard ball Tungsten Carbide ball (HRA) A scale Load kgf Diamond conical indenter Rockwell hardness (3) (HRB) B scale Load kgf Diameter. mm (/ in) ball (HRD) D scale Load kgf Diamond conical indenter Rockwell Super Superficial Hardness Diamond conical indenter -N scale load kgf 3-N scale load 3 kgf -N scale load kgf (Hs) Shore hardness Tensile strength (approximate value) MPa (kgf/mm ) () (739) (7) (7) (88) (7) () (3) () () (99) 3 () (9) 8 (87) (8) 3 (7) (79) 9 98 () (73) (7) () () () () () (3) (3) (7) () () (8) (9.) () (8.) () (8.) (8) (7.) () (7.) () (.) () (.) (97) (.) (9) (.) (93) (3.) (9) (.) (88) (.) (8) 7 7. (.) (8) (8) (8) (79) (77) (8) (7) (8) () (7) () () (9) () () () () () (3) () (8) () (8) () (9) () () () () () () () () (3) () () Blue numbers are based on ASTM E Table (SAE, ASM, ASTM jointly adjusted). () Units and numerical values shown with parentheses () are converted from psi by JIS Z 83 and Z 838 conversion tables. Note that MPa = N / mm (3) Parentheses in the table Numbers in parentheses () are those which are not used much and are shown as reference. Rockwell C scale hardness (3) -8

198 Mechanical Hexagon socket headed bolt Extracted from JIS B 77 () Correlation table of classification of reference dimension and tolerance range class of axis. Dimensions of each part ) t Make it a chamfer. However, M or lower may be over. W Conical bottom d ) t W i n i n The hexagonal hole may be internally removed. S e ( M B F d k F d k V k da ds ls lg F d w b (reference) Rounded or chamfered head L Rounded Incomplete threaded part (P or less) Round or chamfered head f f (maximum) =.7 r (maximum) da (maximum) - ds (maximum) r (Max) = r r (Min) = Depends on the value of attached table. r ( M B Bottom V B (Max) r Chamfer da ds Thread type(d) M3 M M M M8 M M (M) M (M8) M (M) M (M7) M3 Screw Pitch (P) b Reference Maximum (reference dimension)* dk Maximum** Minimum da Maximum ds Maximum (reference dimension) Minimum e Minimum f Maximum k Maximum (reference dimension) Minimum r Minimum Type (standard dimension) s Minimum Maximum st column nd column t Minimum v Maximum dw Minimum w Minimum Note() The first column of s (maximum) is applied to those of strength classes 8.8 and.9 and those of property class A-, A-7, and the second column is applied to those of intensity class.9. However, according to the agreement between the delivering parties, one column can be applied to those with an intensity class of.9. In addition, s (maximum) of screw nominal M or more is applied to all strength classifications and property classifications. Note() Do not use screw brackets with parentheses as much as possible. Remarks. On the side of the head, attach a knurl or a knurled knurl [see JIS B 9 (knurled eye)]. In this case, dk (maximum) shall be the value of the ** mark shown in this table. Also, if you need something without knurling, the ordering person specifies. However, its dk (maximum) shall be the value of * indicated in this table.. Recommended nominal length (l) for screw calls shall be within the bold frame. If l is shorter than the position indicated by the dotted line, all threads shall be used, and the incomplete thread length at the neck lower portion shall be about 3P. 3. lg (maximum) and ls (minimum) for those whose nominal length (l) is longer than the position indicated by the dotted line are given by the following expressions. lg (max) = call length (l) - b ls (minimum) = lg (maximum) - P Reference: Dimensions of the hole and bolt holes for hexagon-slotted bolts Unit: mm Thread type(d) M3 M M M M8 M M M M M8 M M M M7 M3 DV DV ds dk dk d' dk ds ds dv dv D' d d K H' d d H" d HV k k H" Unit: mm

199 Mechanical. L and ls and lg of hexagon socket head bolts Thread type (d) M3 M M M M8 M M (M) M (M8) M (M) M (M7) M3 L ls min andlg max Unit: mm Length min max ls min lg min ls min lg min ls min lg min ls min lg min ls min lg min ls min lg min ls min lg min ls min lg min ls min lg min ls min lg min ls min lg min ls min lg min ls min lg min ls min lg min ls min lg min

200 Mechanical Hexagon socket set screw Extracted from JIS B77 (7) Shape and dimensions of hexagon socket set screw (dent tip) 9 or a) approximately b) t d t e φdf φdz approximately s Conical bottom Rustling bottom Shape and dimensions of hexagon socket set screw (indentation tip) L Incomplete threaded part (P or less) Thread type (d) M. M M. M3 M M M M8 M M M M M P c) dz Maximum Minimum df Diameter of approximately the bottom of the screw e d),e) Minimum Type s Maximum Minimum f) t Minimum g) L (reference) Approximate mass per pieces, unitkg (Density: 7.8kg/dm 3 ) Length Minimum Maximum NOTE The recommended nominal length shall be within the thick line frame. a) If the nominal length L is shown in the stepwise shading shown in the table above, bear the chamfer of. b) An angle of about applies to the slope below the diameter of the valley of the external thread. c) P is the screw pitch. d) emin =. s min e) Gauge inspection of e and s is according to JIS B. f) Apply to shaded nominal threads. g) Applicable to nominal length screws not shaded. Unit: mm -

201 Hexagon bolt Extracted from JIS B8 (999) Shape and dimensions of hexagon bolt (part class A) Mechanical s e ~ 3 C k X part φd s l s l g L d (b) Enlarged view of X part Chamfer destination. However, M or less is possible even with a rough tip. (See JIS B 3) Incomplete threaded part P or less dw Determination position of minimum dimension k k l f r r φda. The part with the slope shows the maximum and minimum ranges of the fillet of the neck. φdw φds Unit: mm Coarse thread I column M M3 M M M M8 M M - M M M II column M Coarse pitch P Fine thread I column M8 M M. - M. M. M II column M. M. M. - M - L mm <L mm c Minimum Maximum da Maximum ds Reference dimension = maximum 3 8 Minimum dw Minimum * e Minimum lf Maximum Reference dimension = Type k Minimum Maximum k' Minimum r Minimum s Reference dimension = maximum Minimum Bolt length (L) ls and lg Minimum Maximum ls lg ls lg ls lg ls lg ls lg ls lg ls lg ls lg ls lg ls lg ls lg ls lg Minimum Maximum Minimum Maximum Minimum Maximum Minimum Maximum Minimum Maximum Minimum Maximum Minimum Maximum Minimum Maximum Minimum Maximum Minimum Maximum Minimum Maximum Minimum Maximum Thread type (d) b (reference) Nominal length (Reference dimension) Remarks. The name of the thread shall be given priority in column. The way of expressing the call of the thread is according to JIS B 3.. Recommended nominal length (L) for screw calls shall be within the bold frame. 3. The tolerance of the screw length (b) of the bolt which is longer than the maximum nominal length in the heavy line frame depends on the agreement between the delivering parties, but it is better in accordance with JIS B.. lg maximum and ls minimum are as follows. lg maximum = nominal length (L) - b, ls minimum = lg maximum - P (P = coarse pitch). The values of da and r specified in this table are in accordance with JIS B.. The "chamfered destination" and "roughness" of the thread tip shape shall conform to JIS B The numerical values marked with * in the table are the values obtained by correcting the errors of the corresponding international standards. * Hexagon bolt, hexagonal nut M and M which are currently circulating are also equipped by Old JIS. -

202 Mechanical Hexagon nut Extracted from JIS B8 (99) Hexagon nut. Shape and dimensions of hexagonal nut style Ⅰ(part grade A) d s Both chamfer e 9 ~ Reference φda ~ 3 m φdw m m Seated c φdw m Thread type (d) M M3 M M M M8 M M (M) M Pitch Reference (P) c Maximum Minimum da Minimum (reference dimension) 3 8 Maximum dw Minimum e Minimum m Maximum (reference dimension) Minimum m* Minimum s Maximum (reference dimension) Minimum Unit: mm. Shape and dimensions of hexagon nut style Ⅱ (part grade A) d s Both chamfer e 9 ~ Reference φda ~ 3 m φdw m m Seated C φ dw m Thread type (d) M M M8 M M (M) M Pitch Reference (P) c Maximum Minimum da Minimum (reference dimension) 8 Maximum dw Minimum e Minimum m Maximum (reference dimension) Minimum m* Minimum s Maximum (reference dimension) Minimum Remarks. Do not use screw bracketed with parentheses.. The shape of the nut shall be double sided unless otherwise specified and the seating is as specified by the orderer. Chamfering of the threaded portion of the seat is similar to "double side removal". * Hexagon bolt, hexagonal nut M and M which are currently circulating are also equipped by Old JIS. Unit: mm -3

203 Split pin Extracted from JIS B3 (987) Shape and size of split pin Mechanical b l a a d c (Pixie tip) (Flat tip) Applicable bolt and pin diameter Remarks d c Diameter type Base dimension Tolerance -. Base dimension Tolerance b approximately a approximately Bolt Clevis pin -. Over Below Over Below Pin hole diameter (Remarks) l ±. ±. ±. ±. ±.8 ±.8 ±.8. Nominal diameter depends on pin hole diameter.. d is a value between the tip and L /. 3. The shape of the tip may be either a tip or a flat tip. Please specify if you need one of them.. The length (L) is within the frame of the bold line, and the numerical value within the frame indicates the tolerance. However, in the case where r other than this table is particularly required, r specify the type.. The head should not lean significantly from the axis ± ± ±. -. ±. -.9 ± -. ± - 3. ± ± Unit: mm -.8 ±

204 Mechanical C type snap ring Extracted from JIS B8 () C type snap ring [For axis] b m d d3 t d d d d a n Type () Base dimension - The position of the hole of the diameter d should not be hidden in the groove when it is put in the shaft to which the snap ring is applied. Retaining ring d3 t b a d Tolerance Base dimension Tolerance (approximately) (approximately) (Minimum) d is the maximum diameter of the outer circumference when fitted to the shaft. d d Unit: mm Applicable wheel (reference) d m n Base dimension ±.. () (3) ± ± (9) () () (). ±. ± (9) () (3) ±. (3) (38) () ±. (8) ±.7 () () (8) () (3) ± (8) (7) 7.. ± (78) Note (): Prioritize except ( ), use one of ( ) as necessary. Note (): Thickness (t) =. mm can be. mm for the time being. In this case, m is. mm. Remarks. The minimum width of snap ring annulus shall not be smaller than plate thickness t.. The dimensions of the axis to be applied are indicated with reference to the recommended dimensions. 3. The d dimension (mm) is preferably d = d3 + (. to.) b. Reference The thickness t is based on Japan Spring Industry Association Standard JSMA No. -97 (steel band for spring). Tolerance Base dimension Tolerance +. (Minimum)..7.

205 Mechanical [For holes] b m d3 d t d d d d a n Type () Base dimension.7 The position of the hole with the diameter d should not get hidden in the groove when put in the hole to which the retaining ring is applied. Retaining ring d3 t b a d Tolerance Base dimension Tolerance (approximately) (approximately) (Minimum) d is the maximum diameter of the outer circumference when fitted to the shaft. d d Base dimension (3). ± ± (7) (). ± () () ± (3) ± (3) () (38) ± (8) ± ()... 9 (8) ± (3) () (7) ± (78) ± Note (): Prioritize except ( ), use one of ( ) as necessary. Note (): Thickness (t) =. mm can be. mm for the time being. In this case, m is. mm. Remarks. The minimum width of snap ring annulus shall not be smaller than plate thickness t.. The dimensions of the axis to be applied are indicated with reference to the recommended dimensions. 3. The d dimension (mm) is preferably d = d3 + (. to.) b. Reference The thickness t is based on Japan Spring Industry Association Standard JSMA No. -97 (steel band for spring). Unit: mm Applicable wheel (reference) d m n Tolerance Base dimension Tolerance +. (Minimum)..7. -

206 Mechanical Spring pin Extracted from JIS B88 (99)/E shape retaining ring Extracted from JIS B8 (978) Shape and dimension E D C t * Spring pin shape and size Both chamfer type (w type) The shape of the chamfer is arbitrary. Both chamfer type (v type) The shape of the chamfer is arbitrary. * When clearance C is inserted into the hole to which the spring pin is applied, it must be dimensioned so that the side does not touch. Diameter type D () Maximum Minimum t (Reference) For general use For light load E (maximum) Double shear Load For general use.9 {7}. {}.3 {38}. {8}.8 {7}.7 {8}.3 {}. {33}.8 {3} 7. {7}.83 {3}.3 {} 8.9 {73}.78 {} kn {kgf} Minimum value For light load.38 {39}. {7}.8 {8}.87 {89}.93 {9}. {8}. {7} 3.9 {3}. {33} 9.7 {989} 3.9 {} Diameter Applicable hole Dimensional tolerance Spring pin l l Dimensional tolerance Diameter type Note (): D maximum is the maximum value on the circumference of the pin and D minimum is the average value of D, D, D 3. Reference value t is according to JSMA No. (Japan Spring Industry Association standard). Shapes and dimensions of E type retaining ring Free condition Remarks H D d b Shape shows one example t Retaining ring Applicable ring (reference) Type d () D H t b dの区分 d m n Reference dimension Tolerance Reference dimension Tolerance Reference dimension Tolerance Reference dimension Tolerance approximately Over Below Reference dimension Tolerance Reference dimension Tolerance Minimum ± ± ± ± ± ± ± () ±.3 - ±..7() () ± Note (): Limit plug gauge is used for measuring d. Note (): Thickness (t) =. mm can be. mm for the time being. In this case, m is. mm. Remarks The dimensions of the axis to be applied are indicated with reference to the recommended dimensions. -7 D D 3 D Use condition m n d d l Unit: mm

207 Mechanical Spring calculation Extracted from JIS B7 () Symbol Description d Wire diameter (φ) D Coil inner diameter (mm) D Coil outer diameter (mm) D Coil average diameter (D + D ) / Na Effective number of turns Nt Total turns L Free length (mm) P Load N (Kg) δ Deflection of spring k Spring constant N / mm (Kg / mm) G Transverse modulus of elasticity N / mm (Kg / mm ) c Spring index (D / d) * D (Coil average diameter) Dimensions between center and center of line Material Transverse elastic modulus (N / mm)) Hard steel wire 78 Piano wire 78 Oil-tempered wire 78 Stainless steel wire 8 Material Specific gravity (g/cm 3 ) Iron (Fe+.%C) 7.87 Steel (Fe+.8%C) 7.8 SUS3 (8Cr-8C) 7.9 A. Calculate the weight of the spring Example» Piano wire φ. Effective number of turns (Total number of turns 7) Coil diameter φ. Find the volume of the spring Cross section of material length of spring = volume of spring Expression» (. *. * 3.) * (. * 3. * 7) = 3. * 39.7 = 3.8 mm 3 Find the weight of the spring Weight specific gravity = weight of spring Expression» 3.8 mm 3 *.78 g / mm 3 = 8. g B. Calculate the spring constant Gd Example» Piano wire φ. Effective number of turns Coil diameter φ. k = Expression» (78, *. ^ ) / (8 * *. ^ 3) = /3 = 9.3 N / mm 8NaD 3 C. Calculate load (compression spring) P = δ * k Example» When the free length is 3 mm and the mounting length is mm as the spring characteristic of the spring, Expression» Calculate spring deflection δ = L - L δ = 3 - = * 9.3 =. N D. Calculate spring stress Example» In the case of the spring characteristics of the above spring, 8κD κdg τ = P = δ Expression» Calculate the correction factor c = 7. πd 3 πnad κ = ({ * 7. - ) (/ * 7. - )} + (. / 7.) =.97 κ (Whar correction coefficient) = {( c - ) / c - } +. / c) {(8 *.97 *.) / (3. *. ^ 3)} *. = (3.88 /.) / *. =.97 N / mm -8

208 Mechanical Key and key groove Extracted from JIS B3 (99) Key and key groove. Shape and dimensions of parallel key and key groove Key body l C S h b...3 S = Tolerance of b S = Tolerance of h S.3 Cross section of key groove b b r h d t t r Key dimensions Size of key groove Reference Unit: mm b h Sliding shape Normal form Tightening type Key Nominal dimensions b h Base dimension Tolerance (h9) Base dimension Tolerance C l Base dimensions b and b b b b b b and b Tolerance (H9) Tolerance (D) Tolerance (N9) Tolerance (Js9) Tolerance (P9) r and r Base dimensions t Base dimensions t Tolerance t and t Applicable shaft diameter d ± h9 - ± (7 7) ± ( ) ± h ( ) 7-8 ± ±

209 Mechanical. Shape and dimension of gradient key headed gradient key and key groove Key body Headless grading key (symbol T) Headed grading key (symbol TG) ( ) S l.3 e l S.3 h=h, f=h, e b b b S = Tolerance of b C S h.3 Gradient ± 3. h 3 A f.3 Gradient ± 3. S = Tolerance of h b h. h A h. S C AA side view Cross section of key groove r b b d t t r Key dimensions Size of key groove Reference Unit: mm Key Nominal dimensions b h b Base Tolerance dimension (h9) Base dimension h Tolerance h C l Base dimension b and b Tolerance (D) r and r Base dimensions t Base dimensions t Tolerance t and t Applicable shaft diameter d h (7 7) h ( )..3 h h ( ). h h

210 Mechanical Surface treatment Excerpted from Mechanical Engineering Handbook of the Japan Society of Mechanical Engineers Method and type of surface treatment. Method of surface treatment Method Principle and features Material Property Electroplating Hot Dip Plating Diffusion plating Vapor Deposition Plating Spraying Laminating plate Anodization Chemical conversion treatment Carburizing Nitriding Carbonitriding Infiltration Sulfonitridation Induction quenching The material is immersed in a plating bath as a cathode, and a metal film is electrodeposited on the surface of the material by direct current. The material is pulled after dipping into molten metal, solidification and coating the dissolved metal. Diffuse and infiltrate the metal element into the material surface layer. Since the processing temperature (around C.) is high, post-heat treatment is required. Physical vapor deposition method: Coating by vacuum evaporation, sputtering, ion plating or the like. Chemical vapor deposition method: Coating by decomposition of gas compounds. Powder or particles of a spraying material heated to a molten state are sprayed on the surface of the material to form a film. The material temperature during thermal spraying is about C or lower. Rolling pressure welding method, explosion welding method, etc. Processing targets are simple shapes such as board surface and cylinder inner surface. In an electrolytic solution such as anodic oxidation sulfuric acid or oxalic acid, electrolysis is performed using the material as an anode, and an oxide film is formed on the surface of the material. A phosphoric acid salt or chromate film is formed on the surface of the material by a dipping method or a spraying method. Diffuse and permeate carbon into the material surface layer. Processing temperature is 8-9 C. Perform quenching after treatment. Diffusion penetration of nitrogen into the material surface layer. Processing temperature is 7-8 C. Heat treatment and machining can be done before processing. Simultaneously with carburizing, nitriding is performed. The treatment temperature is 7-9 C. Perform quenching after treatment. Diffuse and penetrate sulfur into the material surface layer. The treatment temperature is - C. Simultaneously with the sulfurization, nitriding is performed. The treatment temperature is - 7 C. The induction hardened material surface is rapidly heated by high-frequency induction current - quenched and quenched. Materials are metal, plastic (electroplating the surface with electroless plating and electroplating). Materials are mainly steel materials, Al, Zn, Sn, Pb etc. as coating metal. Materials are mainly steel materials, Fe group, Ni-based heat resistant alloy and so on. Materials are metal, ceramic, plastic, coating material is metal, ceramic. Materials are metals, ceramics, plastics and others, spraying materials are metals, ceramics, plastics or mixtures thereof. The material is metal, mostly steel materials. The laminated plate material is metal, alloy. The main material is Al and its alloy. Others such as Mg. Materials are steel materials, Al, Zn, etc. The material is steel with a C content of.% or less (hardened steel) Materials are nitrided steel (containing Cr, Mo, Al, etc.) in gas nitriding. Most of the steel types in ion nitriding. The material is the same as for carburizing. It can also be applied to carbon steel. Materials are steel and steel types. The material is the same as nitriding. The material is steel materials. Especially medium carbon steel, alloy steel, cast and forged products. For ornamental use μm or less, for corrosion prevention, for industrial use - several tens of μm or more, in many cases pinholes are left. A thick coating is possible. Adherence and deformability depend on the properties of the alloy layer formed between the coating layer and the material. Coating metals are Al, Cr, Si, etc. The alloy layer thickness is several tens - several hundred μm. Physical vapor deposition methods generally have low deposition rates. The chemical vapor deposition method can not pursue high temperature treatment. The adhesion strength is relatively low. The film has pores. Practical coating thickness is about. mm or less. In explosive welding, the thickness of the laminated plate is about 3 mm or less. The oxide film consists of a dense layer and a porous layer. Usually, a sealing treatment is performed. Good adhesion. Colorable. Primarily, a phosphate type coating film is applied to the steel material, and a chromate film is applied to Al. The carburized depth is. - mm, the hardness is 7-8 HV. Beware of material deformation due to quenching after treatment. Nitriding depth is.9 mm or less. Hardness is - HV. The deformation of the material is small. Carbonitriding depth is mm or less. The hardness is about 8HV. The friction coefficient decreases from the thickness of the iron sulfide film of. μm. The nitrosyl nitrification depth is. -. mm. The thickness of the hardened layer is. - mm. Working time is short. The deformation of the material is small. Flame quenching Quickly heat the material surface with oxygenfuel flame - quench and quench. Same as above The thickness of the hardened layer is - several mm. Other surface quenching Rapid heat-quenching of the material surface with laser beam and electron beam. There is no particular limitation on the material as long as it has hardenability. long as it has hardenability. The hardened layer is extremely thin. Local curing is possible. Plastic lining Cover material surface by sheet lining method, thermal spraying method, and coating method etc. Coating materials are polyethylene, vinyl chloride, fluorine resin, rubber and so on. A thick coating is possible. It may be mm or more. Ceramic coating Cover material surface by evaporation method, spraying method, baking method and so on. Glassy ceramic (enamel) as a covering material. Various ceramics. Adhesion is not very good. Repeated heating and cooling may cause cracks in the film. -3

211 Mechanical. Types of Surface Treatment, Usage Examples, Features Name Layer thickness (μm) Materials that can be processed Example of use Purpose / feature Remarks Zinc plated 3~ Steel Thin Wire Anti-rust, low price No good appearance - Chromate plating ~ Steel Sheet metal part bolt and nut Unichrome plating ~ Steel - Anti-rust, low price Suitable for mass production products The appearance of nickel-plated fall Alternative - Trivalent Chromate ~ Steel bolt and nut Anti-rust, low price It does not contain hexavalent chromium - Nickel plating - Steel Copper Brass - Corrosion resistance improvement, decoration Chrome plating is more corrosionresistant in the atmosphere Coat copper base plating as necessary Deep dent is impossible Electroless Nickel plating Kanigen plating Addressable Steel Stainless Copper Aluminum alloy Glass Plastic Parts that can not be plated with nickel Parts to be subjected to hardening treatment after plating times more price than nickel plating Easy film thickness control Corrosion resistance and abrasion resistance large Conductivity of nonmetals possible Same as the feature of electroless nickel plating It can be hardened by heat treatment after plating - Chrome-plated - Steel Copper Brass - Shiny appearance Corrosion resistance good Sliding of chrome plating is easily seizure If necessary, base plating of nickel Deep dent is impossible Tetraferric oxide film (dye to black) - Steel bolt nut Measuring instrument Painting base Appearance (glossy) Easy to rust than Taft ride To produce a tetraferric oxide (black) Low Temperature Black Chrome-plated ~ Steel Copper Stainless Accuracy required Corrosion resistance is desired more than black dye Long-term rust prevention ability Excellent corrosion resistance Ultra thin film Because of low temperature treatment, there is no influence of heat on the material, and the bonded parts with plastic rubber etc. can be processed as it is. Alumite White 3~ Black ~ Aluminum alloy - Corrosion resistance, abrasion resistance No electrical conductivity Heat-resistant There are colored alumite which forms a tough oxide film on the surface and colors by utilizing the pores of the oxide film. -3

212 Mechanical Mechanical materials Mechanical materials Material Classification Elastic coefficient Poisson's ratio Shear modulus of elasticity Density Tensile strength Coefficient of thermal expansion Thermal conductivity Specific heat N/m^ N/m^ kg/m^3 N/m^ /K W(m K) J/(kg K) A- 9x^9.3 x^9 7 7x^.x^- 3 9 A- 9x^9.3 x^9 7 9x^.3x^- 9 3 A-T3 7x^9.3 x^9 8 38x^.3x^- 8 A7-T 7.x^9.3 7.x^9 79 x^.3x^- 3 8 A-H3 9.3x^9.3.9x^9 8 x^.38x^ A-H38 7.7x^9.3.9x^9 x^.x^- 9 7 A-T Aluminum 8.3x^9.3 x^9 7 3x^.3x^ A3SS-T 8.3x^9.3.8x^9 9 8x^.3x^ A3SS-T 8.3x^9.3.8x^9 9 x^.3x^- 9 ANSS-T 8.9x^9.3.8x^9 7 7x^.3x^ ACC-T 73.x^9.3 x^9 8 3x^.x^ ADC-F 7x^9.3.x^9 8 9x^.x^ ADC-F 8x^9.3 x^9 73 3x^.8x^ FCD x^9.7 3.x^9 7 x^.x^- 33. SC x^ x^9 78 9x^.x^- 9 SCM x^ x^ x^.3x^-.7 9 Steel material 7 SK3 8x^9.3 8x^9 78 8x^.x^- 9 9 SS x^ x^9 79 x^.7x^-. 73 SUJ x^ x^9 78 7x^.x^- 8 SECC-ZC Steel plate x^ x^9 78 7x^.8x^- 8 GIN x^ x^ x^.3x^- 7 QD x^ x^9 77 x^.x^-.3 9 SUS3 97x^ x^9 83 8x^.9x^ SUS33 Stainless 97x^ x^9 793 x^.7x^- 3 SUS3 97x^ x^9 793 x^.73x^-.3 3 SUS3 x^ x^9 77 x^.x^-. 33 SUS x^ x^9 77 x^.x^-.3 3 C3BD Brass 9x^9.3 3.x^ x^.x^

213 Deflection calculation formula Deflection / Cross section second moment calculation formula Mechanical The deflection of a typical beam [V] is recorded. I is the second moment of the cross section *, E is the Young's modulus of each material. The capital letter P indicates the concentrated load (force), and the lower case p indicates the distributed load (pressure). v= Pa 3 3EI v= Pa 3 (P=pa) 38EI v= Pa 3 8EI (P=pa) v= Pa 3 9EI v= Pa 3 8EI v= Pa 3 (P=pa) 38EI * Second moment of cross section The second-order moment [I] of a typical cross section is recorded. bh 3 πd I= I= bh 3 -(b-t )d 3 I= -3