Transcript
Cleanroom Type
Cleanroom Type RCACR RCS3CR RCS2CR
ERC3CR RCP4CR RCP2CR
ERC3CR-SA5C
ERC3CR-SA7C
RCP4CR-SA7C
RCP2CR-SS7C
RCACR/RCS2CR -SA4C
RCACR/RCS2CR -SA5C
RCACR/RCS2CR -SA5D
RCS2CR-SA6C
RCS2CR-SS7C
RCS3CR-SA8C
443
Cleanroom Type
RCP4CR-SA5C
RCP4CR-SA6C
RCP2CR-SS8C
RCS3CR-SS8C
Cleanroom Type ERC3CR
Slider Type
series
50mm Width 73mm Width
ERC3CR-SA5C ERC3CR-SA7C
445 447
Mini Standard Controllers Integrated
Pulse Motor Type
RCP4CR
Slider Type
Slider Type, Coupled
52mm Width 58mm Width 73mm Width
series
RCP4CR-SA5C RCP4CR-SA6C RCP4CR-SA7C
449 451 453
Pulse Motor Type
Rod Type
Mini Standard Controllers Integrated
RCP2CR Slider Type, Coupled series
Pulse Motor Gripper Type Type
Steel Base High-Speed Type Mini Slider Type Mini Lever Type
60mm Width 80mm Width 80mm Width 42mm Width 42mm Width
RCP2CR-SS7C RCP2CR-SS8C RCP2CR-HS8C RCP2CR-GRSS RCP2CR-GRLS
455 457 459 461 463
Table/ Arm/ Flat Type Mini Standard
RCACR
Slider Type, Coupled
24 Servo Motor Type
Slider Type, Built-in
RCS3CR
Slider Type, Coupled
Aluminum Base
series
series
Aluminum Base
Aluminum Base Steel Base
40mm Width 52mm Width 58mm Width 52mm Width 58mm Width
RCACR-SA4C RCACR-SA5C RCACR-SA6C RCACR-SA5D RCACR-SA6D
465 467 469 471 473
80mm Width 80mm Width
RCS3CR-SA8C RCS3CR-SS8C
475 477
200V Servo Motor Type
Linear Servo Type
Cleanroom Type
SplashProof Type
Slider Type, Coupled
Aluminum Base
Slider Type, Built-in
Steel Base Aluminum Base
RCS2CR series
200V Servo Motor Type
Gripper/ Rotary Type
40mm Width 52mm Width 58mm Width 73mm Width 60mm Width 52mm Width 58mm Width
RCS2CR-SA4C RCS2CR-SA5C RCS2CR-SA6C RCS2CR-SA7C RCS2CR-SS7C RCS2CR-SA5D RCS2CR-SA6D
479 481 483 485 487 489 491 Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Cleanroom Type
444
Mini Standard Controllers Integrated
Rod Type
ERC3CR
ROBO Cylinder
ERC3CR-SA5C Model Specification Items
ERC3CR SA5C Series
Type
I
42P
Encoder type I: Incremental specification
Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 50mm, Pulse Motor, Controller-Integrated
Motor type
Lead
42: Pulse motor
* See page Pre-47 for details on the model descriptions.
Stroke
Cable length
I/O type
20: 20mm 50: 50mm 12: 12mm 6: 6mm 800: 800mm (50mm pitch 3: 3mm increments)
NP: PIO (NPN) type PN: PIO (PNP) type SE: SIO type PLN: Pulse-train (NPN) type PLP: Pulse-train (PNP) type
Standard
Payload (kg)
20
Table/ Arm/ Flat Type
18
HorizontalAppendix
Lead 3
P.5
Lead 6
15
10 9 Lead 12 7 Lead (1) If the high-output setting is enabled (factory default), the duty6.5 must be limited. (Refer to page A-95.) If the20 5 high-output setting is disabled, the payload and maximum speed become lower, but the actuator can 5.5 5 be used at a duty of 100%. Refer to the operation manual for information on how to change the high-output setting. 0 400 600 1000 1200 the high-output setting800 is enabled. (2) Refer to page A-99 for the payload at each speed/acceleration0 when200 Speed (mm/s)
Linear Servo Type
7
Lead 20 5.5
5 200
400
Lead 3
8 6 4
Lead 6
2.5 2 1 0 0 200
1400
Vertical
10
Lead 12 400
0.5
600 800 Speed (mm/s)
0.5
Lead 20 0.5 1200
1000
1400
High-output setting enabled (Factory default)
Actuator Specifications (High-output Setting Enabled)
Lead and Payload
(Note 1) Take caution that the maximum payload decreases as the speed increases.
Maximum payload (Note 1)
Stroke 50~450 500 550 600 650 700 750 800 Suction amount (every 50mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (Nℓ/min) Lead
Model number
(mm)
Horizontal (kg)
ERC3CR-SA5C-I-42P-20- ➀ - ➁ - ➂ - ➃
20
6.5
1
20
1045 900 785 690 610
80
ERC3CR-SA5C-I-42P-12- ➀ - ➁ - ➂ - ➃ ERC3CR-SA5C-I-42P-6- ➀ - ➁ - ➂ - ➃ ERC3CR-SA5C-I-42P-3- ➀ - ➁ - ➂ - ➃
12
9
2.5
12
900
795 665 570 490 425 375 330
50
6
18
6
6
450
395 335 285 245 215 185 165
30
3
20
12
3
225
195 165 140 120 105
Vertical (kg)
Stroke
Stroke and Max. Speed/Suction Volume by Lead
Lead
(mm)
50~800 (every 50mm)
Stroke
1120
90
80
* The values of lead 3 apply when acceleration is at 0.1G.
Code explanation ➀ Stroke ➁ I/O type ➂ Cable length ➃ Options
Servo Motor (200V)
12 Payload (kg)
Payload (kg)
Gripper/ Rotary Type
Lead 12
600 800 1000 1200 1400 Speed (mm/s) 14 The values below are based on operation at 0.3 G.
25 20
12
Lead 6
10 9 6.5 5 0 0
Standard
Servo Motor (24V)
18
14
Horizontal
Lead 3
15
Mini
Pulse Motor
The values below are based on operation at 0.3 G.
25
Controllers Integrated
SplashProof Type
Options See Options below.
Speed vs. Load Capacity Due to the characteristics of the pulse motor, the ERC3 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.
Mini
Cleanroom Type
Controller type
CN: CON type N: None MC: MEC type P: 1m S: 3m M: 5m X: Custom Length
Payload (kg)
Slider Type
15 (Unit: mm/s)
Cable Length
Stroke (mm) 50 100 150 200 250 300 350 400
Standard price — — — — — — — —
Stroke (mm) 450 500 550 600 650 700 750 800
Standard price — — — — — — — —
Type
Standard price PIO type SIO type — — — — — — — —
Cable symbol
Standard (Robot Cables) Special length
P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m)
* See page 586 for cables for maintenance.
Actuator Specifications
Options Name Brake Non-motor end specification Vacuum port on opposite side Simple absolute specification
Option code B NM VR ABU
See page ➝ A-42 ➝ A-52 ➝ A-58 ➝ A-42
Standard price — — — — (*)
(*) If the simple absolute specification is selected, the separately sold PIO converter of simple absolute specification (with battery) is required and the SIO type of ERC3 must be selected.
Linear Servo Motor
445
Item
Description
Drive system Positioning repeatability (*1) Lost motion Allowable static load moment Allowable dynamic load moment (*2) Overhang load length Cleanliness Ambient operating temperature/humidity
Ball screw, ø10mm, rolled C10 ± 0.02mm [± 0.03mm] 0.1mm or less Ma: 18.6 N•m, Mb: 26.6 N•m, Mc: 47.5 N•m Ma: 4.9 N•m, Mb: 6.8 N•m, Mc: 11.7 N•m Ma direction: 150mm or less Mb/Mc directions: 150mm or less Class 10 (0.1μm) 0 to 40°C, 85% RH max. (Non-condensing)
(*1) The specification in [ ] applies when the lead is 20mm. (*2) Based on 5,000 km of traveling life. Direction of allowable load moment. Mc Ma Mb
Overhang load length Ma
L
Mc L
ERC3CR-SA5C
Lead 3
10 8 6 4
2.5 2 1 0 0 200
Lead 6
400
0.5
S
ERC3CR
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
P.15
(*1) Connect the power & I/O cable. See page 586 for details on cables. SE: Stroke End ME: Mechanical End (*2) The slider moves to the ME during home return, so pay attention to possible contact with surrounding structures. (*3) Reference position is used when calculating the Ma and Mc moments.
2D CAD
2-ø4,H7 depth 6 15.5
9
15.5
Slider Type
Mini Standard Controllers Integrated
4-M4 depth 9
Rod Type 26 (ø4H7 pitch ±0.02) 32 20
K
6
20
e of
rota
105.7 90
Stroke
34.2
Teaching port
ME (*2)
3 Home
Cable joint connector (*1)
43.2
50 55.3
B×100P
2 -ø4H7 penetrating through one wall (Maximum insertion depth 7 from the bottom of the base)
4.5
ø8
ø4.5 Detail view of mounting hole
6.5
5
D-M4 depth 9
24
Detail Y
Y C×100P 50 J (Pitch between ø4H7 and oblong hole) A G
7
External view of the brake specification
The overall length of the brake specification is 42.5mm longer than the standard specification and its mass is 0.4 kg heavier.
26
5
Standard Controllers Integrated
Table/ Arm/ Flat Type
27.2
32 Standard 17.2 H - Oblong hole penetrating through one wall (Maximum insertion depth 7 from the bottom of the base) Suction joint (*4)
Opposite side 4+0.012 0
g (ran ø40
Mini
43
32.5
39
68.7 53.5 43.5
ME
3 SE
) tion
30
L
21
Offset reference position for moments (*3) 6
19±0.02
20 62
42.5
148.2
105.7
F-ø4.5, through ø8 counterbored, depth 5.5 (from the opposite side)
Mini Standard
Gripper/ Rotary Type
126.9
*4 Outer diameter of suction joint tube: ø6
Dimensions and Weight by Stroke Stroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 L 299.9 349.9 399.9 449.9 499.9 549.9 599.9 649.9 699.9 749.9 799.9 849.9 899.9 949.9 999.9 1049.9 A 73 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800 B 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 C 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 D 4 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 F 4 4 6 6 6 8 10 10 12 12 14 14 16 16 18 18 G 166 216 266 316 366 416 466 516 566 616 666 716 766 816 866 916 H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785 K 194.2 244.2 294.2 344.2 394.2 442.2 494.2 544.2 594.2 644.2 694.2 744.2 794.2 844.2 894.2 944.2 Weight (kg) 1.6 1.8 2.0 2.1 2.3 2.5 2.6 2.8 3.0 3.1 3.3 3.5 3.6 3.8 4.0 4.1
Linear Servo Type
Cleanroom Type
SplashProof Type
Controllers (Built into the Actuator) I/O type
With the ERC3 series, one of the following five types of built-in controllers can be selected depending on the external input/output (I/O) type. Select the type that meets your purpose.
Name
External view
Model number
Features
Maximum number of positioning points
PIO type (NPN specification)
ERC3CR-SA5C-I-42P---NP--
Simple control type accommodating up to 16 positioning points
16 points
PIO type (PNP specification)
ERC3CR-SA5C-I-42P---PN--
I/O type supporting inputs/outputs of the PNP specification often used overseas
16 points
SIO type
ERC3CR-SA5C-I-42P---SE--
High-function type accommodating up to 512 positioning points (PIO converter is used)
512 points
Pulse-train type (NPN specification)
ERC3CR-SA5C-I-42P---PLN--
Pulse-train input type supporting the NPN specification
—
Pulse-train type (PNP specification)
ERC3CR-SA5C-I-42P---PLP--
Pulse-train input type supporting the PNP specification
—
Input power
Power-supply Standard Reference capacity price page
DC24V
High-output setting enabled: 3.5A rated 4.2A max.
Pulse Motor
—
➝ P577
High-output setting disabled: 2.2A
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
ERC3CR-SA5C
446
Mini Standard Controllers Integrated
Rod Type
ERC3CR
ROBO Cylinder
ERC3CR-SA7C Model Specification Items
ERC3CR SA7C Series
Type
I
Encoder type I: Incremental specification
Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 73mm, Pulse Motor, Controller-Integrated
56P
Motor type
Lead
56: Pulse motor
* See page Pre-47 for details on the model descriptions.
Stroke
Cable length
I/O type
24: 24mm 50: 50mm 16: 16mm 8: 8mm 800: 800mm (50mm pitch 4: 4mm increments)
NP: PIO (NPN) type PN: PIO (PNP) type SE: SIO type PLN: Pulse-train (NPN) type PLP: Pulse-train (PNP) type
Standard
Payload (kg)
Controllers Integrated
Table/ Arm/ Flat Type Mini Standard
Payload (kg)
Linear Servo Type
(Note 1) Take caution that the maximum payload decreases as the speed increases.
Maximum payload (Note 1)
Lead (mm)
ERC3CR-SA7C-I-56P-24- ➀ - ➁ - ➂ - ➃
Horizontal (kg)
24
Vertical (kg)
17
Stroke (mm)
6
5
3 0 0
25
4.5
3.5 200
Lead 16
400
600 800 Speed (mm/s)
1
Lead 24 1000
1 1200
1400
High-output setting enabled (Factory default)
Stroke 50~550 (everymm) Lead
16
35
6
ERC3CR-SA7C-I-56P-8- ➀ - ➁ - ➂ - ➃
8
40
14
ERC3CR-SA7C-I-56P-4- ➀ - ➁ - ➂ - ➃
4
45
22
50~800 (every 50mm)
600
(mm) (mm) (mm) (mm)
Suction amount (Nℓ/min)
1155 1010 890 790
90
865 <840>
750 655 580 515
70
430
375 325 290 255
40
185 160 145 125
30
(mm)
1200
16
980 <840>
8
490
4
(Unit: mm/s)
650 700 750 800
210
* The values enclosed in < > apply to vertical settings.
* The values of lead 8 and lead 4 apply when acceleration is at 0.1G.
Cable Length
Stroke (mm) 50 100 150 200 250 300 350 400
Standard price — — — — — — — —
Stroke (mm) 450 500 550 600 650 700 750 800
Standard price — — — — — — — —
Type
Standard price PIO type SIO type — — — — — — — —
Cable symbol
Standard (Robot Cables) Special length
P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m)
* See page 586 for cables for maintenance.
Actuator Specifications
Options Name Brake Non-motor end specification Vacuum port on opposite side Simple absolute specification
Option code B NM VR ABU
See page ➝ A-42 ➝ A-52 ➝ A-58 ➝ A-42
Standard price — — — — (*)
(*) If the simple absolute specification is selected, the separately sold PIO converter of simple absolute specification (with battery) is required and the SIO type of ERC3 must be selected.
Linear Servo Motor
447
Item
Description
Drive system Positioning repeatability (*1) Lost motion Allowable static load moment Allowable dynamic load moment (*2) Overhang load length Cleanliness Ambient operating temperature/humidity
Ball screw, ø12mm, rolled C10 ± 0.02mm [± 0.03mm] 0.1mm or less Ma: 50.4 N•m, Mb: 71.9 N•m, Mc: 138.0 N•m Ma: 13.9 N•m, Mb: 19.9 N•m, Mc: 38.3 N•m Ma direction: 230mm or less Mb/Mc directions: 230mm or less Class 10 (0.1μm) 0 to 40°C, 85% RH max. (Non-condensing)
(*1) The specification in [ ] applies when the lead is 24mm. (*2) Based on 5,000 km of traveling life. Direction of allowable load moment. Mc Ma Mb
Overhang load length Ma
L
Mc L
ERC3CR-SA7C
22
20
Lead 8
14
10
Stroke and Max. Speed/Suction Volume by Lead
3
ERC3CR-SA7C-I-56P-16- ➀ - ➁ - ➂ - ➃
Stroke
Servo Motor (200V)
15
24
Code explanation ➀ Stroke ➁ I/O type ➂ Cable length ➃ Options
Servo Motor (24V)
The values below are based on operation at 0.3 G. 50 Horizontal 45 Lead 4 40 Lead 8 35 30 25 Lead 16 20 17 18 15 10 Lead 24 5 4 2 4 0 0 200 400 600 800 1000 1200 1400 Speed (mm/s) The values below are based on operation at 0.3 G. 25 22 Vertical Lead 4 20
Actuator Specifications (High-output Setting Enabled)
Lead and Payload
Model number
Pulse Motor
Payload (kg)
50 Horizontal 45 Lead 4 Appendix 40 Lead 8 P.5 35 30 25 Lead 16 20 17 18 15 must be limited. (Refer to page A-95.) If the (1) If the high-output setting is enabled (factory default), the duty 10 become lower, but the actuator can be used high-output setting is disabled, the payload and maximum speed 5 on how to change the high-output setting.Lead 24 at a duty of 100%. Refer to the operation manual for information 4 2 4 0 the high-output setting800 is enabled. (2) Refer to page A-99 for the payload at each speed/acceleration0 when200 400 600 1000 1200 1400 Speed (mm/s)
Gripper/ Rotary Type
SplashProof Type
Options
See Options below.
Speed vs. Load Capacity Due to the characteristics of the pulse motor, the ERC3 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.
Mini
Cleanroom Type
Controller type
CN: CON type N: None MC: MEC type P: 1m S: 3m M: 5m X: Custom Length
Payload (kg)
Slider Type
15 10 5
Lead 4 Lead 8
14 6
3 0 0
4.5
3.5 200
Lead
400
S
ERC3CR
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
2D CAD
Appendix
P.15
2-ø5, H7 depth 10
39 (ø5H7 pitch ±0.02)
*4 Outer diameter of suction joint tube: ø8
20 20 20
32 ±0.02 50
48 32
8
20.5
3
ME
SE
Opposite side
4 +0.012 0
e of
rota
t
128
134.5
39.2 3 ME
Home
Cable joint connector (*1)
5
40
ø9.5
12.5
6
ø6 Detail view of mounting hole
10
Y C×100P J (Pitch between ø4H7 and oblong hole) A G
Table/ Arm/ Flat Type
External view of the brake specification
The overall length of the brake specification is 51 mm longer than the standard specification and its mass is 0.5 kg heavier. 51
5.5
Detail Y
F-ø6, through ø9.5 counterbored, depth 11 (from the opposite side) E - ø4H7 penetrating through one wall (Maximum insertion depth 12 from the bottom of the base)
B×100P
185.5
25.5
Mini Standard
134.5
Gripper/ Rotary Type
30 80
Rod Type
Controllers Integrated
58.7
H - Oblong hole penetrating through one wall (Maximum insertion depth 12 from the bottom of the base) Suction joint (*4) D-M5 depth 11
Controllers Integrated
Standard
44.9
Standard 25.5
71 73
Standard
Mini
Teaching port
52.5
85 71 57
43
ø
ang 46 (r
K
Stroke ion)
Mini
49.5
L
21
Offset reference position for 8 moments
(*1) Connect the power & I/O cable. See page 586 for details on cables. SE: Stroke End ME: Mechanical End (*2) The slider moves to the ME during home return, so pay attention to possible contact with surrounding structures. (*3) Reference position is used when calculating the Ma and Mc moments.
4-M5 depth 10
Slider Type
163.2
Dimensions and Weight by Stroke Stroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 L 372.2 422.2 472.2 522.2 572.2 622.2 672.2 722.2 772.2 822.2 872.2 922.2 972.2 1022.2 A 0 100 100 200 200 300 300 400 400 500 500 600 600 700 B 0 0 0 1 1 2 2 3 3 4 4 5 5 6 C 1 1 2 2 3 3 4 4 5 5 6 6 7 7 D 4 6 6 8 8 10 10 12 12 14 14 16 16 18 E 2 3 3 3 3 3 3 3 3 3 3 3 3 3 F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 G 199 249 299 349 399 449 499 549 599 649 699 749 799 849 H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 K 237.7 287.7 337.7 387.7 437.7 487.7 537.7 587.7 637.7 687.7 737.7 787.7 837.7 887.7 Weight (kg) 3.6 3.9 4.1 4.4 4.7 4.9 5.2 5.5 6.0 6.0 6.3 6.5 6.8 7.1
750 1072.2 700 6 8 18 3 18 899 1 685 937.7 7.3
800 1122.2 800 7 8 20 3 18 949 1 785 987.7 7.6
Linear Servo Type
Cleanroom Type
SplashProof Type
Controllers (Built into the Actuator) I/O type
With the ERC3 series, one of the following five types of built-in controllers can be selected depending on the external input/output (I/O) type. Select the type that meets your purpose.
Name
External view
Model number
Features
Maximum number of positioning points
PIO type (NPN specification)
ERC3CR-SA7C-I-56P---NP--
Simple control type accommodating up to 16 positioning points
16 points
PIO type (PNP specification)
ERC3CR-SA7C-I-56P---PN--
I/O type supporting inputs/outputs of the PNP specification often used overseas
16 points
SIO type
ERC3CR-SA7C-I-56P---SE--
High-function type accommodating up to 512 positioning points (PIO converter is used)
512 points
Pulse-train type (NPN specification)
ERC3CR-SA7C-I-56P---PLN--
Pulse-train input type supporting the NPN specification
—
Pulse-train type (PNP specification)
ERC3CR-SA7C-I-56P---PLP--
Pulse-train input type supporting the PNP specification
—
Input power
Power-supply Standard Reference capacity price page
DC24V
High-output setting enabled: 3.5A rated 4.2A max.
Pulse Motor
—
➝ P577
High-output setting disabled: 2.2A
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
ERC3CR-SA7C
448
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP4CR
ROBO Cylinder
RCP4CR-SA5C Model Specification Items
RCP4CR Series
SA5C Type
I
Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 52mm, 24-V Pulse Motor
42P
Encoder type
Motor type
I: Incremental specification
Lead
P3
Stroke
42P: Pulse motor, 20 : 20mm size 42 12 : 12mm 6 : 6mm 3 : 3mm
Applicable controller
50: 50mm
Cable length
P3: PCON-CA MSEP-C
800: 800mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Speed vs. Load Capacity RCP4CR-SA5C Horizontal, PCON-CA connected 25 The values for leads 3/6/12 are based on operation at 0.3 G. Lead 3 20 Lead 6 Horizontal 15
Payload (kg)
Standard Controllers Integrated
10 9 5
Table/ Arm/ Flat Type
6.5
Cleanroom Type
SplashProof Type
(*)The specific value varies depending on the connected controller and actuator lead. For details, refer to “Selection References” on page A-100, A-102. (2) Take note that the maximum payload and maximum speed vary depending on the controller connected to the RCP4. (Refer to the actuator specifications below.) (3) See page A-71 for details on push motion.
0.5
Actuator Specifications
Lead and Payload
(*) When operated at 0.2 G
Lead Connected
Model number
(mm)
RCP4CR-SA5C-I-42P-20- ➀ -P3- ➁ - ➂
20
RCP4CR-SA5C-I-42P-12- ➀ -P3- ➁ - ➂
12
RCP4CR-SA5C-I-42P-6- ➀ -P3- ➁ - ➂
6
RCP4CR-SA5C-I-42P-3- ➀ -P3- ➁ - ➂
3
Maximum payload
controller Horizontal (kg) Vertical (kg)
PCON-CA MSEP-C PCON-CA MSEP-C PCON-CA MSEP-C PCON-CA MSEP-C
6.5 4 9 6 18 13 20 16
1 0.5 (*) 2.5 2 6 5 12 10
■ Stroke and Max. Speed/Suction Volume by Lead Lead Connected 50~450 500
Stroke (mm)
(mm) controller (every 50mm) (mm)
20 12
50~800 (every 50mm)
6 3
PCON-CA
1440 <1280>
MSEP-C PCON-CA
900
795 395
MSEP-C
195 150
700
750
800
(mm)
(mm)
(mm)
1225
1045
900
785
690
610
900
785
690
610
490
425
375
330
665
570 570
490
425
375
330
335
285
245
215
185
165
285
245
215
185
165
165
140
120
105
90
80
140
120
105
90
300 225
650
(mm)
600 450
MSEP-C PCON-CA
600
(mm)
960
MSEP-C PCON-CA
550
(mm)
*See page A-71 for details on push motion. The values in < > apply when the actuator is used vertically.
80
Suction amount (Nℓ/min)
80 50 30 15
(unit: mm/s)
Cable Length
Stroke (mm) 50 100 150 200 250 300 350 400
Standard price — — — — — — — —
Stroke (mm) 450 500 550 600 650 700 750 800
Standard price — — — — — — — —
Servo Motor (24V)
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications
Options
Linear Servo Motor
Lead 12 Lead 20 (when operated at 0.5G)
2.5
Payload (kg)
(1) The maximum payload is the value when operated at 0.3G (0.2G with some models) acceleration. The upper limit of acceleration is 1 G (*). Note that raising the acceleration causes the payload to drop.
Stroke
Servo Motor (200V)
Lead 6
21
1
Payload (kg)
P.5
Code explanation ➀ Stroke ➁ Cable length ➂ Options
Pulse Motor
5
6 RCP4CR-SA5C Horizontal, MSEP connected RCP4CR-SA5C Vertical, MSEP connected 18 12 This graph assumes that the This graph assumes that the 16 Lead 3 actuator is operated at 0.2 G. Lead 3 actuator is operated at 0.3 G. 10 14 13 Vertical Horizontal 12 8 Lead 6 10 6 9 8 Lead 6 4.5 6 4 Lead 12 Lead 12 4 Lead 20 2.5 2 2 1 Lead 20 0.5 0 0 200 400 600 800 1000 1200 200 400 600 800 1000 1200 0 0 Speed (mm/s) Speed (mm/s) Operated by the MSEP-C
Appendix
Linear Servo Type
6
6 4
Vertical
Lead 3
8
0.5 0 200 400 600 800 1000 1200 1400 1600 0 200 400 600 800 1000 1200 1400 Speed (mm/s) Speed (mm/s) Operated by the PCON-CA
Mini
Gripper/ Rotary Type
10
Lead 12 Lead 20 (when operated at 0.3G)
6
Lead 20 (when operated at 0.5G)
0 0
Standard
RCP4CR-SA5C Vertical, PCON-CA connected 14 The values for leads 3/6/12 are 12 based on operation at 0.3 G. Payload (kg)
Mini
Name Brake Optional cable exit direction (top) Optional cable exit direction (right) Optional cable exit direction (left) Optional cable exit direction (bottom) Non-motor end specification Vacuum port on opposite side
449
Option code B CJT CJR CJL CJB NM VR
RCP4CR-SA5C
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-58
Standard price — — — — — — —
Item
Drive system Positioning repeatability (*1) Lost motion Base Allowable dynamic moment (*2) Allowable overhang
Description
Ball screw, ø10mm, rolled C10 ±0.02mm [±0.03mm] 0.1mm or less Material: Aluminum with white alumite treated Ma: 4.9 N•m, Mb: 6.8 N•m, Mc: 11.7 N•m 150mm or less in Ma, Mb and Mc directions Low dust generation grease (urea grease) is used for both Grease ball screws and guides. Cleanness Class 10 (0.1µm) Ambient operating temperature/humidity 0 to 40°C, 85% RH or less (Non-condensing) (*1) The value at lead 20 is shown in [ ]. (*2) Based on 5,000 km of traveling life.
RCP4CR
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
2D CAD
Appendix
2-ø4H7, depth 6 15.5
9
15.5
4-M4, depth 9
20
(300)
P.15
Mini
(13)
Standard (28)
5 4.5
Reference plane ø8
26 (Reamed hole pitch ±0.02)
3
ø4.5
Detail view of X (Mounting hole and reference plane)
20 3 ME SE
Stroke
90
Joint mounting position: Opposite side
21 3 SE ME (*2)
Joint turning range
(18.9)
(ø40)
32
+0.012 4 0
D-M4, depth 7
Joint mounting position: Standard
5
H-oblong hole, depth 5.5 2-ø4H7, depth 5.5 (from bottom base) (from bottom base) B×100P
Standard Controllers Integrated
Ground tap M3, depth 6 (Same on opposite side)
22.5 33
2.5
47
2.5
* Tube outer diameter: 06
F-ø4.5, through ø8 counterbored, depth 4.5 (from opposite side)
Table/ Arm/ Flat Type Mini
24
26
Standard
Detail Y
C×100P
Y
50
A
Cable exit 4 direction (optional)
Gripper/ Rotary Type
20
J (reamed hole and oblong hole pitch) 62
106 (without brake) 146 (with brake)
G
7
CJL Cable: left
Linear Servo Type
(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables. (*2) After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end
CJT Cable: top
Cleanroom Type
CJR Cable: right
32
19
Mini
98 (without brake) 138 (with brake)
39 50 52
X
Rod Type
Allowable bending radius of securing cable: R50
K
6
57.5 50 40
30
26
32 20
6
Controllers Integrated
Cable joint connector (*1)
19 ±0.02
L
Reference offset position for Ma/Mc moments
Slider Type
Dimensions and Weight by Stroke
CJB Cable: bottom
Stroke Without brake With brake A B C D F G H J K Weight Without brake (kg) With brake L
50 279 319 73 0 0 4 4 166 0 0 181 1.5 1.7
100 329 369 100 0 0 4 4 216 1 85 231 1.6 1.9
150 379 419 100 0 1 4 6 266 1 85 281 1.8 2.0
200 429 469 200 1 1 6 6 316 1 185 331 1.9 2.1
250 479 519 200 1 2 6 8 366 1 185 381 2.1 2.3
300 529 569 300 2 2 8 8 416 1 285 431 2.2 2.4
350 579 619 300 2 3 8 10 466 1 285 481 2.4 2.6
400 629 669 400 3 3 10 10 516 1 385 531 2.5 2.7
450 679 719 400 3 4 10 12 566 1 385 581 2.6 2.9
500 729 769 500 4 4 12 12 616 1 485 631 2.8 3.0
550 779 819 500 4 5 12 14 666 1 485 681 2.9 3.2
600 829 869 600 5 5 14 14 716 1 585 731 3.1 3.3
650 879 919 600 5 6 14 16 766 1 585 781 3.2 3.5
700 750 800 929 979 1029 969 1019 1069 700 700 800 6 6 7 6 7 7 16 16 18 16 18 18 816 866 916 1 1 1 685 685 785 831 881 931 3.4 3.5 3.7 3.6 3.7 3.9
SplashProof Type
Pulse Motor
Applicable Controllers RCP4 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Features Equipped with a high-output driver PIO control supported
Maximum number of positioning points
Positioner type High-output specification
PCON-CA-42PI- -2-0
Pulse-train type High-output specification
Equipped with a high-output driver PCON-CA-42PI-PL-2-0 Pulse-train input supported
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Field network supported
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
3 points
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Solenoid valve multi-axis type Network specification *
Model number
indicates I/O type (NP/PN). *
indicates number of axes (1 to 8). *
Input power
Power supply Standard Reference capacity price page
512 points
— Refer to P618
— 768 points
DC24V
—
➝ P607 Servo Motor (200V)
— Refer to P572
—
➝ P563
indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP4CR-SA5C
Servo Motor (24V)
450
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP4CR
ROBO Cylinder
RCP4CR-SA6C Model Specification Items
RCP4CR Series
SA6C Type
I
Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 58mm, 24-V Pulse Motor
42P
Encoder type
Motor type
I: Incremental specification
Lead
P3
Stroke
42P: Pulse motor, 20 : 20mm size 42 12 : 12mm 6 : 6mm 3 : 3mm
Applicable controller
50: 50mm
Cable length
P3: PCON-CA MSEP-C
800: 800mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Speed vs. Load Capacity
Payload (kg)
Standard Controllers Integrated
15 10
(*)The specific value varies depending on the connected controller and actuator lead. For details, refer to “Selection References” on page A-100, A-102. (2) Take note that the maximum payload and maximum speed vary depending on the controller connected to the RCP4. (Refer to the actuator specifications below.) (3) See page A-71 for details on push motion.
5
Lead 6
6.5
2.5
■ Stroke and Max. Speed/Suction Volume by Lead
(*) When operated at 0.2 G
Lead Connected
Model number
(mm)
RCP4CR-SA6C-I-42P-20- ➀ -P3- ➁ - ➂
20
RCP4CR-SA6C-I-42P-12- ➀ -P3- ➁ - ➂
12
RCP4CR-SA6C-I-42P-6- ➀ -P3- ➁ - ➂
6
RCP4CR-SA6C-I-42P-3- ➀ -P3- ➁ - ➂
3
Maximum payload
controller Horizontal (kg) Vertical (kg)
PCON-CA MSEP-C PCON-CA MSEP-C PCON-CA MSEP-C PCON-CA MSEP-C
10 6 15 8.5 25 15 25 19
1 0.5 (*) 2.5 2 6 5 12 10
Lead Connected 50~450 500
Stroke (mm)
(mm) controller (every 50mm) (mm)
20 12
50~800 (every 50mm)
6 3
*See page A-71 for details on push motion.
Stroke
PCON-CA
1440<1280>
MSEP-C
550
600
900
MSEP-C
795
450
MSEP-C
395
225
MSEP-C
195 150
(mm)
(unit: mm/s)
800
(mm)
1230
1045
905
785
690
615
905
785
690
615
(mm)
490
430
375
335
670
570 570
490
430
375
335
335
285
245
215
185
165
285
245
215
185
165
165
140
120
105
90
80
140
120
105
90
80
300
PCON-CA
(mm)
750
(mm)
600
PCON-CA
700
(mm)
960
PCON-CA
650
Suction amount (Nℓ/min)
80 50 30 15
The values in < > apply when the actuator is used vertically.
Cable Length
Stroke (mm) 50 100 150 200 250 300 350 400
Standard price — — — — — — — —
Stroke (mm) 450 500 550 600 650 700 750 800
Standard price — — — — — — — —
Servo Motor (24V)
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications
Options
Linear Servo Motor
4
Actuator Specifications
Lead and Payload
Code explanation ➀ Stroke ➁ Cable length ➂ Options
Servo Motor (200V)
6
Payload (kg)
(1) The maximum payload is the value when operated at 0.3G (0.2G with some models) acceleration. The upper limit of acceleration is 1 G (*). Note that raising the acceleration causes the payload to drop.
Linear Servo Type
8
Lead 12 Lead 20 (when 21 operated at 0.5G) 1 0.5 0.5 0 0 200 400 600 800 1000 1200 1400 200 400 600 800 1000 1200 1400 1600 Speed (mm/s) Speed (mm/s) Operated by the PCON-CA Lead 20 (when operated at 0.5G)
Payload (kg)
P.5
Gripper/ Rotary Type
Lead 12 Lead 20 (when operated at 0.3G)
Vertical
10
RCP4CR-SA6C Horizontal, MSEP connected RCP4CR-SA6C Vertical, MSEP connected 20 12 This graph assumes that the This graph assumes that the 18 19 Lead 3 Lead 3 actuator is operated at 0.2 G. actuator is operated at 0.3 G. 10 16 Vertical Lead 6 Horizontal 14 15 8 13 12 10 8.5 6 5 Lead 6 8 Lead 12 4.5 4 6 2.5 Lead 12 Lead 20 4 2 2 1 Lead 20 0.5 0 0 200 400 600 800 1000 1200 200 400 600 800 1000 1200 0 0 Speed (mm/s) Speed (mm/s) Operated by the MSEP-C
Appendix
Standard
Pulse Motor
9
0 0
Mini
SplashProof Type
12
5
Table/ Arm/ Flat Type
Cleanroom Type
18
RCP4CR-SA6C Vertical, PCON-CA connected 14 The values for leads 3/6/12 are based on operation at 0.3 G. 12 Lead 3 Payload (kg)
RCP4CR-SA6C Horizontal, PCON-CA connected 30 The values for leads 3/6/12 are Lead 3 based on operation at 0.3 G. 25 Horizontal Lead 6 20
Mini
Name Brake Optional cable exit direction (top) Optional cable exit direction (right) Optional cable exit direction (left) Optional cable exit direction (bottom) Non-motor end specification Vacuum port on opposite side
451
Option code B CJT CJR CJL CJB NM VR
RCP4CR-SA6C
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-58
Standard price — — — — — — —
Item
Drive system Positioning repeatability (*1) Lost motion Base Allowable dynamic moment (*2) Allowable overhang
Description
Ball screw, ø10mm, rolled C10 ±0.02mm [±0.03mm] 0.1mm or less Material: Aluminum with white alumite treated Ma: 8.9 N•m, Mb: 12.7 N•m, Mc: 18.6 N•m 220mm or less in Ma, Mb and Mc directions Low dust generation grease (urea grease) is used for both Grease ball screws and guides. Cleanness Class 10 (0.1µm) Ambient operating temperature/humidity 0 to 40°C, 85% RH or less (Non-condensing) (*1) The value at lead 20 is shown in [ ]. (*2) Based on 5,000 km of traveling life.
RCP4CR
ROBO Cylinder
Dimensional Drawings Appendix
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
P.15
(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables. (*2) After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end
2D CAD
2-ø5H7, depth 6 19.5 21 19.5
4-M5, depth 9
(13)
(300)
20
(28)
4.5
5
31 (Reamed hole pitch ±0.02)
5
115
Stroke
56 58
X
18.9
32
(ø40)
Table/ Arm/ Flat Type 5.5
Ground tap M3, depth 6 (Same on opposite side)
22.5 33
47
5.5
Standard E-ø4H7, depth 5.5 (from bottom base)
Gripper/ Rotary Type
31 Y
C×100P J (reamed hole and oblong hole pitch) A
7 Cable exit 4 direction (optional)
20 75
25
G
Linear Servo Type
106 (without brake) 146 (with brake)
Cleanroom Type
CJT Cable: top
CJL Cable: left
CJR Cable: right
Dimensions and Weight by Stroke Stroke Without brake L With brake A B C D E F G H J K Weight Without brake (kg) With brake
32
19
CJB Cable: bottom
Mini
* Tube outer diameter: ø6
5
Detail Y
Controllers Integrated
Joint mounting position: Standard
28
Joint turning range
H-oblong hole, depth 5.5 F-ø4.5, through (from bottom base) ø8 counterbored, depth 4.5 (from opposite side) D-M5, depth 9 B×100P
+0.012 4 0
Joint mounting position: Opposite side
3 SE ME (*2)
40
59.5 53 43
8
Mini Standard
98 (without brake) 138 (with brake) 18.5
K 18 3 ME SE
Rod Type
Allowable bending radius of securing cable: R50
50
L Reference offset position for Ma/Mc moments 8
Controllers Integrated
Cable joint connector (*1)
32 ±0.02
Detail view of X (Mounting hole and reference plane)
39 23
Mini Standard
Reference plane ø8
ø4.5
Slider Type
50 299.5 339.5 0 0 1 4 2 4 186.5 0 0 201.5 2.0 2.2
100 349.5 389.5 100 0 1 6 3 4 236.5 1 85 251.5 2.1 2.3
150 399.5 439.5 100 0 2 6 3 6 286.5 1 85 301.5 2.3 2.5
200 449.5 489.5 200 1 2 8 3 6 336.5 1 185 351.5 2.4 2.6
250 499.5 539.5 200 1 3 8 3 8 386.5 1 185 401.5 2.6 2.8
300 549.5 589.5 300 2 3 10 3 8 436.5 1 285 451.5 2.7 3.0
350 599.5 639.5 300 2 4 10 3 10 486.5 1 285 501.5 2.9 3.1
400 649.5 689.5 400 3 4 12 3 10 536.5 1 385 551.5 3.0 3.3
450 699.5 739.5 400 3 5 12 3 12 586.5 1 385 601.5 3.2 3.4
500 749.5 789.5 500 4 5 14 3 12 636.5 1 485 651.5 3.4 3.6
550 799.5 839.5 500 4 6 14 3 14 686.5 1 485 701.5 3.5 3.7
600 849.5 889.5 600 5 6 16 3 14 736.5 1 585 751.5 3.7 3.9
650 899.5 939.5 600 5 7 16 3 16 786.5 1 585 801.5 3.8 4.1
700 949.5 989.5 700 6 7 18 3 16 836.5 1 685 851.5 4.0 4.2
750 800 999.5 1049.5 1039.5 1089.5 700 800 6 7 8 8 18 20 3 3 18 18 886.5 936.5 1 1 685 785 901.5 951.5 4.1 4.3 4.4 4.5
SplashProof Type
Pulse Motor
Applicable Controllers RCP4 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Features Equipped with a high-output driver PIO control supported
Maximum number of positioning points
Positioner type High-output specification
PCON-CA-42PI- -2-0
Pulse-train type High-output specification
Equipped with a high-output driver PCON-CA-42PI-PL-2-0 Pulse-train input supported
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Field network supported
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
3 points
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Solenoid valve multi-axis type Network specification *
Model number
indicates I/O type (NP/PN). *
indicates number of axes (1 to 8). *
Input power
Power supply Standard Reference capacity price page
512 points
— Refer to P618
— 768 points
DC24V
—
➝ P607 Servo Motor (200V)
— Refer to P572
—
➝ P563
indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP4CR-SA6C
Servo Motor (24V)
452
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP4CR
ROBO Cylinder
RCP4CR-SA7C Model Specification Items
RCP4CR Series
SA7C Type
I
Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 73mm, 24-V Pulse Motor
56P
Encoder type
Motor type
I: Incremental specification
Lead
P3
Stroke
56P: Pulse motor, 24 : 24mm size 56 16 : 16mm 8 : 8mm 4 : 4mm
Applicable controller
50: 50mm
Cable length
P3: PCON-CA MSEP-C
800: 800mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Speed vs. Load Capacity
Controllers Integrated
Table/ Arm/ Flat Type Mini Standard
(1) The maximum payload is the value when operated at 0.3G (0.2G with some models) acceleration. The upper limit of acceleration is 1 G (*). Note that raising the acceleration causes the payload to drop.
(*)The specific value varies depending on the connected controller and actuator lead. For details, refer to “Selection References” on page A-100, A-102. (2) Take note that the maximum payload and maximum speed vary depending on the controller connected to the RCP4. (Refer to the actuator specifications below.) (3) See page A-71 for details on push motion.
(mm)
RCP4CR-SA7C-I-56P-24- ➀ -P3- ➁ - ➂
24
RCP4CR-SA7C-I-56P-16- ➀ -P3- ➁ - ➂
16
RCP4CR-SA7C-I-56P-8- ➀ -P3- ➁ - ➂
8
RCP4CR-SA7C-I-56P-4- ➀ -P3- ➁ - ➂
4
Maximum payload
controller Horizontal (kg) Vertical (kg)
PCON-CA MSEP-C PCON-CA MSEP-C PCON-CA MSEP-C PCON-CA MSEP-C
20 18 40 35 45 40 45 40 (*)
10 0
7
200
0
Lead 24
10 8
Lead 8
6 4 5 2
1.5
Lead 16 1.5
0
Lead 24 1
0.5
400 600 800 1000 1200 0 100 200 300 400 500 600 700 800 900 Speed (mm/s) Speed (mm/s) Operated by the MSEP-C
■ Stroke and Max. Speed/Suction Volume by Lead
3 2 (*) 8 5 (*) 16 10 (*) 25 15 (*)
Lead Connected 50~450 500
Stroke (mm)
(mm) controller (every 50mm) (mm)
24 16
50~800 (every 50mm)
8 4
PCON-CA MSEP-C
550
(mm)
600
(mm)
1200 1000<800>
PCON-CA
980<840>
MSEP-C
865<840>
650
700
750
490
430
245<210>
215<210> 140
MSEP-C
(mm)
(mm)
(mm)
1155
1010
890 890<800>
790 790
750
655
580
515
375
325
290
255
185
160
145
515
280
PCON-CA MSEP-C
(unit: mm/s)
800
(mm)
560
PCON-CA
255 125 125
Suction amount (Nℓ/min)
90 70 40 30
The values in < > apply when the actuator is used vertically.
*See page A-71 for details on push motion.
Cable Length
Stroke (mm) 50 100 150 200 250 300 350 400
Standard price — — — — — — — —
Stroke (mm) 450 500 550 600 650 700 750 800
Standard price — — — — — — — —
Servo Motor (24V)
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications
Options
Linear Servo Motor
15
(*) When operated at 0.2 G
Lead Connected
Model number
Stroke
Servo Motor (200V)
18
RCP4CR-SA7C Vertical, MSEP connected 16 Lead 4 This graph assumes that the 14 15 actuator is operated at 0.2 G. Vertical 12
Actuator Specifications
Lead and Payload
Code explanation ➀ Stroke ➁ Cable length ➂ Options
Pulse Motor
20
Linear Servo Type
SplashProof Type
Payload (kg)
P.5
Gripper/ Rotary Type
Cleanroom Type
RCP4CR-SA7C Horizontal, MSEP connected 45 Assuming that the actuator is Lead 4 operated at 0.2 G for lead 4 40 and at 0.3 G for other leads. 35 Lead 8 Horizontal 30 Lead 16 25
Appendix
Payload (kg)
Payload (kg)
Standard
Payload (kg)
RCP4CR-SA7C Horizontal, PCON-CA connected RCP4CR-SA7C Vertical, PCON-CA connected 50 30 The values below are based The values below are based Lead 4 45 on operation at 0.3 G. Lead 8 on operation at 0.3 G. 25 Lead 4 40 Vertical Horizontal 35 20 16 30 Lead 16 15 25 Lead 8 20 10 8 9 Lead 24 15 Lead 16 5 8 7 Lead 24 10 5.5 3 2 4 1 1 0 0 0 200 400 600 800 1000 1200 1400 0 200 400 600 800 1000 1200 1400 Speed (mm/s) Speed (mm/s) Operated by the PCON-CA
Mini
Name Brake Optional cable exit direction (top) Optional cable exit direction (right) Optional cable exit direction (left) Optional cable exit direction (bottom) Non-motor end specification Vacuum port on opposite side
453
Option code B CJT CJR CJL CJB NM VR
RCP4CR-SA7C
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-58
Standard price — — — — — — —
Item
Drive system Positioning repeatability (*1) Lost motion Base Allowable dynamic moment (*2) Allowable overhang
Description
Ball screw, ø12mm, rolled C10 ±0.02mm [±0.03mm] 0.1mm or less Material: Aluminum with white alumite treated Ma: 13.9 N•m, Mb: 19.9 N•m, Mc: 38.3 N•m 230mm or less in Ma, Mb and Mc directions Low dust generation grease (urea grease) is used for both Grease ball screws and guides. Cleanness Class 10 (0.1µm) Ambient operating temperature/humidity 0 to 40°C, 85% RH or less (Non-condensing) (*1) The value at lead 24 is shown in [ ]. (*2) Based on 5,000 km of traveling life.
RCP4CR
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
Appendix
www.intelligentactuator.com
P.15
(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables. (*2) After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end
2D CAD
20 20 20
2-ø5H7, depth 10
Reference plane
Slider Type
Mini Standard
20
4-M5, depth 10
Controllers Integrated
(13)
(300)
6
(28)
5.5
ø9.5
39 (Reamed hole pitch ±0.02)
5.5
ø6
Detail view of X (Mounting hole and reference plane)
Rod Type
Cable joint connector (*1)
32 ±0.02 50
Mini
Allowable bending radius of securing cable: R50
Standard L
Stroke
128
Joint mounting position: Opposite side
21 3
Joint turning range
Joint mounting position: Standard
SE ME
(*2)
Table/ Arm/ Flat Type
21
76 64 50
Controllers Integrated
133 (without brake) 183 (with brake)
K
43
Reference offset position for Ma/Mc moments 20.5 48 8 32 8 3 ME SE
Mini 71 73
X
(25.5)
40
B×100P
61
6
Standard
Gripper/ Rotary Type
40
5
6
* Tube outer diameter: 08
F-ø6, through ø9.5 counterbored, depth 5.5 (from opposite side) E-ø4H7, depth 6 (from bottom base)
H-oblong hole, depth 5.5 D-M5, depth 9 (from bottom base) +0.012 4 0
Ground tap M3, depth 6 (Same on opposite side)
32 40.5
(ø46)
Detail Y Y
C×100P J (reamed hole and oblong hole pitch)
30
A 10 Cable exit 4 direction (optional)
80
25.5
G
143.5 (without brake) 193.5 (with brake)
Cleanroom Type
CJT Cable: top
■ Dimensions and Mass by Stroke CJL Cable: left
CJR Cable: right
32
19
Linear Servo Type
CJB Cable: bottom
Stroke 50 100 150 200 Without brake 352.5 102.5 452.5 502.5 L With brake 402.5 452.5 502.5 552.5 A 0 100 100 200 B 0 0 0 1 C 1 1 2 2 D 4 6 6 8 E 2 3 3 3 F 4 4 6 6 G 199 249 299 349 H 0 1 1 1 J 0 85 85 185 K 219.5 269.5 319.5 369.5 3.6 3.8 4.1 Weight Without brake 3.4 (kg) With brake 3.9 4.1 4.3 4.6
250 552.5 602.5 200 1 3 8 3 8 399 1 185 419.5 4.3 4.8
300 602.5 652.5 300 2 3 10 3 8 449 1 285 469.5 4.6 5.1
350 652.5 702.5 300 2 4 10 3 10 499 1 285 519.5 4.8 5.3
400 702.5 752.5 400 3 4 12 3 10 549 1 385 569.5 5.1 5.6
450 752.5 802.5 400 3 5 12 3 12 599 1 385 619.5 5.3 5.8
500 802.5 852.5 500 4 5 14 3 12 649 1 485 669.5 5.6 6.1
550 852.5 902.5 500 4 6 14 3 14 699 1 485 719.5 5.8 6.3
600 902.5 952.5 600 5 6 16 3 14 749 1 585 769.5 6.0 6.5
650 952.5 1002.5 600 5 7 16 3 16 799 1 585 819.5 6.3 6.8
700 1002.5 1052.5 700 6 7 18 3 16 849 1 685 869.5 6.5 7.0
750 1052.5 1102.5 700 6 8 18 3 18 899 1 685 919.5 6.8 7.3
800 1102.5 1152.5 800 7 8 20 3 18 949 1 785 969.5 7.0 7.5
SplashProof Type
Pulse Motor
Applicable Controllers RCP4 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Features Equipped with a high-output driver PIO control supported
Maximum number of positioning points
Positioner type High-output specification
PCON-CA-56PI- -2-0
Pulse-train type High-output specification
Equipped with a high-output driver PCON-CA-56PI-PL-2-0 Pulse-train input supported
Field network type High-output specification
PCON-CA-56PI- -0-0
Equipped with a high-output driver Field network supported
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
3 points
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Solenoid valve multi-axis type Network specification *
Model number
indicates I/O type (NP/PN). *
indicates number of axes (1 to 8). *
Input power
Power supply Standard Reference capacity price page
512 points
— Refer to P618
— 768 points
DC24V
—
➝ P607 Servo Motor (200V)
— Refer to P572
—
➝ P563
indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP4CR-SA7C
Servo Motor (24V)
454
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP2CR
ROBO Cylinder
RCP2CR-SS7C Model Specification Items
RCP2CR Series
SS7C
I
Type
Encoder type
42P
Motor type
I: Incremental 42P: Pulse motor, * The Simple absolute 42 size encoder is also considered type "I".
Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 60mm, Pulse Motor, Steel Base
Lead
Stroke
: 12mm 12 12 : 12mm 6 : 6 : 6mm 6mm 3 : 3 : 3mm 3mm
Applicable controller
50: 50mm 600: 600mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Options
See Options below. N: None P: 1m S: 3m M: 5m X: Custom R: Robot cable
Speed vs. Load Capacity 35 3mm Lead 6mm Lead Due pulse motor, Horizontal 30 to the characteristics of the the RCP2 series' load capacity decreases at high 25 speeds. In the table below, check if your desired 20 speed and load capacity are supported. Load capacity (Kg)Load capacity (Kg)
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type
15 35
3mm Lead
10 30
6mm Lead
12mm Lead
Horizontal
255
3
200 0 15
100
200
300 400 Speed (mm/s)
10
500
14
P.5
(1) When the stroke increases, the maximum speed will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) Since the RCP2 series use the pulse motor, the load capacity decreases at high speeds. In the Speed vs. Load Capacity graph on the right, see if your desired speed and load capacity are supported. (3) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 3mm-lead model, or when used vertically). This is the upper limit of the acceleration. (4) See page A-71 for details on push motion.
Gripper/ Rotary Type
Linear Servo Type
(Note 1) Please note that the maximum load capacity decreases as the speed increases.
Model number
RCP2CR-SS7C-I-42P-12- ➀ - ➁ - ➂ - ➃ SplashProof Type
200
300 400 Speed (mm/s)
Lead (mm)
Horizontal (kg)
Vertical (kg)
12
~30
~4
Stroke (mm)
Max. Load Capacity (Note 1)
RCP2CR-SS7C-I-42P-6- ➀ - ➁ - ➂ - ➃
6
~30
~8
RCP2CR-SS7C-I-42P-3- ➀ - ➁ - ➂ - ➃
3
~30
~12
8
Stroke
600
700
Vertical
6mm Lead
146
3mm Lead
124
Vertical
12mm Lead
102 80 0 6
100
1
200 Lead 300 6mm
400 Speed (mm/s)
4
500
600
0.5
700
12mm Lead
1 0.5 0 and Volume by Lead ■ Stroke 0 100 Max. 200 Speed/Suction 300 400 500 600 700 Stroke 50~500 Speed (mm/s) ~600 Suction
(every 50mm)
(mm)
Volume (Nℓ/min)
12
600
470
50
6
300
230
30
3
150
115
Lead
50~600
(every 50mm)
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
500
10
2
Actuator Specifications
Lead and Payload
100
3mm Lead
12 Load capacity (Kg)Load capacity (Kg)
Standard
Cleanroom Type
3
0 0 Appendix
700
12mm Lead
5
Mini
600
15 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Stroke
Type
Standard price
(mm) 50/100 150/200 250/300 350/400 450/500 550/600
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard
— — — — — —
Special length
Pulse Motor
Robot Cable
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Servo Motor (24V)
Servo Motor (200V)
Actuator Specifications
Options Name Brake Non-motor end specification Vacuum port on opposite side
Option code B NM VR
Linear Servo Motor
455
See page ➝ A-42 ➝ A-52 ➝ A-58
Standard price — — —
Item
Description
Drive method Positioning repeatability Lost motion Allowable static moment Allowable dynamic moment (*) Overhang load length Grease type Cleanliness Ambient operating temperature/humidity
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Ma: 79.4 N•m, Mb: 79.4 N•m, Mc: 172.9 N•m Ma: 14.7 N•m, Mb: 14.7 N•m, Mc: 33.3 N•m Ma direction: 300mm or less Mb/Mc directions: 300mm or less Low dust generation grease (both ball screw and guide) Class 10 (0.1µm) 0 to 40°C, 85% RH max. (Non-condensing)
(*) Based on 10,000km of traveling life. Direction of allowable load moment. Ma
Mb
Overhang load length Mc
Ma
L
Mc L
RCP2CR-SS7C
RCP2CR
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
* For the non-motor end model, the dimensions (distance to home) on the motor-side and that on the opposit side are flipped.
P.15
Connect the motor and encoder cables here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end The dimensions enclosed in "( )" are reference dimensions. Reference position for calculating the moment Ma.
40.6 32
2-ø5H7 depth 10
5
Mini Standard Controllers Integrated
60 5 50 4-M5 depth 10 9 32 ±0.02 9
(240)
Rod Type
Cable joint connector *1
32 (Reamer hole tolerance ±0.02)
2D CAD
(*1) (*2) (*3)
Appendix
25.4
CAD drawings can be downloaded from the website.
Slider Type
Mini Applicable tube OD: ø8 (ID: ø6)
12
Ma moment offset reference position*3
(A)
ME
(126)
Home
SE 5
113 90
25 15
Symmetric (Optional)
Standard
ME *2
Table/ Arm/ Flat Type
16 60
A
(21)
55
Details of section A
18
N x 100 P 100 (reamer hole pitch) (90 when 50st) 50 (reamer hole and oblong hole pitch)
M x 100 P
C
18
Mini
100 (reamer hole pitch)
B (reamer hole pitch)
D-M5 depth 8
5
Standard 30
+0.012 40
Controllers Integrated
5
36
55 60
60 55 41.5 27
1
1
4.5
57
Reference surface
S (stroke)
25
Standard
Secure at least 100
(L)
Details of oblong hole Oblong hole, depth 6 from bottom of base
52
Dimensions of the Brake Section
Gripper/ Rotary Type
4-ø4H7 depth 6 from bottom of base (When 50st, 3-ø4H7 depth 6 from bottom of base)
Dimensions and Weight by Stroke
* The length L of a brake-equipped actuator is longer than that of a standard model (see the table) by 24.5mm.
Stroke L A B C D M N Weight (kg)
27
55 53
1
36.5
60
50 351 226 0 90 6 1 0 3.3
100 401 276 40 40 8 1 1 3.6
150 451 326 90 90 8 1 1 3.9
200 501 376 140 140 8 1 1 4.2
250 551 426 190 190 8 1 1 4.6
300 601 476 240 40 12 2 2 4.9
350 651 526 290 90 12 2 2 5.3
400 701 576 340 140 12 2 2 5.6
450 751 626 390 190 12 2 2 6.0
500 801 676 440 40 16 3 3 6.3
550 851 726 490 90 16 3 3 6.6
600 901 776 540 140 16 3 3 6.9
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCP2CR series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
Easy-to-use controller, even for beginners
PSEP-C-42PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-42PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-42PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-42PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-42PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-42PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-42PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Power-supply Standard Reference capacity price page
AC100V AC200V
PMEC-C-42PI- -2Solenoid Valve Type
Input power
3 points
Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
Pulse Motor
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2CR-SS7C
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
456
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP2CR
ROBO Cylinder
RCP2CR-SS8C Model Specification Items
RCP2CR Series
SS8C
I
Type
Encoder type
56P
Motor type
I: Incremental 56P: Pulse motor, * T he Simple absolute 56 size encoder is also considered type "I".
Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 80mm, Pulse Motor, Steel Base
Lead
Stroke
Applicable controller
20 : 20mm 10 : 10mm 5 : 5mm
50: 50mm
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
1000: 1000mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Load capacity (Kg) Load capacity (Kg)
Standard Controllers Integrated
Table/ Arm/ Flat Type
Appendix
Linear Servo Type
Actuator Specifications
20
20mm Lead
10
8
Lead and Payload Model number
100
4
200
600
700
0.5 0.5 300 400 500 600 Speed (mm/s)
700
30 25 20 35 15 30 10 255
5
300 400 500 Speed (mm/s)
Vertical 5mm Lead 12
10mm Lead
Vertical
20mm Lead 5mm Lead0.5
200 0 15 12 10
100
200
10mm Lead
20mm Lead
5
0.5 0.5 0.5 (Note 1) Please note that the maximum load capacity decreases as the speed increases. ■ Stroke00and Max. Volume by Lead mm/s) 100 Speed/Suction 200 300 400 500 600(Unit: 700 Suction 50~800 Speed Stroke Lead Stroke Max. Load Capacity (Note 1) ~900(mm/s) ~1000
(mm) 20
RCP2CR-SS8C-I-56P-20- ➀ - ➁ - ➂ - ➃
Horizontal (kg)
Vertical (kg)
~40
~5
RCP2CR-SS8C-I-56P-10- ➀ - ➁ - ➂ - ➃
10
~50
~12
RCP2CR-SS8C-I-56P-5- ➀ - ➁ - ➂ - ➃
5
~55
~20
(mm)
(every 50mm)
Lead
666 <500> 333 <300> 165 <150>
20 50~1000
10
(every 50mm)
5
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
*See page A-71 for details on push motion.
(mm)
625 <500> 310 <300> 155 <150>
(mm)
Volume (Nℓ/min)
515
80
255
40
125
20
*The values enclosed in < > apply to vertical settings.
Cable Length
Stroke Stroke
Servo Motor (200V)
Load capacity (Kg) Load capacity (Kg)
(1) When the stroke increases, the maximum speed will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) Since the RCP2 series use the pulse motor, the load capacity decreases at high speeds. In the Speed vs. Load Capacity graph on the right, see if your desired speed and load capacity are supported. (3) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 5mm-lead model, or when used vertically). This is the upper limit of the acceleration. (4) See page A-71 for details on push motion.
Gripper/ Rotary Type
Servo Motor (24V)
20 60 55 Horizontal20mm Lead 5mm Lead 10 50 10mm 8 Lead 4 5 400 0 100 200 300 400 500 600 700 30 Speed (mm/s)
35
P.5
Standard
Pulse Motor
P: 1m S: 3m M: 5m X: Custom R: Robot cable
30 70
0 0
Mini
SplashProof Type
Options See Options below.
Speed vs. Load Capacity 70 Due of the pulse motor, 60 55 to the characteristicsHorizontal 5mm Lead the RCP2 series' load capacity decreases at high 50 speeds. In 10mm the table Leadbelow, check if your desired 40 speed and load capacity are supported.
Mini
Cleanroom Type
Cable length N: None
Type
Standard price
(mm) 50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800 850/900 950/1000
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard
— — — — — — — — — —
Special length
Robot Cable
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications
Options Name Brake Non-motor end specification Vacuum port on opposite side
Option code B NM VR
Linear Servo Motor
457
See page ➝ A-42 ➝ A-52 ➝ A-58
Standard price — — —
Item
Description
Drive method Positioning repeatability Lost motion Allowable static moment Allowable dynamic moment (*) Overhang load length Grease type Cleanliness Ambient operating temperature/humidity
Ball screw, ø16mm, rolled C10 ±0.02mm 0.1mm or less Ma: 198.9 N•m, Mb: 198.9 N•m, Mc: 416.7 N•m Ma: 36.3 N•m, Mb: 36.3 N•m, Mc: 77.4 N•m Ma direction: 450mm or less Mb/Mc directions: 450mm or less Low dust generation grease (both ball screw and guide) Class 10 (0.1µm) 0 to 40°C, 85% RH max. (Non-condensing)
(*) Based on 10,000km of traveling life. Direction of allowable load moment. Ma
RCP2CR-SS8C
Mb
Overhang load length Mc
Ma
L
Mc L
RCP2CR
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
2D CAD
Appendix
P.15
90 7.5 7.5 75 2-ø8H7 depth 10 15 45 ±0.02 15 4-M8 depth 10
Controllers Integrated Applicable tube OD: ø12 (ID: ø8) Secure at least 100
(L)
Ma moment offset reference position*3
30 ME 73
S (stroke)
(170)
30 14
Home
SE (5)
170
Symmetric (Optional) Standard
(5)
Mini Standard
14 80
(24)
15
N x 100 P 100 (reamer hole pitch) 50 (reamer hole and oblong hole pitch)
F B (reamer hole pitch)
D-M8 depth 10
Details of section A
Table/ Arm/ Flat Type
45
6
+0.012 50
74 80
Details of oblong hole
0.5
Mini
4-ø5H7 depth 6 from bottom of base
50
Dimensions of the Brake Section
Controllers Integrated
68
15 N x 100 P 100 (reamer hole pitch)
5
Oblong hole, depth 6 from bottom of base 1
116
ME *2
48
A
Reference surface
Rod Type
138
(A)
17
Mini Standard
Cable joint connector *1
45 Reamer hole tolerance ±0.02)
56 45 35
* For the non-motor end model, the dimensions (distance to home) on the motor-side and that on the opposit side are flipped.
77 70 55 34
(240)
Slider Type
(*1) (*2) (*3)
70 59 34
43
* The length L of a brake-equipped actuator is longer than that of a standard model (see the table) by 26mm.
80
Connect the motor and encoder cables here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end Reference position for calculating the moment Ma.
Dimensions and Weight by Stroke Stroke L A B D F N Weight (kg)
50 435 280 50 8 50 1 7.0
100 485 330 100 8 100 1 7.5
150 535 380 150 8 150 1 8.0
200 585 430 200 10 0 2 8.5
250 635 480 250 12 50 2 9.0
300 685 530 300 12 100 2 9.6
350 400 450 500 550 600 650 700 735 785 835 885 935 985 1035 1085 580 630 680 730 780 830 880 930 350 400 450 500 550 600 650 700 12 14 16 16 16 18 20 20 150 0 50 100 150 0 50 100 2 3 3 3 3 4 4 4 10.1 10.6 11.2 11.7 12.3 12.7 13.3 13.8
750 1135 980 750 20 150 4 14.4
800 1185 1030 800 22 0 5 14.9
850 1235 1080 850 24 50 5 15.4
900 1285 1130 900 24 100 5 15.9
950 1335 1180 950 24 150 5 16.5
1000 1385 1230 1000 26 0 6 17.0
Standard
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCP2CR series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
Easy-to-use controller, even for beginners
PSEP-C-56PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-56PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-56PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-56PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-56PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-56PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-56PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-56PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Power-supply Standard Reference capacity price page
AC100V AC200V
PMEC-C-56PI- -2Solenoid Valve Type
Input power
3 points
Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
Pulse Motor
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2CR-SS8C
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
458
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP2CR
ROBO Cylinder
RCP2CR-HS8C Model Specification Items
RCP2CR Series
HS8C
I
Type
86P
Cleanroom ROBO Cylinder, High-Speed Slider Type, Coupled, Actuator Width 80mm, Pulse Motor, Steel Base
30
P4
Encoder type
Motor type
Lead
Stroke
Applicable controller
I: Incremental
86P: Pulse motor, 56 high output
30 : 30mm
50: 50mm
P4: PCON-CFA
1000: 1000mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Load capacity (Kg)Load capacity (Kg)
Standard Controllers Integrated
Table/ Arm/ Flat Type Appendix
Mini
P.5
Standard
Linear Servo Type
Load capacity (Kg)Load capacity (Kg)
(1) Due the large lead of the ball screw in high-speed actuators, operating at low speeds may cause vibration and/ or noise. Therefore, use the actuator at speeds over 100mm/s. (2) When the stroke increases, the maximum speed will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (3) Since the RCP2 series use the pulse motor, the load capacity decreases at high speeds. In the Speed vs. Load Capacity graph on the right, see if your desired speed and load capacity are supported. (4) The load capacity is based on operation at an acceleration of 0.3G (0.2G when used vertically). 0.5G (horizontal) and 0.3G (vertical) are the upper limits of the acceleration. (5) See page A-71 for details on push motion.
Gripper/ Rotary Type
Lead and Payload
(Note 1) Please note that the maximum load capacity decreases as the speed increases.
Model number
RCP2CR-HS8C-I-86P-30- ➀ -P4- ➁ - ➂
Max. Load Capacity (Note 1)
Lead (mm)
Horizontal (kg)
Vertical (kg)
30
~20
~3
Code explanation ➀ Stroke ➁ Cable length ➂ Options
Servo Motor (200V)
800 1000 Speed (mm/s)
5 0 0 200 400 600 800 1000 (* Minimum speed: 100mm/s) Speed (mm/s) 3.5 Acceleration 0.2G 3 Vertical
2 1 1200
1400
2 1 1200
1400
1200
1400
2.5 2 3.5 1.5 31
Acceleration 0.2G
Vertical
2.5 0.5 20 0 200 400 600 1.5(* Minimum speed: 100mm/s) 1
800 1000 Speed (mm/s)
0
(* Minimum speed: 100mm/s)
Stroke Lead
50~1000
30
(every 50mm)
Speed (mm/s)
50~800 (every 50mm)
~900 (mm)
~1000 (mm)
Suction Volume (Nℓ/min)
1200 <750>
1000 <750>
800 <750>
180
*The values enclosed in < > apply to vertical settings.
(Unit: mm/s)
➁Cable Length
Stroke
Servo Motor (24V)
Horizontal
255 Acceleration 0.3G 200 0 200 400 600 15 Acceleration 0.5G (* 12 Minimum speed: 100mm/s) 10
0 200 Max. 400 Speed/Suction 600 800 Volume 1000 1200 1400 and by Lead ■ Stroke
Stroke (mm)
*See page A-71 for details on push motion.
Stroke
Pulse Motor
35 15 12 Acceleration 0.5G 30 10
0.5
Actuator Specifications
SplashProof Type
Options
Speed vs. Load Capacity 35 Due of the pulse motor, 30 to the characteristics Horizontal the RCP2 series' load capacity decreases at high 25 speeds. In the table Acceleration 0.3G below, check if your desired 20 speed and load capacity are supported.
Mini
Cleanroom Type
Cable length
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Type
Standard price
(mm) 50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800 850/900 950/1000
Standard
— — — — — — — — — —
Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications
➂ Options Name Brake Non-motor end specification Vacuum port on opposite side
Option code B NM VR
Linear Servo Motor
See page ➝ A-42 ➝ A-52 ➝ A-58
Standard price — — —
Item
Description
Drive method Positioning repeatability Lost motion Allowable static moment Allowable dynamic moment (*) Overhang load length Grease type Cleanliness Ambient operating temperature/humidity
Ball screw, ø16mm, rolled C10 ±0.02mm 0.1mm or less Ma: 198.9 N•m, Mb: 198.9 N•m, Mc: 416.7 N•m Ma: 36.3 N•m, Mb: 36.3 N•m, Mc: 77.4 N•m Ma direction: 450mm or less Mb/Mc directions: 450mm or less Low dust generation grease (both ball screw and guide) Class 10 (0.1µm) 0 to 40°C, 85% RH max. (Non-condensing)
(*) Based on 10,000km of traveling life.
459
Direction of allowable load moment. Ma Mb
Overhang load length Mc
Ma
L
Mc L
RCP2CR-HS8C
RCP2CR
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com (*1) (*2) (*3)
2D CAD
Appendix
P.15
A Motor-encoder cable is connected here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end Reference position for calculating the moment Ma. 90 7.5 7.5 75 2-ø8H7 depth 10 15 45 ±0.02 15 4-M8 depth 10
56 45 35
* For the non-motor end model, the dimensions (distance to home) on the motor-side and that on the opposit side are flipped.
(240)
Applicable tube OD: ø12 (ID: ø8) Secure at least 100
30
(170)
30 14
Home 170
(5)
Standard Controllers Integrated
80
(24)
15
N x 100 P 100 (reamer hole pitch) 50 (reamer hole and oblong hole pitch)
F B (reamer hole pitch)
68
15 N x 100 P 100 (reamer hole pitch)
Table/ Arm/ Flat Type
D-M8 depth 10
5
Oblong hole, depth 6 from bottom of base
Mini
Details of section A
6
45
74 80
+0.012 50
1
Symmetric (Optional) Standard
14
A
Reference surface
116
ME *2
48
77 70 55 34
73
S (stroke) SE (5)
Controllers Integrated
Mini
138
(A)
17 ME
Cable joint connector *1
Rod Type
(L) Ma moment offset reference position*3
Mini Standard
45 Reamer hole tolerance ±0.02)
CAD drawings can be downloaded from the website.
Slider Type
Details of oblong hole
Gripper/ Rotary Type
50
0.5
Dimensions of the Brake Section
Standard
4-ø5H7 depth 6 from bottom of base
* The length L of a brake-equipped actuator is longer than that of a standard model (see the table) by 26mm; add 0.5kg to weight.
70 59 34
43
Linear Servo Type
80
Dimensions and Weight by Stroke Stroke L A B D F N Weight (kg)
50 435 280 50 8 50 1 7.0
100 485 330 100 8 100 1 7.5
150 535 380 150 8 150 1 8.0
200 585 430 200 10 0 2 8.5
250 635 480 250 12 50 2 9.0
300 685 530 300 12 100 2 9.6
350 400 450 500 550 600 650 700 735 785 835 885 935 985 1035 1085 580 630 680 730 780 830 880 930 350 400 450 500 550 600 650 700 12 14 16 16 16 18 20 20 150 0 50 100 150 0 50 100 2 3 3 3 3 4 4 4 10.1 10.6 11.2 11.7 12.3 12.7 13.3 13.8
750 1135 980 750 20 150 4 14.4
800 1185 1030 800 22 0 5 14.9
850 1235 1080 850 24 50 5 15.4
900 1285 1130 900 24 100 5 15.9
950 1335 1180 950 24 150 5 16.5
1000 1385 1230 1000 26 0 6 17.0
Cleanroom Type
SplashProof Type
Applicable Controllers The controller for the RCP2CR-HS8C type is a dedicated controller.
Name
Positioner Type
*
External view
Model number
PCON-CFA-86PI-
-2-0
Features
Maximum number of positioning points
Input power
Power supply capacity
Standard price
Reference page
Positioning is possible for up to 512 points
512 points
DC24V
6A max.
—
➝ P607
Pulse Motor
indicates I/O type.
Note: • Please note that the encoder cable is a dedicated CFA-type cable. (See page A-59.) • Note that a simple absolute unit cannot be used.
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
RCP2CR-HS8C
460
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP2CR
ROBO Cylinder
RCP2CR-GRSS Model Specification Items
RCP2CR Series
GRSS
I
Type
Encoder type
Cleanroom ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 42mm, Pulse Motor
20P
Motor type
30
8
Stroke
Deceleration Ratio
Applicable controller
I: Incremental 20P: Pulse motor, 30 : 1/30 8: 8mm * T he Simple absolute 20 size deceleration (4mm per side) encoder is also ratio considered type "I".
Cable length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
* See page Pre-47 for details on the model descriptions.
N: None
Options See Options below.
P: 1m S: 3m M: 5m X: Custom Length
Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted freely
Mini
within the range of current limits of 20% to 70%.
Standard
L1
Controllers Integrated
Table/ Arm/ Flat Type
L2 * Operate with the L1 distance up to 40mm. * The gripping force value in the graph below is when both L1 and L2 are at 0 mm. (For gripping force reference per L1 distance, see page A-87.) The gripping force value is the sum of gripping forces of both fingers.
Mini
16
Standard
Gripper/ Rotary Type
Appendix
P.5
Linear Servo Type
12 10 8 6 4 2 0
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G.
Cleanroom Type
SplashProof Type
Gripping force (N)
14
0
10
20
30 40 50 Current Limit (% ratio)
* Please note that, when gripping (pushing), the speed is fixed at 5mm/s.
Actuator Specifications
Lead and Payload
■ Stroke and Max. Speed/Suction Volume
Model number
Deceleration Ratio
Maximum Gripping Force (N)
Stroke (mm)
RCP2CR-GRSS-I-20P-30-8- ➀ - ➁ - ➂
30
14 (7 per side)
8 (4 per side)
Stroke
Stroke Deceleration ratio
30
8 (mm)
Suction Volume (Nℓ/min)
78
10 (Unit: mm/s) (Unit: mm/s)
➁Cable Length
Stroke (mm) 8
Type
Standard price
Standard (Robot Cables)
—
Pulse Motor
Servo Motor (200V)
70
* The gripping force graph above shows the number of references. Please allow margins up to ± 15%.
Applicable Controller ➁ Cable length ➂ Options Code explanation Code explanation ➀ ➀ Compatible Controller ➁ Cable length ➂ Options
Servo Motor (24V)
60
Special length
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard price — — — — — —
* The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance.
➂ Options
Actuator Specifications
Name Non-motor end specification Flange bracket Shaft bracket
Option code NM FB SB
Linear Servo Motor
461
RCP2CR-GRSS
See page ➝ A-52 ➝ A-43 ➝ A-55
Standard price — — —
Item
Description
Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Cleanliness Ambient operating temperature, humidity
Worm gear + helical gear + helical rack ±0.01mm 0.2mm or less per side (constantly pressed out by a spring) 0.05mm or less per side Linear guide Ma: 0.5 N·m, Mb: 0.5 N·m, Mc: 1.5 N·m 0.2kg Class 10 (0.1µm) 0 to 40oC, 85% RH or less (Non-condensing)
RCP2CR
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
www.intelligentactuator.com
Appendix
P.15
* The opening side of the slider is the home position. (*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.
Slider Type
Mini Standard
0
11 −0.05
Controllers Integrated
Rod Type
Cable joint connector*1
2x2-M3 (same for opposite side)
Air intake port (applicable tube outer diameter ø4) 94 2-ø3 +0.03 depth 3 0 (same for opposite side)
36 30
Standard
Secure at least 100
ø4
Mini
Controllers Integrated ø3
+0.03 0
depth 3
34
42
35
Mini
17 8.5
Standard
4
46
MAX 22 MIN 14
5
Table/ Arm/ Flat Type
4
8-M3 depth 5
9
(same for opposite side)
61.5
4-M3 depth 5 3 +0.05 depth 3 0
2-3 +0.05 depth 3 0
Gripper/ Rotary Type
(same for opposite side)
57.5
ø3 +0.03 depth 3 0
Linear Servo Type
24
17 8.5 4
17
6
33
2.5
4-M3 depth 5 3 +0.05 depth 3 0
Cleanroom Type
Weight (kg)
0.2 SplashProof Type
Applicable Controllers RCP2CR series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
Easy-to-use controller, even for beginners
PSEP-C-20PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-20PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-20PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-20PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-20PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-20PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-20PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-20PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Power-supply Standard Reference capacity price page
AC100V AC200V
PMEC-C-20PI- -2Solenoid Valve Type
Input power
3 points
Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
Pulse Motor
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2CR-GRSS
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
462
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP2CR
ROBO Cylinder
RCP2CR-GRLS Model Specification Items
RCP2CR Series
GRLS
I
Type
Encoder type
Cleanroom ROBO Cylinder, 2-Finger Gripper, Mini Lever Type, Actuator Width 42mm, Pulse Motor
20P
Motor type
30
180
Deceleration Ratio
I: Incremental 20P: Pulse motor, 30 : 1/30 * T he Simple absolute 20 size deceleration encoder is also ratio considered type "I".
Stroke
Applicable controller
180: 180 degrees (90 degrees per side)
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
* See page Pre-47 for details on the model descriptions.
Cable length N: None
Options See Options below.
P: 1m S: 3m M: 5m X: Custom Length
Gripping Force vs. Current Limit The gripping (pushing) force can be adjusted freely
Mini
within the range of current limits of 20% to 70%.
* The gripping force of the graph below is measured on the top face of the lever. The actual gripping force drops in inverse proportion to the distance from the opening/closing fulcrum. Calculate the effective gripping force using the formula below.
Standard
L
Controllers Integrated
Table/ Arm/ Flat Type
Effective gripping force (GRLS ) = F x 15.5/ (L + 15.5) * In the graph below, the gripping force value is the sum of gripping forces of both fingers.
Mini
7 Standard
Gripper/ Rotary Type
Gripping force (N)
6
Appendix
P.5
Linear Servo Type
SplashProof Type
4 3 2 1 0
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. (2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.) (3) The rated acceleration while moving is 0.3G.
Cleanroom Type
5
0
10
20
30 40 50 Current Limit (% ratio)
* Please note that, when gripping (pushing), the speed is fixed at 5 deg/s.
Actuator Specifications
Lead and Payload
Deceleration Ratio and Max. Speed Stroke
Model number
Deceleration Ratio
Maximum Gripping Force (N)
Stroke (deg)
RCP2CR-GRLS-I-20P-30-180- ➀ - ➁ - ➂
30
6.4 (3.2 per side)
180 (90 per side)
Stroke
Deceleration ratio
30
180 (deg) 600 (Unit: degrees/s)
➁Cable Length
Stroke (deg) 180
Type
Standard price
Standard (Robot Cables)
—
Pulse Motor
Servo Motor (200V)
70
* The gripping force graph above shows the number of references. Please allow margins up to ± 15%.
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
Servo Motor (24V)
60
Special length
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard price — — — — — —
* The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications
➂ Options Name Non-motor end specification Flange bracket Shaft bracket
Option code NM FB SB
Linear Servo Motor
463
RCP2CR-GRLS
See page ➝ A-52 ➝ A-43 ➝ A-55
Standard price — — —
Item
Description
Drive System Positioning repeatability Backlash Lost motion Guide Allowable static load moment Weight Ambient operating temperature, humidity
Worm gear + helical gear ±0.01mm 1 degree or less per side (constantly pressed out by a spring) 0.1mm or less per side — — 0.2kg 0 to 40oC, 85% RH or less (Non-condensing)
RCP2CR
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
2D CAD
Appendix
P.15
* The opening side of the slider is the home position. (*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.
Slider Type
Mini Standard Controllers Integrated
24
Cable joint connector*1
Rod Type
45
Air intake port (applicable tube outer diameter ø4) 2-ø4 +0.03 depth 2.5 0
2-ø3 +0.03 depth 3 0 (same for opposite side)
Controllers Integrated
34
35
42
17 8.5
Mini 4
9
0 18 −0.05
Standard ø3 +0.03 depth 3 0
Table/ Arm/ Flat Type
MAX 180° MIN 0°
4-M4 through
Mini
Secure at least 100
ø4
18
15.5
36
2-3 +0.05 depth 3 0 (same for opposite side)
Standard
9
4
9
8-M3 depth 5 (same for opposite side)
4-M3 depth 5 3 +0.05 depth 3 0
Gripper/ Rotary Type
49 73 67.5
Linear Servo Type
55
Cleanroom Type
Weight (kg)
0.2 SplashProof Type
Applicable Controllers RCP2CR series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number
Features
Maximum number of positioning points
AC100V AC200V
PMEC-C-20PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-20PI- -2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioner type High-output specification
PCON-CA-20PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-20PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—)
Field network type High-output specification
PCON-CA-20PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
768 points
Pulse Train Input Type (Differential Line Driver)
PCON-PL-20PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-20PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-20PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-20PI- -2-0
Programmed operation is possible. Can operate up to 2 axes
Solenoid Valve Type
Program Control Type * This is for the single-axis PSEL. * * indicates number of axes (1 to 8). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563
—
DC24V
Refer to P618
—
Pulse Motor
➝ P607
—
Servo Motor (24V)
— (—)
Refer to P628
64 points 1,500 points
—
➝ P623
— Refer to P671
indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V). indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP2CR-GRLS
—
Servo Motor (200V)
➝ P665 Linear Servo Motor
464
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCACR
ROBO Cylinder
RCACR-SA4C RCACR
Model Specification Items
Series
SA4C Type
20
Encoder type I: Incremental A: Absolute
* See page Pre-47 for details on the model descriptions.
Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 40mm, 24V Servo Motor, Aluminum Base
* Absolute encoder models can only use ASEL. When the actuator is used with the simple absolute encoder, the model is considered an incremental model.
Motor type
Lead
Stroke
20: 20W Servo motor
10 : 10mm 5 : 5mm 2.5 : 2.5mm
50: 50mm
Applicable controller A1: ACON ASEL A3: AMEC ASEP MSEP
400: 400mm (50mm pitch increments)
Cable length
Options
See Options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Appendix
Standard
P.5
A
(1) When the stroke increases, the maximum will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 2.5mm-lead model). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
Gripper/ Rotary Type *This product is equipped with a position adjusting screw at the A area shown above. (See dimensional drawing on the page to the right.)
Linear Servo Type
Actuator Specifications Cleanroom Type
Lead and Payload
■ Stroke and Max. Speed/Suction Volume by Lead Motor output (W)
Model number
RCACR-SA4C- ➀ -20-10- ➁ - ➂ - ➃ - ➄ SplashProof Type
RCACR-SA4C- ➀ -20-5- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 10
20
RCACR-SA4C- ➀ -20-2.5- ➁ - ➂ - ➃ - ➄
4
1
Rated thrust (N)
Stroke (mm)
5
6
2.5
39.2
2.5
8
4.5
78.4
Encoder type/Stroke
Pulse Motor
Suction Volume (Nℓ/min)
10
665
50
5
330
30
2.5
165
15
50~400
(every 50mm)
(Unit: mm/s)
*See page A-71 for details on push motion.
➃Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — —
50 100 150 200 250 300 350 400
50~400 (every 50mm)
19.6
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Stroke (mm)
Stroke Lead
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Servo Motor (24V)
Servo Motor (200V)
Actuator Specifications
Options Name Brake Foot bracket Home sensor Power-saving Non-motor end specification Slider spacer Vacuum port on opposite side
Option code B FT HS LA NM SS VR
Linear Servo Motor
465
See page ➝ A-42 ➝ A-48 ➝ A-50 ➝ A-52 ➝ A-52 ➝ A-55 ➝ A-58
Standard price — — — — — — —
Item
Description
Ball screw, ø8mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treated Ma: 6.9 N·m, Mb: 9.9 N·m, Mc: 17.0 N·m Ma: 2.7 N·m, Mb: 3.9 N·m, Mc: 6.8 N·m 120mm or less in Ma, Mb and Mc directions Low dust generation grease (both ball screw and guide) Cleanliness Class 10 (0.1µm) Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing) Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Grease Type
(*) Based on 5,000km of traveling life Directions of Allowable Load Moment Ma
Mb
Mc
Overhang Load Length Ma
L
Mc L
RCACR-SA4C
RCACR
ROBO Cylinder
Dimensional Drawings
(*1) (*2) (*3)
4-ø3.6 ø6.5 counterbore, Depth 3.7 (for mounting actuator) *4
24 16 ±0.02 9
(*4)
If the actuator is secured using only the mounting holes provided on the top surface of the base, the base may twist to cause abnormal sliding of the slider, or may produce abnormal noise. Therefore, when using the mounting holes on the top surface of the base, keep the stroke at 200mm or less. Cable joint connector *1
10.2
11.8 Base end-face
24
M
11.8 Base end-face
68 Home
SE
Mini
(240)
13.8 3 ME*2
Standard
Base end-face Secure at least 100 Incremental 108.2 (147.2 if brake-equipped) Absolute 123.2 (162.2 if brake-equipped)
Bottom of the base
37
3 Base end-face
3
11.8
R
50 (when stroke is 50) U×100P (All strokes except 50)
50
11.8
Table/ Arm/ Flat Type
Motor section W: 46
Base end-face
Mini
3.2
Actuator width: 40
Controllers Integrated
Symmetric (Optional)
Standard
1
32 22.5 1 A
Standard
(37) (40)
Details of section A (Actuator's reference side)
Details of oblong hole
21
3 +0.010 0
4 Reference surface
Controllers Integrated
Applicable tube OD: ø6
31.2
5
st
3
Standard
Rod Type
L
ME
Mini
4-M3 depth 7
20 Reamer hole tolerance ±0.02)
ø8 hole
Details of the slotted area for adjusting slider position Ma moment offset reference position *3 36 25 18.2 15 15.2
Slider height: 40
2-ø3H7 depth 5
21
slot
P.15
Connect the motor and encoder cables here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end 32 Reference position for calculating the moment Ma.
Motor section H: 45
2D CAD
Appendix
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
Slider Type
m-M3 depth 5
Oblong hole, depth 5 from the bottom of the base
P (pitch for ø3 hole and oblong hole) N (ø3 hole pitch)
2-ø3H7 depth 5 from the bottom of the base
Dimensions and Weight by Stroke
L
Stroke Without brake Incremental With brake Without brake Ablosute With brake M N P R U m Weight (kg)
50 264 303 279 318 122 50 35 22 – 4 0.7
100 314 353 329 368 172 100 85 22 1 4 0.8
* The attached brake adds 0.3kg of mass.
150 364 403 379 418 222 100 85 72 1 4 0.9
200 414 453 429 468 272 200 185 22 2 6 1
250 464 503 479 518 322 200 185 72 2 6 1.1
300 514 553 529 568 372 300 285 22 3 8 1.2
350 564 603 579 618 422 300 285 72 3 8 1.3
400 614 653 629 668 472 400 385 22 4 10 1.4
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCACR series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number AMEC-C-20I
-
Features
-2-1
Solenoid Valve Type ASEP-C-20I
Easy-to-use controller, even for beginners
-
-2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C-
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C-
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
Positioner type
ACON-C-20I
Safety-Compliant Positioner Type
ACON-CG-20I
-
-2-0
Pulse Train Input Type (Differential Line Driver)
ACON-PL-20I
-
-2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
ACON-PO-20I
-
-2-0
Pulse train input type with open collector support
Serial Communication Type
ACON-SE-20I
-N-0-0
Program Control Type
ASEL-CS-1-20
-
* This is for the single-axis ASEL. * indicates I/O type (NP/PN).
* *
-
-2-0
-2-0
Maximum number of positioning points
Positioning is possible for up to 512 points
Dedicated Serial Communication Programmed operation is possible. Can operate up to 2 axes
indicates encoder type (I: incremental, A: absolute) indicates number of axes (1 to 8).
Input power AC100V
Power-supply Standard Reference capacity price page 2.4A rated
3 points
—
➝ P537
—
➝ P547
—
➝ P563
256 points
512 points DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
Pulse Motor
— — —
➝ P631
Servo Motor (24V)
(—) — 64 points
—
1,500 points
—
Servo Motor (200V)
➝ P675
* Enter the code "LA" in when the power-saving option is specified. * indicates field network specification symbol.
RCACR-SA4C
466
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCACR
ROBO Cylinder
RCACR-SA5C RCACR
Model Specification Items
Series
SA5C Type
20
Encoder type I: Incremental A: Absolute
* See page Pre-47 for details on the model descriptions.
Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 52mm, 24V Servo Motor, Aluminum Base
* Absolute encoder models can only use ASEL. When the actuator is used with the simple absolute encoder, the model is considered an incremental model.
Motor type
Lead
Stroke
20: 20W Servo motor
20 : 20mm 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
Applicable controller A1: ACON ASEL A3: AMEC ASEP MSEP
500: 500mm (50mm pitch increments)
Cable length
Options
See Options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Appendix
Mini
P.5
Standard
(1) When the stroke increases, the maximum will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 3mm-lead model). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
A Gripper/ Rotary Type
Linear Servo Type
* This product is equipped with a position adjusting screw at the A area shown above. (See dimensional drawing on the page to the right.)
Actuator Specifications
Lead and Payload
■ Stroke and Max. Speed/Suction Volume by Lead (Unit: mm/s) Motor output (W)
Model number Cleanroom Type
RCACR-SA5C- ➀ -20-20- ➁ - ➂ - ➃ - ➄ RCACR-SA5C- ➀ -20-12- ➁ - ➂ - ➃ - ➄ RCACR-SA5C- ➀ -20-6- ➁ - ➂ - ➃ - ➄
SplashProof Type
20
RCACR-SA5C- ➀ -20-3- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg)
Rated thrust (N)
20
2
0.5
10.7
12
4
1
16.7
6
8
2
33.3
3
2
4
65.7
Servo Motor (200V)
50 100 150 200 250 300 350 400 450 500
Suction Volume (Nℓ/min)
20
500 mm 1300 <800>
12
800
760
50
6
400
380
30
3
200
190
15
*See page A-71 for details on push motion.
80
*The values enclosed in < > apply to vertical settings.
➃Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — —
Stroke (mm)
Servo Motor (24V)
50~500
Stroke
50~450 (every 50mm) 1300 <800>
Lead
(every 50mm)
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke
Pulse Motor
Stroke (mm)
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications
Options
Item
Name Brake Foot bracket Home sensor Power-saving Non-motor end specification Vacuum port on opposite side
Option code B FT HS LA NM VR
Linear Servo Motor
467
See page ➝ A-42 ➝ A-48 ➝ A-50 ➝ A-52 ➝ A-52 ➝ A-58
Standard price — — — — — —
Description
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treated Ma: 18.6 N·m, Mb: 26.6 N·m, Mc: 47.5 N·m Ma: 4.9 N·m, Mb: 6.8 N·m, Mc: 11.7 N·m 150mm or less in Ma, Mb and Mc directions Low dust generation grease (both ball screw and guide) Cleanliness Class 10 (0.1µm) Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing) Drive System Positioning repeatability (*1) Lost Motion Base Allowable static moment Allowable dynamic moment (*2) Allowable overhang Grease Type
(*1)The specification in [ ] applies when the lead is 20mm. (*2) Based on 5,000km of traveling life Overhang Load Length Directions of Allowable Load Moment L Ma
RCACR-SA5C
Mb
Mc
Ma
Mc
L
RCACR
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
2D CAD 26
ø8 hole
slot
Details of the slotted area for adjusting slider position
10.2
Controllers Integrated
M
14.5
25.7 3 ME
st
90
SE
Rod Type
(240)
Applicable tube OD: ø6
Base end-face Secure at least 100 Incremental 84.2 (123.2 if brake-equipped) Absolute 99.2 (138.2 if brake-equipped)
Mini
15.5 3 Home ME*2
Standard
Symmetric (Optional)
1 Bottom of the base Base end-face
Actuator width: 52
14.5
50 (when stroke is 50) U×100P (All strokes except 50)
R
50
14.5
Controllers Integrated
Mini 26
4 +0.012 0
5
Standard
Table/ Arm/ Flat Type
Motor section W: 52
Base end-face
5 (50) (52)
Standard
Details of Details of section A oblong hole m-M4 depth 7 (Actuator's reference side) Oblong hole, depth 5 from the bottom of the base
P (pitch for ø4 hole and oblong hole) N (ø4 hole pitch)
2-ø4H7 depth 5 from the bottom of the base
Dimensions and Weight by Stroke (*1) (*2) (*3) (*4)
Standard
39
Slider height: 50 40 26 1
Cable joint connector *1
4-M4 depth 9
L
18.2
50
A
Reference surface
19 ±0.02 9
2-ø4H7 depth 6
14.5 Base end-face
Ma moment offset reference position *3
45 32 20
Mini
P.15
40 30
26 Reamer hole tolerance ±0.02)
4-ø4.5 ø8 counterbore, Depth 4.5 (for mounting actuator) *4
Appendix
Motor section H: 48
CAD drawings can be downloaded from the website.
Slider Type
Connect the motor and encoder cables here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end Reference position for calculating the moment Ma. If the actuator is secured using only the mounting holes provided on the top surface of the base, the base may twist to cause abnormal sliding of the slider, or may produce abnormal noise. Therefore, when using the mounting holes on the top surface of the base, keep the stroke at 300mm or less.
L
Stroke Without brake Incremental With brake Without brake Ablosute With brake M N P R U m Weight (kg)
50 265.4 304.4 280.4 319.4 142 50 35 42 – 4 1.3
100 315.4 354.4 330.4 369.4 192 100 85 42 1 4 1.4
* The attached brake adds 0.3kg of mass.
150 365.4 404.4 380.4 419.4 242 100 85 92 1 4 1.5
200 415.4 454.4 430.4 469.4 292 200 185 42 2 6 1.6
250 465.4 504.4 480.4 519.4 342 200 185 92 2 6 1.7
300 515.4 554.4 530.4 569.4 392 300 285 42 3 8 1.8
350 565.4 604.4 580.4 619.4 442 300 285 92 3 8 1.9
400 615.4 654.4 630.4 669.4 492 400 385 42 4 10 2
450 665.4 704.4 680.4 719.4 542 400 385 92 4 10 2.1
500 715.4 754.4 730.4 769.4 592 500 485 42 5 12 2.2
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCACR series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number AMEC-C-20I
-
Features
-2-1
Solenoid Valve Type ASEP-C-20I
Easy-to-use controller, even for beginners
-
-2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C-
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C-
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
Positioner type
ACON-C-20I
Safety-Compliant Positioner Type
ACON-CG-20I
-
-2-0
Pulse Train Input Type (Differential Line Driver)
ACON-PL-20I
-
-2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
ACON-PO-20I
-
-2-0
Pulse train input type with open collector support
Serial Communication Type
ACON-SE-20I
-N-0-0
Program Control Type
ASEL-CS-1-20
-
* This is for the single-axis ASEL. * indicates I/O type (NP/PN).
* *
-
-2-0
-2-0
Maximum number of positioning points
Positioning is possible for up to 512 points
Dedicated Serial Communication Programmed operation is possible. Can operate up to 2 axes
indicates encoder type (I: incremental, A: absolute) indicates number of axes (1 to 8).
Input power AC100V
Power-supply Standard Reference capacity price page 2.4A rated
3 points
—
➝ P537
—
➝ P547
—
➝ P563
256 points
512 points DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
Pulse Motor
— — —
➝ P631
Servo Motor (24V)
(—) — 64 points
—
1,500 points
—
Servo Motor (200V)
➝ P675
* Enter the code "LA" in when the power-saving option is specified. * indicates field network specification symbol.
RCACR-SA5C
468
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCACR
ROBO Cylinder
RCACR-SA6C Model Specification Items
RCACR Series
SA6C Type
30
Encoder type I: Incremental A: Absolute
* See page Pre-47 for details on the model descriptions.
Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 58mm, 24V Servo Motor, Aluminum Base
* Absolute encoder models can only use ASEL. When the actuator is used with the simple absolute encoder, the model is considered an incremental model.
Motor type
Lead
Stroke
30: 30W Servo motor
20 : 20mm 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
Applicable controller A1: ACON ASEL A3: AMEC ASEP MSEP
600: 600mm (50mm pitch increments)
Cable length
Options
See Options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Appendix
P.5
Standard
A Gripper/ Rotary Type
Linear Servo Type
(1) When the stroke increases, the maximum will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 3mm-lead model). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
* This product is equipped with a position adjusting screw at the A area shown above. (See dimensional drawing on the page to the right.)
Actuator Specifications
■ Stroke and Max. Speed/Suction Volume by Lead
Lead and Payload Cleanroom Type
Motor output (W)
Model number
RCACR-SA6C- ➀ -30-20- ➁ - ➂ - ➃ - ➄ RCACR-SA6C- ➀ -30-12- ➁ - ➂ - ➃ - ➄
SplashProof Type
RCACR-SA6C- ➀ -30-6- ➁ - ➂ - ➃ - ➄
30
RCACR-SA6C- ➀ -30-3- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 20 3 0.5
Rated thrust (N)
Stroke (mm)
15.8
12
6
1.5
24.2
6
12
3
48.4
3
18
6
96.8
50~600
(every 50mm)
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300 350 400 450 500 550 600
Options Name Brake Foot bracket Home sensor Power-saving Non-motor end specification Vacuum port on opposite side
469
550 600 mm mm 1160 990 <800> <800> 640 540
(Unit: mm/s) Suction Volume (Nℓ/min)
80 50
6
400
380
320
270
30
3
200
190
160
135
15
*See page A-71 for details on push motion. *The values enclosed in < > apply to vertical settings.
➃Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — — — — — —
Stroke (mm)
Stroke 50~450 500 (every 50mm) mm Lead 1300 20 <800> 12 800 760
Option code B FT HS LA NM VR
See page ➝ A-42 ➝ A-48 ➝ A-50 ➝ A-52 ➝ A-52 ➝ A-58
Standard price — — — — — —
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications Item
Description
Ball screw, ø10mm, rolled C10 ±0.02mm [±0.03mm] 0.1mm or less Material: Aluminum, white alumite treated Ma: 38.3 N·m, Mb: 54.7 N·m, Mc: 81.0 N·m Ma: 8.9 N·m, Mb: 12.7 N·m, Mc: 18.6 N·m 220mm or less in Ma, Mb and Mc directions Low dust generation grease (both ball screw and guide) Cleanliness Class 10 (0.1µm) Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing) Drive System Positioning repeatability (*1) Lost Motion Base Allowable static moment Allowable dynamic moment (*2) Allowable overhang Grease Type
(*1)The specification in [ ] applies when the lead is 20mm. (*2) Based on 5,000km of traveling life Overhang Load Length Directions of Allowable Load Moment L Ma
Mb
Mc
Ma
Mc
L
RCACR-SA6C
RCACR
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
50 39 23
32 ±0.02 21
Cable joint connector *1
4-M5 depth 9
Ma moment offset reference position *3
18.2
L
Standard
(240)
Rod Type
Base end-face Secure at least 100 Incremental 99.2 (138.2 if brake-equipped) Absolute 114.2 (153.2 if brake-equipped)
st
115
18.5 3 Home ME (*2)
Mini
SE
Standard
40
23.7 3 ME
Mini
Controllers Integrated
Applicable tube OD: ø6
Slider height: 53 43 28 1 A
60 50
31 Reamer hole tolerance ±0.02)
ø8 hole
Details of the slotted area for adjusting slider position
Controllers Integrated Bottom of the base 56 Actuator width: 58 10.2
Base end-face 8 R
8
U×100P
Base end-face
Table/ Arm/ Flat Type
31
Standard
Details of oblong hole P (pitch for ø4 hole and oblong hole) N (ø4 hole pitch)
Symmetric (Optional) Motor section H: 51
m-M5 depth 8
100 (ø4 hole pitch)
Oblong hole, depth 5 from the bottom of the base
1
Standard
Mini
4 +0.012 0
5
5 (56) (58)
Details of section A (Actuator's reference side)
Gripper/ Rotary Type
3-ø4H7 depth 5 from the bottom of the base
Dimensions and Weight by Stroke Stroke Without brake Incremental With brake Without brake Ablosute With brake N P R U m Weight (kg)
L
Motor section W: 58
(*1) (*2) (*3)
P.15
2-ø5H7 depth 6
slot
Reference surface
Appendix
www.intelligentactuator.com
Slider Type
Connect the motor and encoder cables here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end Reference position for calculating the moment Ma.
50 306.4 345.4 321.4 360.4 81 66 81 1 6 1.4
* The attached brake adds 0.3kg of mass.
100 356.4 395.4 371.4 410.4 131 116 31 2 8 1.6
150 406.4 445.4 421.4 460.4 181 166 81 2 8 1.8
200 456.4 495.4 471.4 510.4 231 216 31 3 10 2
250 506.4 545.4 521.4 560.4 281 266 81 3 10 2.2
300 556.4 595.4 571.4 610.4 331 316 31 4 12 2.4
350 606.4 645.4 621.4 660.4 381 366 81 4 12 2.6
400 656.4 695.4 671.4 710.4 431 416 31 5 14 2.8
450 706.4 745.4 721.4 760.4 481 466 81 5 14 3
500 756.4 795.4 771.4 810.4 531 516 31 6 16 3.2
550 806.4 845.4 821.4 860.4 581 566 81 6 1 3.4
600 856.4 895.4 871.4 910.4 631 616 31 7 18 3.6
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCACR series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number AMEC-C-30I
-
Features
-2-1
Solenoid Valve Type ASEP-C-30I
Easy-to-use controller, even for beginners
-
-2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C-
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C-
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
Positioner type
ACON-C-30I
Safety-Compliant Positioner Type
ACON-CG-30I
-
-2-0
Pulse Train Input Type (Differential Line Driver)
ACON-PL-30I
-
-2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
ACON-PO-30I
-
-2-0
Pulse train input type with open collector support
Serial Communication Type
ACON-SE-30I
-N-0-0
Program Control Type
ASEL-CS-1-30
-
* This is for the single-axis ASEL. * indicates I/O type (NP/PN).
* *
-
-2-0
-2-0
Maximum number of positioning points
Positioning is possible for up to 512 points
Dedicated Serial Communication Programmed operation is possible. Can operate up to 2 axes
indicates encoder type (I: incremental, A: absolute) indicates number of axes (1 to 8).
Input power AC100V
Power-supply Standard Reference capacity price page 2.4A rated
3 points
—
➝ P537
—
➝ P547
—
➝ P563
256 points
512 points DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.2A max.
Pulse Motor
— — —
➝ P631
Servo Motor (24V)
(—) — 64 points
—
1,500 points
—
Servo Motor (200V)
➝ P675
* Enter the code "LA" in when the power-saving option is specified. * indicates field network specification symbol.
RCACR-SA6C
470
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCACR
ROBO Cylinder
RCACR-SA5D Model Specification Items
RCACR Series
SA5D Type
20
Encoder type I: Incremental A: Absolute
* See page Pre-47 for details on the model descriptions.
Cleanroom ROBO Cylinder, Slider, Built-in Type, Actuator Width 52mm, 24V Servo Motor, Aluminum Base
* Absolute encoder models can only use ASEL. When the actuator is used with the simple absolute encoder, the model is considered an incremental model.
Motor type
Lead
Stroke
20: 20W Servo motor
12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
Applicable controller A1: ACON ASEL A3: AMEC ASEP MSEP
500: 500mm (50mm pitch increments)
Cable length
Options
See Options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Appendix
P.5
Mini
(1) When the stroke increases, the maximum will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 3mm-lead model). These values are the upper limits for the acceleration. (3) The cleanliness class 10 is for horizontal usage. Please note that the actuator may not support C10 when used on its side or in vertical orientation. (4) See page A-71 for details on push motion.
Standard
Gripper/ Rotary Type
Linear Servo Type
Actuator Specifications
Lead and Payload Cleanroom Type
■ Stroke and Max. Speed/Suction Volume by Lead Motor output (W)
Model number
RCACR-SA5D- ➀ -20-12- ➁ - ➂ - ➃ - ➄ RCACR-SA5D- ➀ -20-6- ➁ - ➂ - ➃ - ➄
SplashProof Type
20
RCACR-SA5D- ➀ -20-3- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg)
Rated thrust (N)
12
4
1
16.7
6
8
2
33.3
3
12
4
65.7
Stroke (mm)
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
50~500
(every 50mm)
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke
50 100 150 200 250 300 350 400 450 500
Stroke 50~450 (every 50mm) Lead
Stroke (mm)
500 mm
Suction Volume (Nℓ/min)
12
800
760
50
6
400
380
30
3
200
190
15 (Unit: mm/s)
*See page A-71 for details on push motion.
➃Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — —
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications
Options
Item
Name Option code Brake (cable exiting from end) BE Brake (cable exiting from left) BL Brake (cable exiting from right) BR Foot bracket FT Power-saving LA Non-motor end specification NM Vacuum port on opposite side VR
Linear Servo Motor
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-48 ➝ A-52 ➝ A-52 ➝ A-58
Standard price — — — — — — —
Description
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treated Ma: 18.6 N·m, Mb: 26.6 N·m, Mc: 47.5 N·m Ma: 4.9 N·m, Mb: 6.8 N·m, Mc: 11.7 N·m 150mm or less in Ma, Mb and Mc directions Low dust generation grease (both ball screw and guide) Cleanliness Class 10 (0.1µm) Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing) Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Grease Type
(*) Based on 5,000km of traveling life
471
Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCACR-SA5D
RCACR
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
Appendix
www.intelligentactuator.com
2D CAD
P.15
30
M 9
6 20 6
26
* Note that in order to change the home orientation, arrangements must be made to send in the product to IAI. * In the non-motor end model (NM), the new home position is set 3mm inward from the ME opposite of the motor side.
Standard
Cable joint connector *1
Controllers Integrated
4-M4 depth 9
19±0.02 30
2-ø4H7 effective depth 6 L
Incremental 60.5
A Stroke
2.7 SE
Rod Type
Applicable tube OD: ø8 (ID ø6)
95 Home
Symmetric Standard (Optional)
13.5
3
ME*2
Mini Standard
39
50 40
50 52
(24)
14.5
50 (when stroke is 50) U×100P (All strokes except 50)
R
Controllers Integrated
50
4
A
Mini
(240)
4-ø4.5 through, ø8 counterbore, depth 4.5 ( *4)
15 Ma moment 13.5 offset reference position (*3) ME
0.8
15.5 26 Reamer hole tolerance ±0.02)
15.5
Incremental 75.5 Absolute 78
Slider Type
Table/ Arm/ Flat Type
26
50
Reference surface
52
Details of section A
m-M4 depth 7
2-ø4H7 depth 5 from the bottom of the base
P (pitch for ø4 hole and oblong hole) N (ø4 hole pitch) Oblong hole, depth 5 from the bottom of the base
Dimensions of the Brake Section R: Brake cable exiting from right
Mini
Absolute 63
14 (3)
ME*2
Home
Standard
4 +0.012 0
5
L: Brake cable exiting from left
13.3
E: Brake cable exiting from rear
Details of oblong hole
5.1
Gripper/ Rotary Type
Secure at least 100
1
13.3 41.5 13.5
(*1) (*2) (*3) (*4)
17
5.5
35
50 46.5 17
Dimensions and Weight by Stroke 50 52
L
* Adding a brake increases the actuator's overall length (L) by 26.5mm (39.8mm with the cable coming out its end), and its weight by 0.3kg.
Connect the motor and encoder cables here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end Reference position for calculating the moment Ma. If the actuator is secured using only the mounting holes provided on the top surface of the base, the base may twist to cause abnormal sliding of the slider, or may produce abnormal noise. Therefore, when using the mounting holes on the top surface of the base, keep the stroke at 300mm or less.
Stroke Incremental Absolute A M N P R U m Weight (kg)
50 247.5 250 172 142 50 35 42 – 4 1.2
100 297.5 300 222 192 100 85 42 1 4 1.3
150 347.5 350 272 242 100 85 92 1 4 1.4
200 397.5 400 322 292 200 185 42 2 6 1.5
250 447.5 450 372 342 200 185 92 2 6 1.6
300 497.5 500 422 392 300 285 42 3 8 1.7
350 547.5 550 472 442 300 285 92 3 8 1.8
400 597.5 600 522 492 400 385 42 4 10 1.9
450 647.5 650 572 542 400 385 92 4 10 2.0
500 697.5 700 622 592 500 485 42 5 12 2.1
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCACR series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number AMEC-C-20I
-
Features
-2-1
Solenoid Valve Type ASEP-C-20I
Easy-to-use controller, even for beginners
-
-2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C-
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C-
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
Positioner type
ACON-C-20I
Safety-Compliant Positioner Type
ACON-CG-20I
-
-2-0
Pulse Train Input Type (Differential Line Driver)
ACON-PL-20I
-
-2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
ACON-PO-20I
-
-2-0
Pulse train input type with open collector support
Serial Communication Type
ACON-SE-20I
-N-0-0
Program Control Type
ASEL-CS-1-20
-
* This is for the single-axis ASEL. * indicates I/O type (NP/PN).
* *
-
-2-0
-2-0
Maximum number of positioning points
Positioning is possible for up to 512 points
Dedicated Serial Communication Programmed operation is possible. Can operate up to 2 axes
indicates encoder type (I: incremental, A: absolute) indicates number of axes (1 to 8).
Input power AC100V
Power-supply Standard Reference capacity price page 2.4A rated
3 points
—
➝ P537
—
➝ P547
—
➝ P563
256 points
512 points DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
Pulse Motor
— — —
➝ P631
Servo Motor (24V)
(—) — 64 points
—
1,500 points
—
Servo Motor (200V)
➝ P675
* Enter the code "LA" in when the power-saving option is specified. * indicates field network specification symbol.
RCACR-SA5D
472
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCACR
ROBO Cylinder
RCACR-SA6D Model Specification Items
RCACR
SA6D
Series
Type
30
Encoder type I: Incremental A: Absolute
* See page Pre-47 for details on the model descriptions.
Cleanroom ROBO Cylinder, Slider, Built-in Type, Actuator Width 58mm, 24V Servo Motor, Aluminum Base
* Absolute encoder models can only use ASEL. When the actuator is used with the simple absolute encoder, the model is considered an incremental model.
Motor type
Lead
Stroke
30: 30W Servo motor
12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
Applicable controller A1: ACON ASEL A3: AMEC ASEP MSEP
600: 600mm (50mm pitch increments)
Cable length
Options
See Options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Appendix
P.5
Mini
(1) When the stroke increases, the maximum will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 3mm-lead model). These values are the upper limits for the acceleration. (3) The cleanliness class 10 is for horizontal usage. Please note that the actuator may not support C10 when used on its side or in vertical orientation. (4) See page A-71 for details on push motion.
Standard
Gripper/ Rotary Type
Linear Servo Type
Actuator Specifications
■ Stroke and Max. Speed/Suction Volume by Lead
Lead and Payload Cleanroom Type
Motor output (W)
Model number
RCACR-SA6D- ➀ -30-12- ➁ - ➂ - ➃ - ➄ RCACR-SA6D- ➀ -30-6- ➁ - ➂ - ➃ - ➄
SplashProof Type
30
RCACR-SA6D- ➀ -30-3- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg)
Rated thrust (N)
12
6
1.5
24.2
6
12
3
48.4
3
18
6
96.8
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300 350 400 450 500 550 600
Options Name Brake (cable exiting from end) Brake (cable exiting from left) Brake (cable exiting from right) Foot bracket Power-saving Non-motor end specification Vacuum port on opposite side
473
Option code BE BL BR FT LA NM VR
550 mm
600 mm
Suction Volume (Nℓ/min)
800
760
640
540
50
6
400
380
320
270
30
3
200
190
160
135
(every 50mm)
*See page A-71 for details on push motion.
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-48 ➝ A-52 ➝ A-52 ➝ A-58
Standard price — — — — — — —
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications Item
Description
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treated Ma: 38.3 N·m, Mb: 54.7 N·m, Mc: 81.0 N·m Ma: 8.9 N·m, Mb: 12.7 N·m, Mc: 18.6 N·m 220mm or less in Ma, Mb and Mc directions Low dust generation grease (both ball screw and guide) Cleanliness Class 10 (0.1µm) Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing) Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Grease Type
(*) Based on 5,000km of traveling life
Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCACR-SA6D
15 (Unit: mm/s)
➃Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — — — — — —
Stroke (mm)
500 mm
12 50~600
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke
Stroke 50~450 (every 50mm) Lead
Stroke (mm)
RCACR
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
Appendix
P.15
* Note that in order to change the home orientation, arrangements must be made to send in the product to IAI. * In the non-motor end model (NM), the new home position is set 3mm inward from the ME opposite of the motor side.
2D CAD
2-ø5H7 effective depth 6
50 32 21±0.02
19.5
8 23 8
4
Cable joint connector *1
58
Rod Type
Applicable tube OD: ø8 (ID ø6)
L
Details of section A
15
Incremental 75.5
A
12.5 Ma moment offset reference position (*3) ME
0.5
Controllers Integrated
(240)
56
Reference surface
17.5 3 ME*2
118
Stroke
3 SE
Mini Standard
4-M5 depth 9 31 Reamer hole tolerance ±0.02)
19.5
Slider Type
Home
Standard
Mini
Symmetric (Optional)
53 43
40
Standard Controllers Integrated 8.5
56 58
A
U×100
R
8.5
P
(24)
31
Table/ Arm/ Flat Type Mini
Dimensions of the Brake Section
P (pitch for ø4 hole and oblong hole) N (ø4 hole pitch) Oblong hole, depth 5 from the bottom of the base
R: Brake cable exiting from right
3-ø4H7 depth 5 from the bottom of the base
4 +0.012 0
13.3
37 6
19
Secure at least 100
Dimensions and Weight by Stroke 19
55 58 * Adding a brake increases the actuator's overall length (L) by 26.5mm (39.8mm with the cable coming out its end), and its weight by 0.3kg.
(*1) (*2) (*3)
Gripper/ Rotary Type
1
5.1
ME*2
Home
Details of oblong hole
13.3 41.5 12.5
53 50
L: Brake cable exiting from left
Standard
Absolute 79.5
19 (3)
5 E: Brake cable exiting from rear
m-M5 depth 8
100 (ø4 hole pitch)
Connect the motor and encoder cables here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end Reference position for calculating the moment Ma.
Stroke 50 100 150 Incremental 288.5 338.5 388.5 L Absolute 292.5 342.5 392.5 A 198 248 298 N 81 131 181 P 66 116 166 R 81 31 81 U 1 2 2 m 6 8 8 Weight (kg) 1.3 1.5 1.7
200 438.5 442.5 348 231 216 31 3 10 1.9
250 488.5 492.5 398 281 266 81 3 10 2.1
300 538.5 542.5 448 331 316 31 4 12 2.3
350 588.5 592.5 498 381 366 81 4 12 2.5
400 638.5 642.5 548 431 416 31 5 14 2.7
450 688.5 692.5 598 481 466 81 5 14 2.9
500 738.5 742.5 648 531 516 31 6 16 3.1
550 788.5 792.5 698 581 566 81 6 16 3.3
600 838.5 842.5 748 631 616 31 7 18 3.5
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCACR series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External view
Model number AMEC-C-30I
-
Features
-2-1
Solenoid Valve Type ASEP-C-30I
Easy-to-use controller, even for beginners
-
-2-0
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
MSEP-C-
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
Solenoid valve multi-axis type Network specification
MSEP-C-
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
Positioner type
ACON-C-30I
Safety-Compliant Positioner Type
ACON-CG-30I
-
-2-0
Pulse Train Input Type (Differential Line Driver)
ACON-PL-30I
-
-2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
ACON-PO-30I
-
-2-0
Pulse train input type with open collector support
Serial Communication Type
ACON-SE-30I
-N-0-0
Program Control Type
ASEL-CS-1-30
-
* This is for the single-axis ASEL. * indicates I/O type (NP/PN).
* *
-
-2-0
-2-0
Maximum number of positioning points
Positioning is possible for up to 512 points
Dedicated Serial Communication Programmed operation is possible. Can operate up to 2 axes
indicates encoder type (I: incremental, A: absolute) indicates number of axes (1 to 8).
Input power AC100V
Power-supply Standard Reference capacity price page 2.4A rated
3 points
—
➝ P537
—
➝ P547
—
➝ P563
256 points
512 points DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.2A max.
Pulse Motor
— — —
➝ P631
Servo Motor (24V)
(—) — 64 points
—
1,500 points
—
Servo Motor (200V)
➝ P675
* Enter the code "LA" in when the power-saving option is specified. * indicates field network specification symbol.
RCACR-SA6D
474
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS3CR
ROBO Cylinder
RCS3CR-SA8C RCS3PCR-SA8C
Cleanroom Robo Cylinder, Slider Type, Actuator Width 80mm, 200V Servo Motor, Aluminum Base, Coupled
Model Specification Items
SA8C
Series
Type
RCS3CR : Standard specification RCS3PCR : High-precision specification
Cleanroom Robo Cylinder, Slider Type, Actuator Width 80mm, 200V Servo Motor, Aluminum Base, Coupled High-precision specification
Encoder type
Motor type
Lead
Stroke
Applicable controller
I: Incremental A: Absolute
100: Servo motor, 100W 150: Servo motor, 150W
30 : 30mm 20 : 20mm 10 : 10mm 5 : 5mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
1100: 1100mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
N: None
See Options below. P: 1m * Be sure to specify a S: 3m code indicating your M: 5m desired cable exit X: Custom length direction. R: Robot cable
Standard Controllers Integrated
*CE compliance is optional.
Table/ Arm/ Flat Type
Appendix
P.5
(1) When the stroke is increased, the maximum speed will drop to prevent reaching dangerous speeds of ball screws. Confirm the maximum speed at the desired stroke by referring to the table of strokes and maximum speeds below. (2) The payload represents a value when the actuator is operated at a horizontal acceleration of 0.3G (0.2G for the 5mm-lead model) and vertical acceleration of 0.2G. (3) The payload drops when the acceleration is raised. For details, refer to the list of payloads by acceleration provided on page A-108.
Mini Standard
Gripper/ Rotary Type
Actuator Specifications
Lead and Payload Linear Servo Type
Cleanroom Type
SplashProof Type
■ Stroke and Max. Speed/Suction Volume by Lead (Unit: mm/s) Motor Lead Maximum payload Rated Stroke output (W) (mm) Horizontal (kg) Vertical (kg) thrust (N) (mm)
Model number
RCS3CR[RCS3PCR]-SA8C- ➀ -100-30- ➁ - ➂ - ➃ - ➄
30
8
2
56.6
RCS3CR[RCS3PCR]-SA8C- ➀ -100-20- ➁ - ➂ - ➃ - ➄
20
20
4
84.9
100
RCS3CR[RCS3PCR]-SA8C- ➀ -100-10- ➁ - ➂ - ➃ - ➄
Servo Motor (200V)
Linear Servo Motor
1800
1510 1340 1190 1070 960 870 790 720 660
130 (160) (*)
10
40
8
1200
1010 890 790 710 640 580 530 480 440
110
80
16
169.8 50 ~ 1100 339.7
20
5
RCS3CR[RCS3PCR]-SA8C- ➀ -150-30- ➁ - ➂ - ➃ - ➄
30
12
3
85.1 50mm)
10
600
500 440 390 350 320 290 260 240 220
60
20
30
6
127.6
5
300
260 220 190 170 160 140 130 120 110
30
RCS3CR[RCS3PCR]-SA8C- ➀ -150-20- ➁ - ➂ - ➃ - ➄
150
(every
10 60 12 255.3 RCS3CR[RCS3PCR]-SA8C- ➀ -150-10- ➁ - ➂ - ➃ - ➄ Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
➁Stroke (mm)
Servo Motor (24V)
30
RCS3CR[RCS3PCR]-SA8C- ➀ -100-5- ➁ - ➂ - ➃ - ➄
50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800 850/900 950/1000 1050/1100
RCS3CR-SA8C
Standard Prices
➀ Encoder Type
Incremental Motor wattage 100W 150W
— — — — — — — — — — —
(*) 130Nℓ/min if the speed is 1,500mm/s or below, or 160Nℓ/min if the speed exceeds 1,500mm/s.
Cable Length
➀Encoder Type / ➁ Stroke
Pulse Motor
Suction Stroke 50 to 650 Rate (every 50mm) 700 750 800 850 900 950 1000 1050 1100 Nℓ/min Lead
Absolute Motor wattage 100W 150W
— — — — — — — — — — —
— — — — — — — — — — —
— — — — — — — — — — —
Type
RCS3PCR-SA8C
➀ Encoder Type Incremental Absolute
Standard type
— — — — — — — — — — —
Special length
Motor wattage 100W 150W
— — — — — — — — — — —
Motor wattage 100W 150W
— — — — — — — — — — —
— — — — — — — — — — —
Robot cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications RCS3PCR specifications are shown in [ ]. (Other items are the same.)
➄Options Name
Option code
Page
Standard Price
Item
Description
Cables exit from back left Cables exit from left side Cables exit from back right Cables exit from right side Brake CE compliance Non-motor end specification L-shaped suction joint No suction joint specification
A1E A1S A3E A3S B CE NM VL VN
➝ A-41 ➝ A-41 ➝ A-41 ➝ A-41 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-58 ➝ A-58
— — — — — — — — —
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Grease Cleanliness class Ambient operating temperature/humidity
Ball screw, ø16mm, rolled C10 [rolled C5] ±0.02mm [±0.01mm] 0.1mm [0.05mm] or less Material: Aluminum, white alumite treatment Ma: 113.5 N•m, Mb: 177 N•m, Mc: 266 N•m Ma: 23.1 N•m, Mb: 32.9 N•m, Mc: 54.1 N•m 390mm or less in Ma, Mb and Mc directions Low dust-raising grease is used (for both the ball screw and guide) Class 10 (0.1µm) 0 to 40°C, 85% RH max. (Non-condensing)
475
(*) When the traveling life is assumed as 10,000km. Direction of allowable load moment. Mc Ma Mb
Overhang load length Ma
L
Mc L
RCS3CR/RCS3PCR-SA8C
RCS3CR
ROBO Cylinder
Dimensional Drawings
P.15
80
(*1) Connect the motor and encoder cables here. See page A-59 for details on cables. (*2) After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end (*3) Reference position for calculating the Ma moment
Standard
Applicable tube: Outer diameter ø10 (inner diameter ø6.5)
5.5 27.5
Controllers Integrated
Applicable suction joint tube: Outer diameter ø10 (inner diameter ø6.5)
132 66 55
98.5 (100W) 116.5 (150W)
5.5 27.5
Mini
(L-shaped suction joint specification)
(35) *The suction joint is provided on the opposite side of the face from which the cables exit.
(16)
2D CAD
Appendix
www.intelligentactuator.com
141 (100W) 159 (150W)
(20)
(20)
Rod Type
70 60
CAD drawings can be downloaded from the website.
Slider Type
Mini (without brake)
2-ø6 H7, reamed, depth 10 (tolerance for reamed hole pitch ±0.02 )
4-M6, depth 12 L
30
132
Stroke
Home
SE
Standard
F
N×100P
50
+0.012 5 0
5.5 0.5
(Detailed view of A)
6
52
Stroke
50
without brake 361.5
100W with brake
404
without brake 379.5 150W with brake 422
A B C D F N
Weight (kg)
36
B (Pitch of oblong hole and reamed hole) C (Pitch of reamed holes)
without brake
100W with brake
without brake
150W with brake
222 34 84 8 34 0 2.8 3.2 2.9 3.4
100 411.5 454 429.5 472 272 84 134 8 84 0 3.1 3.5 3.2 3.7
150 461.5 504 479.5 522 322 134 184 10 34 1 3.4 3.8 3.5 4.0
200 511.5 554 529.5 572 372 184 234 10 84 1 3.7 4.1 3.8 4.3
250 561.5 604 579.5 622 422 234 284 12 34 2 4.0 4.4 4.1 4.6
300 611.5 654 629.5 672 472 284 334 12 84 2 4.3 4.7 4.4 4.9
350 661.5 704 679.5 722 522 334 384 14 34 3 4.6 5.0 4.7 5.2
400 711.5 754 729.5 772 572 384 434 14 84 3 4.9 5.3 5.0 5.5
450 761.5 804 779.5 822 622 434 484 16 34 4 5.2 5.6 5.3 5.8
+0.012 0 3-ø5 H7, depth 6 from the bottom of the base
500 811.5 854 829.5 872 672 484 534 16 84 4 5.5 5.9 5.6 6.1
D-M5, depth10
36
50
(reamed hole)
550 861.5 904 879.5 922 722 534 584 18 34 5 5.8 6.2 5.9 6.4
(27) 80
(29.5)
Mini
60
50
■ Dimensions and Weights by Stroke L
129.5 (100W) 147.5 (150W)
Oblong hole, depth 6 from the bottom of the base A
10 52
Reference surface
Table/ Arm/ Flat Type
63
Bottom of base
For mounting ground terminals (M3) At least 100 or more
33
65 33 6
78 80
A
Controllers Integrated
Cable joint connector *1
ME*2
44
ME
Applicable tube: Outer diameter ø10 (inner diameter ø6.5) (300)
98.5 (100W) 116.5 (150W)
51 3
3
Offset reference position for Ma moment (*3)
(with brake)
600 911.5 954 929.5 972 772 584 634 18 84 5 6.1 6.5 6.2 6.7
Model number: A3S (exit from right side) Model number: A3E (exit from back right) Model number: A1E (exit from back left) Model number: A1S (exit from left side) (Cable exit direction) * Top view
650 700 750 800 850 900 950 1000 961.5 1011.5 1061.5 1111.5 1161.5 1211.5 1261.5 1311.5 1004 1054 1104 1154 1204 1254 1304 1354 979.5 1029.5 1079.5 1129.5 1179.5 1229.5 1279.5 1329.5 1022 1072 1122 1172 1222 1272 1322 1372 822 872 922 972 1022 1072 1122 1172 634 684 734 784 834 884 934 984 684 734 784 834 884 934 984 1034 20 20 22 22 24 24 26 26 34 84 34 84 34 84 34 84 6 6 7 7 8 8 9 9 6.4 6.7 7.0 7.3 7.6 7.9 8.2 8.5 6.8 7.1 7.4 7.7 8.0 8.3 8.6 8.9 6.5 6.8 7.1 7.4 7.7 8.0 8.3 8.6 7.0 7.3 7.6 7.9 8.2 8.5 8.8 9.1
Standard
Gripper/ Rotary Type 1050 1361.5 1404 1379.5 1422 1222 1034 1084 28 34 10 8.8 9.2 8.9 9.4
1100 1411.5 1454 1429.5 1472 1272 1084 1134 28 84 10 9.1 9.5 9.2 9.7
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS3CR-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Positioner mode Solenoid valve mode Field network type
SCON-CA-100 -NP-2SCON-CA-150 -NP-2-
Pulse-train input control type
Features Up to 512 positioning points are supported. Actuators can be operated through the same control used for solenoid valves.
(—)
256 points
Program control type, 1 to 2 axes
SSEL-CS-1-100 -NP-2SSEL-CS-1-150 -NP-2-
Program operation is supported. Up to 2 axes can be operated.
XSEL- -1-100 -N1-EEE-2XSEL- -1-150 -N1-EEE-2-
Standard price
Reference page
—
Dedicated pulse-train input type Up to 6 axes can be operated. Movement by numerical specification is supported.
Power supply capacity
7 points
768 points
MSCON-C-1-100 - -0MSCON-C-1-150 - -0-
Input power
512 points
Movement by numerical specification is supported.
Positioner multi-axis, network type
Program control type, 1 to 8 axes
Maximum number of positioning points
Single-phase 100VAC
➝ P643 —
Single-phase * 1-axis 200VAC 3-phase 200VAC (XSEL-P/Q/R/S ONLY)
Pulse Motor
388 VA max. specification operated at 150W
—
—
➝ P655
20,000 points
—
➝ P685
Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axes connected
—
➝ P695
* This is for the single-axis MSCON, SSEL, and XSEL. * * * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V / 3: Three-phase 200V). *
indicates the encoder type (I: Incremental / A: Absolute). indicates the XSEL type (J / K / P / Q / R / S). indicates field network specification symbol.
RCS3CR/RCS3PCR-SA8C
476
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS3CR
ROBO Cylinder
RCS3CR-SS8C RCS3PCR-SS8C
Cleanroom Robo Cylinder, Slider Type, Actuator Width 80mm, 200V Servo Motor, Steel Base, Coupled
Model Specification Items
SS8C
Series
Type
RCS3CR : Standard specification RCS3PCR : High-precision specification
Cleanroom Robo Cylinder, Slider Type, Actuator Width 80mm, 200V Servo Motor, Steel Base, Coupled High-precision specification
Encoder type
Motor type
Lead
Stroke
Applicable controller
I: Incremental A: Absolute
100: Servo motor, 100W 150: Servo motor, 150W
30 : 30mm 20 : 20mm 10 : 10mm 5 : 5mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
1000: 1000mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
N: None
See Options below. P: 1m * Be sure to specify a S: 3m code indicating your M: 5m desired cable exit X: Custom length direction. R: Robot cable
Standard Controllers Integrated
*CE compliance is optional.
Table/ Arm/ Flat Type
Appendix
P.5
(1) When the stroke is increased, the maximum speed will drop to prevent reaching dangerous speeds of ball screws. Confirm the maximum speed at the desired stroke by referring to the table of strokes and maximum speeds below. (2) The payload represents a value when the actuator is operated at a horizontal acceleration of 0.3G (0.2G for the 5mm-lead model) and vertical acceleration of 0.2G. (3) The payload drops when the acceleration is raised. For details, refer to the list of payloads by acceleration provided on page A-108.
Mini Standard
Gripper/ Rotary Type
Actuator Specifications
Lead and Payload Linear Servo Type
Cleanroom Type
SplashProof Type
■ Stroke and Max. Speed/Suction Volume by Lead
Model number
RCS3CR[RCS3PCR]-SS8C- ➀ -100-30- ➁ - ➂ - ➃ - ➄
30
8
2
56.6
RCS3CR[RCS3PCR]-SS8C- ➀ -100-20- ➁ - ➂ - ➃ - ➄
20
20
4
84.9
10
40
8
RCS3CR[RCS3PCR]-SS8C- ➀ -100-5- ➁ - ➂ - ➃ - ➄
5
80
16
RCS3CR[RCS3PCR]-SS8C- ➀ -150-30- ➁ - ➂ - ➃ - ➄
30
12
3
100
RCS3CR[RCS3PCR]-SS8C- ➀ -100-10- ➁ - ➂ - ➃ - ➄
RCS3CR[RCS3PCR]-SS8C- ➀ -150-20- ➁ - ➂ - ➃ - ➄
150
RCS3CR[RCS3PCR]-SS8C- ➀ -150-10- ➁ - ➂ - ➃ - ➄
1800
1660 1460 1295 1155 1035 935 850 775
160 (190) (*)
169.8 50 ~ 1000 339.7
20
1200
1105 970 860 770 690 625 565 515
120
85.1 50mm)
10
600
550 485 430 385 345 310 280 255
80
5
300
275 240 215 190 170 150 140 125
30
(every
20
30
6
127.6
10
60
12
255.3
(*) 160Nℓ/min if the speed is 1,500mm/s or below, or 190Nℓ/min if the speed exceeds 1,500mm/s.
Cable Length
➀Encoder Type / ➁ Stroke RCS3CR-SS8C
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Standard Prices
➀ Encoder Type
Incremental Motor wattage 100W 150W
— — — — — — — — — —
50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800 850/900 950/1000
— — — — — — — — — —
Suction Rate Nℓ/min
30
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
➁Stroke (mm)
(Unit: mm/s)
Stroke 50 to 600 (every 50mm) 650 700 750 800 850 900 950 1000 Lead
Motor Lead Maximum payload Rated Stroke output (W) (mm) Horizontal (kg) Vertical (kg) thrust (N) (mm)
Absolute Motor wattage 100W 150W
— — — — — — — — — —
— — — — — — — — — —
Type
RCS3PCR-SS8C
➀ Encoder Type Incremental Absolute
Standard type
— — — — — — — — — —
Special length
Motor wattage 100W 150W
— — — — — — — — — —
Motor wattage 100W 150W
— — — — — — — — — —
— — — — — — — — — —
Robot cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications RCS3PCR specifications are shown in [ ]. (Other items are the same.)
➄Options Name
Option code
Page
Standard Price
Item
Description
Cables exit from back left Cables exit from left side Cables exit from back right Cables exit from right side Brake CE compliance Non-motor end specification L-shaped suction joint specification
A1E A1S A3E A3S B CE NM VL
➝ A-41 ➝ A-41 ➝ A-41 ➝ A-41 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-58
— — — — — — — —
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Grease Cleanliness class Ambient operating temperature/humidity
Ball screw, ø16mm, rolled C10 [rolled C5] ±0.02mm [±0.01mm] 0.1mm [0.05mm] or less Material: Dedicated alloy steel Ma: 198.9 N•m, Mb: 198.9 N•m, Mc: 416.7 N•m Ma: 36.3 N•m, Mb: 36.3 N•m, Mc: 77.4 N•m 450mm or less in Ma, Mb and Mc directions Low dust-raising grease is used (for both the ball screw and guide) Class 10 (0.1µm) 0 to 40°C, 85% RH max. (Non-condensing)
477
(*) When the traveling life is assumed as 10,000km. Direction of allowable load moment. Ma
RCS3CR/RCS3PCR-SS8C
Mb
Mc
Overhang load length Ma
L
Mc L
RCS3CR
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
Appendix
www.intelligentactuator.com
P.15
(16)
(*1) Connect the motor and encoder cables here. See page A-59 for details on cables. (*2) After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end (*3) Reference position for calculating the Ma moment
98.5 (100W) 116.5 (150W)
Mini
(L-shaped suction joint specification)
(35) *The suction joint is provided on the opposite side of the face from which the cables exit. Applicable tube: Outer diameter ø10 (inner diameter ø6.5)
90 75 45 20
Slider Type
Applicable suction joint tube: Outer diameterø10 (inner diameter ø6.5) 141 (100W) (20) (20) 159 (150W)
Standard Controllers Integrated
56 45 35
Rod Type
4-M8, depth 10
20.5
170
Stroke
34 74 80 (81)
For mounting ground terminals (M3)
Bottom of base (0.5) 14
D-M8, depth10 Oblong hole, depth 6 from the bottom of the base A 50 N×100P F
3-ø5 H7, depth 6 from the bottom of the base N×100P
50
129.5(100W) 147.5(150W)
+0.012
50
6 41.5
B (Pitch of oblong hole and reamed hole) C (Pitch of reamed holes)
50
(reamed holes)
■ Dimensions and Weights by Stroke Stroke
50 374 416.5 L 392 434.5 223 A 50 B 100 C 8 D 50 F 0 N 5.3 without brake 100W 5.7 with brake Weight 5.3 without brake (kg) 150W 5.8 with brake without brake with brake without brake 150W with brake
100 424 466.5 442 484.5 273 100 150 8 100 0 5.8 6.2 5.9 6.3
150 474 516.5 492 534.5 323 150 200 8 150 0 6.4 6.8 6.4 6.9
200 524 566.5 542 584.5 373 200 250 10 0 1 6.9 7.3 7.0 7.4
250 574 616.5 592 634.5 423 250 300 12 50 1 7.5 7.9 7.5 8.0
300 624 666.5 642 684.5 473 300 350 12 100 1 8.0 8.4 8.1 8.5
350 674 716.5 692 734.5 523 350 400 12 150 1 8.6 9.0 8.6 9.1
400 724 766.5 742 784.5 573 400 450 14 0 2 9.1 9.5 9.2 9.6
450 774 816.5 792 834.5 623 450 500 16 50 2 9.7 10.1 9.7 10.2
500 824 866.5 842 884.5 673 500 550 16 100 2 10.2 10.6 10.3 10.7
550 874 916.5 892 934.5 723 550 600 16 150 2 10.8 11.2 10.8 11.3
(27) (29.5) 80
At least 100 or more
Controllers Integrated
Model number: A3S (exit from right side) Model number: A3E (exit from back right) Model number: A1E (exit from back left) Model number: A1S (exit from left side) (Cable exit direction) * Top view
31.5
600 924 966.5 942 984.5 773 600 650 18 0 3 11.3 11.7 11.4 11.8
Table/ Arm/ Flat Type Mini
31.5
45
41.5
100W
Standard
64
48
ME SE 3
70 55 34 6 Reference surface
Applicable tube: Outer diameter ø10 2-ø8 H7, reamed, depth 10 (inner diameter ø6.5) (tolerance for reamed hole pitch ±0.02) (300) 98.5(100W) 35 116.5(150W) Home ME*2 Cable joint connector *1 3
L
Offset reference position for Ma moment (*3) 73
Mini
(with brake)
(without brake)
650 700 750 800 850 900 950 1000 974 1024 1074 1124 1174 1224 1274 1324 1016.5 1066.5 1116.5 1166.5 1216.5 1266.5 1316.5 1366.5 992 1042 1092 1142 1192 1242 1292 1342 1034.5 1084.5 1134.5 1184.5 1234.5 1284.5 1334.5 1384.5 823 873 923 973 1023 1073 1123 1173 650 700 750 800 850 900 950 1000 700 750 800 850 900 950 1000 1050 20 20 20 22 24 24 24 26 50 100 150 0 50 100 150 0 3 3 3 4 4 4 4 5 11.9 12.4 13.0 13.5 14.1 14.6 15.2 15.7 12.3 12.8 13.4 13.9 14.5 15.0 15.6 16.1 11.9 12.5 13.0 13.6 14.1 14.7 15.2 15.8 12.4 12.9 13.5 14.0 14.6 15.1 15.7 16.2
Standard
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS3CR-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Positioner mode Solenoid valve mode Field network type
SCON-CA-100 -NP-2SCON-CA-150 -NP-2-
Pulse-train input control type
Features Up to 512 positioning points are supported. Actuators can be operated through the same control used for solenoid valves.
(—)
256 points
Program control type, 1 to 2 axes
SSEL-CS-1-100 -NP-2SSEL-CS-1-150 -NP-2-
Program operation is supported. Up to 2 axes can be operated.
XSEL- -1-100 -N1-EEE-2XSEL- -1-150 -N1-EEE-2-
Standard price
Reference page
7 points
Dedicated pulse-train input type Up to 6 axes can be operated. Movement by numerical specification is supported.
Power supply capacity
—
768 points
MSCON-C-1-100 - -0MSCON-C-1-150 - -0-
Input power
512 points
Movement by numerical specification is supported.
Positioner multi-axis, network type
Program control type, 1 to 8 axes
Maximum number of positioning points
Single-phase 100VAC
➝ P643 —
Single-phase * 1-axis 200VAC 3-phase 200VAC (XSEL-P/Q/R/S ONLY)
Pulse Motor
388 VA max. specification operated at 150W
—
—
➝ P655
20,000 points
—
➝ P685
Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axes connected
—
➝ P695
* This is for the single-axis MSCON, SSEL, and XSEL. * * * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V / 3: Three-phase 200V). *
indicates the encoder type (I: Incremental / A: Absolute). indicates the XSEL type (J / K / P / Q / R / S). indicates field network specification symbol.
RCS3CR/RCS3PCR-SS8C
478
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCS2CR
ROBO Cylinder
RCS2CR-SA4C Model Specification Items
RCS2CR Series
SA4C Type
Cleanroom Robo Cylinder, Slider Type, Coupled, Actuator Width 40mm, 200V Servo Motor, Aluminum Base
20
Encoder type
Motor type
Lead
Stroke
Applicable controller
I : Incremental A : Absolute
20: 20W Servo motor
10 : 10mm 5 : 5mm 2.5 : 2.5mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
400: 400mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
See options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Mini *CE compliance is optional.
Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Standard Appendix
P.5
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
A
* This product is equipped with a position adjusting screw at the A area shown above. (See dimensional drawing on the page to the right.)
Actuator Specifications
■ Stroke and Max. Speed/Suction Volume by Lead
Lead and Payload Motor output (W)
Model number
RCS2CR-SA4C- ➀ -20-10- ➁ - ➂ - ➃ - ➄ SplashProof Type
(1) When the stroke increases, the maximum will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 2.5mm-lead model). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
RCS2CR-SA4C- ➀ -20-5- ➁ - ➂ - ➃ - ➄ RCS2CR-SA4C- ➀ -20-2.5- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 10
20
4
Rated thrust (N)
1
Stroke (mm)
5
6
2.5
39.2
2.5
8
4.5
78.4
Encoder type/Stroke
Pulse Motor
Suction Volume (Nℓ/min)
10
665
50
5
330
30
2.5
165
15
50~400
(every 50mm)
(Unit: mm/s)
*See page A-71 for details on push motion.
➃Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — —
50 100 150 200 250 300 350 400
50~400 (every 50mm)
19.6
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Stroke (mm)
Stroke Lead
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Servo Motor (24V)
Servo Motor (200V)
Actuator Specifications
Options Name Brake CE compliance Foot bracket Home sensor Non-motor end specification Slider spacer Vacuum port on opposite side
Option code B CE FT HS NM SS VR
Linear Servo Motor
479
See page ➝ A-42 ➝ A-42 ➝ A-48 ➝ A-50 ➝ A-52 ➝ A-55 ➝ A-58
Standard price — — — — — — —
Item
Description
Ball screw, ø8mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treated Ma: 6.9 N·m, Mb: 9.9 N·m, Mc: 17.0 N·m Ma: 2.7 N·m, Mb: 3.9 N·m, Mc: 6.8 N·m 120mm or less in Ma, Mb and Mc directions Low dust generation grease (both ball screw and guide) Cleanliness Class 10 (0.1µm) Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing) Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Grease Type
(*) Based on 5,000km of traveling life Directions of Allowable Load Moment Ma
Mb
Mc
Overhang Load Length Ma
L
Mc L
RCS2CR-SA4C
RCS2CR
ROBO Cylinder
Dimensional Drawings
2D CAD
(*1) (*2) (*3)
(*4)
If the actuator is secured using only the mounting holes provided on the top surface of the base, the base may twist to cause abnormal sliding of the slider, or may produce abnormal noise. Therefore, when using the mounting holes on the top surface of the base, keep the stroke at 200mm or less.
Standard Controllers Integrated
Cable joint connector*1 4-M3 depth 7
20
(Reamer hole tolerance ±0.02)
Rod Type
11.8
Mini
M
(240)
11.8
Base end-face
L st
Standard
Applicable tube OD ø6
Base end-face
68 Home
Secure at least 100
13.8 123.2 (162.2 if brake-equipped) 3 ME*2
Symmetric (optional)
Standard
31.2
1
32 22.5 1
Mini
Bottom of the base 37 Base 3 3 end-face 11.8 Actuator width: 40
R
50 (when stroke is 50) U×100P (All strokes except 50)
50
Motor section width: 46
Base end-face
11.8
Controllers Integrated
Table/ Arm/ Flat Type Mini Standard
3.2
Slider height: 40
5
10.2
Details of the slotted area Base end-face for adjusting slider position Ma moment offset reference position*3 36 24 25 18.2 3 15 15.2 ME SE
A
32 24 16 ±0.02 9
2-ø3H7 depth 5
21
ø8 hole
P.15
Connect the motor and encoder cables here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end Reference position for calculating the moment Ma.
4-ø3.6 ø6.5 counterbore, depth 3.7 (for mounting actuator)*4
slot
Appendix
www.intelligentactuator.com
Motor section height: 45
CAD drawings can be downloaded from the website.
Slider Type
4 21
Gripper/ Rotary Type
0
+0.010
(37) (40)
3
Reference surface
Details of section A Details of oblong hole m-M3 depth 5 (Actuator's reference side) Oblong hole depth 5 from the bottom of the base
P (pitch for ø3 hole and oblong hole)
2-ø3H7 depth 5 from the bottom of the base
N (ø3 hole pitch)
* Brake-equipped models are heavier by 0.3kg.
Dimensions and Weight by Stroke Stroke Without brake With brake M N P R U m Weight (kg)
L
50 279 318 122 50 35 22 – 4 0.7
100 329 368 172 100 85 22 1 4 0.8
150 379 418 222 100 85 72 1 4 0.9
200 429 468 272 200 185 22 2 6 1
250 479 518 322 200 185 72 2 6 1.1
300 529 568 372 300 285 22 3 8 1.2
350 579 618 422 300 285 72 3 8 1.3
400 629 668 472 400 385 22 4 10 1.4
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2CR-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Positioner mode Solenoid valve mode SCON-CA-20 -NP-2-
Features Up to 512 positioning points are supported. Actuators can be operated through the same control used for solenoid valves.
Maximum number of positioning points
Dedicated pulse-train input type
(—)
256 points
SSEL-CS-1-20 -NP-2-
Program operation is supported. Up to 2 axes can be operated.
XSEL- -1-20 -N1-EEE-2-
Program control type, 1 to 8 axes
➝ P643
106 VA max.
Pulse-train input control type
Program control type, 1 to 2 axes
Reference page
—
768 points
Up to 6 axes can be operated. Movement by numerical specification is supported.
Standard price
7 points
Movement by numerical specification is supported.
MSCON-C-1-20 - -0-
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase 100VAC * Power supply
capacity will Single-phase vary depending 200VAC on the controller, so 3-phase please refer to 200VAC (XSEL-P/Q/R/S the instruction manual for ONLY) details.
—
Pulse Motor
—
—
➝ P655
20,000 points
—
➝ P685
Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axes connected
—
➝ P695
* This is for the single-axis MSCON, SSEL, and XSEL. * * * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V / 3: Three-phase 200V). *
indicates the encoder type (I: Incremental / A: Absolute). indicates the XSEL type (J / K / P / Q / R / S). indicates field network specification symbol.
RCS2CR-SA4C
480
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCS2CR
ROBO Cylinder
RCS2CR-SA5C Model Specification Items
RCS2CR
SA5C
Series
Type
Cleanroom Robo Cylinder, Slider Type, Coupled, Actuator Width 52mm, 200V Servo Motor, Aluminum Base
20
Encoder type
Motor type
Lead
Stroke
Applicable controller
I : Incremental A : Absolute
20: 20W Servo motor
20 : 20mm 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
* See page Pre-47 for details on the model descriptions.
500: 500mm (50mm pitch increments)
Cable length
Options
See options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Mini *CE compliance is optional.
Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Appendix
P.5
Standard
A Gripper/ Rotary Type
Linear Servo Type
(1) When the stroke increases, the maximum will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 3mm-lead model). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
* This product is equipped with a position adjusting screw at the A area shown above. (See dimensional drawing on the page to the right.)
Actuator Specifications
Lead and Payload Cleanroom Type
■ Stroke and Max. Speed/Suction Volume by Lead (Unit: mm/s) Motor output (W)
Model number
RCS2CR-SA5C- ➀ -20-20- ➁ - ➂ - ➃ - ➄ RCS2CR-SA5C- ➀ -20-12- ➁ - ➂ - ➃ - ➄
SplashProof Type
RCS2CR-SA5C- ➀ -20-6- ➁ - ➂ - ➃ - ➄
20
RCS2CR-SA5C- ➀ -20-3- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg)
Rated thrust (N)
20
2
0.5
10.7
12
4
1
16.7
6
8
2
33.3
3
2
4
65.7
Stroke (mm)
Stroke 50~450 (every 50mm) Lead 1300 20 <800>
50~500
(every 50mm)
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
50 100 150 200 250 300 350 400 450 500
800
760
50
6
800
380
30
200
190
15
3
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Option code B CE FT HS NM VR
Linear Servo Motor
See page ➝ A-42 ➝ A-42 ➝ A-48 ➝ A-50 ➝ A-52 ➝ A-58
Standard price — — — — — —
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Item
Brake CE compliance Foot bracket Home sensor Non-motor end specification Vacuum port on opposite side
481
*The values enclosed in < > apply to vertical settings.
Actuator Specifications
Options Name
80
➃Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — —
Stroke (mm)
Suction Volume (Nℓ/min)
12
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options *See page A-71 for details on push motion.
Encoder type/Stroke
500 (mm) 1300 <800>
Description
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treated Ma: 18.6 N·m, Mb: 26.6 N·m, Mc: 47.5 N·m Ma: 4.9 N·m, Mb: 6.8 N·m, Mc: 11.7 N·m 150mm or less in Ma, Mb and Mc directions Low dust generation grease (both ball screw and guide) Cleanliness Class 10 (0.1µm) Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing) Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Grease Type
(*) Based on 5,000km of traveling life Directions of Allowable Load Moment Ma
Mb
Mc
Overhang Load Length Ma
L
Mc L
RCS2CR-SA5C
RCS2CR
ROBO Cylinder
Dimensional Drawings
Details of the slotted area for adjusting slider position
Ma moment offset reference position*3
45 32 20
18.2
14.5
4-M4 depth 9
Mini
M
14.5
(240) Applicable tube OD ø6 Base end-face
st
90 Home
SE
Standard Secure at least 100
15.5 99.2 (138.2 if brake-equipped) 3 ME*2
Controllers Integrated
Symmetric Standard (optional)
1 Bottom of the base Base end-face Actuator width: 52 14.5 50
R
Controllers Integrated
Rod Type
L 23.7 3 ME
Standard
Cable joint connector*1
39
Slider height: 50 40 26 1 A
26
10.2 Base end-face
19 ±0.02 9
2-ø4H7 depth 6
26
ø8 hole
If the actuator is secured using only the mounting holes provided on the top surface of the base, the base may twist to cause abnormal sliding of the slider, or may produce abnormal noise. Therefore, when using the mounting holes on the top surface of the base, keep the stroke at 300mm or less.
30
4-ø4.5 ø8 counterbore, depth 4.5 (for mounting actuator)*4
slot
(*4)
Connect the motor and encoder cables here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end Reference position for calculating the moment Ma. 40
Mini
Motor section width: 52
Base end-face
50 (when stroke is 50) U×100P (All strokes except 50)
50
Motor section height: 48
(*1) (*2) (*3)
P.15
(Reamer hole tolerance ±0.02)
2D CAD
Appendix
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
Slider Type
Table/ Arm/ Flat Type Mini
14.5
Standard
26
Gripper/ Rotary Type
40
(50) (52)
+0.012
5
5
Reference surface
Details of oblong hole Details of section A (Actuator's reference side)
m-M4 depth 7 Oblong hole depth 5 from the bottom of the base
P (pitch of ø4 hole and oblong hole) N (ø4 hole pitch)
2-ø4H7 depth 5 from the bottom of the base
Dimensions and Weight by Stroke L
* Brake-equipped models are heavier by 0.3kg.
Stroke 50 100 150 200 250 300 350 400 450 500 Without brake 280.4 330.4 380.4 430.4 480.4 530.4 580.4 630.4 680.4 730.4 With brake 319.4 369.4 419.4 469.4 519.4 569.4 619.4 669.4 719.4 769.4 M 142 192 242 292 342 392 442 492 542 592 N 50 100 100 200 200 300 300 400 400 500 P 35 85 85 185 185 285 285 385 385 485 R 42 42 92 42 92 42 92 42 92 42 U – 1 1 2 2 3 3 4 4 5 m 4 4 4 6 6 8 8 10 10 12 Weight (kg) 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2 2.1 2.2
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2CR-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Positioner mode Solenoid valve mode SCON-CA-20 -NP-2-
Features Up to 512 positioning points are supported. Actuators can be operated through the same control used for solenoid valves.
Maximum number of positioning points
Dedicated pulse-train input type
(—)
256 points
SSEL-CS-1-20 -NP-2-
Program operation is supported. Up to 2 axes can be operated.
XSEL- -1-20 -N1-EEE-2-
Program control type, 1 to 8 axes
➝ P643
106 VA max.
Pulse-train input control type
Program control type, 1 to 2 axes
Reference page
—
768 points
Up to 6 axes can be operated. Movement by numerical specification is supported.
Standard price
7 points
Movement by numerical specification is supported.
MSCON-C-1-20 - -0-
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase 100VAC * Power supply
capacity will Single-phase vary depending 200VAC on the controller, so 3-phase please refer to 200VAC (XSEL-P/Q/R/S the instruction manual for ONLY) details.
—
Pulse Motor
—
—
➝ P655
20,000 points
—
➝ P685
Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axes connected
—
➝ P695
* This is for the single-axis MSCON, SSEL, and XSEL. * * * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V / 3: Three-phase 200V). *
indicates the encoder type (I: Incremental / A: Absolute). indicates the XSEL type (J / K / P / Q / R / S). indicates field network specification symbol.
RCS2CR-SA5C
482
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCS2CR
ROBO Cylinder
RCS2CR-SA6C Model Specification Items
RCS2CR Series
SA6C Type
Cleanroom Robo Cylinder, Slider Type, Coupled, Actuator Width 58mm, 200V Servo Motor, Aluminum Base
30
Encoder type
Motor type
Lead
Stroke
Applicable controller
I : Incremental A : Absolute
30: 30W Servo motor
20 : 20mm 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
600: 600mm
* See page Pre-47 for details on the model descriptions.
(50mm pitch increments)
Cable length
Options
See options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Mini *CE compliance is optional.
Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Appendix
P.5
Standard
Gripper/ Rotary Type
Linear Servo Type
(1) When the stroke increases, the maximum will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 3mm-lead model). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
A
* This product is equipped with a position adjusting screw at the A area shown above. (See dimensional drawing on the page to the right.)
Actuator Specifications
Lead and Payload Cleanroom Type
■ Stroke and Max. Speed/Suction Volume by Lead (Unit: mm/s) Motor Lead Max. Load Capacity output (W) (mm) Horizontal (kg) Vertical (kg)
Model number
RCS2CR-SA6C- ➀ -30-20- ➁ - ➂ - ➃ - ➄ RCS2CR-SA6C- ➀ -30-12- ➁ - ➂ - ➃ - ➄
SplashProof Type
RCS2CR-SA6C- ➀ -30-6- ➁ - ➂ - ➃ - ➄ RCS2CR-SA6C- ➀ -30-3- ➁ - ➂ - ➃ - ➄
20 30
Rated thrust (N)
3
0.5
12
6
1.5
24.2
6
12
3
48.4
3
18
6
96.8
Stroke (mm)
15.8 50~600
(every 50mm)
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300 350 400 450 500 550 600
400
3
200
*See page A-71 for details on push motion.
Name Brake CE compliance Foot bracket Home sensor Non-motor end specification Vacuum port on opposite side
Option code B CE FT HS NM VR
80 50
320
270
30
190
160
135
15
*The values enclosed in < > apply to vertical settings.
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
See page ➝ A-42 ➝ A-42 ➝ A-48 ➝ A-50 ➝ A-52 ➝ A-58
Standard price — — — — — —
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications Description
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treated Ma:38.3 N·m, Mb: 54.7 N·m, Mc: 81.0 N·m Ma: 8.9 N·m, Mb: 12.7 N·m, Mc: 18.6 N·m 220mm or less in Ma, Mb and Mc directions Low dust generation grease (both ball screw and guide) Cleanliness Class 10 (0.1µm) Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing) Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Grease Type
(*) Based on 5,000km of traveling life Directions of Allowable Load Moment Ma
Mb
Mc
Overhang Load Length Ma
L
Mc L
RCS2CR-SA6C
Suction Volume (Nℓ/min)
380
Item
Options
483
6
550 600 mm mm 1160 990 <800> <800> 640 540
➃Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — — — — — —
Stroke (mm)
Stroke 50~450 500 (every 50mm) mm Lead 1300 20 <800> 12 800 760
RCS2CR
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
Appendix
www.intelligentactuator.com (*1) (*2) (*3)
P.15
Connect the motor and encoder cables here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end 60 Reference position for calculating the moment Ma.
ø8 hole
slot
Details of the slotted area for adjusting slider position Ma moment offset reference 50 position*3 39
18.2
Cable joint connector*1
4-M5 depth 9
A
Bottom of the base
56 Actuator width: 58
Controllers Integrated
Rod Type
Mini (240)
L 115
st
Standard
Base end-face
Home
SE
18.5 3 ME (*2)
114.2 (153.2 if brake-equipped)
Secure at least 100
Controllers Integrated
40
Slider height: 53 43 28 1
23
50 32 ±0.02 21
Applicable tube OD ø6 23.7 3 ME
Mini Standard
(Reamer hole tolerance ±0.02)
31
2-ø5H7 depth 6
Slider Type
Table/ Arm/ Flat Type Base end-face 10.2 8
R
8
U×100P
Base end-face
Mini Standard
Details of section A (Actuator's reference side)
31
Gripper/ Rotary Type
Details of oblong hole Symmetric (optional)
Oblong hole depth 5 from the bottom of the base
1
Standard
Motor section width: 58
P (pitch for ø4 hole and oblong hole)
Motor section height: 51
(56) (58)
40
Reference surface
+0.012
5
5
N (ø4 hole pitch)
100 (ø4 hole pitch) 3-ø4H7 depth 5 from the bottom of the base
m-M5 depth 8
Dimensions and Weight by Stroke
* Brake-equipped models are heavier by 0.3kg.
Stroke 50 100 150 200 250 300 350 400 450 500 550 600 Without brake 321.4 371.4 421.4 471.4 521.4 571.4 621.4 671.4 721.4 771.4 821.4 871.4 L With brake 360.4 410.4 460.4 510.4 560.4 610.4 660.4 710.4 760.4 810.4 860.4 910.4 N 81 131 181 231 281 331 381 431 481 531 581 631 P 66 116 166 216 266 316 366 416 466 516 566 616 R 81 31 81 31 81 31 81 31 81 31 81 31 U 1 2 12 3 3 4 4 5 5 6 6 7 m 6 8 8 10 10 12 12 14 14 16 16 18 Weight (kg) 1.4 1.6 1.8 2 2.2 2.4 2.6 2.8 3 3.2 3.4 3.6
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2CR-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Positioner mode Solenoid valve mode SCON-CA-30D -NP-2-
Features
Maximum number of positioning points
Up to 512 positioning points are supported. Actuators can be operated through the same control used for solenoid valves.
Dedicated pulse-train input type
(—)
256 points
SSEL-CS-1-30D -NP-2-
Program operation is supported. Up to 2 axes can be operated.
XSEL- -1-30D -N1-EEE-2-
Program control type, 1 to 8 axes
➝ P643
126 VA max.
Pulse-train input control type
Program control type, 1 to 2 axes
Reference page
—
768 points
Up to 6 axes can be operated. Movement by numerical specification is supported.
Standard price
7 points
Movement by numerical specification is supported.
MSCON-C-1-30D - -0-
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase 100VAC * Power supply
capacity will Single-phase vary depending 200VAC on the controller, so 3-phase please refer to 200VAC (XSEL-P/Q/R/S the instruction manual for ONLY) details.
—
Pulse Motor
—
—
➝ P655
20,000 points
—
➝ P685
Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axes connected
—
➝ P695
* This is for the single-axis MSCON, SSEL, and XSEL. * * * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V / 3: Three-phase 200V). *
indicates the encoder type (I: Incremental / A: Absolute). indicates the XSEL type (J / K / P / Q / R / S). indicates field network specification symbol.
RCS2CR-SA6C
484
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCS2CR
ROBO Cylinder
RCS2CR-SA7C Model Specification Items
RCS2CR
SA7C
Series
Type
Cleanroom Robo Cylinder, Slider Type, Coupled, Actuator Width 73mm, 200V Servo Motor, Aluminum Base
60
Encoder type
Motor type
Lead
Stroke
Applicable controller
I : Incremental A : Absolute
60: 60W Servo motor
16 : 16mm 8 : 8mm 4 : 4mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
* See page Pre-47 for details on the model descriptions.
800: 800mm (50mm pitch increments)
Cable length
Options
See options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Mini Standard
*CE compliance is optional.
Controllers Integrated
Table/ Arm/ Flat Type
Appendix
P.5
Mini
(1) When the stroke increases, the maximum will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 4mm-lead model). These values are the upper limits for the acceleration. (3) The cleanliness class 10 is for horizontal usage. Please note that the actuator may not support C10 when used on its side or in vertical orientation. (4) See page A-71 for details on push motion.
Standard
Gripper/ Rotary Type
Linear Servo Type
Actuator Specifications
Lead and Payload Cleanroom Type
■ Stroke and Max. Speed/Suction Volume by Lead Motor output (W)
Model number
RCS2CR-SA7C- ➀ -60-16- ➁ - ➂ - ➃ - ➄ RCS2CR-SA7C- ➀ -60-8- ➁ - ➂ - ➃ - ➄
SplashProof Type
60
RCS2CR-SA7C- ➀ -60-4- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg)
Rated thrust (N)
16
12
3
63.8
8
25
6
127.5
4
40
12
255.0
(every 50mm)
50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800
16
800
640
480
50
8
400
320
240
30
4
200
160
120
10 (Unit: mm/s)
*See page A-71 for details on push motion.
➃Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — —
Stroke (mm)
Pulse Motor
50~800
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke
Stroke 50~600 ~700 ~800 Suction Volume (every 50mm) (mm) (mm) (Nℓ/min) Lead
Stroke (mm)
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Servo Motor (24V)
Servo Motor (200V)
Actuator Specifications
Options Name Brake (cable exiting from end) Brake (cable exiting from left) Brake (cable exiting from right) CE compliance Non-motor end specification Vacuum port on opposite side
Option code BE BL BR CE NM VR
Linear Servo Motor
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-58
Standard price — — — — — —
Item
Description
Ball screw, ø12mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treated Ma:50.4 N·m, Mb: 71.9 N·m, Mc: 138.0 N·m Ma: 13.9 N·m, Mb: 19.9 N·m, Mc: 38.3 N·m 230mm or less in Ma, Mb and Mc directions Low dust generation grease (both ball screw and guide) Cleanliness Class 10 (0.1µm) Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing) Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Grease Type
(*) Based on 5,000km of traveling life
485
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Overhang Load Length Mc L
RCS2CR-SA7C
RCS2CR
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
5
2-ø5H7 depth 10 4.5
2D CAD
9
Appendix
60 50 32
P.15
5 9
4-M5 depth 10
Slider Type
Mini
(240)
Standard 48 39
* For the non-motor end model, the dimensions (distance to home) on the motor-side and that on the opposite side are flipped.
Controllers Integrated
4.5
Cable joint connector*1
Ma moment offset reference position*3
128
Secure at least 100
137.5
3 SE
ME
Rod Type
Applicable tube OD: ø8)
L Stroke
17
Symmetric Standard (optional)
3 ME*2 (5)
Home
Mini
43
14
(38.5)
(4)
64 50 33
Standard
(24)
F-ø6 through, ø9.5 counterbore, depth 5.5 (from opposite site)
73
E-ø4H7, depth 6 from the bottom of the base
B×100
P
Controllers Integrated
71
9.5
71 73
40
Mini 5
4
+0.012 0
40
Table/ Arm/ Flat Type
Dimensions of the Brake Section
P
30 80
18
51
5
Gripper/ Rotary Type
7 5.1
Dimensions and Weight by Stroke Stroke 50 100 L 332.5 382.5 A 0 100 B 0 0 C 0 0 D 4 6 E 2 3 F 4 4 H 0 1 P 0 85 Weight (kg) 2.6 2.8
150 432.5 100 0 1 6 3 6 1 85 3.0
200 482.5 200 1 1 8 3 6 1 185 3.2
250 532.5 200 1 2 8 3 8 1 185 3.5
300 582.5 300 2 2 10 3 8 1 285 3.7
18
52 73
1
BL: Brake cable exiting from left
18
52 58 48
BE: Brake cable exiting from end
Connect the motor and encoder cables here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end The values enclosed in "( )" are reference dimensions. Reference position for calculating the moment Ma.
Standard
83.5 13.3 44.7 16.3 3 SE ME (4.8)
BR: Brake cable exiting from right 50 or more
* Adding a brake will increase the actuator's overall length by 43mm (56.3mm with the cable coming out the end), and its weight by 0.6kg.
(*1) (*2) (*3)
C×100 100 P (ø4 hole and oblong hole pitch) A
D-M5 depth 9 H-oblong hole, depth 6 from the bottom of the base
13.3
Details of oblong hole
350 632.5 300 2 3 10 3 10 1 285 3.9
400 682.5 400 3 3 12 3 10 1 385 4.1
450 732.5 400 3 4 12 3 12 1 385 4.4
500 782.5 500 4 4 14 3 12 1 485 4.6
550 832.5 500 4 5 14 3 14 1 485 4.8
600 882.5 600 5 5 16 3 14 1 585 5.0
650 932.5 600 5 6 16 3 16 1 585 5.3
700 982.5 700 6 6 18 3 16 1 685 5.5
750 1032.5 700 6 7 18 3 18 1 685 5.7
800 1082.5 800 7 7 20 3 18 1 785 5.9
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2CR-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Positioner mode Solenoid valve mode SCON-CA-60 -NP-2-
Features Up to 512 positioning points are supported. Actuators can be operated through the same control used for solenoid valves.
Maximum number of positioning points
Dedicated pulse-train input type
(—)
256 points
SSEL-CS-1-60 -NP-2-
Program operation is supported. Up to 2 axes can be operated.
XSEL- -1-60 -N1-EEE-2-
Program control type, 1 to 8 axes
➝ P643
218 VA max.
Pulse-train input control type
Program control type, 1 to 2 axes
Reference page
—
768 points
Up to 6 axes can be operated. Movement by numerical specification is supported.
Standard price
7 points
Movement by numerical specification is supported.
MSCON-C-1-60 - -0-
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase 100VAC * Power supply
capacity will Single-phase vary depending 200VAC on the controller, so 3-phase please refer to 200VAC (XSEL-P/Q/R/S the instruction manual for ONLY) details.
—
Pulse Motor
—
—
➝ P655
20,000 points
—
➝ P685
Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axes connected
—
➝ P695
* This is for the single-axis MSCON, SSEL, and XSEL. * * * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V / 3: Three-phase 200V). *
indicates the encoder type (I: Incremental / A: Absolute). indicates the XSEL type (J / K / P / Q / R / S). indicates field network specification symbol.
RCS2CR-SA7C
486
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCS2CR
ROBO Cylinder
RCS2CR-SS7C Model Specification Items
RCS2CR
SS7C
Series
Type
Cleanroom Robo Cylinder, Slider Type, Coupled, Actuator Width 60mm, 200V Servo Motor, Steel Base
60
Encoder type
Motor type
Lead
Stroke
Applicable controller
I : Incremental A : Absolute
60: 60W Servo motor
12 : 12mm 6 : 6mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
600: 600mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
See options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Mini *CE compliance is optional.
Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Appendix
P.5
Standard
(1) When the stroke increases, the maximum will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) The load capacity is based on operation at an acceleration of 0.3G . This is the upper limit for the acceleration. (3) See page A-71 for details on push motion.
Gripper/ Rotary Type
Linear Servo Type
Actuator Specifications
■ Stroke and Max. Speed/Suction Volume by Lead
Lead and Payload Cleanroom Type
Motor output (W)
Model number
RCS2CR-SS7C- ➀ -60-12- ➁ - ➂ - ➃ - ➄ RCS2CR-SS7C- ➀ -60-6- ➁ - ➂ - ➃ - ➄
SplashProof Type
60
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg)
Rated thrust (N)
12
15
4
85
6
30
8
170
50~600
50/100 150/200 250/300 350/400 450/500 550/600
~600 (mm)
Suction Volume (Nℓ/min)
12
600
470
50
6
300
230
30 (Unit: mm/s)
*See page A-71 for details on push motion.
➃Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — —
Stroke (mm)
Stroke
50~500 (every 50mm)
Lead
(every 50mm)
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke
Type Standard Special length
Robot Cable
Pulse Motor
Cable symbol
Standard price
P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
— — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications
Options Servo Motor (24V)
Stroke (mm)
Name Brake CE compliance Non-motor end specification Vacuum port on opposite side
Option code B CE NM VR
Servo Motor (200V)
Linear Servo Motor
See page ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-58
Standard price — — — —
Item
Description
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Special alloy steel Ma: 79.4 N·m, Mb: 79.4 N·m, Mc: 172.9 N·m Ma: 14.7 N·m, Mb: 14.7 N·m, Mc: 33.3 N·m 300mm or less in Ma, Mb and Mc directions Low dust generation grease (both ball screw and guide) Cleanliness Class 10 (0.1µm) Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing) Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Grease Type
(*) Based on 10,000km of traveling life
Overhang Load Length
Directions of Allowable Load Moment
487
Ma
Mb
Mc
Ma
L
Mc L
RCS2CR-SS7C
RCS2CR
ROBO Cylinder
Dimensional Drawings Appendix
www.intelligentactuator.com
2D CAD
32
32
Cable joint connector*1
Mini Standard
4-M5 depth 10
25.4
2-ø5H7 depth 10
40.6
P.15
126 60 5 50 5 ±0.02 9 32 9
Controllers Integrated
(Reamer hole tolerance ±0.02)
CAD drawings can be downloaded from the website.
Slider Type
(240) 19.5
21
19.5 (L)
12
Ma moment offset reference position*3
(A) S (stroke)
25 5 M. E.
(126)
25
126 44.5
31.5
5 Home
S. E.
49.5 0.5
Mini
M. E.* 2
L
1
57
Rod Type
Applicable tube OD ø8 Secure at least 100
R
Controllers Integrated
20
55 41.5 27
36
Standard
60
(20)
60 18
N×100P 100 (reamer hole pitch) (90 when 50st)
M×100P
C
18
100 (reamer hole pitch)
B (reamer hole pitch)
4-ø4H7 depth 6 from bottom of base (When 50ST, 3-ø4H7 depth 6 from the bottom of the base)
5
Table/ Arm/ Flat Type
30
Mini
4
+0.012 0
50 (reamer and oblong hole pitch)
Details of oblong hole Oblong hole depth 6 from the bottom of the base
Dimensions of the Brake Section
(*1) (*2) (*3)
(51.3)
* The length L of a brake-equipped actuator is longer than that of a standard model by 24.5mm; add 0.3kg to weight.
Standard
D-M5 depth 8
Connect the motor and encoder cables here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end The values enclosed in "( )" are reference dimensions. Reference position for calculating the moment Ma.
(L) 36.5
18
25 5 S. E.
60
30
52 (51.3)
(32)
27
55 53
1
M. E.
(20)
Dimensions and Weight by Stroke Stroke L A B C D M N Weight (kg)
50 364 226 0 90 6 1 0 3.1
100 414 276 40 40 8 1 1 3.4
150 464 326 90 90 8 1 1 3.7
200 514 376 140 140 8 1 1 4.0
250 564 426 190 190 8 1 1 4.4
300 614 476 240 40 12 2 2 4.7
350 664 526 290 90 12 2 2 5.0
400 714 576 340 140 12 2 2 5.3
450 764 626 390 190 12 2 2 5.7
500 814 676 440 40 16 3 3 6.0
550 864 726 490 90 16 3 3 6.3
600 914 776 540 140 16 3 3 6.6
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2CR-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Positioner mode Solenoid valve mode SCON-CA-60 -NP-2-
Features Up to 512 positioning points are supported. Actuators can be operated through the same control used for solenoid valves.
Maximum number of positioning points
Dedicated pulse-train input type
(—)
256 points
SSEL-CS-1-60 -NP-2-
Program operation is supported. Up to 2 axes can be operated.
XSEL- -1-60 -N1-EEE-2-
Program control type, 1 to 8 axes
➝ P643
218 VA max.
Pulse-train input control type
Program control type, 1 to 2 axes
Reference page
—
768 points
Up to 6 axes can be operated. Movement by numerical specification is supported.
Standard price
7 points
Movement by numerical specification is supported.
MSCON-C-1-60 - -0-
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase 100VAC * Power supply
capacity will Single-phase vary depending 200VAC on the controller, so 3-phase please refer to 200VAC (XSEL-P/Q/R/S the instruction manual for ONLY) details.
—
Pulse Motor
—
—
➝ P655
20,000 points
—
➝ P685
Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axes connected
—
➝ P695
* This is for the single-axis MSCON, SSEL, and XSEL. * * * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V / 3: Three-phase 200V). *
indicates the encoder type (I: Incremental / A: Absolute). indicates the XSEL type (J / K / P / Q / R / S). indicates field network specification symbol.
RCS2CR-SS7C
488
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCS2CR
ROBO Cylinder
RCS2CR-SA5D Model Specification Items
RCS2CR SA5D Series
Type
Cleanroom Robo Cylinder, Slider, Built-in Type, Actuator Width 52mm, 200V Servo Motor, Aluminum Base
20
Encoder type
Motor type
Lead
Stroke
Applicable controller
I : Incremental A : Absolute
20: 20W Servo motor
12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
* See page Pre-47 for details on the model descriptions.
500: 500mm (50mm pitch increments)
Cable length
Options
See options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Mini *CE compliance is optional.
Standard Controllers Integrated
Table/ Arm/ Flat Type
Appendix
P.5
Mini
(1) When the stroke increases, the maximum will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 3mm-lead model). These values are the upper limits for the acceleration. (3) The cleanliness class 10 is for horizontal usage. Please note that the actuator may not support C10 when used on its side or in vertical orientation. (4) See page A-71 for details on push motion.
Standard
Gripper/ Rotary Type
Linear Servo Type
Actuator Specifications
Lead and Payload Cleanroom Type
■ Stroke and Max. Speed/Suction Volume by Lead Motor output (W)
Model number
RCS2CR-SA5D- ➀ -20-12- ➁ - ➂ - ➃ - ➄ RCS2CR-SA5D- ➀ -20-6- ➁ - ➂ - ➃ - ➄
SplashProof Type
20
RCS2CR-SA5D- ➀ -20-3- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg)
Rated thrust (N)
12
4
1
16.7
6
8
2
33.3
3
12
4
65.7
Servo Motor (24V)
Servo Motor (200V)
(every 50mm)
50 100 150 200 250 300 350 400 450 500
Suction Volume (Nℓ/min)
12
800
760
50
6
400
380
30
3
200
190
15 (Unit: mm/s)
*See page A-71 for details on push motion.
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications
Options Name Brake (cable exiting from end) Brake (cable exiting from left) Brake (cable exiting from right) CE compliance Non-motor end specification Vacuum port on opposite side
Option code BE BL BR CE NM VR
Linear Servo Motor
489
500 (mm)
➃Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — —
Stroke (mm)
Pulse Motor
50~500
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke
Stroke 50~450 (every 50mm) Lead
Stroke (mm)
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-58
Standard price — — — — — —
Item
Description
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treated Ma:18.6 N·m, Mb: 26.6 N·m, Mc: 47.5 N·m Ma: 4.9 N·m, Mb: 6.8 N·m, Mc: 11.7 N·m 150mm or less in Ma, Mb and Mc directions Low dust generation grease (both ball screw and guide) Cleanliness Class 10 (0.1µm) Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing) Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Grease Type
(*) Based on 5,000km of traveling life Directions of Allowable Load Moment Ma
Mb
Mc
Overhang Load Length Ma
L
Mc L
RCS2CR-SA5D
RCS2CR
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
2D CAD
(*1) (*2) (*3)
* Note that in order to change the home orientation, arrangements must be made to send in the product to IAI.
P.15
(*4)
Connect the motor and encoder cables here. See page A-59 for details on cables. After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects. ME : Mechanical end SE : Stroke end The values enclosed in "( )" are reference dimensions. Reference position for calculating the moment Ma. M 30 19 ±0.02
30 2-ø4H7 effective depth 6
Mini
9
Applicable tube OD: ø8
15.5
Controllers Integrated
L 15
76.5
A
(13.5)
Stroke
(13.5)
95
(2.7) SE
(3) Home
ME*2
Table/ Arm/ Flat Type
(47.7)
50 40
39
ME
(24)
Standard
Base end-face
14.5
R
50 (when stroke is 50) U×100P(All strokes except 50)
Base end-face 50
Symmetric (optional)
Secure at least 100
14.5
26
R: Brake cable exiting from right
Gripper/ Rotary Type
13.3
E: Brake cable exiting from end m-M4 depth 7 5.1
13.3 41.5 13.5
Oblong hole depth 5 from the bottom of the base
+0.012
Dimensions and Weight by Stroke
40
Stroke L A M N P R U m Weight (kg)
5.5
35
50 46.5 17
1
17
Details of oblong hole
* Adding a brake will increase the actuator's overall length by 26.5mm (39.8mm with the cable coming out the end), and its weight by 0.3kg.
50 52
2-ø4H7 depth 5 from the bottom of the base
P (ø4 hole and oblong hole pitch) N (ø4 hole pitch)
5
Mini Standard
ME: Mechanical end SE: Stroke end
Dimensions of the Brake Section
L: Brake cable exiting from left
Controllers Integrated
Standard 15.5
50 52
Standard
Rod Type
Cable joint connector*1
4-ø4.5 through, ø8 counterbore depth 4.5 *4
Ma moment offset reference position*3
Mini
(300)
91.5
26
20 6
26
If the actuator is secured using only the mounting holes provided on the top surface of the base, the base may twist to cause abnormal sliding of the slider, or may produce abnormal noise. Therefore, when using the mounting holes on the top surface of the base, keep the stroke at 300mm or less.
4-M4 depth 9
6
* In the non-motor end model (NM), the new home position is set 3mm inward from the ME opposite of the motor-side.
Appendix
(Reamer hole tolerance ±0.02)
CAD drawings can be downloaded from the website.
Slider Type
50 263.5 172 142 50 35 42 – 4 1.5
100 313.5 222 192 100 85 42 1 4 1.6
150 363.5 272 242 100 85 92 1 4 1.7
200 413.5 322 292 200 185 42 2 6 1.8
250 463.5 372 342 200 185 92 2 6 1.9
300 513.5 422 392 300 285 42 3 8 2.0
350 563.5 472 442 300 285 92 3 8 2.1
400 613.5 522 492 400 385 42 4 10 2.2
450 663.5 572 542 400 385 92 4 10 2.3
500 713.5 622 592 500 485 42 5 12 2.5
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2CR-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Positioner mode Solenoid valve mode SCON-CA-20 -NP-2-
Features Up to 512 positioning points are supported. Actuators can be operated through the same control used for solenoid valves.
Maximum number of positioning points
Dedicated pulse-train input type
(—)
256 points
SSEL-CS-1-20 -NP-2-
Program operation is supported. Up to 2 axes can be operated.
XSEL- -1-20 -N1-EEE-2-
Program control type, 1 to 8 axes
➝ P643
106 VA max.
Pulse-train input control type
Program control type, 1 to 2 axes
Reference page
—
768 points
Up to 6 axes can be operated. Movement by numerical specification is supported.
Standard price
7 points
Movement by numerical specification is supported.
MSCON-C-1-20 - -0-
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase 100VAC * Power supply
capacity will Single-phase vary depending 200VAC on the controller, so 3-phase please refer to 200VAC (XSEL-P/Q/R/S the instruction manual for ONLY) details.
—
Pulse Motor
—
—
➝ P655
20,000 points
—
➝ P685
Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axes connected
—
➝ P695
* This is for the single-axis MSCON, SSEL, and XSEL. * * * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V / 3: Three-phase 200V). *
indicates the encoder type (I: Incremental / A: Absolute). indicates the XSEL type (J / K / P / Q / R / S). indicates field network specification symbol.
RCS2CR-SA5D
490
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCS2CR
ROBO Cylinder
RCS2CR-SA6D Model Specification Items
RCS2CR SA6D Series
Type
Cleanroom Robo Cylinder, Slider, Built-in Type, Actuator Width 58mm, 200V Servo Motor, Aluminum Base
30
Encoder type
Motor type
Lead
Stroke
Applicable controller
I : Incremental A : Absolute
30: 30W Servo motor
12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
* See page Pre-47 for details on the model descriptions.
600: 600mm (50mm pitch increments)
Cable length
Options
See options below. N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Mini Standard
*CE compliance is optional.
Controllers Integrated
Table/ Arm/ Flat Type
Appendix
P.5
Mini
(1) When the stroke increases, the maximum will drop to prevent the ball screw from reaching the critical rotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire. (2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 3mm-lead model). These values are the upper limits for the acceleration. (3) The cleanliness class 10 is for horizontal usage. Please note that the actuator may not support C10 when used on its side or in vertical orientation. (4) See page A-71 for details on push motion.
Standard
Gripper/ Rotary Type
Linear Servo Type
Actuator Specifications
Lead and Payload Cleanroom Type
■ Stroke and Max. Speed/Suction Volume by Lead Motor output (W)
Model number
RCS2CR-SA6D- ➀ -30-12- ➁ - ➂ - ➃ - ➄ RCS2CR-SA6D- ➀ -30-6- ➁ - ➂ - ➃ - ➄
SplashProof Type
RCS2CR-SA6D- ➀ -30-3- ➁ - ➂ - ➃ - ➄
30
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg)
Rated thrust (N)
12
6
1.5
24.2
6
12
3
48.4
3
18
6
96.8
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
(every 50mm)
50 100 150 200 250 300 350 400 450 500 550 600
491
Option code BE BL BR CE NM VR
600 mm
Suction Volume (Nℓ/min)
12
800
760
640
540
50
6
400
380
320
270
30
3
200
190
160
135
15
(Unit: mm/s)
*See page A-71 for details on push motion.
Type Standard Special length
Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-58
Standard price — — — — — —
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications Item
Options Name Brake (cable exiting from end) Brake (cable exiting from left) Brake (cable exiting from right) CE compliance Non-motor end specification Vacuum port on opposite side
550 mm
➃Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — — — — — —
Stroke (mm)
Pulse Motor
50~600
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke
Stroke 50~450 500 (every 50mm) mm Lead
Stroke (mm)
Description
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treated Ma:38.3 N·m, Mb: 54.7 N·m, Mc: 81.0 N·m Ma: 8.9 N·m, Mb: 12.7 N·m, Mc: 18.6 N·m 220mm or less in Ma, Mb and Mc directions Low dust generation grease (both ball screw and guide) Cleanliness Class 10 (0.1µm) Ambient operating temperature, humidity 0 to 40oC, 85% RH or less (Non-condensing) Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Grease Type
(*) Based on 5,000km of traveling life Directions of Allowable Load Moment Ma
Mb
Mc
Overhang Load Length Ma
L
Mc L
RCS2CR-SA6D
RCS2CR
ROBO Cylinder
Dimensional Drawings Appendix
www.intelligentactuator.com
2D CAD
P.15
(*1) Connect the motor and encoder cables here. See page A-59 for details on cables. (*2) After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects.
* Note that in order to change the home orientation, arrangements must be made to send in the product to IAI.
Controllers Integrated
* In the non-motor end model (NM), the new home position is set 3mm inward from the ME opposite of the motor-side.
2-ø5H7 effective depth 6
4-M5 depth 9
50 32 ±0.02
31
8 23 8
56
(300) Cable joint connector*1
4 Reference surface
Rod Type
Mini
58 Details of A
19.5
19.5
21
Applicable tube OD: ø8
Standard
L
0.5
Ma moment offset (12.5) reference position
15
A
91.5
Stroke
118
(3) SE
(17.5) (3) Home
Controllers Integrated
ME*2 (50.7)
53 43
40
ME
Standard 8.5
56 58
R
U×100P
8.5
Table/ Arm/ Flat Type Mini
31
5 ME: Mechanical end SE: Stroke end
Details of oblong hole
Dimensions of the Brake Section
Symmetric (optional)
Secure at least 100
(24)
4
+0.012 0
A
Mini Standard
(Reamer hole tolerance ±0.02)
CAD drawings can be downloaded from the website.
Slider Type
Oblong hole depth 5 from the bottom of the base
P (ø4 hole and oblong hole pitch) N (ø4 hole pitch)
R: Brake cable exiting from right
100 (ø4 hole pitch)
Standard
m-M5 depth 8
Gripper/ Rotary Type
3-ø4H7 depth 5 from the bottom of the base
13.3
E: Brake cable exiting from end L: Brake cable exiting from left
1
Dimensions and Weight by Stroke
55 58
19
6
37
53 50 19
Linear Servo Type
13.3 41.5 12.5
5.1
* Adding a brake increases the actuator's overall length (L) by 26.5mm (39.8mm with the cable coming out the end), and its weight by 0.3kg. * Adding a brake will increase the actuator's
overall length by 26.5mm (39.8mm with the cable coming out the end), and its weight by 0.3kg.
Stroke L A N P R U m Weight (kg)
50 304.5 198 81 66 81 1 6 2.0
100 354.5 248 131 116 31 2 8 2.1
150 404.5 298 181 166 81 2 8 2.3
200 454.5 348 231 216 31 3 10 2.4
250 504.5 398 281 266 81 3 10 2.6
300 554.5 448 331 316 31 4 12 2.7
350 604.5 498 381 366 81 4 12 2.9
400 654.5 548 431 416 31 5 14 3.0
450 704.5 598 481 466 81 5 14 3.2
500 754.5 648 531 516 31 6 16 3.3
550 804.5 698 581 566 81 6 16 3.5
600 854.5 748 631 616 31 7 18 3.6
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2CR-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Positioner mode Solenoid valve mode SCON-CA-30D -NP-2-
Features
Maximum number of positioning points
Up to 512 positioning points are supported. Actuators can be operated through the same control used for solenoid valves.
Dedicated pulse-train input type
(—)
256 points
SSEL-CS-1-30D -NP-2-
Program operation is supported. Up to 2 axes can be operated.
XSEL- -1-30D -N1-EEE-2-
Program control type, 1 to 8 axes
➝ P643
126 VA max.
Pulse-train input control type
Program control type, 1 to 2 axes
Reference page
—
768 points
Up to 6 axes can be operated. Movement by numerical specification is supported.
Standard price
7 points
Movement by numerical specification is supported.
MSCON-C-1-30D - -0-
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase 100VAC * Power supply
capacity will Single-phase vary depending 200VAC on the controller, so 3-phase please refer to 200VAC (XSEL-P/Q/R/S the instruction manual for ONLY) details.
—
Pulse Motor
—
—
➝ P655
20,000 points
—
➝ P685
Varies depending Program operation is supported. on the number of Up to 8 axes can be operated. axes connected
—
➝ P695
* This is for the single-axis MSCON, SSEL, and XSEL. * * * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V / 3: Three-phase 200V). *
indicates the encoder type (I: Incremental / A: Absolute). indicates the XSEL type (J / K / P / Q / R / S). indicates field network specification symbol.
RCS2CR-SA6D
492
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
