Transcript
Slider Type
Slider Type RCP4 RCP3 RCP2
ERC3 ERC2
RCP4
Coupled Type
Pulse Motor Type
Side-Mounted Motor Type Aluminum Base
series
Coupled Type
Aluminum Base
Aluminum Base • Mini Type Aluminum Base
RCP3 series Pulse Motor Type
Side-Mounted Motor Type Aluminum Base • Mini Type Aluminum Base
Coupled Type
RCP2
Steel Base
series
High-speed Type Side-Mounted Motor Type Steel Base
Pulse Motor Type
Belt Type
1
High-speed Type
Slider Type
RCA2 RCA RCS3 RCS2 52mm width 58mm width 73mm width 52mm width 58mm width 73mm width
RCP4-SA5C RCP4-SA6C RCP4-SA7C RCP4-SA5R RCP4-SA6R RCP4-SA7R
3 5 7 9 11 13
22mm width 28mm width 32mm width 40mm width 50mm width 60mm width 22mm width 28mm width 32mm width 40mm width 50mm width 60mm width
RCP3-SA2AC RCP3-SA2BC RCP3-SA3C RCP3-SA4C RCP3-SA5C RCP3-SA6C RCP3-SA2AR RCP3-SA2BR RCP3-SA3R RCP3-SA4R RCP3-SA5R RCP3-SA6R
15 17 19 21 23 25 27 29 31 33 35 37
60mm width 80mm width 80mm width 60mm width 80mm width 80mm width 58mm width 68mm width
RCP2-SS7C RCP2-SS8C RCP2-HS8C RCP2-SS7R RCP2-SS8R RCP2-HS8R RCP2-BA6/BA6U RCP2-BA7/BA7U
39 41 43 45 47 49 51 53
Slider Type Controller-Integrated Type with Pulse Motor
ERC3
Controller-Integrated Type
series
ERC2
Slider Type
50mm width 74mm width Simple, Dustproof Slider Type 50mm width 73mm width Straight Motor Type
series
58mm width 68mm width
ERC3-SA5C ERC3-SA7C ERC3D-SA5C ERC3D-SA7C
55 57 59 61
ERC2-SA6C ERC2-SA7C
63 65
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
Coupled Type
Mini Type
RCA2-SA2AC RCA2-SA3C RCA2-SA4C RCA2-SA5C RCA2-SA6C RCA2-SA2AR RCA2-SA3R RCA2-SA4R RCA2-SA5R RCA2-SA6R
40mm width 52mm width 58mm width 40mm width 52mm width 58mm width 40mm width 52mm width 58mm width 40mm width 52mm width 58mm width
RCA-SA4C RCA-SA5C RCA-SA6C RCA-SA4D RCA-SA5D RCA-SA6D RCA-SS4D RCA-SS5D RCA-SS6D RCA-SA4R RCA-SA5R RCA-SA6R
87 89 91 93 95 97 99 101 103 105 107 109
Aluminum Base Steel Base Aluminum Base Steel Base
80mm width 80mm width 80mm width 80mm width
RCS3-SA8C RCS3-SS8C RCS3-SA8R RCS3-SS8R
111 113 115 117
Aluminum Base
40mm width 52mm width 58mm width 73mm width 60mm width 40mm width 52mm width 58mm width 40mm width 52mm width 58mm width 73mm width 60mm width
RCS2-SA4C RCS2-SA5C RCS2-SA6C RCS2-SA7C RCS2-SS7C RCS2-SA4D RCS2-SA5D RCS2-SA6D RCS2-SA4R RCS2-SA5R RCS2-SA6R RCS2-SA7R RCS2-SS7R
119 121 123 125 127 129 131 133 135 137 139 141 143
RCA2 series 24V Servo Motor Type
RCA
Side-Mounted Motor Type
Mini Type
Coupled Type
Aluminum Base
Built-in Type
Aluminum Base
series 24V Servo Motor Type
Steel Base
Side-Mounted Motor Type
67 69 71 73 75 77 79 81 83 85
20mm width 32mm width 40mm width 50mm width 60mm width 20mm width 32mm width 40mm width 50mm width 60mm width
Aluminum Base
Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Standard
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
SplashProof Type
200 servo Motor Type
RCS3 series
Coupled Type Side-Mounted Motor Type Coupled Type
RCS2 series 200V Servo Motor Type
Built-in Type
Steel Base Aluminum Base
Side-Mounted Motor Type
Aluminum Base
Steel Base
Slider Type
2
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Standard Controllers Integrated
Rod Type
ROBO Cylinder
RCP4-SA5C Model Specification Items
RCP4 Series
SA5C Type
I
Encoder type I: Incremental specification
ROBO Cylinder, Slider Type, Motor Unit Coupled, Actuator Width 52mm, 24-V Pulse Motor
42P
Motor type
Lead
Stroke
42P: Pulse motor, 20 : 20mm size 42 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm 800: 800mm
Payload (kg)
10 9 6
Lead 12 Lead 20 (when operated at 0.3G)
Options See Options below.
RCP4-SA5C Vertical, PCON-CA connected 14 The values for leads 3/6/12 are based 12 on operation at 0.3G. 10 Lead 3 Vertical 8 6 4
6
Lead 20 (when operated at 0.5 G)
5
Lead 6
2.5
2 1 0 0 200 400
1
Lead 12
Lead 20 (when operated at 0.5G)
0.5 0.5 0 0 200 400 600 800 1000 1200 1400 1600 600 800 1000 1200 1400 Speed (mm/s) Speed (mm/s) Operated by the PCON-CA
Standard
RCP4-SA5C Vertical, MSEP connected RCP4-SA5C Horizontal, MSEP connected 18 12 This graph assumes that the This graph assumes that the 16 Lead 3 actuator is operated at 0.3 G. Lead 3 actuator is operated at 0.2 G. 10 14 13 Vertical Horizontal Lead 6 12 8 10 6 9 8 Lead 6 5 4.5 6 Lead 12 Lead 12 4 4 2.5 Lead 20 2 2 1 Lead 20 0.5 0 0 0 200 400 600 800 1000 1200 0 200 400 600 800 1000 1200 Speed (mm/s) Speed (mm/s) Operated by the MSEP-C
Appendix
Gripper/ Rotary Type
Payload (kg)
P.5
(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 and 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.
Linear Servo Type
Actuator Specifications
Leads and Payloads
(*) When operated at 0.2 G
Lead Connected
Model number
(mm)
RCP4-SA5C-I-42P-20- ➀ -P3- ➁ - ➂
20
RCP4-SA5C-I-42P-12- ➀ -P3- ➁ - ➂
12
RCP4-SA5C-I-42P-6- ➀ -P3- ➁ - ➂
6
RCP4-SA5C-I-42P-3- ➀ -P3- ➁ - ➂
3
Maximum payload
controller Horizontal (kg) Vertical (kg)
PCON-CA
6.5
1
MSEP-C
4
0.5 (*)
PCON-CA
9
2.5
MSEP-C
6
2
PCON-CA
18
6
MSEP-C
13
5
PCON-CA
20
12
MSEP-C
16
10
Code explanation ➀ Stroke ➁ Cable length ➂ Options
Stroke (mm) 50 100 150 200 250 300 350 400
Stroke and Maximum Speed Lead Connected 50~450
Stroke
(mm)
(mm)
20 12
50~800
(every 50mm)
6
* See page A-71 for details on push motion.
Stroke
Linear Servo Motor
6.5
5
Mini
Servo Motor (200V)
Horizontal
15
Table/ Arm/ Flat Type
Servo Motor (24V)
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
(every 50mm)
RCP4-SA5C Horizontal, PCON-CA connected 25 The values for leads 3/6/12 are based Lead 3 20 on operation at 0.3G. Lead 6 18
Controllers Integrated
Pulse Motor
N: None
■ Correlation Diagrams of Speed and Payload
Standard
SplashProof Type
Cable length
P3: PCON-CA MSEP-C
* See page Pre-47 for details on the model descriptions.
Mini
Cleanroom Type
P3
Applicable controller
Payload (kg)
Mini
RCP4
Payload (kg)
Slider Type
3
PCON-CA
550
1440 <1280>
MSEP-C PCON-CA PCON-CA
900
795
450
395
MSEP-C
195 150
700
750
800
(mm)
(mm)
(mm)
(mm)
1225
1045
900
785
690
610
900
785
690
610
570
490
425
375
330
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
80
665
300 225
650
(mm)
600
MSEP-C PCON-CA
600
(mm) 960
MSEP-C
The values in < > apply when the actuator is used vertically.
(unit: mm/s)
Cable Length Standard price — — — — — — — —
Stroke (mm) 450 500 550 600 650 700 750 800
Standard price — — — — — — — —
Type Standard type Special length
Robot cable
Options 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 Slider roller specification
3
500
controller (every 50mm) (mm)
RCP4-SA5C
Option code B CJT CJR CJL CJB NM SR
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-55
Standard price — — — — — — —
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
Drive system Positioning repeatability (*1) Lost motion Base Guide Allowable dynamic moment (*2) Allowable overhang Ambient operating temperature, humidity (*1) The value at lead 20 is shown in [ ]. (*2) Based on 5,000km of traveling life
Description
Ball screw ø10mm, rolled C10 ±0.02mm [±0.03mm] 0.1mm or less Material: Aluminum, white alumite treated Linear guide Ma: 4.9 N·m, Mb: 6.8 N·m, Mc: 11.7 N·m 150mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing)
RCP4
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com *1 *2
2D CAD
Appendix
P.15
Connect the motor-encoder integrated cable here. * See page A-59 for details on cables. During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. ME: Mechanical end SE: Stroke end 15.5
9
Controllers Integrated
4-M4, depth 9
15.5
20
(300)
Reference plane ø8
Rod Type
5
4.5
Mini Standard
Cable joint connector(*1) 2-4øH7, depth 6
Slider Type
26 (Reamed hole pitch ±0.02)
3
ø4.5
Detail view of X (Mounting hole and reference plane)
Allowable bending radius of securing cable: R50
19±0.02
Standard Controllers Integrated
L Reference offset position for Ma/Mc moments
K 18 3 ME SE
6
Stroke
94
19 3 Home ME (*2)
Table/ Arm/ Flat Type
39
57.5 50 40
6
98 (without brake) 138 (with brake )
26
32 20
Option code: CJL Cable: Left
Option code: CJR Cable: Right
32
19
Linear Servo Type
62
106 (without brake) 146 (with brake)
G
Option code: CJT Cable: Top
Option code: CJB Cable: Bottom
Cleanroom Type
Dimensions and Mass by Stroke Stroke Without brake L With brake A B C D F G H J K Weight Without brake (kg) With brake
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
Standard
Gripper/ Rotary Type
20
A 7
Cable exit 4 directions (optional)
2.5
(Note 1) There is no oblong hole at stroke 50. Use the reamed hole (ø4) .
24
26
C×100P 50 J (reamed hole and oblong hole pitch) (Note 1)
Y
47
F-ø4.5, through ø8 counterbored, depth 4.5 (from the opposite side)
B× 100P
5
Detail Y
2.5
2-ø4H7, depth 5.5 (from the bottom of the base)
H-oblong hole of the depth 5.5 (from the bottom of the base) D-M4, depth 7
+0.012 4 0
Mini
Ground tap M3, depth 6 (Same on the opposite side)
22.5
50 52
X
Mini
30
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
Model number
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
with a high-output driver PCON-CA-42PI-PL--2-0 Equipped 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
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
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
—
Servo Motor (24V)
➝ P563
indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP4-SA5C
4
Linear Servo Motor
Standard Controllers Integrated
Rod Type
ROBO Cylinder
RCP4-SA6C Model Specification Items
RCP4 Series
SA6C Type
I
Encoder type I: Incremental specification
ROBO Cylinder, Slider Type, Motor Unit Coupled, Actuator Width 58 mm, 24-V Pulse Motor
42P
Motor type
Lead
42P: Pulse motor, 20 : 20mm size 42 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm 800: 800mm
Payload (kg)
18
15 10 5
12 9
Lead 12 Lead 20 (when operated at 0.3G)
RCP4-SA6C Vertical, PCON-CA connected 14 The values for leads Lead 3 3/6/12 are based 12 on operation at 0.3G. 10
6.5
Lead 20 (when operated at 0.5 G)
Vertical
8 6 4
Lead 6
5 2.5
21 0 0 200 400
1
Lead 12 Lead 20 (when operated at 0.5G) 0.5
0.5 0 0 200 400 600 800 1000 1200 1400 1600 600 800 1000 1200 1400 Speed (mm/s) Speed (mm/s) Operated by the PCON-CA
Mini Standard
RCP4-SA6C Horizontal, MSEP connected RCP4-SA6C Vertical, MSEP connected 20 12 This graph assumes that the Lead 3 This graph assumes that the 18 19 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 Lead 6 5 8 Lead 12 4.5 4 6 2.5 Lead 12 Lead 20 4 2 2 1 Lead 20 0.5 0 0 0 200 400 600 800 1000 1200 0 200 400 600 800 1000 1200 Speed (mm/s) Operated by the MSEP-C Speed (mm/s)
Appendix
Payload (kg)
P.5
Gripper/ Rotary Type
(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 and 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.
Linear Servo Type
Actuator Specifications
Leads and Payloads
(*) When operated at 0.2 G
Lead Connected
Model number
(mm)
RCP4-SA6C-I-42P-20- ➀ -P3- ➁ - ➂
20
RCP4-SA6C-I-42P-12- ➀ -P3- ➁ - ➂
12
RCP4-SA6C-I-42P-6- ➀ -P3- ➁ - ➂
6
RCP4-SA6C-I-42P-3- ➀ -P3- ➁ - ➂
3
Maximum payload
controller Horizontal (kg) Vertical (kg)
PCON-CA
10
1
MSEP-C
6
0.5 (*)
PCON-CA
15
2.5
MSEP-C
8.5
2
PCON-CA
25
6
MSEP-C
15
5
PCON-CA
25
12
MSEP-C
19
10
Code explanation ➀ Stroke ➁ Cable length ➂ Options
Stroke and Maximum Speed Lead Connected 50~450
Stroke (mm)
(mm)
20 12
50~800
(every 50mm)
6
* See page A-71 for details on push motion.
Stroke
3
500
700
750
800
(mm)
(mm)
(mm)
(mm)
905
785
690
615
905
785
690
615
570
490
430
375
335
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
960 900
795
670
600 450
MSEP-C PCON-CA
650
(mm) 1045
MSEP-C PCON-CA
600
(mm) 1230
MSEP-C PCON-CA
550
(mm)
1440 <1280>
controller (every 50mm)
PCON-CA
395 300
225
MSEP-C
195 150
The values in < > apply when the actuator is used vertically.
(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 type 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
See Options P: 1 m below. S: 3 m M: 5 m X: Custom length R: Robot cable
(every 50mm)
Table/ Arm/ Flat Type
Servo Motor (200V)
Options
N: None
RCP4-SA6C Horizontal, PCON-CA connected 30 The values for leads Lead 3 3/6/12 are based 25 on operation at 0.3G. Lead 6 Horizontal 20
Controllers Integrated
Pulse Motor
Cable length
P3: PCON-CA MSEP-C
■ Correlation Diagrams of Speed and Payload
Standard
SplashProof Type
Applicable controller
* See page Pre-47 for details on the model descriptions.
Mini
Cleanroom Type
P3
Stroke
Payload (kg)
Mini
RCP4
Payload (kg)
Slider Type
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 Slider roller specification
5
RCP4-SA6C
Option code B CJT CJR CJL CJB NM SR
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-55
Standard price — — — — — — —
Item
Drive system Positioning repeatability (*1) Lost motion Base Guide Allowable dynamic moment (*2) Allowable overhang Ambient operating temperature, humidity (*1) The value at lead 20 is shown in [ ]. (*2) Based on 5,000km of traveling life
Description
Ball screw ø10mm, rolled C10 ±0.02mm [±0.03mm] 0.1mm or less Material: Aluminum, white alumite treated Linear guide Ma: 8.9 N·m, Mb: 12.7 N·m, Mc: 18.6 N·m 220mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing)
RCP4
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
*1 *2
2D CAD
Appendix
19.5
21
Mini
P.15
Connect the motor-encoder integrated cable here. * See page A-59 for details on cables. During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. ME: Mechanical end SE: Stroke end 2-5øH7, depth 6
Slider Type
Standard
Cable joint connector (*1) 4-M5, depth 9
19.5
20
Controllers Integrated
(300)
4.5
Reference plane ø8 5
Rod Type
Detail view of X (Mounting hole and reference plane)
Mini Standard
18
Stroke
115
3 ME SE
3 Home ME (*2)
59.5 53 43
Table/ Arm/ Flat Type
28
8
Controllers Integrated
98 (without brake) 138 (with brake) 18.5
K
40
39 23
50
L
Reference offset position for Ma/Mc moments 8
Allowable bending radius of securing cable: R50
32±0.02
31 (Reamed hole pitch ±0.02)
5
ø4.5
Mini
56 58
X
47
5.5 Standard
F-ø4.5, through ø8 counterbored, depth 4.5 (from the opposite side)
H-oblong hole, depth 5.5 (from the bottom of the base)
E-ø4H7, depth 5.5 (from the bottom of the base)
B×100P
D-M5, depth 9
+0.012 4 0
5.5
Ground tap M3, depth 6 (Same on the opposite side)
22.5
Gripper/ Rotary Type
31
5
Detail Y
Y
A
Cable exit 4 directions (optional)
Option code: CJR Cable: Right
32
19
G
Option code: CJT Cable: Top
Option code: CJL Cable: Left
25
75
7
Linear Servo Type
20
CX100 J (reamed hole and oblong hole pitch) P
Option code: CJB Cable: Bottom
(Note 1) There is no oblong hole at stroke 50. Use the reamed hole (ø4).
106 (without brake) 146 (with brake)
Dimensions and Mass by Stroke Stroke Without brake L With brake A B C D E F G H J K Weight Without brake (kg) With brake
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
750 999.5 1039.5 700 6 8 18 3 18 886.5 1 685 901.5 4.1 4.4
800 1049.5 1089.5 800 7 8 20 3 18 936.5 1 785 951.5 4.3 4.5
Cleanroom Type
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
Model number
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
with a high-output driver PCON-CA-42PI-PL--2-0 Equipped 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
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
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
—
Servo Motor (24V)
➝ P563
indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP4-SA6C
6
Linear Servo Motor
Standard Controllers Integrated
Rod Type
ROBO Cylinder
RCP4-SA7C Model Specification Items
RCP4 Series
SA7C Type
I
Encoder type I: Incremental specification
ROBO Cylinder, Slider Type, Motor Unit Coupled, Actuator Width 73mm, 24-V Pulse Motor
56P
Motor type
Lead
56P: Pulse motor, 24 : 24mm size 56 16 : 16mm 8 : 8mm 4 : 4mm
Mini Standard
Options
N: None See Options P: 1m below. S: 3m M: 5m X: Custom length R: Robot cable
(every 50mm)
RCP4-SA7C Horizontal, MSEP connected RCP4-SA7C Vertical, MSEP connected 45 16 Lead 4 This graph assumes that the Lead 4 Assuming that the actuator is 40 14 15 actuator is operated at 0.2 G. Lead 8 operated at 0.2 G for lead 4 35 and at 0.3 G for other leads. 12 Vertical 30 10 Horizontal 25 Lead 16 8 20 18 Lead 8 6 15 4 5 10 Lead 16 Lead 24 Lead 24 2 7 5 1 1.5 1.5 0.5 0 0 0 200 400 600 800 1000 1200 0 100 200 300 400 500 600 700 800 900 Speed (mm/s) Speed (mm/s) Operated by the MSEP-C
Appendix
Gripper/ Rotary Type
Payload (kg)
P.5
(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 and 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.
Linear Servo Type
Actuator Specifications
Leads and Payloads
(*) When operated at 0.2 G
Lead Connected
Model number
(mm)
RCP4-SA7C-I-56P-24- ➀ -P3- ➁ - ➂
24
RCP4-SA7C-I-56P-16- ➀ -P3- ➁ - ➂
16
RCP4-SA7C-I-56P-8- ➀ -P3- ➁ - ➂
8
RCP4-SA7C-I-56P-4- ➀ -P3- ➁ - ➂
4
Maximum payload
controller Horizontal (kg) Vertical (kg)
PCON-CA
20
3
MSEP-C
18
2 (*)
PCON-CA
40
8
MSEP-C
35
5 (*)
PCON-CA
45
16
Stroke and Maximum Speed Lead Connected 50~450
Stroke
(mm)
(mm)
24 16
50~800
(every 50mm)
controller (every 50mm)
25
MSEP-C
MSEP-C
40 (*)
15 (*)
PCON-CA
Stroke
4
600
(mm)
980<840>
865<840>
490
430
MSEP-C
10 (*)
(mm)
The values in < > apply when the actuator is used vertically.
650
700
(mm)
(mm)
1155
1010
1000<800>
750
(mm)
890
790
890<800>
790 515
750
655
580
375
325
290
255
185
160
145
125
515
280 245<210>
MSEP-C
215<210>
800
(mm)
560
PCON-CA
45
500
1200
PCON-CA
40
* See page A-71 for details on push motion.
(mm)
MSEP-C
MSEP-C
8
500
PCON-CA
PCON-CA
Code explanation ➀ Stroke ➁ Cable length ➂ Options
255 125
140
* The values of lead 8 and lead 4 apply when acceleration is at 0.1G.
(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 type 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
800: 800mm
Payload (kg)
Table/ Arm/ Flat Type
Servo Motor (200V)
Cable length
P3: PCON-CA MSEP-C
RCP4-SA7C Horizontal, PCON-CA connected RCP4-SA7C Vertical, PCON-CA connected 50 30 Lead 4 This graph assumes that the This graph assumes that the 45 Lead 4 actuator is operated at 0.3 G. Lead 8 actuator is operated at 0.3 G. 25 40 Vertical 35 Horizontal 20 30 16 Lead 16 25 15 Lead 8 20 10 8 9 15 Lead 24 Lead 16 10 5 8 7 5.5 Lead 24 3 5 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
Controllers Integrated
Pulse Motor
50: 50mm
■ Correlation Diagrams of Speed and Payload
Standard
SplashProof Type
P3
Applicable controller
* See page Pre-47 for details on the model descriptions.
Mini
Cleanroom Type
Stroke
Payload (kg)
Mini
RCP4
Payload (kg)
Slider Type
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 Slider roller specification
7
RCP4-SA7C
Option code B CJT CJR CJL CJB NM SR
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-55
Standard price — — — — — — —
Item
Drive system Positioning repeatability (*1) Lost motion Base Guide Allowable dynamic moment (*2) Allowable overhang Ambient operating temperature, humidity (*1) The value at lead 24 is shown in [ ]. (*2) Based on 5,000km of traveling life
Description
Ball screw ø12mm, rolled C10 ±0.02mm [±0.03mm] 0.1mm or less Material: Aluminum, white alumite treated Linear guide Ma: 13.9 N·m, Mb: 19.9 N·m, Mc: 38.3 N·m 230mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing)
RCP4
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
*1 *2
2D CAD
Appendix
P.15
Connect the motor-encoder integrated cable here. * See page A-59 for details on cables. During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. ME: Mechanical end SE: Stroke end 2-5øH7, depth 10
Reference plane
Slider Type
Mini Standard
Cable joint connector (*1)
20 20 20 4-M5, depth 10
20
Controllers Integrated
(300)
5.5
ø9.5
6
Rod Type Allowable bending radius of securing cable: R50
32±0.02 39 (Reamed hole pitch±0.02)
5.5
ø6 Detail view of X (Mounting hole and reference plane)
50
Mini Standard Controllers Integrated
L Reference offset position for Ma/Mc moments 48 30
K 21.5
Stroke
126
3 ME SE
9
Home
22 3 ME (*2)
71 73
X
32
H-oblong hole, depth 5.5 (from the bottom of the base) D-M5, depth 9 5
Mini
Ground tap M3, depth 6 (Same on the opposite side)
6
61
6
F-ø6, through, ø9.5 counterbored, depth 5.5 (from the opposite side) E-ø4H7, depth 6 (from the bottom of the base)
B×100P
Detail Y Y
Linear Servo Type C×100P J (reamed hole and oblong hole pitch) A
Option code: CJT Cable: Top
Option code: CJL Cable: Left
Option code: CJR Cable: Right
32
19
Option code: CJB Cable: Bottom
30 80
25.5
G
10
Cable exit 4 directions (optional)
Standard
Gripper/ Rotary Type
40
+0.012 4 0
Table/ Arm/ Flat Type
21
76 64 50
43
9
133 (without brake) 183 (with brake)
(Note 1) There is no oblong hole at stroke 50. Use the reamed hole (ø4) .
143.5 (without brake) 193.5 (with brake)
Cleanroom Type
Dimensions and Mass by Stroke Stroke 50 100 150 200 250 Without brake 352.5 402.5 452.5 502.5 552.5 L With brake 402.5 452.5 502.5 552.5 602.5 A 0 100 100 200 200 B 0 0 0 1 1 C 1 1 2 2 3 D 4 6 6 8 8 E 2 3 3 3 3 F 4 4 6 6 8 G 199 249 299 349 399 H 0 1 1 1 1 J 0 85 85 185 185 K 219.5 269.5 319.5 369.5 419.5 Weight Without brake 3.4 3.6 3.8 4.1 4.3 (kg) With brake 3.9 4.1 4.3 4.6 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
600 650 700 750 902.5 952.5 1002.5 1052.5 952.5 1002.5 1052.5 1102.5 600 600 700 700 5 5 6 6 6 7 7 8 16 16 18 18 3 3 3 3 14 16 16 18 749 799 849 899 1 1 1 1 585 585 685 685 769.5 819.5 869.5 919.5 6.0 6.3 6.5 6.8 6.5 6.8 7.0 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
Model number
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
with a high-output driver PCON-CA-56PI-PL--2-0 Equipped 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
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
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
—
Servo Motor (24V)
➝ P563
indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP4-SA7C
8
Linear Servo Motor
Standard Controllers Integrated
Rod Type
ROBO Cylinder
RCP4-SA5R
ROBO Cylinder, Slider Type, Side-mounted Motor Type, Actuator Width 52mm, 24-V Pulse Motor
Model Specification Items
RCP4 Series
SA5R Type
I
Encoder type I: Incremental specification
42P
Motor type
Lead
42P: Pulse motor, 20 : 20mm size 42 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm 800: 800mm (every 50mm)
Payload (kg)
6
Options
Lead 12 Lead 20 (when operated at 0.3G) 6
RCP4-SA5R Vertical, PCON-CA connected 14 This graph assumes that the Lead 3 actuator is operated at 0.3 G. 12
Vertical
10 8 6
Lead 6
4
Lead 12 Lead 20 (when 3 2 operated at 0.5G) 1 Lead 20 (when operated at 0.5 G) 1 0.5 0 0 0 200 400 600 800 1000 1200 1400 1600 0 200 400 600 800 1000 1200 Speed (mm/s) Speed (mm/s) Operated by the PCON-CA 5
The “Motor side-mounted to the left (ML)” option is selected for the actuator shown above.
Standard
RCP4-SA5R Horizontal, MSEP connected RCP4-SA5R Vertical, MSEP connected 18 12 This graph assumes that the This graph assumes that the 16 Lead 3 actuator is operated at 0.3 G. Lead 3 actuator is operated at 0.2 G. 10 14 Vertical Horizontal 12 8 Lead 6 10 9 6 8 Lead 6 5 6 4 Lead 12 4 Lead 12 Lead 20 2 2 Lead 20 0.5 0 0 0 200 400 600 800 1000 1200 0 100 200 300 400 500 600 700 800 900 Speed (mm/s) Speed (mm/s) Operated by the MSEP-C
Appendix
Gripper/ Rotary Type
Payload (kg)
P.5
(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-104 and A-106. (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.
Linear Servo Type
Actuator Specifications
Leads and Payloads
(*) When operated at 0.2 G
Lead Connected
Model number
(mm)
RCP4-SA5R-I-42P-20- ➀ -P3- ➁ - ➂
20
RCP4-SA5R-I-42P-12- ➀ -P3- ➁ - ➂
12
RCP4-SA5R-I-42P-6- ➀ -P3- ➁ - ➂
6
RCP4-SA5R-I-42P-3- ➀ -P3- ➁ - ➂
3
Maximum payload
controller Horizontal (kg) Vertical (kg)
PCON-CA
6.5
1
MSEP-C
4
0.5 (*)
PCON-CA
9
2.5
MSEP-C
6
2
PCON-CA
18
6
MSEP-C
13
5
PCON-CA
20
12
MSEP-C
16
10
Code explanation ➀ Stroke ➁ Cable length ➂ Options
Stroke (mm) 50 100 150 200 250 300 350 400
(mm)
(mm)
20 12
50~800
(every 50mm)
6 3
controller (every 50mm)
500
(mm)
550
(mm)
600 700 (mm) 650 (mm) (mm)
750
(mm)
800
(mm)
PCON-CA
1440 <1120> 1225<1120> 1045
900
785
690
610
MSEP-C
960<800>
900<800>
785
690
610
570
490
425
375
330
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
80
PCON-CA 900<800> MSEP-C PCON-CA
665
600 450
395
225
195
MSEP-C PCON-CA
795
300
MSEP-C
150
The values in < > apply when the actuator is used vertically.
(unit: mm/s)
Cable Length Standard price — — — — — — — —
Stroke (mm) 450 500 550 600 650 700 750 800
Standard price — — — — — — — —
Type Standard type 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.
Options Name
Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (outside) CJO — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Motor side-mounted to the left (standard) ML — ➝ A-52 Motor side-mounted to the right MR — ➝ A-52 Non-motor end specification NM — ➝ A-52 Slider roller specification SR — ➝ A-55
9
Stroke and Maximum Speed Lead Connected 50~450
Stroke
* See page A-71 for details on push motion.
Stroke
Linear Servo Motor
Lead 6
10
Mini
Servo Motor (200V)
Horizontal
18
15
Table/ Arm/ Flat Type
Servo Motor (24V)
Cable length
N: None See Options below. P: 1m S: 3m * Be sure to specify M: 5m either "ML" or "MR" X: Custom length as the motor sideR: Robot cable mounted direction.
RCP4-SA5R Horizontal, PCON-CA connected 25 This graph assumes that the actuator is operated at 0.3 G. Lead 3 20
Controllers Integrated
Pulse Motor
P3: PCON-CA MSEP-C
■ Correlation Diagrams of Speed and Payload
Standard
SplashProof Type
Applicable controller
* See page Pre-47 for details on the model descriptions.
Mini
Cleanroom Type
P3
Stroke
Payload (kg)
Mini
RCP4
Payload (kg)
Slider Type
RCP4-SA5R
Actuator Specifications Item
Drive system Positioning repeatability (*1) Lost motion Base Guide Allowable dynamic moment (*2) Allowable overhang Ambient operating temperature, humidity (*1) The value at lead 20 is shown in [ ]. (*2) Based on 5,000km of traveling life.
Description
Ball screw ø10mm, rolled C10 ±0.02mm [±0.03mm] 0.1mm or less Material: Aluminum, white alumite treated Linear guide Ma: 4.9 N·m, Mb: 6.8 N·m, Mc: 11.7 N·m 150mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing)
RCP4
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com *1 *2
2D CAD
Appendix
P.15
Connect the motor-encoder integrated cable here. * See page A-59 for details on cables. During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. ME: Mechanical end SE: Stroke end 27.5
+0.012 4 0
5 4.5
18 3 ME SE
5
94 30
Stroke 2-ø4H7, depth 6 19±0.02 4-M4, depth 9 15.5
19 3 SE ME 15.5
9
Detail Y
Detail view of X (Mounting hole and reference plane)
Mini Standard (13)
(Note 1) There is no oblong hole at stroke 50. Use the reamed hole (ø4).
(28)
Allowable bending radius of securing cable: R50
Cable joint connector (*1) Reference offset position for Ma/Mc moments 6
Controllers Integrated
20
(300)
116 (without brake) 156 (with brake)
Ground tap M3, depth 6 (Same on the opposite side)
(32.5)
Table/ Arm/ Flat Type
4-M5, depth 15
0.5
6
Rod Type
(28.5)
3
ø4.5
32 20
Controllers Integrated
L
K Reference plane ø8
Mini Standard
26 (Reamed hole pitch ±0.02)
CAD drawings can be downloaded from the website.
Slider Type
37 26
47
50 40 39
Mini
56.5
(10) 118.5
B×100P
Motor direction: ML CJT: Top CJO: Outside
C×100P 50 J (reamed hole and oblong hole pitch)
Y
32
19
Linear Servo Type
20
A 7
CJB: Bottom
Gripper/ Rotary Type
24
26
Cable exit 3 directions (optional)
F-ø4.5, through ø8 counterbored, depth 4.5 (from the opposite side)
ø4H7, depth 5.5 (from the bottom of the base)
H-oblong hole, depth 5.5 (from the bottom of the base) D-M4, depth 7
Motor direction: MR CJT: Top CJO: Outside
Standard
37
2.5
50 52
X
62 G
Cleanroom Type
35.5
CJB: Bottom
Dimensions and Mass by Stroke
Caution Pay attention to possible contact with surrounding structures when a slider mount area projects into the motor unit top surface.
Stroke 50 100 208.5 258.5 L A 73 100 B 0 0 C 0 0 D 4 4 F 4 4 G 166 216 H 0 1 J 0 85 K 181 231 Weight Without brake 1.7 1.9 (kg) With brake 2.0 2.1
150 308.5 100 0 1 4 6 266 1 85 281 2.0 2.3
200 358.5 200 1 1 6 6 316 1 185 331 2.2 2.4
250 408.5 200 1 2 6 8 366 1 185 381 2.3 2.5
300 458.5 300 2 2 8 8 416 1 285 431 2.5 2.7
350 508.5 300 2 3 8 10 466 1 285 481 2.6 2.8
400 558.5 400 3 3 10 10 516 1 385 531 2.8 3.0
450 608.5 400 3 4 10 12 566 1 385 581 2.9 3.1
500 658.5 500 4 4 12 12 616 1 485 631 3.0 3.3
550 708.5 500 4 5 12 14 666 1 485 681 3.2 3.4
600 758.5 600 5 5 14 14 716 1 585 731 3.3 3.6
650 808.5 600 5 6 14 16 766 1 585 781 3.5 3.7
700 858.5 700 6 67 16 16 816 1 685 831 3.6 3.9
750 908.5 700 6 7 16 18 866 1 685 881 3.8 4.0
800 958.5 800 7 8 18 18 916 1 785 931 3.9 4.1
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
Model number
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
with a high-output driver PCON-CA-42PI-PL--2-0 Equipped 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
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
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
—
indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP4-SA5R
Servo Motor (24V)
➝ P563
10
Linear Servo Motor
Mini Standard Controllers Integrated
Rod Type
RCP4
ROBO Cylinder
RCP4-SA6R
ROBO Cylinder, Slider Type, Side-mounted Motor Type, Actuator Width 58mm, 24-V Pulse Motor
Model Specification Items
RCP4 Series
SA6R Type
I
Encoder type I: Incremental specification
42P
Motor type
Lead
42P: Pulse motor, 20 : 20mm size 42 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm 800: 800mm (every 50mm)
Payload (kg)
18
15
12
10
Table/ Arm/ Flat Type
The “Motor side-mounted to the left (ML)” option is selected for the actuator shown above. Appendix
(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-104 and A-106. (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.
Linear Servo Type
8 6 4 2
Lead 6 3
Lead 12
Lead 20 (when operated at 0.5G)
1
0 200 400 600 800 1000 1200 1400 0 200 400 600 800 Speed (mm/s) Speed (mm/s) Operated by the PCON-CA
0.5
1000 1200
Actuator Specifications
Leads and Payloads
(*) When operated at 0.2 G
Lead Connected
Model number
(mm)
RCP4-SA6R-I-42P-20- ➀ -P3- ➁ - ➂
20
RCP4-SA6R-I-42P-12- ➀ -P3- ➁ - ➂
12
RCP4-SA6R-I-42P-6- ➀ -P3- ➁ - ➂
6
RCP4-SA6R-I-42P-3- ➀ -P3- ➁ - ➂
3
Maximum payload
controller Horizontal (kg) Vertical (kg)
PCON-CA
10
1
MSEP-C
6
0.5 (*)
PCON-CA
15
2.5
MSEP-C
8.5
2
PCON-CA
25
6
MSEP-C
15
5
PCON-CA
25
12
MSEP-C
19
10
Code explanation ➀ Stroke ➁ Cable length ➂ Options
(mm)
(mm)
20 12
50~800
(every 50mm)
6 3
controller (every 50mm) (mm)
550
(mm)
600
(mm)
PCON-CA 1280 <1120> 1230<1120> 1045 MSEP-C PCON-CA
900
PCON-CA
450
395
225
195 150
800
(mm)
785
690
615
785
690
615
570
490
430
375
335
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
670
300
MSEP-C
750
(mm)
905
600
MSEP-C PCON-CA
795
700
(mm)
905<800>
960 <800>
MSEP-C
650
(mm)
The values in < > apply when the actuator is used vertically.
(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 — — — — — — — —
Options
Type Standard type 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.
Name
Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (outside) CJO — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Motor side-mounted to the left (standard) ML — ➝ A-52 Motor side-mounted to the right MR — ➝ A-52 Non-motor end specification NM — ➝ A-52 Slider roller specification SR — ➝ A-55
11
Stroke and Maximum Speed Lead Connected 50~450 500
Stroke
* See page A-71 for details on push motion.
Stroke
Linear Servo Motor
4
Vertical
10
6
Payload (kg)
Gripper/ Rotary Type
0
Lead 20 (when operated at 0.3G)
RCP4-SA6R Vertical, PCON-CA connected 14 This graph assumes that the Lead 3 actuator is operated at 0.3 G. 12
RCP4-SA6R Horizontal, MSEP connected RCP4-SA6R Vertical, MSEP connected 2019 12 This graph assumes that the This graph assumes that the Lead 3 18 Lead 3 actuator is operated at 0.3 G. actuator is operated at 0.2 G. 10 16 15 Vertical Horizontal Lead 6 14 8 13 12 6 10 8.5 Lead 6 5 8 Lead 12 4 6 Lead 12 4 Lead 20 2 2 Lead 20 0.5 1.5 0 0 0 100 200 300 400 500 600 700 800 900 0 200 400 600 800 1000 1200 Speed (mm/s) Speed (mm/s) Operated by the MSEP-C
P.5
Servo Motor (200V)
Options
Payload (kg)
Standard
Lead 12
Lead 20 (when 5 operated at 0.5G) 0
Mini
Servo Motor (24V)
Cable length
N: None See Options below. P: 1m S: 3m * Be sure to specify M: 5m either "ML" or "MR" X: Cutom length as the motor sideR: Robot cable mounted direction.
RCP4-SA6R Horizontal, PCON-CA connected 30 This graph assumes that the Lead 3 actuator is operated at 0.3 G. 25 Horizontal Lead 6 20
Controllers Integrated
Pulse Motor
P3: PCON-CA MSEP-C
■ Correlation Diagrams of Speed and Payload
Standard
SplashProof Type
Applicable controller
* See page Pre-47 for details on the model descriptions.
Mini
Cleanroom Type
P3
Stroke
Payload (kg)
Slider Type
RCP4-SA6R
Actuator Specifications Item
Drive system Positioning repeatability (*1) Lost motion Base Guide Allowable dynamic moment (*2) Allowable overhang Ambient operating temperature, humidity (*1) The value at lead 20 is shown in [ ]. (*2) Based on 5,000km of traveling life
Description
Ball screw ø10mm, rolled C10 ±0.02mm [±0.03mm] 0.1mm or less Material: Aluminum, white alumite treated Linear guide Ma: 8.9 N·m, Mb: 12.7 N·m, Mc: 18.6 N·m 220mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing)
RCP4
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com *1 *2
2D CAD
Appendix
Standard
L
4.5
5
+0.012 40
K Reference plane ø8
18 3 ME SE
5
4-M5, depth 9
32 ±0.02 19.5
3 SE ME
21
19.5
5
ø4.5
27.5 18.5
115 50
Stroke 2-5øH7, depth 6
Rod Type
Mini Standard
(28)
Cable joint connector (*1)
Allowable bending radius of securing cable: R50
Reference offset position for Ma/Mc moments
Ground tap M3, depth 6 (Same on the opposite side)
116 (without brake) (32.5) 20 156 (with brake)
(300)
4-M5, depth 15
Table/ Arm/ Flat Type Mini
28
37
47
53 43 40
1.5
8
Controllers Integrated
(28.5)
(13)
(Note 1) There is no oblong hole at stroke 50. Use the reamed hole (ø4).
8
Controllers Integrated
Detail Y
Detail view of X (Mounting hole and reference plane)
39 23
Mini
P.15
Connect the motor-encoder integrated cable here. * See page A-59 for details on cables. During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. ME: Mechanical end SE: Stroke end 31 (Reamed hole pitch ±0.02)
CAD drawings can be downloaded from the website.
Slider Type
Standard
37
4.5
(7) 56.5
56 58
X
121.5 H-oblong hole, depth 5.5 (from the bottom of the base) D-M5, depth 9
Motor direction: MR CJT: Top CJO: Outside
B×100P
Linear Servo Type
Motor direction: ML CJT: Top CJO: Outside
C×100P J (reamed hole and oblong hole pitch) (Note 1)
Y
20
A
19
32
7
CJB: Bottom
Gripper/ Rotary Type
E-ø4H7, depth 5.5 (from the bottom of the base)
31
Cable exit 3 directions (optional)
F-ø4.5, through ø8 counterbored, depth 4.5 (from the opposite side)
CJB: Bottom
Caution Pay attention to possible contact with surrounding structures when a slider mount area projects into the motor unit top surface.
75
Cleanroom Type
25
G
35.5
Dimensions and Mass by Stroke Stroke 50 100 150 L 229 279 329 A 0 100 100 B 0 0 0 C 1 1 2 D 4 6 6 E 2 3 3 F 4 4 6 G 186.5 236.5 286.5 H 0 1 1 J 0 85 85 K 201.5 251.5 301.5 Weight Without brake 2.2 2.4 2.5 (kg) With brake 2.4 2.6 2.7
200 379 200 1 2 8 3 6 336.5 1 185 351.5 2.7 2.9
250 429 200 1 3 8 3 8 386.5 1 185 401.5 2.8 3.1
300 479 300 2 3 10 3 8 436.5 1 285 451.5 3.0 3.2
350 529 300 2 4 10 3 10 486.5 1 285 501.5 3.1 3.4
400 579 400 3 4 12 3 10 536.5 1 385 551.5 3.3 3.5
450 629 400 3 5 12 3 12 586.5 1 385 601.5 3.5 3.7
500 679 500 4 5 14 3 12 636.5 1 485 651.5 3.6 3.8
550 729 500 4 6 14 3 14 686.5 1 485 701.5 3.8 4.0
600 779 600 5 6 16 3 14 736.5 1 585 751.5 3.9 4.2
650 829 600 5 7 16 3 16 786.5 1 585 801.5 4.1 4.3
700 879 700 6 7 18 3 16 836.5 1 685 851.5 4.2 4.5
750 929 700 6 8 18 3 18 886.5 1 685 901.5 4.4 4.6
800 979 800 7 8 20 3 18 936.5 1 785 951.5 4.6 4.8
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
Model number
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
with a high-output driver PCON-CA-42PI-PL--2-0 Equipped 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
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
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
—
indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP4-SA6R
Servo Motor (24V)
➝ P563
12
Linear Servo Motor
Standard Controllers Integrated
Rod Type
ROBO Cylinder
RCP4-SA7R
ROBO Cylinder, Slider Type, Side-mounted Motor Type, Actuator Width 73mm, 24-V Pulse Motor
Model Specification Items
RCP4 Series
SA7R Type
I
Encoder type I: Incremental specification
56P
Motor type
Lead
56P: Pulse motor, 24 : 24mm size 56 16 : 16mm 8 : 8mm 4 : 4mm
Mini
The “Motor side-mounted to the left (ML)” option is selected for the actuator shown above.
Standard
Appendix
Payload (kg)
Gripper/ Rotary Type
(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-104 and A-106. (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.
Linear Servo Type
Actuator Specifications
Leads and Payloads
(*) When operated at 0.2 G
Lead Connected
Model number
(mm)
RCP4-SA7R-I-56P-24- ➀ -P3- ➁ - ➂
24
RCP4-SA7R-I-56P-16- ➀ -P3- ➁ - ➂
16
RCP4-SA7R-I-56P-8- ➀ -P3- ➁ - ➂
8
RCP4-SA7R-I-56P-4- ➀ -P3- ➁ - ➂
4
Maximum payload
controller Horizontal (kg) Vertical (kg)
PCON-CA
20
3
MSEP-C
18
2 (*)
PCON-CA
40
8
MSEP-C
35
5 (*)
PCON-CA
45
16
MSEP-C
40
10 (*)
PCON-CA
45
25
MSEP-C
40 (*)
15 (*)
Code explanation ➀ Stroke ➁ Cable length ➂ Options
(mm)
(mm
24 16
50~800
(every 50mm)
8 4
controller (every 50mm)
500
The values in < > apply when the actuator is used vertically.
550
(mm)
(mm)
PCON-CA
600
650
(mm)
(mm)
700
(mm)
1000
MSEP-C
750 (mm) 800 (mm) 890
800<600>
PCON-CA
840<700>
MSEP-C
750<700>
655
580
375
325
290
255
185
160
145
125
560
PCON-CA
490
430
MSEP-C 210
515 515
280
PCON-CA
790 790<600>
255
MSEP-C 140 * The values of lead 8 and lead 4 apply when acceleration is at 0.1G.
125 (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 type 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.
Options Name
Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (outside) CJO — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Motor side-mounted to the left (standard) ML — ➝ A-52 Motor side-mounted to the right MR — ➝ A-52 Non-motor end specification NM — ➝ A-52 Slider roller specification SR — ➝ A-55
13
Stroke and Maximum Speed Lead Connected 50~450
Stroke
* See page A-71 for details on push motion.
Stroke
Linear Servo Motor
(every 50mm)
RCP4-SA7R Vertical, MSEP connected RCP4-SA7R Horizontal, MSEP connected 45 16 15 This graph assumes that the Lead 4 Assuming that the actuator is 40 14 Lead 4 actuator is operated at 0.2 G. operated at 0.2 G for lead 4 35 and at 0.3 G for other leads. 12 Vertical Horizontal 30 10 25 Lead 16 8 20 18 22 Lead 8 6 5 15 4 10 Lead 24 Lead 8 3 Lead 16 6 2 5 Lead 24 1.5 4 1 1 0.5 0 0 0 200 400 600 800 1000 0 100 200 300 400 500 600 Speed (mm/s) Speed (mm/s) Operated by the MSEP-C
P.5
Servo Motor (200V)
800: 800mm
Options
N: None See Options below. P: 1m S: 3m * Be sure to specify M: 5m either "ML" or "MR" X: Custom lengthh as the motor sideR: Robot cable mounted direction.
Payload (kg)
Table/ Arm/ Flat Type
Servo Motor (24V)
Cable length
P3: PCON-CA MSEP-C
RCP4-SA7R Horizontal, PCON-CA connected RCP4-SA7R Vertical, PCON-CA connected 50 30 This graph assumes that the Lead 4 This graph assumes that the 45 actuator is operated at 0.3 G. actuator is operated at 0.3 G. 25 40 Vertical Lead 4 Horizontal 35 20 30 16 Lead 16 15 25 20 Lead 8 10 9 15 Lead 8 Lead 24 Lead 16 10 5 8 7 Lead 24 5 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
Controllers Integrated
Pulse Motor
50: 50mm
■ Correlation Diagrams of Speed and Payload
Standard
SplashProof Type
P3
Applicable controller
* See page Pre-47 for details on the model descriptions.
Mini
Cleanroom Type
Stroke
Payload (kg)
Mini
RCP4
Payload (kg)
Slider Type
RCP4-SA7R
Actuator Specifications Item
Drive system Positioning repeatability (*1) Lost motion Base Guide Allowable dynamic moment (*2) Allowable overhang Ambient operating temperature, humidity (*1) The value at lead 24 is shown in [ ]. (*2) Based on 5,000km of traveling life
Description
Ball screw ø12mm, rolled C10 ±0.02mm [±0.03mm] 0.1mm or less Material: Aluminum, white alumite treated Linear guide Ma: 13.9 N·m, Mb: 19.9 N·m, Mc: 38.3 N·m 230mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing)
RCP4
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com *1 *2
2D CAD
21.5
+0.012 0
ø9.5
Standard
126 50
2-5øH7, depth 10 32 ±0.02 20 4-M5, depth 10
4
6
5
33
Stroke 3 ME SE
22 3 SE ME 20
20
Controllers Integrated
Rod Type
Mini
Detail Y
Standard
(13)
(Note 1) There is no oblong hole at stroke 50. Use the reamed hole (ø4).
(28)
Allowable bending radius of securing cable: R50
Controllers Integrated
(55)
5.5
ø6
Detail view of X (Mounting hole and reference plane)
Mini
P.15
Connect the motor-encoder integrated cable here. * See page A-59 for details on cables. During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. ME: Mechanical end L SE: Stroke end K
Reference plane 5.5
Appendix
39 (Reamed hole pitch ±0.02)
CAD drawings can be downloaded from the website.
Slider Type
Cable joint connector (*1)
9
9
148.5 (without brake) (37) 20 198.5 (with brake)
(300)
Ground tap M3, depth 6 (Same on the opposite side) 4-M6, depth 14
0.5
48 30
Reference offset position for Ma/Mc moments
Table/ Arm/ Flat Type
X
48 F-ø6, through ø9.5 counterbored, depth 5.5 (from the opposite side)
156
Motor direction: ML CJT: Top CJO: Outside
Linear Servo Type
40
Motor direction: MR CJT: Top CJO: Outside
C×100P J (reamed hole and oblong hole pitch)
19
32
Y
CJB: Bottom
CJB: Bottom
Gripper/ Rotary Type
E-ø4H7, depth 6 (from the bottom of the base)
H-oblong hole, depth 5.5 (from the bottom of the base) D-M5, depth 9 B×100P
Cable exit 3 directions (optional)
A 10
30 80
Cleanroom Type
25.5
G
43.5
Dimensions and Mass by Stroke
Caution Pay attention to possible contact with surrounding structures when a slider mount area projects into the motor unit top surface.
Standard
48
2.5
(7.75) 75.25
71 73
33
61
64 50 43
Mini
Stroke 50 100 150 200 L 252.5 302.5 352.5 402.5 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 Weight Without brake 3.8 4.0 4.3 4.5 (kg) With brake 4.3 4.5 4.8 5.0
250 452.5 200 1 3 8 3 8 399 1 185 419.5 4.8 5.3
300 502.5 300 2 3 10 3 8 449 1 285 469.5 5.0 5.5
350 552.5 300 2 4 10 3 10 499 1 285 519.5 5.3 5.8
400 602.5 400 3 4 12 3 10 549 1 385 569.5 5.5 6.0
450 652.5 400 3 5 12 3 12 599 1 385 619.5 5.7 6.2
500 702.5 500 4 5 14 3 12 649 1 485 669.5 6.0 6.5
550 752.5 500 4 6 14 3 14 699 1 485 719.5 6.2 6.7
600 802.5 600 5 6 16 3 14 749 1 585 769.5 6.5 7.0
650 852.5 600 5 7 16 3 16 799 1 585 819.5 6.7 7.2
700 902.5 700 6 7 18 3 16 849 1 685 869.5 7.0 7.5
750 952.5 700 6 8 18 3 18 899 1 685 919.5 7.2 7.7
800 1002.5 800 7 8 20 3 18 949 1 785 969.5 7.4 8.0
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
Model number
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
with a high-output driver PCON-CA-56PI-PL--2-0 Equipped 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
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
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
—
indicates field network specification symbol. * indicates N (NPN specification) or P (PNP specification) symbol.
RCP4-SA7R
Servo Motor (24V)
➝ P563
14
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP3
ROBO Cylinder
RCP3-SA2AC Model Specification Items
RCP3 SA2AC Series
Type
I
Encoder type
ROBO Cylinder, Mini Slider Type, Coupled Motor, 22mm Width, Pulse Motor, Lead Screw
20P
Motor type
Lead
Stroke
I: Incremental 20P: Pulse motor, 4S : 4mm lead screw 25: 25mm * T he Simple absolute 20 size 2S : 2mm lead screw encoder is also 1S : 1mm lead screw 100: 100mm considered type "I". (25mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Applicable controller
Cable length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
N: None
P: 1m S: 3m M: 5m X: Custom length
Speed vs. Load Capacity Due to the characteristics of the pulse motor, the RCP3 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.
Mini Standard Controllers Integrated
Load Capacity (kg)
2
Table/ Arm/ Flat Type Mini
1.75
Horizontal
1.5 1.25
1mm lead
1.0 0.75
2mm lead
0.5
4mm lead
0.25 Appendix
Standard
50
100 150 Speed (mm/s)
200
Actuator Specifications
Stroke and Maximum Speed Feed screw
Model number
RCP3-SA2AC-I-20P-4S- ➀ -P3- ➁ - ➂ - ➃ RCP3-SA2AC-I-20P-2S- ➀ -P3- ➁ - ➂ - ➃
Lead screw
Lead
Max. Load Capacity
(mm)
Horizontal (kg)
Vertical (kg)
4
0.25
—
2
0.5
—
1
1
—
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Stroke
Positioning Repeatability (mm)
Stroke
±0.05
25~100
(mm)
(every 50mm)
Lead
Stroke 4
Lead screw
Leads and Payloads
RCP3-SA2AC-I-20P-1S- ➀ -P3- ➁ - ➂ - ➃
25 (mm)
50~100 (mm)
180
200
2
100
1
50 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Stroke (mm)
Pulse Motor
0
(1) The load capacity is based on operation at an acceleration of 0.2G. This value is the upper limit for the acceleration. (2) The actuator cannot be used on its side or in a vertical orientation. (3) If used in a dusty environment, the service life will decrease significantly. (4) This model uses a lead screw, therefore please ensure that your usage is appropriate for its characteristics. (See page Pre-52.) (5) See page A-71 for details on push motion.
Linear Servo Type
SplashProof Type
0
P.5
Gripper/ Rotary Type
Cleanroom Type
Options NM: Non-motor end
25 50 75 100
Standard price — — — —
Type Standard (Robot Cables) 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 for the RCP3 is the robot cable. * See page A-59 for cables for maintenance.
Servo Motor (24V)
Servo Motor (200V)
Actuator Specifications
Options Name Non-motor end specification
Linear Servo Motor
Option code See page Standard price NM — ➝ A-52
Item
Drive System Lost Motion Base Guide (*) Ambient Operating Temp./Humidity Service Life * Offset load not supported.
15
RCP3-SA2AC
Description
Lead screw, ø4mm, rolled C10 0.3mm or less (initial value) Material: Aluminum, white alumite treated Slide guide 0 to 40°C, 85% RH or less (Non-condensing) 10 million cycles
250
RCP3
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
Appendix Appendix
P.15 5
*1 Connect the motor-encoder integrated cable here. See page A-59 for details on cables. *2 During the homing operation, the slider moves to actuator's mechanical end, and then reverses. Therefore, watch for any interference with its surroundings.
2D CAD
Slider Slider Type Type
Mini Mini Standard Standard Controllers Controllers Integrated Integrated
17±0.1
17±0.1
Rod Rod Type Type
17±0.02
4-M3 depth 5.5
(200)
8±0.02
Mini Mini
Cable joint connector*1
2-ø2H7 depth 3 3
3
Standard Standard
L A 9
28
ST
ME
Home
SE
Controllers Controllers Integrated Integrated
28 2 ME*2
2
5
Table/ Table/ Arm/ Arm/ Flat Flat Type Type
12.5
27 26
24.5
5
73.5
1 B
28
10
Mini Mini
Secure at least 100
15 C D-M3 depth 4
Z
Standard Standard
10
3H7 depth 3 (from the bottom of the base)
22
4
Gripper/ Gripper/ Rotary Rotary Type Type
2-ø3H7 depth 3 (from the bottom of the base) ST: Stroke ME: Mechanical end SE: Stroke end
Details of Z
Dimensions and Mass by Stroke Stroke 25 50 75 100 L 169.5 194.5 219.5 244.5 A 96 121 146 171 B 25 50 75 100 C 0 0 0 50 D 4 4 4 6 Weight (kg) 0.25 0.27 0.29 0.3
Linear Linear Servo Servo Type Type
CleanCleanroom room Type Type
SplashSplashProof Proof Type Type
Applicable Controllers RCP3 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
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
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 Solenoid valve multi-axis type PIO specification Solenoid valve multi-axis type Network specification
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 Pulse Motor Motor
➝ P607
—
Servo Servo Motor Motor (24V) (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.
RCP3-SA2AC
➝ P665
16
Servo Servo Motor Motor (200V) (200V)
Linear Linear Servo Servo Motor Motor
Mini Standard Controllers Integrated
Rod Type
RCP3
ROBO Cylinder
RCP3-SA2BC Model Specification Items
RCP3 SA2BC Series
I
Type
ROBO Cylinder, Mini Slider Type, Coupled Motor, 28mm Width, Pulse Motor, Lead Screw
20P
Encoder type
Motor type
Lead
Stroke
Applicable controller
I: Incremental 20P: Pulse motor, 6S : 6mm lead screw 25: 25mm * T he Simple absolute 20 size 4S : 4mm lead screw encoder is also 2S : 2mm lead screw 150: 150mm considered type "I". (25mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Load Capacity (kg)
1.75
Table/ Arm/ Flat Type Mini
Horizontal
1.5 1.25 1.0
2mm lead
0.75
4mm lead 6mm lead
0.5 0.25 0
Standard
Appendix
0
100
200 300 Speed (mm/s)
P.5
Gripper/ Rotary Type
400
500
(1) The load capacity is based on operation at an acceleration of 0.2G. This value is the upper limit for the acceleration. (2) The actuator cannot be used on its side or in a vertical orientation. (3) If used in a dusty environment, the service life will decrease significantly. (4) T his model uses a lead screw, therefore please ensure that your usage is appropriate for its characteristics. (See page Pre-52.) (5) S ee page A-71 for details on push motion.
Linear Servo Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed Feed screw
Model number
RCP3-SA2BC-I-20P-6S- ➀ - ➁ - ➂ - ➃ RCP3-SA2BC-I-20P-4S- ➀ - ➁ - ➂ - ➃
Lead screw
RCP3-SA2BC-I-20P-2S- ➀ - ➁ - ➂ - ➃
Lead
Max. Load Capacity
(mm)
Horizontal (kg)
Vertical (kg)
6
0.25
—
4
0.5
—
2
1
—
Positioning Repeatability (mm)
Stroke
±0.05
25~150
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Stroke
(mm)
Lead
(every 25mm)
Stroke
25 (mm)
50 (mm)
6
180
280 280
4
180
2
75~150 (mm) 300 200
100 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Stroke (mm)
Servo Motor (24V)
P: 1m S: 3m M: 5m X: Custom length
2
Controllers Integrated
Pulse Motor
Options NM: Non-motor end
the RCP3 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.
Standard
SplashProof Type
N: None
Speed vs. Load Capacity Due to the characteristics of the pulse motor,
Mini
Cleanroom Type
Cable length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Lead screw
Slider Type
25 50 75 100 125 150
Standard price — — — — — —
Type Standard (Robot Cables) 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 for the RCP3 is the robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications
Options Name Non-motor end specification
Servo Motor (200V)
Option code See page Standard price NM — ➝ A-52
Item
Drive System Lost Motion Base Guide (*) Ambient Operating Temp./Humidity Service Life * Offset load not supported.
Linear Servo Motor
17
RCP3-SA2BC
Description
Lead screw, ø6mm, rolled C10 0.3mm or less (initial value) Material: Aluminum, white alumite treated Slide guide 0 to 40°C, 85% RH or less (Non-condensing) 10 million cycles
RCP3
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
P.15
*1 Connect the motor-encoder integrated cable here. See page A-59 for details on cables. *2 During the homing operation, the slider moves to the actuator's mechanical end, and then reverses. Therefore, watch for any interference with its surroundings.
2D CAD
Slider Type
Mini Standard Controllers Integrated
17±0.1
(200)
17±0.1
8±0.02
4-M3 depth 5.5 3
17±0.02
Rod Type
Cable joint connector*1
2-ø2H7 depth 3
Standard
3
L A
9
22 5
73.5
ST
5
28
28
2
2
SE
Home
Controllers Integrated
ME*2
Table/ Arm/ Flat Type
28
B
10
Secure at least 100
15 C
28.5
Mini
D-M3 depth 4
Standard 10
3H7 depth 3 (from the bottom of the base)
28
2.5
14
24.5
29.5 28.5
ME
Mini
Gripper/ Rotary Type
4 Z
2-ø3H7 depth 3 (from the bottom of the base)
ST: Stroke ME: Mechanical end SE: Stroke end
Details of Z
Dimensions and Mass by Stroke Stroke 25 50 75 100 125 150 L 169.5 194.5 219.5 244.5 269.5 294.5 A 96 121 146 171 196 221 B 25 50 75 100 125 150 C 0 0 0 50 62.5 75 D 4 4 4 6 6 6 Weight (kg) 0.3 0.32 0.35 0.37 0.4 0.42
Applicable Controllers
Linear Servo Type
Cleanroom Type
SplashProof Type
RCP3 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
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-20PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP3-SA2BC
➝ P665
18
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP3
ROBO Cylinder
RCP3-SA3C RCP3
Model Specification Items
SA3C
Series
Type
ROBO Cylinder, Slider Type, 32mm Width, Pulse Motor, Coupled
I
Encoder type
28P
Motor type
I: Incremental 28P: Pulse motor, * The Simple absolute 28 size encoder is also considered type "I".
Lead
Stroke
6 : 6mm 4 : 4mm 2 : 2mm
50: 50mm
Applicable controller
300: 300mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Load capacityLoad (kg) capacity (kg)
Controllers Integrated
Table/ Arm/ Flat Type Mini
(1) Since the RCP3 series use a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to see if your desired speed and load capacity are supported.
(2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 2mm-lead model, or when used vertically). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
Linear Servo Type
Actuator Specifications Max. Load Capacity
Lead
RCP3-SA3C-I-28P-6- ➀ - ➁ - ➂ - ➃
(mm)
Horizontal (kg)
Vertical (kg)
6
1
0.5
RCP3-SA3C-I-28P-4- ➀ - ➁ - ➂ - ➃
4
2
1
RCP3-SA3C-I-28P-2- ➀ - ➁ - ➂ - ➃
2
3
1.5
Stroke (mm)
50
100
50
100
150
200
250
300
350
150
200
250
300
350
300
350
Stroke and Maximum 100 150 200 Speed 250 300 50
350
1
Stroke
Speed (mm/s)
Vertical
3 2.5 2
2mm lead
3.5 1.5
4mm lead Vertical
13
6mm lead
2.5 0.5 20 0 1.5
502mm100 lead 150
200
Speed (mm/s) 4mm lead
1
250
6mm lead
0.5
StrokeSpeed (mm/s)50~300
Lead
(every 50mm)
(every 50mm)
6
300
4
200
2
100 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Stroke (mm) 50 100 150 200 250 300
Type
Standard price With cover
Without cover
— — — — — —
— — — — — —
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard (Robot Cables) Special length
Standard price — — — — — —
* The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications
Options Name
Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (right) CJR — ➝ A-42 Optional cable exit direction (left) CJL — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
19
Speed (mm/s) 6mm lead
0.5
50~300
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
6mm lead Horizontal
4mm lead
20 0 1.5
0 0
Leads and Payloads Model number
Linear Servo Motor
Load capacityLoad (kg) capacity (kg)
P.5
Gripper/ Rotary Type
Servo Motor (200V)
2mm lead
13 2.5 0.5
3.5 Appendix
Servo Motor (24V)
P: 1m S: 3m M: 5m X: Custom length
2
3.5 1.5
0 0
Standard
Pulse Motor
Options See Options below.
Horizontal 3 RCP3 series' load capacity the decreases at high speeds. In the table below, check if your desired 2.5 speed and load capacity are supported. 4mm lead
Standard
SplashProof Type
N: None
Speed vs. Load Capacity 3.5 Due to the2mm characteristics of the pulse motor, lead
Mini
Cleanroom Type
Cable length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø6mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, special alumite treated Ma: 5.0 N·m, Mb: 7.1 N·m, Mc: 7.9 N·m Ma: 1.96 N·m, Mb: 2.84 N·m, Mc: 3.14 N·m 100mm or less 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP3-SA3C
RCP3
ROBO Cylinder
Dimensional Drawings 60 17 11±0.02
www.intelligentactuator.com
2D CAD
Appendix
P.15
(With Cover)
4-M3 depth 6 17 ±0.02
33 17 11±0.02
Controllers Integrated
2-Ø2 H7 depth 5
44.5
Rod Type
(No Cover) 2-Ø2 H7 depth 5
4-M3 depth 6 L 10
st
92 21.4
SE
（
A
40 31.5
29 32
L A 21.8 3 ME
st
Home
SE
29.5
40 31.5
Table/ Arm/ Flat Type
30.5 21.8 3 ME (*2)
5
29 32
Reference position for Ma moment offset (*3)
Controllers Integrated
Motor-encoder cable connector (*1)
92 21.4
10.5 15
Cx100 (M3 tap)
B
Mini
Change cable outlet direction (optional)
15
(Top: CJT)
Depth 4 from bottom of base 2H7
32
17
F
3
Standard
32
Secure at least 100
(Common)
Standard
Above motor cover: 38.5
10
21.4 4.4 4.4
(No Cover)
）
Secure at least 100
Reference position for Ma moment offset (*3)
Mini
If equipped with a brake * The above brake unit is added to A.
29.5
Home
21.8 30.5 3 ME (*2)
5
(With Cover)
21.8 3 ME
Above motor cover: 38.5
A 21.4 4.4 4.4
Mini Standard
30 17±0.02
CAD drawings can be downloaded from the website.
Slider Type
M (ø2 hole and oblong hole pitch)
ø2H7 depth 4 from bottom of base D-M3 depth 5
25
(Right: CJR)
B
(Left: CJL)
* When viewed from arrow B.
(Bottom: CJB)
Dimensions and Mass by Stroke * Brake-equipped models are heavier by 0.2kg. Stroke Without brake L With brake A B C D M Weight With cover (kg) Without cover
Detail F
(*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 (*3) Reference position for calculating the Ma moment
Gripper/ Rotary Type
50 100 150 200 250 300 247.5 297.5 347.5 397.5 447.5 497.5 292 342 392 442 492 542 155.5 205.5 255.5 305.5 355.5 405.5 84 34 84 34 84 34 0 1 1 2 2 3 4 6 6 8 8 10 84 134 184 234 284 334 0.7 0.7 0.8 0.9 0.9 1 0.6 0.7 0.7 0.8 0.8 0.9
Applicable Controllers
Linear Servo Type
Cleanroom Type
SplashProof Type
RCP3 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-28PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-28PI- -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-28PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-28PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-28PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
Pulse Train Input Type (Differential Line Driver)
PCON-PL-28PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-28PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-28PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-28PI- -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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP3-SA3C
➝ P665
20
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP3
ROBO Cylinder
RCP3-SA4C Model Specification Items
RCP3
SA4C
Series
Type
ROBO Cylinder, Slider Type, 40mm Width, Pulse Motor, Coupled
I
Encoder type
35P
Motor type
I: Incremental 35P: Pulse motor, * The Simple absolute 35 size encoder is also considered type "I".
Lead
Stroke
10 : 10mm 5 : 5mm 2.5 : 2.5mm
Applicable controller
50: 50mm 500: 500mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Load capacity (kg)Load capacity (kg)
Horizontal 10 the9 RCP3 series' load capacity decreases at high speeds. In the table below, check if your desired 5mm lead 8 7.5 and load capacity are supported. speed
Standard Controllers Integrated
Table/ Arm/ Flat Type
Linear Servo Type
(2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 2.5 mm-lead model, or when used vertically). The maximum acceleration is 0.7G (0.3G when used vertically), however, note that the load capacity decreases at high accelerations. For more information, see the table of load capacity by acceleration, on page A-108. (3) See page A-71 for details on push motion.
Actuator Specifications Max. Load Capacity
RCP3-SA4C-I-35P-10- ➀ - ➁ - ➂ - ➃
(mm)
Horizontal (kg)
Vertical (kg)
10
~ 7.5
~ 1.5
RCP3-SA4C-I-35P-5- ➀ - ➁ - ➂ - ➃ RCP3-SA4C-I-35P-2.5- ➀ - ➁ - ➂ - ➃
5
~9
~4
2.5
~11
~8
600
200
300 400 Speed (mm/s)
500
600
0.5 500
600
Vertical
6
5mm lead 2.5mm lead Vertical 2.5 10mm lead 100 5mm 200lead 300 400 Speed (mm/s)
3
2.5
1.5
10mm lead 0.5
Stroke and Maximum 100 200 300 400Speed 500
(mm)
Lead
50~500
(every 50mm)
600
Stroke Speed (mm/s) 50~500
(every 50mm)
10
500
5
250
2.5
125 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Stroke (mm) 50 100 150 200 250 300 350 400 450 500
Type
Standard price With cover
Without cover
— — — — — — — — — —
— — — — — — — — — —
Options Name Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (right) CJR — ➝ A-42 Optional cable exit direction (left) CJL — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
21
300 400 500 Speed (mm/s) 10mm lead
2.5mm lead
Stroke
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Stroke
100
8
0 0
Lead
7
3
4.5 4 9 8 3 7.5 1.5 6 0 4.504
Leads and Payloads Model number
Linear Servo Motor
Load capacity (kg)Load capacity (kg)
(1) Since the RCP3 series use a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to see if your desired speed and load capacity are supported.
200
2
9
Gripper/ Rotary Type
Servo Motor (200V)
100
7.5
P.5
3
5mm lead
0 0
Appendix
Servo Motor (24V)
2.5mm lead Horizontal 10mm lead
4
Standard
Pulse Motor
7
6 12 11 4 10 9 2 8 7.5 0 60
Mini
SplashProof Type
Options
See Options below. N: None P: 1m S: 3m M: 5m X: Custom length
Speed vs. Load Capacity 12 11 to the Due characteristics of the pulse motor, 2.5mm lead
Mini
Cleanroom Type
Cable length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard (Robot Cables) Special length
Standard price — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø8mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, special alumite treated Ma: 6.8 N·m, Mb: 9.7 N·m, Mc: 13.3 N·m Ma: 3.04 N·m, Mb: 4.31 N·m, Mc: 5.00 N·m 120mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP3-SA4C
RCP3
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
2D CAD
Appendix
65 21 14±0.02
P.15
(With Cover)
20 ±0.02
4-M3 depth 6
Controllers Integrated
2-ø2.5H7 depth 5 40 21 14±0.02 40.5
Rod Type
(No Cover) 4-M3 depth 6
23 3 ME
st
26 Home
SE
23 33.5 3 ME (*2)
If equipped with a brake * The above brake unit is added to A.
(
A
Secure at least 100
48 37
37 40 5.2
23 3 ME
st SE
A
L 26 Home
48 37
Reference position for Ma moment offset (*3)
Controllers Integrated
Table/ Arm/ Flat Type
Motor-encoder cable connector (*1)
93.5
23 33.5 3 ME (*2)
5
(No Cover)
10
36.5
5.2
26
Standard
Above motor cover: 51
Reference position for Ma moment offset (*3)
)
Above motor cover: 51
10
5.2
Mini 93.5
5
(With Cover)
26
2-ø2.5H7 depth 5 L
36.5
5.2
A
37 40
10.5 15
Cx100 (M3 tap)
Mini Standard
38 20 ±0.02
CAD drawings can be downloaded from the website.
Slider Type
B
Mini Standard
Change cable outlet direction (optional)
15
(Top: CJT) 32
32
21 2.5H7 depth 5 from bottom of base
F
3.5
(Right: CJR)
(Left: CJL)
ø2.5H7 depth 5 from bottom of base D-M3 depth 5
M (ø2.5 hole and oblong hole pitch)
Gripper/ Rotary Type
B
Secure at least 100
25
(Bottom: CJB)
* When viewed from arrow B.
Dimensions and Mass by Stroke Detail F
(*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 (*3) Reference position for calculating the Ma moment
Stroke 50 100 150 Without brake 259 309 359 L With brake 299.5 349.5 399.5 A 165.5 215.5 265.5 B 91 41 91 C 0 1 1 D 4 6 6 M 91 141 191 0.9 1 1.1 Weight With cover (kg) Without cover 0.9 0.9 1
200 409 449.5 315.5 41 2 8 241 1.2 1.1
250 459 499.5 365.5 91 2 8 291 1.3 1.2
300 509 549.5 415.5 41 3 10 341 1.4 1.2
350 559 599.5 465.5 91 3 10 391 1.5 1.3
400 609 649.5 515.5 41 4 12 441 1.6 1.4
450 659 699.5 565.5 91 4 12 491 1.7 1.5
500 709 749.5 615.5 41 5 14 541 1.8 1.5
Applicable Controllers
Linear Servo Type
Cleanroom Type
SplashProof Type
RCP3 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-35PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-35PI- -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-35PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-35PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-35PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
Pulse Train Input Type (Differential Line Driver)
PCON-PL-35PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-35PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-35PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-35PI- -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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP3-SA4C
➝ P665
22
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP3
ROBO Cylinder
RCP3-SA5C Model Specification Items
RCP3 Series
SA5C Type
I
Encoder type
ROBO Cylinder, Slider Type, 50mm Width, Pulse Motor, Coupled
42P
Motor type
I: Incremental 42P: Pulse motor, * The Simple absolute 42 size encoder is also considered type "I".
Lead
Stroke
Applicable controller
20 : 20mm 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
800: 800mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Load capacity (kg)Load capacity (kg)
6 19 5 15 4 0 100
Table/ Arm/ Flat Type Mini
4
(1) Since the RCP3 series use a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to see if your desired speed and load capacity are supported.
(2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 3mm lead model and when using vertically). The maximum acceleration is 0.7G (0.3G when used vertically), however, note that the load capacity decreases at high accelerations. For more information, see the table of load capacity by acceleration, on page A-108. (3) See page A-71 for details on push motion.
Linear Servo Type
Actuator Specifications
Leads and Payloads Model number
Lead
Max. Load Capacity
(mm)
Horizontal (kg)
Vertical (kg)
RCP3-SA5C-I-42P-20- ➀ - ➁ - ➂ - ➃
20
~4
~ 0.5
RCP3-SA5C-I-42P-12- ➀ - ➁ - ➂ - ➃
12
~6
~2
RCP3-SA5C-I-42P-6- ➀ - ➁ - ➂ - ➃
6
~10
~5
RCP3-SA5C-I-42P-3- ➀ - ➁ - ➂ - ➃
3
~19
~ 10
50 100 150 200 250 300 350 400
20mm lead 2 0.5 100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)
Stroke (mm)
Vertical
3mm lead
8
6 12 5 6mm lead 4 10 Vertical 3 lead 12mm lead 3mm 2 1.5 20mm lead 8 0.5 0 605 100 200 300 400 500 600 700 800 900 6mm leadSpeed (mm/s) 4 3 12mm lead 2 1.5 20mm lead 0 Stroke and Maximum Speed0.5 0 100 200 300 400 500 600 700 800 900 Stroke Speed (mm/s) 50~550 600 650 700 750 (every 50mm) (mm) (mm) (mm) (mm) Lead
50~800
1000
1000 800
(mm)
910 790 690 610
1000
12
600
570 490 425 370 330
6
300
285 245 210 185 165
3
150
140 120 105 90
80
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Standard price Standard price Stroke (mm) With cover Without cover With cover Without cover — — 450 — — — — 500 — — — — 550 — — — — 600 — — — — 650 — — — — 700 — — — — 750 — — — — 800 — —
Options Name Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (right) CJR — ➝ A-42 Optional cable exit direction (left) CJL — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
23
12mm lead
(every 50mm)
Stroke (mm)
20mm lead 2 0.5 12 6mm lead 100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)
20
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Stroke
3mm lead12mm Horizontal lead
10
Load capacity (kg)Load capacity (kg)
Gripper/ Rotary Type
Linear Servo Motor
6
12
Appendix
P.5
Servo Motor (200V)
5
0 0
Standard
Servo Motor (24V)
P: 1m S: 3m M: 5m X: Custom length
10 20
Controllers Integrated
Pulse Motor
See Options below.
the 15 RCP3 series' load capacity decreases at high speeds. In the table below, check if your desired speed and 12 load capacity 6mm lead are supported.
Standard
SplashProof Type
N: None
20 Speed vs. Load Capacity Due19to the3mm characteristics of the pulse motor, lead Horizontal
Mini
Cleanroom Type
Options
Cable length
Type Standard (Robot Cables) Special length
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard price — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, Special alumite treated Ma: 10.2 N·m, Mb: 14.6 N·m, Mc: 22.4 N·m Ma: 3.92 N·m, Mb: 5.58 N·m, Mc: 8.53 N·m 130mm or less 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP3-SA5C
RCP3
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
70 22
Appendix
P.15
14±0.02
45
(With Cover)
(*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 (*3) Reference position for calculating the Ma moment
26 ±0.02
2D CAD
2-ø2.5H7 depth 5
26 ±0.02
4-M4 depth 8 45 22 14±0.02
A
ME
st
28
SE
24.5 3
（
38.5 A
ME (*2)
Secure at least 100
5
57 45
43.5
Home
L A 10
33
SE
24.5 3
Home
47
Reference position for Ma moment offset (*3)
50
Controllers Integrated Motor-encoder cable connector (*1)
10.5
15
ME (*2)
Cx100 (M4 tap)
B
Mini Standard
Change cable outlet direction (optional)
15
(Top: CJT) 32
(Right: CJR)
M (ø2.5 hole and oblong hole pitch)
Dimensions and Mass by Stroke
25
ø2.5H7 depth 5 from bottom of base D-M4 depth 7
Gripper/ Rotary Type
B
32
26 2.5H7 depth 5 from bottom of base
F
Secure at least 100 (Bottom: CJB)
* When viewed from arrow B.
* Brake-equipped models are heavier by 0.4kg.
Stroke 50 100 150 200 Without brake 272.5 322.5 372.5 422.5 L With brake 312 362 412 462 A 175.5 225.5 275.5 325.5 B 96 46 96 46 C 0 1 1 2 D 4 6 6 8 M 96 146 196 246 1.4 1.5 1.6 1.8 Weight With cover (kg) Without cover 1.3 1.4 1.5 1.6
Detail F
Table/ Arm/ Flat Type
38.5
(Left: CJL)
3.5
Standard
Above motor cover: 58
ME
）
97 28
5
57 45
(No Cover)
6.5
st
43.5
6.5
24.5 3
Mini
If equipped with a brake * The above brake unit is added to A.
97
Above motor cover: 58
24.5 3
10 6.5
47 50
Reference position for Ma moment offset (*3)
Controllers Integrated
2-ø2.5H7 depth 5 L
(With Cover)
Standard
Rod Type 4-M4 depth 8
33
Mini
39.5
(No Cover)
6.5
Slider Type
250 472.5 512 375.5 96 2 8 296 1.9 1.7
300 522.5 562 425.5 46 3 10 346 2 1.8
350 572.5 612 475.5 96 3 10 396 2.2 2
400 622.5 662 525.5 46 4 12 446 2.3 2.1
450 672.5 712 575.5 96 4 12 496 2.5 2.2
500 722.5 762 625.5 46 5 14 546 2.6 2.3
550 722.5 812 675.5 96 5 14 596 2.7 2.4
600 822.5 862 725.5 46 6 16 646 2.9 2.5
650 872.5 912 775.5 96 6 16 696 3.0 2.6
700 922.5 962 825.5 46 7 18 746 3.2 2.8
750 972.5 1012 875.5 96 7 18 796 3.3 2.9
800 1022.5 1062 925.5 46 8 20 846 3.4 3.0
Applicable Controllers
Linear Servo Type
Cleanroom Type
SplashProof Type
RCP3 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-42PI- -2-
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
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP3-SA5C
➝ P665
24
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP3
ROBO Cylinder
RCP3-SA6C Model Specification Items
RCP3 Series
SA6C Type
I
ROBO Cylinder, Slider Type, 60mm Width, Pulse Motor, Coupled
Encoder type
42P
Motor type
I: Incremental 42P: Pulse motor, * The Simple absolute 42 size encoder is also considered type "I".
Lead
Stroke
20 : 20mm 12 : 12mm 6 : 6mm 3 : 3mm
Applicable controller
50: 50mm 800: 800mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Load capacity (kg) Load capacity (kg)
10 20
Controllers Integrated
Table/ Arm/ Flat Type Mini
P.5
Load capacity (kg) Load capacity (kg)
Actuator Specifications
Leads and Payloads Model number
Lead
Max. Load Capacity
(mm)
Horizontal (kg)
Vertical (kg)
RCP3-SA6C-I-42P-20- ➀ - ➁ - ➂ - ➃
20
~4
~ 0.5
RCP3-SA6C-I-42P-12- ➀ - ➁ - ➂ - ➃
12
~6
~2
RCP3-SA6C-I-42P-6- ➀ - ➁ - ➂ - ➃
6
~ 10
~5
RCP3-SA6C-I-42P-3- ➀ - ➁ - ➂ - ➃
3
~19
~ 10
Stroke (mm)
5
6 4
(mm)
50 100 150 200 250 300 350 400
20mm lead 2 0.5 100 200 300 400 500 600 700 800 900 1000 Speed (mm/s) Vertical
3mm lead
8
6 12 5 6mm lead 4 3 10 Vertical 3mm lead 12mm lead 2 1.5 20mm lead 8 0.5 0 605 100 200 300 400 500 600 700 800 900 6mm leadSpeed (mm/s) 4 3 12mm lead 2 1.5 20mm lead 0 Stroke and Maximum Speed0.5 0 100 200 300 400 500 600 700 800 900 Stroke Speed (mm/s) 50~550 600 650 700 750 (every 50mm) (mm) (mm) (mm) (mm) Lead
50~800
1000
1000 800 (mm)
910 790 690 610
1000
12
600
570 490 425 370 330
6
300
285 245 210 185 165
3
150
140 120 105 90
80
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Standard price Standard price Stroke (mm) With cover Without cover With cover Without cover — — 450 — — — — 500 — — — — 550 — — — — 600 — — — — 650 — — — — 700 — — — — 750 — — — — 800 — —
Options Name Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (right) CJR — ➝ A-42 Optional cable exit direction (left) CJL — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
25
12mm lead
(every 50mm)
Stroke Stroke
20mm lead 2 0.5 12 100 2006mm 300 lead 400 500 600 700 800 900 1000 Speed (mm/s)
20
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Linear Servo Motor
P: 1m S: 3m M: 5m X: Custom length
3mm lead 12mm lead Horizontal
10
(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 RCP3 series use a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to 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 3mm lead model and when using vertically). The maximum acceleration is 0.7G (0.3G when used vertically), however, note that the load capacity decreases at high accelerations. For more information, see the table of load capacity by acceleration, on page A-108. (4) See page A-71 for details on push motion.
Linear Servo Type
Servo Motor (200V)
0 100
12
Appendix
Gripper/ Rotary Type
Servo Motor (24V)
6 19 5 15 4
0 0
Standard
Pulse Motor
Options See Options below.
the 15 RCP3 series' load capacity decreases at high speeds. In the table below, check if your desired speed and12load capacity 6mm lead are supported.
Standard
SplashProof Type
N: None
20 Speed vs. Load Capacity 3mm lead Due19to the characteristics of the pulse motor, Horizontal
Mini
Cleanroom Type
Cable length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Type Standard (Robot Cables) Special length
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard price — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less (initial value) Material: Aluminum, special alumite treated Ma: 17.6 N·m, Mb: 25.2 N·m, Mc: 44.5 N·m Ma: 4.31 N·m, Mb: 6.17 N·m, Mc: 10.98 N·m 150mm or less 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP3-SA6C
RCP3
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
2D CAD
Appendix
75 25 15±0.02
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 (*3) Reference position for calculating the Ma moment
52 31±0.02
CAD drawings can be downloaded from the website.
(With Cover)
4-M5 depth 10
2-ø3H7 depth 5
50 25 15±0.02
Slider Type
Mini Standard Controllers Integrated
39.5
Rod Type
31±0.02 4-M5 depth 10
2-ø3H7 depth 5
L
A 10
40
ME
25 3
（
Secure at least 100
A
62.5 49
60 40
25 3 ME
10
SE
32 Home
Motor-encoder cable connector (*1)
10.5
62.5 49
57 60
3H7 depth 5 from bottom of base
15
Cx100 (M5 tap)
B
Change cable outlet direction (optional)
Standard
(Top: CJT) (Right: CJR)
32
31
(Left: CJL)
F
M (ø3 hole and oblong hole pitch)
Dimensions and Mass by Stroke
Gripper/ Rotary Type
B
25
Secure at least 100 (Bottom: CJB) * When viewed from arrow B .
ø3H7 depth 5 from bottom of base D-M5 depth 8
* Brake-equipped models are heavier by 0.4kg.
Stroke 50 100 150 200 Without brake 277.5 327.5 377.5 427.5 L With brake 317 367 417 467 A 180.5 230.5 280.5 330.5 B 101 51 101 51 C 0 1 1 2 D 4 6 6 8 M 101 151 201 251 1.6 1.8 2 2.1 Weighrt With cover (kg) Without cover 1.5 1.7 1.8 2
Detail F
15
Mini
32
(Common) 4
Table/ Arm/ Flat Type
38.5 25 3 ME (*2)
5 Reference position for Ma moment offset (*3)
Standard
Above motor cover: 60.5
8.5
st
）
Controllers Integrated
97
47.0
8.5
(No Cover)
L
57
Reference position for Ma moment offset (*3)
Mini
A
ME (*2)
Home
SE
38.5
5
(With Cover)
8.5
If equipped with a brake * The above brake unit is added to A.
97 32
st
47.0
8.5
25 3
Above motor cover: 60.5
(No Cover)
250 477.5 517 380.5 101 2 8 301 2.3 2.1
300 527.5 567 430.5 51 3 10 351 2.5 2.3
350 577.5 617 480.5 101 3 10 401 2.7 2.4
400 627.5 667 530.5 51 4 12 451 2.8 2.6
450 677.5 717 580.5 101 4 12 501 3 2.7
500 727.5 767 630.5 51 5 14 551 3.2 2.8
550 777.5 817 680.5 101 5 14 601 3.3 3
600 827.5 867 730.5 51 6 16 651 3.5 3.1
650 877.5 917 780.5 101 6 16 701 3.7 3.3
700 927.5 967 830.5 51 7 18 751 3.9 3.4
750 977.5 1017 880.5 101 7 18 801 4.0 3.6
800 1027.5 1067 930.5 51 8 20 851 4.2 3.7
Applicable Controllers
Linear Servo Type
Cleanroom Type
SplashProof Type
RCP3 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-42PI- -2-
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
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP3-SA6C
➝ P665
26
Servo Motor (200V)
Linear Servo Motor
Mini Standard Controllers Integrated
Rod Type
RCP3
ROBO Cylinder
RCP3-SA2AR Model Specification Items
RCP3 SA2AR Series
Type
I
ROBO Cylinder, Mini Slider Type, Side-mounted Motor, 22mm Width, Pulse Motor, Lead Screw
20P
Encoder type
Motor type
Lead
Stroke
Applicable controller
I: Incremental 20P: Pulse motor, 4S : lead screw 4mm 25: 25mm * T he Simple absolute 20 size 2S : lead screw 2mm * See page Pre-47 for details on the model descriptions. encoder is also 1S : lead screw 1mm 100: 100mm considered type "I". (25mm pitch
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
increments)
* See page Pre-47 for details on the model descriptions.
2
Controllers Integrated
Load capacity (Kg)
1.75
Table/ Arm/ Flat Type Photo above shows specification with motor side-mounted to the left (ML Option).
Mini
1.0
1mm Lead
0.75
2mm Lead
0.5
4mm Lead
0.25 0
50
100 150 Speed (mm/s)
P.5
200
250
(1) The load capacity is based on operation at an acceleration of 0.2G. This value is the upper limit for the acceleration. (2) The actuator cannot be used on its side or in a vertical orientation. (3) If used in a dusty environment, the service life will decrease significantly. (4) T his model uses a lead screw, therefore please ensure that your usage is appropriate for its characteristics. (See page Pre-52.) (5) S ee page A-71 for details on push motion.
Linear Servo Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed Feed screw
Model number
RCP3-SA2AR-I-20P-4S- ➀ - ➁ - ➂ - ➃ RCP3-SA2AR-I-20P-2S- ➀ - ➁ - ➂ - ➃
Lead screw
RCP3-SA2AR-I-20P-1S- ➀ - ➁ - ➂ - ➃
Lead
Max. Load Capacity
(mm)
Horizontal (kg)
Vertical (kg)
4
0.25
—
2
0.5
—
1
1
—
Positioning Repeatability (mm)
Stroke
Stroke (mm)
Lead
25~100
±0.05
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
(every 25mm)
Stroke 4
25 (mm)
50~100 (mm)
2180
200
2
100
1
50 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Stroke (mm) 25 50 75 100
Standard price — — — —
Pulse Motor
Servo Motor (200V)
1.25
0
Gripper/ Rotary Type
Servo Motor (24V)
Horizontal
1.5
Appendix
Standard
SplashProof Type
Options
See options below. * Be sure to specify which side the motor is to be mounted (ML/MR)
the RCP3 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.
Standard
Cleanroom Type
Cable length N: None P: 1m S: 3m M: 5m X: Custom length
Speed vs. Load Capacity Due to the characteristics of the pulse motor,
Mini
Lead screw
Slider Type
Type Standard (Robot Cables) 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 for the RCP3 is the robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications
Options Name Left-mounted motor (Standard) Right-mounted motor Non-motor end specification
Option code See page Standard price ML — ➝ A-52 MR — ➝ A-52 NM — ➝ A-52
Item
Drive System Lost Motion Base Guide (*) Ambient Operating Temp./Humidity Service Life * Offset load not supported.
Linear Servo Motor
27
RCP3-SA2AR
Description
Lead screw, ø4mm, rolled C10 0.3mm or less (initial value) Material: Aluminum, white alumite treated Slide guide 0 to 40°C, 85% RH or less (Non-condensing) 10 million cycles
RCP3
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
Appendix
2-ø2H7 Depth 3mm 17±0.1
2D CAD
17±0.02
CAD drawings can be downloaded from the website.
P.15
8±0.02 4-M3 Depth 5.5mm
Slider Type
Mini Standard Controllers Integrated
17±0.1
Rod Type
Cable joint connector *1 (200)
Mini
88.5
3
L A
9
5
5
1.5
2 SE
28
29
2
Controllers Integrated
ME *2
Home
24
27 26 12.5
ME
Standard
17
ST
22
(5.5)
Secure at least 100mm
2
27
Table/ Arm/ Flat Type
58
3H7 Depth 3mm (from the bottom of the base)
Mini Standard D-M3 Depth 4mm 2-ø3H7 Depth 3mm (from the bottom of the base)
Gripper/ Rotary Type
10
4
ST : Stroke ME : Mechanical end SE : Stroke end
Z
28
Detail Z
C
10 B
15
Dimensions and Mass by Stroke Stroke L A B C D Weight (kg)
*1 Connect the motor-encoder integrated cable here. See page A-59 for details on cables. *2 During the homing operation, the slider moves to the actuator's mechanical end, and then reverses. Therefore, watch for any interference with its surroundings. * The diagram above shows a left-mounted motor model.
25 113 96 25 0 4 0.28
50 138 121 50 0 4 0.3
75 163 146 75 0 4 0.32
100 188 171 100 50 6 0.33
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCP3 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
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-20PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP3-SA2AR
➝ P665
28
Servo Motor (200V)
Linear Servo Motor
Mini Standard Controllers Integrated
Rod Type
RCP3
ROBO Cylinder
RCP3-SA2BR Model Specification Items
RCP3 SA2BR Series
Type
I
ROBO Cylinder, Mini Slider Type, Side-mounted Motor, 28mm Width, Pulse Motor, Lead Screw
20P
Motor type
Encoder type
Lead
Stroke
Applicable controller
I: Incremental 20P: Pulse motor, 6S : lead screw 6mm 25: 25mm * T he Simple absolute 20 size 4S : lead screw 4mm * See page Pre-47 for details on the model descriptions. encoder is also 2S : lead screw 2mm 150: 150mm considered type "I". (25mm pitch
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
increments)
* See page Pre-47 for details on the model descriptions.
2
Controllers Integrated
Load capacity (Kg)
1.75
1.0
Photo above shows specification with motor side-mounted to the left (ML Option).
Standard
Appendix
6mm Lead 0
100
200 300 Speed (mm/s)
P.5
400
500
(1) The load capacity is based on operation at an acceleration of 0.2G. This value is the upper limit for the acceleration. (2) The actuator cannot be used on its side or in a vertical orientation. (3) If used in a dusty environment, the service life will decrease significantly. (4) This model uses a lead screw, therefore please ensure that your usage is appropriate for its characteristics. (See page Pre-52.) (5) See page A-71 for details on push motion.
Gripper/ Rotary Type
Linear Servo Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed Feed screw
Model number
RCP3-SA2BR-I-20P-6S- ➀ - ➁ - ➂ - ➃ RCP3-SA2BR-I-20P-4S- ➀ - ➁ - ➂ - ➃
Lead screw
RCP3-SA2BR-I-20P-2S- ➀ - ➁ - ➂ - ➃
Lead
Max. Load Capacity
(mm)
Horizontal (kg)
Vertical (kg)
6
0.25
—
4
0.5
—
2
1
—
Positioning Repeatability (mm)
Stroke
Stroke (mm)
Lead
25~150
±0.05
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
(every 25mm)
Stroke
25 (mm)
50 (mm)
6
180
280 280
4
180
2
75~150 (mm) 300 200
100 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Stroke (mm)
Servo Motor (200V)
4mm Lead
0.5
0.25 0
Servo Motor (24V)
2mm Lead
0.75
Mini
Pulse Motor
Horizontal
1.5
1.25
Table/ Arm/ Flat Type
SplashProof Type
See options below. P: 1m * Be sure to specify S: 3m which side the motor M: 5m is to be mounted X: Custom (ML/MR) length
the RCP3 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.
Standard
Cleanroom Type
Options
Cable length N: None
Speed vs. Load Capacity Due to the characteristics of the pulse motor,
Mini
Lead screw
Slider Type
25 50 75 100 125 150
Standard price — — — — — —
Type Standard (Robot Cables) 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 for the RCP3 is the robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications
Options Name Left-mounted motor (standard) Right-mounted motor Non-motor end specification
Option code See page Standard price ML — ➝ A-52 MR — ➝ A-52 NM — ➝ A-52
Item
Drive System Lost Motion Base Guide (*) Ambient Operating Temp./Humidity Service Life * Offset load not supported.
Linear Servo Motor
29
RCP3-SA2BR
Description
Lead screw, ø6mm, rolled C10 0.3mm or less (initial value) Material: Aluminum, white alumite treated Slide guide 0 to 40°C, 85% RH or less (Non-condensing) 10 million cycles
RCP3
ROBO Cylinder
Dimensional Drawings 2-ø2H7 Depth 3mm
* The diagram below shows a left-mounted motor model.
(200)
ST
28 Home
SE
29 2 ME *2
17
Controllers Integrated
Table/ Arm/ Flat Type
24
29.5 28.5
(2.5)
28
27
Rod Type
Mini
14 0.25
Controllers Integrated
Standard
A
2
ME
Connect the motor-encoder integrated cable here. See page A-59 for details on cables. During the homing operation, the slider moves to the actuator's mechanical end, and then reverses. Therefore, watch for any interference with its surroundings.
L
9
5
Mini Standard
88.5
3 22
P.15
17 ±0.1 8 ±0.02 4-M3 Depth 5.5mm
*1 *2
Cable joint connector *1
5
Appendix
17 ±0.02
2D CAD
www.intelligentactuator.com
17 ±0.1
CAD drawings can be downloaded from the website.
Slider Type
Secure at least 100mm
2
Mini
D-M3 Depth 4mm 2-ø3H7 Depth 3mm (from the bottom of the base)
4
Z
ST : Stroke ME : Mechanical end SE : Stroke end
Gripper/ Rotary Type
10
3H7 Depth 3mm (from the bottom of the base)
Standard
10 Detail Z
28
Dimensions and Mass by Stroke
C 15
B
Linear Servo Type
Stroke L A B C D Weight (kg)
25 113 96 25 0 4 0.32
50 138 121 50 0 4 0.34
75 163 146 75 0 4 0.37
100 188 171 100 50 6 0.39
125 213 196 125 62.5 6 0.42
150 238 221 150 75 6 0.46
Cleanroom Type
SplashProof Type
Applicable Controllers RCP3 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
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-20PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP3-SA2BR
➝ P665
30
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP3
ROBO Cylinder
RCP3-SA3R Model Specification Items
RCP3
SA3R
Series
ROBO Cylinder, Slider Type, 32mm Width, Pulse Motor, Side-mounted Motor
I
Type
Encoder type
28P
Motor type
I: Incremental 28P: Pulse motor, * The Simple absolute 28 size encoder is also considered type "I".
Lead
Stroke 50: 50mm
6 : 6mm 4 : 4mm 2 : 2mm
300: 300mm (50mm pitch increments)
**See Seepage pagePre-47 Pre-47for fordetails detailson onthe themodel modeldescriptions. descriptions.
Applicable controller
Cable length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Options
N: None
See options below. P: 1m * Be sure to specify S: 3m which side the motor M: 5m is to be mounted X: Custom (ML/MR) length
3.5 Speed vs. Load Capacity 2mm lead Horizontal Due of the pulse motor, 3 to the characteristics
Mini
Load Capacity (kg) Load Capacity (kg)
the RCP3 series' load capacity decreases at high 2.5 speeds. In the table below, check if your desired 4mm lead speed 2 and load capacity are supported.
Standard Controllers Integrated
Table/ Arm/ Flat Type
3.5 1.5
2mm lead
13 2.5 0.5
6mm lead Horizontal
4mm lead
20 0 1.5
50
100
150 200 Speed (mm/s)
250
300
350
150 200 Speed (mm/s)
250
300
350
300
350
Stroke and Maximum Speed 100 150 200 250 300 50
350
6mm lead
1 0.5
Mini
Photo above shows specification with motor side-mounted to the left (ML Option).
Standard
0 0
Appendix
Cleanroom Type
SplashProof Type
(2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 2mm-lead model, or when used vertically). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
Actuator Specifications Max. Load Capacity
Lead
Model number
(mm)
Horizontal (kg)
Vertical (kg)
RCP3-SA3R-I-28P-6- ➀ -P3- ➁ - ➂ - ➃
6
1
0.5
RCP3-SA3R-I-28P-4- ➀ -P3- ➁ - ➂ - ➃
4
2
1
RCP3-SA3R-I-28P-2- ➀ -P3- ➁ - ➂ - ➃
2
3
1.5
Stroke
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300
2mm lead 4mm lead Vertical
13
6mm lead
2.5 0.5 20 0 1.5
200 502mm100 lead 150 Speed (mm/s)
(mm)
250
4mm lead
1 0 0
Stroke
6mm lead
Stroke Speed (mm/s) 50~300
Lead
50~300
(every 50mm)
(every 50mm)
6
300
4
200
2
100 (Unit: mm/s)
*See page A-71 for details on push motion.
Type
Standard price With cover
Without cover
— — — — — —
— — — — — —
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard (Robot Cables) Special length
Standard price — — — — — —
* The standard cable is the motor-encoderintegrated robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications
Options Name
Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (outside) CJO — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Left-mounted motor (standard) ML — ➝ A-52 Right-mounted motor MR — ➝ A-52 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
31
2 3.5 1.5
Cable Length
Stroke (mm)
Servo Motor (24V)
Vertical
2.5
0.5
Leads and Payloads
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Pulse Motor
Load Capacity (kg) Load Capacity (kg)
(1) Since the RCP3 series use a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to see if your desired speed and load capacity are supported.
Linear Servo Type
100
3
P.5
Gripper/ Rotary Type
50
3.5
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø6mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, special alumite treated Ma: 5.0 N·m, Mb: 7.1 N·m, Mc: 7.9 N·m Ma: 1.96 N·m, Mb: 2.84 N·m, Mc: 3.14 N·m 100mm or less 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP3-SA3R
RCP3
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
2-ø2H7 depth 5
60 17
17 ±0.02
CAD drawings can be downloaded from the website.
2D CAD
Controllers Integrated
With Brake
126.2 (without brake)
Rod Type
158.2 (with brake)
(Without Cover)
Mini
L A 10 21.8 3 ME
21.4 4.4
19
st
21.4
SE
Home
39.8 3 ME (*2)
Standard
37
Controllers Integrated
5
40 31.5
29.5
3
4.4
(With Cover)
Mini Standard
(77)
(*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 (*3) Reference position for calculating the Ma moment
P.15
4-M3 depth 6
30
(With Cover)
Appendix
11 ±0.02
Slider Type
29 32
Ma moment offset reference position (*3)
(7) 38
Motor-encoder cable connector (*1)
Table/ Arm/ Flat Type
29.5
77
(Without Cover)
Mini
Ma moment offset reference position (*3)
Standard
[Cable Exit Direction] (Optional) (Top: CJT)
25
(Bottom: CJB)
15
C×100
2H7 depth from bottom of base 4
32
10.5
(Out: CJO) 32
Gripper/ Rotary Type
17
Secure at least 100
F
B D-M3 depth 5
15
37.5 ø2H7 depth from bottom of base 4
* Brake-equipped models
Dimensions and Mass by Stroke are heavier by 0.2kg. 3
Details of F
Stroke L A B C D Weight With cover (kg) Without cover
50 162 143 84 0 4 0.8 0.7
100 212 193 34 1 6 0.8 0.8
150 262 243 84 1 6 0.9 0.8
200 312 293 34 2 8 1.0 0.9
250 362 343 84 2 8 1.0 0.9
300 412 393 34 3 10 1.1 1.0
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCP3 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-28PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-28PI- -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-28PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-28PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-28PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
Pulse Train Input Type (Differential Line Driver)
PCON-PL-28PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-28PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-28PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-28PI- -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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP3-SA3R
➝ P665
32
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP3
ROBO Cylinder
RCP3-SA4R Model Specification Items
RCP3
SA4R
Series
Type
ROBO Cylinder, Slider Type, 40mm Width, Pulse Motor, Side-mounted Motor
I
Encoder type
35P
Motor type
Lead
Stroke
I: Incremental 35P: Pulse motor, 10 : 10mm * The Simple absolute 35 size 5 : 5mm encoder is also 2.5 : 2.5mm considered type "I".
Applicable controller
50: 50mm 500: 500mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Options
Cable length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
N: None
See options below. P: 1m * Be sure to specify S: 3m which side the motor M: 5m is to be mounted X: Custom (ML/MR) length
7 Speed vs. Load Capacity 2.5mm lead Due of the pulse motor, Horizontal 6 to the characteristics
Mini
Load Capacity (kg) Load Capacity (kg)
the RCP3 series' load capacity decreases at high 5 speeds. In the table below, check if your desired 5mm lead speed 4 and load capacity are supported.
Standard Controllers Integrated
Table/ Arm/ Flat Type
37 26
2.5mm lead
15
10mm lead Horizontal
5mm lead
40 0 3
100
200
300 400 Speed (mm/s)
500
600
300 400 Speed (mm/s)
500
600
500
600
Stroke and Speed500 100 200 Maximum 300 400
600
10mm lead
2 1
Mini
Photo above shows specification with motor side-mounted to the left (ML Option).
0 0 3.5
Standard
Appendix
3
Gripper/ Rotary Type
(1) Since the RCP3 series use a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to see if your desired speed and load capacity are supported.
(2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for2.5mm-lead model, or when used vertically). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads Model number
(mm)
Horizontal (kg)
Vertical (kg)
RCP3-SA4R-I-35P-10- ➀ - ➁ - ➂ - ➃
10
2
~1
RCP3-SA4R-I-35P-5- ➀ - ➁ - ➂ - ➃
5
4
1.5
2.5
6
3
Stroke
Linear Servo Motor
50 100 150 200 250 300 350 400 450 500
Stroke (mm)
2 3.5 1.5 13
5mm lead 2.5mm lead
10mm lead Vertical
2.5 0.5 20 0
1005mm 200 400 lead 300 Speed (mm/s)
1.5
10mm lead
1
Stroke Speed (mm/s) 50~500
Lead
50~500
(every 50mm)
(every 50mm)
10
500
5
250
2.5
125 (Unit: mm/s)
*See page A-71 for details on push motion.
Type
Standard price With cover
Without cover
— — — — — — — — — —
— — — — — — — — — —
Options Name Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (outside) CJO — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Left-mounted motor (standard) ML — ➝ A-52 Right-mounted motor MR — ➝ A-52 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
33
Vertical
Cable Length
Stroke (mm)
Servo Motor (200V)
2.5mm lead
2.5
0 0
Max. Load Capacity
Lead
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Servo Motor (24V)
200
0.5
RCP3-SA4R-I-35P-2.5- ➀ - ➁ - ➂ - ➃
Pulse Motor
Load Capacity (kg) Load Capacity (kg)
P.5
100
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard (Robot Cables) Special length
Standard price — — — — — —
* The standard cable is the motor-encoderintegrated robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø8mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, special alumite treated Ma: 6.8 N·m, Mb: 9.7 N·m, Mc: 13.3 N·m Ma: 3.04 N·m, Mb: 4.31 N·m, Mc: 5.00 N·m 120mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP3-SA4R
RCP3
ROBO Cylinder
Dimensional Drawings 2-ø2.5H7 depth 5
2D CAD
65 21
20 ±0.02
www.intelligentactuator.com
14
±0.02
Appendix
P.15
4-M3 depth 6
(95.5)
(With Cover)
Mini Standard
38
CAD drawings can be downloaded from the website.
Slider 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 (*3) Reference position for calculating the Ma moment
With Brake
135.2 (without brake)
Controllers Integrated
Rod Type
159.7 (with brake)
(Without Cover)
Mini L A 10
26.5
st SE
26 Home
Standard
47.5 3 ME (*2)
Controllers Integrated
42.5
36.5
5.5
5.2
23 3 ME
Table/ Arm/ Flat Type
5
(With Cover)
48 37
5.2
26
37 40
Motor-encoder cable connector (*1)
(4.5) 51 95.5
Mini
36.5
Ma moment offset reference position (*3)
(Without Cover)
Ma moment offset reference position (*3)
Standard
[Cable Exit Direction] (Optional) (Top: CJT)
Gripper/ Rotary Type
21
Secure at least 100
F
10.5
32
32
25
15
C×100
(Bottom: CJB)
B
ø2.5H7 depth from bottom of base 5 D-M3 depth 5 2.5H7 depth from bottom of base 5
(Out: CJO)
3.5
Details of F
15
51.5
* Brake-equipped models are heavier by 0.3kg.
Dimensions and Mass by Stroke Stroke L A B C D Weight With cover (kg) Without cover
50 100 150 200 250 300 350 400 450 500 183 233 283 333 383 433 483 533 583 633 156.5 206.5 256.5 306.5 356.5 406.5 456.5 506.5 556.5 606.5 91 41 91 41 91 41 91 41 91 41 0 1 1 2 2 3 3 4 4 5 4 6 6 8 8 10 10 12 12 14 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2.0 1.1 1.1 1.2 1.3 1.4 1.4 1.5 1.6 1.7 1.7
Applicable Controllers
Linear Servo Type
Cleanroom Type
SplashProof Type
RCP3 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-35PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-35PI- -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-35PI- -2-0
Equipped with a high-output driver Positioner type based on PIO control
512 points
Pulse-train type High-output specification
PCON-CA-35PI-PL-2-0
Equipped with a high-output driver Pulse-train input type
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-35PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
Pulse Train Input Type (Differential Line Driver)
PCON-PL-35PI- -2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-35PI- -2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-35PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-35PI- -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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP3-SA4R
➝ P665
34
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP3
ROBO Cylinder
RCP3-SA5R Model Specification Items
RCP3 Series
SA5R Type
I
Encoder type
ROBO Cylinder, Slider Type, 50mm Width, Pulse Motor, Side-mounted Motor
42P
Motor type
Lead
Stroke
I: Incremental 42P: Pulse motor, 12 : 12mm 6 : 6mm * The Simple absolute 42 size 3 : 3mm encoder is also considered type "I".
Applicable controller
50: 50mm 800: 800mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Options
Cable length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
N: None
See options below. P: 1m * Be sure to specify S: 3m which side the motor M: 5m is to be mounted X: Custom (ML/MR) length
12 Speed vs. Load Capacity lead Due to3mm the characteristics of the pulse motor, Horizontal 10
Mini
Load Capacity (kg) Load Capacity (kg)
the RCP3 series' load capacity decreases at high leadbelow, check if your desired speeds. In 6mm the table 8 speed and load capacity are supported.
Standard Controllers Integrated
Table/ Arm/ Flat Type
6 12 4 10
12mm lead Horizontal
3mm lead 6mm lead
2 8 0 60
100
200
300 400 500 600 Speed (mm/s)12mm lead
700
100
200
300 400 Speed (mm/s)
700
4 2
Mini
0 0
Photo above shows specification with motor side-mounted to the left (ML Option).
Standard
Appendix
Gripper/ Rotary Type
(1) Since the RCP3 series use a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to see if your desired speed and load capacity are supported.
(2) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 3mm-lead model, or when used vertically). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads Model number
Lead
Max. Load Capacity
(mm)
Horizontal (kg)
Vertical (kg)
RCP3-SA5R-I-42P-12- ➀ - ➁ - ➂ - ➃
12
~6
~1
RCP3-SA5R-I-42P-6- ➀ - ➁ - ➂ - ➃
6
~8
~2
RCP3-SA5R-I-42P-3- ➀ - ➁ - ➂ - ➃
3
10
~4
Servo Motor (200V)
Linear Servo Motor
Vertical 12mm lead
100
200
300
400
6mm Speed lead (mm/s)
500
600
700
12mm lead
Stroke and Maximum 100 200 300 400 Speed 500 600 Stroke Lead
700
Speed (mm/s) 50~550 600 650 700 750 800
(every 50mm) (mm) (mm) (mm) (mm) (mm)
12
600
570 490 425 370 330
6
300
285 245 210 185 165
3
150
140 120 105 90
80
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length Type
Standard price Standard price Stroke Stroke (mm) (mm) With cover Without cover With cover Without cover 50 — — 450 — — 100 — — 500 — — 150 — — 550 — — 200 — — 600 — — 250 — — 650 — — 300 — — 700 — — 350 — — 750 — — 400 — — 800 — —
Standard (Robot Cables) 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-encoderintegrated robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications
Options Name
Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (outside) CJO ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Left-mounted motor (standard) ML — ➝ A-52 Right-mounted motor MR — ➝ A-52 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
35
(mm)
600
6mm lead 3mm lead
50~800
Stroke
Servo Motor (24V)
Stroke
500
Vertical
3mm lead
(every 50mm)
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Pulse Motor
Load Capacity (kg) Load Capacity (kg)
P.5
5 4.5 4 3.5 3 2.5 25 4.5 1.5 4 1 3.5 0.5 03 2.50 2 1.5 1 0.5 0 0
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, special alumite treated Ma: 10.2 N·m, Mb: 14.6 N·m, Mc: 22.4 N·m Ma: 3.92 N·m, Mb: 5.58 N·m, Mc: 8.53 N·m 130mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP3-SA5R
RCP3
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
70 22
26 ±0.02
2D CAD
2-ø2.5H7 depth 5
Appendix
4-M4 depth 8
P.15
14±0.02
With Brake
(117)
(With Cover)
(*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 (*3) Reference position for calculating the Ma moment
Controllers Integrated
164.2 (with brake)
139.7 (without brake)
Rod Type
(Without Cover)
Mini
L 26.5
A 24.5
10 33
28
4.5
ME
Home
SE
50.5 3
Standard
ME (*2)
Controllers Integrated
52.5
43.5
47 50
Ma moment offset reference position (*3)
(8.5) 58.5
Motor-encoder cable connector (*1)
Table/ Arm/ Flat Type
117
2.5H7 depth from bottom of base 5
43.5
(Without Cover)
st
3 6.5
5
57
45
6.5
(With Cover)
Ma moment offset reference position (*3)
[Cable Exit Direction] (Optional) (Top: CJT)
26
Secure at least 100
F
32
15 10.5 C×100 B ø2.5H7 depth from bottom of base 5 D-M4 depth 7
(Out: CJO) 32
Mini Standard
45
CAD drawings can be downloaded from the website.
Slider Type
25
(Bottom: CJB)
15
Mini
Standard
53 Details of F
Dimensions and Mass by Stroke Stroke L A B C D Weight With cover (kg) Without cover
50 189.5 163 96 0 4 1.7 1.6
100 239.5 213 46 1 6 1.8 1.7
150 289.5 263 96 1 6 1.9 1.8
Gripper/ Rotary Type
3.5
200 339.5 313 46 2 8 2.1 1.9
* Brake-equipped models are heavier by 0.4kg.
250 389.5 363 96 2 8 2.2 2.0
300 439.5 413 46 3 10 2.3 2.1
350 489.5 463 96 3 10 2.5 2.3
400 539.5 513 46 4 12 2.6 2.4
450 589.5 563 96 4 12 2.8 2.5
500 639.5 613 46 5 14 2.9 2.6
550 689.5 663 96 5 14 3.0 2.7
600 739.5 713 46 6 16 3.2 2.8
650 789.5 763 96 6 16 3.3 2.9
700 839.5 813 46 7 18 3.4 3.1
750 889.5 863 96 7 18 3.6 3.2
800 939.5 913 46 8 20 3.7 3.3
Applicable Controllers
Linear Servo Type
Cleanroom Type
SplashProof Type
RCP3 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-42PI- -2-
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
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP3-SA5R
➝ P665
36
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP3
ROBO Cylinder
RCP3-SA6R Model Specification Items
RCP3 Series
SA6R Type
I
Encoder type
ROBO Cylinder, Slider Type, 60mm Width, Pulse Motor, Side-mounted Motor
42P
Motor type
I: Incremental 42P: Pulse motor, * The Simple absolute 42 size encoder is also considered type "I".
Lead
Stroke
12 : 12mm 6 : 6mm 3 : 3mm
Applicable controller
50: 50mm 800: 800mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Load Capacity (kg)Load Capacity (kg)
Controllers Integrated
Table/ Arm/ Flat Type
P.5
Linear Servo Type
Actuator Specifications
Leads and Payloads Model number
Lead
Max. Load Capacity
(mm)
Horizontal (kg)
Vertical (kg)
RCP3-SA6R-I-42P-12- ➀ - ➁ - ➂ - ➃
12
~6
~1
RCP3-SA6R-I-42P-6- ➀ - ➁ - ➂ - ➃
6
~8
~2
RCP3-SA6R-I-42P-3- ➀ - ➁ - ➂ - ➃
3
10
~4
Servo Motor (200V)
Linear Servo Motor
100
200
300 400 500 600 Speed (mm/s)12mm lead
700
100
200
300 400 Speed (mm/s)
700
4
5 4.5 4 3.5 3 2.5 5 2 4.5 1.54 3.51 0.5 3 2.500 2 1.5 1 0.5 0 0
Stroke (mm)
3mm lead
Vertical
3mm lead
6mm lead Vertical
500
600
12mm lead 100
200
300 400 6mm lead
Speed (mm/s)
500
600
700
12mm lead
Stroke Maximum Speed 100 200and 300 400 500 600 Stroke Lead
700
Speed (mm/s) 50~550 600 650 700 750 800
(every 50mm) (mm) (mm) (mm) (mm) (mm)
12
600
570 490 425 370 330
6
300
285 245 210 185 165
3
150
140 120 105 90
80
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Standard price Standard price Stroke Stroke (mm) (mm) With cover Without cover With cover Without cover 50 — — 450 — — 100 — — 500 — — 150 — — 550 — — 200 — — 600 — — 250 — — 650 — — 300 — — 700 — — 350 — — 750 — — 400 — — 800 — —
Type Standard (Robot Cables) 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 for the RCP3 is the robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications
Options Name
Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (outside) CJO ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Left-mounted motor (standard) ML — ➝ A-52 Right-mounted motor MR — ➝ A-52 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
37
6mm lead
28 0 60
50~800
Stroke
12mm lead Horizontal
3mm lead
(every 50mm)
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Servo Motor (24V)
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 RCP3 series use a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to 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). These values are the upper limits for the acceleration. (4) See page A-71 for details on push motion.
Gripper/ Rotary Type
104
0 0
Appendix
Standard
126
2
Photo above shows specification with motor side-mounted to the left (ML Option).
Mini
Pulse Motor
See options below. P: 1m * Be sure to specify S: 3m which side the motor M: 5m is to be mounted X: Custom (ML/MR) length
10 RCP3 series' load capacity decreases at high the leadbelow, check if your desired speeds. In 6mm the table 8 speed and load capacity are supported.
Standard
SplashProof Type
Options
N: None
12 Speed vs. Load Capacity lead Due to3mm the characteristics of the pulse motor, Horizontal
Mini
Cleanroom Type
Cable length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, special alumite treated Ma: 17.6 N·m, Mb: 25.2 N·m, Mc: 44.5 N·m Ma: 4.31 N·m, Mb: 6.17 N·m, Mc: 10.98 N·m 150mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP3-SA6R
RCP3
ROBO Cylinder
Dimensional Drawings 75 25
31 ±0.02
Appendix
4-M5 depth 10 15 ±0.02
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 (*3) Reference position for calculating the Ma moment
With Brake
139.7 (without brake)
Controllers Integrated
164.2 (with brake)
Rod Type
(Without Cover)
Mini
L
26.5
A 10
40
st
32
51
Home
SE (*2)
Standard
3 SE
Controllers Integrated
55
47
ME
(3.5) 58.5
57 60
Motor-encoder cable connector (*1)
Table/ Arm/ Flat Type
122
47
Ma moment offset reference position (*3)
25 3
7.5
8.5
49 5
(With Cover)
62.5
8.5
Mini
(Without Cover) Ma moment offset reference position (*3)
Standard
[Cable Exit Direction] (Optional)
D-M5 depth 8
F
(Out: CJO) 25
(Bottom: CJB)
Gripper/ Rotary Type
31
3H7 depth from bottom of base 5
32
Secure at least 100
(Top: CJT)
32
Mini Standard
117
(With Cover)
(122)
2D CAD
2-ø3H7 depth 5
5
www.intelligentactuator.com
52
CAD drawings can be downloaded from the website.
Slider Type
10.5
15 C×100 B ø3H7 depth from bottom of base 5
15
53
Dimensions and Mass by Stroke 4
Details of F
Stroke L A B C D Weight With cover (kg) Without cover
50 100 194.5 244.5 168 218 101 51 0 1 4 6 1.9 2.1 1.8 2.0
150 294.5 268 101 1 6 2.3 2.1
200 344.5 318 51 2 8 2.4 2.3
250 394.5 368 101 2 8 2.6 2.4
300 444.5 418 51 3 10 2.8 2.6
* Brake-equipped models are heavier by 0.4kg.
350 494.5 468 101 3 10 3.0 2.7
400 544.5 518 51 4 12 3.1 2.9
450 594.5 568 101 4 12 3.3 3.0
500 644.5 618 51 5 14 3.5 3.1
550 694.5 668 101 5 14 3.6 3.3
600 744.5 718 51 6 16 3.8 3.4
650 794.5 768 101 6 16 4.0 3.6
700 844.5 818 51 7 18 4.2 3.7
750 800 894.5 944.5 868 918 101 51 7 8 18 20 4.3 4.5 3.9 4.0
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCP3 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-42PI- -2-
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
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP3-SA6R
➝ P665
38
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-SS7C Model Specification Items
RCP2 Series
SS7C
I
Type
Encoder type
ROBO Cylinder, Slider Type, 60mm Width, Pulse Motor, Straight Type, Steel Base, Coupled
42P
Motor type
Lead
Stroke
I: Incremental 42P: Pulse motor, 12 : 12mm 6 : 6mm * The Simple absolute 42 size 3 : 3mm encoder is also considered type "I".
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
N: None
Options
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
B : Brake NM : Non-motor end SR : Slider Roller
35 Speed vs. Load Capacity 3mm lead Due of the pulse motor, Horizontal 30 to the characteristics Load Capacity (kg) Load Capacity (kg)
Mini
the RCP2 series' load capacity decreases at high 25 speeds. In the table below, check 6mm leadif your desired speed 20 and load capacity are supported.
Standard Controllers Integrated
Table/ Arm/ Flat Type
15 35 10 30
12mm lead Horizontal
3mm lead
6
255
6mm lead
200 0 15
100
200
300 400 Speed (mm/s)
10
500
600
6
5 0 0
Mini Appendix
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 a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to 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). These values are the upper limits for the acceleration. (4) See page A-71 for details on push motion.
Gripper/ Rotary Type
Linear Servo Type
Actuator Specifications Cleanroom Type
Leads and Payloads
Lead
Model number
RCP2-SS7C-I-42P-12- ➀ - ➁ - ➂ - ➃ SplashProof Type
(mm)
Horizontal (kg)
Vertical (kg)
12
~30
~4
RCP2-SS7C-I-42P-6- ➀ - ➁ - ➂ - ➃
6
~30
~8
RCP2-SS7C-I-42P-3- ➀ - ➁ - ➂ - ➃
3
~30
~12
500
600
Stroke (mm)
Standard price
50/100 150/200 250/300 350/400 450/500 550/600
— — — — — —
Vertical
6mm lead
124
Vertical
3mm lead
102 08 0 6
100
200
300
400
6mm lead Speed (mm/s)
4
(mm)
12mm lead 500
1 600
700
12mm lead
2
Stroke
1
Stroke and 300 Maximum Speed 100 200 400 500 600 Stroke Lead
(every 50mm)
12
600
470
6
300
230
3
150
115
Speed (mm/s) 50~500
~600
700
(mm)
(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 Option code B Brake Non-motor end specification NM Slider roller specification SR
Linear Servo Motor
39
700
Cable Length
Pulse Motor
Servo Motor (200V)
300 400 Speed (mm/s)
8 146
(every 50mm)
Stroke
200
3mm lead
10
50~600
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Servo Motor (24V)
12
(Note 1) Please note that the maximum load capacity decreases as the speed increases.0 0
Max. Load Capacity (Note 1)
100
14
P.5
Standard
700
12mm lead
See page Standard price — ➝ A-42 — ➝ A-52 — ➝ A-55
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 10,000km of traveling life
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 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP2-SS7C
RCP2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com 2-ø5H7 depth 10
21
19.5 12
19.5
Standard
Rod Type
S (Stroke)
(126)
S.E. 5
Home 5
25 15 M.E. *2
113 90
Mini
36
Standard 16
60 55 41.5 27
1
4.5
A
Details of A
Cable joint connector *1
Controllers Integrated
(A)
25 M.E.
57
55 60
(240)
4-M5 depth 10
(L)
Ma moment offset reference point *3
Reference surface
5 9
32
(*3) Reference position for calculating the Ma moment
5 9
Mini
P.15
126 60 50 32 ±0.02
(Reamer hole tolerance ±0.02)
2D CAD
40.6
* For the Non-motor end model, the dimensions (distance to home) on the motor-side and that on the opposite side are flipped.
Appendix
23.4
CAD drawings can be downloaded from the website.
Slider Type
55 60
Secure at least 100
D-M5 depth 8
55
30
*1: Connect the motor and encoder cables here. See page A-59 for details on cables. *2: When homing, the slider moves to the ME; therefore, please watch for any interference with the surrounding objects. 50 (reamer hole and oblong hole pitch) ME: Mechanical end SE: Stroke end The dimensions enclosed in "( )" are reference dimensions.
4-ø4H7 depth from bottom of base 6 (For 50ST, 3-ø4H7 depth from bottom of base 6)
Oblong hole depth from bottom of base 6
18
100 (reamer hole pitch) (90 for 50ST)
N×100
P
Table/ Arm/ Flat Type
100 (reamer hole pitch)
B (reamer hole pitch) C
M×100
18
P
Controllers Integrated
Mini
+0.012 0
5
4
Standard
Details for Oblong Hole
Gripper/ Rotary Type
52
* Brake cable is passed through the actuator body and connected to the motor cable. 36.5
1
Dimensions of the brake section * A dding a brake will increase the actuator's overall length by 24.5mm, and its weight by 0.3kg.
Dimensions and Mass by Stroke 27
55 53
Stroke L A B C D M N Weight (kg)
60
50 351 226 0 90 6 1 0 3.1
100 401 276 40 40 8 1 1 3.4
150 451 326 90 90 8 1 1 3.7
200 501 376 140 140 8 1 1 4.0
250 551 426 190 190 8 1 1 4.3
300 601 476 240 40 12 2 2 4.7
350 651 526 290 90 12 2 2 5.0
400 701 576 340 140 12 2 2 5.4
450 751 626 390 190 12 2 2 5.7
500 801 676 440 40 16 3 3 6.1
550 851 726 490 90 16 3 3 6.4
600 901 776 540 140 16 3 3 6.7
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCP2 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-42PI- -2-
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
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP2-SS7C
➝ P665
40
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-SS8C Model Specification Items
RCP2 Series
SS8C
I
Type
Encoder type
ROBO Cylinder, Slider Type, 80mm Width, Pulse Motor, Straight Type, Steel Base, Coupled
56P
Motor type
I: Incremental 56P: Pulse motor, * T he Simple absolute 56 size encoder is also considered type "I".
Lead
Stroke
20 : 20mm 10 : 10mm 5 : 5mm
Applicable controller
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.
Cable length
Options
N: None
B : Brake NM : Non-motor end SR : Slider Roller
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
70
Speed vs. Load Capacity Horizontal 60 55 lead Due to5mm the characteristics of the pulse motor, Load Capacity (kg) Load Capacity (kg)
Mini
the load capacity decreases at high 50 RCP2 series' 10mm lead speeds. In the table below, check if your desired 40 speed and load capacity are supported.
Standard Controllers Integrated
Table/ Arm/ Flat Type
0 0
Appendix
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 a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to 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). These values are the upper limits for the acceleration. (4) See page A-71 for details on push motion.
Gripper/ Rotary Type
Linear Servo Type
Actuator Specifications
Leads and Payloads
Lead
Max. Load Capacity (Note 1)
(mm)
Horizontal (kg)
Vertical (kg)
RCP2-SS8C-I-56P-20- ➀ - ➁ - ➂ - ➃
20
~40
~5
RCP2-SS8C-I-56P-10- ➀ - ➁ - ➂ - ➃
10
~50
~12
RCP2-SS8C-I-56P-5- ➀ - ➁ - ➂ - ➃
5
~55
~20
Stroke (mm)
Standard price
50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800 850/900 950/1000
— — — — — — — — — —
10mm leadVertical
5mm lead0.5
200 0 15 12
100
10
Stroke (mm)
20mm lead 500
0.5 600
700
10mm lead 0.5
20mm lead
2
0.5
100 Stroke Maximum Speed600 200and300 400 500 Stroke Lead
50~1000
10
(every 50mm)
5
*See page A-71 for details on push motion.
2 300 400 Speed (mm/s)
200
Speed (mm/s)~900 50~800 (every 50mm) (mm)
666 <600> 333 <300> 165 <150>
700
~1000 (mm)
625 <600> 310 <300> 155 <150>
515 255 125 (Unit: mm/s)
* The values enclosed in < > apply to vertical settings.
Option code B Brake Non-motor end specification NM Slider roller specification SR
Linear Servo Motor
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
41
700
5mm lead
35 15 12 30 10 255
600
Cable Length
Name
Servo Motor (200V)
20
500
700
Vertical
20
Stroke
Servo Motor (24V)
25
(Note 1) Please note that the maximum load capacity decreases as the speed increases.00
Model number
4 300 400 Speed (mm/s)
200
30
5
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Pulse Motor
100
35 Load Capacity (kg) Load Capacity (kg)
Standard
SplashProof Type
20mm lead
Horizontal 20 60 55 5mm lead 10 50 10mm lead 4 400 0 100 200 300 400 500 600 30 Speed (mm/s) 20mm lead 20 10
Mini
Cleanroom Type
30 70
See page Standard price — ➝ A-42 — ➝ A-52 — ➝ A-55
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 10,000km of traveling life
Ball screw, ø16mm, rolled C10 ±0.02mm 0.1mm or less (initial value) Material: Special 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 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP2-SS8C
RCP2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
Appendix
* For the Non-motor end model, the dimensions (distance to home) on the motor-side and that on the opposite side are flipped.
4-M8 depth 10
7.5
(240)
45
15 45 ±0.02 15
34
7.5
56
(*3) Reference position for calculating the Ma moment 35 20 35 17
Standard
2-ø8H7 depth 10
Rod Type
(170)
S (Stroke)
Home 5
S.E. 5
30 14 M.E. *2
138 116
Mini
48
77 70 55 34
Standard
74 80
15
*1: Connect the motor and encoder cables here. See page A-59 for details on cables. *2: When homing, the slider moves to the ME; therefore, please watch for any interference with the surrounding objects. ME: Mechanical end SE: Stroke end The dimensions enclosed in "( )" are reference dimensions.
N×100 P F 100 (reamer hole pitch) B (reamer hole pitch) 50 (reamer and oblong hole pitch)
N×100
P
100 (reamer hole pitch)
15
4-ø5H7 depth from bottom of base 6
Secure at least100
68
Controllers Integrated
Table/ Arm/ Flat Type
45
1
5
A
Details of A
Cable joint connector*1
Controllers Integrated
(A)
30 M.E.
73
74 80
Mini
(L)
Ma moment offset reference point*3
Reference surface
P.15
14
2D CAD
170 90 75
(Reamer hole tolerance ±0.02)
CAD drawings can be downloaded from the website.
Slider Type
Oblong hole depth from bottom of base 6
Mini
50
5
+0.012 0
Dimensions of the brake section
D-M8 depth 10
6
* Adding a brake will increase the actuator's overall length by 26mm, and its weight by 0.5kg.
Standard
Details for Oblong Hole
0.5
43
70 59 34
Gripper/ Rotary Type
* Brake cable is passed through the actuator body and connected to the motor cable. 80
Dimensions and Mass by Stroke Stroke L A B D F N Weight (kg)
50 435 280 50 8 50 1 6.6
100 485 330 100 8 100 1 7.1
150 535 380 150 8 150 1 7.6
200 585 430 200 10 0 2 8.1
250 635 480 250 12 50 2 8.6
300 685 530 300 12 100 2 9.2
350 735 580 350 12 150 2 9.7
400 785 630 400 14 0 3 10.2
450 835 680 450 16 50 3 10.7
500 885 730 500 16 100 3 11.3
550 935 780 550 16 150 3 11.7
600 650 700 750 800 850 900 950 1000 985 1035 1085 1135 1185 1235 1285 1335 1385 830 930 813 980 1030 1080 1130 1180 1230 600 700 46 750 800 850 900 950 1000 18 20 7 20 22 24 24 24 26 0 100 18 150 0 50 100 150 0 4 4 18 4 5 5 5 5 6 12.3 13.4 3.4 13.9 14.5 15.0 15.5 16.1 16.6
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCP2 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-56PI- -2-
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
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-56PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP2-SS8C
➝ P665
42
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-HS8C Model Specification Items
RCP2 Series
HS8C
ROBO Cylinder, High-Speed Slider Type, 80mm Width, Pulse Motor, Straight Type, Steel Base, Coupled
I
Type
86P
Encoder type I: Incremental
Motor type 86P: Pulse motor, 56 size high-output
30
P4
Lead
Stroke
Applicable controller
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)
the RCP2 series' load capacity decreases at high 25 speeds. In the table below, check if your desired speed 20 and load capacity are supported.
Standard Controllers Integrated
(1) Due to the large head 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 a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to 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). The upper limit for the acceleration is 0.5G for horizontal use and 0.2G for vertical use. (5) See page A-71 for details on push motion.
Linear Servo Type
1000
2 1 1200
1400
1400
Vertical
5 4 73 62
Acceleration 0.2G Vertical
51 40 Acceleration 0 100 200 300 400 500 0.2G 600 3 Speed (mm/s) (*Minimum Speed: 100mm/s) 2
Actuator Specifications
700
800
1 0
Lead and Payloads
Stroke Maximum 100 200and300 400 500Speed 600 700 800 Speed (mm/s) (*Minimum Speed: 100mm/s)50~800 Stroke ~900 ~1000 (every 50mm) (mm) (mm) Lead
(Note 1) Please note that the maximum load capacity decreases as the speed increases. 0
Max. Load Capacity (Note 1)
Lead
Model number
RCP2-HS8C-I-86P-30- ➀ -P4- ➁ - ➂
(mm)
Horizontal (kg)
Vertical (kg)
30
~20
~3
Code explanation ➀ Stroke ➁ Cable length ➂ Options
Stroke (mm)
50~1000
30
(every 50mm)
1200 <750>
1000 <750>
* The values enclosed in < > apply to vertical settings.
*See page A-71 for details on push motion.
Stroke
800 <750> (Unit: mm/s)
Cable Length
Stroke (mm)
Standard price
50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800 850/900 950/1000
— — — — — — — — — —
Name Option code B Brake Non-motor end specification NM Slider roller specification SR
Linear Servo Motor
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
43
600 800 Speed (mm/s)
6 Load Capacity (kg) Load Capacity (kg)
Gripper/ Rotary Type
Servo Motor (200V)
0 0 200 400 (*Minimum Speed: 100mm/s) 7
P.5
Standard
Servo Motor (24V)
5
Appendix
Mini
Pulse Motor
Acceleration 0.3G
35 15 12 Acceleration 0.5G Horizontal 30 10
255 2 200 1 0 200 400 600 Acceleration 800 1000 0.3G 1200 15 Acceleration 12 Speed: (*Minimum 100mm/s) 0.5G Speed (mm/s) 10
Table/ Arm/ Flat Type
SplashProof Type
Options
35 Speed vs. Load Capacity Due of the pulse motor, Horizontal 30 to the characteristics
Mini
Cleanroom Type
Cable length
N: None B : Brake P: 1m NM : Non-motor end S: 3m SR : Slider Roller M: 5m X: Custom length R: Robot cable
See page Standard price — ➝ A-42 — ➝ A-52 — ➝ A-55
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 10,000km of traveling life
Ball screw, ø16mm, rolled C10 ±0.02mm 0.1mm or less Material: Special 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 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP2-HS8C
RCP2
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
P.15
* For the Non-motor end model, the dimensions (distance to home) on the motor-side and that on the opposite side are flipped.
45
17
Home 5
30 14 M.E. *2
138 116
Mini
15
N×100 P 100 (reamer hole pitch) 50 (reamer and oblong hole pitch)
15 N×100 P 100 (reamer hole pitch)
F B (reamer hole pitch)
4-ø5H7 depth from bottom of base 6
Secure at least 100
68
Controllers Integrated
45
Table/ Arm/ Flat Type D-M8 depth 10
Oblong hole depth from bottom of base 6
5 +0.012 0
50
Mini 6
Standard
Details for Oblong Hole
43
70 59 34
0.5
* A dding a brake will increase the actuator's overall length by 26mm, and its weight by 0.5kg.
Controllers Integrated
Standard
74 80
*1: Connect the motor and encoder cables here. See page A-59 for details on cables. *2: When homing, the slider moves to the ME; therefore, please watch for any interference with the surrounding objects. ME: Mechanical end SE: Stroke end The dimensions enclosed in "( )" are reference dimensions.
Dimensions of the brake section
Standard
14
77 70 55 34 A
Details of A
(170)
S (Stroke) S.E. 5
48
5 1
74 80
Mini
Rod Type
(L)
(A)
30 M.E.
73
Cable joint connector*1
(240)
2-ø8H7 depth 10
35 20 35 Ma moment offset reference point*3
Reference surface
4-M8 depth 10
56 34
(*3) Reference position for calculating the Ma moment
7.5
(Reamer hole tolerance ±0.02)
2D CAD
170 90 75 7.5 15 45±0.02 15
Slider Type
Gripper/ Rotary Type
* Brake cable is passed through the actuator body and connected to the motor cable.
80
Dimensions and Mass by Stroke Stroke L A B D F N Weight (kg)
50 435 280 50 8 50 1 6.6
100 485 330 100 8 100 1 7.1
150 535 380 150 8 150 1 7.6
200 585 430 200 10 0 2 8.1
250 635 480 250 12 50 2 8.6
300 685 530 300 12 100 2 9.2
350 735 580 350 12 150 2 9.7
400 785 630 400 14 0 3 10.2
450 835 680 450 16 50 3 10.7
500 885 730 500 16 100 3 11.3
550 935 780 550 16 150 3 11.7
600 650 700 750 800 850 900 950 1000 985 1035 1085 1135 1185 1235 1285 1335 1385 830 880 930 980 1030 1080 1130 1180 1230 600 650 700 750 800 850 900 950 1000 18 20 20 20 22 24 24 24 26 0 50 100 150 0 50 100 150 0 4 4 4 4 5 5 5 5 6 12.3 12.8 13.4 13.9 14.5 15.0 15.5 16.1 16.6
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers The controller for the RCP2-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
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.
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
RCP2-HS8C
44
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-SS7R Model Specification Items
RCP2 Series
SS7R
I
Type
Encoder type
ROBO Cylinder, Slider Type, 60mm Width, Pulse Motor, Side-mounted Motor, Steel Base
42P
Motor type
Lead
Stroke
I: Incremental 42P: Pulse motor, 12 : 12mm 6 : 6mm * The Simple absolute 42 size 3 : 3mm encoder is also considered type "I".
Applicable controller
50: 50mm 600: 600mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Load Capacity (kg) Load Capacity (kg)
Controllers Integrated
Table/ Arm/ Flat Type Photo above shows specification with motor side-mounted to the left (ML Option).
Mini
Load Capacity (kg) Load Capacity (kg)
Linear Servo Type
Actuator Specifications
Leads and Payloads
200 0 15
Lead
Model number
Max. Load Capacity (Note 1)
(mm)
Horizontal (kg)
Vertical (kg)
RCP2-SS7R-I-42P-12- ➀ - ➁ - ➂ - ➃
12
~20
~4
RCP2-SS7R-I-42P-6- ➀ - ➁ - ➂ - ➃
6
~20
~5
RCP2-SS7R-I-42P-3- ➀ - ➁ - ➂ - ➃
3
~30
~10
100
2.5 300 400 Speed (mm/s)
600
6mm lead
5
10
500
5.5
100
5.5
2.5 300 400 Speed (mm/s)
200
500
600
700
600
700
Vertical
3mm lead
8 146 5 124 102
6mm lead
Vertical 12mm lead
3mm lead 1.5
08 0 6 5
100
0.5 0.5 300 400 500 6mm leadSpeed (mm/s) 200
4 2
Stroke
0
(mm)
12mm lead 1.5 Stroke and0.5Maximum0.5 Speed 100
300 400 50~500 Speed (mm/s)
500
600
~600
700
(mm)
(every 50mm)
Lead
50~600
*See page A-71 for details on push motion.
200
Stroke
12
600 <440>
470 <440>
6
250
230
3
105
105
* The values enclosed in < > apply to vertical settings. (Unit: mm/s)
Cable Length
Stroke (mm)
Standard price
50/100 150/200 250/300 350/400 450/500 550/600
— — — — — —
Type Standard Special length
Pulse Motor
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 Non-motor end specification Left-mounted motor (standard) Right-mounted motor Slider roller specification
Linear Servo Motor
45
700
12mm lead
(every 50mm)
Stroke
12mm lead Horizontal 6mm lead
200
10
(Note 1) Please note that the maximum load capacity decreases as the speed increases. 0
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Servo Motor (200V)
255
12
(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 a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to 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). These values are the upper limits for the acceleration. (4) See page A-71 for details on push motion.
Gripper/ Rotary Type
3mm lead
10 30
14
P.5
Standard
15 35
0 0
Appendix
Servo Motor (24V)
See Options below. P: 1m * Be sure to specify S: 3m which side the M: 5m motor is to be X: Custom length mounted (ML/MR). R: Robot cable
the 25 RCP2 series' load capacity decreases at high speeds. In the table below, check if your desired 20 speed and load capacity are supported.
Standard
SplashProof Type
Options
N: None
35 Speed vs. Load 3mm lead Capacity Horizontal 30 to the characteristics Due of the pulse motor,
Mini
Cleanroom Type
Cable length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Option code See page Standard price B — ➝ A-42 NM — ➝ A-52 ML — ➝ A-52 MR — ➝ A-52 SR — ➝ A-55
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 10,000km of traveling life
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 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP2-SS7R
RCP2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
Appendix
P.15
* For the Non-motor end model, the dimensions (distance to home) on the motor-side and that on the opposite side are flipped.
Standard (A) S (Stroke)
2-ø5H7, depth 10
(3)
5 9
5 9
21
Home
4-M5 depth 10
32 19.5
(67) 25 10 (57)
(126)
126 60 50 32 ±0.02
23.4
57 40.6
0.5 1
58
Controllers Integrated
M.E. *2
5
Rod Type
19.5
Cable joint connector *1
Mini
(36)
(6.3)
(2.7)
55 41.5 27
S.E. 5
(32.7)
25 M.E.
(61.3) 130
12
* The reference surface is the same as the SS7C type. (See P40) * The offset reference position for the Ma moment is the same as the SS7C type. (See P40)
Mini
(L)
60
2D CAD
(Reamer hole tolerance ±0.02)
CAD drawings can be downloaded from the website.
Slider Type
(240)
27.5
Standard 54
94
50
Controllers Integrated
*1: Connect the motor and encoder cables here. See page A-59 for details on cables. *2: When homing, the slider moves to the ME; therefore, please watch for any interference with the surrounding objects. ME: Mechanical end SE: Stroke end The dimensions enclosed in "( )" are reference dimensions.
4-ø4H7, depth from bottom of base 6 (For 50ST, 3-ø4H7 depth from bottom of base 6) oblong hole, depth from bottom of base 6
D-M5 depth 8
Table/ Arm/ Flat Type
30
*The bend radius R of the cable is the same as other models.
Dimensions of the brake section * A dding a brake will increase the actuator's overall length by 24.5mm, and its weight by 0.3kg.
Mini
50 (reamer hole and oblong hole pitch)
100 (reamer hole pitch) 18
(90 for 50ST) N×100 P
B (reamer hole pitch) C
M×100 P
Standard
18
+0.012 0
5
100 (reamer hole pitch)
4
Gripper/ Rotary Type
Details for Oblong Hole 55 53 27
60
1
51.3
36.5
* Brake cable is passed through the actuator body and connected to the motor cable.
Dimensions and Mass by Stroke Stroke L A B C D M N Weight (kg)
50 305 226 0 90 6 1 0 3.8
100 355 276 40 40 8 1 1 4.1
150 405 326 90 90 8 1 1 4.4
200 455 376 140 140 8 1 1 4.7
250 505 426 190 190 8 1 1 5.1
300 555 476 240 40 12 2 2 5.4
350 605 526 290 90 12 2 2 5.8
400 655 576 340 140 12 2 2 6.1
450 705 626 390 190 12 2 2 6.4
500 755 676 440 40 16 3 3 6.7
550 805 726 490 90 16 3 3 7.1
600 855 776 540 140 16 3 3 7.4
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCP2 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-42PI- -2-
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
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP2-SS7R
➝ P665
46
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-SS8R Model Specification Items
RCP2 Series
SS8R
I
Type
Encoder type
ROBO Cylinder, Slider Type, 80mm Width, Pulse Motor, Side-mounted Motor, Steel Base
56P
Motor type
Lead
Stroke
I: Incremental 56P: Pulse motor, 20 : 20mm 10 : 10mm * The Simple absolute 56 size 5 : 5mm encoder is also considered type "I".
Applicable controller
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.
Options
Cable length N: None
See Options below. P: 1m * Be sure to specify S: 3m which side the M: 5m motor is to be X: Custom length mounted (ML/MR). R: Robot cable
70
Load Capacity (kg) Load Capacity (kg)
Speed vs. Load Capacity Horizontal 60 55 5mm lead Due to the characteristics of the pulse motor,
Mini
the 50 RCP2 series' load capacity decreases at high speeds. In the table below, check if your desired 40 lead are supported. speed and 10mm load capacity
Standard Controllers Integrated
Table/ Arm/ Flat Type
Photo above shows specification with motor side-mounted to the left (ML Option). Appendix
Cleanroom Type
SplashProof Type
Leads and Payloads Model number
RCP2-SS8R-I-56P-20- ➀ - ➁ - ➂ - ➃
20
~23
~3
Servo Motor (200V)
20mm lead
1.5 200
4
300 400 Speed (mm/s)
25 20
500
1 600
RCP2-SS8R-I-56P-10- ➀ - ➁ - ➂ - ➃
10
~28
~9
RCP2-SS8R-I-56P-5- ➀ - ➁ - ➂ - ➃
5
~55
~20
5mm lead
15 35 10 9 30 255 3 5mm lead 2000 50 100 15 10 9
Vertical 10mm lead 0.5 150 200 Speed (mm/s)
20mm 20mm lead lead 0.5 250
300 0.5
350
10mm lead
50~1000
10
(every 50mm)
5
*See page A-71 for details on push motion.
600 <333> 300 <250> 160 <140>
600 <333> 300 <250> 155 <140>
515 <333> 255 <250> 125 <140>
* The values enclosed in < > apply to vertical settings. (Unit: mm/s)
Cable Length
Stroke (mm)
Standard price
50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800 850/900 950/1000
— — — — — — — — — —
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
Options Name Brake Non-motor end specification Left-mounted motor (standard) Right-mounted motor specification Slider roller specification
Linear Servo Motor
47
700
Vertical
30
20
Stroke
Servo Motor (24V)
100
700
53 20mm lead 20mm lead 0.5 0.5 Speed (Note 1) Please note that the maximum load capacity decreases as the speed increases. 0 Stroke and Maximum 0 50 100 150 200 250 300 350 Stroke Max. Load Capacity (Note 1) 0.5 50~800 ~1000 Stroke Lead Speed (mm/s)~900 (every 50mm) (mm) (mm) (mm) (mm) Lead Horizontal (kg) Vertical (kg)
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Pulse Motor
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 a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to 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 5mm lead model and when using vertically). These values are the upper limits for the acceleration. (4) See page A-71 for details on push motion.
Actuator Specifications
20 23 10
35
P.5
Standard
Linear Servo Type
Horizontal 20 60 23 55 5mm lead 10 20mm lead 50 1 1.5 4 400 0 10010mm 200 lead300 400 500 600 30 28 Speed (mm/s)
0 0
Mini
Gripper/ Rotary Type
28 30 70
Option code See page Standard price B — ➝ A-42 NM — ➝ A-52 ML — ➝ A-52 MR — ➝ A-52 SR — ➝ A-55
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 10,000km of traveling life
Ball screw, ø16mm, rolled C10 ±0.02mm 0.1mm or less Material: Special 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 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP2-SS8R
RCP2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
Appendix
P.15
* For the Non-motor end model, the dimensions (distance to home) on the motor-side and that 17 on the opposite side are flipped. 30 70 55 34
M.E.
1 0.5
S.E. 5
2-ø8H7 depth 10
(170)
170 90 7.5
75
7.5
15
45 ±0.02
15
30 10 (57)
Controllers Integrated
M.E. *2
Home 5
4-M8 depth 10
(6) 75
(42)
35 20 35
Mini (45)
Cable joint connector *1
(2)
(240)
138
Standard
35 68
Controllers Integrated
*1: Connect the motor and encoder cables here. See page A-59 for details on cables. *2: When homing, the slider moves to the ME; therefore, please watch for any interference with the surrounding objects. ME: Mechanical end SE: Stroke end The dimensions enclosed in "( )" are reference dimensions.
Table/ Arm/ Flat Type
45
Oblong hole depth from bottom of base 6
6
+0.012 0
Dimensions of the brake section * A dding a brake will increase the actuator's overall length by 26mm, and its weight by 0.5kg.
Rod Type
(78) 165
45
34
80
(2)
* The reference surface is the same as the SS8C type. (See P42) * The offset reference position for the Ma moment is the same as the SS8C type. (See P42)
Standard
(67)
(A) S (Stroke)
73 56
2D CAD
5
50 (reamer and oblong hole pitch)
Details for Oblong Hole
Mini 100 (reamer hole pitch)
B (reamer hole pitch) F
100 (reamer hole pitch) 15 N×100 P
N×100 P
15
4-ø5H7 depth from bottom of base 6 D-M8 depth 10
Standard
70 59 34
Gripper/ Rotary Type
43
* Brake cable is passed through the actuator body and connected to the motor cable.
50
80
0.5
Dimensions and Mass by Stroke Stroke L A B D F N Weight (kg)
Mini
(L)
(Reamer hole tolerance ±0.02)
CAD drawings can be downloaded from the website.
Slider Type
50 364 280 50 8 50 1 7.4
100 414 330 100 8 100 1 7.9
150 464 380 150 8 150 1 8.5
200 514 430 200 10 0 2 9.0
250 564 480 250 12 50 2 8.6
300 614 530 300 12 100 2 10
350 664 580 350 12 150 2 10.5
400 714 630 400 14 0 3 11.1
450 764 680 450 16 50 3 11.6
500 814 730 500 16 100 3 12.1
550 864 780 550 16 150 3 12.7
600 914 830 600 18 0 4 13.2
650 700 750 800 850 900 950 1000 964 1014 1064 1114 1164 1214 1264 1314 880 930 980 1030 1080 1130 1180 1230 650 700 750 800 850 900 950 1000 20 20 20 22 24 24 24 26 50 100 150 0 50 100 150 0 4 4 4 5 5 5 5 6 13.7 14.3 14.8 15.3 15.8 16.4 16.9 17.4
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCP2 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-56PI- -2-
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
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-56PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP2-SS8R
➝ P665
48
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-HS8R Model Specification Items
RCP2 Series
HS8R
I
Type
ROBO Cylinder, High-Speed Slider Type, 80mm Width, Pulse Motor, Side-mounted Motor, Steel Base
Encoder type I: Incremental
86P
Motor type
30
Lead
P4
Stroke
86P: Pulse motor, 30 : 30mm 56 size high-output
* See page Pre-47 for details on the model descriptions.
Applicable controller
50: 50mm
P4: PCON-CFA
1000: 1000mm (50mm pitch increments)
Load Capacity (kg) Load Capacity (kg)
the RCP2 series' load capacity decreases at high 25 speeds. In the table below, check if your desired speed and load capacity are supported. 20
Standard
Acceleration 0.3G 35 15 Acceleration 0.5G Horizontal 30 10 25 5 1 20 0 Acceleration 0.3G 200 400 600 800 1000 1200 150 Acceleration 0.5G (*Minimum Speed: 100mm/s) Speed (mm/s) 10
Controllers Integrated
Table/ Arm/ Flat Type
Photo above shows specification with motor side-mounted to the left (ML Option).
Actuator Specifications
Lead and Payloads Model number
Lead
RCP2-HS8R-I-86P-30- ➀ -P4- ➁ - ➂
Max. Load Capacity (Note 1)
(mm)
Horizontal (kg)
Vertical (kg)
30
~20
~3
1400
5
4 Acceleration 0.2G 7 3 Vertical 6 2 5 1 4 0 Acceleration 100 200 300 400 500 0.2G 600 30 Speed (mm/s) (*Minimum Speed: 100mm/s) 2
700
800
1
Stroke (mm)
Lead
50~1000
30
(every 50mm)
800
50~800
~900
~1000
1200 <750>
1000 <750>
800 <750>
(mm)
(every 50mm)
(mm)
* The values enclosed in < > apply to vertical settings. (Unit: mm/s)
*See page A-71 for details on push motion.
Stroke
Cable Length
Stroke (mm)
Standard price
50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800 850/900 950/1000
— — — — — — — — — —
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 Non-motor end specification Left-mounted motor (standard) Right-mounted motor Slider roller specification
Linear Servo Motor
49
1 1200
0 200 and 300Maximum 400 500 Speed 600 700 Stroke (Note 1) Please note that the maximum load capacity decreases as the speed increases.0 100 Speed (mm/s) (*Minimum Speed: 100mm/s) Stroke
Code explanation ➀ Stroke ➁ Cable length ➂ Options
Servo Motor (200V)
1000
Vertical
6 Load Capacity (kg) Load Capacity (kg)
Linear Servo Type
600 800 Speed (mm/s)
1400
7
(1) Due to the large head 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 a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to 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). The upper limit for the acceleration is 0.5G for horizontal use and 0.2G for vertical use. (5) See page A-71 for details on push motion.
Gripper/ Rotary Type
Servo Motor (24V)
0 0 200 400 (*Minimum Speed: 100mm/s)
P.5
Standard
Pulse Motor
5
Appendix
Mini
SplashProof Type
Options
B : Brake NM : Non-motor end P: 1m ML : Left-mounted motor S: 3m (Standard) M: 5m X: Custom length MR : Right-mounted motor R: Robot cable SR : Slider roller
35 Speed vs. Load Capacity Due of the pulse motor, Horizontal 30 to the characteristics
Mini
Cleanroom Type
Cable length N: None
Option code See page Standard price B — ➝ A-42 NM — ➝ A-52 ML — ➝ A-52 MR — ➝ A-52 SR — ➝ A-55
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 10,000km of traveling life
Ball screw, ø16mm, rolled C10 ±0.02mm 0.1mm or less Material: Special 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 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP2-HS8R
RCP2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
70 55 34
17
(A) 30
M.E. 1 0.5
S.E. 2-ø8H7 depth 10 5
S (Stroke) 170 90 7.5 75 15 45 ±0.02
(170)
7.5 15
4-M8 depth 10
Home 5
(67) 30 10 (57)
Standard
M.E. *2
Controllers Integrated
(42)
Rod Type
(78) 165
45
Mini
(45) (240)
35 68
Standard
138
Controllers Integrated
Table/ Arm/ Flat Type
Oblong hole depth from bottom of base 6
45
6
Mini
50 (reamer and oblong hole pitch)
5
+0.012 0
Dimensions of the brake section * Adding a brake will increase the actuator's overall length by 26mm, and its weight by 0.5kg.
(Reamer hole tolerance ±0.02)
73 56
80 (2)
(6) 75
35 20 35 Cable joint connector *1
*1: Connect the motor and encoder cables here. See page A-59 for details on cables. *2: When homing, the slider moves to the ME; therefore, please watch for any interference with the surrounding objects. ME: Mechanical end SE: Stroke end The dimensions enclosed in "( )" are reference dimensions.
Details for Oblong Hole
15
100 (reamer hole pitch)
N×100 P
B (reamer hole pitch) F
100 (reamer hole pitch) 15 N×100 P
4-ø5H7 depth from bottom of base 6 D-M8 depth 10
70 59 34
* Brake cable is passed through the actuator body and connected to the motor cable.
50
80
0.5
Dimensions and Mass by Stroke 50 364 280 50 8 50 1 7.4
100 414 330 100 8 100 1 7.9
150 464 380 150 8 150 1 8.5
200 514 430 200 10 0 2 9.0
250 564 480 250 12 50 2 9.5
Standard
Gripper/ Rotary Type
43
Stroke L A B D F N Weight (kg)
Mini
(2)
* The reference surface is the same as the HS8C type. (See P44) * The offset reference position for the Ma moment is the same as the HS8C type. (See P44)
P.15
(L)
* For the Non-motor end model, the dimensions (distance to home) on the motor-side and that on the opposite side are flipped.
2D CAD
Appendix
34
CAD drawings can be downloaded from the website.
Slider Type
300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 614 664 714 764 814 864 914 964 1014 1064 1114 1164 1214 1264 1314 530 580 630 680 730 780 830 880 930 980 1030 1080 1130 1180 1230 cable is400 passed through actuator body and connected motor cable. 300* Brake 350 450 the 500 550 600 650to the700 750 800 850 900 950 1000 12 12 14 16 16 16 18 20 20 20 22 24 24 24 26 100 150 0 50 100 150 0 50 100 150 0 50 100 150 0 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6 10 10.5 11.1 11.6 12.1 12.7 13.2 13.7 14.3 14.8 15.3 15.8 16.4 16.9 17.4
Applicable Controllers
Linear Servo Type
Cleanroom Type
SplashProof Type
The controller for the RCP2-HS8R 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
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.
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
RCP2-HS8R
50
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-BA6/BA6U Model Specification Items
RCP2 Series
I
Type
Encoder type
42P
54
Motor type
BA6 : Belt type I: Incremental 42P: Pulse motor, Top-mounted motor * The Simple absolute 42 size encoder is also BA6U : Belt type Bottom-mounted motor considered type "I".
ROBO Cylinder, Belt Type, 58mm Width, Pulse Motor, Top-mounted Motor/Bottom-mounted Motor
Lead
Stroke
Applicable controller
54 : 54mm equivalent
500: 500mm
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.
Options
Cable length N: None
NM: Non-motor end
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Speed vs. Load Capacity Due to the characteristics of the pulse motor,
Mini
the RCP2 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.
Standard
7 Controllers Integrated
Load Capacity (kg)
Table/ Arm/ Flat Type Appendix
Mini
Linear Servo Type
SplashProof Type
3 2 1
1.5
2(settling time of 0.2s)
1250
1500
1750
Actuator Specifications
Lead and Payload
(Note 1) Please note that the maximum load capacity decreases as the speed increases.
Motor Mounting Direction
Model number
RCP2-BA6-I-42P-54- ➀ - ➁ - ➂ - ➃ RCP2-BA6U-I-42P-54- ➀ - ➁ - ➂ - ➃
Lead
Max. Load Capacity (Note 1)
(mm)
Horizontal (kg)
Vertical (kg)
54 equivalent
~4
Not Allowed
Top Bottom
Stroke and Maximum Speed Stroke
Stroke (mm)
(every 50mm)
54 equivalent
500~1000 (every 50mm)
1000 (Unit: mm/s)
Cable Length
Stroke (mm)
Standard price
500 550 600 650 700 750 800 850 900 950 1000
— — — — — — — — — — —
Name Non-motor end specification
Servo Motor (200V)
Linear Servo Motor
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 Option code See page Standard price NM — ➝ A-52
Item
Description
Drive System Positioning repeatability Lost Motion Dynamic allowable moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Timing Belt ±0.1mm 0.1mm or less Ma: 8.9 N·m, Mb: 12.7 N·m, Mc: 18.6 N·m 150mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
51
500~1000
Lead
*See page A-71 for details on push motion.
Stroke
Servo Motor (24V)
1(settling time of 0.5s)
(Vertical operation is not possible.)
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Pulse Motor
4
Note: Graph is for standard specifications, with settling time of 0.5s for calculating the positioning time. Graph reflects some changes in the controller settings. The load capacity is lower, however the settling time is decreased to 0.2s. If the load capacity is lower than graph, and you want to shorten the positioning time, change the controller settings. (See the manual for details.)
(1) Operating the belt type actuator at low speeds may cause vibration and/or resonance. Therefore, please set the speed at 100mm/s or faster. (2) Since the RCP2 series use a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to see if your desired speed and load capacity are supported. (3) The load capacity is based on operation at an acceleration of 0.5G. 0.5G is the upper limit for the acceleration. (4) BA6/BA6U only supports horizontal-flat installation, and horizontal-ceiling- mounted installation. See page A-7 for details. (5) See page A-71 for details on push motion.
Gripper/ Rotary Type
5
0 0 250 500 750 1000 (*Minimum Speed: 100mm/s) Speed (mm/s)
P.5
Standard
Cleanroom Type
Horizontal
6
Mb
Mc
Ma
L
Mc L
RCP2-BA6/BA6U
RCP2
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
2D CAD
www.intelligentactuator.com
Appendix
P.15
*1: Connect the motor and encoder cables here. See page A-59 for details on cables. *2: When homing, the slider moves to the ME; therefore, please watch for any interference with the surrounding objects. ME: Mechanical end 5 SE: Stroke end
60 50 9 32 ±0.02 9
5 4-M5 depth 10
5 Reference offset position for Ma moment *3
Mini Standard Controllers Integrated
(240)
31±0.02
2-ø5H7 reamer depth 10
*3: Reference offset position used when calculating the Ma moment.
Slider Type
Rod Type Cable joint connector*1
48 5 39 8 23 8
71.5
Stroke
23
60
65
Mini
(Motor on bottom: BA6U) 10
(Motor on top: BA6)
L 10
10.5
63.5
SE
Home ME*2
4.7
4.7
Secure at least 100 73
55 53
41
118.5
53
Standard ME
55 58
A
Oblong hole, depth from the bottom of the base 5.5
2-ø4H7 reamer depth from the bottom of the base 5.5
Controllers Integrated
Table/ Arm/ Flat Type
75.5
S-4.5 drilled, ø8 deep counterbore, depth 4.5 (from the opposite side)
S-4.5 drilled, ø8 deep counterbore, depth 4.5 (from the opposite side)
Mini
30
Standard
55
N×100 P P (reamer and oblong hole pitch) A
B
Gripper/ Rotary Type
80
80
4
4.5
Details for Oblong Hole
4.5
7.5
ø4.5
1.5
Dimensions and Mass by Stroke Stroke L A B N P S Weight (kg)
4
Reference surface
+0.012 0
5 ø8
Details of A (mounting hole and reference surface)
500 740 720 85 5 570 14 2.8
550 790 770 35 6 620 16 2.9
600 840 820 85 6 670 16 3.0
650 890 870 35 7 720 18 3.2
700 940 920 85 7 770 18 3.3
750 990 970 35 8 820 20 3.4
800 850 900 950 1040 1090 1140 1190 1020 1070 1120 1170 85 35 85 35 8 9 9 10 870 920 970 1020 20 22 22 24 3.5 3.7 3.8 3.9
1000 1240 1220 85 10 1070 24 4.1
Applicable Controllers
Linear Servo Type
Cleanroom Type
SplashProof Type
RCP2 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-42PI- -2-
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
(—) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP2-BA6/BA6U
➝ P665
52
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCP2
ROBO Cylinder
RCP2-BA7/BA7U Model Specification Items
RCP2 Series
I
Type
Encoder type
42P
ROBO Cylinder, Belt Type, 68mm Width, Pulse Motor, Top-mounted Motor/Bottom-mounted Motor
54
Motor type
Lead
Stroke
Applicable controller
BA7 : Belt type I: Incremental 42P: Pulse motor, 54 :54mm 600: 600mm equivalent Top-mounted motor * The Simple absolute 42 size encoder is also 1200: 1200mm BA7U : Belt type (50mm pitch Bottom-mounted motor considered type "I". increments)
* See page Pre-47 for details on the model descriptions.
Load Capacity (kg)
10
Appendix
Mini
1(settling time of 0.5s)
8 6 4
2(setting time of 0.2s)
2
1
0 0
P.5
250
500
750
(*Minimum Speed: 100mm/s)
Standard
Linear Servo Type
1000
Speed (mm/s)
1250
1500
1750
Note: Graph is for standard specifications, with settling time of 0.5s for calculating the positioning time. Graph reflects some changes in the controller settings. The load capacity is lower, however the settling time is decreased to 0.2s. If the load capacity is lower than graph, and you want to shorten the positioning time, change the controller settings. (See the manual for details.)
(1) Operating the belt type actuator at low speeds may cause vibration and/or resonance. Therefore, please set the speed at 100mm/s or faster. (2) Since the RCP2 series use a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to see if your desired speed and load capacity are supported. (3) SThe load capacity is based on operation at an acceleration of 0.5G. 0.5G is the upper limit for the acceleration. (4) BA7/BA7U only supports horizontal-flat installation, and horizontal-ceiling- mounted installation. See page A-7 for details. (5) See page A-71 for details on push motion.
Gripper/ Rotary Type
(Vertical operation is not possible.) Actuator Specifications
Lead and Payload
(Note 1) Please note that the maximum load capacity decreases as the speed increases.
Motor Mounting Direction
Model number
RCP2-BA7-I-42P-54- ➀ - ➁ - ➂ - ➃
Lead
Max. Load Capacity (Note 1)
(mm)
Horizontal (kg)
Vertical (kg)
54 equivalent
~8
Not Allowed
Top
RCP2-BA7U-I-42P-54- ➀ - ➁ - ➂ - ➃
Bottom
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
(mm)
600~1200 (every 50mm)
Lead
54 equivalent
600~1200 (every 50mm)
1500 (Unit: mm/s)
Cable Length
Stroke (mm)
Standard price
600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200
— — — — — — — — — — — — —
Name Non-motor end specification
Linear Servo Motor
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
53
Stroke and Maximum Speed Stroke
Stroke
*See page A-71 for details on push motion.
Stroke
Servo Motor (200V)
Horizontal
12
Table/ Arm/ Flat Type
Servo Motor (24V)
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
14
Controllers Integrated
Pulse Motor
NM: Non-motor end
the RCP2 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.
Standard
SplashProof Type
N: None
Speed vs. Load Capacity Due to the characteristics of the pulse motor,
Mini
Cleanroom Type
Options
Cable length
P1: PCON-PL/PO/SE PSEL P3: PCON-CA PMEC/PSEP MSEP
Option code See page Standard price NM — ➝ A-52
Item
Description
Drive System Positioning repeatability Lost Motion Dynamic allowable moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Timing Belt ±0.1mm 0.1mm or less Ma: 13.8 N·m, Mb: 19.7 N·m, Mc: 29.0 N·m 150mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCP2-BA7/BA7U
RCP2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
2D CAD
Appendix
P.15
*3: Reference offset position used when calculating the Ma moment. 75 65 47 ±0.02
5 9 4-M5×10
Mini Standard Controllers Integrated
(240)
40 ±0.02
*1: Connect the motor and encoder cables here. See page A-59 for details on cables. *2: When homing, the slider moves to the ME; therefore, please watch for any interference with the surrounding objects. ME: Mechanical end 5 SE: Stroke end 2-ø5H7 reamer depth 10 9
Slider Type
Rod Type Cable joint connector*1
48 10 32 8 23 8
(Top mounted motor: BA7)
L
10
71.5
(Stroke)
68.5
ME
75
23
65
(Bottom mounted motor: BA7U) 10
Home ME*2
SE
4.7
Controllers Integrated 83
46
60 58
63 68
A
Standard
Secure at least 100
128.5
4.7
Mini
10.5
58
10 Reference offset position for Ma moment *3
Oblong hole, depth from the bottom of the base 5.5
2-ø4H7 reamer depth from the bottom of the base 5.5
S-4.5 drilled, ø8 deep counterbore, depth 4.5 (from the opposite side)
Table/ Arm/ Flat Type
75.5 S-4.5 drilled, ø8 deep counterbore, depth 4.5 (from opposite side)
Mini
40
Standard
55
N×100 P P (reamer and oblong hole pitch) A
B
4
4.5
+0.012 0
5
ø8
4
Details for Oblong Hole
Reference surface
4
6.5
ø4.5
2.5
Gripper/ Rotary Type
80
80
Details of A (mounting hole and reference surface)
Dimensions and Mass by Stroke Stroke L A B N P S Weight (kg)
600 855 835 100 6 685 16 3.6
650 905 885 50 7 735 18 3.7
700 750 800 850 955 1005 1055 1105 935 985 1035 1085 100 50 100 50 7 8 8 9 785 835 885 935 18 20 20 22 3.9 4.0 4.2 4.3
900 1155 1135 100 9 985 22 4.4
950 1205 1185 50 10 1035 24 4.6
1000 1255 1235 100 10 1085 24 4.7
1050 1305 1285 50 11 1135 26 4.9
1100 1355 1335 100 11 1185 26 5.0
1150 1405 1385 50 12 1235 28 5.2
1200 1455 1435 100 12 1285 28 5.3
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCP2 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-42PI- -2-
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
(−) 768 points
Solenoid Valve Type
Field network type High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver Supporting 7 major field networks
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). *
Input power
3 points
Power-supply Standard Reference capacity price page Refer to P541
—
➝ P537
Refer to P555
—
➝ P547
Refer to P572
—
➝ P563 Pulse Motor
—
DC24V
Refer to P618
—
➝ 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.
RCP2-BA7/BA7U
➝ P665
54
Servo Motor (200V)
Linear Servo Motor
Mini Standard Controllers Integrated
Rod Type
ERC3
ROBO Cylinder
ERC3-SA5C Model Specification Items
ERC3 SA5C Series
I
Type
Encoder type I: Incremental
Controller-Integrated, Slider Type, Actuator Width 50mm, Pulse Motor, Straight Type
42P
Motor type
Lead
Stroke
42Pulse motor 20 : 20mm 12 : 12mm 6 : 6mm 3 : 3mm
* See page Pre-47 for details on the model descriptions.
50:50mm 800:800mm (50mm pitch increments)
I/O type
Cable length
the ERC3 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.
Standard
25
Controllers Integrated Payload (kg)
20
Table/ Arm/ Flat Type
25
Gripper/ Rotary Type
18
10 9 Lead 12 (1) If the high-output setting is enabled (factory default), the6.5duty must be limited. (Refer to page 7 Lead 20 A-95.) If the high-output setting is disabled, the payload 5 and maximum speed become lower, but the actuator can be used at a duty of 100%. Refer to the operation manual for information5 on how5.5
to change the high-output setting. 0 0 200 400 high-output 600 800setting 1000 (2) Refer to page A-99 for the payload at each speed/acceleration when the is Speed (mm/s) enabled.
Linear Servo Type
(Note 1) Take caution that the maximum payload decreases as the speed increases.
Lead (mm)
Max. Load Capacity (Note 1) Horizontal (kg)
Vertical (kg)
ERC3-SA5C-I-42P-20- ➀ - ➁ - ➂ - ➃
20
6.5
1
ERC3-SA5C-I-42P-12- ➀ - ➁ - ➂ - ➃
12
9
2.5
ERC3-SA5C-I-42P-6- ➀ - ➁ - ➂ - ➃
6
18
6
ERC3-SA5C-I-42P-3- ➀ - ➁ - ➂ - ➃
3
20
12
Code explanation ➀ Stroke ➁ I/O type ➂ Cable length ➃ Options
Stroke
5.5
5 400
600 800 1000 1200 1400 Speed (mm/s) The values below are based on operation at 0.3 G.
Lead 3
Vertical
10 8 6
Lead 6
4
2.5 2 1 0 0 200
1400
Lead 12 400
0.5
600 800 Speed (mm/s)
0.5
Lead 20
1000
0.5 1200
1400
High-output setting enabled (Factory default)
Stroke (mm)
Standard price
Stroke (mm)
Standard price
50 100 150 200 250 300 350 400
— — — — — — — —
450 500 550 600 650 700 750 800
— — — — — — — —
Name Brake Non-motor end specification Simple absolute specification
Option code B NM ABU
See page ➝ A-42 ➝ A-52 ➝ A-42
Standard price — — — (*)
(*1) If the simple absolute specification is selected, SE (SIO type) I/O type and the separately sold PIO converter with simple absolute specification (with battery) are required.
55
Stroke (mm)
Stroke and Maximum Speed Stroke 50~450 (every 50mm) Lead
20 50~800
500
(mm)
1120
550
600
(Unit: mm/s)
650
700
750
800
(mm)
(mm)
(mm)
(mm)
(mm)
(mm)
1115
935
795
680
585
510
12
900
805
665
560
475
405
350
300
6
450
400
330
280
235
200
175
150
3
225
200
165
140
115
200
85
75
(every 50mm)
* The values of lead 3 apply when acceleration is at 0.1G.
*See page A-71 for details on push motion.
Cable Length
Options
Linear Servo Motor
1200
Lead 20
Actuator Specifications (High-output Setting Enabled)
Leads and Payloads
Model number
Servo Motor (200V)
P.5
Lead 6
15
Lead 12
7
200
12
Appendix
12
Lead 6
10 9 6.5 5
14
Horizontal
Lead 3
Payload (kg)
Payload (kg)
20
Servo Motor (24V)
18
14
Horizontal
Lead 3
0 0
Standard
Pulse Motor
The values below are based on operation at 0.3 G.
15
Mini
SplashProof Type
Options B : Brake NM : Non-motor end specification ABU: Simple absolute specification
Speed vs. Load Capacity Due to the characteristics of the pulse motor,
Mini
Cleanroom Type
Controller type
NP: PIO (NPN) type CN: CON type N: None P: 1m PN: PIO (PNP) type MC: MEC type S: 3 m M: 5m SE: SIO type X: Custom length PLN: Pulse-train (NPN) type PLP: Pulse-train (PNP) type
Payload (kg)
Slider Type
Type
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m)
Standard (Robot Cables) Special length
Standard price — — — —
* See page 586 for cables for maintenance.
Actuator Specifications Item
Description
Drive System Positioning repeatability (*1) Lost Motion Allowable static moment Allowable dynamic moment (*2) Allowable overhang Ambient operating temperature, humidity
Ball screw, ø10mm, rolled C10 ±0.02mm [±0.03mm] 0.1mm or less Ma: 29.4 N·m, Mb: 42.0 N·m, Mc: 60.5 N·m Ma: 7.1 N·m, Mb: 10.2 N·m, Mc: 14.7 N·m 150mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing)
(*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 Ma
Mb
Mc
Ma
L
Mc L
ERC3-SA5C
Lead 3
V
10 8 6 4
2.5 2 1 0 0 200
Lead 6
400
0.5
60 Sp
ERC3
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
P.15
2D CAD *1 Connect the power & I/O cable. Refer to page 586 for details on this cable 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.
5
4.5
reference plane ø8
50 (Pitch of reamed holes( ±0.02)
3
ø4.5
Detail view of X (Mounting hole and the reference plane) Offset reference position for Ma/Mc moments *3
26 3 ME SE
Stroke
51
15
3 HOME
105.7
ME (*2)
47 50 55.3
Standard
Cable joint connector *1
Controllers Integrated
48.1 27.2
J-Oblong hole, depth 5.5 G-M4 depth 7 (from the bottom of the base)
50 C×100P B (reamed hole and oblong hole pitch) A
20
Mini
The overall length of the brake specification is 42.5 mm longer than the standard specification and is 0.4 kg heavier. 185 42.5 105.7
24
26 Y
Table/ Arm/ Flat Type
External view of the brake specification
2-ø4, H7 depth 5.5 (from the bottom of the base)
D×100P
5
Detail Y
Mini
Teaching port
142.5
36.5
68.7 50
57
F
Standard
H-ø4.5, through ø8 counterbored, depth 4.5 (from the opposite side) 143
44
Gripper/ Rotary Type
Dimensions and Mass by Stroke Stroke 50 100 L 284.5 334.5 A 73 100 B 0 85 C 0 0 D 0 0 F 142 192 G 4 4 H 4 4 J 0 1 Weight (kg) 1.4 1.5
150 384.5 100 85 1 0 242 4 6 1 1.6
200 434.5 200 185 1 1 292 6 6 1 1.7
250 484.5 200 185 2 1 342 6 8 1 1.9
300 534.5 300 285 2 2 392 8 8 1 2.0
350 584.5 300 285 3 2 442 8 10 1 2.1
(300) Controllers Integrated
Rod Type
*3 Reference position is used when calculating the Ma and Mc moments.
L
4+0.012 0
Mini Standard
5 41 5 2-ø4, H7 depth 6 20.5 20.5 4-M4 depth 8
X
Slider Type
400 634.5 400 385 3 3 492 10 10 1 2.2
450 684.5 400 385 4 3 542 10 12 1 2.3
500 734.5 500 485 4 4 592 12 12 1 2.4
550 784.5 500 485 5 4 642 12 14 1 2.5
600 834.5 600 585 5 5 692 14 14 1 2.7
650 884.5 600 585 6 5 742 14 16 1 2.8
700 934.5 700 685 6 6 792 16 16 1 2.9
750 984.5 700 685 7 6 842 16 18 1 3.0
800 1034.5 800 785 7 7 892 18 18 1 3.1
Linear Servo Type
Cleanroom Type
SplashProof Type
Controllers (Built into the Actuator) ②I/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)
ERC3-SA5C-I-42P---NP--
Simple control type accommodating up to 16 positioning points
16
PIO type (PNP specification)
ERC3-SA5C-I-42P---PN--
I/O type supporting inputs/outputs of the PNP specification often used overseas
16
SIO type
ERC3-SA5C-I-42P---SE--
High-function type accommodating up to 512 positioning points (PIO converter is used)
512
Pulse-train type (NPN specification)
ERC3-SA5C-I-42P---PLN--
Pulse-train input type supporting the NPN specification
—
Pulse-train type (PNP specification)
ERC3-SA5C-I-42P---PLP--
Pulse-train input type supporting the PNP specification
—
Input power
Power supply Standard Reference capacity price page
Pulse Motor
DC24V
High-output setting enabled: 3.5A rated 4.2A max.
—
➝ P577
High-output setting disabled: 2.2A
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
ERC3-SA5C
56
Mini Standard Controllers Integrated
Rod Type
ERC3
ROBO Cylinder
ERC3-SA7C Model Specification Items
ERC3 SA7C Series
I
Type
Encoder type I: Incremental
Controller-Integrated, Slider Type, Actuator Width 74mm, Pulse Motor, Straight Type
56P
Motor type
Lead
Stroke
56Pulse motor 24 : 24mm 16 : 16mm 8 : 8mm 4 : 4mm
* See page Pre-47 for details on the model descriptions.
50:50mm 800:800mm (50mm pitch increments)
I/O type
Cable length
the ERC3 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.
Standard
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
Payload (kg)
Controllers Integrated
Table/ Arm/ Flat Type
50 Horizontal 45 Lead 4 40 Appendix Lead 8 35 P.5 30 25 Lead 16 18 must be limited. (Refer to page A-95.) 17duty (1) If the high-output setting is enabled (factory default),20the If the high-output setting is disabled, the payload and15maximum speed become lower, but the 10 actuator can be used at a duty of 100%. Refer to the operation manual for information on how to Lead 24 5 4 2 4 change the high-output setting. 0 0 200 400 high-output 600 800setting 1000 (2) Refer to page A-99 for the payload at each speed/acceleration when the is 1200 1400 Speed (mm/s) enabled. Payload (kg)
Standard
Gripper/ Rotary Type
Linear Servo Type
(Note 1) Take caution that the maximum payload decreases as the speed increases.
Lead (mm)
ERC3-SA7C-I-56P-24- ➀ - ➁ - ➂ - ➃
Max. Load Capacity (Note 1) Horizontal (kg)
Vertical (kg)
17
3
24
ERC3-SA7C-I-56P-16- ➀ - ➁ - ➂ - ➃
16
35
6
ERC3-SA7C-I-56P-8- ➀ - ➁ - ➂ - ➃
8
40
14
ERC3-SA7C-I-56P-4- ➀ - ➁ - ➂ - ➃
4
45
22
Code explanation ➀ Stroke ➁ I/O type ➂ Cable length ➃ Options
Stroke
Servo Motor (24V)
Linear Servo Motor
6
5
3 0 0
4.5
3.5 200
Lead 16
400
600 800 Speed (mm/s)
1
Lead 24
1 1200
1000
Stroke (mm)
Standard price
Stroke (mm)
Standard price
50 100 150 200 250 300 350 400
— — — — — — — —
450 500 550 600 650 700 750 800
— — — — — — — —
Name Brake Non-motor end specification Simple absolute specification
Option code B NM ABU
See page ➝ A-42 ➝ A-52 ➝ A-42
Standard price — — — (*)
(*1) If the simple absolute specification is selected, SE (SIO type) I/O type and the separately sold PIO converter with simple absolute specification (with battery) are required.
57
Stroke
1400
High-output setting enabled (Factory default)
(mm)
Stroke and Maximum Speed Stroke Lead
50~550
(mm)
(every 50mm)
650
(Unit: mm/s)
700
750
800
(mm)
(mm)
(mm)
(mm)
1130
975
850
745
16
980 <840>
880 <840>
750
645
565
495
8
490
440
375
320
280
245
185
160
140
120
24 50~800
600
(every 50mm)
1200
4
210
* The values enclosed in < > apply to vertical settings. * The values of lead 8 and lead 4 apply when acceleration is at 0.1G.
*See page A-71 for details on push motion.
Type
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m)
Standard (Robot Cables) Special length
Standard price — — — —
* See page 586 for cables for maintenance.
Actuator Specifications Item
Description
Drive System Positioning repeatability (*1) Lost Motion Allowable static moment Allowable dynamic moment (*2) Allowable overhang Ambient operating temperature, humidity
Ball screw, ø12mm, rolled C10 ±0.02mm [±0.03mm] 0.1mm or less Ma: 70.0 N·m, Mb: 100.0 N·m, Mc: 159.5 N·m Ma: 15.0 N·m, Mb: 21.4 N·m, Mc: 34.1 N·m 150mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing)
(*1) The specification in [ ] applies when the lead is 24mm. (*2) Based on 5,000km of traveling life.
Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
ERC3-SA7C
22
20
Lead 8
14
10
Cable Length
Options Servo Motor (200V)
15
25
Actuator Specifications (High-output Setting Enabled)
Leads and Payloads
Model number
Pulse Motor
Payload (kg)
Mini
SplashProof Type
Options B : Brake NM : Non-motor end specification ABU: Simple absolute specification
Speed vs. Load Capacity Due to the characteristics of the pulse motor,
Mini
Cleanroom Type
Controller type
NP: PIO (NPN) type CN: CON type N: None P: 1m PN: PIO (PNP) type MC: MEC type S: 3 m M: 5m SE: SIO type X: Custom length PLN: Pulse-train (NPN) type PLP: Pulse-train (PNP) type
Payload (kg)
Slider Type
15 10 5
V
Lead 4 Lead 8
14 6
3 0 0
4.5
3.5 200
Lead
400
60 Sp
ERC3
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
P.15
2D CAD 2-ø5, H7 depth 10
32
64
*1 Connect the power & I/O cable. Refer to page 586 for details on this cable SE: Stroke End ME: Mechanical End
6 4-M5 depth 10
32
*2 The slider moves to the ME during home return, so pay attention to possible contact with surrounding structures.
5
5.5
Reference plane ø9.5
6
6
ø5.5 72 (Pitch of reamed holes ±0.02)
Detail view of X (Mounting hole and the reference plane) Offset reference position for Ma/Mc moments (*3)
82
Stroke
Teaching port
L 76
3 Home
173 134.5
20 ME(*2)
Cable joint connector (*1)
65.8 44.9
85 64
46.5
28.5 3 SE ME
F
*3 Reference position is used when calculating the Ma and Mc moments.
71 74
X
G-M5 depth 9
J-Oblong hole, depth 6 (from the bottom of the base) D×100P
The overall length of the brake specification is 51 mm longer than the standard specification and is 0.5 kg heavier.
5 51
Standard Controllers Integrated
Rod Type
Mini Standard Controllers Integrated
224
Mini Standard
134.5
4
40
+0.012 0
Mini
Table/ Arm/ Flat Type
External view of the brake specification
H-ø5.5, throug ø9.5 counterbored, depth 5.5 (from the opposite side)
Slider Type
Y Detail Y
C×100P B (reamed hole and oblong hole pitch) A
30 80
8.5
Gripper/ Rotary Type
K-ø4, H7 depth 6 (from the bottom of the base) 173.5
Dimensions and Mass by Stroke Stroke 50 100 150 200 L 347.5 397.5 447.5 497.5 A 0 100 100 200 B 0 85 85 185 C 1 1 2 2 D 0 0 0 1 F 174.5 224.5 274.5 324.5 G 4 6 6 8 H 4 4 6 6 J 0 1 1 1 K 2 3 3 3 Weight (kg) 3.2 3.4 3.6 3.8
250 547.5 200 185 3 1 374.5 8 8 1 3 4.0
300 597.5 300 285 3 2 424.5 10 8 1 3 4.3
350 647.5 300 285 4 2 474.5 10 10 1 3 4.5
400 697.5 400 385 4 3 524.5 12 10 1 3 4.7
450 747.5 400 385 5 3 574.5 12 12 1 3 4.9
500 797.5 500 485 5 4 624.5 14 12 1 3 5.1
550 847.5 500 485 6 4 674.5 14 14 1 3 5.4
600 897.5 600 585 6 5 724.5 16 14 1 3 5.6
650 947.5 600 585 7 5 774.5 16 16 1 3 5.8
700 997.5 700 685 7 6 824.5 18 16 1 3 6.0
750 800 1047.5 1097.5 700 800 685 785 8 8 6 7 874.5 924.5 18 20 18 18 1 1 3 3 6.2 6.5
Linear Servo Type
Cleanroom Type
SplashProof Type
Controllers (Built into the Actuator) ②I/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)
ERC3-SA7C-I-56P---NP--
Simple control type accommodating up to 16 positioning points
16
PIO type (PNP specification)
ERC3-SA7C-I-56P---PN--
I/O type supporting inputs/outputs of the PNP specification often used overseas
16
SIO type
ERC3-SA7C-I-56P---SE--
High-function type accommodating up to 512 positioning points (PIO converter is used)
512
Pulse-train type (NPN specification)
ERC3-SA7C-I-56P---PLN--
Pulse-train input type supporting the NPN specification
—
Pulse-train type (PNP specification)
ERC3-SA7C-I-56P---PLP--
Pulse-train input type supporting the PNP specification
—
Input power
Power supply Standard Reference capacity price page
Pulse Motor
DC24V
High-output setting enabled: 3.5A rated 4.2A max.
—
➝ P577
High-output setting disabled: 2.2A
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
ERC3-SA7C
58
Mini Standard Controllers Integrated
Rod Type
ERC3D
ROBO Cylinder
ERC3D-SA5C Model Specification Items
ERC3D SA5C Series
Type
I
Encoder type I: Incremental
Controller-Integrated, Simple-dustproof Slider Type, Actuator Width 50mm, Pulse Motor, Straight Type
42P
Motor type
Lead
Stroke
42Pulse motor 20 : 20mm 12 : 12mm 6 : 6mm 3 : 3mm
* See page Pre-47 for details on the model descriptions.
50:50mm 800:800mm (50mm pitch increments)
I/O type
Cable length
the ERC3 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.
Standard
Payload (kg)
20
Table/ Arm/ Flat Type
25
Gripper/ Rotary Type
18
9 (1) If the high-output setting is enabled (factory default),10the duty must be limited.Lead (Refer12 to page A-95.) 7 6.5 If the high-output setting is disabled, the payload and 5maximum speed become lower, butLead the 20 actuator can be used at a duty of 100%. Refer to the operation manual for information on5how to 5.5
change the high-output setting. 0 0 200 400 high-output 600 800 1000 (2) Refer to page A-99 for the payload at each speed/acceleration when the setting is Speed (mm/s) enabled.
Linear Servo Type
(Note 1) Take caution that the maximum payload decreases as the speed increases.
Lead (mm)
Max. Load Capacity (Note 1) Horizontal (kg)
Vertical (kg)
ERC3D-SA5C-I-42P-20- ➀ - ➁ - ➂ - ➃
20
6.5
1
ERC3D-SA5C-I-42P-12- ➀ - ➁ - ➂ - ➃
12
9
2.5
ERC3D-SA5C-I-42P-6- ➀ - ➁ - ➂ - ➃
6
18
6
ERC3D-SA5C-I-42P-3- ➀ - ➁ - ➂ - ➃
3
20
12
Code explanation ➀ Stroke ➁ I/O type ➂ Cable length ➃ Options
Stroke
400
Lead 3
8 6
Lead 6
4
2.5 2 1 0 0 200
1400
Vertical
10
Lead 12 400
0.5
600 800 Speed (mm/s)
0.5
Lead 20
1000
0.5 1200
1400
High-output setting enabled (Factory default)
Stroke (mm)
Standard price
Stroke (mm)
Standard price
50 100 150 200 250 300 350 400
— — — — — — — —
450 500 550 600 650 700 750 800
— — — — — — — —
Name Brake Non-motor end specification Simple absolute specification
Option code B NM ABU
See page ➝ A-42 ➝ A-52 ➝ A-42
Standard price — — — (*)
(*1) If the simple absolute specification is selected, SE (SIO type) I/O type and the separately sold PIO converter with simple absolute specification (with battery) are required.
59
Stroke (mm)
Stroke and Maximum Speed Stroke 50~450 (every 50mm) Lead
20 50~800
500
(mm)
550
(mm)
1120
600
(Unit: mm/s)
650
700
750
800
(mm)
(mm)
(mm)
(mm)
(mm)
1045
900
785
690
610
12
900
795
665
570
490
425
375
330
6
450
395
335
285
245
215
185
165
3
225
195
165
140
120
105
90
80
(every 50mm)
* The values of lead 3 apply when acceleration is at 0.1G.
*See page A-71 for details on push motion.
Cable Length
Options
Linear Servo Motor
1200
5.5
5
Actuator Specifications (High-output Setting Enabled)
Leads and Payloads
Model number
Servo Motor (200V)
P.5
Lead 6
15
Lead 20
600 800 1000 1200 1400 Speed (mm/s) The values below are based on operation at 0.3 G.
12
Appendix Payload (kg)
Payload (kg)
20
Lead 12
7
200
14
Horizontal
Lead 3
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 B : Brake NM : Non-motor end specification ABU: Simple absolute specification
Speed vs. Load Capacity Due to the characteristics of the pulse motor,
Mini
Cleanroom Type
Controller type
NP: PIO (NPN) type CN: CON type N: None P: 1m PN: PIO (PNP) type MC: MEC type S: 3 m M: 5m SE: SIO type X: Custom length PLN: Pulse-train (NPN) type PLP: Pulse-train (PNP) type
Payload (kg)
Slider Type
Type
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m)
Standard (Robot Cables) Special length
Standard price — — — —
* See page 586 for cables for maintenance.
Actuator Specifications Item
Description
Drive System Positioning repeatability (*1) Lost Motion Allowable static moment Allowable dynamic moment (*2) Allowable overhang 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 150mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing)
(*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 Ma
Mb
Mc
Ma
L
Mc L
ERC3D-SA5C
Lead 3
V
10 8 6 4
2.5 2 1 0 0 200
Lead 6
400
0.5
60 Sp
ERC3D
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
P.15
2D CAD
Mini Standard
2-ø4, H7 depth 6 15.5
26 (ø4H7 pitch ±0.02)
Offset reference position for moments (*3) 6
32 20
6
Stroke
15.5
*2 The slider moves to the ME during home return, so pay attention to possible contact with surrounding structures.
19 ±0.02 43
30
94
105.7
32.2
Mini
Teaching port
ME (*2)
3 Home
Controllers Integrated
Rod Type
*3 Reference position is used when calculating the Ma and Mc moments.
L
SE
*1 Connect the power & I/O cable. Refer to page 586 for details on this cable SE: Stroke End ME: Mechanical End
4-M4 depth 9
Standard
Cable joint connector (*1)
Controllers Integrated
21
18 3
K
9
27.2
39
68.7 53.5 43.5
ME
50 55.3
5
H - Oblong hole penetrating through one wall (Maximum insertion depth 7 from the bottom of the base)
2 - ø4H7 penetrating through one wall (Maximum insertion depth 7 from the bottom of the base)
B×100P
D-M4 depth 9
5 ø4.5 Detail view of mounting hole
Table/ Arm/ Flat Type
External view of the brake specification
The overall length of the brake specification is 42.5 mm longer than the standard specification and is 0.4 kg heavier. 148.2 42.5 105.7
Mini Standard
4.5
ø8
24
26
Detail Y
6.5
4 +0.012 0
Slider Type
7
Y
C×100P 50 J (Pitch between ø4H7 and oblong hole) A G
20
F-ø4.5, through ø8 counterbored, depth 5.5 (from the opposite side)
62
Gripper/ Rotary Type
126.9
Dimensions and Mass by Stroke Stroke 50 100 150 200 299.9 349.9 399.9 449.9 L A 73 100 100 200 B 0 0 0 1 C 0 0 1 1 D 4 4 4 6 F 4 4 6 6 G 166 216 266 316 H 0 1 1 1 J 0 85 85 185 K 194.2 244.2 294.2 344.2 Weight (kg) 1.6 1.8 2.0 2.1
250 499.9 200 1 2 6 8 366 1 185 394.2 2.3
300 549.9 300 2 2 8 8 416 1 285 444.2 2.5
350 599.9 300 2 3 8 10 466 1 285 494.2 2.6
400 649.9 400 3 3 10 10 516 1 385 544.2 2.8
450 699.9 400 3 4 10 12 566 1 385 594.2 3.0
500 749.9 500 4 4 12 12 616 1 485 644.2 3.1
550 799.9 500 4 5 12 14 666 1 485 694.2 3.3
600 849.9 600 5 5 14 14 716 1 585 744.2 3.5
650 899.9 600 5 6 14 16 766 1 585 794.2 3.6
700 949.9 700 6 6 16 16 816 1 685 844.2 3.8
750 999.9 700 6 7 16 18 866 1 685 894.2 4.0
800 1049.9 800 7 7 18 18 916 1 785 944.2 4.1
Linear Servo Type
Cleanroom Type
SplashProof Type
Controllers (Built into the Actuator) ②I/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)
ERC3D-SA5C-I-42P---NP--
Simple control type accommodating up to 16 positioning points
16
PIO type (PNP specification)
ERC3D-SA5C-I-42P---PN--
I/O type supporting inputs/outputs of the PNP specification often used overseas
16
SIO type
ERC3D-SA5C-I-42P---SE--
High-function type accommodating up to 512 positioning points (PIO converter is used)
512
Pulse-train type (NPN specification)
ERC3D-SA5C-I-42P---PLN--
Pulse-train input type supporting the NPN specification
—
Pulse-train type (PNP specification)
ERC3D-SA5C-I-42P---PLP--
Pulse-train input type supporting the PNP specification
—
Input power
Power supply Standard Reference capacity price page
Pulse Motor
DC24V
High-output setting enabled: 3.5A rated 4.2A max.
—
➝ P577
High-output setting disabled: 2.2A
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
ERC3D-SA5C
60
Mini Standard Controllers Integrated
Rod Type
ERC3D
ROBO Cylinder
ERC3D-SA7C Model Specification Items
ERC3D SA7C Series
Type
I
Encoder type I: Incremental
Controller-Integrated, Simple-dustproof Slider Type, Actuator Width 73mm, Pulse Motor, Straight Type
56P
Motor type
Lead
Stroke
42Pulse motor 24 : 24mm 16 : 16mm 8 : 8mm 4 : 4mm
* See page Pre-47 for details on the model descriptions.
50:50mm 800:800mm (50mm pitch increments)
I/O type
Cable length
the ERC3 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.
Standard
Payload (kg)
Controllers Integrated
Table/ Arm/ Flat Type
50 Horizontal 45 Lead 4 40 Lead 8 Appendix 35 P.5 30 25 Lead 16 20 17 18 (1) If the high-output setting is enabled (factory default),15the duty must be limited. (Refer to page A-95.) If the high-output setting is disabled, the payload and10maximum speed become lower, but the actuator can be used at a duty of 100%. Refer to the operation manual for information on how to Lead 24 5 4 2 4 change the high-output setting. 0 0 200 400 600 800 1000 1200 1400 (2) Refer to page A-99 for the payload at each speed/acceleration when the high-output setting is Speed (mm/s) Payload (kg)
Standard
Gripper/ Rotary Type
Linear Servo Type
(Note 1) Take caution that the maximum payload decreases as the speed increases.
Lead (mm)
ERC3D-SA7C-I-56P-24- ➀ - ➁ - ➂ - ➃
Max. Load Capacity (Note 1) Horizontal (kg)
Vertical (kg)
17
3
24
ERC3D-SA7C-I-56P-16- ➀ - ➁ - ➂ - ➃
16
35
6
ERC3D-SA7C-I-56P-8- ➀ - ➁ - ➂ - ➃
8
40
14
ERC3D-SA7C-I-56P-4- ➀ - ➁ - ➂ - ➃
4
45
22
6
5
3 0 0
4.5
3.5 200
Lead 16
400
600 800 Speed (mm/s)
1
Lead 24 1000
1 1200
1400
Stroke (mm)
Standard price
Stroke (mm)
Standard price
50 100 150 200 250 300 350 400
— — — — — — — —
450 500 550 600 650 700 750 800
— — — — — — — —
Name Brake Non-motor end specification Simple absolute specification
Option code B NM ABU
See page ➝ A-42 ➝ A-52 ➝ A-42
Standard price — — — (*)
(*1) If the simple absolute specification is selected, SE (SIO type) I/O type and the separately sold PIO converter with simple absolute specification (with battery) are required.
61
Stroke (mm)
Stroke and Maximum Speed Stroke Lead
50~550
(mm)
(every 50mm)
650
(Unit: mm/s)
700
750
800
(mm)
(mm)
(mm)
(mm)
1155
1010
890
790
16
980 <840>
865 <840>
750
655
580
515
8
490
430
375
325
290
255
185
160
145
125
24 50~800
600
(every 50mm)
1200
4
210
* The values enclosed in < > apply to vertical settings. * The values of lead 8 and lead 4 apply when acceleration is at 0.1G.
*See page A-71 for details on push motion.
Cable Length
Options
Linear Servo Motor
Lead 8
14
10
Type
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m)
Standard (Robot Cables) Special length
Standard price — — — —
* See page 586 for cables for maintenance.
Actuator Specifications Item
Description
Drive System Positioning repeatability (*1) Lost Motion Allowable static moment Allowable dynamic moment (*2) Allowable overhang 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 230mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing)
(*1) The specification in [ ] applies when the lead is 24mm. (*2) Based on 5,000km of traveling life.
Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
ERC3D-SA7C
22
20
Actuator Specifications (High-output Setting Enabled)
Leads and Payloads
Stroke
Servo Motor (200V)
15
25
High-output setting enabled (Factory default)
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
enabled.
Model number
Pulse Motor
Payload (kg)
Mini
SplashProof Type
Options B : Brake NM : Non-motor end specification ABU: Simple absolute specification
Speed vs. Load Capacity Due to the characteristics of the pulse motor,
Mini
Cleanroom Type
Controller type
NP: PIO (NPN) type CN: CON type N: None P: 1m PN: PIO (PNP) type MC: MEC type S: 3 m M: 5m SE: SIO type X: Custom length PLN: Pulse-train (NPN) type PLP: Pulse-train (PNP) type
Payload (kg)
Slider Type
15 10 5
V
Lead 4 Lead 8
14 6
3 0 0
4.5
3.5 200
Lead
400
60 Sp
ERC3D
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) Offset reference position for moments 9
48 30
9
21.5
*2 The slider moves to the ME during home return, so pay attention to possible contact with surrounding structures.
32±0.02 49.5
*3 Reference position is used when calculating the Ma and Mc moments.
126 SE
SE
134.5
40.2 3 ME
Teaching port Cable joint connector (*1)
43
44.9
85 71 57 4+0.012 0
H - Oblong hole penetrating through one wall (Maximum insertion depth 12 from the bottom of the base)
B×100P
D-M5 depth 11 ø9.5
6
12.5
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)
ø6 Detail view of mounting hole
10
C×100P Y J (Pitch between ø4H7 and oblong hole) A G
External view of the brake specification
The overall length of the brake specification is 51 mm longer than the standard specification and is 0.5 kg heavier. 185.5 51 134.5
30 80
25.5
Standard Controllers Integrated
Rod Type
Mini
Controllers Integrated
71 73 5
Mini
Standard
21
ME
3
50
*1 Connect the power & I/O cable. Refer to page 586 for details on this cable SE: Stroke End ME: Mechanical End
L
K
Stroke
4-M5 depth 10
20 20 20
Slider Type
Table/ Arm/ Flat Type Mini Standard
Gripper/ Rotary Type
163.2
Dimensions and Mass by Stroke 50 100 150 200 Stroke 372.2 422.2 472.2 522.2 L 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 237.7 287.7 337.7 387.7 Weight (kg) 3.6 3.9 4.1 4.4
250 572.2 200 1 3 8 3 8 399 1 185 437.7 4.7
300 622.2 300 2 3 10 3 8 449 1 285 487.7 4.9
350 672.2 300 2 4 10 3 10 499 1 285 537.7 5.2
400 722.2 400 3 4 12 3 10 549 1 385 587.7 5.5
450 772.2 400 3 5 12 3 12 599 1 385 637.7 5.7
500 822.2 500 4 5 14 3 12 649 1 485 687.7 6.0
550 872.2 500 4 6 14 3 14 699 1 485 737.7 6.3
600 922.2 600 5 6 16 3 14 749 1 585 787.7 6.5
650 700 750 800 972.2 1022.21072.2 1122.2 600 700 700 800 5 6 6 7 7 7 8 8 16 18 18 20 3 3 3 3 16 16 18 18 799 849 899 949 1 1 1 1 585 685 685 785 837.7 887.7 937.7 987.7 6.8 7.1 7.3 7.6
Linear Servo Type
Cleanroom Type
SplashProof Type
Controllers (Built into the Actuator) ②I/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)
ERC3D-SA7C-I-56P---NP--
Simple control type accommodating up to 16 positioning points
16
PIO type (PNP specification)
ERC3D-SA7C-I-56P---PN--
I/O type supporting inputs/outputs of the PNP specification often used overseas
16
SIO type
ERC3D-SA7C-I-56P---SE--
High-function type accommodating up to 512 positioning points (PIO converter is used)
512
Pulse-train type (NPN specification)
ERC3D-SA7C-I-56P---PLN--
Pulse-train input type supporting the NPN specification
—
Pulse-train type (PNP specification)
ERC3D-SA7C-I-56P---PLP--
Pulse-train input type supporting the PNP specification
—
Input power
Power supply Standard Reference capacity price page
Pulse Motor
DC24V
High-output setting enabled: 3.5A rated 4.2A max.
—
➝ P577
High-output setting disabled: 2.2A
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
ERC3D-SA7C
62
Slider Type
Mini Standard Controllers Integrated
Rod Type
ERC2
ROBO Cylinder
ERC2-SA6C Model Specification Items
ERC2 Series
SA6C
I
Type
Controller-Integrated, Slider Type, Actuator Width 58mm, Pulse Motor, Straight Type
PM
Encoder type
Motor type
Lead
Stroke
I/O Type
I: Incremental
PM: Pulse motor
12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
NP: PIO (NPN) Type PN: PIO (PNP) Type SE: SIO Type
600: 600mm (50mm pitch increments)
Cable length
* See page Pre-47 for details on the model descriptions.
Options
N : None P:1m B : Brake S : 3m M:5m NM : Non-motor end X: Custom length W: Cable with connectors on both ends R: Robot cable RW: Robot cable with connectors on both ends
Speed vs. Load Capacity 35 to the characteristics of the pulse motor, Due
Mini
Load Capacity Load (kg) Capacity (kg)
the capacity decreases at high 30 ERC2 series' load Horizontal speeds. In the table below, check if your desired 25 speed and load capacity are supported. Controllers Integrated
Table/ Arm/ Flat Type
20 35 15 3mm lead 6mm lead Horizontal 12 30 10 12mm lead 25 6 5 20 0 100 500 15 0 3mm lead2006mm300 lead 400 Speed 12 (mm/s) 10 12mm lead 6 5 0 0
Mini
100
200
Appendix
P.5
Standard
Actuator Specifications Cleanroom Type
Lead
Model number
ERC2-SA6C-I-PM-12- ➀ - ➁ - ➂ - ➃ SplashProof Type
Max. Load Capacity (Note 1)
(mm)
Horizontal (kg)
Vertical (kg)
12
~6
~1.5
ERC2-SA6C-I-PM-6- ➀ - ➁ - ➂ - ➃
6
12
ERC2-SA6C-I-PM-3- ➀ - ➁ - ➂ - ➃
3
12
Code explanation ➀ Stroke ➁ I/O type ➂ Cable length ➃ Options
Servo Motor (24V)
Stroke (mm)
Standard price
50 100 150 200 250 300 350 400 450 500 550 600
— — — — — — — — — — — —
Options Servo Motor (200V)
Load Capacity Load (kg) Capacity (kg)
8 3mm lead 14 6 Vertical 12 4 3 6mm lead 10 2.5 2 1.5 12mm lead 8 0 3mm 100 lead 200 300 400 60 Speed (mm/s) 4 3 6mm lead 2.5 2 1.5 12mm lead
500
1 600
700
(mm)
100
200
300
400
500
1 600
700
Stroke and Maximum Speed Speed (mm/s) Stroke Lead
(every 50mm)
(mm)
12
600
515
6
300
255
3
150
125
50~600
(every 50mm)
~6
50~550
600
(Unit: mm/s)
*See page A-71 for details on push motion.
Type Standard Special Lenghts Connectors on Both Ends Robot Cable Connectors onBoth Ends Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) W01 (1m) ~ W03 (3m) W04 (4m) ~ W05 (5m) W06 (6m) ~ W10 (10m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) RW01 (1m) ~ RW03 (3m) RW04 (4m) ~ RW05 (5m) RW06 (6m) ~ RW10 (10m)
Brake Non-motor end specification
Linear Servo Motor
Option code See page Standard price B — ➝ A-42 NM — ➝ A-52
Standard Price — — — — — — — — — — — — —
* < >values are applicable to the SE type. * See page 606 for cables for maintenance.
Actuator Specifications Item
Name
63
700
Cable Length
Stroke
Pulse Motor
Stroke
~3
2 600
10
0 0 (Note 1) Please note that the maximum load capacity decreases as the speed increases.
Leads and Payloads
500
Vertical
12
Linear Servo Type
700
14
(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 ERC2 series use a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to 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 3mm-lead model and when used vertically). These values are the upper limits for the acceleration. (4) See page A-71 for details on push motion.
Gripper/ Rotary Type
300 400 Speed (mm/s)
2 600
Description
Drive System Positioning repeatability Lost Motion Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less 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 150mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
ERC2-SA6C
ERC2
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
P.15
* For the Non-motor end model, the dimensions (distance from ME to home) on the motor-side and that on the opposite side are flipped.
5
4-M5 depth 10
(Reamer hole tolerance ±0.02)
Ma moment offset reference position*3
Cable joint connector*1 *1 Connect the power and I/O cables. See page 606 for details on cables. SE: Stroke end ME: Mechanical end
49.1 2.3 M.E.
Stroke
2-ø5H7 reamer depth 10 L 60 Home
S.E.
50.9 13.5 2.5 M. E.* 2
(6)
25
25
36
Secure at least 100
Controllers Integrated
PIO Type
SIO Type * The SIO type does not have a teaching port.
Brake Specifications Diagram * Compared to the standard model, the brake-equipped model is longer by 43.5mm and heavier by 0.5kg.
4.5
4.5
ø8
50
N×100P
B
50
13.5
43.5
118.5
Table/ Arm/ Flat Type Mini Standard
A
4
Reference surface 1.5
Mini Standard
30
58
Rod Type
Teaching port
118.5
S-4.5 drilled, ø8 deep counterbore, depth 4.5
55
Section A
*2 When homing, the slider moves to the ME; therefore, please watch for any interference with the surrounding objects.
37.5
10
59 50 48.5 32
80.6
*3 Reference position for calculating the Ma moment
Controllers Integrated
(300)
22 31 37.4
5
Mini Standard
60 50 9 32±0.02 9
(6)
2D CAD
Slider Type
ø4.5
Gripper/ Rotary Type
Details of A (mounting hole and reference surface) Brake unit
Dimensions and Mass by Stroke Stroke L A B N S Weight (kg)
50 352 210 10 1 6 1.9
100 402 260 60 1 6 2.0
150 452 310 10 2 8 2.1
200 502 360 60 82 8 2.3
250 552 410 10 3 10 2.4
300 602 460 60 3 10 2.6
350 652 510 10 4 12 2.7
400 702 560 60 4 12 2.8
450 752 610 10 5 14 3.0
500 802 660 60 5 14 3.1
550 852 710 10 6 16 3.3
600 902 760 60 6 16 3.4
Linear Servo Type
Cleanroom Type
SplashProof Type
I/O type (Controller built into the Actuator) ②I/O type
With the ERC2 series, one of the following three 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
PIO Type (NPN Specification)
External view
Model number
Features
Maximum number of positioning points
ERC2-SA6C-I-PM---NP--
Simple control type with up to 16-point positioning
16
Input power
Power supply capacity
Standard price
Reference page
Pulse Motor
PIO Type (PNP Specification)
SIO Type
ERC2-SA6C-I-PM---PN--
ERC2-SA6C-I-PM---SE--
Supports the PNP I/O commonly used overseas.
Field Network Connection Serial (Gateway unit used)
16
DC24V
2A max.
—
➝ P597 Servo Motor (24V)
Servo Motor (200V)
64
Linear Servo Motor
ERC2-SA6C
64
Slider Type
Mini Standard Controllers Integrated
Rod Type
ERC2
ROBO Cylinder
ERC2-SA7C Model Specification Items
ERC2 Series
SA7C
I
Type
Controller-Integrated, Slider Type, Actuator Width 68mm, Pulse Motor, Straight Type
PM
Encoder type
Motor type
Lead
Stroke
I/O Type
I: Incremental
PM: Pulse motor
16 : 16mm 8 : 8mm 4 : 4mm
50: 50mm
NP: PIO (NPN) Type PN: PIO (PNP) Type SE: SIO Type
600: 600mm (50mm pitch increments)
Cable length
* See page Pre-47 for details on the model descriptions.
Speed vs. Load Capacity Due 35 to the characteristics of the pulse motor,
Mini
Load Capacity Load (kg) Capacity (kg)
the capacity decreases at high 30 ERC2 series' loadHorizontal speeds. In the table below, check if your desired 25 speed andlead load capacity are supported. 4mm
Standard Controllers Integrated
Table/ Arm/ Flat Type
20 8mm lead 35 15 Horizontal 30 16mm lead 10 25 5 4mm lead 2 3.5 20 0 8mm lead 100 200 300 400 500 150 Speed (mm/s) 16mm lead 10 5
Mini
0 0
100
200
Appendix
P.5
Standard
Linear Servo Type
Leads and Payloads Model number
ERC2-SA7C-I-PM-16- ➀ - ➁ - ➂ - ➃ ERC2-SA7C-I-PM-8- ➀ - ➁ - ➂ - ➃
16 8
ERC2-SA7C-I-PM-4- ➀ - ➁ - ➂ - ➃
4
~10 ~20 20
Code explanation ➀ Stroke ➁ I/O type ➂ Cable length ➃ Options
Servo Motor (24V)
Stroke (mm)
Standard price
50 100 150 200 250 300 350 400 450 500 550 600
— — — — — — — — — — — —
700
10
4mm lead
Vertical
~2.5 50~600
~5
(every 50mm)
~10
16
450 <400>
8
250
4
125 * The values enclosed in < > apply to vertical settings.
*See page A-71 for details on push motion.
Type Standard Special Lenghts Connectors on Both Ends Robot Cable Connectors onBoth Ends Robot Cable
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) W01 (1m) ~ W03 (3m) W04 (4m) ~ W05 (5m) W06 (6m) ~ W10 (10m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) RW01 (1m) ~ RW03 (3m) RW04 (4m) ~ RW05 (5m) RW06 (6m) ~ RW10 (10m)
Standard Price — — — — — — — — — — — — —
* < >values are applicable to the SE type. * See page 606 for cables for maintenance.
Actuator Specifications
Options Servo Motor (200V)
600
2 3.5 300 400 500 Speed (mm/s)
Cable Length
Stroke
Pulse Motor
700
8 14 6 5 8mm lead Vertical 12 4 4mm lead 16mm lead 10 2.5 2 8 0.5 0.5 0 200 400 500 600 700 60 5 100 8mm lead300 Speed (mm/s) 4 16mm lead 2.5 2 0.5 0.5 0 200 400 500 600 700 Stroke and300Maximum Speed (Note 1) Please note that the maximum load capacity decreases as the speed increases.0 100 (Unit: mm/s) Speed (mm/s) Stroke Max. Load Capacity (Note 1) 50~600 Stroke Lead (every 50mm) (mm) (mm) Lead Horizontal (kg) Vertical (kg)
Actuator Specifications
SplashProof Type
Load Capacity Load (kg) 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 ERC2 series use a pulse motor, the load capacity decreases at high speeds. Check in the Speed vs. Load Capacity graph to 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 4mm-lead model and when used vertically). These values are the upper limits for the acceleration. (4) See page A-71 for details on push motion.
Gripper/ Rotary Type
600
14 12
Cleanroom Type
Options
N : None P:1m B : Brake S : 3m M:5m NM : Non-motor end X: Custom length W: Cable with connectors on both ends R: Robot cable RW: Robot cable with connectors on both ends
Item
Name Brake Non-motor end specification
Linear Servo Motor
65
Option code See page Standard price B — ➝ A-42 NM — ➝ A-52
Description
Drive System Positioning repeatability Lost Motion Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø12mm, rolled C10 ±0.02mm 0.1mm or less Ma: 63.0 N·m, Mb: 90.0 N·m, Mc: 132.5 N·m Ma: 13.8 N·m, Mb: 19.7 N·m, Mc: 29.0 N·m 150mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
ERC2-SA7C
ERC2
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
P.15
* For the Non-motor end model, the dimensions (distance from ME to home) on the motor-side and that on the opposite side are flipped. 5
5
4-M5 depth 10
Controllers Integrated
(300) Cable joint connector*1 *1 Connect the power and I/O cables. See page 606 for details on cables. SE: Stroke end ME: Mechanical end
(Reamer hole tolerance ±0.02)
32 40 47.4
9 47 ±0.02 9
Ma moment offset reference position*3 10
49.8
Stroke
2-ø5H7 reamer depth 10
L 75
3 Home
Teaching port
118.5
Controllers Integrated
22.5 68
Secure at least 100
(3.5)
S-4.5 drilled, ø8 deep counterbore, depth 4.5
PIO Type
40
4.5
4
Table/ Arm/ Flat Type Mini
Brake Specifications Diagram * Compared to the standard model, the brake-equipped model is longer by 49mm and heavier by 0.5kg.
4 ø4.5
SIO Type * The SIO type does not have a teaching port.
ø8
Reference surface 2.5
Standard
M. E.* 2
63
Section A
Rod Type
Mini
51.5
S. E.
16
46
92.1 66.5 60 58.5 34.5
M. E.
55.2 2.5
*2 When homing, the slider moves to the ME; therefore, please watch for any interference with the surrounding objects.
22.5
*3 Reference position for calculating the Ma moment
Mini Standard
75 65
(3.5)
2D CAD
Slider Type
50
N×100P
B
16
50
Standard
118.5
49
A
Details of A (mounting hole and reference surface)
Gripper/ Rotary Type
Brake unit
Dimensions and Mass by Stroke Stroke L A B N S Weight (kg)
50 100 150 200 250 300 350 400 450 500 550 600 374.5 424.5 474.5 524.5 574.5 624.5 674.5 724.5 774.5 824.5 874.5 924.5 230 280 330 380 430 480 530 580 630 680 730 780 30 80 30 80 30 80 30 80 30 80 30 80 1 1 2 2 3 3 4 4 5 5 6 6 6 6 8 8 10 10 12 12 14 14 16 16 3.1 3.2 3.4 3.6 3.7 3.9 4.0 4.2 4.3 4.5 4.6 4.8
Linear Servo Type
Cleanroom Type
SplashProof Type
I/O type (Controller built into the Actuator) ②I/O type
With the ERC2 series, one of the following three 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
PIO Type (NPN Specification)
External view
Model number
Features
Maximum number of positioning points
ERC2-SA7C-I-PM---NP--
Simple control type with up to 16-point positioning
16
Input power
Power supply capacity
Standard price
Reference page
Pulse Motor
PIO Type (PNP Specification)
SIO Type
ERC2-SA7C-I-PM---PN--
ERC2-SA7C-I-PM---SE--
Supports the PNP I/O commonly used overseas.
Field Network Connection Serial (Gateway unit used)
16
DC24V
2A max.
—
➝ P597 Servo Motor (24V)
Servo Motor (200V)
64
Linear Servo Motor
ERC2-SA7C
66
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCA2
ROBO Cylinder
RCA2-SA2AC Model Specification Items
RCA2 SA2AC Series
Type
I
ROBO Cylinder, Mini Slider Type, Motor Unit Coupled, Actuator Width 20mm, 24V Servo Motor, Ball Screw Specification
5
Encoder type
Motor type
5: Servo motor I: Incremental * The Simple absolute SW encoder is also considered type "I".
A3
Lead
Stroke
Applicable controller
4 : 4mm 2 : 2mm 1 : 1mm
25: 25mm
A3: ASEP MSEP
100: 100mm (25mm pitch increments)
* 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
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Standard Appendix
P.5
Gripper/ Rotary Type
(1) The load capacity is based on operation at an acceleration of 0.3G. These values are the upper limits for the acceleration. (2) Take note that, since there is no brake, the slider may come down when the power is turned off if the actuator is used vertically. (3) See page A-71 for details on push motion.
Linear Servo Type
SplashProof Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed Motor Feed output (W) screw
Model number
RCA2-SA2AC-I-5-4- ➀ -A3- ➁ - ➂ RCA2-SA2AC-I-5-2- ➀ -A3- ➁ - ➂
5
RCA2-SA2AC-I-5-1- ➀ -A3- ➁ - ➂
Ball screw
Max. Load Capacity Lead Rated (mm) Horizontal (kg) Vertical (kg) thrust (N) 4
0.5
0.25
21.4
2
1
0.5
42.3
1
2
1
85.5
Code explanation ➀ Stroke ➁ Cable length ➂ Options
25~100
(every 25mm)
Lead
Stroke 4
25 (mm)
50~100 (mm)
180
200
2
100
1
50 (Unit: mm/s)
Cable Length
Stroke
Servo Motor (24V)
±0.02
Stroke (mm)
*See page A-71 for details on push motion.
Stroke
Pulse Motor
Positioning Repeatability (mm)
Ball screw
Cleanroom Type
(mm)
Standard price
25 50 75 100
— — — —
Type Standard (Robot Cables) 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 for the RCA2 is the robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications
Options Name Non-motor end specification
Servo Motor (200V)
Linear Servo Motor
Option code See page Standard price NM — ➝ A-52
Item
Drive System Lost Motion Base Guide Allowable dynamic moment (*) Allowable overhang Ambient Operating Temp./Humidity Service Life (*) Based on 5,000km travel life.
67
RCA2-SA2AC
Description
Ball screw, ø4mm, rolled C10 0.1mm or less (initial value) Material: Aluminum, white alumite treated Linear guide Ma: 0.22 N·m, Mb: 0.31 N·m, Mc: 0.28 N·m 40mm or less in Ma, Mb and Mc directions 0 to 40°C, 85% RH or less (Non-condensing) 5,000km
RCA2
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
P.15
*1 Connect the motor-encoder integrated cable here. See page A-59 for details on cables. *2 During the homing operation, the slider moves to actuator's mechanical end, and then reverses. Therefore, watch for any interference with its surroundings.
2D CAD
Slider Type
Mini Standard Controllers Integrated
15 (tolerance for reamed hole pitch ±0.02 mm)
10
12
3
3
(200)
Rod Type
7.5
Cable joint connector *1
3
2-ø2 H7 Depth 2mm
7.5 5
Mini
4-M2 Depth 4mm
Standard L1 L2 14.5
HOME
22.5 2 ME
Table/ Arm/ Flat Type 18.9
Oblong Hole Depth 2mm
.5 R1
Standard
ø3H7 Depth 2mm
SE : Stroke end ME : Mechanical end
Gripper/ Rotary Type
16
1
Secure at least 100mm
20
Mini
4.4
27.2 22.7 15.2 Reference position for Moment offset
3 H7
30
23.5
ME
R1 .5
st
2 SE
Controllers Integrated
82
B-M2 Depth 4mm Detailed view of oblong hole
(25)
30
A×25
15
Linear Servo Type
Dimensions and Mass by Stroke Stroke L1 L2 A B Weight (kg)
25 174 92 1 4 0.2
50 199 117 2 6 0.22
75 224 142 3 8 0.23
100 249 167 4 10 0.25
Cleanroom Type
SplashProof Type
Applicable Controllers RCA2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
External view
Name
Solenoid valve type
Model number
ASEP-C-5SI- -2-0
Features
Maximum number of positioning points
Input power
Power supply capacity
Simple controller operable with the same signal as a solenoid valve
Standard Reference price page
—
➝ P547
—
➝ P563
3 points Solenoid valve multi-axis type PIO specification Solenoid valve multi-axis type Network specification *
indicates I/O type (NP/PN). *
MSEP-C- -~- -2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
indicates number of axes (1 to 8). *
DC24V
1A rated 2A max.
Pulse Motor
256 points
indicates field network specification symbol. Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
RCA2-SA2AC
68
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCA2
ROBO Cylinder
RCA2-SA3C RCA2
Model Specification Items
Series
SA3C Type
ROBO Cylinder, Slider Type, Actuator Width 32mm, Servo Motor, Coupled
I
10
Encoder type
Motor type
10P: 10W Servo I: Incremental * The Simple absolute motor encoder is also considered type "I".
Lead
Stroke
Applicable controller
6 : 6mm 4 : 4mm 2 : 2mm
50: 50mm
A1: ACON ASEL A3: AMEC ASEP MSEP
300: 300mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Standard Appendix
P.5
Gripper/ Rotary Type
(1) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 2mm-lead model and when using vertically). These values are the upper limits for the acceleration. (2) See page A-71 for details on push motion.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed Motor output (W)
Model number
Horizontal (kg)
Vertical (kg)
Rated thrust (N)
6
1
0.5
28
4
2
1
43
2
3
1.5
85
RCA2-SA3C-I-10-6- ➀ - ➁ - ➂ - ➃ RCA2-SA3C-I-10-4- ➀ - ➁ - ➂ - ➃
Max. Load Capacity
Lead (mm)
10
RCA2-SA3C-I-10-2- ➀ - ➁ - ➂ - ➃
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Stroke
Servo Motor (24V)
Servo Motor (200V)
Stroke
Lead
50~300
(every 50mm)
6
300
4
200
2
100 (Unit: mm/s)
*See page A-71 for details on push motion.
Type
Standard price With cover (standard)
Without cover (option)
— — — — — —
— — — — — —
50 100 150 200 250 300
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard (Robot Cables) Special length
Standard price — — — — — —
* The standard cable for the RCA2 is the robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications
Options Name
Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (right) CJR — ➝ A-42 Optional cable exit direction (left) CJL — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Power-saving LA — ➝ A-52 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
Linear Servo Motor
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø6mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, special alumite treated Ma: 5.0 N·m, Mb: 7.1 N·m, Mc: 7.9 N·m Ma: 1.96 N·m, Mb: 2.84 N·m, Mc: 3.14 N·m 100mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment
69
50~300
(every 50mm)
Cable Length
Stroke (mm)
Pulse Motor
Stroke (mm)
Ma
Mb
Mc
Ma
L
Mc L
RCA2-SA3C
RCA2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
2D CAD
Appendix
60 17
P.15
11±0.02
(With Cover)
17 ±0.02
4-M3 depth 6
Controllers Integrated
2-ø2 H7 depth 5
33 17
11±0.02 44.5
Rod Type
(Without Cover) 2-ø2 H7 depth 5
4-M3 depth 6
Mini
L A
92
st
21.4 Home
SE
21.8 30.5 3 ME (*2)
(
40 31.5
5
29 32
L A 10
21.4 4.4 4.4
Home
SE
depth from bottom of base 4 2H7
31.5
Cx100 (M3 tapped)
B
Mini Standard
(Top: CJT)
Change cable outlet direction (optional)
15
Secure at least 100 (Right: CJR)
B
17
(Common)
(*1) (*2) (*3)
10.5 15
32
Table/ Arm/ Flat Type
21.8 30.5 3 ME (*2)
5
29
Ma moment offset reference position (*3)
Controllers Integrated
Above motor cover: 38.5
ME
Standard
Motor-encoder cable connector (*1)
92 21.4
st
29.5
(Without Cover)
21.8 3
)
A
Secure at least 100
Ma moment offset reference position (*3)
40
If equipped with a brake * The above brake unit is added to section A .
29.5
(With Cover)
21.8 3 ME
Above motor cover: 38.5
10
21.4 4.4 4.4
Mini Standard
30 17 ±0.02
CAD drawings can be downloaded from the website.
Slider Type
Gripper/ Rotary Type
(Left: CJL) F
3
M (ø2 hole and oblong hole pitch)
25
ø2H7 depth 4 from bottom of base
* As viewed from arrow B .
D-M3 depth 5
(Bottom: CJB)
Dimensions and Mass by Stroke *Brake-equipped models are heavier by 0.2kg. Details of F
Connect the motor-encoder integrated cable 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 Ma moment
Stroke Without brake L With brake A B C D M Weight With cover (kg) Without cover
50 247.5 292 155.5 84 0 4 84 0.6 0.5
100 297.5 342 205.5 34 1 6 134 0.6 0.6
150 347.5 392 255.5 84 1 6 184 0.7 0.6
200 397.5 442 305.5 34 2 8 234 0.8 0.7
250 447.5 492 355.5 84 2 8 284 0.8 0.7
300 497.5 542 405.5 34 3 10 334 0.9 0.8
Applicable Controllers
Linear Servo Type
Cleanroom Type
SplashProof Type
RCA2 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-10I
Features
- -2-1
Solenoid Valve Type ASEP-C-10I
Maximum number of positioning points
Easy-to-use controller, even for beginners
-
-2-0
Simple controller operable with the same signal as a solenoid valve
AC100V
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
Positioning is possible for up to 512 points
512 points
Safety-Compliant Positioner Type
ACON-C-10I
- -2-0
ACON-CG-10I -
-2-0
Pulse Train Input Type (Differential Line Driver)
ACON-PL-10I
Pulse Train Input Type (Open Collector)
ACON-PO-10I
-
Serial Communication Type
ACON-SE-10I
-N-0-0
Program Control Type
ASEL-CS-1-10I
-
-2-0
-
-2-0
-2-0
DC24V
Pulse train input type with differential line driver support
2.4A rated
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
—
➝ P537
—
➝ P547
—
➝ P563 Pulse Motor
— — —
➝ P631
Servo Motor (24V)
(—)
Pulse train input type with open collector support
—
Dedicated Serial Communication Programmed operation is possible. Can operate up to 2 axes
Power-supply Standard Reference capacity price page
3 points
Solenoid valve multi-axis type PIO specification
Positioner type
Input power
64 points
—
1,500 points
—
* This is for the single-axis ASEL. * Enter the code "LA" in when the power-saving specification is specified. * indicates number of axes (1 to 8). * indicates field network specification symbol.
*
Servo Motor (200V)
➝ P675 Linear Servo Motor
indicates I/O type (NP/PN).
RCA2-SA3C
70
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCA2
ROBO Cylinder
RCA2-SA4C RCA2
Model Specification Items
Series
SA4C Type
ROBO Cylinder, Slider Type, Actuator Width 40mm, Servo Motor, Coupled
I
20
Encoder type
Motor type
20P: 20W Servo I: Incremental * The Simple absolute motor encoder is also considered type "I".
Lead
Stroke
Applicable controller
10 : 10mm 5 : 5mm 2.5 : 2.5mm
50: 50mm
A1: ACON ASEL A3: AMEC ASEP MSEP
500: 500mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Standard Appendix
P.5
Gripper/ Rotary Type
(1) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 2.5mm-lead model and when using vertically). These values are the upper limits for the acceleration. (2) See page A-71 for details on push motion.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed Motor output (W)
Model number
RCA2-SA4C-I-20-10- ➀ - ➁ - ➂ - ➃ RCA2-SA4C-I-20-5- ➀ - ➁ - ➂ - ➃
Horizontal (kg)
Vertical (kg)
Rated thrust (N)
10
2
1
34
5
4
1.5
68
2.5
6
3
136
20
RCA2-SA4C-I-20-2.5- ➀ - ➁ - ➂ - ➃
Max. Load Capacity
Lead (mm)
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Stroke
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Standard price With cover (standard)
Without cover (option)
— — — — — — — — — —
— — — — — — — — — —
50 100 150 200 250 300 350 400 450 500
Options Name Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (right) CJR — ➝ A-42 Optional cable exit direction (left) CJL — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Power-saving LA — ➝ A-52 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
71
Stroke
Lead
50~500
(every 50mm)
10
500
5
250
2.5
125
50~500
(every 50mm)
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Stroke (mm)
Pulse Motor
Stroke (mm)
Type
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard (Robot Cables) Special length
Standard price — — — — — —
* The standard cable for the RCA2 is the robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø8mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, special alumite treated Ma: 6.8 N·m, Mb: 9.7 N·m, Mc: 13.3 N·m Ma: 3.04 N·m, Mb: 4.31 N·m, Mc: 5.00 N·m 120mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCA2-SA4C
RCA2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
2D CAD
Appendix
65 21 14±0.02
P.15
38 20 ±0.02
CAD drawings can be downloaded from the website.
(With Cover)
20 ±0.02
Controllers Integrated
2-ø2.5H7 depth 5 40 21 14±0.02 40.5
Rod Type
(Without Cover) 4-M3 depth 6 A
st
26 Home
SE
23 33.5 3 ME (*2)
108.5
(
A
Secure at least 100
48 37
37 40 26
A
st SE
L 26 Home
48 37
37 40
Ma moment offset reference position (*3)
)
Standard Controllers Integrated
Motor-encoder cable connector (*1)
108.5
23 33.5 3 ME (*2)
5
(Without Cover)
5.2
23 3 ME
36.5
5.2
10
Mini
Table/ Arm/ Flat Type
Above motor cover: 51
Ma moment offset reference position (*3)
If equipped with a brake * The above brake unit is added to section A . Above motor cover: 51
5.2
23 3 ME
5
(With Cover)
10
2-ø2.5H7 depth 5 L
36.5
5.2
Mini Standard
4-M3 depth 6
26
Slider Type
10.5 15
Cx100 (M3 tapped)
B
Mini
Change cable outlet direction (optional)
15
Standard
(Top: CJT)
32
F
3.5
M (ø2.5 hole and oblong hole pitch)
ø2.5H7 depth from the bottom of the base 5 D-M3 depth 5
Details of F
Connect the motor-encoder integrated cable 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 Ma moment
Gripper/ Rotary Type
B
25
Secure at least 100 (Bottom: CJB)
* As viewed from arrow B .
Dimensions and Mass by Stroke
(*1) (*2) (*3)
(Right: CJR)
(Left: CJL)
21
2.5H7 depth from the bottom of the base 5
32
*Brake-equipped models are heavier by 0.3kg.
Stroke 50 100 150 200 Without brake 274 324 374 424 L With brake 314.5 364.5 414.5 464.5 A 165.5 215.5 265.5 315.5 B 91 41 91 41 C 0 1 1 2 D 4 6 6 8 M 91 141 191 241 0.9 1 1.1 1.1 Weight With cover (kg) Without cover 0.8 0.9 1 1
250 474 514.5 365.5 91 2 8 291 1.2 1.1
300 524 564.5 415.5 41 3 10 341 1.3 1.2
350 574 614.5 465.5 91 3 10 391 1.4 1.3
400 624 664.5 515.5 41 4 12 441 1.5 1.3
450 674 714.5 565.5 91 4 12 491 1.5 1.4
500 724 764.5 615.5 41 5 14 541 1.6 1.5
Applicable Controllers
Linear Servo Type
Cleanroom Type
SplashProof Type
RCA2 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-20SI
Features
- -2-1
Solenoid Valve Type ASEP-C-20SI
-
-2-0
Easy-to-use controller, even for beginners
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
Safety-Compliant Positioner Type
ACON-C-20SI ACON-CG-20SI
- -2-0 -
-2-0
Pulse Train Input Type (Differential Line Driver)
ACON-PL-20SI
Pulse Train Input Type (Open Collector)
ACON-PO-20SI
-
Serial Communication Type
ACON-SE-20SI
-N-0-0
Program Control Type
ASEL-CS-1-20SI
-
-2-0
-
-2-0
-2-0
Positioning is possible for up to 512 points
Power-supply Standard Reference capacity price page 2.4A rated
3 points
—
➝ P537
—
➝ P547
—
➝ P563
256 points
512 points DC24V
Pulse train input type with differential line driver support
(Standard) 1.7A rated 5.1A max. (Power-saving) 1.7A rated 3.4A max.
Pulse Motor
— — —
➝ P631
Servo Motor (24V)
(—)
Pulse train input type with open collector support
—
Dedicated Serial Communication Programmed operation is possible. Can operate up to 2 axes
Input power AC100V
Simple controller operable with the same signal as a solenoid valve
Solenoid valve multi-axis type PIO specification
Positioner type
Maximum number of positioning points
64 points
—
1,500 points
—
* This is for the single-axis ASEL. * Enter the code "LA" in when the power-saving specification is specified. * indicates number of axes (1 to 8). * indicates field network specification symbol.
*
Servo Motor (200V)
➝ P675 Linear Servo Motor
indicates I/O type (NP/PN).
RCA2-SA4C
72
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCA2
ROBO Cylinder
RCA2-SA5C RCA2
Model Specification Items
Series
SA5C Type
ROBO Cylinder, Slider Type, Actuator Width 50mm, Servo Motor, Coupled
I
20
Encoder type
Motor type
20P: 20W Servo I: Incremental * The Simple absolute motor encoder is also considered type "I".
Lead
Stroke
Applicable controller
20 : 20mm 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
A1: ACON ASEL A3: AMEC ASEP MSEP
800: 800mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini
Appendix
P.5
Standard
(1) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 3mm-lead model and when using vertically). These values are the upper limits for the acceleration. (2) See page A-71 for details on push motion.
Gripper/ Rotary Type
Linear Servo Type
Actuator Specifications
Stroke and Maximum Speed
Leads and Payloads Motor output (W)
Model number Cleanroom Type
RCA2-SA5C-I-20-20- ➀ - ➁ - ➂ - ➃ RCA2-SA5C-I-20-12- ➀ - ➁ - ➂ - ➃ RCA2-SA5C-I-20-6- ➀ - ➁ - ➂ - ➃
SplashProof Type
20
Max. Load Capacity
Lead (mm)
Horizontal (kg)
Vertical (kg)
Rated thrust (N)
20
2
0.5
10.1
12
3
1
17
6
6
1.5
34
3
9
3
68
RCA2-SA5C-I-20-3- ➀ - ➁ - ➂ - ➃
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Stroke
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
Standard price
20 50~800
(every 50mm)
600 650 700 750 800
1000
910 790 690 610
12
600
570 490 425 370 330
6
300
285 245 210 185 165
3
150
140 120 105 90
Without cover (option)
— — — — — — — — — — — — — — — —
— — — — — — — — — — — — — — — —
Name Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (right) CJR — ➝ A-42 Optional cable exit direction (left) CJL — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Power-saving LA — ➝ A-52 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
RCA2-SA5C
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard (Robot Cables) Special length
Standard price — — — — — —
* The standard cable for the RCA2 is the robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, special alumite treated Ma: 10.2 N·m, Mb: 14.6 N·m, Mc: 22.4 N·m Ma: 3.92 N·m, Mb: 5.58 N·m, Mc: 8.53 N·m 130mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
80
(Unit: mm/s)
*See page A-71 for details on push motion.
Type
With cover (standard)
Options
73
50~550
(every 50mm) (mm) (mm) (mm) (mm) (mm)
Cable Length
Stroke (mm)
Pulse Motor
Stroke Lead
Stroke (mm)
Ma
L
Mc L
RCA2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
70 22
Appendix
P.15
14±0.02
45
(With Cover)
(*1) (*2) (*3)
26±0.02
2D CAD
2-ø2.5H7 depth 5
4-M4 depth 8
26±0.02
45 22 14±0.02
Connect the motor-encoder integrated cable 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 Ma moment
A
97
ME
28
24.5 3
(
A
ME (*2)
Home
43.5
SE
38.5
Secure at least 100
47
Mini
A 10
33
28
24.5
38.5
3 SE
Home
43.5
15
Cx100 (M4 tapped)
B
Mini Standard
Change cable outlet direction (optional)
15
(Top: CJT) 32
(Right: CJR)
(Left: CJL)
F
3.5
M (ø2.5 hole and oblong hole pitch)
25
ø2.5H7 depth from the bottom of the base 5
Secure at least 100 (Bottom: CJB)
* As viewed from arrow B .
D-M4 depth 7
Dimensions and Mass by Stroke
* Brake-equipped models are heavier by 0.4kg.
Stroke 50 100 150 200 Without brake 272.5 322.5 372.5 422.5 L With brake 312 362 412 462 A 175.5 225.5 275.5 325.5 B 96 46 96 46 C 0 1 1 2 D 4 6 6 8 M 96 146 196 246 1.2 1.4 1.5 1.6 Weight With cover (kg) Without cover 1.1 1.3 1.4 1.5
Details of F
Gripper/ Rotary Type
B
32
26
2.5H7 depth from the bottom of the base 5
10.5
50
Table/ Arm/ Flat Type
ME (*2) Above motor cover: 58
ME
5
45
47
Ma moment offset reference position (*3)
Standard
Motor-encoder cable connector (*1)
97
st
3
6.5
(Without Cover) 57
24.5
)
Controllers Integrated
L
50
6.5
If equipped with a brake * The above brake unit is added to section A .
Above motor cover: 58
st
5
45
57
24.5 3
10 6.5
Ma moment offset reference position (*3)
Controllers Integrated
2-ø2.5H7 depth 5 L
(With Cover)
Standard
Rod Type 4-M4 depth 8
33
Mini
39.5
(Without Cover)
6.5
Slider Type
250 472.5 512 375.5 96 2 8 296 1.8 1.6
300 522.5 562 425.5 46 3 10 346 1.9 1.7
350 572.5 612 475.5 96 3 10 396 2 1.8
400 622.5 662 525.5 46 4 12 446 2.2 1.9
450 672.5 712 575.5 96 4 12 496 2.3 2
500 722.5 762 625.5 46 5 14 546 2.4 2.1
550 772.5 812 675.5 96 5 14 596 2.6 2.2
600 822.5 862 725.5 46 6 16 646 2.7 2.3
650 872.5 912 775.5 96 6 16 696 2.8 2.4
700 922.5 962 825.5 46 7 18 746 3.0 2.5
750 800 972.5 1022.5 1012 1062 875.5 925.5 96 46 7 8 18 20 796 846 3.1 3.2 2.6 2.7
Applicable Controllers
Linear Servo Type
Cleanroom Type
SplashProof Type
RCA2 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
Maximum number of positioning points
Easy-to-use controller, even for beginners
-
-2-0
Simple controller operable with the same signal as a solenoid valve
AC100V
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
Positioning is possible for up to 512 points
512 points
Safety-Compliant Positioner Type
ACON-C-20I
- -2-0
ACON-CG-20I -
-2-0
Pulse Train Input Type (Differential Line Driver)
ACON-PL-20I
Pulse Train Input Type (Open Collector)
ACON-PO-20I
-
Serial Communication Type
ACON-SE-20I
-N-0-0
Program Control Type
ASEL-CS-1-20I
-
-2-0
-
-2-0
-2-0
DC24V
Pulse train input type with differential line driver support
2.4A rated
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
—
➝ P537
—
➝ P547
—
➝ P563 Pulse Motor
— — —
➝ P631
Servo Motor (24V)
(—)
Pulse train input type with open collector support
—
Dedicated Serial Communication Programmed operation is possible. Can operate up to 2 axes
Power-supply Standard Reference capacity price page
3 points
Solenoid valve multi-axis type PIO specification
Positioner type
Input power
64 points
—
1,500 points
—
* This is for the single-axis ASEL. * Enter the code "LA" in when the power-saving specification is specified. * indicates number of axes (1 to 8). * indicates field network specification symbol.
*
Servo Motor (200V)
➝ P675 Linear Servo Motor
indicates I/O type (NP/PN).
RCA2-SA5C
74
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCA2
ROBO Cylinder
RCA2-SA6C RCA2
Model Specification Items
Series
SA6C Type
ROBO Cylinder, Slider Type, Actuator Width 60mm, Servo Motor, Coupled
I
30
Encoder type
Motor type
30P: 30W Servo I: Incremental * The Simple absolute motor encoder is also considered type "I".
Lead
Stroke
Applicable controller
20 : 20mm 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
A1: ACON ASEL A3: AMEC ASEP MSEP
800: 800mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length
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 3mm-lead model and when using vertically). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
Actuator Specifications
Stroke and Maximum Speed
Leads and Payloads Motor output (W)
Model number
RCA2-SA6C-I-30-20- ➀ - ➁ - ➂ - ➃ RCA2-SA6C-I-30-12- ➀ - ➁ - ➂ - ➃ RCA2-SA6C-I-30-6- ➀ - ➁ - ➂ - ➃
SplashProof Type
30
Max. Load Capacity
Lead (mm)
Horizontal (kg)
Vertical (kg)
Rated thrust (N)
20
3
0.5
16
12
4
1.5
26
RCA2-SA6C-I-30-3- ➀ - ➁ - ➂ - ➃
6
7
2
53
3
10
4
105
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Stroke
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Standard price
50~800
(every 50mm)
600 650 700 750 800
1000
910 790 690 610
12
600
570 490 425 370 330
6
300
285 245 210 185 165
3
150
140 120 105 90
Without cover (option)
— — — — — — — — — — — — — — — —
— — — — — — — — — — — — — — — —
Options Name Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (right) CJR — ➝ A-42 Optional cable exit direction (left) CJL — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Power-saving LA — ➝ A-52 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
RCA2-SA6C
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard (Robot Cables) Special length
Standard price — — — — — —
* The standard cable for the RCA2 is the robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, special alumite treated Ma: 17.6 N·m, Mb: 25.2 N·m, Mc: 44.5 N·m Ma: 4.31 N·m, Mb: 6.17 N·m, Mc: 10.98 N·m 150mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
80
(Unit: mm/s)
*See page A-71 for details on push motion.
Type
With cover (standard)
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
75
20
50~550
(every 50mm) (mm) (mm) (mm) (mm) (mm)
Cable Length
Stroke (mm)
Pulse Motor
Stroke Lead
Stroke (mm)
Ma
L
Mc L
RCA2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
2D CAD
52
(With Cover)
Appendix
75 25
P.15
15±0.02
(*1) (*2) (*3)
31±0.02
CAD drawings can be downloaded from the website.
4-M5 depth 10
2-ø3H7 depth 5
50 25
15±0.02
Connect the motor-encoder integrated cable 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 Ma moment
Slider Type
Mini Standard Controllers Integrated
39.5
Rod Type
31±0.02
(Without Cover)
4-M5 depth 10
2-ø3H7 depth 5
Mini
L A 32
st
ME
25 3
47.0
62.5 49
Secure at least 100
A
60 40
25 3 ME
10
8.5
st
32 Home
SE
25 3
Motor-encoder cable connector (*1)
38.5
15
10.5
62.5 49
57 60
Cx100 (M5 tapped)
B
15
Mini Standard
Change cable outlet direction (optional)
(Top: CJT) 32
(Right: CJR)
(Left: CJL)
F
4
25
ø3H7 depth from the bottom of the base 5
M (ø3 hole and oblong hole pitch)
50 292.5 332 180.5 101 0 4 101 1.6 1.5
100 342.5 382 230.5 51 1 6 151 1.7 1.6
150 392.5 432 280.5 101 1 6 201 1.9 1.8
Secure at least 100 (Bottom: CJB)
* As viewed from arrow B .
D-M5 depth 8
Dimensions and Mass by Stroke Stroke Without brake L With brake A B C D M Weight With cover (kg) Without cover
Gripper/ Rotary Type
B
32
31
(Common)
Details of F
Table/ Arm/ Flat Type
ME (*2)
5 3H7 depth from the bottom of the bass 5
Ma moment offset reference position (*3)
Controllers Integrated
112
47.0
8.5
(Without Cover)
L
57
Standard
Above motor cover: 60.5
Ma moment offset reference position (*3)
)
A
ME (*2)
Home
SE
(
38.5
5
(With Cover)
25 3
8.5
If equipped with a brake * The above brake unit is added to section A .
Above motor cover: 60.5
10
40 8.5
112
* Brake-equipped models are heavier by 0.4kg.
200 442.5 482 330.5 51 2 8 251 2.1 1.9
250 492.5 532 380.5 101 2 8 301 2.3 2.1
300 542.5 582 430.5 51 3 10 351 2.4 2.2
350 592.5 632 480.5 101 3 10 401 2.6 2.3
400 642.5 682 530.5 51 4 12 451 2.8 2.5
450 692.5 732 580.5 101 4 12 501 2.9 2.6
500 742.5 782 630.5 51 5 14 551 3.1 2.8
550 792.5 832 680.5 101 5 14 601 3.3 2.9
600 842.5 882 730.5 51 6 16 651 3.5 3.1
650 892.5 932 780.5 101 6 16 701 3.6 3.2
700 942.5 982 830.5 51 7 18 751 3.8 3.4
750 800 992.5 1042.5 1032 1082 880.5 930.5 101 51 7 8 18 20 801 851 4.0 4.1 3.5 3.7
Applicable Controllers
Linear Servo Type
Cleanroom Type
SplashProof Type
RCA2 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 Safety-Compliant Positioner Type
ACON-C-30I
- -2-0
ACON-CG-30I -
-2-0
Pulse Train Input Type (Differential Line Driver)
ACON-PL-30I
Pulse Train Input Type (Open Collector)
ACON-PO-30I
-
Serial Communication Type
ACON-SE-30I
-N-0-0
Program Control Type
ASEL-CS-1-30I
-
-2-0
-
-2-0
-2-0
Maximum number of positioning points
Positioning is possible for up to 512 points
AC100V
Power-supply Standard Reference capacity price page 2.4A rated
3 points
—
➝ P537
—
➝ P547
—
➝ P563
256 points
512 points DC24V
Pulse train input type with differential line driver support
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.2A max.
Pulse Motor
— — —
➝ P631
Servo Motor (24V)
(—)
Pulse train input type with open collector support
—
Dedicated Serial Communication Programmed operation is possible. Can operate up to 2 axes
Input power
64 points
—
1,500 points
—
* This is for the single-axis ASEL. * Enter the code "LA" in when the power-saving specification is specified. * indicates number of axes (1 to 8). * indicates field network specification symbol.
*
Servo Motor (200V)
➝ P675 Linear Servo Motor
indicates I/O type (NP/PN).
RCA2-SA6C
76
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCA2
ROBO Cylinder
RCA2-SA2AR Model Specification Items
RCA2 SA2AR Series
Type
I
ROBO Cylinder, Mini Slider Type, Side-mounted Motor Type, Actuator Width 20mm, 24V Servo Motor, Ball Screw Specification
5
Encoder type
Motor type
5: Servo motor I: Incremental * The Simple absolute 5W encoder is also considered type "I".
A3
Lead
Stroke
Applicable controller
4 : 4mm 2 : 2mm 1 : 1mm
25: 25mm
A3: ASEP MSEP
100: 100mm
Cable length
Options
N: None P: 1m S: 3m M: 5m X: Custom length
(25mm pitch increments)
See Options below. * Be sure to specify which side the motor is to be mounted (ML/MR).
* See page Pre-47 for details on the model descriptions.
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Photo above shows specification with motor side-mounted to the left (ML Option).
Standard Appendix
P.5
Gripper/ Rotary Type
(1) The load capacity is based on operation at an acceleration of 0.3G. This value is the upper limit for the acceleration. (2) Take note that, since there is no brake, the slider may come down when the power is turned off if the actuator is used vertically. (3) See page A-71 for details on push motion.
Linear Servo Type
SplashProof Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed Motor Feed output (W) screw
Model number
RCA2-SA2AR-I-5-4- ➀ -A3- ➁ - ➂ RCA2-SA2AR-I-5-2- ➀ -A3- ➁ - ➂
5
RCA2-SA2AR-I-5-1- ➀ -A3- ➁ - ➂
Ball screw
Max. Load Capacity Lead Rated (mm) Horizontal (kg) Vertical (kg) thrust (N) 4
0.5
0.25
21.4
2
1
0.5
42.3
1
2
1
85.5
Code explanation ➀ Stroke ➁ Cable length ➂ Options
Servo Motor (200V)
25~100
(every 25mm)
Lead
Stroke 4
25 (mm)
50~100 (mm)
180
200
2
100
1
50 (Unit: mm/s)
Cable Length
Stroke
Servo Motor (24V)
±0.02
Stroke (mm)
*See page A-71 for details on push motion.
Stroke
Pulse Motor
Positioning Repeatability (mm)
Ball screw
Cleanroom Type
(mm)
Standard price
25 50 75 100
— — — —
Type Standard (Robot Cables) 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 for the RCA2 is the robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications
Options Name Non-motor end specification Right-mounted motor Left-mounted motor (standard)
Linear Servo Motor
Option code See page Standard price NM — ➝ A-52 MR — ➝ A-52 ML — ➝ A-52
Item
Drive System Lost Motion Base Guide Allowable dynamic moment (*) Allowable overhang Ambient Operating Temp./Humidity Service Life (*) Based on 5,000km travel life.
77
RCA2-SA2AR
Description
Ball screw, ø4mm, rolled C10 0.1mm or less Material: Aluminum, white alumite treated Linear guide Ma: 0.22 N·m, Mb: 0.31 N·m, Mc: 0.28 N·m 40mm or less in Ma, Mb and Mc directions 0 to 40°C, 85% RH or less (Non-condensing) 5,000km
RCA2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
Appendix
P.15
(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables. (*2) During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. *The drawing below shows the specification of the motor side-mounted to the left.
2D CAD
Mini Standard Controllers Integrated
L1 L2
32.5 3
4-M2 Depth 4mm 12
10
Rod Type
3
2-ø2H7 Depth 2mm
Slider Type
3
Mini 15 (tolerance for reamed hole pitch ±0.02 mm)
Standard
Secure at least 100mm 14.5 2 ME
st
30 HOME
SE
2 ME
55
Table/ Arm/ Flat Type
27.2 22.7 15.2
23.9 23.5
Motor-encoder cable connector (*1)
Controllers Integrated
89
Mini
(1.9) 20
16.2
Reference position for Moment offset
41 Oblong Hole Depth 2mm 1
Gripper/ Rotary Type
SE : Stroke end ME : Mechanical end
.5
.5
R1
16
R1
3 H7
Standard 2.9
Detailed view of oblong hole
B-M2 Depth 4mm 30
Linear Servo Type ø3H7 Depth 2mm
(25) A×25
15
Dimensions and Mass by Stroke Stroke L1 L2 A B Weight (kg)
25 50 75 124.5 149.5 174.5 92 117 142 1 2 3 4 6 8 0.23 0.25 0.26
100 199.5 167 4 10 0.28
Applicable Controllers
Cleanroom Type
SplashProof Type
RCA2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
External view
Name
Solenoid valve type
Model number
ASEP-C-5SI- -2-0
Features
Maximum number of positioning points
Input power
Power supply capacity
Simple controller operable with the same signal as a solenoid valve
Standard Reference price page
—
➝ P547
—
➝ P563
3 points
*
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
indicates I/O type (NP/PN). *
indicates number of axes (1 to 8). *
DC24V
1A rated 2A max.
256 points
Pulse Motor
indicates field network specification symbol. Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
RCA2-SA2AR
78
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCA2
ROBO Cylinder
RCA2-SA3R Model Specification Items
RCA2 Series
SA3R Type
ROBO Cylinder, Slider Type, Actuator Width 32mm, Servo Motor, Side-mounted Motor
I
10
Encoder type
Motor type
10: 10W motor I: Incremental * The Simple absolute motor encoder is also considered type "I".
Lead
Stroke
6 : 6mm 4 : 4mm 2 : 2mm
50: 50mm
Applicable controller A1: ACON ASEL A3: AMEC ASEP MSEP
300: 300mm (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 S: 3m which side the M: 5m motor is to be X: Custom length mounted (ML/MR).
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Photo above shows specification with motor side-mounted to the left (ML Option).
Standard Appendix
P.5
Gripper/ Rotary Type
(1) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 2mm-lead model and when using vertically). These values are the upper limits for the acceleration. (2) See page A-71 for details on push motion.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed Motor output (W)
Model number
Max. Load Capacity Lead (mm) Horizontal (kg) Vertical (kg)
RCA2-SA3R-I-10-6- ➀ - ➁ - ➂ - ➃ RCA2-SA3R-I-10-4- ➀ - ➁ - ➂ - ➃
10
RCA2-SA3R-I-10-2- ➀ - ➁ - ➂ - ➃
Rated thrust (N)
6
1
0.5
28
4
2
1
43
2
3
1.5
85
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Stroke
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Stroke
Lead
50~300
(every 50mm)
6
300
4
200
2
100 (Unit: mm/s)
*See page A-71 for details on push motion.
Type
Standard price With cover (standard)
Without cover (option)
— — — — — —
— — — — — —
50 100 150 200 250 300
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
Standard (Robot Cables) Special length
Standard price — — — — — —
* The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance.
Actuator Specifications
Options Name
Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (outside) CJO — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Power-saving LA — ➝ A-52 Left-mounted motor (standard) ML — ➝ A-52 Right-mounted motor MR — ➝ A-52 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity (*) Based on 5,000km of traveling life
Ball screw, ø6mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, special alumite treated Ma: 5.0 N·m, Mb: 7.1 N·m, Mc: 7.9 N·m Ma: 1.96 N·m, Mb: 2.84 N·m, Mc: 3.14 N·m 100mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing) Overhang Load Length
Directions of Allowable Load Moment
79
50~300
(every 50mm)
Cable Length
Stroke (mm)
Pulse Motor
Stroke (mm)
Ma
Mb
Mc
Ma
L
Mc L
RCA2-SA3R
RCA2
ROBO Cylinder
Dimensional Drawings 0.02
www.intelligentactuator.com
2D CAD
2-ø2H7 depth 5
60
17 ±0.02
CAD drawings can be downloaded from the website.
Slider Type
17
Appendix
4-M3 depth 6
P.15
Mini Standard
(77)
30
(With Cover)
11±
With Brake
Controllers Integrated
126.2 (without brake)
158.2 (with brake)
Rod Type
(Without Cover) L A 10
21.4 4.4
ME
21.4
39.8 3
SE
Home
Standard
ME (*2)
Controllers Integrated
37
40 31.5
Mini
19
st
5
(With Cover)
29.5
3
4.4
21.8 3
29 32
Ma moment offset reference position (*3)
(7)
Motor-encoder cable connector (*1)
38 77
29.5
Table/ Arm/ Flat Type
(Without Cover)
Ma moment offset reference position (*3)
Mini
[Cable Exit Direction] (Optional) (Top: CJT)
Standard
17
Secure at least 100
F
10.5
15
B
2H depth 4 from bottom of base
32
25
3
(Bottom: CJB)
(*1) (*2) (*3)
15
Connect the motor-encoder integrated cable 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 Ma moment
Details of F
Gripper/ Rotary Type
37.5
D-M3 depth 5
(Out: CJO) 32
C×100
ø2H7 depth 4 from the bottom of the base
Dimensions and Mass by Stroke Stroke L A B C D Weight With cover (kg) Without cover
50 162 143 84 0 4 0.7 0.6
100 212 193 34 1 6 0.7 0.7
150 262 243 84 1 6 0.8 0.7
* Brake-equipped models are heavier by 0.2kg.
200 312 293 34 2 8 0.9 0.8
250 362 343 84 2 8 0.9 0.8
300 412 393 34 3 10 1.0 0.9
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCA2 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-10I
Features
- -2-1
Solenoid Valve Type ASEP-C-10I
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 Safety-Compliant Positioner Type
ACON-C-10I
- -2-0
Positioning is possible for up to 512 points
ACON-CG-10I -
-2-0
Pulse Train Input Type (Differential Line Driver)
ACON-PL-10I
-
-2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
ACON-PO-10I
-
-2-0
Pulse train input type with open collector support
Serial Communication Type
ACON-SE-10I
-N-0-0
Program Control Type
ASEL-CS-1-10I
-
-2-0
Maximum number of positioning points
Dedicated Serial Communication Programmed operation is possible. Can operate up to 2 axes
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
—
* This is for the single-axis ASEL. * Enter the code "LA" in when the power-saving specification is specified. * indicates number of axes (1 to 8). * indicates field network specification symbol.
*
Servo Motor (200V)
➝ P675 Linear Servo Motor
indicates I/O type (NP/PN).
RCA2-SA3R
80
RCA2 Slider Type
Mini Standard
ROBO Cylinder
RCA2-SA4R Model Specification Items
RCA2 Series
SA4R Type
ROBO Cylinder, Slider Type, Actuator Width 40mm, Servo Motor, Side-mounted Motor
I
20
Motor type
Encoder type
20: 20W Servo I: Incremental * The Simple absolute motor encoder is also considered type "I".
Controllers Integrated
Lead
Stroke
0 : 10mm 1 5 : 5mm 2.5 : 2.5mm
50: 50mm
Applicable controller A1: ACON ASEL A3: AMEC ASEP MSEP
500: 500mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Options
Cable length
N: None See Options below. P: 1m * Be sure to specify S: 3m which side the M: 5m motor is to be X: Custom length mounted (ML/MR).
Rod Type
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Photo above shows specification with motor side-mounted to the left (ML Option).
Standard Appendix
P.5
Gripper/ Rotary Type
(1) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 2.5mm-lead model and when using vertically). These values are the upper limits for the acceleration. (2) See page A-71 for details on push motion.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads Model number
Stroke and Maximum Speed Motor output (W)
RCA2-SA4R-I-20-10- ➀ - ➁ - ➂ - ➃ RCA2-SA4R-I-20-5- ➀ - ➁ - ➂ - ➃ RCA2-SA4R-I-20-2.5- ➀ - ➁ - ➂ - ➃
Max. Load Capacity Lead (mm) Horizontal (kg) Vertical (kg) 10
20
2
1
Rated thrust (N)
5
4
1.5
68
2.5
6
3
136
Stroke
50 100 150 200 250 300 350 400 450 500
Standard price With cover (standard) Without cover (option) — — — — — — — — — — — — — — — — — — — —
Linear Servo Motor
(every 50mm)
10
500
5
250
2.5
125 (Unit: mm/s)
*See page A-71 for details on push motion.
Type Standard (Robot Cables) Special length
Cable symbol P (1m) S (3m) M (5m) X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m)
* The standard cable is the motor-encoder integrated robot cable. * See page A-59 for cables for maintenance.
Name
Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (outside) CJO — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Power-saving LA — ➝ A-52 Left-mounted motor (standard) ML — ➝ A-52 Right-mounted motor MR — ➝ A-52 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
Ball screw, ø8mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, special alumite treated Ma: 6.8 N·m, Mb: 9.7 N·m, Mc: 13.3 N·m Ma: 3.04 N·m, Mb: 4.31 N·m, Mc: 5.00 N·m 120mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing)
(*) Based on 5,000km of traveling life
Overhang Load Length
Directions of Allowable Load Moment
81
Standard price — — — — — —
Actuator Specifications
Options Servo Motor (200V)
50~500
50~500
(every 50mm)
Cable Length
Stroke (mm)
Servo Motor (24V)
Stroke
Lead
34
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Pulse Motor
Stroke (mm)
Ma
Mb
Mc
Ma
L
Mc L
RCA2-SA4R
RCA2
ROBO Cylinder
Dimensional Drawings 2-ø2.5H7 depth 5
www.intelligentactuator.com
2D CAD
Appendix
0.02
65 21
20±0.02
CAD drawings can be downloaded from the website.
14±
P.15
4-M3 depth 6
Mini 38
(With Cover)
With Brake
Standard
(95.5)
(*1) (*2) (*3)
Slider Type
Connect the motor-encoder integrated cable 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 Ma moment
Controllers Integrated 150.2 (without brake)
174.7 (with brake)
Rod Type
(Without Cover) L A
26
Mini
26.5
st
26
SE
Home
47.5 3 ME (*2)
Standard Controllers Integrated
42.5
36.5
5.5
5.2
23 3 ME
5
48 37
5.2
(With Cover)
10
37 40
Ma moment offset reference position (*3)
Motor-encoder cable connector (*1)
(4.5) 51
Table/ Arm/ Flat Type
36.5
95.5
(Without Cover)
Mini
Ma moment offset reference position (*3)
Standard
[Cable Exit Direction] (Optional) (Top: CJT)
Gripper/ Rotary Type
21
Secure at least 100
F
15 C×100 B ø2.5H7 depth from the bottom of the base 5
32
10.5
32
Linear Servo Type
51.5
D-M3 depth 5
25
2.5H7 depth from the bottom of the base 5
(Out: CJO)
15
(Bottom: CJB)
Dimensions and Mass by Stroke 3.5
Details of F
* Brake-equipped models are heavier by 0.3kg.
Stroke 50 100 150 200 250 300 350 400 450 500 183 233 283 333 383 433 483 533 583 633 L A 156.5 206.5 256.5 306.5 356.5 406.5 456.5 506.5 556.5 606.5 B 91 41 91 41 91 41 91 41 91 41 C 0 1 1 2 2 3 3 4 4 5 D 4 6 6 8 8 10 10 12 12 14 1.1 1.2 1.3 1.3 1.4 1.5 1.6 1.7 1.8 1.9 Weight With cover (kg) Without cover 1.0 1.1 1.2 1.2 1.3 1.4 1.5 1.5 1.6 1.7
Cleanroom Type
SplashProof Type
Applicable Controllers RCA2 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-20SI
Features
- -2-1
Solenoid Valve Type ASEP-C-20SI Solenoid valve multi-axis type PIO specification Solenoid valve multi-axis type Network specification Positioner type Safety-Compliant Positioner Type Pulse Train Input Type (Differential Line Driver)
MSEP-CMSEP-C-
-
-2-0
Easy-to-use controller, even for beginners Simple controller operable with the same signal as a solenoid valve
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioning is possible for up to 512 points
512 points
- -2-0
ACON-CG-20SI -
-2-0
ACON-PL-20SI
-2-0
-
Serial Communication Type
ACON-SE-20SI
-N-0-0
ASEL-CS-1-20SI
-
DC24V
Pulse train input type with differential line driver support
Dedicated Serial Communication
Programmed operation is possible. -2-0 Can operate up to 2 axes
2.4A rated
(Standard) 1.7A rated 5.1A max. (Power-saving) 1.7A rated 3.4A max.
—
➝ P537
—
➝ P547
—
➝ P563
— — —
➝ P631
— 64 points
—
1,500 points
—
* This is for the single-axis ASEL. * Enter the code "LA" in when the power-saving specification is specified. * indicates number of axes (1 to 8). * indicates field network specification symbol.
*
➝ P675
indicates I/O type (NP/PN).
RCA2-SA4R
Pulse Motor
Servo Motor (24V)
(—)
Pulse train input type with open -2-0 collector support
ACON-PO-20SI
Power-supply Standard Reference capacity price page
3 points
Positioner type based on PIO control, allowing up to 8 axes to be connected
ACON-C-20SI
Input power AC100V
-2-0
-~-
Pulse Train Input Type (Open Collector)
Program Control Type
Maximum number of positioning points
82
Servo Motor (200V)
Linear Servo Motor
RCA2 Slider Type
Mini Standard
ROBO Cylinder
RCA2-SA5R Model Specification Items
RCA2 Series
SA5R Type
ROBO Cylinder, Slider Type, Actuator Width 50mm, Servo Motor, Side-mounted Motor
I
20
Motor type
Encoder type
20: 20W Servo I: Incremental * The Simple absolute motor encoder is also considered type "I".
Controllers Integrated
Lead
Stroke
12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
Applicable controller A1: ACON ASEL A3: AMEC ASEP MSEP
800: 800mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Options
Cable length
N: None See Options below. P: 1m * Be sure to specify S: 3m which side the M: 5m motor is to be X: Custom length mounted (ML/MR).
Rod Type
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Photo above shows specification with motor side-mounted to the left (ML Option).
Standard Appendix
P.5
Gripper/ Rotary Type
(1) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 3mm-lead model and when using vertically). These values are the upper limits for the acceleration. (2) See page A-71 for details on push motion.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads Model number
Stroke and Maximum Speed Motor output (W)
RCA2-SA5R-I-20-12- ➀ - ➁ - ➂ - ➃ RCA2-SA5R-I-20-6- ➀ - ➁ - ➂ - ➃ RCA2-SA5R-I-20-3- ➀ - ➁ - ➂ - ➃
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 12
20
3
1
Rated thrust (N)
6
6
1.5
34
3
9
3
68
Stroke
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
Standard price With cover (standard) Without cover (option) — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — —
(every 50mm)
600 650 700 750 800
600
570 490 425 370 330
6
300
285 245 210 185 165
3
150
140 120 105 90
80
(Unit: mm/s)
*See page A-71 for details on push motion.
Type Standard (Robot Cables) 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
Options Name
Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (outside) CJO — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Power-saving LA — ➝ A-52 Left-mounted motor (standard) ML — ➝ A-52 Right-mounted motor MR — ➝ A-52 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
83
12 50~800
50~550
(every 50mm) (mm) (mm) (mm) (mm) (mm)
Cable Length
Stroke (mm)
Servo Motor (24V)
Stroke Lead
17
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Pulse Motor
Stroke (mm)
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm Material: Aluminum, special alumite treated Ma: 10.2 N·m, Mb: 14.6 N·m, Mc: 22.4 N·m Ma: 3.92 N·m, Mb: 5.58 N·m, Mc: 8.53 N·m 130mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing)
(*) Based on 5,000km of traveling life Directions of Allowable Load Moment Ma
Mb
Mc
Overhang Load Length Ma
L
Mc L
RCA2-SA5R
RCA2
ROBO Cylinder
Dimensional Drawings 2-ø2.5H7 depth 5
P.15
14 ±0.02
With Brake
Standard Controllers Integrated 164.2 (with brake)
139.7 (without brake)
Rod Type
(Without Cover) L
ME
st SE
28
50.5 3
Home
ME (*2)
Standard Controllers Integrated
52.5
43.5
4.5
6.5
47 50
5
45
(With Cover)
57
6.5
Mini
26.5
A 24.5 3
10
33
Ma moment offset reference position (*3)
(8.5) 58.5
Motor-encoder cable connector (*1)
Table/ Arm/ Flat Type
43.5
117
(Without Cover)
Slider Type
Mini
26 ±0.02
(With Cover)
Connect the motor-encoder integrated cable 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 Ma moment
Appendix
4-M4 depth 8
(117)
2D CAD (*1) (*2) (*3)
70 22
www.intelligentactuator.com
45
CAD drawings can be downloaded from the website.
Mini
Ma moment offset reference position (*3)
Standard 2.5H7 depth from the bottom of the base 5
[Cable Exit Direction] (Optional) (Top: CJT)
26
Secure at least 100
F
32
10.5
15
C×100
B
15
53
ø2.5H7 depth from the bottom of the base 5
(Out: CJO) 32
Dimensions and Mass by Stroke
(Bottom: CJB)
Stroke L A B C D Weight With cover (kg) Without cover
50 189.5 163 96 0 4 1.5 1.4
100 239.5 213 46 1 6 1.7 1.6
Linear Servo Type
Details of F
D-M4 depth 7
25
Gripper/ Rotary Type
3.5
150 289.5 263 96 1 6 1.8 1.7
200 339.5 313 46 2 8 1.9 1.8
250 389.5 363 96 2 8 2.1 1.9
* Brake-equipped models are heavier by 0.4kg.
300 439.5 413 46 3 10 2.2 2.0
350 489.5 463 96 3 10 2.3 2.1
400 539.5 513 46 4 12 2.5 2.2
450 589.5 563 96 4 12 2.6 2.3
500 639.5 613 46 5 14 2.7 2.4
550 689.5 663 96 5 14 2.9 2.5
600 739.5 713 46 6 16 3.0 2.6
650 789.5 763 96 6 16 3.1 2.7
700 839.5 813 46 7 18 3.3 2.8
750 889.5 863 96 7 18 3.4 2.9
800 939.5 913 46 8 20 3.5 3.0
Cleanroom Type
SplashProof Type
Applicable Controllers RCA2 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
Solenoid valve multi-axis type Network specification Positioner type Safety-Compliant Positioner Type Pulse Train Input Type (Differential Line Driver)
MSEP-CMSEP-C-
Simple controller operable with the same signal as a solenoid valve
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioning is possible for up to 512 points
512 points
ACON-C-20I
- -2-0
ACON-CG-20I -
-2-0
ACON-PL-20I
-2-0
-
Serial Communication Type
ACON-SE-20I
-N-0-0
ASEL-CS-1-20I
-
DC24V
Pulse train input type with differential line driver support
2.4A rated
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
—
➝ P537
—
➝ P547
—
➝ P563
— — —
➝ P631
— 64 points
—
1,500 points
—
* This is for the single-axis ASEL. * Enter the code "LA" in when the power-saving specification is specified. * indicates number of axes (1 to 8). * indicates field network specification symbol.
*
➝ P675
indicates I/O type (NP/PN).
RCA2-SA5R
Pulse Motor
Servo Motor (24V)
(—)
Dedicated Serial Communication
Programmed operation is possible. -2-0 Can operate up to 2 axes
Power-supply Standard Reference capacity price page
3 points
Pulse train input type with open -2-0 collector support
ACON-PO-20I
Input power AC100V
-2-0
Pulse Train Input Type (Open Collector)
Program Control Type
Easy-to-use controller, even for beginners
-
ASEP-C-20I Solenoid valve multi-axis type PIO specification
Maximum number of positioning points
84
Servo Motor (200V)
Linear Servo Motor
RCA2 Slider Type
Mini Standard
ROBO Cylinder
RCA2-SA6R Model Specification Items
RCA2 Series
SA6R Type
ROBO Cylinder, Slider Type, Actuator Width 60mm, Servo Motor, Side-mounted Motor
I
30
Motor type
Encoder type
30: 30W Servo I: Incremental * The Simple absolute motor encoder is also considered type "I".
Controllers Integrated
Lead
Stroke
2 : 12mm 1 6 : 6mm 3 : 3mm
50: 50mm
Applicable controller
800: 800mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
A1: ACON ASEL A3: AMEC ASEP MSEP
Options
Cable length
N: None See Options below. P: 1m * Be sure to specify S: 3m which side the M: 5m motor is to be X: Custom length mounted (ML/MR).
Rod Type
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Photo above shows specification with motor side-mounted to the left (ML Option).
Standard
Appendix
P.5
Gripper/ Rotary 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, or when used vertically). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads Model number
Stroke and Maximum Speed Motor output (W)
RCA2-SA6R-I-30-12- ➀ - ➁ - ➂ - ➃ RCA2-SA6R-I-30-6- ➀ - ➁ - ➂ - ➃ RCA2-SA6R-I-30-3- ➀ - ➁ - ➂ - ➃
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 12
30
4
1.5
Rated thrust (N)
6
7
2
53
3
10
4
105
Stroke
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
Standard price With cover (standard) Without cover (option) — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — —
(every 50mm)
600 650 700 750 800
600
570 490 425 370 330
6
300
285 245 210 185 165
3
150
140 120 105 90
80
(Unit: mm/s)
*See page A-71 for details on push motion.
Type Standard (Robot Cables) 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
Options Name
Option code See page Standard price Brake B — ➝ A-42 Optional cable exit direction (top) CJT — ➝ A-42 Optional cable exit direction (outside) CJO — ➝ A-42 Optional cable exit direction (bottom) CJB — ➝ A-42 Power-saving LA — ➝ A-52 Left-mounted motor (standard) ML — ➝ A-52 Right-mounted motor MR — ➝ A-52 No cover NCO — ➝ A-52 Non-motor end specification NM — ➝ A-52
85
12 50~800
50~550
(every 50mm) (mm) (mm) (mm) (mm) (mm)
Cable Length
Stroke (mm)
Servo Motor (24V)
Stroke Lead
26
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Pulse Motor
Stroke (mm)
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm Material: Aluminum, special alumite treated Ma: 17.6 N·m, Mb: 25.2 N·m, Mc: 44.5 N·m Ma: 4.31 N·m, Mb: 6.17 N·m, Mc: 10.98 N·m 150mm or less in Ma, Mb and Mc directions 0 to 40oC, 85% RH or less (Non-condensing)
(*) Based on 5,000km of traveling life Directions of Allowable Load Moment Ma
Mb
Mc
Overhang Load Length Ma
L
Mc L
RCA2-SA6R
RCA2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
P.15
2-ø3H7 depth 5
75 25
Mini Standard
52
(With Cover)
117 (122)
Connect the motor-encoder integrated cable 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 Ma moment
4-M5 depth 10 15±0.02
Slider Type
5
31±0.02
2D CAD (*1) (*2) (*3)
Appendix
With Brake
Controllers Integrated
154.7 (without brake)
Rod Type
179.2 (with brake)
(Without Cover)
Mini L 26.5
A 10
40
st
32
Standard
51 3
ME
SE
Home
ME (*2)
Controllers Integrated
49
55
47
7.5
8.5
Ma moment offset reference position (*3)
Table/ Arm/ Flat Type
Motor-encoder cable connector (*1)
(3.5) 58.5
57 60
5
(With Cover)
62.5
8.5
25 3
122
47
Mini (Without Cover)
Standard
Ma moment offset reference position (*3) D-M5 depth 8
F
[Cable Exit Direction] (Optional)
Gripper/ Rotary Type
Secure at least 100
31
(Top: CJT)
15
10.5 3H7 depth from the bottom of the bass 5
32
(Out: CJO) 25
32 (Bottom: CJB)
C×100
B
15
Linear Servo Type
53
ø3H7 depth from the bottom of the base 5
Dimensions and Mass by Stroke 4
Details of F
Stroke L A B C D Weight With cover (kg) Without cover
50 194.5 168 101 0 4 1.9 1.8
100 244.5 218 51 1 6 2.0 1.9
150 294.5 268 101 1 6 2.2 2.1
200 344.5 318 51 2 8 2.4 2.2
250 394.5 368 101 2 8 2.6 2.4
* Brake-equipped models are heavier by 0.4kg.
300 444.5 418 51 3 10 2.7 2.5
350 494.5 468 101 3 10 2.9 2.6
400 544.5 518 51 4 12 3.1 2.8
450 594.5 568 101 4 12 3.2 2.9
500 644.5 618 51 5 14 3.4 3.1
550 694.5 668 101 5 14 3.6 3.2
600 744.5 718 51 6 16 3.8 3.4
650 794.5 768 101 6 16 3.9 3.5
700 844.5 818 51 7 18 4.1 3.7
750 894.5 868 101 7 18 4.3 3.8
800 944.5 918 51 8 20 4.5 3.9
Cleanroom Type
SplashProof Type
Applicable Controllers RCA2 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
Solenoid valve multi-axis type Network specification Positioner type Safety-Compliant Positioner Type Pulse Train Input Type (Differential Line Driver)
MSEP-CMSEP-C-
Simple controller operable with the same signal as a solenoid valve
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioning is possible for up to 512 points
512 points
ACON-C-30I
- -2-0
ACON-CG-30I -
-2-0
ACON-PL-30I
-2-0
-
Serial Communication Type
ACON-SE-30I
-N-0-0
ASEL-CS-1-30I
-
DC24V
Pulse train input type with differential line driver support
2.4A rated
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.2A max.
—
➝ P537
—
➝ P547
—
➝ P563
— — —
➝ P631
— 64 points
—
1,500 points
—
* This is for the single-axis ASEL. * Enter the code "LA" in when the power-saving specification is specified. * indicates number of axes (1 to 8). * indicates field network specification symbol.
*
➝ P675
indicates I/O type (NP/PN).
RCA2-SA6R
Pulse Motor
Servo Motor (24V)
(—)
Dedicated Serial Communication
Programmed operation is possible. -2-0 Can operate up to 2 axes
Power-supply Standard Reference capacity price page
3 points
Pulse train input type with open -2-0 collector support
ACON-PO-30I
Input power AC100V
-2-0
Pulse Train Input Type (Open Collector)
Program Control Type
Easy-to-use controller, even for beginners
-
ASEP-C-30I Solenoid valve multi-axis type PIO specification
Maximum number of positioning points
86
Servo Motor (200V)
Linear Servo Motor
RCA Slider Type
Mini Standard
ROBO Cylinder
RCA-SA4C Model Specification Items
RCA
SA4C
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 40mm, 24V Servo Motor, Coupled
20
Encoder type I: Incremental A: Absolute
Controllers Integrated * See page Pre-47 for details on the model descriptions.
* 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
0 : 10mm 1 5 : 5mm 2.5 : 2.5mm
50: 50mm
Applicable controller A1: ACON ASEL A3: AMEC ASEP MSEP
400: 400mm (50mm pitch increments)
Options
Cable length
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Rod Type
(excluding the 2.5-mm lead model)
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Appendix
Standard
P.5
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
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 operating the standard and power-saving models at 0.3G (0.2G for 2.5mm-lead), and the high acceleration/deceleration model at 1G (excluding the 2.5mm-lead model). (Even when the acceleration/deceleration is dropped, the maximum load capacity values shown in the table below are the upper limits.) (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
Leads and Payloads
Stroke and Maximum Speed Motor output (W)
Model number
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg)
RCA-SA4C- ➀ -20-10- ➁ - ➂ - ➃ - ➄ RCA-SA4C- ➀ -20-5- ➁ - ➂ - ➃ - ➄
10 20
RCA-SA4C- ➀ -20-2.5- ➁ - ➂ - ➃ - ➄
4
1
Rated thrust (N)
Stroke (mm)
19.6
5
6
2.5
39.2
2.5
8
4.5
78.4
50~400
(every 50mm)
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke Stroke (mm)
Pulse Motor
I
A
— — — — — — — —
— — — — — — — —
665
5
330
2.5
165 (Unit: mm/s)
Standard (Robot Cables) Special length
Robot Cable
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
Linear Servo Motor
10
*See page A-71 for details on push motion.
Type
Servo Motor (24V)
Servo Motor (200V)
50~400
(every 50mm)
Cable Length
Standard price Encoder Type Incremental Absolute
50 100 150 200 250 300 350 400
Stroke
Lead
Name Brake Foot bracket For high acceleration/deceleration Home sensor Power-saving Non-motor end specification Slider roller specification Slider spacer
Option code See page Standard price B — ➝ A-42 FT — ➝ A-47 HA — ➝ A-50 HS — ➝ A-50 LA — ➝ A-52 NM — ➝ A-52 SR — ➝ A-55 SS — ➝ A-55
* The high-acceleration/deceleration option and the slider roller option cannot be used together. * The high-acceleration/deceleration option cannot be used on the 2.5mm-lead model. * The high-acceleration/deceleration option and the power saving option cannot be used together.
87
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
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 0 to 40oC, 85% RH or less (Non-condensing)
(*) Based on 5,000km of traveling life
Overhang Load Length
Directions of Allowable Load Moment Ma
Mb
Mc
Ma
L
Mc L
RCA-SA4C
RCA
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com (*1) (*2)
4-ø3.6 ø6.5 counterbore, Depth 3.7 (for mounting actuator) *4
Fo
n itio os
20
2-ø3H7 depth 5
21
ø8 hole
slot
P.15
(*3) (*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
10.2
11.8
djusting p ra
M
23
st
Secure at least 100
Base end-face
12.8
70
3
Standard
Incremental 108.2 (147.2 if brake-equipped) Absolute 123.2 (162.2 if brake-equipped)
Controllers Integrated
3 Home
SE
ME*2
31.2
ition os
sting
p
1
dju
32 22.5 1
Mini
(240)
11.8
a
A
Bottom of the base
37 3
3 Actuator width: 40
Base end-face
Rod Type
Cable joint connector *1
Base end-face
ME
For
Slider height: 40
5
36.5 25 15
Standard
4-M3 depth 7
L
Ma moment offset reference position *3
Mini
Controllers Integrated
32 24 16±0.02 9
Base end-face Details of the slotted area for adjusting slider position
Reference position for calculating the Ma moment 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.
11.8
50 (when stroke is 50) U×100P (All strokes except 50)
R
Motor section W: 46
Base end-face 50
Motor section H: 45
2D CAD
Slider Type
Appendix
(Reamer hole tolerance ±0.02)
CAD drawings can be downloaded from the website.
Table/ Arm/ Flat Type Mini
11.8
21
3.2
Standard
(40)
Details of section A (Actuator's reference side)
m-M3 depth 5
3
(37)
+0.010 0
4 Reference surface
Details of oblong hole
P (pitch for ø3 hole and oblong hole)
Oblong hole depth 5 from the bottom of the base
Gripper/ Rotary Type
2-ø3H7 depth 5 from the bottom of the base
N (ø3 hole pitch)
Dimensions and Mass by Stroke Stroke Without brake Incremental With brake L Without brake Absolute With brake M N P R U m Weight (kg)
50 264 303 279 318 122 50 35 22 — 4 0.7
* Brake-equipped models are heavier by 0.3kg.
100 150 200 250 300 350 400 314 364 414 464 514 564 614 353 403 453 503 553 603 653 329 379 429 479 529 579 629 368 418 468 518 568 618 668 172 222 272 322 372 422 472 100 100 200 200 300 300 400 85 85 185 185 285 285 385 22 72 22 72 22 72 22 1 1 2 2 3 3 4 4 4 6 6 8 8 10 0.8 0.9 1 1.1 1.2 1.3 1.4
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCA 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
- -2-1
Solenoid Valve Type ASEP-C-20I Solenoid valve multi-axis type PIO specification Solenoid valve multi-axis type Network specification Positioner type
- -2-0
Features Easy-to-use controller, even for beginners Simple controller operable with the same signal as a solenoid valve
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioning is possible for up to 512 points
512 points
- -2-0
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
Dedicated Serial Communication
ASEL-CS-1-20
- -2-0
Programmed operation is possible. Can operate up to 2 axes
Power-supply Standard Reference capacity price page 2.4A rated
3 points
Positioner type based on PIO control, allowing up to 8 axes to be connected
ACON-C-20I
Input power AC100V
-2-0
MSEP-C- -~-
Safety-Compliant Positioner Type
Program Control Type
Maximum number of positioning points
DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
—
➝ P537
—
➝ P547
—
➝ P563
—
Servo Motor (24V)
— —
➝ P631
(—) — 64 points
—
1,500 points
—
➝ P675
* This is for the single-axis ASEL. * indicates encoder type (I: incremental, A: absolute) * Enter the code "HA" or "LA" in when the high-acceleration/deceleration option or the power-saving option is specified. * indicates I/O type (NP/PN). * indicates number of axes (1 to 8). * indicates field network specification symbol.
RCA-SA4C
Pulse Motor
88
Servo Motor (200V)
Linear Servo Motor
RCA Slider Type
Mini Standard
ROBO Cylinder
RCA-SA5C Model Specification Items
RCA
SA5C
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 52mm, 24V Servo Motor, Coupled
20
Encoder type I: Incremental A: Absolute
Controllers Integrated * See page Pre-47 for details on the model descriptions.
* 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
Applicable controller
20: 20W Servo motor
20 : 20mm 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
A1: ACON ASEL A3: AMEC ASEP MSEP
500: 500mm (50mm pitch increments)
Cable length
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Rod Type
(excluding the 3-mm lead model)
Mini 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 operating the standard and power-saving models at 0.3G (0.2G for 3mm-lead), and the high acceleration/deceleration model at 0.8G (excluding the 3mm-lead model). (Even when the acceleration/deceleration is dropped, the maximum load capacity values shown in the table below are the upper limits.) (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
Leads and Payloads Cleanroom Type
SplashProof Type
Stroke and Maximum Speed Motor output (W)
Model number
RCA-SA5C- ➀ -20-20- ➁ - ➂ - ➃ - ➄ RCA-SA5C- ➀ -20-12- ➁ - ➂ - ➃ - ➄ RCA-SA5C- ➀ -20-6- ➁ - ➂ - ➃ - ➄ RCA-SA5C- ➀ -20-3- ➁ - ➂ - ➃ - ➄
20
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
12
4
65.7
Stroke (mm)
50~500
(every 50mm)
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke Stroke (mm)
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300 350 400 450 500
Stroke Lead
50~450
(Unit: mm/s)
500
(every 50mm)
(mm)
20
1300 <800>
1300 <800>
12
800
760
6
400
380
3
200
190 * The values enclosed in < > apply to vertical settings.
*See page A-71 for details on push motion.
Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — —
Type Standard Special length
Robot Cable
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 Name Brake Foot bracket For high acceleration/deceleration Home sensor Power-saving Non-motor end specification Slider roller specification
Option code See page Standard price B — ➝ A-42 FT — ➝ A-47 HA — ➝ A-50 HS — ➝ A-50 LA — ➝ A-52 NM — ➝ A-52 SR — ➝ A-55
* The high-acceleration/deceleration option and the slider roller option cannot be used together. * The high-acceleration/deceleration option cannot be used on the 3mm-lead model. * The high-acceleration/deceleration option and the power saving option cannot be used together.
89
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
Ball screw, ø10mm, rolled C10 ±0.02mm [±0.03mm] 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 0 to 40oC, 85% RH or less (Non-condensing)
(*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 Ma
Mb
Mc
Ma
L
Mc L
RCA-SA5C
RCA
ROBO Cylinder
Dimensional Drawings
2D CAD
www.intelligentactuator.com
4-ø4.5 ø8 counterbore, depth 4.5 (for mounting actuator) *4
26
4-M4 depth 9
Standard Cable joint connector *1
Controllers Integrated
M
14.5
Secure at least 100
st
94 Home
SE
Incremental 84.2 (123.2 if brake-equipped) 99.2 (138.2 if brake-equipped) 13.5 Absolute 3 ME *2
Mini
39
23.7 3 ME
Rod Type
(240)
Base end-face
justing po
justing po ad
1
1
26
Fo r
n tio si
14.5
L Ma moment offset reference position *3
48 32 20
40
10.2 Base end-face
A
Bottom of the base 50 Actuator width: 52 Base end-face 14.5
Motor section H: 48
ad
n tio si
Mini
40 30 19±0.02 9
Fo r
Details of the slotted area for adjusting slider position
Slider height: 50
P.15
2-ø4H7 depth 6
26
ø8 hole
slot
Slider Type
Appendix
(Reamer hole tolerance ±0.02)
CAD drawings can be downloaded from the website.
R
50
Controllers Integrated
Table/ Arm/ Flat Type
Motor section W: 52 Base end-face
50 (when stroke is 50) U×100P (All strokes except 50)
Standard
14.5
Mini 5 26
Standard
4
(50) (52)
+0.012 0
5
Reference surface
Details of section A (Actuator's reference side)
Details of oblong hole
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 Mass by Stroke (*1) (*2) (*3) (*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 Ma moment 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 Without brake Incremental With brake L Without brake Absolute 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
Gripper/ Rotary Type
* Brake-equipped models are heavier by 0.3kg.
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
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCA 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
- -2-1
Solenoid Valve Type ASEP-C-20I Solenoid valve multi-axis type PIO specification Solenoid valve multi-axis type Network specification Positioner type Safety-Compliant Positioner Type Pulse Train Input Type (Differential Line Driver)
- -2-0
Features Easy-to-use controller, even for beginners Simple controller operable with the same signal as a solenoid valve
MSEP-C- -~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioning is possible for up to 512 points
512 points
- -2-0
ACON-CG-20I - -2-0 ACON-PL-20I
- -2-0
Pulse train input type with differential line driver support
ACON-PO-20I
- -2-0
Pulse train input type with open collector support
Serial Communication Type
ACON-SE-20I
-N-0-0
Dedicated Serial Communication
ASEL-CS-1-20
- -2-0
Programmed operation is possible. Can operate up to 2 axes
Power-supply Standard Reference capacity price page 2.4A rated
3 points
Positioner type based on PIO control, allowing up to 8 axes to be connected
ACON-C-20I
Input power AC100V
-2-0
MSEP-C- -~-
Pulse Train Input Type (Open Collector)
Program Control Type
Maximum number of positioning points
DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
—
➝ P537
—
➝ P547
—
➝ P563
—
Servo Motor (24V)
— —
➝ P631
(—) — 64 points
—
1,500 points
—
➝ P675
* This is for the single-axis ASEL. * indicates encoder type (I: incremental, A: absolute) * Enter the code "HA" or "LA" in when the high-acceleration/deceleration option or the power-saving option is specified. * indicates I/O type (NP/PN). * indicates number of axes (1 to 8). * indicates field network specification symbol.
RCA-SA5C
Pulse Motor
90
Servo Motor (200V)
Linear Servo Motor
RCA Slider Type
Mini Standard
ROBO Cylinder
RCA-SA6C Model Specification Items
RCA
SA6C
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 58mm, 24V Servo Motor, Coupled
30
Encoder type I: Incremental A: Absolute
Controllers Integrated * See page Pre-47 for details on the model descriptions.
* 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
Applicable controller
30: 30W Servo motor
20 : 20mm 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
A1: ACON ASEL A3: AMEC ASEP MSEP
600: 600mm (50mm pitch increments)
Cable length
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Rod Type
(excluding the 3-mm lead model)
Mini 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 operating the standard and power-saving models at 0.3G (0.2G for 3mm-lead), and the high acceleration/deceleration model at 1G (excluding the 3mm-lead model). (Even when the acceleration/deceleration is dropped, the maximum load capacity values shown in the table below are the upper limits.) (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
Leads and Payloads Cleanroom Type
SplashProof Type
Stroke and Maximum Speed Motor output (W)
Model number
RCA-SA6C- ➀ -30-20- ➁ - ➂ - ➃ - ➄ RCA-SA6C- ➀ -30-12- ➁ - ➂ - ➃ - ➄ RCA-SA6C- ➀ -30-6- ➁ - ➂ - ➃ - ➄ RCA-SA6C- ➀ -30-3- ➁ - ➂ - ➃ - ➄
30
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg)
Rated thrust (N)
20
3
0.5
15.8
12
6
1.5
24.2
6
12
3
48.4
3
18
6
96.8
Stroke (mm)
50~600
(every 50mm)
Stroke (mm)
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300 350 400 450 500 550 600
(mm)
(Unit: mm/s)
550
600
(mm)
(mm)
1160 <800>
990 <800>
12
800
760
640
540
6
400
380
320
270
3
200
190
160
135
*See page A-71 for details on push motion.
* The values enclosed in < > apply to vertical settings.
Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — — — — — —
Type Standard Special length
Robot Cable
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 Name Brake Foot bracket For high acceleration/deceleration Home sensor Power-saving Non-motor end specification Slider roller specification
Option code See page Standard price B — ➝ A-42 FT — ➝ A-47 HA — ➝ A-50 HS — ➝ A-50 LA — ➝ A-52 NM — ➝ A-52 SR — ➝ A-55
* The high-acceleration/deceleration option and the slider roller option cannot be used together. * The high-acceleration/deceleration option cannot be used on the 3mm-lead model. * The high-acceleration/deceleration option and the power saving option cannot be used together.
91
500
1300 <800>
20
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke
Stroke 50~450 (every 50mm) Lead
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
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 0 to 40oC, 85% RH or less (Non-condensing)
(*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 Ma
Mb
Mc
Ma
L
Mc L
RCA-SA6C
RCA
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
2D CAD
(*1) (*2) (*3)
Appendix
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 Ma moment 2-ø5H7 depth 6
n
For
a
dju
tio
Controllers Integrated
4-M5 depth 9
31 (Reamer hole tolerance ±0.02)
ø8 hole
slot
Standard
60 50
32±0.02 21
Cable joint connector *1
sting pos i
Details of the slot area for adjusting slider position
sting pos i
40
1
dju
n tio
Home
SE
Standard
Incremental 99.2 (138.2 if brake-equipped) Absolute 114.2 (153.2 if brake-equipped) 18.5 3 ME *2
115
a
A
st
Mini
Secure at least 100
Base end-face
L 23.7 3 ME
For
Slider height: 53 43 28 1
52 39 23
Rod Type
(240)
Ma moment offset reference position *3
56 Actuator width: 58
Bottom of the base Base end-face 10.2 8 R
Slider Type
Mini
Motor section H: 51
CAD drawings can be downloaded from the website.
Table/ Arm/ Flat Type
Motor section W: 58
Base end-face U×100 p
Controllers Integrated
Mini
8
(56) (58)
4+00.012
5
5
31
Standard Reference surface
Details of Details of section A (Actuator's reference side) oblong hole Oblong hole depth 5 from the bottom of the base
P (pitch for ø4 hole and oblong hole) N (ø4 hole pitch)
Gripper/ Rotary Type
100 (ø4 hole pitch) 3-ø4H7 depth 5 from the bottom of the base
m-M5 depth 8
Dimensions and Mass by Stroke Stroke Without brake Incremental With brake L Without brake Absolute With brake N P R U m Weight (kg)
50 306.4 345.4 321.4 360.4 81 66 81 1 6 1.4
* Brake-equipped models are heavier by 0.3kg.
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 16 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 RCA 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
- -2-1
Solenoid Valve Type ASEP-C-30I
- -2-0
Features
Maximum number of positioning points
Easy-to-use controller, even for beginners Simple controller operable with the same signal as a solenoid valve
AC100V
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
Positioning is possible for up to 512 points
512 points
Safety-Compliant Positioner Type Pulse Train Input Type (Differential Line Driver)
ACON-C-30I
- -2-0
ACON-CG-30I - -2-0 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
Dedicated Serial Communication
Program Control Type
ASEL-CS-1-30
- -2-0
Programmed operation is possible. Can operate up to 2 axes
Power-supply Standard Reference capacity price page 2.4A rated
3 points
Solenoid valve multi-axis type PIO specification
Positioner type
Input power
DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.2A max.
—
➝ P537
—
➝ P547
—
➝ P563
—
Servo Motor (24V)
— —
➝ P631
(—) — 64 points
—
1,500 points
—
➝ P675
* This is for the single-axis ASEL. * indicates encoder type (I: incremental, A: absolute) * Enter the code "HA" or "LA" in when the high-acceleration/deceleration option or the power-saving option is specified. * indicates I/O type (NP/PN). * indicates number of axes (1 to 8). * indicates field network specification symbol.
RCA-SA6C
Pulse Motor
92
Servo Motor (200V)
Linear Servo Motor
RCA Slider Type
Mini Standard
ROBO Cylinder
RCA-SA4D Model Specification Items
RCA
SA4D
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 40mm, 24V Servo Motor, Motor Build-in (Direct Coupled)
20
Encoder type I: Incremental A: Absolute
Controllers Integrated * See page Pre-47 for details on the model descriptions.
* 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
Applicable controller
20: 20W Servo motor
10 : 10mm 5 : 5mm 2.5 : 2.5mm
50: 50mm
A1: ACON ASEL A3: AMEC ASEP MSEP
300: 300mm (50mm pitch increments)
Cable length
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Rod Type
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Standard
Appendix
P.5
Gripper/ Rotary 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.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed Motor output (W)
Model number
RCA2-SA4D- ➀ -20-10- ➁ - ➂ - ➃ - ➄ RCA2-SA4D- ➀ -20-5- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 10
20
RCA2-SA4D- ➀ -20-2.5- ➁ - ➂ - ➃ - ➄
4
1
Rated thrust (N)
Stroke (mm)
19.6
5
6
2.5
39.2
2.5
8
4.5
78.4
50~300
(every 50mm)
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke Stroke (mm)
Pulse Motor
50 100 150 200 250 300
Servo Motor (200V)
Linear Servo Motor
50~300
(every 50mm)
10
665
5
330
2.5
165 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — —
Type Standard Special length
Robot Cable Servo Motor (24V)
Stroke
Lead
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 Name Brake (cable exiting end) Brake (cable exiting left) Brake (cable exiting right) Foot bracket Power-saving Non-motor end specification
Option code BE BL BR FT LA NM
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-47 ➝ A-52 ➝ A-52
Standard price — — — — — —
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
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 0 to 40oC, 85% RH or less (Non-condensing)
(*) Based on 5,000km of traveling life
Overhang Load Length
Directions of Allowable Load Moment
93
Ma
Mb
Mc
Ma
L
Mc L
RCA-SA4D
RCA
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
2D CAD
Appendix
P.15
28
Incremental Absolute
M
Mini
92.5 98.5
70
Cable joint connector *1
24 16±0.02
11.5
9
11.5
Standard Controllers Integrated
21
20 Details of A
(Reamer hole tolerance ±0.02)
0.5
5 1
* Note that in order to change the orientation of the home, arrangements must be made to send in the product to IAI. * In the Non-motor end model (NM), the new home is set 2.2mm in from the ME opposite of the motor-side.
Slider Type
4-ø3.6 ø6.5 counterbore depth 3.5 (for mounting) *4
4-M3 depth 7
2-ø3H7 effective depth 5
Rod Type
L 16 13
Ma moment offset reference position *3
A
80.5 86.5
2.2
SE
Standard
ME*2
Home
31.2
32
37 40
B
Mini
13
70
53.5
7 40
46.5
Stroke 2
ME
Base end-face
Base face
11.8
50 (when stroke is 50) U×100P (All strokes except 50)
R
Controllers Integrated
Incremental Absolute
Base end-face 50
11.8
41.5 43
4
37 40
Details of section B
21
+0.010 3 0
1.5 Reference surface
Incremental Absolute
A
Details of oblong hole m-M3 depth 5
Dimensions of the Brake Section
(*1) (*2) (*3) (*4)
5.1
R: Brake cable exiting from right E: Brake cable exiting from rear
Mini
2-ø3H7 depth 5 from the bottom of the base
P (pitch for ø3 hole and oblong hole) N (ø3 hole pitch)
Oblong hole depth 5 from the bottom of the base
13.3
13.3
44
13
13.5
38
* Adding a brake increases the actuator's overall length (L) by 28mm (41.3mm with the cable coming out its end), and is heavier by 0.2kg.
3.5
31.5
13.5
53.5 46.5 41.5
1.5
40
Gripper/ Rotary Type
Dimensions and Mass by Stroke L
13.3
Standard
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 Ma moment 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.
L: Brake cable exiting from left
Table/ Arm/ Flat Type
Stroke 50 100 150 Incremental 242.5 292.5 342.5 Absolute 248.5 298.5 348.5 A 146 196 246 M 122 172 222 N 50 100 100 P 35 85 85 R 22 22 72 U — 1 1 m 4 4 4 Weight (kg) 0.6 0.7 0.8
200 392.5 398.5 296 272 200 185 22 2 6 0.9
250 442.5 448.5 346 322 200 185 72 2 6 1.0
300 492.5 498.5 396 372 300 285 22 3 8 1.1
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCA 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
MSEP-C-
Solenoid valve multi-axis type Network specification
MSEP-C-
Simple controller operable with the same signal as a solenoid valve
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioning is possible for up to 512 points
512 points
-
-2-0
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 (Open Collector)
ACON-PO-20I
-
Serial Communication Type
ACON-SE-20I
-N-0-0
Program Control Type * This is for the single-axis ASEL. * indicates I/O type (NP/PN).
ASEL-CS-1-20 * *
-2-0
-
Pulse train input type with differential line driver support Pulse train input type with open collector support Dedicated Serial Communication
Programmed operation is possible. -2-0 Can operate up to 2 axes
indicates encoder type (I: incremental, A: absolute) indicates number of axes (1 to 8).
Input power AC100V
-2-0
ACON-C-20I
Positioner type
Easy-to-use controller, even for beginners
-
ASEP-C-20I Solenoid valve multi-axis type PIO specification
Maximum number of positioning points
Power-supply Standard Reference capacity price page 2.4A rated
3 points
DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
—
➝ P537
—
➝ P547
—
➝ P563
—
Servo Motor (24V)
— —
➝ P631
(—) — 64 points
—
1,500 points
—
➝ P675
* Enter the code "LA" in when the power-saving option is specified. * indicates field network specification symbol.
RCA-SA4D
Pulse Motor
94
Servo Motor (200V)
Linear Servo Motor
RCA Slider Type
Mini Standard
ROBO Cylinder
RCA-SA5D Model Specification Items
RCA
SA5D
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 52mm, 24V Servo Motor, Motor Built-in (Direct-Coupled)
Encoder type I: Incremental A: Absolute
Controllers Integrated * See page Pre-47 for details on the model descriptions.
* Absolute encoder models can only use ASEL. When the actuator is used with the simple absolute encoder, the model is considered an incremental model.
20
Motor type 20: 20W Servo motor
Lead 12 : 12mm 6 : 6mm 3 : 3mm
Stroke
Applicable controller
50: 50mm
A1: ACON ASEL A3: AMEC ASEP MSEP
500: 500mm (50mm pitch increments)
Cable length
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Rod Type
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Standard
Appendix
P.5
Gripper/ Rotary 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.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed
Model number
Motor output (W)
RCA-SA5D- ➀ -20-12- ➁ - ➂ - ➃ - ➄ RCA-SA5D- ➀ -20-6- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 12
20
RCA-SA5D- ➀ -20-3- ➁ - ➂ - ➃ - ➄
4
1
Rated thrust (N)
Stroke (mm)
16.7
6
8
2
33.3
3
12
4
78.4
50~500
(every 50mm)
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke Stroke (mm)
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300 350 400 450 500
Stroke
(every 50mm)
50~450
500 (mm)
12
800
760
6
400
380
3
200
190
Lead
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — —
Type Standard Special length
Robot Cable
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 Name Brake (cable exiting end) Brake (cable exiting left) Brake (cable exiting right) Foot bracket Power-saving Non-motor end specification Slider roller specification
Option code BE BL BR FT LA NM SR
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-47 ➝ A-52 ➝ A-52 ➝ A-55
Standard price — — — — — — —
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
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 0 to 40oC, 85% RH or less (Non-condensing)
(*) Based on 5,000km of traveling life
Overhang Load Length
Directions of Allowable Load Moment
95
Ma
Mb
Mc
Ma
L
Mc L
RCA-SA5D
RCA
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
(*1) (*2)
2D CAD
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
Appendix
P.15
(*3) (*4)
Reference position for calculating the Ma moment 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
M 9
4-M4 depth 9
Controllers Integrated
15.5
26
26 4-ø4.5 through, ø8 counterbore, depth 4.5 ( *4)
Standard
Incremental 75.5 Absolute 78
6 20 6
15.5
19±0.02
Slider Type
Mini
(Reamer hole tolerance ±0.02)
CAD drawings can be downloaded from the website.
Cable joint connector *1
Rod Type
2-ø4H7 effective depth 6
30
Mini
L 15 Stroke
94
Standard
Home
SE
ME
60.5
14 3
2.7
Ma moment offset reference position *3
ME*2
Controllers Integrated
50 40
39
1
Incremental
A 14
50 52
A
Base end-face
14.5
50 (when stroke is 50) U×100P (All strokes except 50)
R
50
14.5
Table/ Arm/ Flat Type
Secure at Base end-face least 100
Mini
4
50 52 Details of A
Reference surface
26
+0.012 0
4
5
Details of Oblong hole
m-M4 depth 7
2-ø4H7 depth 5 from the bottom of the base
P (ø4 hole and oblong hole pitch) N (ø4 hole pitch)
Oblong hole depth 5 from the bottom of the base
Standard
14 Absolute 63 (3)
Dimensions of the Brake Section
Home
R: Brake cable exiting from right
Gripper/ Rotary Type
ME*2
L: Brake cable exiting from left
13.3
E: Brake cable exiting from rear
1
13.3
41.5
14
L 35
50 46.5 17
50 52 * Adding a brake increases the actuator's overall length (L) by 26.5mm (39.8mm with the cable coming out its end), and is heavier by 0.3kg. 17
5.5
Secure at least 100
Dimensions and Mass by Stroke
5.1
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 22 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 RCA 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
MSEP-C-
Solenoid valve multi-axis type Network specification
MSEP-C-
Simple controller operable with the same signal as a solenoid valve
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioning is possible for up to 512 points
512 points
-
-2-0
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 (Open Collector)
ACON-PO-20I
-
Serial Communication Type
ACON-SE-20I
-N-0-0
Program Control Type * This is for the single-axis ASEL. * indicates I/O type (NP/PN).
ASEL-CS-1-20 * *
-2-0
-
Pulse train input type with differential line driver support Pulse train input type with open collector support Dedicated Serial Communication
Programmed operation is possible. -2-0 Can operate up to 2 axes
indicates encoder type (I: incremental, A: absolute) indicates number of axes (1 to 8).
Input power AC100V
-2-0
ACON-C-20I
Positioner type
Easy-to-use controller, even for beginners
-
ASEP-C-20I Solenoid valve multi-axis type PIO specification
Maximum number of positioning points
Power-supply Standard Reference capacity price page 2.4A rated
3 points
DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
—
➝ P537
—
➝ P547
—
➝ P563
—
Servo Motor (24V)
— —
➝ P631
(—) — 64 points
—
1,500 points
—
➝ P675
* Enter the code "LA" in when the power-saving option is specified. * indicates field network specification symbol.
RCA-SA5D
Pulse Motor
96
Servo Motor (200V)
Linear Servo Motor
RCA Slider Type
Mini Standard
ROBO Cylinder
RCA-SA6D Model Specification Items
RCA
SA6D
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 58mm, 24V Servo Motor, Motor Built-in (Direct-Coupled)
Encoder type I: Incremental A: Absolute
Controllers Integrated * See page Pre-47 for details on the model descriptions.
* Absolute encoder models can only use ASEL. When the actuator is used with the simple absolute encoder, the model is considered an incremental model.
30
Motor type 30: 30W Servo motor
Lead 12 : 12mm 6 : 6mm 3 : 3mm
Stroke
Applicable controller
50: 50mm
A1: ACON ASEL A3: AMEC ASEP MSEP
600: 600mm (50mm pitch increments)
Cable length
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Rod Type
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Standard
Appendix
P.5
Gripper/ Rotary 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.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed
Model number
Motor output (W)
RCA-SA6D- ➀ -30-12- ➁ - ➂ - ➃ - ➄ RCA-SA6D- ➀ -30-6- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 12
30
RCA-SA6D- ➀ -30-3- ➁ - ➂ - ➃ - ➄
6
1.5
Rated thrust (N)
Stroke (mm)
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 Stroke (mm)
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300 350 400 450 500 550 600
Stroke
(every 50mm)
50~450
500 (mm)
550 (mm)
600 (mm)
12
800
760
640
540
6
400
380
320
270
3
200
190
160
*See page A-71 for details on push motion.
Type Standard Special length
Robot Cable
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 See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-47 ➝ A-52 ➝ A-52 ➝ A-55
Standard price — — — — — — —
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
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 0 to 40oC, 85% RH or less (Non-condensing)
(*) Based on 5,000km of traveling life
Overhang Load Length
Directions of Allowable Load Moment
97
Ma
Mb
Mc
Ma
L
Mc L
RCA-SA6D
135 (Unit: mm/s)
Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — — — — — —
Name Option code Brake (cable exiting end) BE Brake (cable exiting left) BL Brake (cable exiting right) BR Foot bracket FT Power-saving LA Non-motor end specificationw NM Slider roller specification SR
Lead
RCA
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
2D CAD
Appendix
P.15
21
19.5
* Note that in order to change the orientation of the home, arrangements must be made to send in the product to IAI. * In the Non-motoe end model (NM), the new home is set 3mm in from the ME opposite of the motor-side.
4-M5 depth 9
32±0.02 50
Cable joint connector *1
Standard Controllers Integrated
2-ø5H7 effective depth 6
L 15
Rod Type
Incremental 75.5
A 14
Ma moment offset reference position *3
Slider Type
Mini 31
8 23 8
19.5
(Reamer hole tolerance ±0.02)
CAD drawings can be downloaded from the website.
115
Stroke
19 3
1
3 SE
Home
ME*2
43
40
Mini Standard
56 58
A
Base end-face 15.5
8
U×100 p
R
8
Base end-face 76
Controllers Integrated
Secure at least 100
(*1) (*2) m-M5 depth 8 100 (ø4 hole pitch) 3-ø4H7 depth 5 from the bottom of the base 19 Absolute 79.5 (3) (*3) Home ME *2
31
+0.012 4 0
5
Details of oblong hole P (ø4 hole and oblong hole pitch) N (ø4 hole pitch)
Oblong hole depth 5 from the bottom of the base Dimensions of the Brake Section
4
R: Brake cable exiting from right
E: Brake cable exiting from rear
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 Ma moment
58 Details of A
14
1
41.5
L
19
19
6
37
50
Dimensions and Mass by Stroke 55
Mini Standard
Secure at least 100
5.1 13.3
Table/ Arm/ Flat Type
Gripper/ Rotary Type
56
Reference surface 13.3
L: Brake cable exiting from left
53
53
ME
58 * Adding a brake increases the actuator's overall length (L) by 26.5mm (39.8mm with the cable coming out its end), and is heavier by 0.3kg.
Stroke Incremental Absolute A N P R U m Weight (kg)
50 288.5 292.5 198 81 66 81 1 6 1.3
100 338.5 342.5 248 131 116 31 2 8 1.5
150 388.5 392.5 298 181 166 81 2 8 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 RCA 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
MSEP-C-
Solenoid valve multi-axis type Network specification
MSEP-C-
Simple controller operable with the same signal as a solenoid valve
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioning is possible for up to 512 points
512 points
-
-2-0
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 (Open Collector)
ACON-PO-30I
-
Serial Communication Type
ACON-SE-30I
-N-0-0
Program Control Type * This is for the single-axis ASEL. * indicates I/O type (NP/PN).
ASEL-CS-1-30 * *
-2-0
-
Pulse train input type with differential line driver support Pulse train input type with open collector support Dedicated Serial Communication
Programmed operation is possible. -2-0 Can operate up to 2 axes
indicates encoder type (I: incremental, A: absolute) indicates number of axes (1 to 8).
Input power AC100V
-2-0
ACON-C-30I
Positioner type
Easy-to-use controller, even for beginners
-
ASEP-C-30I Solenoid valve multi-axis type PIO specification
Maximum number of positioning points
Power-supply Standard Reference capacity price page 2.4A rated
3 points
DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.2A max.
—
➝ P537
—
➝ P547
—
➝ P563
—
Servo Motor (24V)
— —
➝ P631
(—) — 64 points
—
1,500 points
—
➝ P675
* Enter the code "LA" in when the power-saving option is specified. * indicates field network specification symbol.
RCA-SA6D
Pulse Motor
98
Servo Motor (200V)
Linear Servo Motor
RCA Slider Type
Mini Standard
ROBO Cylinder
RCA-SS4D Model Specification Items
RCA
SS4D
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 40mm, 24V Servo Motor, Motor Built-in (Direct-Coupled), Steel Base
I
Encoder type
20
Motor type
20: 20W Servo I: Incremental * The Simple absolute motor encoder is also considered type "I".
Controllers Integrated
Lead
Stroke
10 : 10mm 5 : 5mm 2.5 : 2.5mm
50: 50mm
Applicable controller
300: 300mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
A1: ACON ASEL A3: AMEC ASEP MSEP
Cable length
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Rod Type
Mini Standard Controllers Integrated
Table/ Arm/ Flat Type Mini Standard
Appendix
P.5
Gripper/ Rotary 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.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed Motor output (W)
Model number
RCA-SS4D-I-20-10- ➀ - ➁ - ➂ - ➃
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 10
RCA-SS4D-I-20-5- ➀ - ➁ - ➂ - ➃
20
RCA-SS4D-I-20-2.5- ➀ - ➁ - ➂ - ➃
4
1
Rated thrust (N)
5
6
2.5
39.2
2.5
8
4.5
78.4
Stroke
50~300
(every 50mm)
Servo Motor (200V)
Linear Servo Motor
50~300
(every 50mm)
10
665
5
330
2.5
165 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Stroke (mm)
Standard price
50 100 150 200 250 300
— — — — — —
Type Standard Special length
Robot Cable Servo Motor (24V)
Stroke
Lead
19.6
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Pulse Motor
Stroke (mm)
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 Name Brake (cable exiting end) Brake (cable exiting left) Brake (cable exiting right) Power-saving Non-motor end specification
Option code BE BL BR LA NM
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-52
Standard price — — — — —
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
Ball screw, ø8mm, rolled C10 ±0.02mm 0.1mm or less Material: Special alloy steel 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 0 to 40oC, 85% RH or less (Non-condensing)
(*) Based on 5,000km of traveling life
Overhang Load Length
Directions of Allowable Load Moment
99
Ma
Mb
Mc
Ma
L
Mc L
RCA-SS4D
RCA
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
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 Ma moment
Standard
M 70
33
* Note that in order to change the orientation of the home, arrangements must be made to send in the product to IAI. * In the Non-motoe end model (NM), the new home is set 2.2mm in from the ME opposite of the motor-side.
105 Cable joint connector *1
24
21 4-3.6 drilled, ø6.5 counterbore
11.5
9
Slider Type
Mini
Controllers Integrated
Rod Type
20
(*1) (*2) (*3)
2D CAD
Appendix
4-M3 depth 7
11.5
Mini L A
16 18 2 ME
Standard
2.2 Home
SE
Controllers Integrated
ME *2
31.2
32
40
46.5
7
Ma moment offset reference position *3
88 18
70
Stroke
Reference surface
Table/ Arm/ Flat Type
41.5
33 40
50
21
Mini
Dimensions of the Brake Section
Standard
2-M3 depth 5
8.5
Gripper/ Rotary Type
R: Brake cable exiting from right E: Brake cable exiting from rear L: Brake cable exiting from left 40
13.3
13.3
48
18
40
12.5
* Adding a brake increases the actuator's overall length (L) by 32mm (45.3mm with the cable coming out its end), and is heavier by 0.2kg.
Dimensions and Mass by Stroke
1.5
30.5
12.5
53.5 46.5 41.5
1.5
13.3
Linear Servo Type
Stroke L A M Weight (kg)
50 260 156 122 1.1
100 150 200 250 300 310 360 410 460 510 206 256 306 356 406 172 222 272 322 372 1.2 1.3 1.4 1.5 1.6
Cleanroom Type
SplashProof Type
Applicable Controllers RCA 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
Maximum number of positioning points
Easy-to-use controller, even for beginners
-
-2-0
Simple controller operable with the same signal as a solenoid valve
AC100V
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
Positioning is possible for up to 512 points
512 points
Safety-Compliant Positioner Type Pulse Train Input Type (Differential Line Driver)
ACON-C-20I
- -2-0
ACON-CG-20I -
-2-0
ACON-PL-20I
-2-0
-
ACON-PO-20I
-
Serial Communication Type
ACON-SE-20I
-N-0-0
Program Control Type
ASEL-CS-1-20I
-
DC24V
Pulse train input type with differential line driver support
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
—
➝ P537
—
➝ P547
—
➝ P563
— — —
64 points
—
1,500 points
—
* This is for the single-axis ASEL. * Enter the code "LA" in when the power-saving specification is specified. * indicates number of axes (1 to 8). * indicates field network specification symbol.
*
➝ P631
➝ P675
indicates I/O type (NP/PN).
RCA-SS4D
Pulse Motor
Servo Motor (24V)
—
Dedicated Serial Communication
Programmed operation is possible. -2-0 Can operate up to 2 axes
2.4A rated
(—)
Pulse train input type with open -2-0 collector support
Pulse Train Input Type (Open Collector)
Power-supply Standard Reference capacity price page
3 points
Solenoid valve multi-axis type PIO specification
Positioner type
Input power
100
Servo Motor (200V)
Linear Servo Motor
RCA Slider Type
Mini Standard
ROBO Cylinder
RCA-SS5D RCA
Model Specification Items
SS5D
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 52mm, 24V Servo Motor, Motor Built-in (Direct-Coupled), Steel Base
I
Encoder type
20
Motor type
20: 20W Servo I: Incremental * The Simple absolute motor encoder is also considered type "I".
Controllers Integrated
Lead
Stroke
12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
Applicable controller
500: 500mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
A1: ACON ASEL A3: AMEC ASEP MSEP
Cable length
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Rod Type
Mini
Controllers Integrated
Table/ Arm/ Flat Type Mini Standard
Appendix
P.5
Gripper/ Rotary 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.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed Motor output (W)
Model number
RCA-SS5D-I-20-12- ➀ - ➁ - ➂ - ➃
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 12
RCA-SS5D-I-20-6- ➀ - ➁ - ➂ - ➃
20
RCA-SS5D-I-20-3- ➀ - ➁ - ➂ - ➃
4
1
Rated thrust (N)
6
8
2
33.3
3
12
4
65.7
Stroke
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Stroke
(every 50mm)
50~450
500 (mm)
12
800
760
6
400
380
3
200
190
Lead
16.7
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Pulse Motor
Stroke (mm) 50~500
(every 50mm)
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Stroke (mm)
Standard price
50 100 150 200 250 300 350 400 450 500
— — — — — — — — — —
Type Standard Special length
Robot Cable
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 Name Brake (cable exiting end) Brake (cable exiting left) Brake (cable exiting right) Power-saving Non-motor end specification Slider roller specification
Option code BE BL BR LA NM SR
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-52 ➝ A-55
Standard price — — — — — —
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Special alloy steel 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 0 to 40oC, 85% RH or less (Non-condensing)
(*) Based on 5,000km of traveling life
Overhang Load Length
Directions of Allowable Load Moment
101
Ma
Mb
Mc
Ma
L
Mc L
RCA-SS5D
RCA
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
(*1) (*2) (*3)
2D CAD
www.intelligentactuator.com
Appendix
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 Ma moment
Mini Standard
4-M4 depth 9 40
M 94 30
Controllers Integrated
80.5 32
Cable joint connector *1
6
26
26
32
4-4.5 drilled, 8 deep counterbore, depth 4.5
Slider Type
15.5 9 15.5
Rod Type
Mini L
20 Ma moment offset reference position *3
94
Standard
19
Stroke
3
2.7 ME
SE
Home
Controllers Integrated
ME*2
39
1 40
50
60.5
A 19
Reference surface
42 52
C
50
Table/ Arm/ Flat Type
Secure at least 100
26
Mini Standard
64
2-M4 depth 5
R: Brake cable exiting from right
Gripper/ Rotary Type
26
E: Brake cable exiting from rear
4-4.5 drilled, 8 deep counterbore, depth 4.5
L: Brake cable exiting from left
44
19
1
13.3
13.3
4 42 52
2.7 SE
33.5
50 45 15.5
ME
Linear Servo Type
Dimensions and Mass by Stroke Stroke L A M C Weight (kg)
13.3
* Adding a brake will increase the actuator's overall length (L) by 24mm (37.3mm with the cable coming out from the end), and is heavier by 0.3kg.
50 262.5 182 142 92 1.4
100 312.5 232 192 142 1.5
150 362.5 282 242 192 1.6
200 412.5 332 292 242 1.7
250 462.5 382 342 292 1.8
300 512.5 432 392 342 1.9
350 562.5 482 442 392 2.0
400 612.5 532 492 442 2.1
450 662.5 582 542 492 2.2
500 712.5 632 592 542 2.3
Cleanroom Type
SplashProof Type
Applicable Controllers RCA 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
Solenoid valve multi-axis type Network specification Positioner type Safety-Compliant Positioner Type Pulse Train Input Type (Differential Line Driver)
MSEP-CMSEP-C-
Simple controller operable with the same signal as a solenoid valve
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioning is possible for up to 512 points
512 points
ACON-C-20I
- -2-0
ACON-CG-20I -
-2-0
ACON-PL-20I
-2-0
-
Serial Communication Type
ACON-SE-20I
-N-0-0
ASEL-CS-1-20I
-
DC24V
Pulse train input type with differential line driver support
2.4A rated
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
—
➝ P537
—
➝ P547
—
➝ P563
— — —
➝ P631
— 64 points
—
1,500 points
—
* This is for the single-axis ASEL. * Enter the code "LA" in when the power-saving specification is specified. * indicates number of axes (1 to 8). * indicates field network specification symbol.
*
➝ P675
indicates I/O type (NP/PN).
RCA-SS5D
Pulse Motor
Servo Motor (24V)
(—)
Dedicated Serial Communication
Programmed operation is possible. -2-0 Can operate up to 2 axes
Power-supply Standard Reference capacity price page
3 points
Pulse train input type with open -2-0 collector support
ACON-PO-20I
Input power AC100V
-2-0
Pulse Train Input Type (Open Collector)
Program Control Type
Easy-to-use controller, even for beginners
-
ASEP-C-20I Solenoid valve multi-axis type PIO specification
Maximum number of positioning points
102
Servo Motor (200V)
Linear Servo Motor
RCA Slider Type
Mini Standard
ROBO Cylinder
RCA-SS6D RCA
Model Specification Items
SS6D
Series
Type
ROBO Cylinder, Slider Type, 5 Actuator Width 8mm, 24V Servo Motor, Motor Built-in (Direct-Coupled), Steel Base
I
Encoder type
30
Motor type
30: 30W Servo I: Incremental * The Simple absolute motor encoder is also considered type "I".
Controllers Integrated
Lead
Stroke
12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
Applicable controller
600: 600mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
A1: ACON ASEL A3: AMEC ASEP MSEP
Cable length
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Rod Type
Mini
Controllers Integrated
Table/ Arm/ Flat Type Mini Standard
Appendix
P.5
Gripper/ Rotary 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.
Linear Servo Type
Cleanroom Type
SplashProof Type
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed Motor output (W)
Model number
RCA-SS6D-I-30-12- ➀ - ➁ - ➂ - ➃
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 12
RCA-SS6D-I-30-6- ➀ - ➁ - ➂ - ➃
30
RCA-SS6D-I-30-3- ➀ - ➁ - ➂ - ➃
6
1.5
Rated thrust (N)
6
12
3
48.4
3
18
6
96.8
Stroke
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Lead
24.2
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Pulse Motor
Stroke (mm) 50~600
(every 50mm)
Stroke
(every 50mm)
50~450
500 (mm)
550 (mm)
600 (mm)
12
800
760
640
540
6
400
380
320
270
3
200
190
160
*See page A-71 for details on push motion.
Cable Length
Stroke (mm)
Standard price
50 100 150 200 250 300 350 400 450 500 550 600
— — — — — — — — — — — —
Type Standard Special length
Robot Cable
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 Name Brake (cable exiting end) Brake (cable exiting left) Brake (cable exiting right) Power-saving Non-motor end specification Slider roller specification
Option code BE BL BR LA NM SR
See page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-52 ➝ A-55
Standard price — — — — — —
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Special alloy steel 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 0 to 40oC, 85% RH or less (Non-condensing)
(*) Based on 5,000km of traveling life
Overhang Load Length
Directions of Allowable Load Moment
103
135 (Unit: mm/s)
Ma
Mb
Mc
Ma
L
Mc L
RCA-SS6D
RCA
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
(*1) (*2) (*3)
2D CAD
www.intelligentactuator.com
Appendix
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 Ma moment 50
Slider Type
Mini Standard
32
Cable joint connector *1
8
31
23
8
Controllers Integrated
4-M5 depth 9
19.5
Rod Type
2-ø5H7 effective depth 6
21 19.5 L
Ma moment offset reference position *3
A 19
115
Mini
24 Home
SE
3 ME *2
Standard
40
1
ME
3
75.5
Stroke
Controllers Integrated
43
53
20
Reference surface
49
13.5
Secure at least 100
13.5
Table/ Arm/ Flat Type
+0.012 0
31
5
E×100 P
B
56
SE: Stroke end ME: Mechanical end
4
D-M5 depth (for mounting) 6
Details of oblong hole
C
3-ø4H7 depth 4
100
Standard
R: Brake cable exiting from right E: Brake cable exiting from rear
Gripper/ Rotary Type
L: Brake cable exiting from left 13.3
44
SE
Dimensions and Mass by Stroke
5
18
36
53 49
1
ME
56
Linear Servo Type
19 3
49 12.8
Mini
12.8
* Adding a brake will increase the actuator's overall length (L) by 24mm (37.3mm with the cable coming out from the end), and is heavier by 0.3kg.
Stroke L A B C D E P Weight (kg)
50 303.5 208 81 81 6 1 66 2.4
100 353.5 258 131 131 6 1 116 2.6
150 403.5 308 81 181 8 2 166 2.8
200 453.5 358 131 231 8 2 216 3.0
250 503.5 408 81 281 10 3 266 3.2
300 553.5 458 131 331 10 3 316 3.4
350 603.5 508 81 381 12 4 366 3.6
400 653.5 558 131 431 12 4 416 3.8
450 703.5 608 81 481 14 5 466 4.0
500 753.5 658 131 531 14 5 516 4.2
550 803.5 708 81 581 16 6 566 4.4
600 853.5 758 131 631 16 6 616 4.7
Cleanroom Type
SplashProof Type
Applicable Controllers RCA 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
Maximum number of positioning points
Easy-to-use controller, even for beginners
-
-2-0
Simple controller operable with the same signal as a solenoid valve
AC100V
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
Positioning is possible for up to 512 points
512 points
Safety-Compliant Positioner Type Pulse Train Input Type (Differential Line Driver)
ACON-C-30I
- -2-0
ACON-CG-30I -
-2-0
ACON-PL-30I
-2-0
-
ACON-PO-30I
-
Serial Communication Type
ACON-SE-30I
-N-0-0
Program Control Type
ASEL-CS-1-30I
-
DC24V
Pulse train input type with differential line driver support
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.2A max.
—
➝ P537
—
➝ P547
—
➝ P563
— — —
64 points
—
1,500 points
—
* This is for the single-axis ASEL. * Enter the code "LA" in when the power-saving specification is specified. * indicates number of axes (1 to 8). * indicates field network specification symbol.
*
➝ P631
➝ P675
indicates I/O type (NP/PN).
RCA-SS6D
Pulse Motor
Servo Motor (24V)
—
Dedicated Serial Communication
Programmed operation is possible. -2-0 Can operate up to 2 axes
2.4A rated
(—)
Pulse train input type with open -2-0 collector support
Pulse Train Input Type (Open Collector)
Power-supply Standard Reference capacity price page
3 points
Solenoid valve multi-axis type PIO specification
Positioner type
Input power
104
Servo Motor (200V)
Linear Servo Motor
RCA Slider Type
Mini Standard
ROBO Cylinder
RCA-SA4R RCA
Model Specification Items
SA4R
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 40mm, 24V Servo Motor, Side-mounted Motor
Encoder type I: Incremental A: Absolute
Controllers Integrated * See page Pre-47 for details on the model descriptions.
* Absolute encoder models can only use ASEL. When the actuator is used with the simple absolute encoder, the model is considered an incremental model.
20
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 * Be sure to specify P: 1m which side the S: 3m motor is to be M: 5m X: Custom length mounted (ML/MR). R: Robot cable
Rod Type
Mini
Controllers Integrated
Table/ Arm/ Flat Type Mini Standard
Appendix
P.5
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
SplashProof Type
Pictured: Left-mounted motor model (ML).
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.
* 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
Leads and Payloads
Stroke and Maximum Speed Motor output (W)
Model number
RCA-SA4R- ➀ -20-10- ➁ - ➂ - ➃ - ➄ RCA-SA4R- ➀ -20-5- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 10
20
RCA-SA4R- ➀ -20-2.5- ➁ - ➂ - ➃ - ➄
4
1
Rated thrust (N)
Stroke (mm)
19.6
5
6
2.5
39.2
2.5
8
4.5
78.4
50~400
(every 50mm)
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke Stroke (mm)
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300 350 400
Stroke
Lead
50~400
(every 50mm)
10
665
5
330
2.5
165 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — —
Type Standard Special length
Robot Cable
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 Name Brake Home sensor Power-saving Non-motor end specification Left-mounted motor (standard) Right-mounted motor Slider roller specification Slider spacer
Option code B HS LA NM ML MR SR SS
See page ➝ A-42 ➝ A-50 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-55 ➝ A-55
Standard price — — — — — — — —
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
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 0 to 40oC, 85% RH or less (Non-condensing)
(*) Based on 5,000km of traveling life
Overhang Load Length
Directions of Allowable Load Moment
105
Ma
Mb
Mc
Ma
L
Mc L
RCA-SA4R
RCA
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
P.15
2D CAD
Mini L 23 45 4-ø3.6 ø6.5 counterbore, Depth 3.7 (for mounting actuator) *4 31.2
For
a
7
70
13
SE
Standard Controllers Integrated
32 24 16±0.02 9
2-ø3H7 depth 5
53.7
3 ME *2
Home
4-M3 depth 7
Rod Type
20
21
15 25 36.5
ion
dju
37
sting pos it
32 22.5 1
A Bottom of base
st
3 ME
(Reamer hole tolerance ±0.02)
Slider height: 40 5
93
Ma moment offset reference position *3
93
Actuator width: 40
Slider Type
Appendix
46
Cable joint connector *1
Controllers Integrated
Base end-face
10.2
11.8
M
11.8
n io
53.9
98 (137 if brake-equipped)
23
Secure at least 100
ad
ing pos just it
Standard
Base end-face
slot
For
ø8 hole
Table/ Arm/ Flat Type
Details of the slotted area for adjusting slider position 3.2
Mini
+0.010 0
4
(40) (37)
3
Reference surface
Mini
Base end-face
11.8
Details of oblong hole
R
Standard
Base end-face
50 (when stroke is 50) U×100P (All strokes except 50)
11.8
50
Gripper/ Rotary Type
21
Details of section A (Actuator's reference side)
m-M3 depth 5 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)
Dimensions and Mass by Stroke (*1) (*2) (*3) (*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 Ma moment 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.
Stroke L M N P R U m Weight (kg)
50 209.7 122 50 35 22 – 4 0.8
100 259.7 172 100 85 22 1 4 0.9
150 309.7 222 100 85 72 1 4 1.0
200 359.7 272 200 185 22 2 6 1.1
* Brake-equipped models are heavier by 0.3kg.
250 409.7 322 200 185 72 2 6 1.2
300 459.7 372 300 285 22 3 8 1.3
350 509.7 422 300 285 72 3 8 1.4
400 559.7 472 400 385 22 4 10 1.5
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCA 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
MSEP-C-
Solenoid valve multi-axis type Network specification
MSEP-C-
Simple controller operable with the same signal as a solenoid valve
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioning is possible for up to 512 points
512 points
-
-2-0
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 (Open Collector)
ACON-PO-20I
-
Serial Communication Type
ACON-SE-20I
-N-0-0
Program Control Type * This is for the single-axis ASEL. * indicates I/O type (NP/PN).
ASEL-CS-1-20 * *
-2-0
-
Pulse train input type with differential line driver support Pulse train input type with open collector support Dedicated Serial Communication
Programmed operation is possible. -2-0 Can operate up to 2 axes
indicates encoder type (I: incremental, A: absolute) indicates number of axes (1 to 8).
Input power AC100V
-2-0
ACON-C-20I
Positioner type
Easy-to-use controller, even for beginners
-
ASEP-C-20I Solenoid valve multi-axis type PIO specification
Maximum number of positioning points
Power-supply Standard Reference capacity price page 2.4A rated
3 points
DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
—
➝ P537
—
➝ P547
—
➝ P563
—
Servo Motor (24V)
— —
➝ P631
(—) — 64 points
—
1,500 points
—
➝ P675
* Enter the code "LA" in when the power-saving option is specified. * indicates field network specification symbol.
RCA-SA4R
Pulse Motor
106
Servo Motor (200V)
Linear Servo Motor
RCA Slider Type
Mini Standard
ROBO Cylinder
RCA-SA5R RCA
Model Specification Items
SA5R
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 52mm, 24V Servo Motor, Side-mounted Motor
Encoder type I: Incremental A: Absolute
Controllers Integrated * See page Pre-47 for details on the model descriptions.
* Absolute encoder models can only use ASEL. When the actuator is used with the simple absolute encoder, the model is considered an incremental model.
20
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 * Be sure to specify P: 1m which side the S: 3m motor is to be M: 5m X: Custom length mounted (ML/MR). R: Robot cable
Rod Type
Mini
Controllers Integrated
Table/ Arm/ Flat Type Mini Standard
Appendix
P.5
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
SplashProof Type
Pictured: Left-mounted motor model (ML).
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 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
Leads and Payloads
Stroke and Maximum Speed Motor output (W)
Model number
RCA-SA5R- ➀ -20-12- ➁ - ➂ - ➃ - ➄ RCA-SA5R- ➀ -20-6- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 12
20
RCA-SA5R- ➀ -20-3- ➁ - ➂ - ➃ - ➄
4
1
Rated thrust (N)
Stroke (mm)
16.7
6
8
2
33.3
3
12
4
65.7
50~500
(every 50mm)
Code explanation ➀ Encoder ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Encoder type/Stroke Stroke (mm)
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300 350 400 450 500
Stroke
(every 50mm)
50~450
500 (mm)
12
800
760
6
400
380
3
200
190
Lead
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — —
Type Standard Special length
Robot Cable
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 Name Brake Home sensor Power-saving Non-motor end specification Left-mounted motor (standard) Right-mounted motor Slider roller specification
Option code B HS LA NM ML MR SR
See page ➝ A-42 ➝ A-50 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-55
Standard price — — — — — — —
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
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 0 to 40oC, 85% RH or less (Non-condensing)
(*) Based on 5,000km of traveling life
Overhang Load Length
Directions of Allowable Load Moment
107
Ma
Mb
Mc
Ma
L
Mc L
RCA-SA5R
RCA
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
P.15
2D CAD 4-ø4.5 ø8 counterbore, depth 4.5 (for mounting actuator) *4
40 26
94
st
40 30 19±0.02 9
SE
ion
26
dju
Home 4-M4 depth 9
13.7 34.5 3 ME *2
Standard Controllers Integrated
26 (Reamer hole tolerance ±0.02)
39
Rod Type 112
sting pos it
8 Actuator width: 52 50
1
20 32 48
A
23.7 3 ME
For
a
112
Mini
L Slider height: 50
Bottom of base
Slider Type
Appendix
Ma moment offset reference position *3
Mini 52
Cable joint connector *1
Standard
47
10.2
14.5
slot
14.5
M
Base end-face
Controllers Integrated
34.7
Secure at Incremental 77 (116 if brake-equipped) Base end-face least 100 Absolute 92 (131 if brake-equipped) 23
Table/ Arm/ Flat Type
dju
sting pos i
n tio
For
a
Details of the slot area for adjusting slider position
Mini
+0.012 4 0
5
(52) (50)
Reference surface
ø8 hole
Base end-face 14.5
R
50 (when stroke is 50) U×100P (All strokes except 50)
Base end-face 50
Standard
14.5
Details of oblong hole
Gripper/ Rotary Type
26
Details of section A (Actuator's reference side)
5
m-M4 depth 7
P (pitch of ø4 hole and oblong hole)
Oblong hole depth 5 from the bottom of the base
2-ø4H7 depth 5 from the bottom of the base
N (ø4 hole pitch)
Dimensions and Mass by Stroke (*1) (*2) (*3) (*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 Ma moment 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 L M N P R U m Weight (kg)
50 215.9 142 50 35 42 – 4 1.5
100 265.9 192 100 85 42 1 4 1.6
150 315.9 242 100 85 92 1 4 1.7
* Brake-equipped models are heavier by 0.3kg.
200 365.9 292 200 185 42 2 6 1.8
250 415.9 342 200 185 92 2 6 1.9
300 465.9 392 300 285 42 3 8 2.0
350 515.9 442 300 285 92 3 8 2.1
400 565.9 492 400 385 42 4 10 2.2
450 615.9 542 400 385 92 4 10 2.3
500 665.9 592 500 485 42 5 12 2.4
Linear Servo Type
Cleanroom Type
SplashProof Type
Applicable Controllers RCA 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
MSEP-C-
Solenoid valve multi-axis type Network specification
MSEP-C-
Simple controller operable with the same signal as a solenoid valve
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioning is possible for up to 512 points
512 points
-
-2-0
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 (Open Collector)
ACON-PO-20I
-
Serial Communication Type
ACON-SE-20I
-N-0-0
Program Control Type * This is for the single-axis ASEL. * indicates I/O type (NP/PN).
ASEL-CS-1-20 * *
-2-0
-
Pulse train input type with differential line driver support Pulse train input type with open collector support Dedicated Serial Communication
Programmed operation is possible. -2-0 Can operate up to 2 axes
indicates encoder type (I: incremental, A: absolute) indicates number of axes (1 to 8).
Input power AC100V
-2-0
ACON-C-20I
Positioner type
Easy-to-use controller, even for beginners
-
ASEP-C-20I Solenoid valve multi-axis type PIO specification
Maximum number of positioning points
Power-supply Standard Reference capacity price page 2.4A rated
3 points
DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.5A max.
—
➝ P537
—
➝ P547
—
➝ P563
—
Servo Motor (24V)
— —
➝ P631
(—) — 64 points
—
1,500 points
—
➝ P675
* Enter the code "LA" in when the power-saving option is specified. * indicates field network specification symbol.
RCA-SA5R
Pulse Motor
108
Servo Motor (200V)
Linear Servo Motor
RCA Slider Type
Mini Standard
ROBO Cylinder
RCA-SA6R RCA
Model Specification Items
SA6R
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 58mm, 24V Servo Motor, Side-mounted Motor
Encoder type I: Incremental A: Absolute
Controllers Integrated * See page Pre-47 for details on the model descriptions.
* Absolute encoder models can only use ASEL. When the actuator is used with the simple absolute encoder, the model is considered an incremental model.
30
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 * Be sure to specify P: 1m which side the S: 3m motor is to be M: 5m X: Custom length mounted (ML/MR). R: Robot cable
Rod Type
Mini
Controllers Integrated
Table/ Arm/ Flat Type Mini Standard
Appendix
P.5
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
SplashProof Type
Pictured: Left-mounted motor model (ML).
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 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
Leads and Payloads
Stroke and Maximum Speed Motor output (W)
Model number
RCA-SA6R- ➀ -30-12- ➁ - ➂ - ➃ - ➄ RCA-SA6R- ➀ -30-6- ➁ - ➂ - ➃ - ➄
Lead Max. Load Capacity (mm) Horizontal (kg) Vertical (kg) 12
30
RCA-SA6R- ➀ -30-3- ➁ - ➂ - ➃ - ➄
6
1.5
Rated thrust (N)
Stroke (mm)
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 Stroke (mm)
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
50 100 150 200 250 300 350 400 450 500 550 600
Lead
Stroke
(every 50mm)
50~450
500 (mm)
550 (mm)
600 (mm)
12
800
760
640
540
6
400
380
320
270
3
200
190
160
*See page A-71 for details on push motion.
Cable Length
Standard price Encoder Type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — — — — — —
Type Standard Special length
Robot Cable
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 Name Brake Home sensor Power-saving Non-motor end specification Left-mounted motor (standard) Right-mounted motor Slider roller specification
Option code B HS LA NM ML MR SR
See page ➝ A-42 ➝ A-50 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-55
Standard price — — — — — — —
Item
Description
Drive System Positioning repeatability Lost Motion Base Allowable static moment Allowable dynamic moment (*) Allowable overhang Ambient operating temperature, humidity
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 0 to 40oC, 85% RH or less (Non-condensing)
(*) Based on 5,000km of traveling life
Overhang Load Length
Directions of Allowable Load Moment
109
135 (Unit: mm/s)
Ma
Mb
Mc
Ma
L
Mc L
RCA-SA6R
RCA
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
2D CAD
P.15
L 23.7 ME
115
SE
Home
3
Mini
34
ME *2
Standard
4-M5 depth 9
Controllers Integrated
31
(Reamer hole tolerance ±0.02)
52
39
23
ion
18.7
60 50 32±0.02 21
2-ø5H7 depth 6
dju
Rod Type 123
sting pos it
Actuator width: 58 56
Slider height: 53 43 28 1 40
st
3
For
A Bottom of base
a
Ma moment offset reference position *3
7
123
Slider Type
Appendix
Mini 58
Cable joint connector *1
Standard Secure at Incremental 92 (131 if brake-equipped) 107 (146 if brake-equipped) least 100 Absolute
50
Controllers Integrated
23
Table/ Arm/ Flat Type
slot 5
(58) (56)
ng usti posi dj
5
ø8 hole
Mini
Details of the Base end-face slot area for 10.2 8 adjusting slider position
R
Base end-face 34.2
8
U×100 P
Standard
Gripper/ Rotary Type
31
Details of Details of section A oblong hole (Actuator's reference side)
a
4+0.012 0
n tio
For
Reference surface
Oblong hole depth 5 from bottom of base
P (pitch for ø4 hole and oblong hole) N (ø4 hole pitch)
100 (ø4 hole pitch) 3-ø4H7 depth 5 from bottom of base
Dimensions and Mass by Stroke (*1) (*2) (*3)
Stroke L N P R U m Mass (kg)
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 Ma moment
50 241.4 81 66 81 1 6 1.7
100 291.4 131 116 31 2 8 1.9
150 341.4 181 166 81 2 8 2.1
200 391.4 231 216 31 3 10 2.3
Linear Servo Type
m-M5 depth 8
* Brake-equipped models are heavier by 0.3kg.
250 441.4 281 266 81 3 10 2.5
300 491.4 331 316 31 4 12 2.7
350 541.4 381 366 81 4 12 2.9
400 591.4 431 416 31 5 14 3.1
450 641.4 481 466 81 5 14 3.3
500 691.4 531 516 31 6 16 3.5
550 741.4 581 566 81 6 16 3.7
600 791.4 631 616 31 7 18 3.9
Cleanroom Type
SplashProof Type
Applicable Controllers RCA 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
-
Easy-to-use controller, even for beginners
-2-1
Solenoid Valve Type
MSEP-C-
Solenoid valve multi-axis type Network specification
MSEP-C-
-2-0
Simple controller operable with the same signal as a solenoid valve
-~-
-2-0
Positioner type based on PIO control, allowing up to 8 axes to be connected
-~- -0-0
Field network-ready positioner type, allowing up to 8 axes to be connected
256 points
Positioning is possible for up to 512 points
512 points
ACON-C-30I
Positioner type
-
-2-0
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 (Open Collector)
ACON-PO-30I
-
Serial Communication Type
ACON-SE-30I
-N-0-0
Program Control Type * This is for the single-axis ASEL. * indicates I/O type (NP/PN).
ASEL-CS-1-30 * *
-2-0
-
Pulse train input type with differential line driver support Pulse train input type with open collector support Dedicated Serial Communication
Programmed operation is possible. -2-0 Can operate up to 2 axes
indicates encoder type (I: incremental, A: absolute) indicates number of axes (1 to 8).
Input power AC100V
-
ASEP-C-30I Solenoid valve multi-axis type PIO specification
Maximum number of positioning points
Features
Power-supply Standard Reference capacity price page 2.4A rated
3 points
DC24V
(Standard) 1.3A rated 4.4A max. (Power-saving) 1.3A rated 2.2A max.
—
➝ P537
—
➝ P547
—
➝ P563
—
Servo Motor (24V)
— —
➝ P631
(—) — 64 points
—
1,500 points
—
➝ P675
* Enter the code "LA" in when the power-saving option is specified. * indicates field network specification symbol.
RCA-SA6R
Pulse Motor
110
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS3
ROBO Cylinder
RCS3-SA8C RCS3P-SA8C
ROBO Cylinder, Slider Type, Actuator Width 80mm, 200-V Servo Motor, Aluminum Base, Coupled
Model Specification Items
SA8C
Series
ROBO Cylinder, Slider Type, Actuator Width 80mm, 200-V Servo Motor, Aluminum Base, Coupled High-precision specification
Type
Encoder type
Motor type
Lead
Stroke
Applicable controller
RCS3: Standard specification RCS3P: High-precision specification
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. Appendix
P.5
Table/ Arm/ Flat Type
(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 0.3 G (lead 5: 0.2 G) and vertical acceleration of 0.2 G. (3) The payload drops when the acceleration is raised. For details, refer to the list of payloads by acceleration provided on page A-108. (4) See page A-71 for details on push motion.
Mini Standard
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
Actuator Specifications
■ Leads and Payloads
■ Stroke and Maximum Speed Motor Lead output (W) (mm)
Model number
Horizontal (kg) Vertical (kg)
Rated Stroke thrust (N) (mm)
RCS3[RCS3P]-SA8C- ➀ -100-30- ➁ - ➂ - ➃ - ➄
30
8
2
56.6
RCS3[RCS3P]-SA8C- ➀ -100-20- ➁ - ➂ - ➃ - ➄
20
20
4
84.9
RCS3[RCS3P]-SA8C- ➀ -100-10- ➁ - ➂ - ➃ - ➄
100
40
8
1200 1070 940 840 750 670 610 550 500 460
16
169.8 50 to 1100 339.7
20
80
RCS3[RCS3P]-SA8C- ➀ -150-30- ➁ - ➂ - ➃ - ➄
30
12
3
85.1
10
600 530 470 410 370 340 310 270 250 230
5
300 260 230 200 180 170 150 135 120 110
150
RCS3[RCS3P]-SA8C- ➀ -150-10- ➁ - ➂ - ➃ - ➄
20
30
6
127.6
10
60
12
255.3
(every 50mm)
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800 850/900 950/1000 1050/1100
Standard Prices
➀ Encoder Type
Incremental Motor wattage 100W 150W
— — — — — — — — — — —
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
RCS3-SA8C
Servo Motor (200V)
1800 1610 1420 1260 1120 1010 910 830 760 690
5
➁Stroke (mm)
Servo Motor (24V)
30
10
➀Encoder Type / ➁ Stroke
Pulse Motor
Stroke 50 to 650 (every 50mm) 700 750 800 850 900 950 1000 1050 1100 Lead
RCS3[RCS3P]-SA8C- ➀ -100-5- ➁ - ➂ - ➃ - ➄ RCS3[RCS3P]-SA8C- ➀ -150-20- ➁ - ➂ - ➃ - ➄
SplashProof Type
Maximum payload
Absolute Motor wattage 100W 150W
— — — — — — — — — — —
— — — — — — — — — — —
— — — — — — — — — — —
Type
RCS3P-SA8C
➀ Encoder Type Incremental Absolute
Motor wattage 100W 150W
— — — — — — — — — — —
— — — — — — — — — — —
Standard type
Motor wattage 100W 150W
— — — — — — — — — — —
— — — — — — — — — — —
Special length
Robot cable
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 RCS3P 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
A1E A1S A3E A3S B CE NM
➝ A-41 ➝ A-41 ➝ A-41 ➝ A-41 ➝ A-42 ➝ A-42 ➝ A-52
— — — — — — —
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length 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: 117 N•m, Mc: 266 N•m Ma: 23.1 N•m, Mb: 32.9 N•m, Mc: 54.1 N•m 390mm max. in Ma direction, 390mm max. in Mb/Mc directions 0 to 40°C, 85% RH max. (Non-condensing)
Linear Servo Motor
111
(*) When the traveling life is assumed as 10,000km. Direction of allowable load moment. Ma
Mb
Mc
Overhang load length Ma
L
Mc L
RCS3/RCS3P-SA8C
RCS3
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
Appendix
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. ME : Mechanical end 78 SE : Stroke end 11.5 55 11.5 98.5 (100W) (*3) Reference position for calculating the Ma moment
2D CAD
141 (100W) 159 (150W)
116.5 (150W)
27.5
Controllers Integrated
Rod Type 2-ø6 H7, reamed, depth 10 (without brake) (tolerance for reamed hole pitch ±0.02 )
4-M6, depth12 L 36
Stroke
78
Mini
SE
Home
Standard
Cable joint connector *1
3 ME*2
Controllers Integrated
6
63
33
33
65 63
44
ME
(with brake)
(300)
98.5 (100W) 116.5 (150W)
73
3
Offset reference position for Ma moment (*3)
A
78
The bottom of the base
80
10
Oblong hole, depth 6 from the bottom of the base A
50
F
129.5 (100W) 147.5 (150W)
N×100P
50
For mounting ground terminals (M3) At least 100 or more
60
0.5
(Detailed view of A) 5 0
+0.012
6
31
3-ø5 H7, depth 6 from the bottom of the base
B (Pitch of oblong hole and reamed hole) C (Pitch of reamed holes)
Table/ Arm/ Flat Type
(27) 80
31
5.5
31
Reference surface
Mini Standard
80 70 60
27.5
Slider Type
31
50 (reamed holes)
D-M5, depth10
Mini
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
Standard
Gripper/ Rotary Type
■ Dimensions and Weights by Stroke Stroke
50
without brake 335.5 with brake 378 without brake 353.5 150W with brake 396
100W
L
A B C D F N
Weight (kg)
without brake
100W with brake 150W
without brake with brake
196 34 84 8 34 0 2.9 3.3 3.0 3.5
100 385.5 428 403.5 446 246 84 134 8 84 0 3.2 3.6 3.3 3.8
150 435.5 478 453.5 496 296 134 184 10 34 1 3.5 3.9 3.6 4.1
200 485.5 528 503.5 546 346 184 234 10 84 1 3.8 4.2 3.9 4.4
250 535.5 578 553.5 596 396 234 284 12 34 2 4.1 4.5 4.2 4.7
300 585.5 628 603.5 646 446 284 334 12 84 2 4.4 4.8 4.5 5.0
350 635.5 678 653.5 696 496 334 384 14 34 3 4.7 5.1 4.8 5.3
400 685.5 728 703.5 746 546 384 434 14 84 3 5.0 5.4 5.1 5.6
450 735.5 778 753.5 796 596 434 484 16 34 4 5.3 5.7 5.4 5.9
500 785.5 828 803.5 846 646 484 534 16 84 4 5.6 6.0 5.7 6.2
550 835.5 878 853.5 896 696 534 584 18 34 5 5.9 6.3 6.0 6.5
600 885.5 928 903.5 946 746 584 634 18 84 5 6.2 6.6 6.3 6.8
650 700 750 935.5 985.5 1035.5 978 1028 1078 953.5 1003.5 1053.5 996 1046 1096 796 846 896 634 684 734 684 734 784 20 20 22 34 84 34 6 6 7 6.5 6.8 7.1 6.9 7.2 7.5 6.6 6.9 7.2 7.1 7.4 7.7
800 1085.5 1128 1103.5 1146 946 784 834 22 84 7 7.4 7.8 7.5 8.0
850 1135.5 1178 1153.5 1196 996 834 884 24 34 8 7.7 8.1 7.8 8.3
900 1185.5 1228 1203.5 1246 1046 884 934 24 84 8 8.0 8.4 8.1 8.6
950 1235.5 1278 1253.5 1296 1096 934 984 26 34 9 8.3 8.7 8.4 8.9
1000 1285.5 1328 1303.5 1346 1146 984 1034 26 84 9 8.6 9.0 8.7 9.2
1050 1335.5 1378 1353.5 1396 1196 1034 1084 28 34 10 8.9 9.3 9.0 9.5
1100 1385.5 1428 1403.5 1446 1246 1084 1134 28 84 10 9.2 9.6 9.3 9.8
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS3-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Field network type
SCON-CA-100 -NP-2SCON-CA-150 -NP-2-
Pulse-train input control type
Dedicated pulse-train input type
(—)
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
768 points
Up to 6 axes can be operated. Movement by numerical specification is supported.
Power supply capacity
—
Movement by numerical specification is supported.
MSCON-C-1-100 - -0MSCON-C-1-150 - -0-
Input power
512 points
Actuators can be operated through the same control used for solenoid valves.
Positioner multi-axis, network type
Program control type, 1 to 8 axes
Maximum number of positioning points
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
Single-phase 100VAC
➝ P643 388 VA max.
Single-phase * 1-axis 200VAC 3-phase 200VAC (XSEL-P/Q/R/S ONLY)
specification operated at 150W
—
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.
RCS3/RCS3P-SA8C
112
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS3
ROBO Cylinder
RCS3-SS8C RCS3P-SS8C
ROBO Cylinder, Slider Type, Actuator Width 80mm, 200-V Servo Motor, Iron Base, Coupled
Model Specification Items
SS8C
Series
ROBO Cylinder, Slider Type, Actuator Width 80mm, 200-V Servo Motor, Iron Base, Coupled High-precision specification
Type
Encoder type
Motor type
Lead
Stroke
Applicable controller
RCS3: Standard specification RCS3P: High-precision specification
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. Appendix
P.5
Table/ Arm/ Flat Type
(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 0.3 G (lead 5: 0.2 G) and vertical acceleration of 0.2 G. (3) The payload drops when the acceleration is raised. For details, refer to the list of payloads by acceleration provided on page A-108. (4) See page A-71 for details on push motion.
Mini Standard
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
Actuator Specifications
■ Leads and Payloads Motor Lead output (W) (mm)
Model number
Horizontal (kg)
Vertical (kg)
■ Stroke and Maximum Speed Rated Stroke thrust (N) (mm)
RCS3[RCS3P]-SS8C- ➀ -100-30- ➁ - ➂ - ➃ - ➄
30
8
2
56.6
RCS3[RCS3P]-SS8C- ➀ -100-20- ➁ - ➂ - ➃ - ➄
20
20
4
84.9
RCS3[RCS3P]-SS8C- ➀ -100-10- ➁ - ➂ - ➃ - ➄
100
Servo Motor (200V)
Linear Servo Motor
30
1800 1660 1460 1296 1155 1035 935 8530 775
40
8
1200 1105 970 860 770 690 625 565 515
80
16
169.8 50 to 339.7 1000
20
5
RCS3[RCS3P]-SS8C- ➀ -150-30- ➁ - ➂ - ➃ - ➄
30
12
3
85.1 50mm)
10
600 550 485 430 385 345 310 280 255
5
300
150
RCS3[RCS3P]-SS8C- ➀ -150-10- ➁ - ➂ - ➃ - ➄
(every
20
30
6
127.6
10
60
12
255.3
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
➁Stroke (mm)
Servo Motor (24V)
600 700 750 800 850 900 950 1000
10
50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800 850/900 950/1000
275 240 215 190 170 150 140 125 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
➀Encoder Type / ➁ Stroke
Pulse Motor
Stroke 50 to 650 (every 50mm) Lead
RCS3[RCS3P]-SS8C- ➀ -100-5- ➁ - ➂ - ➃ - ➄ RCS3[RCS3P]-SS8C- ➀ -150-20- ➁ - ➂ - ➃ - ➄
SplashProof Type
Maximum payload
RCS3-SS8C ➀ Encoder Type
Incremental Motor wattage 100W 150W — — — — — — — — — — — — — — — — — — — —
Standard Prices
Absolute Motor wattage 100W 150W — — — — — — — — — — — — — — — — — — — —
Type
RCS3P-SS8C
➀ Encoder Type Incremental Absolute
Motor wattage 100W 150W — — — — — — — — — — — — — — — — — — — —
Standard type
Motor wattage 100W 150W — — — — — — — — — — — — — — — — — — — —
Special length
Robot cable
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 RCS3P 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 Slider roller specification
A1E A1S A3E A3S B CE NM SR
➝ A-41 ➝ A-41 ➝ A-41 ➝ A-41 ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-55
— — — — — — — —
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length 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 max. in Ma direction, 450mm max. in Mb/Mc directions 0 to 40°C, 85% RH max. (Non-condensing)
113
(*) When the traveling life is assumed as 10,000km. Direction of allowable load moment. Ma
Mb
Mc
Overhang load length Ma
L
Mc L
RCS3/RCS3P-SS8C
RCS3
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
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. ME : Mechanical end 90 SE : Stroke end 75 98.5 (100W) (*3) Reference position for calculating the Ma moment 45 116.5 (150W)
2D CAD
56 45 34
Controllers Integrated
Rod Type 4-M8, depth10 (without brake) 2-ø8 H7, reamed, depth 10 (tolerance for reamed hole pitch ±0.02 )
Stroke
170
Mini
98.5 (100W) 116.5 (150W)
35
ME SE 3
Home ME*2 3
Standard
Cable joint connector *1
Controllers Integrated
34
64
70 55 34 6
48
73
(with brake)
(300)
L
20.5
Mini Standard
141 (100W) 159 (150W)
20
Offset reference position for Ma moment (*3)
Slider Type
Bottom of the base (1) D-M8, depth10 3-ø5 H7, Oblong hole, depth 6 from the bottom of the base depth 6 from the bottom of the base 14 A 41.5 50 N×100P F N×100P 50 31.5
74 80
For mounting ground terminals (M3) 137 (100W) 155 (150W)
0.012 0
5
6 41.5
B (Pitch of oblong hole and reamed hole) C (Pitch of reamed holes)
Table/ Arm/ Flat Type
(27) 80
At least 100 or more 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
45
Reference surface
50 31.5 (reamed holes)
Mini Standard
Gripper/ Rotary Type
■ Dimensions and Weights by Stroke Stroke
50 374 416.5 392 434.5 223 50 100 8 50 0 without brake 5.1 with brake 5.5 without brake 5.1 with brake 5.5
without brake with brake without brake 150W with brake
100W
L
A B C D F N
Weight (kg)
100W 150W
100 424 466.5 442 484.5 273 100 150 8 100 0 5.6 6.0 5.7 6.1
150 474 516.5 492 534.5 323 150 200 8 150 0 6.2 6.6 6.2 6.7
200 524 566.5 542 584.5 373 200 250 10 0 1 6.7 7.1 6.8 7.2
250 574 616.5 592 634.5 423 250 300 12 50 1 7.3 7.7 7.3 7.8
300 624 666.5 642 684.5 473 300 350 12 100 1 7.8 8.2 7.9 8.3
350 674 716.5 692 734.5 523 350 400 12 150 1 8.4 8.8 8.4 8.9
400 724 766.5 742 784.5 573 400 450 14 0 2 8.9 9.3 9.0 9.4
450 774 816.5 792 834.5 623 450 500 16 50 2 9.5 9.9 9.5 10.0
500 824 866.5 842 884.5 673 500 550 16 100 2 10.0 10.4 10.1 10.5
550 874 916.5 892 934.5 723 550 600 16 150 2 10.6 11.0 10.6 11.1
600 924 966.5 942 984.5 773 600 650 18 0 3 11.1 11.5 11.2 11.6
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 11.7 12.2 12.8 13.3 13.9 14.4 15.0 15.5 12.1 12.6 13.2 13.7 14.3 14.8 15.4 15.9 11.7 12.3 12.8 13.4 13.9 14.5 15.0 15.6 12.2 12.7 13.3 13.8 14.4 14.9 15.5 16.0
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS3-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Field network type
SCON-CA-100 -NP-2SCON-CA-150 -NP-2-
Pulse-train input control type
Dedicated pulse-train input type
(—)
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
—
768 points
Up to 6 axes can be operated. Movement by numerical specification is supported.
Power supply capacity
7 points
Movement by numerical specification is supported.
MSCON-C-1-100 - -0MSCON-C-1-150 - -0-
Input power
512 points
Actuators can be operated through the same control used for solenoid valves.
Positioner multi-axis, network type
Program control type, 1 to 8 axes
Maximum number of positioning points
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
Single-phase 100VAC
➝ P643 388 VA max.
Single-phase * 1-axis 200VAC 3-phase 200VAC (XSEL-P/Q/R/S ONLY)
specification operated at 150W
—
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
256 points
* 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.
RCS3/RCS3P-SS8C
114
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS3
ROBO Cylinder
RCS3-SA8R RCS3P-SA8R
ROBO Cylinder, Slider Type, Actuator Width 80mm, 200-V Servo Motor, Aluminum Base, Side-mounted Motor
Model Specification Items
SA8R
Series
Type
Encoder type
RCS3: Standard specification RCS3P: High-precision specification
I : Incremental A : Absolute
ROBO Cylinder, Slider Type, Actuator Width 80mm, 200-V Servo Motor, Aluminum Base, Side-mounted Motor High-precision specification
Motor type
Lead
Stroke
Applicable controller
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. Appendix
P.5
Table/ Arm/ Flat Type
(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 0.3 G (lead 5: 0.2 G) and vertical acceleration of 0.2 G. (3) The payload drops when the acceleration is raised. For details, refer to the list of payloads by acceleration provided on page A-108. (4) See page A-71 for details on push motion.
Mini Standard
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
Actuator Specifications
■ Leads and Payloads
■ Stroke and Maximum Speed Motor Lead output (W) (mm)
Model number
Rated Stroke thrust (N) (mm)
Horizontal (kg)
Vertical (kg)
RCS3[RCS3P]-SA8R- ➀ -100-30- ➁ - ➂ - ➃ - ➄
30
8
2
56.6
RCS3[RCS3P]-SA8R- ➀ -100-20- ➁ - ➂ - ➃ - ➄
20
20
4
84.9
RCS3[RCS3P]-SA8R- ➀ -100-10- ➁ - ➂ - ➃ - ➄
100
40
8
1200 1070 940 840 750 670 610 550 500 460
16
169.8 50 to 1100 339.7
20
80
RCS3[RCS3P]-SA8R- ➀ -150-30- ➁ - ➂ - ➃ - ➄
30
12
3
85.1
10
600 530 470 410 370 340 310 270 250 230
5
300 260 230 200 180 170 150 135 120 110
150
RCS3[RCS3P]-SA8R- ➀ -150-10- ➁ - ➂ - ➃ - ➄
20
30
6
127.6
10
60
12
255.3
(every 50mm)
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800 850/900 950/1000 1050/1100
➀ Encoder Type
Incremental Motor wattage 100W 150W — — — — — — — — — — — — — — — — — — — — — —
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length Standard Prices
RCS3-SA8R
Servo Motor (200V)
1800 1610 1420 1260 1120 1010 910 830 760 690
5
➁Stroke (mm)
Servo Motor (24V)
30
10
➀Encoder Type / ➁ Stroke
Pulse Motor
(Unit: mm/s)
Stroke 50 to 650 (every 50mm) 700 750 800 850 900 950 1000 1050 1100 Lead
RCS3[RCS3P]-SA8R- ➀ -100-5- ➁ - ➂ - ➃ - ➄ RCS3[RCS3P]-SA8R- ➀ -150-20- ➁ - ➂ - ➃ - ➄
SplashProof Type
Maximum payload
Absolute Motor wattage 100W 150W — — — — — — — — — — — — — — — — — — — — — —
Type
RCS3P-SA8R
➀ Encoder Type Incremental Absolute
Motor wattage 100W 150W — — — — — — — — — — — — — — — — — — — — — —
Standard type
Motor wattage 100W 150W — — — — — — — — — — — — — — — — — — — — — —
Special length
Robot cable
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 RCS3P specifications are shown in [ ]. (Other items are the same.)
➄Options Name
Option code
Page
Standard Price
Brake CE compliance Motor mounted on left, cables exit from back Motor mounted on left, cables exit from side Motor mounted on right, cables exit from back Motor mounted on right, cables exit from side Non-motor end specification
B CE MLE MLS MRE MRS NM
➝ A-42 ➝ A-42 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-52
— — — — — — —
Linear Servo Motor
115
Item Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
Description 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: 117 N•m, Mc: 266 N•m Ma: 23.1 N•m, Mb: 32.9 N•m, Mc: 54.1 N•m 390mm max. in Ma direction, 390mm max. in Mb/Mc directions 0 to 40°C, 85% RH max. (Non-condensing)
(*) When the traveling life is assumed as 10,000km. Direction of allowable load moment. Ma
RCS3/RCS3P-SA8R
Mb
Mc
Overhang load length Ma
L
Mc L
RCS3
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
Appendix
www.intelligentactuator.com
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. ME : Mechanical end 78 SE : Stroke end 11.5 11.5 +0.012 55 27.5 27.5 0 * Offset reference position for Ma moment is same as that of SA8C type. 2-ø6 H7, reamed, depth 10 (Refer to page 112.) (tolerance for reamed hole pitch ±0.02 ) 4-M6, depth 12
Controllers Integrated
Rod Type
Mini
Cable joint connector*1
At lease 100 or more
300
Cable exit from the side
L
257.5
(with brake)
Stroke
78 Home
Standard Controllers Integrated
106.5 ME*2 3
Table/ Arm/ Flat Type
62
SE 3
33 6
59
65 63
36 ME
222.5
(without brake)
1
At lease 100 or more
(145.5)
(3) 145.5
62
(2)
10
31
50
For mounting ground terminals (M3)
Oblong hole, depth 6 from the bottom of the base A F NX100P
50
2
78 80
31
8.5
137
64.5
Model number: MRS (motor side mounted on right, cable exit from side)
Model number: MRE (motor side mounted on right, cable exit from back)
Mini Standard
Reference surface
(78) (80) 6
+0.012
0.5
60
5.5
P Bottom of the base
Mini Standard
80 70 60
2D CAD
Slider Type
5 0
Detailed view of P 31
+0.012 0
B (Pitch of oblong hole and reamed hole) C (Pitch of reamed holes)
31 50 (reamed holes)
3-ø5 H7, depth 6 from the bottom of the base D-M5, depth 10
■ Dimensions and Weights by Stroke Stroke L A B C D F N
50 270.5 196 34 84 8 34 0 without brake 3.6 100W with brake Weight 4.0 without brake 3.8 (kg) 150W with brake 4.1
100 320.5 246 84 134 8 84 0 3.9 4.3 4.1 4.4
150 370.5 296 134 184 10 34 1 4.2 4.6 4.4 4.7
200 420.5 346 184 234 10 84 1 4.5 4.9 4.7 5.0
250 470.5 396 234 284 12 34 2 4.8 5.2 5.0 5.3
300 520.5 446 284 334 12 84 2 5.1 5.5 5.3 5.6
350 570.5 496 334 384 14 34 3 5.4 5.8 5.6 5.9
400 620.5 546 384 434 14 84 3 5.7 6.1 5.9 6.2
450 670.5 596 434 484 16 34 4 6.0 6.4 6.2 6.5
500 720.5 646 484 534 16 84 4 6.3 6.7 6.5 6.8
550 770.5 696 534 584 18 34 5 6.6 7.0 6.8 7.1
600 820.5 746 584 634 18 84 5 6.9 7.3 7.1 7.4
650 870.5 796 634 684 20 34 6 7.2 7.6 7.4 7.7
700 920.5 846 684 734 20 84 6 7.5 7.9 7.7 8.0
Gripper/ Rotary Type
Model number: MLE (motor side mounted on left, cable exit from back) (Cable exit direction) * Top view
Model number: MLS (motor side mounted on left, cable exit from side)
750 800 850 900 950 1000 970.5 1020.5 1070.5 1120.5 1170.5 1220.5 896 946 996 1046 1096 1146 734 784 834 884 934 984 784 834 884 934 984 1034 22 22 24 24 26 26 34 84 34 84 34 84 7 7 8 8 9 9 7.8 8.1 8.4 8.7 9.0 9.3 8.2 8.5 8.8 9.1 9.4 9.7 8.0 8.3 8.6 8.9 9.2 9.5 8.3 8.6 8.9 9.2 9.5 9.8
1050 1270.5 1196 1034 1084 28 34 10 9.6 10.0 9.8 10.1
1100 1320.5 1246 1084 1134 28 84 10 9.9 10.3 10.1 10.4
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS3-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Field network type
SCON-CA-100 -NP-2SCON-CA-150 -NP-2-
Pulse-train input control type
Dedicated pulse-train input type
(—)
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
768 points
Up to 6 axes can be operated. Movement by numerical specification is supported.
Power supply capacity
—
Movement by numerical specification is supported.
MSCON-C-1-100 - -0MSCON-C-1-150 - -0-
Input power
512 points
Actuators can be operated through the same control used for solenoid valves.
Positioner multi-axis, network type
Program control type, 1 to 8 axes
Maximum number of positioning points
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
Single-phase 100VAC
➝ P643 388 VA max.
Single-phase * 1-axis 200VAC 3-phase 200VAC (XSEL-P/Q/R/S ONLY)
specification operated at 150W
—
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
256 points
* 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.
RCS3/RCS3P-SA8R
116
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS3
ROBO Cylinder
RCS3-SS8R RCS3P-SS8R
ROBO Cylinder, Slider Type, Actuator Width 80mm, 200-V Servo Motor, Iron Base, Side-mounted Motor ROBO Cylinder, Slider Type, Actuator Width 80mm, 200-V Servo Motor, Iron Base, Side-mounted Motor
Model Specification Items
SS8R
Series
High-precision specification
Type
Encoder type
Motor type
Lead
Stroke
Applicable controller
RCS3: Standard specification RCS3P: High-precision specification
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. Appendix
P.5
Table/ Arm/ Flat Type
(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 0.3 G (lead 5: 0.2 G) and vertical acceleration of 0.2 G. (3) The payload drops when the acceleration is raised. For details, refer to the list of payloads by acceleration provided on page A-108. (4) See page A-71 for details on push motion.
Mini Standard
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
Actuator Specifications
■ Leads and Payloads
■ Stroke and Maximum Speed Motor Lead output (W) (mm)
Model number
Horizontal (kg)
Vertical (kg)
Rated Stroke thrust (N) (mm)
RCS3[RCS3P]-SS8R- ➀ -100-30- ➁ - ➂ - ➃ - ➄
30
8
2
56.6
RCS3[RCS3P]-SS8R- ➀ -100-20- ➁ - ➂ - ➃ - ➄
20
20
4
84.9
RCS3[RCS3P]-SS8R- ➀ -100-10- ➁ - ➂ - ➃ - ➄
100
Linear Servo Motor
1800 1660 1460 1296 1155 1035 935 850 775
40
8
1200 1105 970 860 770 690 625 565 515
16
169.8 50 to 1000 339.7
20
80
RCS3[RCS3P]-SS8R- ➀ -150-30- ➁ - ➂ - ➃ - ➄
30
12
3
85.1
10
600 550 485 430 385 345 310 280 255
5
300
150
RCS3[RCS3P]-SS8R- ➀ -150-10- ➁ - ➂ - ➃ - ➄
20
30
6
127.6
10
60
12
255.3
(every 50mm)
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800 850/900 950/1000
➀ Encoder Type
Incremental Motor wattage 100W 150W — — — — — — — — — — — — — — — — — — — —
275 240 215 190 170 150 140 125 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length Standard Prices
RCS3-SS8R
Servo Motor (200V)
30
5
➁Stroke (mm)
Servo Motor (24V)
700 750 800 850 900 950 1000
10
➀Encoder Type / ➁ Stroke
Pulse Motor
Stroke 50 to 650 (every 50mm) 600 Lead
RCS3[RCS3P]-SS8R- ➀ -100-5- ➁ - ➂ - ➃ - ➄ RCS3[RCS3P]-SS8R- ➀ -150-20- ➁ - ➂ - ➃ - ➄
SplashProof Type
Maximum payload
Absolute Motor wattage 100W 150W — — — — — — — — — — — — — — — — — — — —
Type
RCS3P-SS8R
➀ Encoder Type Incremental Absolute
Motor wattage 100W 150W — — — — — — — — — — — — — — — — — — — —
Standard type
Motor wattage 100W 150W — — — — — — — — — — — — — — — — — — — —
Special length
Robot cable
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 RCS3P specifications are shown in [ ]. (Other items are the same.)
➄Options Name
Option code
Page
Standard Price
Item
Description
Brake CE compliance Motor mounted on left, cables exit from back Motor mounted on left, cables exit from side Motor mounted on right, cables exit from back Motor mounted on right, cables exit from side Non-motor end specification Slider roller specification
B CE MLE MLS MRE MRS NM SR
➝ A-42 ➝ A-42 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-55
— — — — — — — —
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length 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 max. in Ma direction, 450mm max. in Mb/Mc directions 0 to 40°C, 85% RH max. (Non-condensing)
117
(*) When the traveling life is assumed as 10,000km. Direction of allowable load moment. Ma
RCS3/RCS3P-SS8R
Mb
Mc
Overhang load length Ma
L
Mc L
RCS3
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
Appendix
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. ME : Mechanical end +0.015 90 0 SE : Stroke end 2-ø8 H7, reamed, depth 10 (tolerance for reamed hole pitch ±0.02 )
* Offset reference position for Ma moment is same as that of SS8C type. (Refer to page 114.)
4-M8, depth 10
Controllers Integrated
17±0.1
17±0.1
56 45 34
(300)
3
L
20.5 ME SE 3 ST
9 ME
170
28
61 ME*2 3
73.5
Home
28 2 ME*2
Home
SE
(with brake)
(without brake)
60
34 6
Controllers Integrated
27 26
Oblong hole, depth 6 from the bottom of the base
(2) 14
50
NX100P
B
A F
50
NX100P
15
3
Model number: MRE (motor side mounted on right, cable exit from back)
45
(74) (80)
Detailed view of P
41.5
6
+0.012 0 3-ø5 H7, depth 10 from the bottom of the base
B (Pitch of oblong hole and reamed hole) C 2-ø3H7 depth 3 (Pitch of reamed holes) (from the bottom of the base) 50 31.5 (reamed holes)
D-M8, depth 10
Details of Z
■ Dimensions and Weights by Stroke Stroke L A B C D F N
50 301.5 223 50 100 8 50 0 without brake 6.0 100W with brake Weight 6.3 without brake (kg) 6.1 150W with brake 6.4
100 351.5 273 100 150 8 100 0 6.5 6.8 6.6 6.9
150 401.5 323 150 200 8 150 0 7.1 7.4 7.2 7.5
200 451.5 373 200 250 10 0 1 7.6 7.9 7.7 8.0
250 501.5 423 250 300 12 50 1 8.2 8.5 8.3 8.6
300 551.5 473 300 350 12 100 1 8.7 9.0 8.8 9.1
350 601.5 523 350 400 12 150 1 9.3 9.6 9.4 9.7
400 651.5 573 400 450 14 0 2 9.8 10.1 9.9 10.2
450 701.5 623 450 500 16 50 2 10.4 10.7 10.5 10.8
500 751.5 673 500 550 16 100 2 10.9 11.2 11.0 11.3
8.5
Model number: MRS (motor side mounted on right, cable exit from side)
Secure at least 100
D-M3 depth 4
Z
137
64.5
31.5
C
+0.012 0
4
41.5
10
5 1 Reference surface
For mounting ground terminals (M3)
1
62
28
10
3H7 depth 3 (from the bottom of the base)
22
(3) 145.5
5
74 80
12.5
P Bottom of the base
Standard
62
5
70 55
5
2
257.5
222.5
3
L
Stroke
A
Mini
Cable joint connector*1
or more
5
(145.5)
Rod Type
2-ø2H7 At depth lease 1003
17±0.02
Cable joint
Cable exit from the side
(200)
8±0.02
4-M3 depth 5.5 connector*1
At lease 100 or more
Mini Standard
75 45 20
24.5
2D CAD
Slider Type
550 801.5 723 550 600 16 150 2 11.5 11.8 11.6 11.9
600 851.5 773 600 650 18 0 3 12.0 12.3 12.1 12.4
650 901.5 823 650 700 20 50 3 12.6 12.9 12.7 13.0
700 951.5 873 700 750 20 100 3 13.1 13.4 13.2 13.5
850 1101.5 1023 850 900 24 50 4 14.8 15.1 14.9 15.2
Mini Standard
Model number: MLE (motor side mounted on left,ST: Stroke cable exit from back) number: MLS ME:Model Mechanical end sideend mounted on (Cable exit direction) SE: (motor Stroke left, cable exit from side) * Top view
750 800 1001.5 1051.5 923 973 750 800 800 850 20 22 150 0 3 4 13.7 14.2 14.0 14.5 13.8 14.3 14.1 14.6
Table/ Arm/ Flat Type
900 1151.5 1073 900 950 24 100 4 15.3 15.6 15.4 15.7
950 1000 1201.5 1251.5 1123 1173 950 1000 1000 1050 24 26 150 0 4 5 15.9 16.4 16.2 16.7 16.0 16.5 16.3 16.8
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS3-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Field network type
SCON-CA-100 -NP-2SCON-CA-150 -NP-2-
Pulse-train input control type
Dedicated pulse-train input type
(—)
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
768 points
Up to 6 axes can be operated. Movement by numerical specification is supported.
Power supply capacity
—
Movement by numerical specification is supported.
MSCON-C-1-100 - -0MSCON-C-1-150 - -0-
Input power
512 points
Actuators can be operated through the same control used for solenoid valves.
Positioner multi-axis, network type
Program control type, 1 to 8 axes
Maximum number of positioning points
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
Single-phase 100VAC
➝ P643 388 VA max.
Single-phase * 1-axis 200VAC 3-phase 200VAC (XSEL-P/Q/R/S ONLY)
specification operated at 150W
—
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
256 points
* 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.
RCS3/RCS3P-SS8R
118
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
RCS2
RCS2-SA4C
Mini Standard
Model Specification Items
Controllers Integrated
Rod Type
Mini
ROBO Cylinder
RCS2 Series
SA4C
ROBO Cylinder, Slider Type, Actuator Width 40mm, 200-V Servo Motor, Coupled
20
Encoder type
Motor type
Lead
Stroke
Applicable controller
I : Incremental A : Absolute
20: Servo motor, 20W
16 : 16mm 10 : 10mm 5 : 5mm 2.5 : 2.5mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
Type
400: 400 mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
N: None
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
See Options below.
(excluding the 2.5-mm lead model)
*CE compliance is optional.
Standard
Controllers Integrated
Table/ Arm/ Flat Type
Appendix
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) The load capacity is based on operation of the standard model at 0.3G (0.2G for 2.5mm-lead), and the high acceleration/deceleration model at 1G (excluding the 2.5mm-lead model). (Even when the acceleration/deceleration is dropped, the maximum load capacity values shown in the table below are the upper limits.) (3) See page A-71 for details on push motion.
Mini Standard
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
■ Leads and Payloads
■ Stroke and Maximum Speed Motor output (W)
Model number
Maximum payload
Lead
RCS2-SA4C- ➀ -20-16- ➁ - ➂ - ➃ - ➄ RCS2-SA4C- ➀ -20-10- ➁ - ➂ - ➃ - ➄
Horizontal (kg) Vertical (kg)
(mm)
Rated thrust (N)
RCS2-SA4C- ➀ -20-5- ➁ - ➂ - ➃ - ➄ RCS2-SA4C- ➀ -20-2.5- ➁ - ➂ - ➃ - ➄
(mm)
16
2.5
0.6
12.25
10
4
1
19.6
50 to 400
5
6
2.5
39.2
(every 50mm)
2.5
8
4.5
78.4
20 SplashProof Type
Stroke
Stroke
Lead
16
1060
10
665
5
330
2.5
165
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Standard price ➀Encorder type
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Incremental I — — — — — — — —
50 100 150 200 250 300 350 400
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
➀Encoder Type / ➁ Stroke ➁Stroke (mm)
50~400
(every 50mm)
Type
Absolute A — — — — — — — —
Standard type Special length
Robot cable
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 RCS3P specifications are shown in [ ]. (Other items are the same.)
➄Options Name
Brake CE compliance Foot bracket For High Acceleration/Deceleration Home sensor Non-motor end specification Slider Roller specification Slider spacer
Option code
Page
Standard Price
Item
Description
B CE FT HA HS NM SR SS
➝ A-42 ➝ A-42 ➝ A-47 ➝ A-50 ➝ A-50 ➝ A-52 ➝ A-55 ➝ A-55
— — — — — — — —
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
Ball screw, ø8mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treatment 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 Ma direction: 120mm or less Mb/Mc directions: 120mm or less 0 to 40°C, 85% RH max. (Non-condensing)
* The high-acceleration/deceleration option and the slider roller option cannot be used together. * The high-acceleration/deceleration option cannot be used on the 2.5mm-lead model.
119
(*) When the traveling life is assumed as 5,000km. Direction of allowable load moment. Ma
Mb
Mc
Overhang load length Ma
L
Mc L
RCS2-SA4C
RCS2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
Appendix
4-ø3.6 ø6.5 counterbore, Depth 3.7 (for mounting actuator) *4
10.2
20
21
ø8 hole
slot
2-ø3H7 depth 5
11.8
Ma moment offset reference position *3
4-M3 depth 7
Standard
M
(240)
11.8
Controllers Integrated
Base end-face Base end-face
L 23
st
123.2 (162.2 for brake-equipped)
12.8
70
3
3 Home
SE
ME
Secure at least 100
ME *2
1
32 22.5 1 A
37 3
11.8
R
50 (when stroke is 50) U×100P (All strokes except 50)
4 +0.010 0
(37) (40)
m-M3 depth 5 Details of Oblong hole depth oblong hole 5 from the bottom of the base
3
Reference surface
Details of section A (Actuator's reference side)
50
11.8
P (pitch for ø3 hole and oblong hole)
Table/ Arm/ Flat Type Mini Standard
Motor section W: 46
Base end-face
Gripper/ Rotary Type
21
3.2
Actuator width: 40
Bottom of the base Base 3 end-face
Mini
Cable joint connector *1
31.2
5
36.5 25 15
Controllers Integrated
Rod Type
32 24 16±0.02 9
Base end-face Details of the slot area for adjusting slider position
Mini Standard
(Reamer hole tolerance ±0.02)
2D CAD
Slider height: 40
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. ME : Mechanical end SE : Stroke end (*3) Reference position for calculating the Ma moment (*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.
Motor section H: 45
CAD drawings can be downloaded from the website.
Slider Type
2-ø3H7 depth 5 from the bottom of the base
N (ø3 hole pitch)
■ Dimensions and Weights by Stroke Stroke
L
without brake with brake
M N P R U m Weight (kg)
50 279 318 122 35 22 8 — 4 0.7
100 329 368 172 100 134 8 1 4 0.8
150 379 418 222 150 184 10 1 4 0.9
* Brake-equipped models are heavier by 0.3kg.
200 429 468 272 200 234 10 2 6 1
250 479 518 322 250 284 12 2 6 1.1
300 529 568 372 300 334 12 3 8 1.2
350 579 618 422 350 384 14 3 8 1.3
400 629 668 472 400 434 14 4 10 1.4
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
SCON-CA-20
-NP-2-
Actuators can be operated through the same control used for solenoid valves.
Maximum number of positioning points
106 VA max.
Pulse-train input control type
Dedicated pulse-train input type
(—)
Up to 6 axes can be operated. Movement by numerical specification is supported.
256 points
Program control type, 1 to 2 axes
SSEL-CS-1-20
Program control type, 1 to 8 axes
XSEL- -1-20
Reference page
7 points
768 points
- -0-
Standard price
—
Movement by numerical specification is supported.
MSCON-C-1-20
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase *Power supply 100VAC
capacity Single-phase will vary depending on 200VAC the controller, so please refer 3-phase to the 200VAC instruction (XSEL-P/Q/R/S manual for ONLY) details.
➝ P643 —
Pulse Motor
—
—
➝ P655
-NP-2-
Program operation is supported. Up to 2 axes can be operated.
20,000 points
—
➝ P685
-N1-EEE-2-
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 encoder type (I: Incremental / A: Absolute). * Enter the code "HA" in when the high-acceleration/deceleration option is specified. * indicates the XSEL type (J / K / P / Q / R / S). * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates field network specification symbol. * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V / 3: Three-phase 200V).
RCS2-SA4C
120
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini
RCS2
RCS2-SA5C
Standard
Model Specification Items
Controllers Integrated
Rod Type
Mini
ROBO Cylinder
RCS2 Series
SA5C Type
ROBO Cylinder, Slider Type, Actuator Width 52mm, 200-V Servo Motor, Coupled
20
Encoder type
Motor type
Lead
Stroke
Applicable controller
I : Incremental A : Absolute
20: Servo motor, 20W
20 : 20mm 12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
500: 500mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length N: None
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Options See Options below.
(excluding the 3-mm lead model)
*CE compliance is optional.
Standard
Controllers Integrated
Table/ Arm/ Flat Type
Appendix
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) The load capacity is based on operation of standard model at 0.3G (0.2G for 3mm-lead), and operation of the high acceleration/deceleration model at 0.8G (excluding the 3mm-lead model). (Even when the acceleration/deceleration is dropped, the maximum load capacity values shown in the table below are the upper limits.) (3) See page A-71 for details on push motion.
Mini Standard
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
■ Leads and Payloads
■ Stroke and Maximum Speed Motor output (W)
Model number RCS2-SA5C- ➀ -20-20- ➁ - ➂ - ➃ - ➄
Lead (mm)
Maximum payload Horizontal (kg) Vertical (kg)
Rated thrust (N)
20
1300 <800>
10.7
12
4
1
16.7
50 to 500
12
800
760
RCS2-SA5C- ➀ -20-6- ➁ - ➂ - ➃ - ➄
6
8
2
33.3
(every 50mm)
6
400
380
RCS2-SA5C- ➀ -20-3- ➁ - ➂ - ➃ - ➄
3
12
4
65.7
3
200
190
RCS2-SA5C- ➀ -20-12- ➁ - ➂ - ➃ - ➄
50 100 150 200 250 300 350 400 450 500
Type Standard type Special length
Robot cable
* The values enclosed in < > apply to vertical settings.
Option code
Brake CE compliance Foot bracket For High Acceleration/Deceleration Home sensor Non-motor end specification Slider roller specification
B CE FT HA HS NM SR
Page ➝ A-42 ➝ A-42 ➝ A-47 ➝ A-50 ➝ A-50 ➝ A-52 ➝ A-55
Standard Price
— — — — — — —
* The high-acceleration/deceleration option and the slider roller option cannot be used together. * The high-acceleration/deceleration option cannot be used on the 3mm-lead model.
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
➄Options
121
*See page A-71 for details on push motion.
Cable Length Standard price ➀Encorder type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — —
Name
Linear Servo Motor
(mm)
1300 <800>
0.5
➁ Stroke (mm)
Servo Motor (200V)
500
2
➀Encoder Type / ➁ Stroke
Servo Motor (24V)
(Unit: mm/s)
50~450
(every 50mm)
Lead
(mm)
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Pulse Motor
Stroke
20
20 SplashProof Type
Stroke
Item
Description
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treatment 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 0 to 40°C, 85% RH max. (Non-condensing)
(*) When the traveling life is assumed as 5,000km. Direction of allowable load moment. Ma
Mb
Mc
Overhang load length Ma
L
Mc L
RCS2-SA5C
RCS2
ROBO Cylinder
Dimensional Drawings
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. (*4) If the actuator is secured using only the mounting holes provided on ME : Mechanical end the top surface of the base, the base may twist to cause abnormal SE : Stroke end sliding of the slider, or may produce abnormal noise. Therefore, when (*3) Reference position for calculating the Ma moment using the mounting holes on the top surface of the base, keep the stroke at 300mm or less.
2D CAD
4-ø4.5 ø8 counterbore, depth 4.5 (for mounting actuator) *4
2-ø4H7 depth 6
Cable joint connector *1
14.5
M
14.5
Secure at least 100
st
94 Home
SE
Controllers Integrated
13.5 99.2 (138.2 if brake-equipped) 3 ME *2
ra
djus
ting p
os
on iti
djus
ting p
os
1
1
ra
26
Fo
40
39
23.7 3 ME
Standard
(240)
Base end-face
L
Bottom of the base 50 Actuator width: 52 Base end-face
R
Base end-face
50 (when stroke is 50) U×100P (All strokes except 50)
50
Mini Standard
14.5
Gripper/ Rotary Type
26
4
+0.012 0
5
Table/ Arm/ Flat Type
Motor section W: 52
14.5
5 (50) (52)
Controllers Integrated
Mini
Motor section H: 48
Ma moment offset reference position *3
48 32 20
Reference surface
Standard
Rod Type
4-M4 depth 9
26
26 10.2 Base end-face
Details of the slot area for adjusting slider position
A
Mini
Fo
on iti
ø8 hole
40 30 19 ±0.02 9
(Reamer hole tolerance ±0.02)
slot
Slider height: 50
Appendix
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
Slider Type
Details of Details of section A (Actuator's reference side) oblong hole
m-M4 depth 7 Oblong hole depth 5 from the bottom of the base
P (pitch of ø4 hole and oblong hole)
2-ø4H7 depth 5 from the bottom of the base
N (ø4 hole pitch)
■ Dimensions and Weights by Stroke Stroke
50
M N P R U m Weight (kg)
142 50 35 42 — 4 1.3
without brake 280.4 L with brake 319.4
100 340.4 369.4 192 100 85 42 1 4 1.4
150 380.4 419.4 242 100 85 92 1 4 1.5
200 440.4 469.4 292 200 185 42 2 6 1.6
* Brake-equipped models are heavier by 0.3kg.
250 480.4 519.4 342 200 185 92 2 6 1.7
300 540.4 569.4 392 300 285 42 3 8 1.8
350 580.4 619.4 442 300 285 92 3 8 1.9
400 640.4 679.4 492 400 385 42 4 10 2
450 680.4 719.4 542 400 385 92 4 10 2.1
500 740.4 769.4 592 500 485 42 5 12 2.2
Linear Servo Type
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
SCON-CA-20
-NP-2-
Actuators can be operated through the same control used for solenoid valves.
Maximum number of positioning points
106 VA max.
Pulse-train input control type
Dedicated pulse-train input type
(—)
Up to 6 axes can be operated. Movement by numerical specification is supported.
256 points
Program control type, 1 to 2 axes
SSEL-CS-1-20
Program control type, 1 to 8 axes
XSEL- -1-20
Reference page
7 points
768 points
- -0-
Standard price
—
Movement by numerical specification is supported.
MSCON-C-1-20
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase *Power supply 100VAC
capacity Single-phase will vary depending on 200VAC the controller, so please refer 3-phase to the 200VAC instruction (XSEL-P/Q/R/S manual for ONLY) details.
➝ P643 —
Pulse Motor
—
—
➝ P655
-NP-2-
Program operation is supported. Up to 2 axes can be operated.
20,000 points
—
➝ P685
-N1-EEE-2-
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 encoder type (I: Incremental / A: Absolute). * Enter the code "HA" in when the high-acceleration/deceleration option is specified. * indicates the XSEL type (J / K / P / Q / R / S). * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates field network specification symbol. * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V / 3: Three-phase 200V).
RCS2-SA4C
122
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
RCS2
RCS2-SA6C
Mini Standard
Model Specification Items
Controllers Integrated
RCS2 Series
SA6C Type
Encoder type I : Incremental A : Absolute
Rod Type
Mini
ROBO Cylinder
ROBO Cylinder, Slider Type, Actuator Width 58mm, 200-V Servo Motor, Coupled
30
Motor type
Lead
Stroke
Applicable controller
30: Servo motor, 30W
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 (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length N: None
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Options See Options below.
For High Acceleration/Deceleration (excluding the 3-mm lead model)
*CE compliance is optional.
Standard
Controllers Integrated
Table/ Arm/ Flat Type
Appendix
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) The load capacity is based on operation of standard model at 0.3G (0.2G for 3mm-lead), and operation of the high acceleration/deceleration model at 1G (excluding the 3mm-lead model). (Even when the acceleration/deceleration is dropped, the maximum load capacity values shown in the table below are the upper limits.) (3) See page A-71 for details on push motion.
Mini Standard
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.)
Gripper/ Rotary Type
Actuator Specifications Linear Servo Type
■ Leads and Payloads
■ Stroke and Maximum Speed Motor output (W)
Model number RCS2-SA6C- ➀ -30-20- ➁ - ➂ - ➃ - ➄
Cleanroom Type
SplashProof Type
Lead (mm)
Maximum payload Horizontal (kg) Vertical (kg)
Rated thrust (N)
Stroke (mm)
Lead
(mm)
1300 <800>
20
600
(mm)
(mm)
1160 <800>
890 <800>
15.8
12
6
1.5
24.2
50 to 600
12
800
760
640
540
RCS2-SA6C- ➀ -30-6- ➁ - ➂ - ➃ - ➄
6
12
3
48.4
(every 50mm)
6
400
380
320
270
RCS2-SA6C- ➀ -30-3- ➁ - ➂ - ➃ - ➄
3
18
6
96.8
3
200
190
160
135
RCS2-SA6C- ➀ -30-12- ➁ - ➂ - ➃ - ➄ 30
50 100 150 200 250 300 350 400 450 500 550 600
➄Options Option code
Brake CE compliance Foot bracket For High Acceleration/Deceleration Home sensor Non-motor end specification Slider roller specification
B CE FT HA HS NM SR
Page ➝ A- 42 ➝ A- 42 ➝ A- 47 ➝ A-50 ➝ A-50 ➝ A-52 ➝ A-55
Standard Price — — — — — — —
* The high-acceleration/deceleration option and the slider roller option cannot be used together. * The high-acceleration/deceleration option cannot be used on the 3mm-lead model.
123
* The values enclosed in < > *See page A-71 for details on push motion. apply to vertical settings.
Cable Length Standard price ➀Encorder type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — — — — — —
Name
Linear Servo Motor
(every 50mm)
(Unit: mm/s)
550
0.5
➁ Stroke (mm)
Servo Motor (200V)
500
3
➀Encoder Type / ➁ Stroke
Servo Motor (24V)
50~450
20
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Pulse Motor
Stroke
Type Standard type Special length
Robot cable
Standard price — — — — — — — — — — —
* See page A-59 for cables for maintenance.
Actuator Specifications Item
Description
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treatment 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 Ma direction: 220mm or less, Mb/Mc directions: 120mm or less 0 to 40°C, 85% RH max. (Non-condensing) Overhang load length
Direction of allowable load moment. Ma
Mb
Mc
(*) When the traveling life is assumed as 5,000km.
RCS2-SA6C
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)
Ma
L
Mc L
RCS2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
Appendix
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. ME : Mechanical end SE : Stroke end (*3) Reference position for calculating the Ma moment
2D CAD
60 50 32±0.02 21
2-ø5H7 depth 6
Controllers Integrated
4-M5 depth 9
Rod Type
(Reamer hole tolerance ±0.02)
Fo
Mini (240)
djus
ting p
os
Ma moment offset reference position *3 st
115 Home
SE
Controllers Integrated
114.2 (153.2 if brake-equipped)
18.5 3 ME
ition os
40
23.7 3 ME
adjusting
p
1
r Fo
Slider height: 53 43 28 1
52 39 23
L
Standard
Secure at least 100
Base end-face
56 Actuator width: 58
U×100 P
8
Motor section W: 58
Base end-face
Standard
5
31
Gripper/ Rotary Type
4
+0.012 0
Reference surface
Table/ Arm/ Flat Type Mini
Bottom of the base Base end-face 10.2 8 R
5 (56) (58) Details of section A Details of (Actuator's reference side) oblong hole
Motor section H: 51
ra
on iti
31
Cable joint connector *1
Details of the slot area for adjusting slider position
A
Mini Standard
ø8 hole
slot
Slider Type
Oblong hole depth 5 from the bottom of the base
P (pitch for ø4 hole and oblong hole) N (ø4 hole pitch)
100 (ø4 hole pitch) 3-ø4H7 depth 5 from the bottom of the base
Linear Servo Type
m-M5 depth 8
■ Dimensions and Weights by Stroke Stroke
50 without brake 321.4 L with brake 360.4 N 81 P 66 R 81 U 1 m 6 Weight (kg) 1.4
100 371.4 410.4 131 116 31 2 8 1.6
150 421.4 460.4 181 166 81 2 8 1.8
200 471.4 510.4 231 216 31 3 10 2
250 521.4 560.4 281 266 81 3 10 2.2
* Brake-equipped models are heavier by 0.3kg.
300 571.4 610.4 331 316 31 4 12 2.4
350 621.4 660.4 381 366 81 4 12 2.6
400 671.4 710.4 431 416 31 5 14 2.8
450 721.4 760.4 481 466 81 5 14 3
500 771.4 810.4 531 516 31 6 16 3.2
550 821.4 860.4 481 566 81 6 16 3.4
600 871.4 910.4 631 616 31 7 18 3.6
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
SCON-CA-30D
-NP-2-
Actuators can be operated through the same control used for solenoid valves.
Maximum number of positioning points
126 VA max.
Pulse-train input control type
Dedicated pulse-train input type
(—)
Up to 6 axes can be operated. Movement by numerical specification is supported.
256 points
Program control type, 1 to 2 axes
SSEL-CS-1-30D
Program control type, 1 to 8 axes
XSEL- -1-30D
Reference page
7 points
768 points
- -0-
Standard price
—
Movement by numerical specification is supported.
MSCON-C-1-30D
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase *Power supply 100VAC
capacity Single-phase will vary depending on 200VAC the controller, so please refer 3-phase to the 200VAC instruction (XSEL-P/Q/R/S manual for ONLY) details.
➝ P643 —
Pulse Motor
—
—
➝ P655
-NP-2-
Program operation is supported. Up to 2 axes can be operated.
20,000 points
—
➝ P685
-N1-EEE-2-
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 encoder type (I: Incremental / A: Absolute). * Enter the code "HA" in when the high-acceleration/deceleration option is specified. * indicates the XSEL type (J / K / P / Q / R / S). * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates field network specification symbol. * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V / 3: Three-phase 200V).
RCS2-SA6C
124
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
RCS2
ROBO Cylinder
RCS2-SA7C RCS2
Model Specification Items
Series
SA7C Type
ROBO Cylinder, Slider Type, Actuator Width 73mm, 200-V Servo Motor, Coupled
60
Encoder type
Motor type
Lead
Stroke
Applicable controller
I : Incremental A : Absolute
60: Servo motor, 60W
24 : 24mm 16 : 16mm 8 : 8mm 4 : 4mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
800: 800mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
N: None
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Mini
See Options below.
(excluding the 4-mm lead model)
*CE compliance is optional.
Standard
Controllers Integrated
Table/ Arm/ Flat Type
Appendix
P.5
Mini Standard
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
(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) For each load capacity, refer to the tables on the left. (Even when the acceleration/deceleration is dropped, the maximum load capacity values shown in the table below are the upper limits.) (3) See page A-71 for details on push motion.
(2) Load Capacity Standard type High Acceleration type Lead Accel/Decel Lead Accel/Decel 24mm 0.3G 24mm 0.8G 16mm 0.3G 16mm 1.0G 8mm 0.3G 8mm 0.8G 4mm 0.2G (No HA option for the 4mm lead)
Actuator Specifications
■ Leads and Payloads
■ Stroke and Maximum Speed Motor output (W)
Model number RCS2-SA7C- ➀ -60-24- ➁ - ➂ - ➃ - ➄
Lead (mm)
Maximum payload Horizontal (kg) Vertical (kg)
Rated thrust (N)
50 ~ 600
~ 700
~800
24
1200
960
720
(every 50mm)
(mm)
(mm)
8
1.4
42.4
16
12
3
63.8
50 to 800
16
800
640
480
RCS2-SA7C- ➀ -60-8- ➁ - ➂ - ➃ - ➄
8
25
6
127.5
(every 50mm)
8
400
320
240
RCS2-SA7C- ➀ -60-4- ➁ - ➂ - ➃ - ➄
4
40
12
255.0
4
200
160
120
RCS2-SA7C- ➀ -60-16- ➁ - ➂ - ➃ - ➄
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Standard price ➀Encorder type Incremental Absolute I A — — — — — — — — — — — — — — — —
➁ Stroke (mm) 50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
➀Encoder Type / ➁ Stroke
Pulse Motor
Stroke
Lead
(mm)
24
60 SplashProof Type
Stroke
Type Standard type Special length
Robot cable
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.
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
* See page A-59 for cables for maintenance. Actuator Specifications
➄Options Name Brake (Cable exiting end) Brake (Cable exiting left) Brake (Cable exiting right) CE compliance For High Acceleration/Deceleration Non-motor end specification Slider roller specification
Option code
BE BL BR CE HA NM SR
Page ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-42 ➝ A-50 ➝ A-52 ➝ A-55
Standard Price — — — — — — —
* The high-acceleration/deceleration option and the slider roller option cannot be used together. * The high-acceleration/deceleration option cannot be used on the 4mm-lead model.
125
Item
Description
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
Ball screw, ø12mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treatment 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 0 to 40°C, 85% RH max. (Non-condensing)
(*) When the traveling life is assumed as 5,000km. Direction of allowable load moment. Ma
Mb
Mc
Overhang load length Ma
L
Mc L
RCS2-SA7C
RCS2
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
Appendix
www.intelligentactuator.com
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. ME : Mechanical end SE : Stroke end 20 20 20 (*3) Reference position for calculating the Ma moment
39
9
32±0.02 50
4-M5 depth 10
(300)
Controllers Integrated Cable joint connector *1
Rod Type
2-ø5H7 depth 10
Mini
L 18 ME
Stroke
126
138.5
3 SE (4.8)
Home
3 ME*2 (3)
Standard
14
Ma moment offset reference position *3
E-ø4H7 depth 6 from the bottom of the base
Secure at least 100
Table/ Arm/ Flat Type
71 73
Mini
6
5.5
ø9.5
B×100P
40
40
73
9.5
64 50 33
43
Controllers Integrated
F-ø6 through, ø9.5 counterbore, depth 5.5 (from the opposite site)
71
A
Mini Standard
(Reamer hole tolerance ±0.02)
30
9
2D CAD
Slider Type
C×100P 100 P (pitch of ø4 hole and oblong hole) A
D-M5 depth 9 H−oblong hole, depth 6 from the bottom of the base
6
ø6 71 73
Reference surface
Details of A (mounting holes and reference surface)
5
Standard
30 80
51
18
83.5
Gripper/ Rotary Type
+0.012 0
Dimensions of the Brake Section
4
* 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.
Details of oblong hole
50 or more
BR: Brake cable exiting from right BE: Brake cable exiting from rear BL: Brake cable exiting 5.1 from left 13.3
Stroke 50 L 332.5 A 0 B 0 C 0 D 4 E 2 F 4 H 0 P 0 Weight (kg) 2.4
18 18
7 52 5 1 58 48
13.3 44.7 16.3 3 ME SE (4.8)
52 73
Linear Servo Type
■ Dimensions and Weights by Stroke 100 382.5 100 0 0 6 3 4 1 85 2.6
150 432.5 100 0 1 6 3 6 1 85 2.8
200 482.5 200 1 1 8 3 6 1 185 3.0
250 532.5 200 1 2 8 3 8 1 185 3.3
300 582.5 300 2 2 10 3 8 1 285 3.5
350 632.5 300 2 3 10 3 10 1 285 3.7
400 682.5 400 3 3 12 3 10 1 385 3.9
450 732.5 400 3 4 12 3 12 1 385 4.2
500 782.5 500 4 4 14 3 12 1 485 4.4
550 832.5 500 4 5 14 3 14 1 485 4.6
600 882.5 600 5 5 16 3 14 1 585 4.8
650 932.5 600 5 6 16 3 16 1 585 5.1
700 750 800 982.5 1032.5 1082.5 700 700 800 6 6 7 6 7 7 18 18 20 3 3 3 16 18 18 1 1 1 685 685 785 5.3 5.5 5.7
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
SCON-CA-60
-NP-2-
Actuators can be operated through the same control used for solenoid valves.
Maximum number of positioning points
218 VA max.
Pulse-train input control type
Dedicated pulse-train input type
(—)
Up to 6 axes can be operated. Movement by numerical specification is supported.
256 points
Program control type, 1 to 2 axes
SSEL-CS-1-60
Program control type, 1 to 8 axes
XSEL- -1-60
Reference page
7 points
768 points
- -0-
Standard price
—
Movement by numerical specification is supported.
MSCON-C-1-60
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase *Power supply 100VAC
capacity Single-phase will vary depending on 200VAC the controller, so please refer 3-phase to the 200VAC instruction (XSEL-P/Q/R/S manual for ONLY) details.
➝ P643 —
Pulse Motor
—
—
➝ P655
-NP-2-
Program operation is supported. Up to 2 axes can be operated.
20,000 points
—
➝ P685
-N1-EEE-2-
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 encoder type (I: Incremental / A: Absolute). * Enter the code "HA" in when the high-acceleration/deceleration option is specified. * indicates the XSEL type (J / K / P / Q / R / S). * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V). * indicates field network specification symbol. * indicates the power-supply voltage type (1: 100V / 2: Single-phase 200V / 3: Three-phase 200V).
RCS2-SA7C
126
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS2
ROBO Cylinder
RCS2-SS7C RCS2
Model Specification Items
SS7C
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 60 mm, 200-V Servo Motor, Coupled, Iron Base
60
Encoder type
Motor type
Lead
Stroke
Applicable controller
I : Incremental A : Absolute
60: Servo motor, 60W
20 : 20mm 12 : 12mm 6 : 6 mm
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
N: None
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
See Options below.
*CE compliance is optional.
Standard
Controllers Integrated
Table/ Arm/ Flat Type Appendix
Mini
P.5
Standard
(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) The load capacity is based on operation at an acceleration of 0.3G. This value is the upper limit for the acceleration. (3) See page A-71 for details on push motion.
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
Actuator Specifications
■ Leads and Payloads
■ Stroke and Maximum Speed Motor output (W)
Model number RCS2-SS7C- ➀ -60-20- ➁ - ➂ - ➃ - ➄ RCS2-SS7C- ➀ -60-12- ➁ - ➂ - ➃ - ➄
SplashProof Type
60
RCS2-SS7C- ➀ -60-6- ➁ - ➂ - ➃ - ➄
Lead (mm)
Maximum payload Horizontal (kg) Vertical (kg)
Rated thrust (N)
20
9
2.4
51
12
15
4
85
6
30
8
170
Stroke
50 to 600 (every 50mm)
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Standard price ➀Encorder type Incremental Absolute I A — — — — — — — — — — — —
Pulse Motor
50/100 150/200 250/300 350/400 450/500 550/600
50~500
550
600
(every 50mm)
(mm)
(mm)
20
1000
1000
830
12
600
470
6
300
230 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
➀Encoder Type / ➁ Stroke ➁ Stroke (mm)
Stroke
Lead
(mm)
Type Standard type Special length
Robot cable
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.
Servo Motor (24V)
Servo Motor (200V)
Actuator Specifications
➄Options Name Brake CE compliance Non-motor end specification Slider roller specification
Option code
B CE NM SR
Linear Servo Motor
Page ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-55
Standard Price — — — —
Item
Description
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Dedicated 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 Ma direction: 300mm or less Mb/Mc directions: 300mm or less 0 to 40°C, 85% RH max. (Non-condensing)
(*) When the traveling life is assumed as 10,000km. Direction of allowable load moment.
127
Ma
Mb
Mc
Overhang load length Ma
L
Mc L
RCS2-SS7C
RCS2
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
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. ME : Mechanical end SE : Stroke end (*3) Reference position for calculating the Ma moment
2D CAD
5
Controllers Integrated (300)
4-M5 depth 10
Rod Type
Cable joint connector *1
32
40.6 32 23.4 19.5
21
Mini
19.5
Standard
(L) 12
(A) (126)
5
25 31.5 Home
SE
5
44.5
ME *2
49.5 0.5
55
A
Hole for adjusting coupling N×100P 100 (reamer hole pitch) (90 when 50st) 50 (reamer and oblong hole pitch)
55 60 Details of A
M×100 P
C B
18
Mini
D-M5 depth 8
100
Standard 30
1
4.5
18
Table/ Arm/ Flat Type
Secure at least 100
60
Reference surface
Controllers Integrated
36
41.5 27
55
1
ME
126
Stroke
25
Ma moment offset reference position *3
Mini Standard
(Reamer hole tolerance ±0.02)
2-ø5H7 depth 10
126 60 5 50 9 32±0.02 9
Slider Type
Oblong hole depth from the bottom of the base 6
4-ø4H7 depth 6 from bottom of base (When 50st: 3-ø4H7 depth 6 from the bottom of the base)
Gripper/ Rotary Type
4
+0.012 0
5
Details of oblong hole
Linear Servo Type
52
Dimensions of the Brake Section * Adding a brake increases the actuator's overall length by 24.5mm and by 0.3kg.
■ Dimensions and Weights by Stroke
36.5
55 53 27
1
Stroke L A B C D M N Weight (kg)
60
21.5
50 364 226 0 90 6 1 0 2.9
100 414 276 40 40 8 1 1 3.2
150 464 326 90 90 8 1 1 3.5
200 514 376 140 140 8 1 1 3.8
250 564 426 190 190 8 1 1 4.2
300 614 476 240 40 12 2 2 4.5
350 664 526 290 90 12 2 2 4.8
400 714 576 340 140 12 2 2 5.1
450 764 626 390 190 12 2 2 5.5
500 814 676 440 40 16 3 3 5.8
550 864 726 490 90 16 3 3 6.1
600 914 776 540 140 16 3 3 6.4
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Maximum number of positioning points
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
SCON-CA-60
-NP-2-
218 VA max.
Pulse-train input control type
Dedicated pulse-train input type
(—)
Up to 6 axes can be operated. Movement by numerical specification is supported.
256 points
Program control type, 1 to 2 axes
SSEL-CS-1-60
Program control type, 1 to 8 axes
XSEL- -1-60
-0-
Reference page
7 points
768 points
-
Standard price
—
Actuators can be operated through the same control used for solenoid valves. Movement by numerical specification is supported.
MSCON-C-1-60
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase *Power supply 100VAC
capacity Single-phase will vary depending on 200VAC the controller, so please refer 3-phase to the 200VAC instruction (XSEL-P/Q/R/S manual for ONLY) details.
➝ P643 —
Pulse Motor
—
—
➝ P655
-NP-2-
Program operation is supported. Up to 2 axes can be operated.
20,000 points
—
➝ P685
-N1-EEE-2-
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.
RCS2-SS7C
128
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS2
ROBO Cylinder
RCS2-SA4D
ROBO Cylinder, Slider Type, Actuator Width 40mm, 200-V Servo Motor, Motor Built-In (Direct Coupled)
RCS2
Model Specification Items
20
SA4D
Series
Type
Encoder type I : Incremental A : Absolute
Motor type
Lead
Stroke
Applicable controller
20: Servo motor, 20W
10 : 10mm 5 : 5mm 2.5 : 2.5mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
300: 300mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
N: None
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
See Options below.
*CE compliance is optional.
Standard
Controllers Integrated
Table/ Arm/ Flat Type Appendix
Mini
P.5
Standard
(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) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 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
Linear Servo Type
Cleanroom Type
Actuator Specifications
■ Leads and Payloads
■ Stroke and Maximum Speed Motor output (W)
Model number RCS2-SA4D- ➀ -20-10- ➁ - ➂ - ➃ - ➄ RCS2-SA4D- ➀ -20-5- ➁ - ➂ - ➃ - ➄
SplashProof Type
20
RCS2-SA4D- ➀ -20-2.5- ➁ - ➂ - ➃ - ➄
Lead (mm)
Maximum payload Horizontal (kg) Vertical (kg)
Rated thrust (N)
10
4
1
19.6
5
6
2.5
39.2
2.5
8
4.5
78.4
Stroke (mm)
Stroke
Lead
10
665
5
330
2.5
165
50 to 300 (every 50mm)
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Standard price ➀Encorder type Incremental Absolute I A — — — — — — — — — — — —
Pulse Motor
50 100 150 200 250 300
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
➀Encoder Type / ➁ Stroke ➁ Stroke (mm)
50~300
(every 50mm)
Type Standard type Special length
Robot cable
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.
Servo Motor (24V)
Servo Motor (200V)
Actuator Specifications
➄Options Name
Brake (Cable exiting end) Brake (Cable exiting left) Brake (Cable exiting right) CE compliance Non-motor end specification
Option code
Page
Standard Price
Item
Description
BE BL BR CE NM
➝ A- 42 ➝ A- 42 ➝ A- 42 ➝ A- 42 ➝ A-52
— — — — —
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
Ball screw, ø8mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treatment 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 Ma direction: 120mm or less Mb/Mc directions: 120mm or less 0 to 40°C, 85% RH max. (Non-condensing)
Linear Servo Motor
(*) When the traveling life is assumed as 5,000km. Direction of allowable load moment.
129
Ma
Mb
Mc
Overhang load length Ma
L
Mc L
RCS2-SA4D
RCS2
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
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. ME : Mechanical end SE : Stroke end (*3) Reference position for calculating the Ma moment
1
(300)
9
11.5
Mini Standard Controllers Integrated
Rod Type
21
20 11.5
111
Cable joint connector *1
0.5
5
(*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.
M 70 24 16±0.02
40
28
(Reamer hole tolerance ±0.02)
2D CAD
Slider Type
Mini
4-ø3.6 ø6.5 counterbore depth 3.5 (for mounting) *4
4-M3 depth 7
2-ø3H7 effective depth 5 Details of section A
Standard L 16 Ma moment offset reference position
A
A 13
Stroke
70
(2) SE
ME
13 (2.2) Home ME
Controllers Integrated
Secure at least 100
99
46.5 40 32
31.2
Table/ Arm/ Flat Type 41.5
37 40
B
Mini
Base face Base end-face
11.8
50 (when stroke is 50) U×100P (All strokes except 50)
R
50
11.8
Base end-face
Standard
21
37 40
Gripper/ Rotary Type
3
Reference surface
+0.010 0
1.5
4
Details of section B
Details of oblong hole
m-M3 depth 5 Oblong hole depth 5 from the bottom of the base
Dimensions of the Brake Section
2-ø3H7 depth 5 from the bottom of the base
P (pitch for ø3 hole and oblong hole) N (ø3 hole pitch)
5.1
R: Brake cable exiting from right E: Brake cable exiting from rear
■ Dimensions and Weights by Stroke
L: Brake cable exiting from left 40
13.3
13.3
44
13
13.5
38
* Adding a brake increases the actuator's overall length (L) by 28mm (41.3mm with the cable coming out its end), and its weight by 0.2kg.
3.5
31.5
46.5 41.5 13.5
1.5
13.3
Linear Servo Type
Stroke L A M N P R U m Weight (kg)
50 261 146 122 50 35 22 — 4 0.8
100 311 196 172 100 85 22 1 4 0.9
150 361 246 222 150 85 72 1 4 1
200 411 296 272 200 185 22 2 6 1.1
250 461 346 322 250 185 72 2 6 1.2
300 511 396 372 300 285 22 3 8 1.3
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Maximum number of positioning points
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
SCON-CA-20
-NP-2-
106 VA max.
Pulse-train input control type
Dedicated pulse-train input type
(—)
Up to 6 axes can be operated. Movement by numerical specification is supported.
256 points
Program control type, 1 to 2 axes
SSEL-CS-1-20
Program control type, 1 to 8 axes
XSEL- -1-20
-0-
Reference page
7 points
768 points
-
Standard price
—
Actuators can be operated through the same control used for solenoid valves. Movement by numerical specification is supported.
MSCON-C-1-20
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase *Power supply 100VAC
capacity Single-phase will vary depending on 200VAC the controller, so please refer 3-phase to the 200VAC instruction (XSEL-P/Q/R/S manual for ONLY) details.
➝ P643 —
Pulse Motor
—
—
➝ P655
-NP-2-
Program operation is supported. Up to 2 axes can be operated.
20,000 points
—
➝ P685
-N1-EEE-2-
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.
RCS2-SA4D
130
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS2
ROBO Cylinder
RCS2-SA5D
ROBO Cylinder, Slider Type, Actuator Width 52mm, 200-V Servo Motor, Motor Built-In (Direct Coupled)
RCS2
Model Specification Items
SA5D
Series
Type
20
Encoder type
Motor type
Lead
Stroke
Applicable controller
I : Incremental A : Absolute
20: Servo motor, 20W
12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm
T1: XSEL-J/K T2: SCON MSCON SSEL XSEL-P/Q XSEL-R/S
500: 500mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
N: None See Options below. P: 1m S: 3m M: 5m X: Custom length R: Robot cable
*CE compliance is optional.
Standard
Controllers Integrated
Table/ Arm/ Flat Type Appendix
Mini
P.5
Standard
(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) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 3mm-lead model). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
Gripper/ Rotary Type
Linear Servo Type
Actuator Specifications
■ Leads and Payloads
■ Stroke and Maximum Speed Motor output (W)
Model number Cleanroom Type
RCS2-SA5D- ➀ -20-12- ➁ - ➂ - ➃ - ➄ RCS2-SA5D- ➀ -20-6- ➁ - ➂ - ➃ - ➄
SplashProof Type
20
RCS2-SA4D- ➀ -20-3- ➁ - ➂ - ➃ - ➄
Lead (mm)
Maximum payload Horizontal (kg) Vertical (kg)
Rated thrust (N)
12
4
1
16.7
6
8
2
33.3
3
12
4
65.7
Stroke (mm)
Stroke 12
800
760
6
400
380
3
200
190
50 to 500 (every 50mm)
Pulse Motor
Servo Motor (24V)
Standard price ➀Encorder type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — —
Servo Motor (200V)
Linear Servo Motor
Type Standard type Special length
Robot cable
Option code
Brake (Cable exiting end) Brake (Cable exiting left) Brake (Cable exiting right) CE compliance Non-motor end specification Slider roller specification
BE BL BR CE NM SR
Page ➝ A- 42 ➝ A- 42 ➝ A- 42 ➝ A- 42 ➝ A-52 ➝ A-55
Standard Price
— — — — — —
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 Item
Description
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treatment 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 0 to 40°C, 85% RH max. (Non-condensing)
➄Options Name
(*) When the traveling life is assumed as 5,000km. Direction of allowable load moment.
131
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
➀Encoder Type / ➁ Stroke
50 100 150 200 250 300 350 400 450 500
500
(mm)
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
➁ Stroke (mm)
50~450
(every 50mm)
Lead
Ma
Mb
Mc
Overhang load length Ma
L
Mc L
RCS2-SA5D
RCS2
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
(*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 30
(*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 300mm or less.
M
6 20 6
4-ø4.5，ø8 counterbore, depth 4.5 (for mounting) *4
4-M4 depth 9
9
15.5
26
26
15.5
(300)
91.5
19±0.02 30
Ma moment offset reference position *3
14
Controllers Integrated
(3)
(2.7) SE
ME *2
Home
50 40
39
1
94
50 52
A
Table/ Arm/ Flat Type
52 50 (when stroke is 50) U×100P (All strokes except 50)
Base end-face 14.5
R
Controllers Integrated
Standard
Secure at least 100
76.5
Stroke
ME
Standard
Mini
2-ø4H7 effective depth 6
A 14
Mini
Rod Type
L 15
Cable joint connector *1
(Reamer hole tolerance ±0.02)
2D CAD
P.15
Slider Type
50
14.5
Base end-face
Mini
26
Standard
4
4
+0.012 0
5
Details of Oblong hole
50 52
Reference surface
m-M4 depth 7 Oblong hole depth 5 from the bottom of thebase
Details of A
2-ø4H7 depth 5 from the bottom of the base
P (ø4 hole and oblong hole pitch) N (ø4 hole pitch)
Gripper/ Rotary Type
Dimensions of the Brake Section R: Brake cable exiting from right
Linear Servo Type
■ Dimensions and Weights by Stroke
5.1 13.3 41.5 14
Stroke L A M N P R U m Weight (kg)
50 52
17
5.5
35
50 46.5 17
1
L: Brake cable exiting from left
13.3
E: Brake cable exiting from rear
* 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.
50 263.5 172 142 50 35 42 — 4 1.4
100 313.5 222 192 100 85 42 1 4 1.5
150 363.5 272 242 150 85 92 1 4 1.6
200 413.5 322 292 200 185 42 2 6 1.7
250 463.5 372 342 250 185 92 2 6 1.8
300 513.5 422 392 300 285 42 3 8 1.9
350 563.5 472 442 350 285 92 3 8 2.0
400 613.5 522 492 400 385 42 4 10 2.1
450 663.5 572 542 450 385 92 4 10 2.2
500 713.5 622 592 500 485 42 5 12 2.3
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Maximum number of positioning points
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
SCON-CA-20
-NP-2-
106 VA max.
Pulse-train input control type
Dedicated pulse-train input type
(—)
Up to 6 axes can be operated. Movement by numerical specification is supported.
256 points
Program control type, 1 to 2 axes
SSEL-CS-1-20
Program control type, 1 to 8 axes
XSEL- -1-20
-0-
Reference page
7 points
768 points
-
Standard price
—
Actuators can be operated through the same control used for solenoid valves. Movement by numerical specification is supported.
MSCON-C-1-20
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase *Power supply 100VAC
capacity Single-phase will vary depending on 200VAC the controller, so please refer 3-phase to the 200VAC instruction (XSEL-P/Q/R/S manual for ONLY) details.
➝ P643 —
Pulse Motor
—
—
➝ P655
-NP-2-
Program operation is supported. Up to 2 axes can be operated.
20,000 points
—
➝ P685
-N1-EEE-2-
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.
RCS2-SA5D
132
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS2
ROBO Cylinder
RCS2-SA6D
ROBO Cylinder, Slider Type, Actuator Width 58mm, 200-V Servo Motor, Motor Built-In (Direct Coupled)
RCS2
Model Specification Items
SA6D
Series
Type
30
Encoder type
Motor type
I : Incremental A : Absolute
30: Servo motor, 30W
Lead 12 : 12mm 6 : 6mm 3 : 3mm
Stroke
Applicable controller
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 N: None
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
Options See Options below.
*CE compliance is optional.
Standard
Controllers Integrated
Table/ Arm/ Flat Type Appendix
Mini
P.5
Standard
(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) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 3mm-lead model). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
Actuator Specifications
■ Leads and Payloads
■ Stroke and Maximum Speed Motor output (W)
Model number RCS2-SA6D- ➀ -30-12- ➁ - ➂ - ➃ - ➄ RCS2-SA6D- ➀ -30-6- ➁ - ➂ - ➃ - ➄
SplashProof Type
30
RCS2-SA6D- ➀ -30-3- ➁ - ➂ - ➃ - ➄
Lead (mm)
Maximum payload Horizontal (kg) Vertical (kg)
Rated thrust (N)
12
6
1.5
24.2
6
12
3
48.4
3
18
6
96.8
Stroke (mm)
Stroke
Pulse Motor
Servo Motor (24V)
Linear Servo Motor
Name
Brake (Cable exiting end) Brake (Cable exiting left) Brake (Cable exiting right) CE compliance Non-motor end specification Slider roller specification
133
600
(mm)
12
800
760
640
540
6
400
380
320
270
3
200
190
160
(every 50mm)
135 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length Standard price ➀Encorder type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — — — — — —
➄Options Servo Motor (200V)
550
(mm)
50 to 600
➀Encoder Type / ➁ Stroke
50 100 150 200 250 300 350 400 450 500 550 600
500
(mm)
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
➁ Stroke (mm)
50~450
(every 50mm)
Lead
Option code
Page
Standard Price
BE BL BR CE NM SR
➝ A- 42 ➝ A- 42 ➝ A- 42 ➝ A- 42 ➝ A-52 ➝ A-55
— — — — — —
Type Standard type Special length
Robot cable
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 Item Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
Description Ball screw, ø10mm, rolled C10 ±0.02mm 0.1mm or less Material: Aluminum, white alumite treatment 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 Ma direction: 220mm or less Mb/Mc directions: 220mm or less 0 to 40°C, 85% RH max. (Non-condensing)
(*) When the traveling life is assumed as 5,000km. Direction of allowable load moment. Ma
Mb
Mc
Overhang load length Ma
L
Mc L
RCS2-SA6D
RCS2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
Appendix
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. ME : Mechanical end SE : Stroke end (*3) Reference position for calculating the Ma moment 19.5 21 19.5
31
23 8 4-M5 depth 9
32 50
115
19 (3) ME *2
Home
Standard
53 43
40
1
Stroke
Mini
Secure at least 100
91.5
SE
ME
Controllers Integrated
1
Base end-face
56 58
A
15.5
U×100 P
R
Table/ Arm/ Flat Type
58
Base end-face 8
Controllers Integrated
2-ø5H7 effective depth 6
A 14 (3)
Ma moment offset reference position
Cable joint connector *1
Rod Type
L 15
Mini Standard
(300)
(Reamer hole tolerance ±0.02)
8
2D CAD
Slider Type
8
Mini
4
31
+0.012 0
5
Details of oblong hole Oblong hole depth 5 from the bottom of the base
Standard
P (ø4 hole and oblong hole pitch) N (ø4 hole pitch)
100 (ø4 hole pitch)
m-M5 depth 8
3-ø4H7 depth 5 from the bottom of the base
Gripper/ Rotary Type
4
Dimensions of the Brake Section R: Brake cable exiting from right 56
Reference surface
58
E: Brake cable exiting from rear
Linear Servo Type
13.3
Details of A
L: Brake cable exiting from left
■ Dimensions and Weights by Stroke
13.3 41.5 14
37
Stroke L A N P R U m Weight (kg)
55 58
19
6
19
53 50
1
5.1
* 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.
50 304.5 198 81 66 81 1 6 1.3
100 354.5 248 131 116 31 2 8 1.5
150 404.5 298 181 166 81 2 8 1.7
200 454.5 348 231 216 31 3 10 1.9
250 504.5 398 281 266 81 3 10 2.1
300 554.5 448 331 316 31 4 12 2.3
350 604.5 498 381 366 81 4 12 2.5
400 654.5 548 431 416 31 5 14 2.7
450 704.5 598 481 466 81 5 14 2.9
500 754.5 648 531 516 31 6 16 3.1
550 804.5 698 581 566 81 6 16 3.3
600 854.5 748 631 616 31 7 18 3.5
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Features Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Maximum number of positioning points
SCON-CA-30D
-NP-2-
126 VA max.
Pulse-train input control type
Dedicated pulse-train input type
(—)
Up to 6 axes can be operated. Movement by numerical specification is supported.
256 points
Program control type, 1 to 2 axes
SSEL-CS-1-30D
Program control type, 1 to 8 axes
XSEL- -1-30D
-0-
Reference page
7 points
768 points
-
Standard price
—
Actuators can be operated through the same control used for solenoid valves. Movement by numerical specification is supported.
MSCON-C-1-30D
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase *Power supply 100VAC
capacity Single-phase will vary depending on 200VAC the controller, so please refer 3-phase to the 200VAC instruction (XSEL-P/Q/R/S manual for ONLY) details.
➝ P643 —
Pulse Motor
—
—
➝ P655
-NP-2-
Program operation is supported. Up to 2 axes can be operated.
20,000 points
—
➝ P685
-N1-EEE-2-
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.
RCS2-SA6D
134
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS2
ROBO Cylinder
RCS2-SA4R Model Specification Items
RCS2
SA4R
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 40mm, 200-V Servo Motor, Side-mounted Motor
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
N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
See Options below. * Be sure to specify either "ML" or "MR" as the motor side-mounted direction.
*CE compliance is optional.
Standard
Controllers Integrated
Table/ Arm/ Flat Type Appendix
Mini Standard
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
P.5
Pictured: Left-mounted motor model (ML). * 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
■ Leads and Payloads
■ Stroke and Maximum Speed Motor output (W)
Model number RCS2-SA4R- ➀ -20-10- ➁ - ➂ - ➃ - ➄ RCS2-SA4R- ➀ -20-5- ➁ - ➂ - ➃ - ➄
SplashProof Type
(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) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 2.5mm-lead model). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
A
20
RCS2-SA4R- ➀ -20-2.5- ➁ - ➂ - ➃ - ➄
Lead (mm)
Maximum payload Horizontal (kg) Vertical (kg)
Rated thrust (N)
10
4
1
19.6
5
6
2.5
39.2
2.5
8
4.5
78.4
Stroke
Stroke
Lead
(mm)
10
665
5
330
2.5
165
50 to 400 (every 50mm)
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Standard price ➀Encorder type Incremental Absolute I A — — — — — — — — — — — — — — — —
Pulse Motor
50 100 150 200 250 300 350 400
(Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
➀Encoder Type / ➁ Stroke ➁Stroke (mm)
50~400
(every 50mm)
Type Standard type Special length
Robot cable
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.
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Actuator Specifications
➄Options Name Brake CE compliance Home sensor Non-motor end specification Lelf-mounted Motor (standard) Right-mounted Motor Slider roller specification Slider spacer
Option code
B CE HS NM ML MR SR SS
Page ➝ A-42 ➝ A-42 ➝ A-50 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-55 ➝ A-55
Standard Price
— — — — — — — —
Item
Description
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
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 Ma direction: 120mm or less, Mb/Mc directions: 120mm or less 0 to 40°C, 85% RH max. (No condensation)
(*) When the traveling life is assumed as 5,000km.
Overhang load length
Direction of allowable load moment.
135
Ma
Mb
Mc
Ma
L
Mc L
RCS2-SA4R
RCS2
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
2D CAD
P.15
L 23 45 Slider height: 40 5 32 22.5 1
4-ø3.6 ø6.5 counterbore, Depth 3.7 (for mounting actuator) *4
3 ME
st
70
Controllers Integrated
4-M3 depth 7
20
21
(Reamer hole tolerance ±0.02)
Rod Type
Mini 93
93
Ma moment offset reference position *3
46
Cable joint connector *1
Standard
Base end-face
slot
10.2
M
11.8
11.8
23
Secure at least 100
ø8 hole
Table/ Arm/ Flat Type
+0.010 0
Details of the slot area for adjusting slider position 4
Mini
(40) (37)
3
3.2
Controllers Integrated
Base end-face 53.9
98 (137 if brake-equipped)
Reference surface
Details of oblong hole
Base end-face 11.8
R
Base end-face
50 (when stroke is 50) U×100P (All strokes except 50)
Standard
11.8
50
Gripper/ Rotary Type
21 21
Details of section A (Actuator's reference side)
Mini Standard
53.7
3 ME *2
Home 32 24 16±0.02 9
2-ø3H7 depth 5
15 25 36.5
7
13
SE
31.2
37
A The bottom of the base
Actuator width: 40
Appendix
Slider Type
m-M3 depth 5
P (pitch for ø3 hole and oblong hole)
Oblong hole depth 5 from the bottom of the base
2-ø3H7 depth 5 from the bottom of the base
N (ø3 hole pitch)
(*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 (*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.
Linear Servo Type
■ Dimensions and Weights by Stroke Stroke L M N P R U m Weight (kg)
50 209.7 122 50 35 22 — 4 0.8
100 259.7 172 100 85 22 1 4 0.9
150 309.7 222 100 85 72 1 4 1.0
* Brake-equipped models are heavier by 0.3kg.
200 359.7 272 200 185 22 2 6 1.1
250 409.7 322 200 185 72 2 6 1.2
300 459.7 372 300 285 22 3 8 1.3
350 509.7 422 300 285 72 3 8 1.4
400 559.7 472 400 385 22 4 10 1.5
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Maximum number of positioning points
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
SCON-CA-20 -NP-2-
106 VA max.
768 points
Pulse-train input control type
Dedicated pulse-train input type
(—)
256 points
Program control type, 1 to 2 axes
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
Reference page
—
Movement by numerical specification is supported.
Up to 6 axes can be operated. Movement by numerical specification is supported.
Standard price
7 points
Field network type
MSCON-C-1-20 - -0-
Power supply capacity
512 points
Actuators can be operated through the same control used for solenoid valves.
Positioner multi-axis, network type
Input power
Single-phase *Power supply 100VAC
capacity Single-phase will vary depending on 200VAC the controller, so please refer 3-phase to the 200VAC instruction (XSEL-P/Q/R/S manual for ONLY) details.
➝ P643 —
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.wwww
RCS2-SA4R
136
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS2
ROBO Cylinder
RCS2-SA5R Model Specification Items
RCS2
SA5R
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 52mm, 200-V Servo Motor, Side-mounted Motor
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
500: 500mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
N: None
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
See Options below. * Be sure to specify either "ML" or "MR" as the motor side-mounted direction.
*CE compliance is optional.
Standard
Controllers Integrated
Table/ Arm/ Flat Type Appendix
Mini
P.5
Standard
A Gripper/ Rotary Type
Linear Servo Type
Cleanroom 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
■ Leads and Payloads
■ Stroke and Maximum Speed Motor output (W)
Model number RCS2-SA5R- ➀ -20-12- ➁ - ➂ - ➃ - ➄ RCS2-SA5R- ➀ -20-6- ➁ - ➂ - ➃ - ➄
SplashProof Type
(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) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 3mm-lead model). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
Pictured: Left-mounted motor model (ML).
20
RCS2-SA5R- ➀ -20-3- ➁ - ➂ - ➃ - ➄
Lead (mm)
Maximum payload Horizontal (kg) Vertical (kg)
Rated thrust (N)
12
4
1
16.7
6
8
2
33.3
3
12
4
65.7
Stroke
50 to 500 (every 50mm)
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Standard price ➀Encorder type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — —
Pulse Motor
Servo Motor (24V)
50 100 150 200 250 300 350 400 450 500
➄Options Servo Motor (200V)
Linear Servo Motor
Name Brake CE compliance Home sensor Non-motor end specification Lelf-mounted motor (standard) Right-mounted motor Slider roller specification
137
50~450
500
(every 50mm)
(50mm)
12
800
760
6
400
380
3
200
190 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
➀Encoder Type / ➁ Stroke ➁Stroke (mm)
Stroke
Lead
(mm)
Option code
B CE HS NM ML MR SR
Page ➝ A-42 ➝ A-42 ➝ A-50 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-55
Standard Price
— — — — — — —
Type Standard type Special length
Robot cable
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 Item
Description
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
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 Ma direction: 150mm or less, Mb/Mc directions: 150mm or less 0 to 40°C, 85% RH max. (No condensation)
(*) When the traveling life is assumed as 5,000km.
Overhang load length
Direction of allowable load moment. Ma
Mb
Mc
Ma
L
Mc L
RCS2-SA5R
RCS2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
2D CAD
Appendix
P.15
Controllers Integrated
Rod Type
26 26
26
20 32 48
dju
50
sting pos i
n tio
a
Actuator width: 52
39
40 30 19±0.02 9
SE
For
Ma moment offset reference position *3
8
112
1
13.7 34.5 3 Home ME *2 4-M4 depth 9
94
112
40 26
the bottom A of the base
st
(Reamer hole tolerance ±0.02)
4-ø4.5 ø8 counterbore, depth 4.5 (for mounting actuator) *4
23.7 3 ME
Cable joint connector *1
52
Mini Standard
L Slider height: 50
Slider Type
Mini Standard Controllers Integrated
47
10.2
slot
14.5
M
14.5
Base end-face
92 (131 if brake-equipped) Secure at least 100
n
Base end-face 23
Table/ Arm/ Flat Type
dju
sting pos i
tio
34.7
a
ø8 hole
Details of the slot area for adjusting slider position 5
Mini
(52) (50)
+0.012 40
5
For
Reference surface
Details of oblong hole
Base end-face 14.5
Standard
Base end-face
50 (when stroke is 50) U×100P (All strokes except 50)
R
50
14.5
Gripper/ Rotary Type
26
Details of section A (Actuator's reference side)
m-M4 depth 7
P (pitch of ø4 hole and oblong hole)
Oblong hole depth 5 from the bottom of the base
(*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 (*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 300mm or less.
■ Dimensions and Weights by Stroke Stroke L M N P R U m Weight (kg)
Linear Servo Type
2-ø4H7 depth 5 from the bottom of the base
N (ø4 hole pitch)
50 215.9 142 50 35 42 — 4 1.5
100 265.9 192 100 85 42 1 4 1.6
150 315.9 242 100 85 92 1 4 1.7
200 365.9 292 200 185 42 2 6 1.8
* Brake-equipped models are heavier by 0.3kg.
250 415.9 342 200 185 92 2 6 1.9
300 465.9 392 300 285 42 3 8 2.0
350 515.9 442 300 285 92 3 8 2.1
400 565.9 492 400 385 42 4 10 2.2
450 615.9 542 400 385 92 4 10 2.3
500 665.9 592 500 485 42 5 12 2.4
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Maximum number of positioning points
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
SCON-CA-20 -NP-2-
106 VA max.
768 points
Pulse-train input control type
Dedicated pulse-train input type
(—)
256 points
Program control type, 1 to 2 axes
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
Reference page
7 points
Movement by numerical specification is supported.
Up to 6 axes can be operated. Movement by numerical specification is supported.
Standard price
—
Field network type
MSCON-C-1-20 - -0-
Power supply capacity
512 points
Actuators can be operated through the same control used for solenoid valves.
Positioner multi-axis, network type
Input power
Single-phase *Power supply 100VAC
capacity Single-phase will vary depending on 200VAC the controller, so please refer 3-phase to the 200VAC instruction (XSEL-P/Q/R/S manual for ONLY) details.
➝ P643 —
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.
RCS2-SA5R
138
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS2
ROBO Cylinder
RCS2-SA6R Model Specification Items
RCS2
SA6R
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 58mm, 200-V Servo Motor, Side-mounted Motor
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
600: 600mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
N: None
P: 1m S: 3m M: 5m X: Custom length R: Robot cable
See Options below. * Be sure to specify either "ML" or "MR" as the motor side-mounted direction.
*CE compliance is optional.
Standard
Controllers Integrated
Table/ Arm/ Flat Type Appendix
Mini
P.5
Standard
Gripper/ Rotary Type
Linear Servo Type
Cleanroom 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
■ Leads and Payloads
■ Stroke and Maximum Speed Motor output (W)
Model number RCS2-SA6R- ➀ -30-12- ➁ - ➂ - ➃ - ➄ RCS2-SA6R- ➀ -30-6- ➁ - ➂ - ➃ - ➄
SplashProof Type
(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) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 3mm-lead model). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
Pictured: Left-mounted motor model (ML).
A
30
RCS2-SA6R- ➀ -30-3- ➁ - ➂ - ➃ - ➄
Lead (mm)
Maximum payload Horizontal (kg) Vertical (kg)
Rated thrust (N)
12
6
1.5
24.2
6
12
3
48.4
3
18
6
96.8
Stroke
Stroke
Pulse Motor
Servo Motor (24V)
Linear Servo Motor
Name Brake CE compliance Home sensor Non-motor end specification Lelf-mounted motor (standard) Right-mounted motor Slider roller specification
139
600
(50mm)
12
800
760
640
540
6
400
380
320
270
3
200
190
160
(every 50mm)
135 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Standard price ➀Encorder type Incremental Absolute I A — — — — — — — — — — — — — — — — — — — — — — — —
➄Options Servo Motor (200V)
550
(50mm)
50 to 600
➀Encoder Type / ➁ Stroke
50 100 150 200 250 300 350 400 450 500 550 600
500
(50mm)
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
➁Stroke (mm)
50~450
(every 50mm)
Lead
(mm)
Option code
B CE HS NM ML MR SR
Page ➝ A-42 ➝ A-42 ➝ A-50 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-55
Standard Price
— — — — — — —
Type Standard type Special length
Robot cable
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 Item
Description
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
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 Ma direction: 220mm or less Mb/Mc directions: 220mm or less 0 to 40°C, 85% RH max. (No condensation)
(*) When the traveling life is assumed as 5,000km.
Overhang load length
Direction of allowable load moment. Ma
Mb
Mc
Ma
L
Mc L
RCS2-SA6R
RCS2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
2D CAD
P.15
L 23.7 3 ME
Slider height: 53 43 28 1 40
st
115
SE
31
Home
Controllers Integrated
4-M5 depth 9
Rod Type
7
Mini
123
For a
Ma moment offset reference position *3
Standard
Cable joint connector *1
58
Mini Standard
34
3 ME *2
(Reamer hole tolerance ±0.02)
52
39
23
ition
18.7
60 50 32±0.02 21
2-ø5H7 depth 6
dju
sting pos
Actuator width: 58 56
The bottom A of the base
123
Appendix
Slider Type
Controllers Integrated Secure at least 100
50
107 (146 if brake-equipped)
23
Table/ Arm/ Flat Type
+0.012 0
5
Details of the slot area for adjusting slider position
Base end-face 10.2 8
Base end-face R
U×100 P
Standard
8
Gripper/ Rotary Type
31
Details of Details of section A (Actuator's reference side) oblong hole
Mini
ø8 hole
4
(58) (56)
ition
dju
5
For a
Reference surface
sting pos
slot
Oblong hole depth 5 from the bottom of the base
P (pitch for ø4 hole and oblong hole) 3-ø4H7 depth 5 from the bottom of the base
(*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
Linear Servo Type
100 (ø4 hole pitch)
N (ø4 hole pitch)
m-M5 depth 8
■ Dimensions and Weights by Stroke Stroke L N P R U m Weight (kg)
50 241.4 81 66 81 1 6 1.7
100 291.4 131 116 31 2 8 1.9
150 341.4 181 166 81 2 8 2.1
200 391.4 231 216 31 3 10 2.3
250 441.4 281 266 81 3 10 2.5
* Brake-equipped models are heavier by 0.3kg.
300 491.4 331 316 31 4 12 2.7
350 541.4 381 366 81 4 12 2.9
400 591.4 431 416 31 5 14 3.1
450 641.4 481 466 81 5 14 3.3
500 691.4 531 516 31 6 16 3.5
550 741.4 581 566 81 6 16 3.7
600 791.4 631 616 31 7 18 3.9
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Maximum number of positioning points
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
SCON-CA-30D -NP-2-
126 VA max.
768 points
Pulse-train input control type
Dedicated pulse-train input type
(—)
256 points
Program control type, 1 to 2 axes
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
Reference page
7 points
Movement by numerical specification is supported.
Up to 6 axes can be operated. Movement by numerical specification is supported.
Standard price
—
Field network type
MSCON-C-1-30D - -0-
Power supply capacity
512 points
Actuators can be operated through the same control used for solenoid valves.
Positioner multi-axis, network type
Input power
Single-phase *Power supply 100VAC
capacity Single-phase will vary depending on 200VAC the controller, so please refer 3-phase to the 200VAC instruction (XSEL-P/Q/R/S manual for ONLY) details.
➝ P643 —
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.
RCS2-SA6R
140
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS2
ROBO Cylinder
RCS2-SA7R Model Specification Items
RCS2
SA7R
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 73 mm, 200-V Servo Motor, Side-mounted Motor
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
800: 800mm (50mm pitch increments)
* See page Pre-47 for details on the model descriptions.
Cable length
Options
N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
See Options below. * Be sure to specify either "ML" or "MR" as the motor side-mounted direction.
*CE compliance is optional.
Standard
Controllers Integrated
Table/ Arm/ Flat Type Appendix
Mini
P.5
Standard
Pictured: Left-mounted motor model (ML).
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
Actuator Specifications
■ Leads and Payloads
■ Stroke and Maximum Speed Motor output (W)
Model number RCS2-SA7R- ➀ -60-16- ➁ - ➂ - ➃ - ➄ RCS2-SA7R- ➀ -60-8- ➁ - ➂ - ➃ - ➄
SplashProof Type
(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) The load capacity is based on operation at an acceleration of 0.3G (0.2G for 4mm-lead model). These values are the upper limits for the acceleration. (3) See page A-71 for details on push motion.
60
RCS2-SA7R- ➀ -60-4- ➁ - ➂ - ➃ - ➄
Lead (mm)
Maximum payload Horizontal (kg) Vertical (kg)
Rated thrust (N)
16
12
3
63.8
8
25
6
127.5
4
40
12
255.0
Stroke
50 to 800
Standard price ➀Encorder type Incremental Absolute I A — — — — — — — — — — — — — — — —
Pulse Motor
50/100 150/200 250/300 350/400 450/500 550/600 650/700 750/800
~800
16
800
640
480
8
400
320
240
4
200
160
(every 50mm)
(mm)
(mm)
120 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
➀Encoder Type / ➁ Stroke ➁Stroke (mm)
~700
(every 50mm)
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
Stroke
50~600
Lead
(mm)
Type Standard type Special length
Robot cable
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.
Servo Motor (24V)
Servo Motor (200V)
Actuator Specifications
➄Options Name Brake CE compliance Non-motor end specification Lelf-mounted motor (standard) Right-mounted motor Slider roller specification
Option code
Linear Servo Motor
B CE NM ML MR SR
Page ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-55
Standard Price
— — — — — —
Item
Description
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
Ball screw, ø12mm, rolled C10 ±0.02mm 0.1mm or less Material: Dedicated alloy steel 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 0 to 40°C, 85% RH max. (No condensation)
(*) When the traveling life is assumed as 5,000km.
Overhang load length
Direction of allowable load moment.
141
Ma
Mb
Mc
Ma
L
Mc L
RCS2-SA7R
RCS2
ROBO Cylinder
Dimensional Drawings CAD drawings can be downloaded from the website.
www.intelligentactuator.com
Appendix
P.15
(*1) Connect the motor and encoder cables here. See page A-59 for details on cables. (*2) When homing, the slider moves to the ME; therefore, please watch for any interference with the surrounding objects. ME : Mechanical end SE : Stroke end 3
Stroke SE
5
2-ø5H7 depth 10
Controllers Integrated
Rod Type 160
30
126 106.2 60 3 50 5 Home ME (*2) 9 32±0.02 9 (3) 4-M5 depth 10
39
ME (4.8)
Mini Standard
(Reamer hole tolerance ±0.02)
18 0.5
9
14
9
50 33
73
*The reference surface is the same as the SA7C type. (See page 126) *The offset reference position for the Ma moment is the same as the SA7C type. (See page 126)
161 6
2D CAD
Slider Type
74
Mini
Cable joint connector *1 8
Standard
1 1.5
61 62
1
108.5
10
60
41.2
L
Dimensions of the Brake Section
Controllers Integrated
* Adding a brake will increase the actuator's overall length by 43mm and its weight by 0.6kg.
Table/ Arm/ Flat Type
Mounting direction: symmetrically opposite 48
Mini
52
D-ø4H7 depth 6 from the bottom of the base
18
Standard
40
15.3
B×100 P
5.1
Gripper/ Rotary Type
44.7 C-M5 depth 9
* For brake cable exiting from the side, it can only exit from the motor side.
P
80
18
51
Linear Servo Type
4
+0.012 0
5
A
H−oblong hole, depth 6 from the bottom of the base
Details of oblong hole
■ Dimensions and Weights by Stroke Stroke 50 100 150 200 250 300 350 400 450 L 300.2 350.2 400.2 450.2 500.2 550.2 600.2 650.2 700.2 A 0 100 100 200 200 300 300 400 400 B 0 0 0 1 1 2 2 3 3 C 4 6 6 8 8 10 10 12 12 D 2 3 3 3 3 3 3 3 3 H 0 1 1 1 1 1 1 1 1 P 0 85 85 185 185 285 285 385 385 Weight (kg) 4.0 4.2 4.4 4.6 4.9 5.1 5.3 5.5 5.8
500 550 600 650 700 750 800 750.2 800.2 850.2 900.2 950.2 1000.2 1050.2 500 500 600 600 700 700 800 4 4 5 5 6 6 7 14 14 16 16 18 18 20 3 3 3 3 3 3 3 1 1 1 1 1 1 1 485 485 585 585 685 685 785 6.0 6.2 6.4 6.7 6.9 7.1 7.3
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Maximum number of positioning points
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
SCON-CA-60 -NP-2-
218 VA max.
768 points
Pulse-train input control type
Dedicated pulse-train input type
(—)
256 points
Program control type, 1 to 2 axes
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
Reference page
7 points
Movement by numerical specification is supported.
Up to 6 axes can be operated. Movement by numerical specification is supported.
Standard price
—
Field network type
MSCON-C-1-60 - -0-
Power supply capacity
512 points
Actuators can be operated through the same control used for solenoid valves.
Positioner multi-axis, network type
Input power
Single-phase *Power supply 100VAC
capacity Single-phase will vary depending on 200VAC the controller, so please refer 3-phase to the 200VAC instruction (XSEL-P/Q/R/S manual for ONLY) details.
➝ P643 —
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.
RCS2-SA7R
142
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
Slider Type
Mini Standard Controllers Integrated
Rod Type
Mini
RCS2
ROBO Cylinder
RCS2-SS7R Model Specification Items
RCS2
SS7R
Series
Type
ROBO Cylinder, Slider Type, Actuator Width 60mm, 200-V Servo Motor, Side-mounted 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
N: None P: 1m S: 3m M: 5m X: Custom length R: Robot cable
See Options below. * Be sure to specify either "ML" or "MR" as the motor side-mounted direction.
*CE compliance is optional.
Standard
Controllers Integrated
Table/ Arm/ Flat Type Appendix
Mini
P.5
Standard
Gripper/ Rotary Type
Linear Servo Type
Cleanroom Type
Pictured: Left-mounted motor model (ML).
Actuator Specifications
■ Leads and Payloads
■ Stroke and Maximum Speed Motor output (W)
Model number RCS2-SS7R- ➀ -60-12- ➁ - ➂ - ➃ - ➄
Lead (mm)
Maximum payload Horizontal (kg) Vertical (kg)
Rated thrust (N)
Stroke
85
50 to 600
12
600
470
6
30
8
170
(every 50mm)
6
300
230 (Unit: mm/s)
*See page A-71 for details on push motion.
Cable Length
Standard price ➀Encorder type Incremental Absolute I A — — — — — — — — — — — —
50/100 150/200 250/300 350/400 450/500 550/600
~600
(50mm)
4
Code explanation ➀ Encoder type ➁ Stroke ➂ Applicable Controller ➃ Cable length ➄ Options
➁Stroke (mm)
50~500
(every 50mm)
15
➀Encoder Type / ➁ Stroke
Pulse Motor
Stroke
Lead
(mm)
12 60
RCS2-SS7R- ➀ -60-6- ➁ - ➂ - ➃ - ➄ SplashProof Type
(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) The load capacity is based on operation at an acceleration of 0.3G. This value is the upper limit for the acceleration. (3) See page A-71 for details on push motion.
Type Standard type Special length
Robot cable
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.
Servo Motor (24V)
Servo Motor (200V)
Actuator Specifications
➄Options Name Brake CE compliance Non-motor end specification Lelf-mounted motor (standard) Right-mounted motor Slider roller specification
Option code
Linear Servo Motor
B CE NM ML MR SR
Page ➝ A-42 ➝ A-42 ➝ A-52 ➝ A-52 ➝ A-52 ➝ A-55
Standard Price
— — — — — —
Item
Description
Drive method Positioning repeatability Lost motion Base Allowable static moment Allowable dynamic moment (*) Overhang load length Ambient operating temperature/humidity
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 Ma direction: 300mm or less, Mb/Mc directions: 300mm or less 0 to 40°C, 85% RH max. (No condensation)
(*) When the traveling life is assumed as 5,000km.
Overhang load length
Direction of allowable load moment.
143
Ma
Mb
Mc
Ma
L
Mc L
RCS2-SS7R
RCS2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded from the website.
Appendix
P.15
(*1) Connect the motor and encoder cables here. See page A-59 for details on cables. * The bend radius R of the cable is the same as other models. (*2) When homing, the slider moves to the ME; therefore, please watch for any interference with the surrounding objects. ME : Mechanical end SE : Stroke end 126
*The reference surface is the same as the SS7C type. (See page 128) *The offset reference position for the Ma moment is the same as the SS7C type. (See page 128)
2D CAD
55 54 41.5 27 0.5
128 4.5
60 50 9 32
5
Mini Standard Controllers Integrated
4-M5 depth 10
9
Rod Type
23.4
32
60
40.6
2
5
Slider Type
Mini
61
2-ø5H7 depth 10
0.5
Cable joint connector *1
Standard (300)
ME 25
* Note that in order to change the home orientation, arrangements must be made to send in the product to IAI. * For the Non-motor end model, the dimensions (distance from the ME to home) on the motor-side and that on the opposite side are flipped.
33
Home
SE
ME *2 25
A
12
C
Controllers Integrated
8 6 27
126
5
5
Table/ Arm/ Flat Type 4-ø4H7 6 from bottom of base (When 50st: 3-ø4H7 depth 6 from bottom of base)
Oblong hole depth 6 from bottom of base
* Adding a brake increases the actuator's overall length by 24.5mm and its weight by 0.3kg.
113
Mini Standard
+0.012 0
30
5
Gripper/ Rotary Type
4
50 Details of oblong hole
100
E N×100 P
18
F-M5 depth 8
100 M×100 P
D
18
B
Linear Servo Type
Dimensions of the Brake Section
■ Dimensions and Weights by Stroke Stroke A B C D E F M N Weight (kg)
27
55 53
1
36.5 21 15.5
60
50 279 226 50 90 0 6 1 0 3.7
100 329 276 100 40 40 8 1 1 4.0
150 379 326 150 90 90 8 1 8 4.3
200 429 376 200 140 140 8 1 1 4.6
250 479 426 250 190 190 8 1 1 4.9
300 529 476 300 40 240 12 2 2 5.2
350 579 526 350 90 290 12 2 2 5.5
400 629 576 400 140 340 12 2 2 5.8
450 679 626 450 190 390 12 2 2 6.1
500 729 676 500 40 440 16 3 3 6.4
550 779 726 550 90 490 16 3 3 6.7
600 829 776 600 140 540 16 3 3 7.0
Cleanroom Type
SplashProof Type
➂Applicable Controllers RCS2-series actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Name
External view
Model number
Maximum number of positioning points
Up to 512 positioning points are supported.
Positioner mode Solenoid valve mode
Features
SCON-CA-60
-NP-2-
218 VA max.
Pulse-train input control type
Dedicated pulse-train input type
(—)
Up to 6 axes can be operated. Movement by numerical specification is supported.
256 points
Program control type, 1 to 2 axes
SSEL-CS-1-60
Program control type, 1 to 8 axes
-NP-2-
XSEL- -1-60 -N1-EEE-2-
Reference page
7 points
768 points
- -0-
Standard price
—
Actuators can be operated through the same control used for solenoid valves. Movement by numerical specification is supported.
MSCON-C-1-60
Power supply capacity
512 points
Field network type
Positioner multi-axis, network type
Input power
Single-phase *Power supply 100VAC
capacity Single-phase will vary depending on 200VAC the controller, so please refer 3-phase to the 200VAC instruction (XSEL-P/Q/R/S manual for ONLY) details.
➝ P643 —
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
Program operation is supported. Up to 2 axes can be operated.
* 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.
RCS2-SS7R
144
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
