Transcript
Slider Type
RCP2
ROBO Cylinder
RCP2-SA5R
Mini
ROBO Cylinder Slider Type 52mm Width Pulse Motor Side-Mounted Motor
Standard ■ Configuration:
Controllers Integrated
RCP2
SA5R
I
42P
Type
Encoder
Motor
Series
Rod Type Mini
Lead
Stroke
12 : 12mm 6 : 6mm 3 : 3mm
50: 50mm ∼
I: Incremental 42P: Pulse motor * The Simple 42 □ size absolute encoder models are labeled as "I". * See page Pre-35 for explanation of each code that makes up the configuration name.
800:800mm (50mm pitch increments)
Compatible Controllers
P1:PCON RPCON PSEL P3:PMEC PSEP
Due to the characteristics of the pulse motor, the RCP2 series' load capacity decreases at high speeds. In the table below, check if your desired speed and load capacity are supported.
Controllers Integrated Table/Arm /Flat Type
Load Capacity (kg)
35
Mini Standard Gripper/ Rotary Type
Pictured: Left-mounted motor model (ML).
Technical References
15
3mm lead 6mm lead
10
8
100
200
A-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 3mm-lead model, or when used vertically). These values are the upper limits for the acceleration.
INT
Notes on Selection
PMEC /AMEC
Actuator Specifications ■ Lead and Load Capacity
Max. Load Capacity (Note 1) Horizontal (kg) Vertical (kg)
Lead (mm)
RCP2-SA5R-I-42P-12- 1 - 2 - 3 - 4
12
RCP2-SA5R-I-42P-6- 1 - 2 - 3 - 4
6
8
2.5
600
700
500
1 600
700
Vertical
8 6 4
3mm lead 4.5 6mm lead 12mm lead
2 0 0
100
200
2.5 300 400 Speed (mm/s)
■ Stroke and Maximum Speed Stroke
Stroke (mm)
Lead
1
4
4
500
10
(Note 1) Please note that the maximum load capacity decreases as the speed increases.
Model
12mm lead
300 400 Speed (mm/s)
14 Load Capacity (kg)
P
O
PCON
20
12
Splash-Proof
ERC2
25
0 0
Cleanroom Type
ROBO NET
Horizontal
30
5
Linear Servo Type
PSEP /ASEP
Option
■ Speed vs. Load Capacity
Standard
Controllers
Cable Length
N : None See Options below P : 1m * Be sure to specify which side the motor is to be S : 3m mounted (ML/MR). M : 5m X □□ : Custom Length R □□ : Robot cable
50 ∼ 800 (50mm
50 ∼ 550
600
650
700
750
800
(50mm increments) (mm)
(mm)
(mm)
(mm)
(mm)
12
600
540
460
400
360
300
6
300
270
230
200
180
150
3
150
135
115
100
90
75
increments)
ACON SCON
RCP2-SA5R-I-42P-3- 1 - 2 - 3 - 4 Legend
1
Stroke
2
Compatible controller
3
Cable length
3
4
8
4.5
(Unit: mm/s)
Options
1 Stroke List PSEL ASEL SSEL XSEL
Pulse Motor
Servo Motor (24V)
Servo Motor (200V)
Linear Servo Motor
3 Cable List
Stroke (mm)
Standard Price
50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800
– – – – – – – – – – – – – – – –
P (1m) Standard S (3m) M (5m) X06 (6m) Special Lengths X11 (11m) X16 (16m) R01 (1m) R04 (4m) Robot Cable R06 (6m) R11 (11m) R16 (16m)
Option Code B NM ML MR SR
∼ ∼ ∼ ∼ ∼ ∼ ∼ ∼
Standard Price
– – – – – – – – – – –
X10 (10m) X15 (15m) X20 (20m) R03 (3m) R05 (5m) R10 (10m) R15 (15m) R20 (20m)
* See page A-39 for cables for maintenance.
Actuator Specifications
4 Option List Name Brake Reversed-home Left-Mounted Motor (Standard) Right-Mounted Motor Slider Roller
Cable Symbol
Type
See Page
Standard Price
→ A-25 → A-33 → A-33 → A-33 → A-36
– – – – –
Item Drive System Positioning Repeatability Lost Motion Base Allowable Static Moment Allowable Dynamic Moment (*) Overhang Load Length Ambient Operating Temp./Humidity
Description Ball screw Ø10mm C10 grade ±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 direction: 150mm or less 0∼40°C, 85% RH or less (Non-condensing)
(*) Based on 5,000km travel life.
39
Directions of Allowable Load Moments Ma
RCP2-SA5R
Mb
Overhang Load Length Mc
Ma
L
Mc L
RCP2
ROBO Cylinder Slider Type
Dimensions CAD drawings can be downloaded from IAI website.
Standard Controllers Integrated
The motor-encoder cable is connected here. See page A-39 for details on cables. 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 values enclosed in "( )" are reference dimensions.
Rod Type 16 40 26
ME (2.8)
10
Stroke
2.7 SE
94 5 5.5
2-ø4H7 depth 6
0.5
67 3 ME*2 (2.1) 4-M4 depth 9
Home 40 30 5 19 ±0.02 5.5
Mini Standard Controllers Integrated 120
120 9.5
52
6 20 6
* The offset reference position for the moment Ma is the same as the SA5 type. (See P28)
26 (Reamer hole tolerance ±0.02)
*2.
Mini
A-9
For Special Orders
*For the reversed-home model, the dimensions (distance to home) on the motor-side and that on the opposite side are flipped.
2D 2D CAD CAD
*1.
www.intelligentactuator.com
0.5
58
Table/Arm /Flat Type
0.5 0.5
48 49
Cable joint connector *1
0.5
Mini 76
(240)
6 24
49
L
Standard
Dimensions of the brake section * Adding a brake will increase the actuator's overall length by 40mm, and its weight by 0.4kg.
Gripper/ Rotary Type
Mounting direction: symmetrically opposite 16.5
Linear Servo Type
2-ø4H7, depth from bottom of base 5.5 B×100
P
13.3
26
43
Cleanroom Type
35.5
P (ø4 hole and oblong hole pitch) A
C-M4 depth 7 H-oblong hole, depth from bottom of base 5.5
5.1 41.5
56
Splash-Proof
32
+0.012 0
5
Controllers
4
* For brake cable exiting from the side, it can only exit from the motor side.
Details for Oblong Hole
PMEC /AMEC
■ Dimensions/Weight by Stroke Stroke L A B C H P
50 227 73 0 4 0 0
100 277 100 0 4 1 85
150 327 100 0 4 1 85
200 377 200 1 6 1 185
250 427 200 1 6 1 185
300 477 300 2 8 1 285
350 527 300 2 8 1 285
400 577 400 3 10 1 385
450 627 400 3 10 1 385
500 677 500 4 12 1 485
550 727 500 4 12 1 485
600 777 600 5 14 1 585
650 827 600 5 14 1 585
700 877 700 6 16 1 685
750 927 700 6 16 1 685
800 977 800 7 18 1 785
Weight (kg)
2.0
2.1
2.2
2.3
2.4
2.6
2.7
2.8
2.9
3.0
3.1
3.3
3.4
3.5
3.6
3.7
PSEP /ASEP ROBO NET ERC2 PCON ACON
2 Compatible Controllers SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage. Name
External View
Model PMEC-C-42PI-NP-2-1
Description
Max. Positioning Points
Input Voltage AC100V
Easy-to-use controller, even for beginners
AC200V
Power Supply Capacity
Standard Price
See Page
See P481
—
→ P477
Solenoid Valve Type PSEP-C-42PI-NP-2-0 Splash-Proof Solenoid Valve Type Positioner Type
PSEP-CW-42PI-NP-2-0
Operable with same signal as solenoid valve. Supports both single and double solenoid types. No homing necessary with simple absolute type.
3 points
— → P487 —
PSEL ASEL SSEL XSEL
—
PCON-C-42PI-NP-2-0 Positioning is possible for up to 512 points
Safety-Compliant Positioner Type
PCON-CG-42PI-NP-2-0
Pulse Train Input Type (Differential Line Driver)
PCON-PL-42PI-NP-2-0
Pulse train input type with differential line driver support
Pulse Train Input Type (Open Collector)
PCON-PO-42PI-NP-2-0
Pulse train input type with open collector support
Serial Communication Type
PCON-SE-42PI-N-0-0
512 points —
Pulse Motor DC24V
2A max.
—
→ P525
(−)
Field Network Type
Program Control Type
RPCON-42P
PSEL-C-1-42PI-NP-2-0
Servo Motor (24V)
—
Dedicated to serial communication
64 points
—
Dedicated to field network
768 points
—
→ P503
Programmed operation is possible Can operate up to 2 axes
1500 points
—
→ P557
* This is for the single-axis PSEL. * 1 is a placeholder for the power supply voltage (1: 100V / 2: 100∼240V).
RCP2-SA5R
40
Servo Motor (200V)
Linear Servo Motor
