Transcript
Dust-proof/Splash-proof
ROBO CYLINDER® RCP4W series
w w w . i n t e l l i g e n t a c t u a t o r. c o m
A First for Slider-type ROBO Cylinders! Dust-proof/Splash-proof Performance of IP65, Plus At-will Installation Configuration Flexibility Features
1
Dust-proof/Splash-proof Performance of IP65 A special structure where the base is positioned upside down to position the opening at the bottom which achieves high dust-proof/splash-proof performance of IP65 for the first time with slider-type ROBO Cylinders.
IP Marking
IP First digit Protection against the human body and solid objects Second digit
Protection against the intrusion of water
IP Classes IP class
First digit
Description
Solid objects
Fully protected against the entry of powder dust into the equipment.
Water
Even when the equipment is submerged in water, water does not enter the equipment.
Solid objects
Fully protected against the entry of powder dust into the equipment.
Water
The equipment receives no harmful effect even when directly hit by water jets from any direction.
IP67
Applicable IAI products
Slider type RCP2W-SA16C
Slider type RCP4W
Slider type ISWA/ISPWA
IP65
Solid objects IP54 Water
IP50
1
Solid objects Water
Pulse motor rod type RCP2W-RA4C/RA6C
SCARA robot IX-NNW
Dust that would affect the operation of the equipment does not enter the equipment. The equipment receives no harmful effect even when contacted by water splashes from any direction.
High-thrust rod type RCP2W-RA10C
24-V servo motor rod type RCAW-RA3/RA4 200-V servo motor rod type RCS2W-RA4
Dust that would affect the operation of the equipment does not enter the equipment. The equipment is not protected against water.
Small gripper (dust-proof type) RCP2W-GR
RCP4W
2
Compact IAI’s splash-proof single-axis robots (ISWA series) have been made smaller to approx. 60% in cross-section area ratio while keeping the excellent splash-proof performance of ISWA robots. (60% is based on comparison of ISWA-S and RCP4W-SA5C) Type L
ISWA Type M
Type S
RCP4W
SA7C
SA6C
SA5C
w (Actuator width)
Stroke (mm)
3 4 5
Maximum speed (mm/s)
(Actuator width)
100 to 1200 (Available in 50 increments)
100 to 1000 (Available in 50 increments)
1000
1000
(Actuator width)
(Actuator width)
(Actuator width)
(Actuator width)
100 to 600 (Available 100 to 700 (Available 100 to 600 (Available 100 to 500 (Available in 50 increments) in 50 increments) in 50 increments) in 50 increments) 800
530
400
330
Mount on the Wall or Hang from the Ceiling Wall-mounting brackets and ceiling-mounting brackets are available as options, which significantly increase the freedom of installation.
Ceiling mount (bracket on the left) (Option code: HFL)
Ceiling mount (bracket on the right) Wall mount sideways on the left Wall mount sideways on the right (Option code: HFR) (Option code: TFL) (Option code: TFR)
Installable on All Four Sides of the Top, Bottom, Left and Right of the Table
Top side of the table Right side of the table Left side of the table
The table, positioned in a manner wrapping around the actuator, has tapped holes on all four sides of the top, bottom, left and right to increase the freedom of actuator installation.
Choice of Grease You can select either industrial grease (Daphne Eponex No. 2) (standard) or food grade grease (Medallion FM No. 1) for the guides and ball screw in the actuator.
Bottom side of the table
Standard grease
Industrial grease Daphne Eponex No. 2
Optional
Selectable
Food grade grease Medallion FM No. 1
2
Specification List Take note that, with the RCP4W series, the horizontal payload, the dynamic allowable moments, the overhang load length and the maximum stroke vary depending on whether the actuator is operated with its brackets on both ends fixed (both ends fixed) or with only the motor-side mounting bracket fixed in a cantilever configuration (cantilever).
(Both ends fixed)
(Cantilever)
Base Specifications (Both Ends Fixed) Series
RCP4W
Type
Actuator width (mm)
SA5C
55
35
SA6C
62
42
SA7C
77
56
Motor type
Ball screw lead (mm) 10 5 12 6 16 8
Dynamic allowable Overhang Maxi- Acceleration Horizontal payload (kg) Positioning (G) moment (N•m) mum load repeatability Stroke (mm) Page speed length MaxiRated Maximum (mm) Rated Ma Mb Mc (mm/s) (mm) mum acceleration acceleration 100 to 500 (Available in 330 5 2 P5 3.4 4.9 8 125 165 10 4 50-mm increments) 100 to 600 (Available in 400 7.5 3 P7 4.7 6.7 11 150 0.3 0.6 ±0.02 200 15 6 50-mm increments) 530 10 4 100 to 700 (Available in 6.1 8.8 16.8 175 P9 265 20 8 50-mm increments)
Cantilever Series
RCP4W
Type
Actuator width (mm)
SA5C
55
35
SA6C
62
42
SA7C
77
56
Motor type
Ball screw lead (mm) 10 5 12 6 16 8
Dynamic allowable Overhang Maxi- Acceleration Horizontal payload (kg) Positioning (G) moment (N•m) mum load repeatability speed length MaxiRated Maximum (mm) Rated Ma Mb Mc (mm/s) (mm) mum acceleration acceleration 330 1.5 0.5 1.7 2.5 4 75 165 2 1 400 3 1.5 2.4 3.4 5.5 90 0.3 0.6 ±0.02 200 4.5 2.5 530 4.5 3 3.1 4.4 8.4 105 265 7 4
Stroke (mm)
Page
P5 150 max.
P7 P9
System Configuration * For details on each device, refer to the RCP4 catalog. PLC Option
PC software RS232 connection type
USB connection type
Supplied with the controller
PIO cable Standard length: 2m
Option
Touch-panel teaching pendant
5m
Option
24-VDC power supply
Supplied with the actuator
Integrated motor/encoder cable Standard cable -RB>
Controller PCON-CA
Supplied with the simple absolute specification
Absolute battery unit Actuator RCP4W series
3
Simple absolute battery
RCP4W Model number Actuator
RCP4W Series
I Type code
SA5C
Actuator width 55 mm
SA6C
Actuator width 62 mm
SA7C
Actuator width 77 mm
P3
Encoder type
I
Motor type
Ball screw lead
Incremental
5
Lead 5
6
A3
Cable exit from the right
AL
Additional alumite coating
GE
Food grade grease (edible grease)
8
Lead 8
42P
42
motor
10
Lead 10
12
Lead 12
16
Lead 16
100
P3
100mm
~
~
700
700mm
R
PCON-CA
N
No cable
P
1m
NM
Non-motor side specification
S
3m
HFL
Ceiling mount (left)
M
5m
HFR
Ceiling mount (right)
Length designation
TFL
Wall mount sideways on the left
TFR
Wall mount sideways on the right
X
(Can be set in 50-mm increments.)
Robot cable
Actuator Options Optional Cable Exit Direction Code: A1, A3
Additional Alumite Coating Code:
AL The actuator is coated with alumite, but alumite has been removed in the machined areas of the table and front/rear mounting brackets. This option adds alumite coating to these areas. (This option is recommended if the actuator will come in contact with water.)
You can select one of the following three cable exit directions. If no direction is specified, the cable is exited from the rear.
Exit from the rear (standard) Option code: (Blank)
Exit from the left side face Option code: A1
Exit from the right side face Option code: A3
Food Grade Grease (Edible Grease) Code:
GE Normally industrial grease is applied to the guides and ball screw of the actuator. You can change this grease to food grade grease (edible grease).
Actuator Mounting Bracket Code: HFL, HFR, TFL, TFR You can change the bracket for securing the actuator so that the actuator can be installed directly on the ceiling or wall surface (left or right).
Horizontal mount (standard) Option code: (Blank)
Ceiling mount (bracket installed on the left) Option code: HFL
Options
Lead 6
motor
motor
Cable length
Cable exit from the left
35
56
Applicable controller
A1
35P
56P
Stroke (mm)
Non-motor side Specification Code:
NM You can change the normal slider position of the actuator (motor side) to the non-motor side.
* Right and left of the wall mount represent the directions as viewed from the motor side. Refer to P. 11 and 12 for detailed drawings.
Ceiling mount (bracket installed on the right) Option code: HFR
Wall mount sideways on the left Option code: TFL
Wall mount sideways on the right Option code: TFR
Handling Precautions
1. This actuator cannot be used in applications where it comes in direct contact with food which will be sold. 2. Keep the acceleration/deceleration at or below the maximum value. If the actuator is operated beyond the maximum acceleration/deceleration (0.6 G), abnormal noise/vibration, failure or shorter life may result. 3. Keep the allowable load moments and overhang load length within the allowable values. If the actuator is operated beyond the allowable values, abnormal noise/vibration, failure or shorter life may result. 4. The actuator must be installed horizontally. It can be hung from the ceiling or mounted on the wall only when a dedicated bracket is used. 5. If the actuator is used in an environment subject to powder dust or water splashes, supply air from the air supply port provided on the rear of the actuator (air purge). For the amount of air to be supplied, etc., refer to the page of the specific model. 6. Consult IAI on a special environment (such as when a chemical coolant other than water is used).
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RCP4W-SA 5 C Model Specification Items
RCP4W
SA5C
Series
Type
I
Encoder type
Splash-proof slider type Coupling specification
35P Motor type 35P: Pulse motor size 35
Actuator width: 55 mm
P3
Lead
Stroke
10 : 10mm 5 : 5mm
100：100mm
Applicable controller
500 : 500mm (Can be set in 50-mm increments.)
* Also select code “I” for the simple absolute specification.
Options
Cable length
Refer to the option N: None list below. P: 1 m S: 3 m M: 5 m X : Length designation R : Robot cable
P3:PCON-CA
~
I: Incremental specification
ROBO Cylinder Pulse motor
* The RCP4W can be operated only with the PCON-CA
Payload by Acceleration/Deceleration With the RCP4W series, the payload remains the same even when the speed is raised. However, the payload will drop if the acceleration is raised. Check on the table below. Diagram of Acceleration/Deceleration vs. Payload [Supported at Both Ends] 25 20 15 Payload (kg) 10
Lead 5
10 8 6
Lead 10
5
4 5
0 0.0
4
2
3
0.1 0.2 0.3 0.4 0.5 0.6 Acceleration/deceleration (G)
Diagram of Acceleration/Deceleration vs. Payload [Cantilever] 8 6
(1) This actuator is designed exclusively for horizontal installation. It cannot be installed vertically. When hanging the actuator from the ceiling or mounting it on the wall, be sure to do so using an optional dedicated bracket. (2) The payload varies depending on the acceleration/deceleration. The upper limit of acceleration/deceleration is 0.6 G. (3) The cable joint connector is not splash-proof, so install the connector in a location where it will not come in contact with water. (4) Refer to the page at right for the air tube length and air flow rate when implementing air purge.
Notes on selection
Payload (kg) 4 2 1.5
0 0.0
Lead 5
2
Lead 10
1.5
1.5
1.2 1.2
1
1 0.5
0.7
0.1 0.2 0.3 0.4 0.5 0.6 Acceleration/deceleration (G)
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed
Model number
RCP4W-SA5C-I-35P-10- 1 -P3- 2 - 3 RCP4W-SA5C-I-35P-5- 1 -P3- 2 - 3 Legend 1
1
Stroke
2
Cable length
3
Maximum horizontal payload (kg) Maximum Positioning Lead force repeatability Stroke (mm) Supported on Cantilever push(N) (mm) (mm) both ends 100 to 500 10 5 1.5 66.9 ±0.02 (in 50-mm 5 10 2 147.9 increments)
(in 50-mm increments)
10
330
5
165 (unit: mm/s)
Options
Stroke
2
Stroke (mm) 100 150 200 250 300 350 400 450 500 3
Stroke 100 to 500
Lead
Standard price -
Type
Cable symbol
P (1m) S (3m) M (5m) X06 (6m) ~ X11 (11m) ~ X16 (16m) ~ R01 (1m) ~ R04 (4m) ~ R06 (6m) ~ R11 (11m) ~ R16 (16m) ~
Standard type Special length
Robot cable
Options
Name Option code A1 Cable exit from the left side face A3 Cable exit from the right side face AL Additional alumite coating GE Food grade grease (edible grease) NM Non-motor side specification HFL Ceiling mount (bracket mounted on the left) HFR Ceiling mount (bracket mounted on the right) TFL Wall mount sideways on the left TFR Wall mount sideways on the right
Cable length
Standard price -
X10 (10m) X15 (15m) X20 (20m) R03 (3m) R05 (5m) R10 (10m) R15 (15m) R20 (20m)
Actuator Specifications See page P4 P4 P4 P4 P4 P4 P4 P4 P4
Standard price
-
-
Item Drive system Positioning repeatability Lost motion Static allowable Supported on both ends moment Cantilever Dynamic allowable Supported on both ends moment (*) Cantilever Overhang load Supported on both ends length Cantilever
Protective structure
Ambient operating temperature, humidity
Description Ball screw φ8 mm, rolled C10 ±0.02mm 0.1 mm or less Ma: 5.9 N•m Mb: 8.4 N•m Mc: 13.7 N•m Ma: 2.9 N•m Mb: 4.2 N•m Mc: 6.8 N•m Ma: 3.4 N•m Mb: 4.9 N•m Mc: 8.0 N•m Ma: 1.7 N•m Mb: 2.5 N•m Mc: 4.0 N•m 125mm or less 75 mm or less IP65 (with air purge) 0 to 40°C, 85% RH or less (Non-condensing)
(*) Based on 5,000 km of traveling life
Overhang load lengths
Allowable load moment directions
5
Ma
Mb
Mc
Ma
L
Mc L
Dimensional Drawings
Materials of Main Components
www.intelligentactuator.com
2D CAD
Surface treatment: Alumite coating
Extruded aluminum (A6063)
Surface treatment: Alumite coating (excluding machined areas)
3
Mounting bracket (front/rear)
Extruded aluminum (A6063)
Surface treatment: Alumite coating (excluding machined areas)
4
Side cover Motor cover Front cover Seal Actuator cable Air purge joint
Extruded aluminum (A6063)
Surface treatment: Alumite coating
Die-cast aluminum (ADC12)
Surface treatment: Alumite coating + Paint
Die-cast aluminum (ADC12)
Surface treatment: Alumite coating + Paint
5
*1 Connect the motor and encoder cables. *2 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. *3 Reference position for calculating moments. 22.5
Base Table
Extruded aluminum (A6063)
2
1
* See P11 for the dimensional drawing for the ceiling mount specification. See P12 for the dimensional drawing for the wall mount specification.
6 7 8 9
35
2-φ4H7, depth 4
5
Polyvinyl chloride (PVC)
7.5
30
30
25
4-M3, depth 7 Cable joint connector *1
70
4-M4, depth8
55
* High flex type cable
Polyphenylene sulfide (PPS)
* Alumite coating has been removed in the machined areas of the table 2 and mounting bracket 3 . To add alumite coating to these areas, specify the "Additional alumite coating (code: AL)" option. 7.5
2-M3, depth 3
Urethane rubber (U)
5
CAD drawings can be downloaded from the website.
(2m)
7.5
5 12.5 22.5
50
Home
25 (reamed hole pitch ±0.02)
22.5 (from the actuator mounting surface) 2-φ4H7, depth 4 (same on the opposite side)
Reference position for moment offset *3
L
35 20
29 5
25 7.5
35
7.5
70 50
B
2-φ3H7, depth 5 8-M3, depth 6
Cable exit from the left side face
4-M4, depth 6 (same on the opposite side)
2-φ4H7, depth 4
D C
2-φ4.1, depth 4
61
90
Cable exit from the right side face
(100 or more)
Air supply port φ6 for air purge
8-M4, through 8-φ4.5 hole
10 20 45
5
10 20 10 25
(17)
5
Cable exit from the left side face 5
41
85
A
STROKE SE
Actuator height: 63.5 Slider height: 65
22.5
5 ME
10
Motor height: 56
45
Slider width: 70 Bracket width: 67
5
5
35 (reamed hole pitch ±0.02)
75
30 (reamed hole pitch ±0.02)
75 (reamed hole pitch ±0.02) Cable exit from the right side face (17)
Correlation Diagram of Air Tube Length vs. Air Flow Rate
Note on Push-motion Operation
350
160
When performing push-motion operation, make sure the reactive moment generated by the push force does not exceed 80% of the dynamic allowable moment (Ma or Mb) specified in the catalog.
300
140 120 100
Pressure: 0.3 MPa
80 60
Pressure: 0.2 MPa
40 20 0
Push Force of RCP4W-SA5
400
180
Pressure: 0.1 MPa 0
5
10
15
20
Push force (N)
Air flow rate (NL/min)
200
250 200
In push-motion operation, the travel speed is fixed at 25 mm/s.
150 100 50
Lead 5
0 10
25
Air tube length (m)
Lead 10 20
30
40
50
60
70
80
Current-limiting value (%)
Dimensions and Mass by Stroke • The above correlation diagram assumes an air tube of 6 mm in outer diameter and 4 mm in inner diameter. (A joint of 6 mm in outer diameter is used on the actuator side.) • Use the correlation diagram as a reference to determine an appropriate pressure and air tube length in such a way that the air flow rate will become 40 NL/min or more (clean dry air).
Stroke L A B C D Mass (kg)
100 385 324 256.5 221.5 204 2.8
150 435 374 306.5 271.5 254 2.9
200 485 424 356.5 321.5 304 3.1
250 535 474 406.5 371.5 354 3.2
300 585 524 456.5 421.5 404 3.4
350 635 574 506.5 471.5 454 3.5
400 685 624 556.5 521.5 504 3.7
450 735 674 606.5 571.5 554 3.8
500 785 724 656.5 621.5 604 4.0
Applicable Controller RCP4W series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Title
External view
Model number
Positioner type (NPN specification)
PCON-CA-35PI-NP- -0-
Positioner type (PNP specification)
PCON-CA-35PI-PN- -0-
Pulse-train type (NPN specification)
PCON-CA-35PI-PLN- -0-
Pulse-train type (PNP specification)
PCON-CA-35PI-PLP- -0-
Features Register positions to move the actuator into the controller beforehand, and specify the number corresponding to each desired position to operate the actuator. The actuator can be operated freely via pulse-train controller from an external output device.
(Note) These actuators cannot be operated with controllers other than the PCON-CA.
Maximum number of Input power Power supply capacity Standard Reference positioning points price page -
512 points DC24V —
Rated: 3.5 A
P13
Maximum: 4.2 A -
6
RCP4W-SA 6 C Model Specification Items
RCP4W
SA6C
Series
Type
I
Encoder type
Splash-proof slider type Coupling specification
42P Motor type 42P: Pulse motor size 42
Actuator width: 62 mm
P3
Lead
Applicable controller
Stroke 100：100mm
12 : 12mm 6 : 6mm
600 : 600mm (Can be set in 50-mm increments.)
* Also select code “I” for the simple absolute specification.
Cable length
Options
Refer to the option N: None list below. P: 1 m S: 3 m M: 5 m X : Length designation R : Robot cable
P3:PCON-CA
~
I: Incremental specification
ROBO Cylinder Pulse motor
* The RCP4W can be operated only with the PCON-CA
Payload by Acceleration/Deceleration With the RCP4W series, the payload remains the same even when the speed is raised. However, the payload will drop if the acceleration is raised. Check on the table below. Diagram of Acceleration/Deceleration vs. Payload [Supported at Both Ends] 25 20
Lead6
15 Payload (kg) 10 5
15 12 9
Lead12 Lead6 7.5
6
7.5 5.5
0 0.0
4
3
0.1 0.2 0.3 0.4 0.5 0.6 Acceleration/deceleration (G)
Diagram of Acceleration/Deceleration vs. Payload [Cantilever] 8 6
(1) This actuator is designed exclusively for horizontal installation. It cannot be installed vertically. When hanging the actuator from the ceiling or mounting it on the wall, be sure to do so using an optional dedicated bracket. (2) The payload varies depending on the acceleration/deceleration. The upper limit of acceleration/deceleration is 0.6 G. (3) The cable joint connector is not splash-proof, so install the connector in a location where it will not come in contact with water. (4) Refer to the page at right for the air tube length and air flow rate when implementing air purge.
Notes on selection
Payload (kg)
Lead6
4.5
4 2
4.5 3.5
Lead12
3 3
3
0 0.0
2.5
2.5
2
1.5
0.1 0.2 0.3 0.4 0.5 0.6 Acceleration/deceleration (G)
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed
Model number
RCP4W-SA6C-I-42P-12- 1 -P3- 2 - 3 RCP4W-SA6C-I-42P-6- 1 -P3- 2 - 3 Legend 1
1
Stroke
2
Cable length
3
Maximum horizontal payload (kg) Maximum Positioning Lead force repeatability Stroke (mm) Supported on Cantilever push(N) (mm) (mm) both ends 100 to 600 12 7.5 3 82.8 ±0.02 (in 50-mm 6 15 4.5 179.5 increments)
(in 50-mm increments)
12
400
6
200 (unit: mm/s)
Options
Stroke
2
Stroke (mm) 100 150 200 250 300 350 400 450 500 550 600 3
Stroke 100 to 600
Lead
Standard price -
Type
See page P4 P4 P4 P4 P4 P4 P4 P4 P4
Cable symbol
P (1m) S (3m) M (5m) X06 (6m) ~ X11 (11m) ~ X16 (16m) ~ R01 (1m) ~ R04 (4m) ~ R06 (6m) ~ R11 (11m) ~ R16 (16m) ~
Standard type Special length
Robot cable
Standard price -
X10 (10m) X15 (15m) X20 (20m) R03 (3m) R05 (5m) R10 (10m) R15 (15m) R20 (20m)
Actuator Specifications
Options
Name Option code A1 Cable exit from the left side face A3 Cable exit from the right side face AL Additional alumite coating GE Food grade grease (edible grease) NM Non-motor side specification HFL Ceiling mount (bracket mounted on the left) HFR Ceiling mount (bracket mounted on the right) TFL Wall mount sideways on the left TFR Wall mount sideways on the right
Cable length
Standard price
-
-
Item Drive system Positioning repeatability Lost motion Static allowable Supported on both ends moment Cantilever Dynamic allowable Supported on both ends moment (*) Cantilever Overhang load Supported on both ends length Cantilever
Protective structure
Ambient operating temperature, humidity
Description Ball screw φ10 mm, rolled C10 ±0.02mm 0.1 mm or less Ma: 8.5 N•m Mb: 12.2 N•m Mc: 19.9 N•m Ma: 4.3 N•m Mb: 6.1 N•m Mc: 10.0 N•m Ma: 4.7 N•m Mb: 6.7 N•m Mc: 11.0 N•m Ma: 2.4 N•m Mb: 3.4 N•m Mc: 5.5 N•m 150mm or less 90 mm or less IP65 (with air purge) 0 to 40°C, 85% RH or less (Non-condensing)
(*) Based on 5,000 km of traveling life
Overhang load lengths
Allowable load moment directions
7
Ma
Mb
Mc
Ma
L
Mc L
Dimensional Drawings CAD drawings can be downloaded from the website.
Surface treatment: Alumite coating
Extruded aluminum (A6063)
Surface treatment: Alumite coating (excluding machined areas)
3
Mounting bracket (front/rear)
Extruded aluminum (A6063)
Surface treatment: Alumite coating (excluding machined areas)
4
Side cover Motor cover Front cover Seal Actuator cable Air purge joint
Extruded aluminum (A6063)
Surface treatment: Alumite coating
Die-cast aluminum (ADC12)
Surface treatment: Alumite coating + Paint
Die-cast aluminum (ADC12)
Surface treatment: Alumite coating + Paint
5
*1 Connect the motor and encoder cables. *2 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. *3 Reference position for calculating moments.
6 7 8 9
Urethane rubber (U) Polyvinyl chloride (PVC)
7.5
45
2-φ5H7, depth 5
7.5
30
30
4-M3, depth 8
30 5
Cable joint connector *1
62
80
5
4-M4, depth8
(2m)
45 (reamed hole pitch ±0.02)
5
* High flex type cable
Polyphenylene sulfide (PPS)
* Alumite coating has been removed in the machined areas of the table 2 and mounting bracket 3 . To add alumite coating to these areas, specify the "Additional alumite coating (code: AL)" option.
2-M3, depth 4
22.5
Base Table
Extruded aluminum (A6063)
2
1
* See P11 for the dimensional drawing for the ceiling mount specification. See P12 for the dimensional drawing for the wall mount specification.
5
2D CAD
Materials of Main Components
www.intelligentactuator.com
L A 45 5 ME
10
61
STROKE SE
60
29 5
Home
90
Cable exit from the left side face
Cable exit from the right side face
30 (reamed hole pitch ±0.02)
25 (from the actuator mounting surface)
9.5
95
Motor height: 65
47.5
Actuator height: 73.5 Slider height: 75
26.0
Slider width: 80 Bracket width: 77
5 12.5 22.5
30 7.5
Reference position for moment offset *3
45
35 20
4-M5, depth 8 (same on the opposite side) 2-φ5H7, depth 5
D C
10 20
70 50
B
8-M4, through 8-φ5.5 hole
45
2-φ3H7, depth 5 8-M3, depth 6
2-φ5.1, depth 5
12.5 5
Air supply port φ6 for air purge
(100 or more)
7.5
2-φ5H7, depth 5 (same on the opposite side)
(17) Cable exit from the
12.5 5
25
left side face
30
85
85 (reamed hole pitch ±0.02)
5
37 (reamed hole pitch ±0.02)
Cable exit from the right side face (17)
Correlation Diagram of Air Tube Length vs. Air Flow Rate
Note on Push-motion Operation
350
160
When performing push-motion operation, make sure the reactive moment generated by the push force does not exceed 80% of the dynamic allowable moment (Ma or Mb) specified in the catalog.
300
140 120 100
Pressure: 0.3 MPa
80 60
Pressure: 0.2 MPa
40 20 0
Push Force of RCP4W-SA6
400
180
Pressure: 0.1 MPa 0
5
10
15
20
Push force (N)
Air flow rate (NL/min)
200
250 200
In push-motion operation, the travel speed is fixed at 20 mm/s.
150 100 50
Lead 6 5
0 10
25
Air tube length (m)
Lead 12 10 20
30
40
50
60
70
80
Current-limiting value (%)
Dimensions and Mass by Stroke • The above correlation diagram assumes an air tube of 6 mm in outer diameter and 4 mm in inner diameter. (A joint of 6 mm in outer diameter is used on the actuator side.) • Use the correlation diagram as a reference to determine an appropriate pressure and air tube length in such a way that the air flow rate will become 40 NL/min or more (clean dry air).
Stroke L A B C D Mass (kg)
100 395 334 266.5 231.5 214 3.9
150 445 384 316.5 281.5 264 4.1
200 495 434 366.5 331.5 314 4.3
250 545 484 416.5 381.5 364 4.5
300 595 534 466.5 431.5 414 4.7
350 645 584 516.5 481.5 464 4.9
400 695 634 566.5 531.5 514 5.1
450 745 684 616.5 581.5 564 5.3
500 795 734 666.5 631.5 614 5.5
550 845 784 716.5 681.5 664 5.8
600 895 834 766.5 731.5 714 6.0
Applicable Controller RCP4W series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Title
External view
Model number
Positioner type (NPN specification)
PCON-CA-42PI-NP- -0-
Positioner type (PNP specification)
PCON-CA-42PI-PN- -0-
Pulse-train type (NPN specification)
PCON-CA-42PI-PLN- -0-
Pulse-train type (PNP specification)
PCON-CA-42PI-PLP- -0-
Features Register positions to move the actuator into the controller beforehand, and specify the number corresponding to each desired position to operate the actuator. The actuator can be operated freely via pulse-train controller from an external output device.
(Note) These actuators cannot be operated with controllers other than the PCON-CA.
Maximum number of Input power Power supply capacity Standard Reference positioning points price page -
512 points DC24V —
Rated: 3.5 A
P13
Maximum: 4.2 A -
8
RCP4W-SA 7 C Model Specification Items
RCP4W
SA7C
Series
Type
I
Encoder type
Splash-proof slider type Coupling specification
56P Motor type 56P: Pulse motor size 56
Actuator width: 77 mm
P3
Lead
Applicable controller
Stroke 100：100mm
16 : 16mm 8 : 8mm
700 : 700mm (Can be set in 50-mm increments.)
* Also select code “I” for the simple absolute specification.
Options
Cable length
Refer to the option N: None list below. P: 1 m S: 3 m M: 5 m X : Length designation R : Robot cable
P3:PCON-CA
~
I: Incremental specification
ROBO Cylinder Pulse motor
* The RCP4W can be operated only with the PCON-CA
Payload by Acceleration/Deceleration With the RCP4W series, the payload remains the same even when the speed is raised. However, the payload will drop if the acceleration is raised. Check on the table below. Diagram of Acceleration/Deceleration vs. Payload [Supported at Both Ends] 25
Lead8 Lead6
20
20 16
15 Payload (kg) 10
12
Lead16 10
8 8
5
6
0 0.0
4
0.1 0.2 0.3 0.4 0.5 0.6 Acceleration/deceleration (G)
Diagram of Acceleration/Deceleration vs. Payload [Cantilever] 8
Lead8
7
7
6
6
(1) This actuator is designed exclusively for horizontal installation. It cannot be installed vertically. When hanging the actuator from the ceiling or mounting it on the wall, be sure to do so using an optional dedicated bracket. (2) The payload varies depending on the acceleration/deceleration. The upper limit of acceleration/deceleration is 0.6 G. (3) The cable joint connector is not splash-proof, so install the connector in a location where it will not come in contact with water. (4) Refer to the page at right for the air tube length and air flow rate when implementing air purge.
Notes on selection
Payload (kg)
5
Lead16 4 4.5
4.5
4
4
3
3.5
2 0 0.0
0.1 0.2 0.3 0.4 0.5 0.6 Acceleration/deceleration (G)
Actuator Specifications
Leads and Payloads
Stroke and Maximum Speed
Model number
RCP4W-SA7C-I-56P-16- 1 -P3- 2 - 3 RCP4W-SA7C-I-56P-8- 1 -P3- 2 - 3 Legend 1
1
Stroke
2
Cable length
3
Maximum horizontal payload (kg) Maximum Positioning Lead force repeatability Stroke (mm) Supported on Cantilever push(N) (mm) (mm) both ends 100 to 700 16 10 4.5 161.9 ±0.02 (in 50-mm 8 20 7 337.9 increments)
530
8
265 (unit: mm/s)
Stroke
2
Standard price -
See page P4 P4 P4 P4 P4 P4 P4 P4 P4
Cable length Type
Cable symbol
P (1m) S (3m) M (5m) X06 (6m) ~ X11 (11m) ~ X16 (16m) ~ R01 (1m) ~ R04 (4m) ~ R06 (6m) ~ R11 (11m) ~ R16 (16m) ~
Standard type Special length
Robot cable
Standard price -
X10 (10m) X15 (15m) X20 (20m) R03 (3m) R05 (5m) R10 (10m) R15 (15m) R20 (20m)
Actuator Specifications
Options
Name Option code A1 Cable exit from the left side face A3 Cable exit from the right side face AL Additional alumite coating GE Food grade grease (edible grease) NM Non-motor side specification HFL Ceiling mount (bracket mounted on the left) HFR Ceiling mount (bracket mounted on the right) TFL Wall mount sideways on the left TFR Wall mount sideways on the right
9
(in 50-mm increments)
16
Options
Stroke (mm) 100 150 200 250 300 350 400 450 500 550 600 650 700 3
Stroke 100 to 700
Lead
Standard price
-
Item Drive system Positioning repeatability Lost motion Static allowable Supported on both ends moment Cantilever Dynamic allowable Supported on both ends moment (*) Cantilever Overhang load Supported on both ends length Cantilever
Protective structure
Ambient operating temperature, humidity
-
Description Ball screw φ12 mm, rolled C10 ±0.02mm 0.1 mm or less Ma: 11.7N•m Mb: 16.6 N•m Mc: 31.8 N•m Ma: 5.8 N•m Mb: 8.3 N•m Mc: 15.9 N•m Ma: 6.1 N•m Mb: 8.8 N•m Mc: 16.8 N•m Ma:3.1 N•m Mb: 4.4 N•m Mc: 8.4 N•m 175 mm or less 105 mm or less IP65 (with air purge) 0 to 40°C, 85% RH or less (Non-condensing)
(*) Based on 5,000 km of traveling life
Overhang load lengths
Allowable load moment directions Ma
Mb
Mc
Ma
L
Mc L
Dimensional Drawings
Materials of Main Components
www.intelligentactuator.com
2D CAD
Surface treatment: Alumite coating
Extruded aluminum (A6063)
Surface treatment: Alumite coating (excluding machined areas)
3
Mounting bracket (front/rear)
Extruded aluminum (A6063)
Surface treatment: Alumite coating (excluding machined areas)
4
Side cover Motor cover Front cover Seal Actuator cable Air purge joint
Extruded aluminum (A6063)
Surface treatment: Alumite coating
Die-cast aluminum (ADC12)
Surface treatment: Alumite coating + Paint
Die-cast aluminum (ADC12)
Surface treatment: Alumite coating + Paint
5
*1 Connect the motor and encoder cables. *2 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. *3 Reference position for calculating moments. 22.5
Base Table
Extruded aluminum (A6063)
2
1
* See P11 for the dimensional drawing for the ceiling mount specification. See P12 for the dimensional drawing for the wall mount specification.
2-M3, depth 4
6 7 8 9
Polyvinyl chloride (PVC)
55
7.5
30
30
4-M3, depth 8 Cable joint connector *1
95
77
7.5 35
4-M5, depth8
(2m) 5
55 (reamed hole pitch ±0.02)
5
* High flex type cable
Polyphenylene sulfide (PPS)
* Alumite coating has been removed in the machined areas of the table 2 and mounting bracket 3 . To add alumite coating to these areas, specify the "Additional alumite coating (code: AL)" option. 2-φ5H7, depth 5
5
Urethane rubber (U)
5
CAD drawings can be downloaded from the website.
L A
Slider width: 95
45
10
5 ME
SE
70
Home
29 5
90
35 (reamed hole pitch ±0.02)
55
4-M5, depth 8 (same on the opposite side)
2-φ5H7, depth 5
D C B
2-φ3H7, depth 5 5 8-M3, depth 6
2-φ5.1, depth 5
15 30 15 35
Air supply port φ6 for air purge
(100 or more) 7.5
2-φ5H7, depth 5 (same on the opposite side)
35 20
5 12.5 22.5
35 7.5
Reference position for moment offset *3
Motor height: 72
27 (from the actuator mounting surface)
9.5
110
10 70 50 20 45
(17)
8-M5, through 8-φ5.5 hole
5
Cable exit from the left side face
5
53.0
Actuator height: 80.5 Slider height: 82
27.5
Bracket width: 92
Cable exit from the Cable exit from the left side face right side face
91
STROKE
100
100 (reamed hole pitch ±0.02)
52 (reamed hole pitch ±0.02)
Cable exit from the right side face
Correlation Diagram of Air Tube Length vs. Air Flow Rate
(17)
Note on Push-motion Operation
350
160
When performing push-motion operation, make sure the reactive moment generated by the push force does not exceed 80% of the dynamic allowable moment (Ma or Mb) specified in the catalog.
300
140 120 100
Pressure: 0.3 MPa
80 60
Pressure: 0.2 MPa
40 20 0
Push Force of RCP4W-SA7
400
180
Push force (N)
Air flow rate (NL/min)
200
Pressure: 0.1 MPa 0
5
10
15
20
250 200 150 100 50 0 10
25
In push-motion operation, the travel speed is fixed at 20 mm/s.
Lead8 Lead16
Air tube length (m)
20
30
40
50
60
70
80
Current-limiting value (%)
• The above correlation diagram assumes an air tube of 6 mm in outer diameter and 4 mm in inner diameter. (A joint of 6 mm in outer diameter is used on the actuator side.) • Use the correlation diagram as a reference to determine an appropriate pressure and air tube length in such a way that the air flow rate will become 40 NL/min or more (clean dry air).
Dimensions and Mass by Stroke Stroke L A B C D Mass (kg)
100 435 344 276.5 241.5 224 5.9
150 485 394 326.5 291.5 274 6.2
200 535 444 376.5 341.5 324 6.5
250 585 494 426.5 391.5 374 6.8
300 635 544 476.5 441.5 424 7.1
350 685 594 526.5 491.5 474 7.4
400 735 644 576.5 541.5 524 7.6
450 785 694 626.5 591.5 574 7.9
500 835 744 676.5 641.5 624 8.2
550 885 794 726.5 691.5 674 8.5
600 935 844 776.5 741.5 724 9.8
650 985 894 826.5 791.5 774 9.0
700 1035 944 876.5 841.5 824 9.3
Applicable Controller RCP4W series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Title
External view
Model number
Positioner type (NPN specification)
PCON-CA-56PI-NP- -0-
Positioner type (PNP specification)
PCON-CA-56PI-PN- -0-
Pulse-train type (NPN specification)
PCON-CA-56PI-PLN- -0-
Pulse-train type (PNP specification)
PCON-CA-56PI-PLP- -0-
Features Register positions to move the actuator into the controller beforehand, and specify the number corresponding to each desired position to operate the actuator. The actuator can be operated freely via pulse-train controller from an external output device.
(Note) These actuators cannot be operated with controllers other than the PCON-CA.
Maximum number of Input power Power supply capacity Standard Reference positioning points price page -
512 points DC24V —
Rated: 3.5 A
P13
Maximum: 4.2 A -
10
The dimensions shown assume that the ceiling mount option (code: HFR/HFL) is selected.
Dimensions of the Ceiling Mount Specification RCP4W-SA5C 7.5
35 25
7.5
85
(reamed hole pitch ±0.02)
70
55
85
2-φ4H7, depth 4 4-M4, depth 6
35
22.5 12.5 5
20 35
5
(reamed hole pitch ±0.02) 2-φ5H7, depth 5 B
2-φ5.1, depth 5
8-φ5.5 hole 8-M5, through
45
C D
50 70
20 10
(100mm or more to a bend in the cable)
L
Actuator mounting surface
A 50
25
Home
29 5 ME
90
Cable exit from the left
Cable exit from the right
63.5
(reamed hole pitch ±0.02)
1.5
STROKE SE
64
Depth 8 4-M4, depth 6 (same on the opposite side) 2-φ4H7, depth 4 (same on the opposite side)
Bracket Slider width: 70 7.5
25 7.5
7.5
30
2-M3, depth 6 30
30
(reamed hole pitch ±0.02)
Cable exit from the left
36
35
36
16
Air supply port φ6 for air purge
(17)
5 10 20 10 5 25
2-M3, depth6
30
35
16
6
10
5 ME
61
19
45
95
Slider height: 65
* The bracket is mounted on the right (code: HFR) in this drawing. When the bracket is mounted on the left (code: HFL), the positions of the mounting holes remain the same and the bracket on the side simply moves to the left.
8-M3, depth 6 2-φ3H7, depth 5
RCP4W-SA6C
2-φ5H7, depth 5 7.5
45
95
(reamed hole pitch ±0.02)
80
62
95
7.5 30
4-M5, depth 8
Dimensions and Mass by Stroke Stroke L A B C D Mass (kg)
100 385 324 256.5 221.5 204 2.8
150 435 374 306.5 271.5 254 2.9
200 485 424 356.5 321.5 304 3.1
250 535 474 406.5 371.5 354 3.2
300 585 524 456.5 421.5 404 3.4
350 635 574 506.5 471.5 454 3.5
400 685 624 556.5 521.5 504 3.7
450 735 674 606.5 571.5 554 3.8
500 785 724 656.5 621.5 604 4.0
* The bracket is mounted on the right (code: HFR) in this drawing. When the bracket is mounted on the left (code: HFL), the positions of the mounting holes remain the same and the bracket on the side simply moves to the left.
45
60
30
(reamed hole pitch ±0.02)
29 5 Home ME
(100mm or more to a bend in the cable)
61
90
30
2-M3, depth6
Air supply port φ6 for air purge
30 7.5
45
12.5 5
25
37
7.5
(17)
12.5 5
30
2-M3, depth 6 30
30
Cable exit from the left
40.5
40
40.5
16
(reamed hole pitch ±0.02)
16
4-M5, depth 8 (same on the opposite side) 2-φ5H7, depth 5 (same on the opposite side)
Bracket Slider width: 80 7.5
Cable exit from the right
Cable exit from the left
73.5
6
STROKE
20 10
L
A
8-φ5.5 hole 8-M5, through
45 50 70
73.5
45 10 5 ME SE
105
Slider height: 75
20 35
1.5
Actuator mounting surface
B C D
21.5
22.5 12.5 5
5
(reamed hole pitch ±0.02) 2-φ5H7, depth 5
2-φ5.1, depth 5
8-M3, depth 6 2-φ3H7, depth 5
RCP4W-SA7C
C D
70
29 5 Home ME
200 495 434 366.5 331.5 314 4.3
250 545 484 416.5 381.5 364 4.5
300 595 534 466.5 431.5 414 4.7
Stroke L A B C D Mass (kg)
400 695 634 566.5 531.5 514 5.1
450 745 684 616.5 581.5 564 5.3
500 795 734 666.5 631.5 614 5.5
550 845 784 716.5 681.5 664 5.8
600 895 834 766.5 731.5 714 6.0
350 645 584 516.5 481.5 464 4.9
* The bracket is mounted on the right (code: HFR) in this drawing. When the bracket is mounted on the left (code: HFL), the positions of the mounting holes remain the same and the bracket on the side simply moves to the left.
91
90
Cable exit from the left Cable exit from the right
Dimensions and Mass by Stroke 80.5
(reamed hole pitch ±0.02)
30
2-M3, depth6 52 (reamed hole pitch ±0.02)
35 55
7.5
5 15 30 15 5 35
(17) 2-M3, depth 6 30 30
16
4-M5, depth 8 (same on the opposite side) 7.5 2-φ5H7, depth 5 (same on the opposite side)
16
150 445 384 316.5 281.5 264 4.1
8-φ5.5 hole 8-M5, through (100mm or more to a bend in the cable)
20 10
8-M3, depth 6 2-φ3H7, depth 5
48
47.5
48
11
100 395 334 266.5 231.5 214 3.9
5 45
L
A
1.5
STROKE 35
50 70
86
6
Slider height: 82
86
20 35
Slider width: 95
7.5
Stroke L A B C D Mass (kg)
55
45 10 5 ME SE
120
110
(reamed hole pitch ±0.02)
21.5
Actuator mounting surface
7.5 35
95
77
110 22.5 12.5 5
55
(reamed hole pitch ±0.02) 2-φ5H7, depth 5 B
2-φ5.1, depth 5
Bracket
7.5
2-φ5H7, depth 5 4-M5, depth 8
Dimensions and Mass by Stroke
Air supply port φ6 for air purge Cable exit from the left
Stroke L A B C D Mass (kg)
100 435 344 276.5 241.5 224 5.9
150 485 394 326.5 291.5 274 6.2
200 535 444 376.5 341.5 324 6.5
250 585 494 426.5 391.5 374 6.8
300 635 544 476.5 441.5 424 7.1
350 685 594 526.5 491.5 474 7.4
Stroke L A B C D Mass (kg)
450 785 694 626.5 591.5 574 7.9
500 835 744 676.5 641.5 624 8.2
550 885 794 726.5 691.5 674 8.5
600 935 844 776.5 741.5 724 8.8
650 985 894 826.5 791.5 774 9.0
700 1035 944 876.5 841.5 824 9.3
400 735 644 576.5 541.5 524 7.6
The dimensions shown assume that the wall mount option (code: TFR/TFL) is selected.
Dimensions of the Wall Mount Specification RCP4W-SA5C
35 2-φ4H7, depth 4 (reamed hole pitch ±0.02) 4-M4, depth6 7.5 35 7.5 7.5 30 2-M3, depth 6 25
30
55
12
70
12
4 21.5
30
(100mm or more to a bend in the cable)
485 200
50
29 5
Home
90 ME
Cable exit from the left
2-M3, depth 6
7.5
9
25 (reamed hole pitch ±0.02)
7.5
10
61
42.5
20 35
45
30 45
5
20 10
5
4-M5, depth8 7.5
45 7.5 30
3.5 21
2-M3, depth 6
30
30
(100mm or more to a bend in the cable)
62
10
2-φ5H7, depth 5(same on the opposite side)
30
7.5
16 5 20 10
(17)
12.5 25 5 30
Cable exit from the left
30 30
Home
2-φ5.1, depth 5 (from the opposite side)
450 735 674 606.5 571.5 554 3.8
500 785 724 656.5 621.5 604 4.0
Dimensions and Mass by Stroke Stroke L A B C D Mass (kg)
100 395 334 266.5 231.5 214 3.9
150 445 384 316.5 281.5 264 4.1
200 495 434 366.5 331.5 314 4.3
250 545 484 416.5 381.5 364 4.5
300 595 534 466.5 431.5 414 4.7
Stroke L A B C D Mass (kg)
400 695 634 566.5 531.5 514 5.1
450 745 684 616.5 581.5 564 5.3
500 795 734 666.5 631.5 614 5.5
550 845 784 716.5 681.5 664 5.8
600 895 834 766.5 731.5 714 6.0
350 645 584 516.5 481.5 464 4.9
29 5
Wall-mounted on the left
90
2-M3, depth 6
ME
Cable exit from the left
Cable exit from the right
8.5 20 35
Dimensions and Mass by Stroke
7.5
35 55
7.5
B C D
70
2-φ3H7, depth 5 5 15 30 15 5 35 8-M3, depth 6
52 (reamed hole pitch ±0.02)
110 (reamed hole pitch ±0.02) 8-φ5.5 hole Air supply port 30 30 8-M5, through φ6 for air purge 2-φ5H7, depth 5 45 (same on the opposite side) 50 20 16 5
54.5
4-M5, depth 8 (same on the opposite side) 2-φ5H7, depth 5 (same on the opposite side)
25
30
400 685 624 556.5 521.5 504 3.7
95
70
35 (reamed hole pitch ±0.02)
(100mm or more to a bend in the cable)
110 5 16 7.5 22.5 12.5 5
350 635 574 506.5 471.5 454 3.5
* The actuator is mounted sideways on the right (code: TFR) in this drawing. When the actuator is mounted sideways on the left (code: TFL), the actuator mounting surface comes to the left side.
2-M3, depth 6
91
STROKE
2-M3, depth 6
300 585 524 456.5 421.5 404 3.4
Cable exit from the right
95 (reamed hole pitch ±0.02) Air supply port φ6 Wall-mounted 8-φ5.5 hole on the right 8-M5, through for air purge 2-φ5H7, depth 5 (same on the opposite side)
25
12.5 5
3.5 23.5
45 10 5 ME SE
30
L
10
8.5
30
45
55 2-φ5H7, depth 5 (reamed hole pitch ±0.02) 4-M5, depth8 7.5 55 7.5 30 35 2-M3, depth 6
29
120
7.5
50 70
A
Slider height: 80.5 10.5
30 45
C D
77
12
7.5
Actuator mounting surface
Cable exit from the left
2-M3, depth 6
B 20 35
250 535 474 406.5 371.5 354 3.2
Wall-mounted on the left
12
12.5 5
RCP4W-SA7C
Actuator: 89.5 Slider: 98.5
ME
44.5
2-M3, depth 6
200 485 424 356.5 321.5 304 3.1
90
95 5 16
4-M5, depth 8 (same on the opposite side)
37 (reamed hole pitch ±0.02)
11 51
29 5 8.5
Home
30 (reamed hole pitch ±0.02)
8.5
10.5 105
Slider height: 73.5
60
2-φ5H7, depth 5 8-M3, depth 6
6
150 435 374 306.5 271.5 254 2.9
* The actuator is mounted sideways on the right (code: TFR) in this drawing. When the actuator is mounted sideways on the left (code: TFL), the actuator mounting surface comes to the left side.
61
STROKE
22.5
Actuator mounting surface
100 385 324 256.5 221.5 204 2.8
2-M3, depth 6
A
21 2-φ5.1, depth 5 (from the opposite side) 7.5
Actuator: 74.5 Slider: 83.5
Stroke L A B C D Mass (kg)
Cable exit from the left
L
6
Dimensions and Mass by Stroke
(17)
2-φ5H7, depth 5
(reamed hole pitch ±0.02)
45 10 5 SE ME
Wall-mounted on the right
2-φ5H7, depth 5 (same on the opposite side)
80
30
12
7.5
85 (reamed hole pitch ±0.02) Air supply port φ6 8-φ5.5 hole 8-M5, through for air purge
24
30 (reamed hole pitch ±0.02)
30 50 70
5 10 20 10 25
2-φ3H7, depth 5 8-M3, depth 6
RCP4W-SA6C
25 35 7.5
12
30
4-M4, depth 6 (same on the opposite side) 2-M3, depth 6 2-φ5.1, depth 2-φ4H7, depth 4(same 5 (same on the on the opposite side) 7.5 opposite side) 356.5 321.5 304
16
16 5 7.5 22.5 12.5 5
Actuator mounting surface
11 43.5
Cable exit from the right
95 85
Slider height: 63.5 21.5
6 10 39 66.5 74
424
45 10 5 ME SE
* The actuator is mounted sideways on the right (code: TFR) in this drawing. When the actuator is mounted sideways on the left (code: TFL), the actuator mounting surface comes to the left side.
2-M3, depth 6
10
(17)
Cable exit from the left
Wall-mounted on the right
Stroke L A B C D Mass (kg)
100 435 344 276.5 241.5 224 5.9
150 485 394 326.5 291.5 274 6.2
200 535 444 376.5 341.5 324 6.5
250 585 494 426.5 391.5 374 6.8
300 635 544 476.5 441.5 424 7.1
350 685 594 526.5 491.5 474 7.4
Stroke L A B C D Mass (kg)
450 785 694 626.5 591.5 574 7.9
500 835 744 676.5 641.5 624 8.2
550 885 794 726.5 691.5 674 8.5
600 935 844 776.5 741.5 724 8.8
650 985 894 826.5 791.5 774 9.0
700 1035 944 876.5 841.5 824 9.3
400 735 644 576.5 541.5 524 7.6
12
Positioner / Pulse-train Type Controller with High-output Driver for RCP4W Refer to the RCP4 catalog for details on this controller.
* The RCP4W can be operated only with the PCON-CA.
List of Models
ROBO Cylinder Position Controller PowerCON 150
External view
Field network type Positioner Pulse-train type type
I/O type
DeviceNet CC-Link PROFIBUS-DP CompoNet MECHATROLINK EtherCAT EtherNet/IP connection connection connection connection connection connection connection specification specification specification specification specification specification specification
NP/PN
PLN/PLP
DV
CC
PR
CN
ML
EC
EP
Incremental specification
–
–
–
–
–
–
–
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with absolute battery Simple absolute with absolute battery unit specification No absolute battery
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Standard price
I/O type model number
Model Number
PCON
CA
Series
Type
CA
20P
Controller with high-output driver
20 frame pulse motor 20 frame pulse motor 20SP (RCP3-RA2A high-thrust type dedicated) 28P 28 frame pulse motor 28 frame pulse motor 28SP (RCP2-RA3C dedicated) 35P 35 frame pulse motor 42P 42 frame pulse motor 56P 56 frame pulse motor
13
0
I Motor type
I
NP PLN PN PLP DV CC PR CN ML EC EP
Encoder type
I/O type
Incremental
PIO (NPN) specification Pulse-train (NPN) specification PIO (PNP) specification Pulse-train (PNP) specification DeviceNet connection specification CC-Link connection specification PROFIBUS-DP connection specification CompoNet connection specification MECHATROLINK connection specification EtherCAT connection specification EtherNet/IP connection specification
I/O cable length
0
No cable
2
2m
3
3m
5
5m
Power supply voltage
*If a network connection specification (I/O typeDV, CC, PR, CN, ML, EC or EP) is selected, the I/O cable length becomes "0" (no cable).
0
Simple absolute Actuator mounting specification specification
DC24V
(Blank) Incremental specification Simple absolute specification AB (With absolute battery) Simple absolute specification ABU (With absolute battery unit) Simple absolute specification ABUN (No absolute battery)
(Blank) Screw fastening specification DN
DIN rail mounting specification
*The mounting specification for the absolute battery unit (screws mounting or DIN rail mounting) conforms to the mounting specification for the controller.
External Dimensions
(5)
104 from DIN rail center 35.4 104 from DIN (DIN width: 35mm) railrail center 35.4 (DIN rail width: 35mm) 72.2 72.2 66.2 66.2(6)
(6)
4
* The *above The above absolute absolute battery battery unit comes unit comes with the withcontroller. the controller.
30
DIN securing DIN securing tab tab 30 movingmoving width: width: 5mm 5mm
100 110
Absolute Absolute batterybattery
100 110
178.5 185
4
* The *above The above absolute absolute battery battery unit comes unit comes with the withcontroller. the controller.
5
93.3 93.3 77.6 77.6 8.5 8.5
35
5
5 15 30
35
(10)
5 15 30
5
Simple Simple absolute absolute specification specification WithWith absolute absolute battery battery unit unitDIN rail DINmounting rail mounting specification specification
(10)
73.5 73.5 66.2 66.2 (7.3) (7.3)
4
50 from DIN rail center 35.4 50 from DIN (DIN rail width: 35mm) rail center 35.4 (DIN rail width: 35mm)
ø5
35.4 (DIN rail width: 35mm)
ø5
104 from DIN rail center 104 from35.4 DIN (DIN width: 35mm) railrail center
84.8 84.8 69.1 69.1
178.5 185
5
(5)
5
178.5 185
4
* The *absolute The absolute battery battery is installed is installed on theon the left side leftwhen side when the the controller controller is viewed is viewed from the fromfront the side. front side.
122 130 122 130
170.5 178.5
ø5
104 from DIN rail center 10435.4 from DIN (DINrail railcenter width: 35mm) 35.4 (DIN rail width: 35mm)
Absolute Absolute batterybattery
170.5 178.5
5 ø35
93.3 93.3 77.6 77.6 8.5 8.5
35
178.5 185
35
Simple Simple absolute absolute specification specification WithWith absolute absolute battery battery unit unitScrewScrew fastening specification fastening specification 35
4
Simple Simple absolute absolute specification specification WithWith absolute absolute battery battery DIN rail DINmounting rail mounting specification specification
(5)
(58)5
(58)
84.8 84.8 69.1 69.1
ø5
170.5 178.5
Absolute Absolute battery battery * The *absolute The absolute battery battery is installed is installed on theon the left side leftwhen side when the the controller controller is viewed is viewed from the fromfront the side. front side.
35 ø5
170.5 178.5
35
4
178.5 185
fastening specification fastening specification Simple Simple absolute absolute specification specification WithWith absolute absolute battery battery ScrewScrew
(5)
5
93.3 93.3 77.6 77.6 8.5 8.5
35
(5)
170.5 178.5
5
35
178.5 185
ø5
DIN rail specification DINmounting rail mounting specification
Incremental specification Incremental specification
84.8 84.8 69.1 69.1
5 ø35
170.5 178.5
35
(5)
fastening specification ScrewScrew fastening specification
Incremental Incremental specification specification
Specification Table Item
Description
Number of controlled axes
1 axis
Power supply voltage Load RCP4W Motor type capacity Heat output Rush current (Note 2)
24VDC ± 10% 35P, 42P, 56P
Rated 3.5 A / maximum 4.2 A (Note 1)
RCP4W
8W 8.3A
Actuator cable length External interface
PIO specification
Data setting/input method Data retention memory Number of positions in positioner mode Input pulse Pulse-train interface
Command pulse magnification (electronic gear ratio: A/B) Feedback pulse output
LED display (installed on the front panel) Isolation resistance Incremental specification Mass (Note 4) Simple absolute specification (190g of battery weight included) Environment
20m max. Dedicated 24-VDC signal input/output (NPN or PNP selected) --- Up to 16 input points, up to 16 output points / Cable length: 10 m max. PC software, touch-panel teaching pendant, teaching pendant Position data and parameters are saved in the non-volatile memory (rewrite life: unlimited) Standard 64 points, maximum 512 points (PIO specification) Note) Positioning points vary depending on the selected PIO pattern. Differential method (line driver method): 200 kpps max. / Cable length: 10 m max. Open collector method: Not supported (Note 3) 1/50 < A/B < 50/1 Setting range of A and B (set by parameters): 1 to 4096 None SV (green)/ALM (red): Servo ON/alarm generation STS0 to 3: Status indication RDY (green)/ALM (red): Absolute function normal/absolute function abnormal (simple absolute specification) 1,0 (green) (red): Absolute function status indication (simple absolute specification) 500 VDC, 10 M Ω or more Screw fastening type: 250g or less DIN rail securing type: 285g or less Screw fastening type: 450g or less DIN rail securing type: 485g or less
Ambient operating temperature
0 to 40°C
Ambient operating humidity
85%RH or less (non-condensing)
Operating ambience
Not exposed to corrosive gases
(Note 1) The value increases by 0.3 A for the field network specification. (Note 2) After the power is turned on, rush current will flow for approx. 5msec (at 40°C). Take note that the rush current varies depending on the impedance of the power-supply line. (Note 3) If the host implements open collector output, use the separately sold AK-04 (optional) to convert the signals to differential output signals. (Note 4) The value increases by 30g for the field network specification.
14
CJ0189-2A-UST-2-0214
IAI America, Inc.
IAI Industrieroboter GmbH
Headquarters: 2690 W. 237th Street Torrance, CA 90505 (800) 736-1712 Chicago Office: 1261 Hamilton Parkway Itasca, IL 60143 (800) 944-0333 Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066 (888) 354-9470
Ober der Roth 4, D-65824 Schwalbach am Taunus, Germany
www.intelligentactuator.com
The information contained in this product brochure may change without prior notice due to product improvements.
