iai 07 rc general cj0203-2a p443-492 cleanroom

8/12/2019 IAI 07 RC General CJ0203-2A P443-492 Cleanroom

1/50443 Cleanroom Type

Cleanroom Type

ERC3CRRCP4CRRCP2CR

RCACRRCS3CRRCS2CR

Cleanroom Type

RCACR/RCS2CR-SA4C

RCS2CR-SA6C RCS3CR-SA8C

RCACR/RCS2CR-SA5D

RCACR/RCS2CR-SA5C

RCS2CR-SS7C RCS3CR-SS8C

ERC3CR-SA5C RCP4CR-SA5CERC3CR-SA7C RCP4CR-SA6C

RCP2CR-SS7CRCP4CR-SA7C RCP2CR-SS8C


2/50Cleanroom Type 444

Cleanroom Type

ERC3CRseries

Pulse MotorType

Slider Type 50mm Width ERC3CR-SA5C 445

73mm Width ERC3CR-SA7C 447

RCP4CRseries

Pulse MotorType

Slider Type, Coupled 52mm Width RCP4CR-SA5C 44958mm Width RCP4CR-SA6C 451

73mm Width RCP4CR-SA7C 453

RCP2CRseries

Pulse MotorType

Slider Type, Coupled Steel Base 60mm Width RCP2CR-SS7C 455

80mm Width RCP2CR-SS8C 457

High-Speed Type 80mm Width RCP2CR-HS8C 459

Gripper Type Mini Slider Type 42mm Width RCP2CR-GRSS 461

Mini Lever Type 42mm Width RCP2CR-GRLS 463

RCACRseries

24 ServoMotor Type

Slider Type, Coupled Aluminum Base 40mm Width RCACR-SA4C 465

52mm Width RCACR-SA5C 467

58mm Width RCACR-SA6C 469

Slider Type, Built-in Aluminum Base 52mm Width RCACR-SA5D 471

58mm Width RCACR-SA6D 473

RCS3CRseries

200V ServoMotor Type

Slider Type, Coupled Aluminum Base 80mm Width RCS3CR-SA8C 475

Steel Base 80mm Width RCS3CR-SS8C 477

RCS2CRseries

200V ServoMotor Type

Slider Type, Coupled Aluminum Base 40mm Width RCS2CR-SA4C 479

52mm Width RCS2CR-SA5C 481



Steel Base 60mm Width RCS2CR-SS7C 487

Slider Type, Built-in Aluminum Base 52mm Width RCS2CR-SA5D 489

58mm Width RCS2CR-SA6D 491


3/50445 ERC3CR-SA5C

ERC3CR ROBO Cylinder

ni

ni

ni

derype

od

ype

ble/m/ype

earrvoype

er/aryype

an-omype

sh-oofype

lse

tor

rvotor4V)

rvotor0V)

earrvotor

rd

rd

rd

rsed

rsed

Appendix

P.5

(1) If the high-output setting is enabled (factory default), the duty must be limited. (Refer to page A-95.) If thehigh-output setting is disabled, the payload and maximum speed become lower, but the actuator can be usedat a duty of 100%. Refer to the operation manual for information on how to change the high-output setting.

(2) Refer to page A-99 for the payload at each speed/acceleration when the high-output setting is enabled.

Speed vs. Load Capacity

Due to the characteristics of the pulse motor,the ERC3 series' load capacity decreases at highspeeds. In the table below, check if your desiredspeed and load capacity are supported.

(*) If the simple absolute specification is selected, the separately sold PIO converter of simpleabsolute specification (with battery) is required and the SIO type of ERC3 must be selected.

Options

Name Option code See page Standard price

Brake B A-42

Non-motor end specification NM A-52

Vacuum port on opposite side VR A-58

Simple absolute specification ABU A-42 (*)

200 400 600 800 1000 1200 14000

0

Speed (mm/s)

2

4

6

8

10

12

14

l

l

Lead 6Lead 6

Lead 12Lead 12Lead 20Lead 20

VerticalVerticalLead 3Lead 3

2.5

0.50.5

0.50.511

The value s below are b ased on op eration a t 0.3 G.

00 200 400

Speed (mm/s)600 800 1000 1200 1400

5

10

15

20

25

l

Payload

(kg)

Lead 3Lead 3

Lead 6Lead 6

Lead 12Lead 12

Lead 20Lead 20

HorizontalHorizontal

5

7

99

6.5

18

5.5

The values b elow are bas ed on ope ration at 0. 3 G.

High-output setting enabled (Factory default)

Actuator Specifications

Item Description

Drive system Ball screw, 10mm, rolled C10

Positioning repeatability (*1) 0.02mm [ 0.03mm]

Lost motion 0.1mm or less

Allowable static load moment Ma: 18.6 Nm, Mb: 26.6 Nm, Mc: 47.5 Nm

Allowable dynamic load moment (*2) Ma: 4.9 Nm, Mb: 6.8 Nm, Mc: 11.7 Nm

Overhang load length Ma direction: 150mm or less Mb/Mc directions: 150mm or less

Cleanliness Class 10 (0.1m)

Ambient operating temperature/humidity 0 to 40C, 85% RH max. (Non-condensing)

L

L

Ma MaMb Mc Mc

Overhang load lengthDirection of allowable load moment.

(*1) The specific ation in [ ] applies when the lead is 20mm.(*2) Based on 5,000 km of traveling life.

ERC3CR-SA5C Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 50mm,Pulse Motor, Controller-Integrated

42: Pulse motorI: Incremental specification

NP: PIO (NPN) typePN: PIO (PNP) typeSE: SIO typePLN: Pulse-train (NPN) typePLP: Pulse-train (PNP) type

N: NoneP: 1mS: 3mM: 5mX: Custom Length

Lead Stroke Cable lengthType

SA5CEncoder type

IMotor type

42PSeries

ERC3CRModelSpecificationItems

50: 50mm

800: 800mm(50mm pitchincrements)

* See page Pre- 47 for details on the model descriptions.

I/O type

See Options below.CN: CON typeMC: MEC type

Controller type

20: 20mm 12: 12mm 6: 6mm 3: 3mm

Options

Model number

Lead

(mm)

Maximum payload (Note 1) Stroke

(mm)Horizontal (kg) Vertical (kg)

ERC3CR-SA5C-I-42P-20- - - - 20 6.5 1

50~800(every 50mm)

ERC3CR-SA5C-I-42P-12- - - - 12 9 2.5

ERC3CR-SA5C-I-42P-6- - - - 6 18 6

ERC3CR-SA5C-I-42P-3- - - - 3 20 12

Code explanation Stroke I/O type Cable length Options (Unit: mm/s)

Lead and Payload (Note 1) Take caution that the maximum payload decreases as the speed increases. Stroke and Max. Speed/Suction Volume by Lead

Actuator Specifications (High-output Setting Enabled)

Stroke

Lead

50~450

(every 50mm)

500

(mm)

550

(mm)

600

(mm)

650

(mm)

700

(mm)

750

(mm)

800

(mm)

Suction amount

(N/min)

20 1120 1045 900 785 690 610 80

12 900 795 665 570 490 425 375 330 50

6 450 395 335 285 245 215 185 165 30

3 225 195 165 140 120 105 90 80 15

* The values of lead 3 apply when acceleration is at 0.1G.

Stroke

Stroke (mm) Standard price Stroke (mm) Standard price

50 450 100 500

150 550

200 600 250 650

300 700

350 750 400 800

Cable Length

Type Cable symbolStandard price

PIO type SIO type

Standard(Robot Cables)

P(1m) S(3m)

M(5m) Special length X06(6m) ~ X10(10m)

* See page 586 for cables for maintenance.


4/50ERC3CR-SA5C 446


Append ix

P.15CAD drawings can be downloadedfrom the website. www.intelligentactuator.com

39

5055.3

43.5

53.5

68.7

6 20 632

17.2

32.5

Opposite side

5

Detail Y

6.5

4.5

4.5

5

Detail view ofmounting hole

8

*4 Outer diameter of suction joint tube: 6

24

2050C100P

62AG7 126.9

26

B100P

Y

3

Stroke3

40(ra

ngeofrota

tion)

105.7L

90 34.2

32 43.2

ME

ME (*2)

Home

K

20

SE

190.02

30 43

15.5 9 15.5

26(4H7 pitch 0.02)

2-4,H7 depth 6 4-M4 depth 9

27.2

21

Teaching port

Cable jointconnector (*1)

148.2

The overall length of the brake specification is42.5mm longer than the standard specificationand its mass is 0.4 kg heavier.

External view of thebrake specification

105.742.5

Offset referenceposition formoments (*3)

4+0.0

12

0

Standard

Suction joint (*4)

H - Oblong hole penetrating through one wall(Maximum insertion depth 7 from the bottom of the base)

D-M4depth 9

J (Pitch between 4H7 and oblong hole)

F-4.5, through8 counterbored, depth 5.5(from the opposite side)

2 -4H7 penetrating through one wall (Maximuminsertion depth 7 from the bottom of the base)

Dimensional Drawings

2DCAD2D

CAD

I/O type

Controllers (Built into the Actuator)

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 Externalview Model number FeaturesMaximum number of

positioning pointsInputpower

Power-supplycapacity

Standardprice

Referencepage

PIO type (NPNspecification) ERC3CR-SA5C-I-42P---NP--

Simple control typeaccommodating up to16 positioning points

16 points

DC24V

High-outputsetting

enabled:3.5A rated4.2A max.

High-outputsetting

disabled:2.2A

P577

PIO type (PNP

specification) ERC3CR-SA5C-I-42P-

-

-PN-

-

I/O type supportinginputs/outputs of the

PNP specification oftenused overseas

16 points

SIO type ERC3CR-SA5C-I-42P---SE--

High-function typeaccommodating up to512 positioning points(PIO converter is used)

512 points

Pulse-train type(NPN

specification)ERC3CR-SA5C-I-42P---PLN--

Pulse-train input typesupporting the NPN

specification

Pulse-train type(PNP

specification)ERC3CR-SA5C-I-42P---PLP--

Pulse-train input typesupporting the PNP

specification

Stroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800L 299.9 349.9 399.9 449.9 499.9 549.9 599.9 649.9 699.9 749.9 799.9 849.9 899.9 949.9 999.9 1049.9A 73 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800B 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7C 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7D 4 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18F 4 4 6 6 6 8 10 10 12 12 14 14 16 16 18 18G 166 216 266 316 366 416 466 516 566 616 666 716 766 816 866 916

H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 194.2 244.2 294.2 344.2 394.2 442.2 494.2 544.2 594.2 644.2 694.2 744.2 794.2 844.2 894.2 944.2

Weight (kg) 1.6 1.8 2.0 2.1 2.3 2.5 2.6 2.8 3.0 3.1 3.3 3.5 3.6 3.8 4.0 4.1

Dimensions and Weight by Stroke

(*1) Connect the power & I/O cable. See page 586 for details on cables. SE: Stroke End ME: Mechanical End(*2) The slider moves to the ME during home return, so pay attention to possible contact with surrounding structures.(*3) Reference position is used when calculating the Ma and Mc moments.


5/50447 ERC3CR-SA7C

ni

ni

ni

derype

od

ype

ble/m/ype

earrvoype

er/aryype

an-omype

sh-oofype

lse

tor

rvotor4V)

rvotor0V)

earrvotor

rd

rd

rd

rsed

rsed


0 200 400 600 800 1000 1200 14000

Speed (mm/s)

51015202530

50454035

Payload

(kg)

l

Lead 8Lead 8

Lead 16Lead 16

Lead 24Lead 24

HorizontalHorizontalLead 4Lead 4

1818

44 4422

1717

The values b elow are ba sed on ope ration at 0. 3 G.

0 200 400 600 800 1000 1200 14000

Speed (mm/s)

5

10

15

20

25

l

Payload

(kg)

Lead 4Lead 4

Lead 8Lead 8

Lead 16Lead 16

Lead 24Lead 241 1

22

14

6

33.54.5

VerticalVertical

The values b elow are ba sed on ope ration at 0. 3 G.

High-output setting enabled (Factory default)

Appendix

P.5

ERC3CR-SA7C Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 73mm,Pulse Motor, Controller-Integrated

56: Pulse motorI: Incremental specification

NP: PIO (NPN) typePN: PIO (PNP) typeSE: SIO typePLN: Pulse-train (NPN) typePLP: Pulse-train (PNP) type


Lead Stroke Cable lengthType

SA7CEncoder type

IMotor type

56PSeries

ERC3CRModelSpecificationItems

50: 50mm


* See page Pre-47 for det ails on the model descriptions.

I/O type

See Options below.CN: CON typeMC: MEC type

Controller type

24: 24mm 16: 16mm 8: 8mm 4: 4mm

Options


Due to the characteristics of the pulse motor,the ERC3 series' load capacity decreases at highspeeds. In the table below, check if your desiredspeed and load capacity are supported.

(*) If the simple absolute specification is selected, the separately sold PIO converter of simpleabsolute specification (with battery) is required and the SIO type of ERC3 must be selected.

Options


Brake B A-42



Simple absolute specification ABU A-42 (*)

Model number

Lead

(mm)

Maximum payload (Note 1) Stroke

(mm)Horizontal (kg) Vertical (kg)

ERC3CR-SA7C-I-56P-24- - - - 24 17 3

50~800(every 50mm)

ERC3CR-SA7C-I-56P-16- - - - 16 35 6

ERC3CR-SA7C-I-56P-8- - - - 8 40 14

ERC3CR-SA7C-I-56P-4- - - - 4 45 22

Code explanation Stroke I/O type Cable length Options

(Unit: mm/s)Lead and Payload (Note 1) Take caution that the maximum payload decreases as the speed increases. Stroke and Max. Speed/Suction Volume by Lead

Actuator Specifications (High-output Setting Enabled)

Stroke

Lead

50~550

(everymm)

600

(mm)

650

(mm)

700

(mm)

750

(mm)

800

(mm)

Suction amount

(N/min)

24 1200 1155 1010 890 790 90

16980

865

750 655 580 515 70

8 490 430 375 325 290 255 40

4 210 185 160 145 125 30

* The values enclosed in < > apply to vertical settings.

Cable Length

Type Cable symbolStandard price

PIO type SIO type


P(1m) S(3m)

M(5m) Special length X06(6m) ~ X10(10m)

* See page 586 for cables for maintenance.

(1) If the high-output setting is enabled (factory def ault), the duty must be limited. (Refer to page A-95.) If thehigh-output setting is disabled, the payload and maximum speed become lower, but the actuator can be usedat a duty of 100%. Refer to the operation manual for information on how to change the high-output setting.

(2) Refer to page A-99 for the payload at each speed/acceleration when the high-output setting is enabled.

* The values of lead 8 and lead 4 applywhen acceleration is at 0.1G.


Item Description

Drive system Ball screw, 12mm, rolled C10

Positioning repeatability (*1) 0.02mm [ 0.03mm]

Lost motion 0.1mm or less

Allowable static load moment Ma: 50.4 Nm, Mb: 71.9 Nm, Mc: 138.0 Nm

Allowable dynamic load moment (*2) Ma: 13.9 Nm, Mb: 19.9 Nm, Mc: 38.3 Nm

Overhang load length Ma direction: 230mm or less Mb/Mc directions: 230mm or less


Ambient operating temperature/humidity 0 to 40C, 85% RH max. (Non-condensing)

L

L

Ma MaMb Mc Mc


(*1) Th e specificatio n in [ ] applies when the lead is 24mm.(*2) Based on 5,000 km of traveling life.

Stroke


50 450 100 500

150 550

200 600 250 650

300 700

350 750 400 800


6/50


7/50


8/50RCP4CR-SA5C 450

RCP4CR ROBO Cylinder

24

Y

X

5

4.5

8

3

4.5

Detail view of X

(Mounting hole and reference plane)

Reference plane

9 15.515.5

26

(Reamedhole

pitch

0.0

2)

19 0.02

30

4-M4, depth 92-4H7, depth 6 20

Allowable bending radius

of securing cable: R50


(13)

(28)

(300)

47 2.52.5

Joint mounting position: Opposite side

Joint mounting position: Standard

* Tube outer diameter: 6

3

22.5

26

Ground tap M3, depth 6(Same on opposite side)

21

33

ME(*2)

SE

Stroke

3

20

K

L

90

ME SE

(40)32

Joint turning range

62

2050C100P

A

G106 (without brake)146 (with brake)7

26

B100P

F-4.5, through8 counterbored, depth 4.5 (from opposite side)

2-4H7, depth 5.5(from bottom base)D-M4, depth 7

H-oblong hole, depth 5.5(from bottom base)

J (reamed hole and oblong hole pitch)

39

50

52

405

7.5

50

20 66

32

Reference offset positionfor Ma/Mc moments

5

4

0

+

0.0

12

Detail Y

(18.9)

CJB Cable:bottom

CJL Cable:left

Cable exit 4 direction(optional)

19

32

CJR Cable:right

CJT Cable: top

98 (without brake)138 (with brake)


2DCAD2D

CAD

CAD drawings can be downloadedfrom the website. www.intelligentactuator.com

Appendix

P.15

RCP4 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.

Applicable Controllers

* indicates I/O type (NP/PN). * indicates number of axes (1 to 8). * indicates field network specification symbol. *indicates N (NPN specification) or P (PNP specification) symbol.


positioning pointsInput

powerPower supply

capacityStandard

priceReference

page

Positioner typeHigh-output specification

PCON-CA-42PI- -2-0Equipped with a high-output driverPIO control supported

512 points

DC24V

Refer toP618

P607Pulse-train type

High-output specificationPCON-CA-42PI-PL-2-0

Equipped with a high-output driverPulse-train input supported

Field network typeHigh-output specification

PCON-CA-42PI- -0-0Equipped with a high-output driverField network supported

768 points

Solenoid valve multi-axis typePIO specification

MSEP-C- - ~- -2-0Positioner type based on PIO control, allowing up to 8 axesto be connected

3 pointsRefer to

P572 P563

Solenoid valve multi-axis typeNetwork specification

MSEP-C- - ~ - -0-0Field network-ready positioner type, allowing up to 8 axesto be connected

256 points

Dimensions and Weight by StrokeStroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

LWithout brake 279 329 379 429 479 529 579 629 679 729 779 829 879 929 979 1029With brake 319 369 419 469 519 569 619 669 719 769 819 869 919 969 1019 1069

A 73 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800B 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7C 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7D 4 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 166 216 266 316 366 416 466 516 566 616 666 716 766 816 866 916H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 181 231 281 331 381 431 481 531 581 631 681 731 781 831 881 931

Weight(kg)

Without brake 1.5 1.6 1.8 1.9 2.1 2.2 2.4 2.5 2.6 2.8 2.9 3.1 3.2 3.4 3.5 3.7

With brake 1.7 1.9 2.0 2.1 2.3 2.4 2.6 2.7 2.9 3.0 3.2 3.3 3.5 3.6 3.7 3.9

(*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


9/50451 RCP4CR-SA6C

ni

ni

ni

derype

od

ype

ble/m/ype

earrvoype

er/aryype

an-omype

sh-oofype

lse

tor

rvotor4V)

rvotor0V)

earrvotor

rd

rd

rd

rsed

rsed


RCP4CR-SA6C Horizontal, PCON-CA connected RCP4CR-SA6C Vertical, PCON-CA connected

RCP4CR-SA6C Horizontal, MSEP connected RCP4CR-SA6C Vertical, MSEP connected

Payload(

kg)

30

25

20

15

10

5

0

Payload(

kg)

14

12

10

8

6

4

2

0

Payload(

kg)

20

18

16

14

12

10

8

6

4

2

0

Payload(

kg)

12

10

8

6

4

2

0

5

0.5

19

15

8.5

13

4.5

2.5 Lead 12

Lead 12

Lead 12

Lead 12

Lead 20

Lead 20

1

Lead 3

Lead 3Lead 3

Lead 3

Lead 6

Lead 6

Lead 6

Lead 6

This graph assumes that theactuator is operated at 0.2 G.

Vertical


Horizontal

Horizontal

120010008006004002000Speed (mm/s)

120010008006004002000Speed (mm/s)

The values for leads 3/6/12 arebased on operation at 0.3 G.

The values for leads 3/6/12 arebased on operation at 0.3 G.

Vertical

Lead 20 (whenoperated at 0.5G)Lead 20 (when

operated at 0.5G)

Lead 20 (whenoperated at 0.3G)

0.5

2.56.59

18

12

0.5

5

11

16001400120010008006004002000Speed (mm/s)

1400120010008006004002000Speed (mm/s)

Operated by the PCON-CA

Operated by the MSEP-C

AppendixP.5

42P: Pulse motor,size 42

I: Incrementalspecification

P3: PCON-CAMSEP-C

N: NoneP: 1mS: 3mM: 5mX: Custom length

R: Robot cable

Lead Stroke Cable length OptionsType

SA6CEncoder type

IMotor type

42PApplicable controllerSeries

RCP4CRModelSpecificationItems

50: 50mm



See Options below.

RCP4CR-SA6C


20 : 20mm12 : 12mm 6 : 6mm 3 : 3mm

Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 58mm,

24-V Pulse Motor



Lead and Payload Stroke and Max. Speed/Suction Volume by Lead

Code explanation Stroke Cable length Options *See page A-71 for details on push motion.

(*) When operated at 0.2 G

The values in < > apply when the actuator is used vertically.

Lead(mm)

Connectedcontroller

50~450(every 50mm)

500(mm)

550(mm)

600(mm)

650(mm)

700(mm)

750(mm)

800(mm)

Suctionamount(N/min)

20 PCON-CA 1440 1230 1045 905 785 690 615 80MSEP-C 960 905 785 690 615

12PCON-CA 900 795 670 570 490 430 375 335

50MSEP-C 600 570 490 430 375 335

6PCON-CA 450 395 335 285 245 215 185 165

30MSEP-C 300 285 245 215 185 165

3PCON-CA 225 195 165 140 120 105 90 80

15MSEP-C 150 140 120 105 90 80

Model number Lead(mm)Connectedcontroller

Maximum payload Stroke(mm)Horizontal (kg) Vertical (kg)

RCP4CR-SA6C-I-42P-20- -P3 - - 20 PCON-CA 10 1

50~800(every50mm)

MSEP-C 6 0.5 (*)

RCP4CR-SA6C-I-42P-12- -P3- - 12PCON-CA 15 2.5

MSEP-C 8.5 2

RCP4CR-SA6C-I-42P-6- -P3- - 6PCON-CA 25 6

MSEP-C 15 5

RCP4CR-SA6C-I-42P-3- -P3 - - 3PCON-CA 25 12

MSEP-C 19 10

(*1) The value at lead 20 is shown in [ ]. (*2) Based on 5,000 km of traveling life.


Item Description

Drive system Ball screw, 10mm, rolled C10Positioning repeatability (*1) 0.02mm [0.03mm]Lost motion 0.1mm or lessBase Material: Aluminum with white alumite treatedAllowable dynamic moment (*2) Ma: 8.9 Nm, Mb: 12.7 Nm, Mc: 18.6 NmAllowable overhang 220mm or less in Ma, Mb and Mc direct ions

GreaseLow dust generation grease (urea grease) is used for bothball screws and guides.

Cleanness Class 10 (0.1m)Ambient operating temperature/humidity 0 to 40C, 85% RH or less (Non-condensing)

Options


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 Non-motor end specification NM A-52


Stroke


50 450

100 500 150 550

200 600

250 650 300 700

350 750 400 800

(1) The maximum payload is the value when operated at 0.3G (0.2G with somemodels) acceleration. The upper limit of acceleration is 1 G (*). Note that raising theacceleration causes the payload to drop.(*)The specific value varies depending on the connected controller andactuator lead. For details, refer to Selection References on page A-100, A-102.

(2) Take note that the maximum payload and maximum speed vary depending onthe controller connected to the RCP4. (Refer to the actuator specifications below.)

(3) See pa ge A-71 for details on push motion.

P3

(unit: mm/s)

Type Cable symbol Standard price

StandardP(1m) S(3m) M(5m)

Special lengthX06(6m) ~ X10(10m) X11(11m) ~ X15(15m) X16(16m) ~ X20(20m)

Robot Cable

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.

Cable Length


10/50RCP4CR-SA6C 452

Appendix

P.15


4.5

8

5

4.5

5

Detail view of X(Mounting hole and reference plane)

Reference plane

21 19.519.5

32 0.02

50

31

(Reamedhole

pitch0.0

2)

4-M5, depth 92-5H7, depth 6 20

Allowable bending radiusof securing cable: R50

Cable joint

connector (*1)

(13)

(28)

3

18

3

Stroke


K

L

22.5

28

18.5115

33

ME ME(*2)

SE SE

47 5.55.5

* Tube outer diameter: 6



(40)32

Joint turning range

H-oblong hole, depth 5.5(from bottom base)

40

56

58

435

359.5

23 88

39

18.9


X

31

7

B100P

F-4.5, through8 counterbored, depth 4.5 (from opposite side)

D-M5, depth 9

4

0+0.0

12

5

Detail YY

25

20

75A


G106 (without brake)146 (with brake)

E-4H7, depth 5.5(from bottom base)

C100P

(300)

CJB Cable:bottom

CJL Cable:left

Cable exit 4 direction(optional)

19

32

CJR Cable:right

CJT Cable: top



2DCAD2D

CAD







powerPower supply

capacityStandard

priceReference

page



512 points

DC24V

Refer toP618






768 points



3 pointsRefer to

P572 P563



256 points


Dimensions and Weight by StrokeStroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

LWit hout brake 299.5 349.5 399.5 449.5 499.5 549.5 599.5 649.5 699.5 749.5 799.5 849.5 899.5 949.5 999.5 1049.5With brake 339.5 389.5 439.5 489.5 539.5 589.5 639.5 689.5 739.5 789.5 839.5 889.5 939.5 989.5 1039.5 1089.5

A 0 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800B 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7C 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8D 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20E 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 186.5 236.5 286.5 336.5 386.5 436.5 486.5 536.5 586.5 636.5 686.5 736.5 786.5 836.5 886.5 936.5H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 201.5 251.5 301.5 351.5 401.5 451.5 501.5 551.5 601.5 651.5 701.5 751.5 801.5 851.5 901.5 951.5

Weight(kg)

Without brake 2.0 2.1 2.3 2.4 2.6 2.7 2.9 3.0 3.2 3.4 3.5 3.7 3.8 4.0 4.1 4.3

With brake 2.2 2.3 2.5 2.6 2.8 3.0 3.1 3.3 3.4 3.6 3.7 3.9 4.1 4.2 4.4 4.5


11/50453 RCP4CR-SA7C

ni

ni

ni

derype

od

ype

ble/m/ype

earrvoype

er/aryype

an-omype

sh-oofype

lse

tor

rvotor4V)

rvotor0V)

earrvotor

rd

rd

rd

rsed

rsed


RCP4CR-SA7C Horizontal, PCON-CA connected RCP4CR-SA7C Vertical, PCON-CA connected

RCP4CR-SA7C Horizontal, MSEP connected RCP4CR-SA7C Vertical, MSEP connected

The values below are basedon operation at 0.3 G.

The values below are basedon operation at 0.3 G.


Assuming that the actuator isoperated at 0.2 G for lead 4and at 0.3 G for other leads.

Horizontal

Vertical

Vertical

Lead 4 Lead 4

Lead 4Lead 4

Lead 8

Lead 8

Lead 8

Lead 8

Lead 16

Lead 16

Lead 16

Lead 16

Lead 24 Lead 24

Lead 24

Lead 24

15

5

1

1123

0.51.51.57

78

8

16

9

45.5

18

120010008006004002000Speed (mm/s)

6 00 7 00 8 00 9 005004003002001000Speed (mm/s)

1400120010008006004002000Speed (mm/s)

1400120010008006004002000Speed (mm/s)

Payload(

kg)

50

45

40

35

30

25

20

15

10

0

Payload(

kg)

45

40

35

30

25

20

15

10

0

Payload(

kg)

30

25

20

15

10

5

0

Payload(

kg)

16

14

12

10

8

6

4

2

0

Horizontal

Operated by the MSEP-C

Operated by the PCON-CA

Appendix

P.5

56P: Pulse motor,size 56


P3: PCON-CAMSEP-C


R: Robot cable


SA7CEncoder type

IMotor type



50: 50mm



See Options below.

RCP4CR-SA7C


24 : 24mm16 : 16mm 8 : 8mm 4 : 4mm


24-V Pulse Motor


(*1) The value at lead 24 is shown in [ ]. (*2) Based on 5,000 km of traveling life.


Item Description

Drive system Ball screw, 12mm, rolled C10Positioning repeatability (*1) 0.02mm [0.03mm]Lost motion 0.1mm or lessBase Material: Aluminum with white alumite treatedAllowable dynamic moment (*2) Ma: 13.9 Nm, Mb: 19.9 Nm, Mc: 38.3 NmAllowable overhang 230mm or less in Ma, Mb and Mc direct ions

GreaseLow dust generation grease (urea grease) is used for bothball screws and guides.

Cleanness Class 10 (0.1m)Ambient operating temperature/humidity 0 to 40C, 85% RH or less (Non-condensing)

Cable Length




Robot Cable

R01(1m) ~ R03(3m) R04(4m) ~ R05(5m) R06(6m) ~ R10(10m) R11(11m) ~ R15(15m) R16(16m) ~ R20(20m)


Options


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 Non-motor end specification NM A-52


Stroke


50 450

100 500 150 550

200 600

250 650 300 700

350 750 400 800

(1) The maximum payload is the value when operated at 0.3G (0.2G with somemodels) acceleration. The upper limit of acceleration is 1 G (*). Note that raising theacceleration causes the payload to drop.(*)The specific value varies depending on the connected controller andactuator lead. For details, refer to Selection References on page A-100, A-102.

(2) Take note that the maximum payload and maximum speed vary depending onthe controller connected to the RCP4. (Refer to the actuator specifications below.)

(3) See pa ge A-71 for details on push motion.

P3




(*) When operated at 0.2 G

The values in < > apply when the actuator is used vertically.

Lead(mm)

Connectedcontroller

50~450(every 50mm)

500(mm)

550(mm)

600(mm)

650(mm)

700(mm)

750(mm)

800(mm)

Suctionamount(N/min)

24 PCON-CA 1200 1155 1010 890 790 90MSEP-C 1000 890 790

16PCON-CA 980 865 750 655 580 515

70MSEP-C 560 515

8PCON-CA 490 430 375 325 290 255

40MSEP-C 280 255

4PCON-CA 245 215 185 160 145 125

30MSEP-C 140 125

Model number Lead(mm)Connectedcontroller

Maximum payload Stroke(mm)Horizontal (kg) Vertical (kg)

RCP4CR-SA7C-I-56P-24- -P3 - - 24 PCON-CA 20 3

50~800(every50mm)

MSEP-C 18 2 (*)


MSEP-C 35 5 (*)


MSEP-C 40 10 (*)

RCP4CR-SA7C-I-56P-4- -P3- - 4PCON-CA 45 25

MSEP-C 40 (*) 15 (*)

(unit: mm/s)


12/50RCP4CR-SA7C 454


CJB Cable:bottom

CJL Cable:left

Cable exit 4 direction

(optional)

19

32

CJR Cable:right

CJT Cable: top

40

Y

X

5.5

5.5

6

9.5

6

Detail view of X(Mounting hole and reference plane)

Reference plane20 20 20

32 0.02

50

39

(Reamedhole

pitch0.0

2)

4-M5, depth 102-5H7, depth 10 20

Allowable bending radiusof securing cable: R50

(300) (13)

(28)

61 66* Tube outer diameter: 8



3 3

Stroke20.5

32

21

K

L


21128

40.540

ME SE SEJoint turning range

F-6, through9.5 counterbored, depth 5.5 (from opposite side)

E-4H7, depth 6(from bottom base)

(46)

43

71

73

48

506

476

8 32 8

(25.5)


25.5

30

G

C100P


80A

10143.5 (without brake)193.5 (with brake)


B100P

D-M5, depth 9H-oblong hole, depth 5.5

(from bottom base)

4

0+0.0

12

5

Detail Y


ME(*2)


2DCAD2D

CAD


Appendix

P.15






powerPower supply

capacityStandard

priceReference

page



512 points

DC24V

Refer toP618






768 points



3 pointsRefer to

P572 P563



256 points

Dimensions and Mass by StrokeStroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

LWi th out b rak e 3 52 .5 10 2. 5 4 52 .5 5 02 .5 5 52 .5 6 02 .5 6 52. 5 7 02. 5 7 52 .5 80 2. 5 85 2. 5 9 02 .5 95 2. 5 1 00 2. 5 1 05 2. 5 1 10 2. 5Wit h brake 402.5 452.5 502.5 552.5 602.5 652.5 702.5 752.5 802.5 852.5 902.5 952.5 1002.5 1052.5 1102.5 1152.5

A 0 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800B 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7C 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8D 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20E 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 199 249 299 349 399 449 499 549 599 649 699 749 799 849 899 949H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 219.5 269.5 319.5 369.5 419.5 469.5 519.5 569.5 619.5 669.5 719.5 769.5 819.5 869.5 919.5 969.5

Weight(kg)

Without brake 3.4 3.6 3.8 4.1 4.3 4.6 4.8 5.1 5.3 5.6 5.8 6.0 6.3 6.5 6.8 7.0

With brake 3.9 4.1 4.3 4.6 4.8 5.1 5.3 5.6 5.8 6.1 6.3 6.5 6.8 7.0 7.3 7.5



13/50455 RCP2CR-SS7C

ni

ni

ni

derype

od

ype

ble/m/ype

earrvoype

er/aryype

an-omype

sh-oofype

lse

tor

rvotor4V)

rvotor0V)

earrvotor

rd

rd

rd

rsed

rsed


00 100 200 300 400 500 600 700

5

10

15

20

25

30

35

3

.

Speed (mm/s)

Loadc

apacity(Kg)

i

3mm Lead 6mm Lead

12mm Lead

Horizontal

0 100 200 300 400 500 600 7000

2

4

6

8

10

12

14

1 0.5

i

Speed (mm/s)

Loadc

apacity(Kg)

3mm Lead

6mm Lead

12mm Lead

l

Vertical

Appendix

P.5

(1) When the stroke increases, the maximum speed will drop to prevent the ball screw from reaching the criticalrotational speed. Use the actuator specification table below to check the maximum speed at the stroke you desire.

(2) Since the RCP2 series use the pulse motor, the load capacity decreases at high speeds. In the Speed vs. LoadCapacity graph on the right, see if your desired speed and load capacity are supported.

(3) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 3mm-lead model, or when usedvertically). This is the upper limit of the acceleration.

(4) See page A-71 for details on push motion.


Due to the characteristics of the pulse motor,the RCP2 series' load capacity decreases at highspeeds. In the table below, check if your desiredspeed and load capacity are supported.

Stroke

Stroke(mm)

Standard price

50/100 150/200 250/300

350/400

450/500 550/600


Item Description

Drive method Ball screw, 10mm, rolled C10Positioning repeatability 0.02mmLost motion 0.1mm or lessAllowable static moment Ma: 79.4 Nm, Mb: 79.4 Nm, Mc: 172.9 NmAllowable dynamic moment (*) Ma: 14.7 Nm, Mb: 14.7 Nm, Mc: 33.3 NmOverhang load length Ma direction: 300mm or less Mb/Mc directions: 300mm or lessGrease type Low dust generation grease (both ball screw and guide)Cleanliness Class 10 (0.1m)Ambient operating temperature/humidity 0 to 40C, 85% RH max. (Non-condensing)

(*) Based on 10,000km of traveling life.

L

L

Ma MaMb Mc Mc




Code explanation Stroke Applicable Controller Cable length Options *See page A-71 for details on push motion. (Unit: mm/s)

(Note 1) Please note that the maximum load ca pacity decreases as the speed increases.

Model numberLead(mm)

Max. Load Capacity (Note 1) Stroke(mm)Horizontal (kg) Vertical (kg)

RCP2CR-SS7C-I-42P-12- - - - 12 ~30 ~450~600

(every 50mm)RCP2CR-SS7C-I-42P-6- - - - 6 ~30 ~8

RCP2CR-SS7C-I-42P-3- - - - 3 ~30 ~12

Stroke 50~500(every 50mm)

~600(mm)

SuctionVolume (N/min)Lead

12 600 470 50

6 300 230 30

3 150 115 15

Cable Length




Robot Cable

R01(1m) ~ R03(3m) R04(4m) ~ R05(5m) R06(6m) ~ R10(10m)

R11(11m) ~ R15(15m) R16(16m) ~ R20(20m)


Options


Brake B A-42



12 : 12mm 6 : 6mm 3 : 3mm

RCP2CR-SS7C Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 60mm,Pulse Motor, Steel Base

42P: Pulse motor,42size

I: Incremental* The Simple absolute

encoder is alsoconsidered type "I".

P1: PCON-PL/PO/SEPSEL

P3: PCON-CA PMEC/PSEP

MSEP

N: NoneP: 1mS: 3mM: 5mX: Custom

R: Robot cable


SS7CEncoder type

IMotor type



50: 50mm


* See page Pre- 47 for details on the model descriptions.

See Options below.12: 12mm 6 : 6mm 3 : 3mm


14/50

Appendix

P.15


Secureat least 100

16

55

32

4-M5 depth 10

Symmetric(Optional)

Applicable tube OD: 8 (ID: 6)

(240)

(Reamerhole

tolerance0.0

2)

Cable joint

connector *1

Standard

(When 50st, 3-4H7 depth 6 from bottom of base)

4-4H7 depth 6 from bottom of base

D-M5 depth 8

15 90S (stroke) (126)

(L)

25

(A)

32

25.4

2-5H7 depth 105 5

320.02

60

40.6

ME SE ME *2Home

113

25

5 5

9

50

9

12

Details of section A

4.5

5560Reference

surface

Ma moment offsetreference position*3

1

27

1

60

57

55

41.56

0

(21)

36

A

18C M x 100P

Oblong hole, depth 6 from bottom of base

B (reamer hole pitch)

18

300+

0.0

12

4

5

Details of oblong hole

N x 100P

Dimensions of

the Brake Section

36.5

52

1

55

53

27

60

50 (reamer hole and oblong hole pitch)

100 (reamer hole pitch)(90 when 50st) 100 (reamer hole pitch)


2DCAD2D

CAD


RCP2CR-SS7C 456

Stroke 50 100 150 200 250 300 350 400 450 500 550 600L 351 401 451 501 551 601 651 701 751 801 851 901A 226 276 326 376 426 476 526 576 626 676 726 776B 0 40 90 140 190 240 290 340 390 440 490 540C 90 40 90 140 190 40 90 140 190 40 90 140D 6 8 8 8 8 12 12 12 12 16 16 16M 1 1 1 1 1 2 2 2 2 3 3 3N 0 1 1 1 1 2 2 2 2 3 3 3

Weight (kg) 3.3 3.6 3.9 4.2 4.6 4.9 5.3 5.6 6.0 6.3 6.6 6.9





Standardprice

Referencepage

Solenoid Valve Type

PMEC-C-42PI- -2- Easy-to-use controller, even for beginners

3 points

AC100VAC200V

Refer toP541

P537

PSEP-C-42PI- -2-0Simple controller operable with the samesignal as a solenoid valve

DC24V

Refer toP555

P547


MSEP-C- -~- -2-0Positioner type based on PIO control,allowing up to 8 axes to be connected Refer to

P572 P563


MSEP-C- -~- -0-0Field network-ready positioner type,allowing up to 8 axes to be connected

256 points


PCON-CA-42PI- -2-0Equipped with a high-output driverPositioner type based on PIO control

512 points

Refer toP618



Equipped with a high-output driverPulse-train input type

()


PCON-CA-42PI- -0-0Equipped with a high-output driverSupporting 7 major field networks

768 points

Pulse Train Input Type(Differential Line Driver)

PCON-PL-42PI- -2-0Pulse train input type with differential linedriver support

()Refer to

P628

P623Pulse Train Input Type

(Open Collector)PCON-PO-42PI- -2-0

Pulse train input type with open collectorsupport

Serial Communication Type PCON-SE-42PI-N-0-0 Dedicated Serial Communication 64 points

ProgramControl Type

PSEL-CS-1-42PI- -2-0Programmed operation is possible.Can operate up to 2 axes

1,500 pointsRefer to

P671 P665

* This is for the single-axis PSEL. * indicates I/O type (NP/PN). * indicates power supply voltage (1: 100V / 2: 100~240V).* indicates number of axes (1 to 8). * indicates field network specification symbol. *indicates N (NPN specification) or P (PNP specification) symbol.

RCP2CR series actuators can be operated with the controllers indicated below. Select the type a ccording to your intended application.


(*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 endThe dimensions enclosed in "( )" are reference dimensions.

(*3) Reference position for calculating the moment Ma.* For the non-motor end model, the dimensions(distance to home) on the motor-side and thaton the opposit side are flipped.

* The length L of a brake-equipped actuatoris longer than that of a standard model(see the table) by 24.5mm.


15/50457 RCP2CR-SS8C

ni

ni

ni

derype

od

ype

ble/m/ype

earrvoype

er/aryype

an-omype

sh-oofype

lse

tor

rvotor4V)

rvotor0V)

earrvotor

rd

rd

rd

rsed

rsed


00 100 200 300 400 500 600 700

10

20

30

40

50

60

70

...

8

55

4 5

Speed (mm/s)

Load

capacity(Kg) 5mm Lead

10mm Lead

20mm Lead

i

Horizontal

0 100 200 300 400 500 600 7000

5

10

15

20

25

30

35

0.50.50.5

12

i

Speed (mm/s)

Load

capacity(Kg)

5mm Lead

10mm Lead

20mm Lead

i l

Vertical



(3) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 5mm-lead model, or when usedvertically). This is the upper limit of the acceleration.




Stroke

Stroke(mm)

Standard price

50/100 150/200 250/300

350/400

450/500 550/600

650/700

750/800 850/900

950/1000


Item Description



L

L

Ma MaMb Mc Mc


RCP2CR-SS8C Cleanroom ROBO Cylinder, Slider Type, Coupled, Actuator Width 80mm,Pulse Motor, Steel Base






MSEP

N: NoneP: 1mS: 3mM: 5mX: Custom

R: Robot cable


SS8CEncoder type

IMotor type



50: 50mm



See Options below.20 : 20mm 10 : 10mm 5 : 5mm

Cable Length




Robot Cable

R01(1m) ~ R03(3m) R04(4m) ~ R05(5m) R06(6m) ~ R10(10m)

R11(11m) ~ R15(15m) R16(16m) ~ R20(20m)


Options


Brake B A-42





Code explanation Stroke Applicable Controller Cable length Options *See page A-71 for details on push motion.

(Unit: mm/s)(Note 1) Please note that the maximum load capa city decreases as the speed increases.



RCP2CR-SS8C-I-56P-20- - - - 20 ~40 ~550~1000

(every 50mm)RCP2CR-SS8C-I-56P-10- - - - 10 ~50 ~12

RCP2CR-SS8C-I-56P-5- - - - 5 ~55 ~20

Stroke 50~800(every50mm)

~900(mm)

~1000(mm)

SuctionVolume(N/min)Lead

20

666

625

515 80

10333

310

255 40

5165

155

125 20

*The values enclosed in < > apply to verti cal settings.

Appendix

P.5


16/50

Appendix

P.15


90

150.0215

7.57.54-M8 depth 102-8H7 depth 10

56

45

45

35

Reamerhole

tolerance0.0

2)

(5)(5)

138

68

14

30S (stroke)30

(A)

(170)

(L)

HomeSEME

11614

170

4575

17

Symmetric(Optional)

Standard

70

80

55

34

77

73

(24)A

48


F

4-5H7depth 6 from bottom of base

D-M8 depth 10

15 15

100 (reamer hole pitch)100 (reamer hole pitch) B (reamer hole pitch)Oblong hole,depth 6 from bottom of base

N x 100P N x 100P

50

0.5

70

59

34

80

43


5

17480Reference

surface 45

0+0.0

12 6

Details of oblong hole5

Secureat least 100


(240)Cable jointconnector *1

ME *2

Dimensions ofthe Brake Section



2DCAD2D

CAD


RCP2CR-SS8C 458

Stroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000L 435 485 535 585 635 685 735 785 835 885 935 985 1035 1085 1135 1185 1235 1285 1335 1385A 280 330 380 430 480 530 580 630 680 730 780 830 880 930 980 1030 1080 1130 1180 1230B 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000D 8 8 8 10 12 12 12 14 16 16 16 18 20 20 20 22 24 24 24 26F 50 100 150 0 50 100 150 0 50 100 150 0 50 100 150 0 50 100 150 0N 1 1 1 2 2 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6

Weight (kg) 7.0 7.5 8.0 8.5 9.0 9.6 10.1 10.6 11.2 11.7 12.3 12.7 13.3 13.8 14.4 14.9 15.4 15.9 16.5 17.0





Standardprice

Referencepage

Solenoid Valve Type


3 points

AC100VAC200V

Refer toP541

P537


DC24V

Refer toP555

P547



P572 P563



256 points



512 points

Refer toP618




()



768 points



()Refer to

P628





ProgramControl Type



P671 P665




(*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 moment Ma.* The length L of a brake-equipped actuator

is longer than that of a standard model(see the table) by 26mm.

* For the non-motor end model, the dimensions(distance to home) on the motor-side and thaton the opposit side are flipped.


17/50459 RCP2CR-HS8C

ni

ni

ni

derype

od

ype

ble/m/ype

earrvoype

er/aryype

an-omype

sh-oofype

lse

tor

rvotor4V)

rvotor0V)

earrvotor

rd

rd

rd

rsed

rsed


00 200 400 600 800 1000 1200 1400

5

10

15

20

25

30

35

12

12

.

.

.

.

Speed (mm/s)(* Minimum speed: 100mm/s)

Loadc

apacity(Kg)

i

Horizontal

Acceleration 0.3G

Acceleration 0.5G

l

0

0.5

1

1.5

2

2.5

3

3.5

0 200 400 600 800 1000 1200 1400

Speed (mm/s)(* Minimum speed: 100mm/s)

i

Loadc

apacity(Kg)

l

Vertical

l

l

Acceleration 0.2G(1) Due the large lead of the ball screw in high-speed actuators, operating at low speeds may cause vibration and/

or noise. Therefore, use the actuator at speeds over 100mm/s.



(4) The load capacity is based on operation at an acceleration of 0.3G (0.2G when used vertically). 0.5G (horizontal)and 0.3G (vertical) are the upper limits of the acceleration.




Stroke

Stroke(mm)

Standard price

50/100

150/200 250/300

350/400

450/500 550/600

650/700

750/800 850/900

950/1000


Item Description



L

L

Ma MaMb Mc Mc


Cable Length




Robot Cable

R01(1m) ~ R03(3m) R04(4m) ~ R05(5m) R06(6m) ~ R10(10m)

R11(11m) ~ R15(15m) R16(16m) ~ R20(20m)


Options


Brake B A-42






(Note 1) Please note that the maximum load capa city decreases as the speed increases.



RCP2CR-HS8C-I-86P- 30- -P4- - 30 ~20 ~350~1000

(every 50mm)

(Unit: mm/s)

Stroke 50~800(every50mm)

~900(mm)

~1000(mm)

SuctionVolume

(N/min)Lead

301200

1000

800

180

*The values enclosed in < > apply to vertical sett ings.

RCP2CR-HS8C Cleanroom ROBO Cylinder, High-Speed Slider Type, Coupled,Actuator Width 80mm, Pulse Motor, Steel Base

86P: Pulse motor,56highoutput

I: Incremental P4: PCON-CFA N: NoneP: 1mS: 3mM: 5mX: Custom length

R: Robot cable


HS8CEncoder type

IMotor type



50: 50mm



See Options below.30 : 30mm

30 P4

Appendix

P.5


18/50

Appendix

P.15


90

150.0215

7.57.54-M8 depth 102-8H7 depth 10

56

45

45

35

Reamerhole

t

olerance0.0

2)

(5)(5)

138

68

14

30S (stroke)30

(A)

(170)

(L)

HomeSEME

11614

170

4575

17

Symmetric(Optional)

Standard

70

80

55

34

77

73

(24)A

48


F

4-5H7depth 6 from bottom of base

D-M8 depth 10

15 15

100 (reamer hole pitch)100 (reamer hole pitch) B (reamer hole pitch)Oblong hole,depth 6 from bottom of base

N x 100P N x 100P

50

0.5

70

59

34

80

43


5

17480Reference

surface 45

0+0.0

12 6

Details of oblong hole5

Secureat least 100


(240)Cable jointconnector *1

ME *2

Dimensions of

the Brake Section



2DCAD2D

CAD


RCP2CR-HS8C 460

Stroke 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000L 435 485 535 585 635 685 735 785 835 885 935 985 1035 1085 1135 1185 1235 1285 1335 1385A 280 330 380 430 480 530 580 630 680 730 780 830 880 930 980 1030 1080 1130 1180 1230B 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000D 8 8 8 10 12 12 12 14 16 16 16 18 20 20 20 22 24 24 24 26F 50 100 150 0 50 100 150 0 50 100 150 0 50 100 150 0 50 100 150 0N 1 1 1 2 2 2 2 3 3 3 3 4 4 4 4 5 5 5 5 6

Weight (kg) 7.0 7.5 8.0 8.5 9.0 9.6 10.1 10.6 11.2 11.7 12.3 12.7 13.3 13.8 14.4 14.9 15.4 15.9 16.5 17.0


(*1) A Motor-encoder cable is connected 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 moment Ma.

* The length L of a brake-equipped actuatoris longer than that of a standard model(see the table) by 26mm; add 0.5kg to weight.

The controller for the RCP2CR-HS8C type is a dedicated controller.


* indicates I/O type.

Name External view Model number Features Maximum number ofpositioning pointsInputpower

Power supplycapacity

Standardprice

Referencepage

PositionerType

PCON-CFA-86PI- -2-0Positioning is

possiblefor up to 512 points

512 points DC24V 6A max. P607

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.

* For the non-motor end model, the dimensions(distance to home) on the motor-side and thaton the opposit side are flipped.


19/50461 RCP2CR-GRSS

ni

ni

ni

derype

od

ype

ble/m/ype

earrvoype

er/aryype

an-omype

sh-oofype

lse

tor

rvotor4V)

rvotor0V)

earrvotor

rd

rd

rd

rsed

rsed


Grippingforce(N)

Current Limit (% ratio)

00 10 20 30 40 50 60 70

2

4

6

8

10

12

14

16

L2

L1

Appendix

P.5

RCP2CR-GRSS

30: 1/30decelerationratio






MSEP


Deceleration Ratio Stroke Cable length OptionsType

GRSSEncoder type

IMotor type



8: 8mm(4mm per side)


See Options below.

30 8

Cleanroom ROBO Cylinder, 2-Finger Gripper, Mini Slider Type,

Actuator Width 42mm, Pulse Motor

Gripping Force vs. Current Limit

The gripping (pushing) for ce can be adjusted fre elywithin the range of current limits of 20% to 70%.

* Operate with the L1 distance up to 40mm.

* The gripping force value in the graph below is when bothL1 and L2 are at 0 mm. (For gripping force reference per L1distance, see page A-87.)The gripping force value is the sum of gripping forces ofboth fingers.

* The gripping force graph above shows the number of references.Please allow margins up to 15%.

* Please note that, when gripping (pushing), the speed is fixed at5mm/s.

Options


Non-motor end specification NM A-52 Flange bracket FB A-43

Shaft bracket SB A-55

Code explanation Compatible Controller Cable length Options (Unit: mm/s)


Lead and Payload Stroke and Max. Speed/Suction Volume

Code explanation Applicable Controller Cable length Options (Unit: mm/s)

Stroke 8(mm)

Suction Volume(N/min)

Deceleration ratio

30 78 10

Model numberDeceleration

RatioMaximum Gripping

Force (N)

Stroke(mm)

RCP2CR-GRSS-I-20P-30-8- - - 3014

(7 per side)8

(4 per side)

Stroke

Stroke(mm) Standard price

8


Item Description

Drive System Worm gear + helical gear + helical rack

Positioning repeatability 0.01mm

Backlash 0.2mm or less per side (co nstantly pressed out by a spring)

Lost motion 0.05mm or less per side

Guide Linear guide

Al lowab le stat ic load mo ment Ma: 0.5 Nm , M b: 0. 5 N m, M c: 1.5 N m

Weight 0.2kg


Ambient operating temperature, humidity 0 to 40C, 85% RH or less (Non-condensing)

(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speedis twice this value.

(2) The maximum gripping force is the sum of the gripping forces of both fi ngers, at a gripping point where thereis no offset or overhang distance. The work piece weight that can be actually moved depends on the frictioncoefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a roughguide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.)

(3) The rated acceleration while moving is 0.3G.

Cable Length



P(1m) S(3m) M(5m)

Special length

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.


20/50

Appendix

P.15


11

00.0

5

94

MAX22

MIN14

46

Air intake port (applicable tube outer diameter 4)

36

5

4

2x2-M3(same for opposite side)

Secureatleast100

34

4

(same for opposite side)

30

9

17

8.5

4 8-M3 depth 5(same for opposite side)

42

61.5

35


33

17

8.5

4

24

2.5 6 57.5

17

4-M3 depth 5

+0.030 depth 32-3

+0.030 depth 33

+0.030 depth 33

+0.050 depth 33

4-M3 depth 5

+0.050 depth 33

+0.050 depth 32-3

Cable joint

connector*1


2DCAD2D

CAD


RCP2CR-GRSS 462




Standardprice

Referencepage

Solenoid Valve Type


3 points

AC100VAC200V

Refer toP541

P537


DC24V

Refer toP555

P547



P572 P563



256 points



512 points

Refer toP618




()



768 points



()Refer to

P628





ProgramControl Type



P671 P665




* The opening side of the slider is the home position.(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.

Weight (kg) 0.2


21/50463 RCP2CR-GRLS

ni

ni

ni

derype

od

ype

ble/m/ype

earrvoype

er/aryype

an-omype

sh-oofype

lse

tor

rvotor4V)

rvotor0V)

earrvotor

rd

rd

rd

rsed

rsed


Gripping

force(N)

Current Limit (% ratio)

00 10 20 30 40 50 60 70

1

2

3

4

5

6

7

L

Appendix

P.5


Lead and Payload Deceleration Ratio and Max. Speed

Code explanation Applicable Controller Cable length Options (Unit: degrees/s)

Stroke 180(deg)

Deceleration ratio

30 600

Model numberDeceleration

RatioMaximum Gripping

Force (N)

Stroke(deg)

RCP2CR-GRLS-I-20P-30-180- - - 306.4

(3.2 per side)180

(90 per side)

RCP2CR-GRLS

30: 1/30decelerationratio






MSEP


Deceleration Ratio Stroke Cable length OptionsType

GRLSEncoder type

IMotor type



180: 180degrees

(90 degreesper side)


See Options below.

30 180

Cleanroom ROBO Cylinder, 2-Finger Gripper, Mini Lever Type,

Actuator Width 42mm, Pulse Motor

Gripping Force vs. Current Limit

The gripping (pushing) force c an be adjusted fre elywithin the range of current limits of 20% to 70%.

* The gripping force graph above shows the number of references.Please allow margins up to 15%.

* Please note that, when gripping (pushing), the speed is fixed at5 deg/s.

Cable Length



P(1m) S(3m) M(5m)

Special length

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.

Options


Non-motor end specification NM A-52 Flange bracket FB A-43

Shaft bracket SB A-55

(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speedis twice this value.

(2) The maximum gripping force is the sum of the gripping forces of both fi ngers, at a gripping point where thereis no offset or overhang distance. The work piece weight that can be actually moved depends on the frictioncoefficient between the gripper fingers and the work piece, as well as on the shape of the work piece. As a roughguide, a work piece's weight should not exceed 1/10 to 1/20 of the gripping force. (See page A-86 for details.)

(3) The rated acceleration while moving is 0.3G.

* The gripping force of the graphbelow is measured on the topface of the lever. The actualgripping force drops in inverseproportion to the distance fromthe opening/closing fulcrum.Calculate the effective grippingforce using the formula below.

Effective gripping force (GRLS ) = F x 15.5/ (L + 15.5)

* In the graph below, the gripping force value is the sum ofgripping forces of both fingers.

Stroke

Stroke(deg)

Standard price

180

Item Description

Drive System Worm gear + helical gear

Positioning repeatability 0.01mm

Backlash 1 degree or less per side (constantly pressed out by a spring)

Lost motion 0.1mm or less per side

Guide

Allowable static load moment

Weight 0.2kg

Ambient operating temperature, humidity 0 to 40C, 85% RH or less (Non-condensing)



22/50


4

42


45

24

4-M4 through

Air intake port (applicable tube outer diameter 4)

15.5

MAX180

MIN0

9

1800.0

5


4-M3 depth 5

49

8-M3 depth 5(same for opposite side)

18

9

36

55

Secureatleast100

73

34

4

17

8.5

4

67.5

9

35

+0.030 depth 32-3

+0.030 depth 2.52-4 +0.030 depth 33

+0.050 depth 33

+0.050 depth 32-3

Cable joint

connector*1


2DCAD2D

CAD


Appendix

P.15

RCP2CR-GRLS 464




Standardprice

Referencepage

Solenoid Valve Type


3 points

AC100VAC200V

Refer toP541

P537


DC24V

Refer toP555

P547



P572 P563



256 points



512 points

Refer toP618




()



768 points



()Refer to

P628





ProgramControl Type



P671 P665


RCP2CR series actuators can be operated with the controllers indicated below. Select the type according to your intended application.


* The opening side of the slider is the home position.(*1) Connect the motor-encoder integrated cable here. See page A-59 for details on cables.

Weight (kg) 0.2


23/50465 RCACR-SA4C

RCACR ROBO Cylinder

ni

ni

ni

derype

od

ype

ble/m/ype

earrvoype

er/aryype

an-omype

sh-oofype

lse

tor

rvotor4V)

rvotor0V)

earrvotor

rd

rd

rd

rsed

rsed

A

Appendix

P.5

Options


Brake B A-42 Foot bracket FT A-48

Home sensor HS A-50 Power-saving LA A-52


Slider spacer SS A-55 Vacuum port on opposite side VR A-58


L

L

Ma MaMb Mc Mc

Directions of Allowable Load MomentOverhang Load Length

Item Description

Drive System Ball screw, 8mm, rolled C10Positioning repeatability 0.02mmLost Motion 0.1mm or lessBase Material: Aluminum, white alumite treatedAllowable static moment Ma: 6.9 Nm, Mb: 9.9 Nm, Mc: 17.0 NmA ll owab le dy na mic mom en t (*) M a: 2.7 N m, Mb: 3. 9 N m, Mc : 6 .8 N mAllowable overhang 120mm or less in Ma, Mb and Mc directionsGrease Type Low dust generation grease (both ball screw and guide)Cleanliness Class 10 (0.1m)Ambient operating temperature, humidity 0 to 40C, 85% RH or less (Non-condensing)

(*) Based on 5,000km of traveling life

(1) When the stroke increases, the maximum will drop to prevent the ball screw from reachingthe critical rotational speed. Use the actuator specification table below to check themaximum 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-leadmodel). These values are the upper limits for the acceleration.

(3) See page A-71 for detail s on push motion.

Cable Length




Robot Cable

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.

Encoder type/Stroke

Stroke (mm)

Standard price

Encoder TypeIncremental Absolute

I A50

100 150 200 250 300 350

400

Lead and Payload


Stroke and Max. Speed/Suction Volume by Lead

(Unit: mm/s)Code explanation Encoder Stroke Applicable Controller Cable length Options *See page A-71 for details on push motion.

Model numberMotor

output (W)Lead(mm)

Max. Load Capacity Ratedthrust (N)

Stroke(mm)Horizontal (kg) Vertical (kg)

RCACR-SA4C- -20-10- - - -

20

10 4 1 19.6

50~400(every 50mm)

RCACR-SA4C- -20-5- - - - 5 6 2.5 39.2

RCACR-SA4C- -20-2.5- - - - 2.5 8 4.5 78.4

Stroke 50~400(every 50mm)

Suction Volume(N/min)Lead

10 665 50

5 330 30

2.5 165 15

*This product is equipped with a p osition adjusting screw at theA area shown above. (See dimensional drawing on the page to the right.)

RCACR-SA4C

20: 20W Servomotor


SA4CEncoder type Motor type

20Applicable controllerSeries

RCACRModelSpecificationItems

50: 50mm


* See page Pre-47 for de tails on the model descriptions.

A1: ACONASEL

A3: AMECASEP

MSEP


R: Robot cable

10 : 10mm5 : 5mm

2.5 : 2.5mm

See Options below.I: IncrementalA: Absolute* Absolute encoder models can

only use ASEL. When the actuatoris used with the simple absoluteencoder, the model is considered

an incremental model.


24V Servo Motor, Aluminum Base


24/50

RCACR ROBO Cylinder

Appendix

P.15

slot 8 hole

4-3.6

6.5 counterbore,

Depth 3.7 (for mounting actuator) *4

Details of the slotted areafor adjusting slider position

21

2-3H7 depth 5

11.810.2

32

Base end-face Applicable tube OD: 6

11.8 (240)M

MotorsectionH:45

Motor section W: 46

Base end-face

Base end-face50 (when stroke is 50)U100P (All strokes except 50)

3.2

(40)

(37)

4

+0.0

10

Details of section A(Actuator's reference side)

N (3 hole pitch)

P (pitch for 3 hole and oblong hole) 2-3H7 depth 5 from the bottom of the basem-M3 depth 5

Oblong hole,depth 5 from the bottom of the base

36

SEME

24 st 68

4-M3 depth 7

0

3

Sliderheight:40

240.02

9

Base end-faceLMa moment

offset referenceposition *3

3

13.8

1

16

ME*2Home15.218.2

32515

11.850

A Bottom of the base

33

Actuator width: 40

37

5

1

32

22.5

Base end-face

31.2

21

11.8 R

20

Ream

erhole

toleran

ce0.0

2)

Secure at least 100

Cable jointconnector *1

Symmetric(Optional)Standard

Incremental 108.2 (147.2 if brake-equipped)Absolute 123.2 (162.2 if brake-equipped)

Details ofoblong hole

Referencesurface


2DCAD2D

CAD


RCACR-SA4C 466

RCACR series actuators can be operated with the controllers indicated below. Select the type according to your intended application.





Standardprice

Referencepage

Solenoid Valve Type

AMEC-C-20I - -2-1Easy-to-use controller, even forbeginners

3 points

AC100V 2.4A rated P537

ASEP-C-20I - -2-0Simple controller operable with thesame signal as a solenoid valve

DC24V

(Standard)1.3A rated4.4A max.

(Power-saving)1.3A rated2.5A max.

P547


MSEP-C- -~- -2-0Positioner type based on PIO control,allowing up to 8 axes to be connected

P563Solenoid valve multi-axis type

Network specificationMSEP-C- -~- -0-0

Field network-ready positioner type,allowing up to 8 axes to be connected

256 points

Positioner type ACON-C-20I - -2-0 Positioning is possible for up to 512points

512 poi

iai 07 rc general cj0203-2a p443-492 cleanroom

Documents