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The all-new RCP2 ROBO Cylinders provide higher accuracy,higher rigidity and a new level of user-friendliness.
The ROBO Cylinder is a motorized cylinder equipped with a ball screw, linear guide and closed-loopstepper motor.It provides a degree of performance, rigidity and functionality that places it among the top in theindustry, and adopts a universal design that ensures effortless operation for everyone.The new ROBO Cylinder achieves enhanced ease of use by incorporating characteristics such asquiet operation, superior maintainability and multi-point positioning, which covers up to 64 points.Use the new ROBO Cylinder to improve the efficiency of your multiple-type, small-volume productionor solve various issues associated with your production line.
Save up to 67% in operating costs over air cylinders!Think air cylinders are inexpensive? Consider the amount of electricity required to run the compressors thatdrive the air cylinders. Because the ROBO Cylinder is an electric actuator, relative power consumption isroughly 1/3 compared to that needed to operate air cylinders. Reduced electrical consumption not onlyreduces operating costs, but also contributes to global energy conservation and that's good for everyone!
Space-saving designApprox.
half the volume
Complex controls Multiple-type production
Caulking of capsInspection device forautomotive-parts screws
Complex movements can be performed swiftly,thanks to 64-point positioning (maximum).
The new controller achieves multi-point positioningcovering up to 64 points, thus enabling morecomplex movement. Additionally, speed change isnow possible while the slider/rod is moving.
A significantly compact controller savesinstallation space for the control panel.
The new, slim controller is W35 x H163 x D68.1(mm), which is approximately half that of a conventional type (RCP-C) in volume. Thecompact body saves installation space.
The 73mm-wide slider model offers a largerload capacity.
A new model with a 73mm-wide aluminumbase has been added to the slider lineup. Thismodel nearly triples the load capacity of thewidest conventional model (58mm).
Tripleload capacity
The 35mm ultrathin head contributes to size reduction in your equipment. The new rod type with an ultrathin head (35mm square) helps you make the most of limited space and reduces the overall size of your mechanical equipment.
2
Application R ais ing/lowering of a s tocker, pallet transfer, etc.
T he R OB O C ylinder performs pos itioning based on coordinates specified with respect to origin, or travels an arbitrary distance relative to the current pos ition.
R ais ing/lowering a s tocker F eeding the work in a marking process
No.
1
2
(mm)
100
25
(mm/sec)
300
300
(G)
0.3
0.3
(%)
0
0
(mm)
0.1
0.1
(0or1)
0
0A “=” is indicated during Incremental Move mode.
=
P os itioning Operation
Used for opening/clos ing of a door
Application T ransferring or moving work, etc.
Used for pick & place applications
P os ition-Data T able(S et by the teaching pendant or P C software)
No.
1
2
P osition
100
200
S peed
100
200
0.3
0.3
0
0
P ositioning width
10
20
Acceleration only MAX
0
0
P osition 1 P os ition 2
lj k m
Input of pos ition 1 Input of s tart s ignal (S tart of movement)
C ompletion of movement
pn o q
P osition number P os ition 0C oordinate 0
P os ition 1C oordinate 100
P osition 2C oordinate 25
100 25 25 25 25
300mm/sec
j lk
m
j
k
C ompletion of movement to pos ition
1 (100mm position)
lInput of pos ition 2
Input of s tart s ignal25mm
(P itch F eed mode)
m
F eatures Multi-point pos itioning covering a maximum of 64 points
S peed and acceleration/deceleration rates can be set for each pos ition.
A pos itioning-completion s ignal can be output at an arbitrary pos ition before a specified pos ition s imply by setting an appropriate pos itioning width.
Acceleration and deceleration rates can be set separately.
S peed can be changed during movement without s topping.
200mm/sec
100mm/sec
S tationary
T ime
S peed
Accelerating Accelerating
j l n pk m o q
Example of
operation
Decelerating Decelerating
Output of pos itioning-completion s ignal
Input of pos ition 2 Input of s tart s ignal (S tart of movement)
C ompletion of movement
Output of pos itioning-completion s ignal
Acceleration/deceleration P ush motion
Inc remental Moves Operation pattern 2
F eatures P os itioning to 64 points or more at a constant pitch is enabled by specifying repeated travel. (Movement can be initiated for as many times as poss ible within the stroke range.)
T he des ired pitch is eas ily specified us ing the pos ition-data table.
P os ition-Data T able (S et by the teaching pendant or P C software)
P os ition S peed P ositioning width Acceleration only MAX
Acceleration/deceleration P ush motion
Movement by 25mm is repeated
each time pos ition 2 is specified and the start s ignal
is input
S tationary
T ime
S peed
Example of
operation
Input of pos ition 1Input of s tart s ignal(P os itioning mode)
(mm) (mm/sec) (G ) (%) (mm) (0or1)
T he R OB O C ylinder moves the load installed on the axis s lider or rod and performs pos itioning with a repeatability of 0.02mm.
F u n c t io n E x pla n a t io n o f t h e R O B O C y l in de r S e r ie s
Operation pattern 1
3
Application Detection, press-fitting or clamping of work, etc.
P aus e Input
T he ac c eleration and dec eleration rates c an be s et s eparately.
T he acceleration and deceleration rates of the R OB O C ylinder are set us ing the pos ition-data table. Normally the R OB O C ylinder accelerates/decelerates at the specified rate, but setting"1" under "Acceleration only MAX" enables quick acceleration and gradual deceleration.
* If "Acceleration only MAX" is set to "0" the setting under "Acceleration/deceleration" will apply to both acceleration and deceleration.
No mic ro-vibration at s top (R C P S eries )
Zone Output A signal is output when the s lider enters the specified range.
P us h & Hold OperationWith the R OB O C ylinder the rod can be maintained in a condition where it is continually pressed against the work, etc., just like an air cylinder.
P ress ing the rod against the work
C onventional AC servo R OB O C ylinder
Medium-speedtype
Low-speed type
Affixing a work
No.
1
(mm)
100
(mm/sec)
300
(G )
0.3
(%)
50
(mm)
50
(0 or1)
0
No.
1
2
300 100 0.3
0.3
0 0.1 1
0
C urrent-limiting value (R MA type)
Pus
h fo
rce
in s
tatio
nary
sta
te (
N)
10% 20% 30% 40% 50% 60% 70%
C a u t io n
Command speed
Maximum acceleration by load31. Decelerates at the value set under メAcceleration/deceleration.
T he accuracy of push force is not guaranteed in the stationary s tate. T he above figure is provided only as a reference. C aution should be exercised, because if the push force is too small, push-motion operation may not be performed properly due to s lide res is tance, etc.
T here is no micro-vibration, which is experienced by conventional servo motors in the action of s topping. T his makes the R OB O C ylinder ideal for measurement in tandem with an attached camera, etc.
Y ou can set an interlock (interference prevention) with peripheral equipment to cause the s lider to decelerate and stop the moment the pause input turns OF F . When the pause input turns ON, the operation will res ume to complete the remaining movements . F or s afety reasons , this s ignal uses contact B logic (the s lider operates when the s ignal turns OF F ).
A s ignal can be output at arbitrary pos itions during movement (the range of pos itions being set by parameter), so the R OB O C ylinder can be used to set a danger area, shorten the tact time, etc.
Hunting
F eatures A pos itioning-completion s ignal is output the moment the rod contacts the work, so the R OB O C ylinder can be used for the screening of work, etc., by combining a pos itioning-completion s ignal with zone s ignals .
T he force to push the work (push force) can be changed over a range from several N to a maximum of 800N by changing the setting in the pos ition-data table.
* If the work is s till not contacted at the end of the pos itioning width, the pos itioning-completion s ignal will not be output.
n
n
P ositioning width: 50j
l
k m
j k l m
S topping upon contact with work
Work
300mm/sec
n
n
P ause s ignal input OF F
OFF
ON
j l
k
m
j k l m
n
n
S pecified zone-s ignal output range
OFF
ON
j
lk
m
j k
Zone s ignal OF F on exit from
specified range
l m
P ause input s ignal
Operation pattern 3
S tationary
Accelerating
Decelerating
T ime
S peed
T ime
S peed
T ime
S peed
Accelerating Decelerating
High-speedtype
Input of pos ition 1
Input of s tart s ignal
(S tart of movement)
Output of pos itioning-completion
s ignal
P os ition S peed P ositioning width Acceleration only MAX
Acceleration/deceleration P ush motion
P os ition-Data T able(S et by the teaching pendant or P C software)
T he s lider decelerates to a s top upon the input of an external s ignal.
S tationary
Accelerating DeceleratingS tationary
Accelerating Decelerating
C ompletion of
movement
Output of pos itioning-completion
s ignal
Input of pos ition 1Input of s tart s ignal(S tart of movement)
Deceleration to s top at pause OF F
T ime
S peedS tationary
Accelerating Decelerating
Decelerates at the value set under "Acceleration/deceleration".
Maximum acceleration by load
P os ition-Data T able(S et by the teaching pendant or P C software)
P os ition S peed P ositioning width Acceleration only MAX
Acceleration/deceleration
P ush motion
Input of pos ition 1Input of s tart s ignal(S tart of movement)
Zone s ignal ON on entry into
specified range
C ompletion of
movement
Example of
operation
Example of
operation
Example of
operation
Output of pos itioning-completion
s ignal
P os ition 1C oordinate 100
800
700
600
500
400
300
200
100
0
(mm) (mm/sec) (G ) (%) (mm) (0 or1)
F orward movement
at low speed without s topping
(Work remains pressed at the specified push force)
R esumption of movement
at pause ON
Zone output s ignal
S tops immediately
4
R C P 2 -R M A - I -P M -8 - 3 0 0 - P 1 - M - F T
R C P 2 - C - R M A - I - P M - O - P
ロボシリンダ型式基準
S A5, S A6, S A7
S S , S M, S S R , S MR
R XA, R S A, R MA
O : 24V DC
R C P 2
R C P 2
E xplanation of S pec ific ation Items for A c tuator Model (R efer to page 26 for the s pec ific ation items for the c ontroller model.)
P 1: R C P 2-C R C P 2-C G
S A5S A6S A7S SS MS S RS MRR X AR S AR MA
12, 6 , 312, 6 , 316, 8 , 412, 6 , 3
20, 10, 512, 6 , 3
20, 10, 55, 2 . 5
10, 5 , 2 . 516, 8 , 4
50~50050~600
100~800100~600
100~1000100~600
100~100050~20050~30050~300
S eries
S eries
S eries
E ncoder type
C ontroller type Actuator type E ncode type I/O s ignal formatPower-supply voltage
C : Internal drive-power cutoff relayC G : E xternal drive-power cutoff relay
T ype E ncoder type
I: Incremental
I: Incremental
P M: P ulse motor
Motor Lead (mm) S troke (mm) Applicable controller C able length Option
Lengthspecification
R obot cable
B : B rake
B E : B rake (front)
B L: B rake (left)
B R : B rake (right)
F L: F lange
F T : F oot bracket
NM: R eversed origin
R : Inverse motor-revers ing direction
(Note 1) T he stroke is set in 50mm increments for S A5, S A6, R XA, R S A and R MA, and in 100mm increments for S A7, S S , S M, S S R and S MR .(Note 2) Depending on the type, not all options may be applicable. F or details , refer to the page showing the specifications for each type.
Not specified: NP N P : P NP
1 T ype2
Motor4
Lead5
S troke6
3
C able length8
Option9
Indicate the name of each series .
Indicate whether the encoder installed in the actuator should be an “absolute” type or an “increment” type.
Indicate the length of motor/encoder cables used for connecting the actuator and controller.
Indicate the option(s) to be installed on the actuator. * When selecting multiple options, specify them in alphabetical order (e.g., B -FL-NM).
A : A bs olute type T his setting is not available with the R C P 2.
I: Inc rement type S lider pos ition data will be lost when the power is turned off, so origin return is required each time the power is turned on.
Indicate the shape (s lider, rod, etc.), s ize (S A5, R XA, etc.),function (dustproof/splash-proof, etc.) and guide category.
P M: P ulse motor
T ravel distance per revolution of the ball screw.
Indicate the actuator s troke (range of operation). (Unit: mm)
[B rake] A brake for preventing the s lider from falling in a vertical application when the power or servo is turned off[B rake] Indicate the exit direction of the brake cable for the S A5, S A6 or S A7 s lider whose brake cable must be wired outs ide the actuator.[F lange] A flange for mounting the rod type actuator with a clearance (see page 24)[F oot bracket] A foot bracket for mounting the rod type actuator from above us ing bolts (see page 24)[R eversed-origin specification] Normally the origin is set on the motor s ide. E nter this option to specify the origin on the counter-motor s ide (not available with the rod type).[Inverse motor-revers ing direction] E nter this option for the motor-revers ing type to specify the inverse direction for the revers ing of the motor.
B :B E , B L, B R :F L :F T :NM :
R :
R OB O C ylinder S eries Model S tandards
Actuator Model
C ontroller Model
7
Motor
P M: P ulse motor
P E R S ONA LC OMP UT E R
0V24V
PORT
AD/RS
PIO
RDY RUN ALM
OFF
SIO
ENC
NOM
MOT
S1
S2
MPO
MPI
24V
N
F.G
RISBK
ON
R C A-T
R C A-T D
R C A-E
R C A-P
R C B -101-MW
R C B -105-2(5)
Item Model Description P age
Item Model Description P age
P 37
P 36
C B -R C P 2-P A
C B -R C P 2-MA
C B -R C P 2-P A -R B
C B -R C A-P IO020
C B -R C A-S IO020(050)
R C B -C V -MW
-
C ontroller S ys tem C onfiguration Diagram
C ontroller Options T ableC ontroller Options
C ontroller S pare P arts
E quipment provided by user
Actuator, controller and standard accessories
T eaching P endant (NOT E 1)
T eaching P endant (Deadman S witch S pecification) (NOT E 1)
S imple T eaching P endant (NOT E 1)
Data S etting Unit (NOT E 1)
P C S oftware (NOT E 2)
E xternal C onnection Unit
Motor C able
E ncoder C able
E ncoder R obot C able
I/O F lat C able
E xternal E quipment C ommunication C able
R S 485 C onvers ion Adapter
P os ition data input, actuator test operation, etc.
R C A-T with a deadman switch
An economical type offering functions equivalent to those of R C A-T
Used exclus ively for data input (cannot be used for actuator operation)
P os ition data input, actuator test operation, etc.
S erial communication cable unit (external equipment communication cable + R S 485 convers ion adapter)
Motor power cable (for controller and actuator connection) E nter the cable length in . E xample) 080 = 8m (maximum length: 20m)* T he standard motor cables are robot types .
E ncoder s ignal cable (for controller and actuator connection)E nter the cable length in . E xample) 080 = 8m (maximum length: 20m)
Highly flexible encoder cable
P arallel communication cable (for P LC and controller connection) No connector on P LC end
S erial communication cable *Used with an R S 485 convers ion adapter
Adapter for converting R S 485 communication s ignals to R S 232 communication s ignals
Options
Host system <P LC >
* R efer to pages 33 and 34 for the emergency-stop circuit.
I/O flat cableC able length: 2mS tandard accessory
(R efer to page 36.)
(R efer to page 36.)
Motor cable<Model C B -R C P 2-MA >
S tandard: 1m/3m/5m(S ee the table below.)
P C software<Model R C B -101-MW>T his software facilitates the creation and input of pos ition data, as well as actuator operation (test operation), us ing a P C .
T eaching pendant<Model R C A-T /T D><Model R C A-E ><Model R C A-P >T his pendant facilitates the input ofpos ition data and actuator operation(test operation).
E ncoder cable
S tandard: 1m/3m/5m(S ee the table below.)
C ontroller<R C P 2-C ><R C P 2-C G >
Lead wire0.3m
2m
or
5m
5m
5m
Actuator <R C P 2>
E mergency-stop switch and wiring
F G
P ower-supply voltage
P C
E xternal connection unit<Model R C B -105-2><Model R C B -105-5>
Used when the controller is to be controlled via
S IOs (serial communication) from a P LC or P C .
(S ee the table below.)
R OB O C ylinder S eries S ys tem C onfiguration
8
<Model C B -R C P 2-P A ><Model C B -R C P 2-P A -R B >
(Note 1) A product of an earlier vers ion cannot be used with the R C P 2. Upgrade the vers ion as necessary.(Note 2) If you are currently us ing P C S oftware for the R C P (R C A-101-MW), the software can be used continuously after a proper vers ion upgrade. T he shape of R C B -101-MW’s R S 485 convers ion adapter has changed from that of the adapter used with R C A-101-MW, but functionality remains the same.
R OB O C ylinder S eries P oints to Note
Notes on C atalog S pecifications <C ommon to all models>
S pe e d
A c c e le r a t io n /D e c e le r a t io n R a t e s
P o s it io n in gR e pe a t a bi l i t y
“ S peed” refers to the s pec ified s peed at whic h the ac tuator s lider (or rod, arm or output s haft) will move. T he s lider ac c elerates from a s tationary s tate, and onc e the s pec ified s peed is reac hed it will maintain that s peed until the s pec ified pos ition (immediately before the target pos ition), where it will begin dec elerating to s top at the target pos ition.
<C aution>(1) T he maximum speed of the R C P 2 S eries will vary according to the weight of the s lider load (rod, arm). S elect an appropriate model by referring to “C orrelation Diagrams of S peed and Load C apacity” on pages 10 and 11.(2) T he time needed to reach the specified speed will vary according to the acceleration (deceleration) rate.(3) If the travel dis tance is short, the specified speed may not be reached.(4) With a long-stroke axis , the maximum speed will drop to avoid reaching a dangerous speed. (If you are us ing a s troke of 600mm or longer, check the maximum speed for the applicable s troke in the corresponding dimensional drawing.)(5) When calculating the travel time, cons ider acceleration, deceleration and stabilization periods in addition to the travel time at the specified speed.(6) S peed can be set in increments of 1mm/sec. in pos ition data.
(1) Increas ing the acceleration (deceleration) rate will shorten the duration of acceleration (deceleration) and decrease the travel time. However, doing so will also cause rapid acceleration (deceleration), resulting in increased shock.(2) T he rated acceleration rate is 0.3G (or 0.2G if the lead is 2.5, 3 or 4, or in the case of a vertical application). (T he load capacity is set based on the rated acceleration rate.)(3) If the R OB O C ylinder is operated at an acceleration (deceleration) rate exceeding the rated acceleration rate, its life may be s ignificantly reduced or breakdown may occur. B e sure to use an acceleration rate not exceeding the rated acceleration rate, or use a s ingle-axis robot of the high-acceleration/deceleration type. (T he IS P S eries supports the maximum acceleration rate of 1G .) Increas ing the acceleration (deceleration) rate will decrease the load capacity from the level corresponding to the rated acceleration rate.(4) Acceleration rate can be set in increments of 0.01G in pos ition data.
“ A c c eleration rate” refers to the rate of c hange of s peed when the s peed ris es from zero (s tationary s tate) to the s pec ified s peed. “ Dec eleration rate” refers to the rate of c hange of s peed when the s pec ified s peed drops to zero (s tationary s tate). In the programs , both are s pec ified in “ G ” (0.3G = 2940mm/s ec 2).
“ P os itioning repeatability” refers to the pos itioning ac c urac y of repeated movements to a pre-s tored pos ition.T his is not the s ame as “ abs olute pos itioning ac c urac y,” s o exerc is e c aution.
<C aution>
T he origin is s et on the motor s ide for the s tandard s pec ific ation, or on the c ounter-motor s ide for therevers ed-origin s pec ific ation.
<C aution>
(1) T he incremental actuator always requires origin return each time the power is reconnected.(2) During origin return the s lider (or rod) will move to the mechanical end before revers ing, so be careful to prevent contact with surrounding parts
E ac h load moment is c alc ulated bas ed on an as s umed dis tanc e of 5,000km for S A 5, S A 6 and S A 7 or 10,000km for S S , S M, S S R and S MR . E xerc is e c aution, bec aus e applying a moment exc eeding the s pec ified value will reduc e the life of the guide.
Direc tions of load moment
L o a d M o m e n t /L i fe
When eac h model is us ed with an overhung load exc eeding the allowable length, vibration or s tabilization delay may res ult. T herefore, be
s ure to keep the overhung load length within the allowable value.
O v e r h u n g L o a d L e n g t h
L
L
O r ig in
Ma Mb Mc
9
45
40
35
30
25
20
15
10
5
0
0 100 200 300 400 500 600 700
SMR-20
SM-20
SSR-12
60
50
40
30
20
10
0
SA5-6
SA6-6
SSR-6
SM-10
SS-6
0 50 100 150 200 250 300 350
SMR-10
SS-3
60
50
40
30
20
10
00 20 40 60 80 100 120 140 160 180
SM-5
SMR-5
SSR-3
SA7-4
6
5
4
3
2
1
00 100 200 300 400 500 600 700
SA5-12
SA6-12SS-12
SM-20
SSR-12SMR-20
SM-10
SMR-10
0 50 100 150 200 250 300 350
14
12
10
8
6
4
2
0
SS-6
SSR-6
SA6-6
SA5-6
25
20
15
10
5
00 20 40 60 80 100 120 140 160 180
SM-5
SS-3
SMR-5
SSR-3
SA6-3
SA5-3
Correlation Diagrams of Speed and Load Capacity
RCP Slider Type
M a M b M c
Selection of horizontal or vertical installation
150mm/sec
300mm/sec
Precaution for use
600mm/sec
L
L
SS-12
SA6-12
SA5-12
SA6-3
SA5-3
If you are using the slider type and the load on the slider will extend considerably from the center, give consideration to the load moments and overhung load length.
SA7-8
SA7-16SA7-16
SA7-8
SA7-4
Selection of speed type based on equipment cycle time
Select a desired type that meets your purpose by referring to the diagrams for speed and load capacity below.
Load momentsMa, Mb and Mc must be within the specified range of load moment.
Overhung load lengthThe specified value applies when the load's center of gravity is L/2. If the load extends in the direction of Ma, Mb or Mc, keep within the specified range.
Maximumspeed Horizontal installation Vertical installation
Hig
h-sp
eed
type
Med
ium
-spe
ed t
ype
Low
-spe
ed t
ype
Load
cap
acity
(kg
)Lo
ad c
apac
ity (
kg)
Load
cap
acity
(kg
)Lo
ad c
apac
ity (
kg)
Load
cap
acity
(kg
)
Load
cap
acity
(kg
)
Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)
(Note) The number shown after the type in the above graphs indicates the lead specification.
10
P ositioning Operation
40
35
30
25
20
15
10
5
00 100 200 300 400 500 600
RMA-16
RSA-10
50
40
30
20
10
00 50 100 150 200 250 300
RMA-8RSA-5
60
50
40
30
20
10
00 20 40 60 80 100 120 140
RMA-4
0 100 200 300 400 500 600
12
10
8
6
4
2
0
RMA-16
RMA-8
RSA-5
25
20
15
10
5
00 50 100 150 200 250 300
RMA-4
30
25
20
15
10
5
00 20 40 60 80 100 120 140
Horizontal application (Note 1) V ertical application (Note 2)
125mm/sec
250mm/sec
(Note 1) T he horizontal application assumes the use of an external guide.(Note 2) If the R OB O C ylinder is operated under the maximum load capacity for a given speed, overshoot may occur due to vibration. T herefore, when selecting a model provide an allowance of approximately 70%.
S elec tion of horizontal or vertic al applic ation
RSA-2.5
RSA-2.5
RXA-5
T he rod type only cons iders external forces from the rod’s direction of movement. If the rod will receive external forces from the vertical
direction or rotary direction, use a high-rigidity type or purchase a separate guide.
T he maximum speed is limited only with the R S A type with a s troke of 250mm or 300mm. 250mm stroke(Lead 10: 458mm/sec., lead 5: 237mm/sec., lead 2.5: 118mm/sec.) 300mm stroke(Lead 10: 350mm/sec., lead 5: 175mm/sec.,
lead 2.5: 87mm/sec.)
RSA-10
RXA-2.5
RXA-2.5
RXA-5
R od T ype
S elec tion of s peed type bas ed on equipment c yc le time
S elect a des ired type that meets your purpose by referring to the diagrams
for speed and load capacity below.
P recaution for use
500mm/sec
Maximumspeed
Hig
h-s
pe
ed
typ
e M
ed
ium
-sp
ee
d t
ype
L
ow
-sp
ee
d t
ype
Load
cap
acity
(kg
)Lo
ad c
apac
ity (
kg)
Load
cap
acity
(kg
)Lo
ad c
apac
ity (
kg)
Load
cap
acity
(kg
)
Load
cap
acity
(kg
)
S peed (mm/sec)
S peed (mm/sec)
S peed (mm/sec)S peed (mm/sec)
S peed (mm/sec)
S peed (mm/sec)
(Note) T he number shown after the type in the above graphs indicates the lead specification.
11
200
180
160
140
120
100
80
60
40
20
0
0 10 20 30 40 50 60 70
(N)
400
350
300
250
200
150
100
50
00 10 20 30 40 50 60 70
100
200
300
400
500
600
700
800
0
0 10 20 30 40 50 60 70
R S A typeR XA type
C orrelation Diagrams of P us h F orc e and C urrent-L imiting V alue
200
180
160
140
120
100
80
60
40
20
0
0 10 20 30 40 50 60 70
80
70
60
50
40
30
20
10
00 10 20 30 40 50 60 70
RXA-5
RSA-10
300
250
200
150
100
50
0
0 10 20 30 40 50 60 70
RXA-2.5
300
250
200
150
100
50
00 10 20 30 40 50 60 70
500
450
400
350
300
250
200
150
100
50
0
0 10 20 30 40 50 60 70
RSA-5
RSA-2.5
RMA-16
RMA-8
RMA- 4
R C P R od T ype P ush-Motion Operation
T he pus h forc e us ed during pus h-motion operation c an be c hanged freely by c hanging the c ontroller’ s c urrent-limiting value.T he maximum pus h forc e will vary ac c ording to the model. C onfirm the required pus h forc e from the graphs below and s elec t a type that meets your purpos e.
T he relationships of push force and current-limiting value are provided for reference only. T he actual figures may vary s lightly.
If the current-limiting value is under 20%, the push force may become subject to fluctuation. T herefore, set the current-limiting value to 20% or more.
P recaution for use
R MA type
Hig
h-s
pe
ed
typ
e M
ed
ium
-sp
ee
d t
ype
L
ow
-sp
ee
d t
ype
Pus
h fo
rce
(N)
Pus
h fo
rce
(N)
Pus
h fo
rce
(N)
Pus
h fo
rce
(N)
Pus
h fo
rce
(N)
Pus
h fo
rce
(N)
C urrent-limiting value (%) C urrent-limiting value (%) C urrent-limiting value (%)
C urrent-limiting value (%) C urrent-limiting value (%) C urrent-limiting value (%)
C urrent-limiting value (%) C urrent-limiting value (%)
(Note) T he number shown after the type in the above graphs indicates the lead specification.
Pus
h fo
rce
(N)
Pus
h fo
rce
(N)
12
(2.1)
3ME *2
119942.7
16
(2.8)S E
L
(240)1930
26206
6
2-øf4H10, depth 6
50
52
2050
56 33 81
26 24
50
52
2640
107.
5
15.5 9 15.5
14.541.513.3
5.113.3
16.5
16.5
35.5
50 o
r m
ore
4352
434.
546
.52.
5
2.7
(2.8)
4-M4, depth 9
A minimum of 100 is required.
Origin
D-M4, depth 72-øf4H10, depth 5
S troke
E -øf4.5 through, ø8 counterboredepth 4.5 (from opposite s ide)
B rake DimensionsB R : B rake cable exiting from the right
B E : B rake cable exiting the end
B L: B rake cable exiting from the left
C able joint connector *1
B X 100P
C X 100P
S EME
ME
13.8
57.5
57.5
A
1
RCP2-SA5 R OB O C ylinder S lider T ype: Unit Width 52mm, P ulse Motor,S traight S hape
T ype S lider (52mm wide) S troke 50~500mm
Model/S pecifications
Options
Dimensions
C ommon S pecifications
Model
Name
B rake (C able exiting the end)
B rake (C able exiting from the left)
B rake (C able exiting from the right)
R eversed-origin specification
B E
B L
B R
NM
P 24
P 24
P 24
P 24
Model P age
R C P 2-S A5-I-P M-12-***-P 1--
R C P 2-S A5-I-P M-6-***-P 1--
R C P 2-S A5-I-P M-3-***-P 1--
E ncoder type
Incremental
Lead(mm)
12
6
3
S troke50mm increments (mm)
S peed(mm/s)
Load capacity (Note 1)
Horizontal (kg)
50~500
10~600
5~300
1~150
4
8
8
V ertical (kg)P os itioning
repeatability (mm)
1
2.5
4.5
±0.02
Applicable C ontroller S pecifications
* With the reversed-origin specification, the specificationon the motor s ide (distance tothe origin) and that on the counter-motor s ide are reversed.
S troke
Dimensions , Weight and Maximum S peed by S troke50 100 150 200 250 300 350 400 450 500
L
A
B
C
D
E
Weight (kg)
279
73
0
0
4
4
1.5
600
300
150
329
100
0
0
4
4
1.6
379
100
0
1
4
6
1.7
429
200
1
1
6
6
1.8
479
200
1
2
6
8
1.9
529
300
2
2
8
8
2.1
579
300
2
3
8
10
2.2
629
400
3
3
10
10
2.3
679
400
3
4
10
12
2.4
729
500
4
4
12
12
2.5
Model details
(E xample) RCP2 - SA5 - I - PM - 6 - 500 - P1 - S - BE
OptionsC able lengthApplicable controllerS trokeLeadMotorE ncoder typeT ypeS eries
* In the above model names , *** indicates the stroke, the cable length and the applicable options .
Drive system
B acklash
G uide
Allowable load moment (Note 2)
Overhung load length
B ase
C able length (Note 3)
B all screw øf10mm, rolled C 10
0.1mm or less
Integrated with base
Ma: 4.9N • m Mb: 6.8N • m Mc: 11.7N • m
Ma direction: 150mm or less , Mb/Mc directions : 150mm or less
Material: Aluminum with white alumite treatment
N: No cable, P: 1m, S: 3m, M: 5m, X : Length specification, R : Robot cable
Load capacity 8kg (horizontal)/4.5kg (vertical)
(Note 1) Load capacity at the rated acceleration rate (R efer to page 9.)(Note 2) Mc moment will become 7.8N·m with a stroke of 350mm or longer.(Note 3) The maximum cable length is 20m. Specify the desired length in meters
(e.g., X08 = 8m).
* R efer to page 9 for other points to note.
* T he maximum speed limit of the R C P 2 S eries will vary according to the weight of the load on the s lider (rod). R efer to C orrelation Diagrams of S peed and Load C apacity on pages 10 and 11.
*1. C onnect the motor/encoder cables .R efer to page 37 for details on the cables .ME : Mechanical endS E : S troke endR eference dimensions are shown inparentheses .
*2. During origin return the s lider will move to the ME , so be careful to prevent contact with surrounding parts .
Maximumspeed
(mm/s)
Lead 12Lead 6Lead 3
C aution
13
ApplicableC ontroller
Maximum number of controlled axes
C ompatibleencoder type
P rogramoperation
P ositioneroperation
P ulse-traincontrol
Power-supplyvoltage
P age
IncrementalX
X
O
O
X
X24V DC
P 25
P 25
R C P 2-C
R C P 2-C G
1 axis
1 axis
823
8
19.5 21 19.5
31
3250
(2.2)
311911516
2.7
(3.1)
13.8
59.5
5658
2843
106.
559
.5
5658
75A 19.5 33 81
20100
31 31
ME S E
14.341.713.3
13.3
5.1
18.5
18.5
3.5
37.5
6.5
4348
.51 43
58
(3.1)
2.7
50 o
r
(240)
F -øf4.5 through, øf8 counterbore depth 4.5 (from opposite s ide)
Origin
D-M5, depth 9
S troke
E -øf4H10, depth 5
4-M5, depth 9 2-øf5H10, depth 6
C able joint connector *1
A minimum of 100 is required.
B rake Dimensions
B R : B rake cable exiting from the right
B E : B rake cable exiting the end
B L: B rake cable exiting from the left
B X 100P
C X 100P
ME *2ME S E
mor
e
L
Model/S pecifications
Dimensions
C ommon S pecifications
Model P age
Applicable C ontroller S pecifications
* With the reversed-origin specification, the specificationon the motor s ide (distance tothe origin) and that on the counter-motor s ide are reversed.
Dimensions , Weight and Maximum S peed by S troke
ApplicableC ontroller
Maximum number of controlled axes
C ompatibleencoder type
P rogramoperation
P ositioneroperation
P ulse-traincontrol
Power-supplyvoltage
P age
IncrementalX
X
O
O
X
X24V DC
P 25
P 25
(Note 1) A longer s troke will result in a lower maximum speed to prevent the ball screw from reaching a dangerous speed. (R efer to the above table for the maximum speed at a given stroke.)
(Note 2) Load capacity at the rated acceleration rate (R efer to page 9.)(Note 3) The maximum cable length is 20m. Specify the desired length in meters
(e.g., X08 = 8m).
* R efer to page 9 for other points to note.
*1. C onnect the motor/encoder cables .R efer to page 37 for details on the cables .ME : Mechanical endS E : S troke endR eference dimensions are shown inparentheses .
*2. During origin return the s lider will move to the ME , so be careful to prevent contact with surrounding parts .
C aution
Model
R C P 2-S A6-I-P M-12-***-P 1--
R C P 2-S A6-I-P M-6-***-P 1--
R C P 2-S A6-I-P M-3-***-P 1--
E ncoder type
Incremental
Lead(mm)
12
6
3
S troke50mm increments (mm)
S peed (Note 1)(mm/s)
Load capacity (Note 2)
Horizontal (kg)
50~600
10~600
5~300
1~150
6
12
12
V ertical (kg)
P os itioningrepeatability (mm)
1.5~1
3~2.5
6~4
±0.02
* In the above model names , *** indicates the stroke, the cable length and the applicable options .
RCP2-SA6 R OB O C ylinder S lider T ype: Unit Width 58mm, P ulse Motor, S traight S hape
T ype S lider (58mm wide) S troke 50~600mm
Model details
(E xample) RCP2 - SA6 - I - PM - 6 - 600 - P1 - S - BE
OptionsC able lengthApplicable controllerS trokeLeadMotorE ncoder typeT ypeS eries
Load capacity 12kg (horizontal)/6kg (vertical)
S troke 50 100 150 200 250 300 350 400 450 500 550 600
300
0
0
0
4
2
4
1.8
350
100
0
0
6
3
4
2.0
400
100
0
1
6
3
6
2.1
450
200
1
1
8
3
6
2.2
500
200
1
2
8
3
8
2.4
550
300
2
2
10
3
8
2.5
600
300
150
600
300
2
3
10
3
10
2.7
650
400
3
3
12
3
10
2.8
700
400
3
4
12
3
12
2.9
750
500
4
4
14
3
12
3.1
800
500
4
5
14
3
14
3.2
850
600
5
5
16
3
14
3.4
540
270
135
Maximumspeed
(mm/s)
Lead 12
Lead 6
Lead 3
R C P 2-C
R C P 2-C G
1 axis
1 axis
* T he maximum speed limit of the R C P 2 S eries will vary according to the weight of the load on the s lider (rod). R efer to C orrelation Diagrams of S peed and Load C apacity on pages 10 and 11.
Options
Name
B rake (C able exiting the end)
B rake (C able exiting from the left)
B rake (C able exiting from the right)
R eversed-origin specification
B E
B L
B R
NM
P 24
P 24
P 24
P 24
Model P age Drive system
B acklash
G uide
Allowable load moment
Overhung load length
B ase
C able length (Note 3)
B all screw fø10mm, rolled C 10
0.1mm or less
Integrated with base
Ma: 8.9N • m Mb: 12.7N • m Mc: 18.6N • m
Ma/Mb/Mc directions : 220mm or less
Material: Aluminum with white alumite treatment
N: No cable, P: 1m, S: 3m, M: 5m, X : Length specification, R : Robot cable
L
A
B
C
D
E
F
Weight (kg)
14
40 40
(3)
3
(4.8)
18 126 159
20 20 20
39
930
9
3250
100 3080 18 51.5 103.5
3350
1476
7173 14
.57173
76
1818
(4.8)
16.344.713.3
5273
5.113.3
48581
527
5
(240)
12
4-M5, depth 10 2-øf5H10, depth 10
Origin
S troke
A minimum of 100 is required.
F -øf6 through, øf9.5 counterbore depth 5.5 (from opposite s ide)D-M5, depth 9E -øf4H10, depth 5
50 o
r
B rake Dimensions
B R : B rake cable exiting from the right
B E : B rake cable exiting the end
B L: B rake cable exiting from the left
*2
C able joint connector *1
B X 100P
C X 100P
A
ME S E
mor
e
ME S E3
ME
L
3
T ype S lider (73mm wide) S troke 100~800mm
Model/S pecifications
Dimensions
C ommon S pecifications
Model
R C P 2-S A7-I-P M-16-***-P 1--
R C P 2-S A7-I-P M-8-***-P 1--
R C P 2-S A7-I-P M-4-***-P 1--
E ncoder type
Incremental
Lead(mm)
16
8
4
S troke100mm increments (mm)
S peed (Note 1)(mm/s)
Load capacity (Note 2)
Horizontal (kg)
100~800
10~533
5~266
1~133
35~7
40~10
40
V ertical (kg)P os itioning
repeatability (mm)
5~0.5
10~1.5
15~5
±0.02
Applicable C ontroller S pecifications
* With the reversed-origin specification, the specificationon the motor s ide (distance tothe origin) and that on the counter-motor s ide are reversed.
Dimensions , Weight and Maximum S peed by S troke
Model details
(E xample) RCP2 - SA7 - I - PM - 8 - 800 - P1 - S - BE
OptionsC able lengthApplicable controllerS trokeLeadMotorE ncoder typeT ypeS eries
* In the above model names , *** indicates the stroke, the cable length and the applicable options .
Load capacity 40kg (horizontal)/15kg (vertical)
* R efer to page 9 for other points to note.
*1. C onnect the motor/encoder cables .R efer to page 37 for details on the cables .ME : Mechanical endS E : S troke endR eference dimensions are shown inparentheses .
*2. During origin return the s lider will move to the ME , so be careful to prevent contact with surrounding parts .
C aution
RCP2-SA7R OB O C ylinder S lider T ype: Unit Width 73mm, P ulse Motor,S traight S hape
S troke 100 200 300 400 500 600 700 800
L
A
B
C
D
E
F
Weight (kg)
Maximumspeed
(mm/s)
Lead 16
Lead 8
Lead 4
403
100
0
0
6
3
4
3.3
266
133
533 480
503
200
1
1
8
3
6
3.8
603
300
2
2
10
3
8
4.2
703
400
3
3
12
3
10
4.7
803
500
4
4
14
3
12
5.1
903
600
5
5
16
3
14
5.6
1003
700
6
6
18
3
16
6.0
1103
800
7
7
20
3
18
6.5
240
120
ApplicableC ontroller
Maximum number of controlled axes
C ompatibleencoder type
P rogramoperation
P ositioneroperation
P ulse-traincontrol
Power-supplyvoltage
P age
IncrementalX
X
O
O
X
X24V DC
P 25
P 25
R C P 2-C
R C P 2-C G
1 axis
1 axis
(Note 1) A longer s troke will result in a lower maximum speed to prevent the ball screw from reaching a dangerous speed. (R efer to the above table for the maximum speed at a given stroke.)
(Note 2) Load capacity at the rated acceleration rate (R efer to page 9.)(Note 3) The maximum cable length is 20m. Specify the desired length in meters
(e.g., X08 = 8m).
* T he maximum speed limit of the R C P 2 S eries will vary according to the weight of the load on the s lider (rod). R efer to C orrelation Diagrams of S peed and Load C apacity on pages 10 and 11.
Options
Name
B rake (C able exiting the end)
B rake (C able exiting from the left)
B rake (C able exiting from the right)
R eversed-origin specification
B E
B L
B R
NM
P 24
P 24
P 24
P 24
Model P age Drive system
B acklash
G uide
Allowable load moment
Overhung load length
B ase
C able length (Note 3)
B all screw øf12mm, rolled C 10
0.1mm or less
Integrated with base
Ma: 13.9N • m Mb: 19.9N • m Mc: 38.3N • m
Ma/Mb/Mc directions : 230mm or less
Material: Aluminum with white alumite treatment
N: No cable, P: 1m, S: 3m, M: 5m, X : Length specification, R : Robot cable
15
±
±
RCP2-SSR R OB O C ylinder S lider T ype with Iron B ase: Unit Width 60mm, P ulse Motor, Motor-R evers ing S hape
C18 18100100 B
94(240)
13
0
54
M.E . *2Origin5
25(126) 10(A)
(L)
126605032
59
59
S .E .
57
40
.63
22
3.4
25
5
12
M.E .55
0.541.527 1
60
58
(3)
27.550
30
19.5 19.521
N X 100P
S (S troke)
4-M5, depth102-øf5H10, depth 10
(6.3
)(2
.7)
(67)(57)
(32.
7)(6
1.3
)(3
6)
1
5553
27
60
51
.3
36.5
C able joint connector *1
N X 100P
D-M5, depth 84-øf4H10, depth 5B rake Dimensions
* T he brake cable is routed ins ide the actuator and is connected to the motor cable.
Model/S pecifications
Options
Dimensions
C ommon S pecifications
Name
B rake
Inverse motor-revers ing direction
R eversed-origin specification
B
R
NM
P 24
P 24
P 24
Model P age
Applicable C ontroller S pecifications
Dimensions , Weight and Maximum S peed by S troke
ApplicableC ontroller
Maximum number of controlled axes
C ompatibleencoder type
P rogramoperation
P ositioneroperation
P ulse-traincontrol
Power-supplyvoltage
P age
IncrementalX
X
O
O
X
X24V DC
P 25
P 25* R efer to page 9 for other points to note.
C aution
Model
R C P 2-S S R -I-P M-12-***-P 1--
R C P 2-S S R -I-P M-6-***-P 1--
R C P 2-S S R -I-P M-3-***-P 1--
E ncoder type
Incremental
Lead(mm)
12
6
3
S troke100mm increments (mm)
S peed (Note 1)(mm/s)
Load capacity (Note 2)
Horizontal (kg)
100~600
10~600 (440)
5~250
1~105
20~5.5
20~2.5
30~20
V ertical (kg)P os itioning
repeatability (mm)
4~0.5
5~0.5
10~1.5
±0.02
* In the above model names , *** indicates the stroke, the cable length and the applicable options .
T ype S lider (60mm wide),motor-revers ing S troke 100~600mm
Model details
(E xample) RCP2 - SSR - I - PM - 6 - 600 - P1 - S - B
OptionsC able lengthApplicable controllerS trokeLeadMotorE ncoder typeT ypeS eries
Load capacity 30kg (horizontal)/10kg (vertical)
R C P 2-C
R C P 2-C G
1 axis
1 axis
(Note 1) A longer s troke will result in a lower maximum speed to prevent the ball screw from reaching a dangerous speed. (R efer to the above table for the maximum speed at a given stroke.)T he figures in parentheses apply to a vertical application.
(Note 2) Load capacity at the rated acceleration rate (R efer to page 9.)(Note 3) The maximum cable length is 20m. Specify the desired length in meters
(e.g., X08 = 8m).
S troke 100 200 300 400 500 600
L
A
B
C
D
N
Weight (kg)
600 (440)
250
105
555
476
240
40
12
2
5.4
655
576
340
140
12
2
6.1
755
676
440
40
16
3
6.7
Maximumspeed
(mm/s)(Note 1)
Lead 12
Lead 6
Lead 3
*2. During origin return the s lider will move to the ME ,so be careful to prevent contact with surrounding parts .
*1. C onnect the motor/encoder cables .R efer to page 37 for details on the cables .
ME : Mechanical endS E : S troke endR eference dimensions areshown in parentheses .
* T he maximum speed limit of the R C P 2 S eries will vary according to the weight of the load on the s lider (rod). R efer to C orrelation Diagrams of S peed and Load C apacity on pages 10 and 11.
* With the reversed-origin specification, the specificationon the motor s ide (distance tothe origin) and that on the counter-motor s ide are reversed.
Drive system
B acklash
G uide
Allowable load moment
Overhung load length
B ase
C able length (Note 3)
B all screw øf10mm, rolled C 10
0.05mm or less
Integrated with base
Ma: 14.7N • m Mb: 14.7N • m Mc: 33.3N • m
Ma/Mb/Mc directions : 300mm or less
Material: S pecial alloy s teel
N: No cable, P: 1m, S: 3m, M: 5m, X : Length specification, R : Robot cable
355
276
40
40
8
1
4.1
455
376
140
140
8
1
4.7
855
776
540
140
16
3
7.4
470 (440)
230
105
18
RCP2-SMR R OB O C ylinder S lider T ype with Iron B ase: Unit Width 80mm, P ulse Motor, Motor-R evers ing S hape
B 10010015
45
6835
「2」
75
「6」
70
55
34 0.5
1
17
30
M.E .
5
170
90
757.5 7.545 1515
(A)
(L)
5
10
138(4
2)16
5
15
(67
(57)
(78)
(45)
「2」
80
S .E .
30
(240)
* T he brake cable is routed ins ide the actuator and is connected to the motor cable.
C able joint connector *1
S (S troke)
Origin M.E . *2
4-M8, depth 102-øf8H10, depth 10
D-M8, depth 104-øf5H10, depth 5
73 56 45 34
35 3520
(170)
N X 100P
43
50
0.5
80
7059
34
B rake Dimensions
T ype S lider (80mm wide),motor-revers ing S troke 100~1000mm
Model/S pecifications
Dimensions
C ommon S pecifications
Model
R C P 2-S MR -I-P M-20-***-P 1--
R C P 2-S MR -I-P M-10-***-P 1--
R C P 2-S MR -I-P M-5-***-P 1--
E ncoder type
Incremental
Lead(mm)
20
10
5
S troke100mm increments (mm)
S peed (Note 1)(mm/s)
Load capacity (Note 2)
Horizontal (kg)
100~1000
10~600 (333)
5~300 (250)
1~166 (140)
23~1
28~4
55~1.5
V ertical (kg)P os itioning
repeatability (mm)
3~0.5
9~0.5
20~0.5
±0.02
Applicable C ontroller S pecifications
* With the reversed-origin specification, the specification on the motor s ide (distance to the origin) and that on the counter-motors ide are reversed.
Dimensions , Weight and Maximum S peed by S troke
Model details
(E xample) RCP2 - SMR - I - PM - 10 - 1000 - P1 - S - B
OptionsC able lengthApplicable controllerS trokeLeadMotorE ncoder typeT ypeS eries
* In the above model names , *** indicates the stroke, the cable length and the applicable options .
B all screw øf16mm, rolled C 10
0.05mm or less
Integrated with base
Ma: 36.3N • m Mb: 36.3N • m Mc: 77.4N • m
Ma/Mb/Mc directions : 450mm or less
Material: S pecial alloy s teel
N: No cable, P: 1m, S: 3m, M: 5m, X : Length specification, R : Robot cable
Load capacity 55kg (horizontal)/20kg (vertical)
* R efer to page 9 for other points to note.
C autionApplicableC ontroller
Maximum number of controlled axes
C ompatibleencoder type
P rogramoperation
P ositioneroperation
P ulse-traincontrol
Power-supplyvoltage
P age
IncrementalX
X
O
O
X
X24V DC
P 25
P 25
R C P 2-C
R C P 2-C G
1 axis
1 axis
(Note 1) A longer s troke will result in a lower maximum speed to prevent the ball screw from reaching a dangerous speed. (R efer to the above table for the maximum speed at a given stroke.)T he figures in parentheses apply to a vertical application.
(Note 2) Load capacity at the rated acceleration rate (R efer to page 9.)(Note 3) The maximum cable length is 20m. Specify the desired length in meters
(e.g., X08 = 8m).
Options
Name
B rake
Inverse motor-revers ing direction
R eversed-origin specification
B
R
NM
P 24
P 24
P 24
Model P age
S troke 100 200 300 400 500 600 700 800 900 1000
L
A
B
D
N
Weight (kg)
414
330
100
8
3
7.9
600 (333)
300 (250)
166 (140)
514
430
200
10
4
9.0
614
530
300
12
5
10
714
630
400
14
6
11.1
814
730
500
16
7
12.1
914
830
600
18
8
13.2
1014
930
700
20
9
14.3
1114
1030
800
22
10
15.3
1214
1130
900
24
11
16.4
1314
1230
1000
26
12
17.4
515 (333)
255
125
Maximumspeed
(mm/s)(Note 1)
Lead 20
Lead 10
Lead 5
*2. During origin return the s lider will move to the ME ,so be careful to prevent contact with surrounding parts .
*1. C onnect the motor/encoder cables .R efer to page 37 for details on the cables .
ME : Mechanical endS E : S troke endR eference dimensions areshown in parentheses .
* T he maximum speed limit of the R C P 2 S eries will vary according to the weight of the load on the s lider (rod). R efer to C orrelation Diagrams of S peed and Load C apacity on pages 10 and 11.
Drive system
B acklash
G uide
Allowable load moment
Overhung load length
B ase
C able length (Note 3)
19
±
±
Home ME*22
39ST
SEME(2.3)
1.5351.52814
35 28 14
8
4-M4, depth 10
M10 X 1.25
32 22 20
31.522
3.54
7.5 (Width across flats)(240)
Cable jointconnector *1
*1. Connect the motor/ encoder cables. Refer to page 37 for details on the cables.
38
14.5
42.5
0.5
*2. During homing the rod will move to the ME, so be careful to prevent contact with surrounding parts. ME: Mechanical end SE: Stoke end Reference dimensions are shown in parentheses.
A minimum of 100 is required.
90.5L
n-M4, depth 630N X 5020
27
Dimensions of supplied nut
6 17 M10 X 1.25
(19.
6)
Common Specifications
Drive systemBacklashGuideRod diameterRod Non-rotative accuracyBaseCable length (Note 2)
* Due to its structure, the rod type is not available in the reverse homing specification. Exercise caution.
Note) The RXA type is not available with a brake.
With flangeWith foot bracket
Name Model PageFLFT
P24P24
Options
Dimensions, Weight and Maximum Speed by Stroke50
112.520316
0.8
200262.5353412
1.25
150212.53033101.1
187114
100162.525328
0.95
StrokelLNn
Weight (kg)Max speed
(mm/s)Lead 5Lead 2.5
Dimensions
Applicable Controller SpecificationsApplicableController
Compatibleencoder type
Programoperation
Positioneroperation
Pulse-traincontrol
Power-supplyvoltage
Page
RCP2-CRCP2-CG
1 axis1 axis
Incremental 24VDC P25P25
Caution
(Note 1) Load capacity at the rated acceleration rate (Refer to page 9.)(Note 2) The maximum cable length is 20m. Specify the desired length in meters (e.g., X08 = 8m).
* Refer to page 9 for other points to note.
Model/Specifications* The maximum speed limit of the RCP2 series will vary according to the weight of the load on the slider (rod). Refer to Correlation Diagrams of Speed and Load Capacity on pages 10 and 11.
Model Encoder type Lead(mm)
Speed(mm/s)
Stroke (mm)(in 50mm increments)
Maximum push force(N)
Positioningrepeatability
(mm)
Load capacity (Note 1)Horizontal (kg) Vertical (kg)
* In the above model names, *** indicates the stroke, the cable length and the applicable options.
±
±
Home
Model/Specifications
Model
* In the above model names, *** indicates the stroke, the cable length and the applicable options.
* The maximum speed limit of the RCP2 series will vary according to the weight of the load on the slider (rod). Refer to Correlation Diagrams of Speed and Load Capacity on pages 10 and 11.
Encoder type Lead(mm)
Stroke (mm)(in 50mm increments)
Speed (Note 1)(mm/s)
Load capacity (Note 2)Horizontal (kg) Vertical (kg)
Maximum push force(N)
Positioningrepeatability
(mm)
Options Common Specifications
BrakeWith flangeWith foot bracket
BFLFT
P24P24P24
Name Model Page Drive systemBacklashGuideRod diameterRod Non-rotative accuracyBaseCable length (Note 2)
Dimensions
* Due to its structure, the rod type is not available in the reverse homing specification. Exercise caution.
32 22 20
31.522
3.54
7.5 (Width across flats)(240)
Cable jointconnector *1
*1. Connect the motor/ encoder cables. Refer to page 37 for details on the cables.
M10 X 1.254-M4, depth 12
10.5
14173445
24.5
2.5 2.5
47 34 14
A(2.3)
ME SE
ST
ME*2
39L
A minimum of 100 is required.
86.550
1357
0.5
*2. During homing the rod will move to the ME, so be careful to prevent contact with surrounding parts. ME: Mechanical end SE: Stoke end Reference dimensions are shown in parentheses.
With Brake
86.558
47 46.5
0.5
Dimensions of supplied nut
6 17 M10 X 1.25
(19.
6)1.8
4.3
4.37.3
Detailed View of A
* The figures in parentheses apply to the brake type, while those in < > apply to a vertical application.Dimensions, Weight and Maximum Speed by Stroke
StrokelL
Weight (kg)Maximum
speed(mm/s)
Lead 10Lead 5Lead 2.5
50112.5
199 (257)1.35 (1.75)
100162.5
249 (307)1.6 (2)
150212.5
299 (357)1.85 (2.25)
200262.5
349 (407)2.1 (2.5)
250312.5
399 (457)2.35 (2.75)
458237118
300362.5
449 (507)2.6 (3)
35017587
458250
125 <110>
Applicable Controller SpecificationsApplicableController
RCP2-CRCP2-CG
Maximum numberof controlled axes
1 axis1 axis
Compatibleencoder type
Incremental
Programoperation
Positioneroperation
Pulse-traincontrol
Power-supplyvoltage Page
24VDC P25P25
Caution
* Refer to page 9 for other points to note.
(Note 1) A longer stroke will result in a lower maximum speed to prevent the ball screw from reaching a dangerous speed. (Refer to the above table for the max. speed at a given stroke). The figures in parentheses apply to a vertical application.(Note 2) Load capacity at the rated acceleration rate (Refer to page 9.)(Note 3) The maximum cable length is 20m. Specify the desired length in meters (e.g., X08 = 8m).
±
±
Home
Model/Specifications
Model Encoder type Lead(mm)
Stroke (mm)(in 50mm increments)
Speed(mm/s)
Load capacity (Note 1)Horizontal (kg) Vertical (kg)
Maximumpush force
(N)
Positioningrepeatability
(mm)
* In the above model names, *** indicates the stroke, the cable length and the applicable options.
Options
BrakeWith flangeWith foot bracket
Name Model PageBFLFT
P24P24P24
Common Specifications
Drive systemBacklashGuideRod diameterRod Non-rotative accuracyBaseCable length (Note 2)
Dimensions* Due to its structure, the rod type is not available in the reverse homing specification. Exercise caution.
43 30 28
4230.5
6 4
9.5 (Width across flats)(240)
Cable jointconnector *1
*1. Connect the motor/ encoder cables. Refer to page 37 for details on the cables.
M14 X 1.54-M8, depth 15
1164 50 19
192550642 2
A
ME SE
(4.8)ST
4
ME*2
52L
112
A minimum of 100 is required.
68
1375
*2. During homing the rod will move to the ME, so be careful to prevent contact with surrounding parts. ME: Mechanical end SE: Stoke end Reference dimensions are shown in parentheses.
With Brake
64 63.5
0.5 11272.5
Dimensions of supplied nut
M14 X 1.58 22
(25.
4)
82.
6
6.510.5Detailed View of A (2:1)
Dimensions, Weight and Maximum Speed by Stroke* The figures in parentheses apply to the brake type, while those in < > apply to a vertical application.
StrokelL
Weight (kg)Maximum
speed(mm/s)
Lead 16Lead 8Lead 4
50138
250 (322.5)3.1 (3.98)
100188
300 (372.5)3.6 (4.48)
150238
350 (422.5)4.1 (4.98)
200228
400 (472.5)4.6 (5.48)
250338
450 (522.5)5.1 (5.98)
300388
500 (572.5)5.6 (6.48)
450 <400>210130
Applicable Controller SpecificationsApplicableController
RCP2-CRCP2-CG
Maximum numberof controlled axes
1 axis1 axis
Compatibleencoder type
Incremental
Programoperation
Positioneroperation
Pulse-traincontrol
Power-supplyvoltage Page
24VDC P25P25
Caution
(Note 1) Load capacity at the rated acceleration rate (Refer to page 9.)(Note 2) The maximum cable length is 20m. Specify the desired length in meters (e.g., X08 = 8m).
* Refer to page 9 for other points to note.
SA5, SA6, SA7 R emove the cover and affix from the front
s ide us ing bolts .
R C P 2-S A5 : øf4.5
R C P 2-S A6 : øf4.5
R C P 2-S A7 : øf6
Slider Type
Installation Method
SSR, SMR
Affix from the reverse s ide us ing bolts .
R C P 2-S S R screw-hole specification: M5, depth 8
R C P 2-S MR screw-hole specification: M8, depth 10
SA5, SA6, SA7, SS, SM
Affix from the reverse s ide us ing bolts .
R C P 2-S A5 screw-hole specification: M4, depth 7
R C P 2-S A6 screw-hole specification: M5, depth 9
R C P 2-S A7 screw-hole specification: M5, depth 9
R C P -S S screw-hole specification: M5, depth 8
R C P -S M screw-hole specification: M8, depth 10
RXA, RSA, RMA Affix through the screw holes provided on the rod s ide.
R C P 2-R XA screw-hole specification: M4, depth 10
R C P 2-R S A screw-hole specification: M6, depth 12
R C P 2-R MA screw-hole specification: M8, depth 15
Rod Type
RXA, RSA, RMA (F oot bracket specification)
Affix from above us ing bolts .
R C P 2-R XA foot-bracket specification: øf6.6
R C P 2-R S A foot-bracket specification: øf6.6
R C P 2-R MA foot-bracket specification: øf9
RXA, RSA, RMA Affix from the reverse s ide us ing bolts .
R C P 2-R XA screw-hole specification: M4, depth 6
R C P 2-R S A square-nut insertion: M4 (T -groove depth 6.1)
R C P 2-R MA square-nut insertion: M6 (T -groove depth 10.6)
RXA, RSA, RMA (F lange specification)
Affix from the actuator s ide us ing bolts .
R C P 2-R XA flange specification: øf4.5
R C P 2-R S A flange specification: øf6.6
R C P 2-R MA flange specification: øf9
Actuator Options
23
Actuator Options
Brake
Model
Explanation
Remarks
Model
Explanation
Remarks
Model
Explanation
Model
Explanation
Model
Explanation
Reverse Homing Specification
Inverse Motor-Reversing Direction
Foot Bracket
Flange
BE, BL, BR (SA5, SA6, SA7 types) B (Other types)
NM
R
FT
FL
This brake is used with the ROBO Cylinder installed vertically in order to prevent the load attached at the tip of the slider or rod from falling due to deadweight when the servo or power is turned off.
With the SA5, SA6 or SA7 types, the brake cable is not routed within the actuator. Instead, the cable exits the actuator and is guided into the joint cable nearthe motor cover.The brake cable can be taken out at the end (BE), right (BR) or left (BL).All other types are specified with "B," since the brake cable is routed within the actuator.
Normally the home is set on the motor side.Specify this option if the home must be set on the counter-motor side due to the equipment structure.
The rod type is not available in the reverse homing specification due to its structure. Exercise caution.
The reversing direction of the motor for the motor-reversing type actuator (SSR, SMR) is set to the inverse direction.
This bracket is used to affix the actuator from above using bolts.Since the foot bracket is affixed into the T-grooves provided at the bottomof the actuator, it can be adjusted in the length direction to a certaindegree. (In the RXA type the bracket is installed using tapped holes.)Refer to the drawings below for the dimensions of each actuator with afoot bracket.
Foot Bracket Specification(Specify "FT" after the actuator model.)
Affix from above using bolts.
Flange Specification(Specify "FL" after the actuator model.)
Affix from the actuator sideusing bolts.
This bracket is used to affix the actuator from the actuator side using bolts.Refer to the drawings below for the dimensions of each actuator with aflange.
RXA
RXA
RSA
RSA
RMA
RMA
20
3835
4-φ6.6 drilled through 4-φ6.6 drilled through 4-φ9 drilled through20
5045
6864
95 79
T-groove range T-groove range
64 8712
71 57
47 67.5
10
66 52
35 53
10
4-φ4.5 drilled through 4-φ6.6 drilled through4-φ9 drilled through
25
10
394555 60
7510
39 52
12
50 63.5
6.75
5.25
34 44.524 35
5.5
R C P 2 controller
Actuator
Host system (P LC )
P OR T
AD/R S
P IO
R DY R UN ALM
OF F
S IO
E NC
NOM
MOT
S 1
S 2
MP O
MP I
24V
N
F.G
R ISB K
ON
Model details
(E xample) RCP2 - SA5 - I - PM - 6 - 600 - P1 - S - BE
OptionsC able lengthApplicable controllerS trokeLeadMotorE ncoder typeT ypeS eries
RCP2-C/CGDedicated R C P 2 C ontroller
Operating method P ositioner operation
Number of pos itions that can be registered S tandard 16 pos itions/Maximum 64 pos itions
P ower-supply voltage 24V DC
Features
1 S pac e-s aving des ign with a 49% s maller footprintT he compact, s lim body of 35mm in width x 68.1mm in depth saves space
in the installation of the panel. Of course, the driver, control unit and power
stages are all housed within the unit, so no cumbersome wiring or
adjustment is needed. S imply connect the actuator, and your equipment is
ready to go.
2 Multi-point pos itioning c overing up to 64 pointsT he increased P IO points and expanded internal memory allow the
registration of pos ition data for up to 64 points , so the controller can
effortless ly perform complex operations . With this s imple, high-function
controller you can also perform pos itioning at an accuracy of 6 0.02mm,
s imply by specifying P IO pos itions from a P LC .
5 Us eful s oftware func tionsT he controller provides a range of useful functions that take advantage of
the AC servo features , thus allowing the setting and execution of complex
operations .
C onvenience is further enhanced with an increase in the number of zone-
s ignal outputs (two have been added).
4 Internal or external relay for c utting off themotor's drive power upon emergenc y s top
T he controller, which incorporates its own drive-power cutoff relay, ensures
safety by cutting off the motor's drive power when an emergency stop is
actuated. T o further enhance safety, use the external relay type that cuts off
the motor's drive power us ing a safety relay provided externally to the
controller.
1
Actuator'scurrent pos itionnumber
P os ition number
Useful S oftware F unctions
A footprint reduc tion of approx. 49%
1 P os itioning-width setting functionNormally a movement completion s ignal (pos itioning-completion s ignal) is
output when the target pos ition is reached. With the R C P 2 this s ignal can be
output at an arbitrary pos ition before the target pos ition. F or example, this
function can be used to shorten the tact time.
200mm/s ec
100mm/s ec
S tationary
T he s ignal is input10mm before.
T he s ignal is input20mm before.
P os ition 1 P os ition 2
Time
S peed
Accele-rating
Accele-rating
Decele- rating
Decele- rating
2 Incremental move functionT he controller allows for incremental movement, or movement of an arbitrary
distance specified from the current pos ition.
Y ou can perform continuous moves at a fixed pitch for as many pos itioning
points as des ired, s imply by repeating incremental movements with the
same distance specification.
300mm/s ec
25252525100
P os ition 2C oordinate 25
P os ition 1C oordinate 100
P os ition 0C oordinate 0
P os ition number
S tationaryTime
S peed
3 P ause functionT he s lider operation can be paused in keeping with the ON/OF F status of an
external s ignal.
Use this function to stop the operation temporarily or provide an interlock
with surrounding equipment.
O N
O F F
Time
S peed
P aus e s ignal input
Accele-rating
Decele- rating
Accele-rating
Decele- rating
3 F ive pin-as s ignment patterns for P IO s ignalsY ou can now choose from a total of five pin-ass ignment patterns for P IO
s ignals , including the pattern allowing for pos ition specification of up to 64
points , the pattern providing two zone-s ignal outputs , and the pattern for
teaching operation (refer to page 29).
T he P IO connector is the same as the one used by the conventional R C P
controller (R C P -C ), and the factory-set pin ass ignments are also the same.
T herefore, the P IO wiring need not be adjusted after replacing your R C P
controller with an R C P 2.
(Note) Y ou cannot replace only your R C P controller with an R C P 2 and continue us ingthe R C P actuator.
25
3$1
R CP 2 - C - R XA - I - P M - O - P❶ ❷ ❸ ❹ ❺
❶S eries
❷C ontroller type
❹P ower-supply
voltage
❸Actuator type
C : S ingle-axis, internal drive-power cutoff relay
C G: S ingle-axis, external drive-power cutoff relay
E nter the (type) of the actuator
to be operated – (encoder type)
– (motor).
O : 24V DCR C P 2
Model2
C ontroller T ype
4 P ush and hold operationT he s lider can be maintained in a condition where it is continually pressed
against the work, just like an air cylinder.
T his function is used for clamp fitting or other applications requiring that the
work be pressed.
300mm/s ec
S tationary
Accelerating Decelerating
Work
P os itioning width: 50mmTime
S peed
E x ample of pus h and hold operation
P os ition 1C oordinate 100
If the work is s till not contacted at the end of the pos itioning width, the pos itioning-completion s ignal will not be output.
*
5 Zone output functionT his function outputs a s ignal when the s lider enters a specified range during
operation.
It can be used to set a danger area or provide a pseudo sensor function.
O N
O F F
S pecified zone-s ignal output rangeTime
S peed
Zone s ignal output
Accele-rating
Decele- rating
R C P 2-C : T his controller has an internal emergency-stop circuit, which responds to an external emergency-stop input to halt the actuator and cut off the motor
drive power us ing the relay within the controller.
(Use this type for general applications .)
R C P 2-C G : T his controller has no internal emergency-stop circuit, but it has a dedicated terminal for cutting off the motor's drive power. T he controller will
conform to the safety s tandard of S afety C ategory 2 or equivalent if the user provides an emergency-stop circuit us ing a safety relay, etc., routed to
the controller externally.
26
❺I/O s ignal format
Not specified: NP N
P : P NP
Output CircuitInput Circuit
System Configuration Diagram3
I/O Wiring Diagrams4
Compatible Actuators Host System (PLC)
Main Power I/O Power
RCP2 Series Slider Type Slider Motor-Reversing Type Rod Type
I/O flat cable, 2m(Supplied with the controller.)(Refer to page 37.)
Motor cable Standard: 1m/3m/5m (Refer to page 37.)Encoder cable Standard: 1m/3m/5m (Refer to page 37.)(Supplied with the actuator.)
Teaching pendant<RCA-T/TD>
<RCA-E><RCA-P>
PC software<RCB-101-MW>
(Refer to page 36)
Communication cable, 5m(Refer to page 37) *1(Supplied with the PC software)
5m
The PC communication cable consistsof an external equipment communicationcable (CB-RCA-SIO050) and an RS485conversion adapter (RCB-CV-MW).
*1
24VDC 24VDC
External output specificationsExternal input specifications
PERSONALCOMPUTER
Input voltageInput currentNumber of input pointsLeak currentInsulation method
Item Specification24VDCA10%7mA/point10 points1mA or less/pointPhotocoupler
SpecificationItemLoad voltageMaximum load currentNumber of output pointsResidual voltageInsulation method
24VDC20mA/point10 points2V or lessPhotocoupler
NPN SpecificationNPN Specification
PNP Specification PNP Specification
Internal circuitInternal circuit
Internal circuit Internal circuit
P24
Input terminal
Externalpower supply
+24V
Externalpower supply
+24V
N
Input terminal
Each inputIN0~9
Each inputIN0~9
N
N
P24
P24
Each output OUT0~9
Each output OUT0~9
Externalpowersupply+24V
Externalpowersupply+24V
Load
LoadR=560
R=3.3k
R=3.3k
R=560
E xternal C onnec tion Diagrams5
Internal Drive-P ower C utoff R elay T ype(Model: R C P 2-C )
Input power24V DC
1 (S G A)2 (S G B )3 (+5V )45 (E MG A)6 (+24V )7 (G ND)8 (E MG B )
S IO
Motor
R C P 2
(P OR T switch)
E ncoder
G ND
B rake release switch
24V
P G
M
Holding brake
P IO
MOT
E NC
(S ignal abb.)
Terminal boxS 1S 2MP IMP O24VNE MG
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
1B
2B
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
A1(A)
A2(V MM)
A3(B )
B 1(A)
B 2(V MM)
B 3(B )
1 (F G )
5 (G ND)
6 (5V )
9 (E NB )
10 (E NB )
11 (E NA)
12 (E NA)
13 (B K -)
14 (B K +)
+24 [V ]
0 [V ]
C ommand pos ition 1
C ommand pos ition 2
C ommand pos ition 4
C ommand pos ition 8
P ause
S tart
Origin return
S ervo ON
R eset
(Not used)
(Not used)
(Not used)
C ompleted pos ition 1
C ompleted pos ition 2
C ompleted pos ition 4
C ompleted pos ition 8
Zone output
Moving
P ositioning completion
Origin return completion
E mergency stop
R eady
Alarm
B rown 1
R ed 1
Orange 1
Yellow 1
G reen 1
B lue 1
P urple 1
G ray 1
White 1
B lack 1
B rown 2
R ed 2
Orange 2
Yellow 2
G reen 2
B lue 2
P urple 2
G ray 2
White 2
B lack 2
B rown 3
R ed 3
Orange 3
Yellow 3
G reen 3
B lue 3
B lue
B lack
White
R ed
B lack
G reen
Orange(B lack 2)
White(B lack 1)
White(R ed 1)
Light blue(R ed 1)
Light blue(B lack 1)
Yellow(R ed 1)
Yellow(B lack 1)
Orange(R ed 2)
P 24
N
P C 1
P C 2
P C 4
P C 8
*S T P
C S T R
HOME
S ON
R E S
P M1
P M2
P M4
P M8
ZONE
P E ND
HE ND
*E MG S
S R DY
*ALM
Teaching pendant and P C connection
C ontroller
User equipment
E xternal E MG switch
Actuator24V0VF G
Ou
tpu
t si
de
In
pu
t si
de
Upperstage
Lowerstage
E xternal Drive-P ower C utoff R elay T ype(Model: R C P 2-C G )
1 (S G A)2 (S G B )3 (+5V )45 (E MG A)6 (+24V )7 (G ND)8 (E MG B )
S IOR C P 2
G ND
24V
P G
M
P IO
MOT
E NC
S 1S 2MP IMP O24VNF G
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
1B
2B
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
A1(A)
A2(V MM)
A3(B )
B 1(A)
B 2(V MM)
B 3(B )
1 (F G )
5 (G ND)
6 (5V )
9 (E NB )
10 (E NB )
11 (E NA)
12 (E NA)
13 (B K -)
14 (B K +)
C utoff circuit for motor drive power
Teaching pendant and P C connection
Input power24V DC
24V0VF G
User equipmentB rown 1
R ed 1
Orange 1
Yellow 1
G reen 1
B lue 1
P urple 1
G ray 1
White 1
B lack 1
B rown 2
R ed 2
Orange 2
Yellow 2
G reen 2
B lue 2
P urple 2
G ray 2
White 2
B lack 2
B rown 3
R ed 3
Orange 3
Yellow 3
G reen 3
B lue 3
Lowerstage
Upperstage
+24 [V ]
0 [V ]
C ommand pos ition 1
C ommand pos ition 2
C ommand pos ition 4
C ommand pos ition 8
P ause
S tart
Origin return
S ervo ON
R eset
(Not used)
(Not used)
(Not used)
C ompleted pos ition 1
C ompleted pos ition 2
C ompleted pos ition 4
C ompleted pos ition 8
Zone output
Moving
P ositioning completion
Origin return completion
E mergency stop
R eady
Alarm
Ou
tpu
t si
de
In
pu
t si
de
C ontroller
B lue
B lack
White
R ed
B lack
G reen
Motor
Actuator
E ncoder
Orange(B lack 2)
White(B lack 1)
White(R ed 1)
Light blue(R ed 1)
Light blue(B lack 1)
Yellow(R ed 1)
Yellow(B lack 1)
Orange(R ed 2)
Holding brake
B rake release switch
(P OR T switch)
Terminal box
(S ignal abb.)
P 24
N
P C 1
P C 2
P C 4
P C 8
*S T P
C S T R
HOME
S ON
R E S
P M1
P M2
P M4
P M8
ZONE
MOV E
P E ND
HE ND
S R DY
*ALM
*P IO connection shown is oneexample. R efer to "I/O S ignalT able" on page 29 for an addition-al P IO pattern.
*P IO connection shown is oneexample. R efer to "I/O S ignalT able" on page 29 for an addition-al P IO pattern.
28
I/O S ignal T able6
T his controller provides five P IO patterns to meet the needs of various applications . S imply change the parameter setting (0to 4), and you can use any one of the five patterns specified below.
Note: T wo or more of the following patterns cannot be used in combination, so exercise caution.
(F or example, 64-point pos itioning cannot be implemented while two zone s ignals are used.)
P arameter(P IO pattern selection)
0
P IO pattern
C onventional
F eatures
T his pattern is compatible with the pin ass ignments of the R C P -C controller.(F actory setting)
1 S tandardAll functions of the conventional pattern, plus origin-return command input, servo ON input, resetinput, moving output and ready output.
2 64-point pos itioningT he input ports for pos itioning command pos itions are extended to allow for specification of up to64 points . (T he servo ON s ignal and ready output have been removed.)
3 2 zone output s ignalsT wo zone output s ignals are set.(T he moving output has been removed.)
4 T eachingT his pattern allows for jogging and teaching (writing of current pos ition coordinates) us ing I/Os .T he mode can be switched between "Normal" and "T eaching." In the Normal mode, the sameoperations available with the standard pattern can be performed.
P in No. C ategory Wire color
P arameter No. 21
0 1 2 3 4
C onventional S tandard64-point
pos itioning2 zone
output s ignals
T eaching
Normal mode
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
1B
2B
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
B rown 1
R ed 1
Orange 1
Y ellow 1
G reen 1
B lue 1
P urple 1
G ray 1
White 1
B lack 1
B rown 2
R ed 2
Orange 2
Y ellow 2
G reen 2
B lue 2
P urple 2
G ray 2
White 2
B lack 2
B rown 3
R ed 3
Orange 3
Y ellow 3
G reen 3
B lue 3
C S T R
P C 1
P C 2
P C 4
P C 8
—
—
*S T P
—
—
P M1
P M2
P M4
P M8
P E ND
HE ND
ZONE
*ALM
—
—
P C 1
P C 2
P C 4
P C 8
—
*S T P
C S T R
HOME
S ON
R E S
P M1
P M2
P M4
P M8
ZONE
MOV E
P E ND
HE ND
S R DY
*ALM
P 24
N
P C 1
P C 2
P C 4
P C 8
P C 16
P C 32
C S T R
HOME
*S T P
R E S
NC
NC
NC
P M1
P M2
P M4
P M8
P M16
P M32
P E ND
HE ND
MOV E
*ALM
P C 1
P C 2
P C 4
P C 8
—
*S T P
C S T R
HOME
S ON
R E S
P M1
P M2
P M4
P M8
ZONE 1
ZONE 2
P E ND
HE ND
S R DY
*ALM
P C 1
P C 2
P C 4
P C 8
MODE
HOME
S ON
P M1
P M2
P M4
P M8
MODE S
MOV E
HE ND
S R DY
*ALM
*S T P
C S T R
R E S
P E ND
J OG +
P WR T
J OG -
WE ND
T eaching mode
Note: (1) T he s ignals indicated by * (ALM, S T P , E MG S ) use the negative logic, so they remain ON in normal conditions of use.(2) P in Nos . 13A, 1B and 2B cannot be connected.(3) T he NP N specification and P NP specification use the same pin ass ignments for connection of the power circuit, so there is no need to reverse the power-circuit pins
for the P NP specification.(4) P in No. 11B is valid only on the internal cutoff relay type. (It is not connected in the external cutoff relay type.)
Upperstage
Lowerstage
P 24
N
Input
Output
Output
Internal cutoff relay type: *E MG S / E xternal cutoff relay type: NC
29
Overview of I/O S ignal F unc tions7
E xplanations of S ignal Names
P IO P attern Func tion T able A "circle" indicates that the setting is available, while – indicates that the setting is not available. T he figures indicate the numbers of points .
MovingZoneR eadyR esetC urrentpos ition
writeJ ogP ause
Originreturn
command
S ervoON
Number ofpos itioning
points
Output s ignalsInput s ignals
P IO patternP arameter
(P IO patternselection)
–
–
1
1
–
2
–
–
–
––
–
–
–
–
–
–
–
––
–
16
16
64
16
16
C onventional
S tandard
64-point pos itioning
2 zone output s ignals
T eaching
0
1
2
3
4
C ategory
Input
Output
S ignal name
S tart
S ignal abbreviation
C S T R
F unction overview
A starting trigger that s tarts movement at the rise edge
S ervo ON S ONT he servo remains ON while this s ignal is ON.T he servo remains OF F while this s ignal is OF F .
Alarm reset R E ST he remaining travel amount is reset at the rise edge when an alarm is present oroperation is paused.
Origin return HOME Origin return operation starts at the rise edge.
Operation mode MODE ON: T eaching mode, OF F : Normal mode
C urrent pos ition write P WR TWhen this s ignal has been ON for 20msec., the current pos ition will be written to theposition number selected by P C 1 through P C 8.
+ J og J OG + T he s lider/rod moves in the pos itive direction while this s ignal is ON.
- J og J OG - T he s lider/rod moves in the negative direction while this s ignal is ON.
* P ause *S T P T he motor decelerates to a s top at the ON —> OF F fall edge.
C ommand pos ition number
P C 1 P C 2
P C 4 P C 8
P C 16 P C 32
T he target pos ition number is input.
R eady S R DY
T his s ignal is always output once the servo is turned ON and the R OB O C ylinder isready to operate. T he s ignal is synchronized with the ON/OF F status of the "R UN" LE D on the front panelof the enclosure.It is used by the P LC to determine when it can start operation.
Moving MOV ET his s ignal turns ON while the s lider/rod is moving, and turns OF F while it is s topped.It is used during push-motion operation to determine whether the work is contacted.
P os itioning completion P E NDT his s ignal turns ON when pos itioning is completed with the target pos ition reached andthe s lider/rod enters the specified in-pos ition range. It is used to determine whether pos itioning has been completed.
Origin return completion HE ND T his s ignal turns ON when origin return has been completed.
ZoneZONE 1
ZONE 2
T his s ignal is output when the current actuator pos ition is ins ide the range set by theapplicable parameter.It can be used as a limit switch at an intermediate point or as a s imple ruler.
* Alarm *ALMT his s ignal remains ON in normal condition and turns OF F when an alarm generates .It is synchronized with the OF F /ON status of the corresponding LE D on the front panel ofthe enclosure.
C ompleted pos ition number
P M1 P M2
P M4 P M8
P M16 P M32
T he relevant pos ition number is output once pos itioning is complete.T he s ignal will turn OF F once the next movement starts .It is used by the P LC to check if the commanded pos ition has definitively been reached.
C urrent operation mode MODE S ON: T eaching mode, OF F : Normal mode
* E mergency stop *E MG ST his s ignal is enabled on a controller equipped with a s imple emergency-stop relay.
OF F : E mergency stop is actuated
Write completion WE NDT his s ignal is output upon the completion of writing to the nonvolatile memory in
response to a pos ition-information write command.
30
S pec ific ation T able8
Item Description
C ontroller series/type R C P 2-C /C G
C ompatible actuators R C P 2-S A5 /S A6 /S A7 /S S /S M /S S R /S MR R C P 2-R XA /R S A /R MA
P ower capacity 2A max.
Number of controlled axes 1 axis
C ontrol method Weak field-magnet vector control (patent pending)
P os itioning command P osition number specification
P osition number S tandard 16 points , maximum 64 points
B ackup memoryP osition number data and parameters are saved in the nonvolatile memory. T he serial E 2P R OM can berewritten 100,000 times .
P IOR C P 2-C (C G ): 10 dedicated inputs (10 points ) / 10 dedicated outputs (11 points ), selectable from fivepatterns
LE D indicators R DY (green), R UN (green), ALM (red)
I/F power E xternal power supply: 24V610%, 0.3A, insulated
Input power 24V DC 610%
C ommunication R S 485 1 channel (terminated externally)
E ncoder interface Incremental specification conforming to E IA R S -422A/423A
F orced release of electromagnetic brake T oggle switch on front panel of enclosure
Insulation strength 500V DC 10MV
V ibration res is tance 10~57Hz in XY Z directions / P ulsating amplitude: 0.035mm (continuous), 0.075mm (intermittent)
Operating temperature 0~40°C
Operating humidity 85%R H or less (non-condensing)
Operating environment Not subject to corros ive gases .
P rotection class IP 20
Accessory P IO flat cable (2m)
Weight 300g
C able length
Motor/encoder cables : 20m or less
P IO cable: 5m or less
31
P ort switch (P OR T )
A s ignal-output selector switch for the S IO connector
([3])
P ower for the teaching pendant and IAIR S 485 convers ion adapter is output fromthe S IO connector ( [3]) . T his s witch isconnected to the E MG line (S 1, S 2 of [6])of the teaching pendant.
C ommunication with the teaching pendantor P C is disabled. However, s ince the S IOs ignal line is active, the controllers can stillcommunicate with each other.
Note: B e sure to turn this switch OF F each time the S IOconnector has been plugged in or unplugged.
T erminal blockAn emergency-s top s witch contact. Whenthe P O R T s witch ([2]) is turned O N, theemergency-s top s witch on the tea chingpe nda nt will be c onne c te d. W he n theP O R T s witch is turned O F F , S 1 and S 2will be shorted.
T hes e termina ls a re us ed to cut off themotor’s drive power directly and externallyusing a safety relay, etc. (R efer to page 34.)
P os itive s ide of the 24-V DC power supply
Negative s ide of the 24-V DC power supply
E mergency-stop input (R C P 2-C )
G round terminal (R C P 2-C G )
B rake release switch (B K )
T his switch is enabled only when the actuator is used
with a brake option.
B rake is forcibly released
B rake is in use (normal setting)
P OR T
AD/R S
P IO
R DY R UN ALM
OF F
S IO
E NC
NOM
MOT
S 1
S 2
MP O
MP I
24V
N
F.G
R ISB K
ON
68.1
fø5
5
35
16
3
17
0.5
(In
sta
llatio
n d
ime
nsi
on
)
17
8.5
1035
"%34
1*0
3% : 36/"-.
0''
4*0
&/$
/0.
.05
4
4
.10
.1*
7
/
'(
3*4#,
0/
E xternal Dimens ions9
Names and Func tions of P art10
C ontroller
RCP2-C/CG
1
2
3
3
3
6
4
5
6
7
8
9
Unit: mm
R DY
R UN
ALM
LE D indicators
Indicates that the C P U is operating normally
Indicates a normal operating condition (themotor a nd e nc ode r wir ing ha s be e nchecked and the servo is ON)
Indicates that an a larm is pres ent or anemergency stop has been actuated
1
2
ON
OF F
S 1/S 2
MP I/MP O
24V
N
E MG
F .G
S etting range
6
R LS
NOM
T eaching pendant/P C connector (S IO)
A connector for the teaching pendant or dedicated
communication cable
3
4
Motor cable connector (MOT )A motor cable connector for the actuator
Motor cable connector (MOT )A motor cable connector for the actuator
5
P IO connector (P IO)A P IO cable connector
7
E ncoder/brake connector (E NC )T his c onne c tor is us e d to c onne c t the a c tua tor’sencoder/brake cables .
9
Address switch (ADR S )T his switch is used to set the address for the controllera xis . I f two or more controllers a re connected viacommunication cables , prevent duplicate controlleraddresses .
0~F
8
2
32
E mergenc y-S top C irc uit11
Internal Drive-P ower C utoff R elay T ype (Model: R C P 2-C )
(1) When only one controller is used
T he internal drive-power cutoff relay type will s top the actuator operation and cut off the motor’s drive power of the actuator us ing the internal relay when theE MG (emergency stop) input s ignal is turned OF F at the controller’s terminal block.R epresentative connection examples are given below.
* T he emergency stop will not be cancelled without the following wiring, so exercise caution.
C onnect the MP I and MP O terminals us ing a jumper cable (factory setting).
C onnect one end of the E MG button to the 24-V input power, and connect
the other end to the S 1 terminal. Also connect the S 2 and E MG terminals
us ing a jumper cable.
Input power24V DC
E MG button
S 1S 2MP IMP O24VNE MG
(2) When two to eight controllers are used with a s ingle power supply
C onnect the MP I and MP O terminals us ing a jumper cable (factory setting). C onnect one end of the E MG button to the 24-V input power, and connect
the other end to the S 1 terminal. T hen, provide crossover connections bysequentially connecting the S 2 terminal of controller 1 to the S 1 terminal ofcontroller 2, the S 2 terminal of controller 2 to the S 1 terminal of controller 3,
the S 2 terminal of controller 3 to the S 1 terminal of controller 4, and so on,and connect the S 2 terminal of the last controller to the E MG terminals of allcontrollers . Use a relay ter minal block for connection to the E MG terminals .(Note) Do not insert more than one wire into a s ingle terminal.
S 1S 2MP IMP O24VNE MG
[C ontroller 1]
S 1S 2MP IMP O24VNE MG
[C ontroller 2]
S 1S 2MP IMP O24VNE MG
[C ontroller 3]
S 1S 2MP IMP O24VNE MG
[C ontroller 4]E MG buttonInput power
(3) When nine or more controllers are used
P lease contact IAI.
R efer to the operating manual for details .
33
E xternal Drive-P ower C utoff R elay T ype (Model: R C P 2-C G )
T he external drive-power cutoff relay type is des igned to cut off the motor’s drive power us ing an external safety relay, etc., and therefore no internal emergency-stop circuit is provided. Accordingly, the user must des ign a circuit such as the one shown below, us ing a safety relay unit, a contactor, etc.
Input power
24V DC
C onnects to the 24-V terminal and E MG terminal
C onnects to the N terminal
24V
0V
S 1
S 2
MP I
MP O
24V
N
F G
C ontactor
S 33 5143332313S 12
S afety relay unitP hoenix C ontact P S R -S C P -24UC -/E S A2/4X1/1X2/B
S 11S 34
A1 5244342414A2
S 1
S 2
MP I
MP O
24V
N
F G
S 1
S 2
MP I
MP O
24V
N
F G
[C ontroller 1] [C ontroller 1] [C ontroller 1]
* T he above diagram shows only the safety-relay output circuit.Determine the appropriate emergency-stop input circuit in accordance with your equipment.
34
Connection of Multiple Controllers via Serial Communication12
Basic Specifications
Connection Example
External Dimensions of SIO Converter Controller Link Cable
The following explains how to connect multiple controllers using a PC or PLC communication module as the host:
Item SpecificationMaximum number of units that can be connected
Maximum cable length
Terminal resistor
16 units
100m or less
220Ω
* Provide a communication path via bus connection and be sure to provide a terminal resistor at the end.
Teaching pendant
* Use a commercial cross cable for connection with the PC
PC, etc.
SIO converter (optional)(built-in terminal resistor)Model: RCB-TU-SIO-A (B)
* The user must provide the following wiring: (Recommended)
Junction (AMP 5-1473574-4)
FG
0V
24VInput power24VDC
Controller power
0.2m
Controller link cableModel: CB-RCB-CTL002
0.2m 0.2m
Terminal resistorR=220
RCP-C/CG
Vertical mounting specification using DIN railModel: RCB-TU-SIO-A
[Controller 1] [Controller 2] [Controller n]
Horizontal mounting specification using DIN railModel: RCB-TU-SIO-B
Model: CB-RCB-CTL002200mm
E-Con connector (AMP 3-1473562)
(44) 45
102
4544
102
Pin No. Signal Wire color Name
1
2
3
4
5
6
7
8
SGA
SGB
---
---
---
---
GND
---
Brown
Red
---
---
---
---
---
Yellow/Orange
RS485 differential signal + side
RS485 differential signal - side
0V
C ontroller Options13
T eac hing P endant
A teaching device that provides all of the functions needed for test operation/ adjustment, such as position-data input, test operation and monitoring of the current axis position and I/O signals.
The interactive-type panel ensures easy operation. All you need is to enter values in the required fields, so you won’t need the operation manual for basic operations.
The internal help panel allows you to quickly check the desired operating procedure whenever necessary.
Model Model
Features Features
RCA-T (S tandard) RCA-TD (With deadman s witc h)
Help panel
80
105 7.532.5
ø4.8
24
9.5
S pecifications
Dimensions
S imple T eac hing P endant
Item
Operating temperature/humidity
Operating environment
Weight
C able length
Display
A highly cost-effective teaching device that provides the same functions as the R C A-T at a s ignificantly lower price.
T he unit s ize has been reduced through the use of a two-digit display.
RCA-E
S pecifications
Dimensions
14
0
2380
21
6.326.215.1
23
.5
43
14
8.5
7 (34)72.5
(113.5)
Data S etting Unit
Item
Operating temperature/humidity
Operating environment
Weight
C able length
Display
An affordable data setting unit offering edit functions , except for operations involving axis movement.
E dit functions P osition data input C onfirmation of current axis pos ition I/O s ignal monitoring, etc.
Model Model
Features
Features
RCA-P * Operations involving axis movement c annot be performed
S pecifications
Dimensions
P C S oftware
A support software for pos ition data input and test operation. T his software s ignificantly improves the equipment debugging
operations by offering wide-ranging functions such as jogging, inching, s tep operation and continuous operation, and also by allowing easy operation via a large P C screen.
(NOT E 1) R efer to C B -R C A-S IO050 and R C B -C V -MW on page 37 for the P C communication cables .
RCB-101-MW (DOS /V, Windows vers ion)C ontent: F loppy dis k, P C c ommunic ation c able (5m) (NOT E 1)
Item
Operating temperature/humidity
Operating environment
Weight
C able length
Display
S pecification
Temperature: 0~40°C , Humidity: 85%R H or less
Not subject to corrosive gases or significant dust.
Approx. 550g (including cables)
5m
21 characters x 16 lines , LC D
S pecification
Temperature: 0~40° C , Humidity: 85%R H or less
Not subject to corrosive gases or significant dust.
Approx. 400g (including cables)
5m
16 characters x 2 lines, LC D
S pecification
Temperature: 0~40° C , Humidity: 85%R H or less
Not subject to corrosive gases or significant dust.
Approx. 360g
5m
16 characters x 2 lines , LC D
R C P 2 36
A product older than V er. 1.61 cannot be used with the R C P 2.(The customer’s existing product can be sent to IAI for a version upgrade.)
A product older than Ver. 1.63 cannot be used with the R C P 2.(The customer’s existing product can be sent to IAI for a version upgrade.)
A product older than Ver. 1.63 cannot be used with the R C P 2.(The customer’s existing product can be sent to IAI for a version upgrade.)
(*) If you are using R C A-101-MW, the software can be used with the R C P 2 after a proper version upgrade. The shape of R C B-101-MW’s R S 485 conversion adapter has changed from that of the adapter used with R C A-101-MW, but functionality remains the same.
R C P 2
T he following cables are supplied with the actuator and controller.When ordering new cables for replacement, etc., please specify the required types by referring to the information below:
(F ront view)(F ront view)
AV MM
BA
V MMB
AV MMAB
V MMB
I-1318119-3(AMP )
S LP -06V(J .S .T . Mfg.)
C N3 C N1
A1A2A3B 1B 2B 3
123456
(20)(8)
(15
)
L
C N3CN1
(ø8)
(28
)
(14)
(14
)
(20)
C ontroller end Machine end
B lueB lackWhiteR ed
B lackG reen (Y ellow 3)
R edB lackB lue
G reen (Y ellow 3)B lackWhite
M cable
(F ront view)
P G cableC N4 C N2
P HDR -16V S(J .S .T . Mfg.)
(B AT 2)
(B AT 1)
B K +
B K -
E NA
E NA
E NB
E NB
S D
S D
5V
G ND
(NC )
(NC )
(NC )
F .G
E NA
E NA
E NB
E NB
––––
GND5V–––––
BK+BK-F.G
L
CN2
C N4
(5) (8) (13) (15)
(ø9)
(35
)
(25
)
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
(18
)
C ontroller end
(F ront view)
Machine end
––
Light blue (Red 1)Light blue (Black 1)White (Red 1)White (Black 1)Yellow (Red 1)Yellow (Black 1)
––
Orange (Red 2)Orange (Black 2)
–––
Drain
XMP -18V(J .S .T . Mfg.)
White (Red 1)White (Black 1)Yellow (Red 1)Yellow (Black 1)
––––
Orange (Black2)Orange (Red 2)
–––––
Light blue (Red 1)Light blue (Black 1)
Drain
No.123456789
10111213
No.14151617181920212223242526
C olorB rown-1
R ed-1Orange-1Y ellow-1G reen-1B lue-1
P urple-1G ray-1White-1B lack-1B rown-2
R ed-2Orange-2
C olorY ellow-2G reen-2B lue-2
P urple-2G ray-2White-2B lack-2B rown-3
R ed-3Orange-3Y ellow-3G reen-3B lue-3
13 26
1 14
No connector
No connector A
B
2m S ignal name+24V
N(24G )S tart
C ommand pos ition 1C ommand pos ition 2C ommand pos ition 4C ommand pos ition 8
NCNC
* P auseNCNCNC
S ignal nameNCNC
C ompleted pos ition 1C ompleted pos ition 2C ompleted pos ition 4C ompleted pos ition 8P ositioning completionOrigin return completion
Zone* Alarm
* E mergency stopNCNC
F lat cable A
Wiring
F lat cable B
Wiring
Model CB-RCP2-MAMotor C able (F or R C P 2-C )
Model CB-RCP2-PAE nc oder C able (F or R C P 2-C )
Model CB-RCA-PIO020I/O F lat C able (C ommon to R C P and R C P 2-C )
C ontroller endR S 485 convers ion adapter end
S ignal No.1
2
3
4
5
6
No.1
2
3
4
5
6
7
8
5V
S G A
G ND
S G B
G ND
5V
S ignalS G A
S G B
5V
E MG S
E MG A
24V
G ND
E MG B
F G
2m/5mC olorB orownY ellow
R edOrange
B lueG reen
C olorY ellowOrangeB rown/G reen
–
B lack–
R ed/B lue
B lackS hielded
S horted: UL1007 AWG 28 (black)
S hielded, not connected
Model CB-RCA-SIO020(050)E xternal E quipment C ommunic ation C able
40
20 55 270 4814
33
C D (DC D)S D (T XD)R D (R XD)E R (DT R )S G (G ND)DR (DS R )R S (R T S )C S (C T S )
R I
1
2
3
4
5
6
7
8
9
E xternal equipmentcommunication
cable endP C end
G ND
D-sub, 9 pinsS ignal No.
R D: R eceive data
S D: S end data
S G : S ignal ground
C D: C arrier detection
C T S : C lear to send
1
Model RCB-CV-MWR S 485 C onvers ion A dapter
C B -R C A-S IO020 (C able length: 2m)
C B -R C A-S IO050 (C able length: 5m)
S pare P arts14
37
C atalog No. CJ0056-1A-E (April 2004)
T he information contained in this catalog is subject to change without notice for the purpose of product improvement.
Home page: www. intelligentactuator. com
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