RCP6 RCP6S PCON-CB/CFB

Transcription

1 Catalog No. CE1A (71) ROBO Cylinder with Batteryless Encoder as Standard Standard Builtin Controller RCP RCPS PCONCB/CFB Controller for ROBO Cylinder IAI America, Inc. 9 W. 7th Street, Torrance, CA 9 () E. State Pkwy, Schaumburg, IL 17 () 9 Kennestone Circle, Suite, Marietta, GA () 97 The information contained in this product brochure may change without prior notice due to product improvements. IAI Industrieroboter GmbH Ober der Röth, D Schwalbach am Taunus, Germany IAI (Shanghai) Co., Ltd. SHANGHAI JIAHUA BUSINESS CENTER A,, Hongqiao Rd. shanghai, China IAI Robot (Thailand) Co., Ltd. PhairojKijja Tower th Floor, BangnaTrad RD., Bangna, Bangna, Bangkok, Thailand

2 IAI s Next Generation ROBO Cylinder : RCP You Can Select the Product That Best Suits Your Needs from an Abundant Lineup of 9 Models. with Highresolution Batteryless Encoder 1 Equipped as Standard. The advantages of an actuator with batteryless absolute encoder No battery maintenance is required since there is no battery. Since homereturn operation is not required at start up or after emergency stop or malfunction, this reduces your operation time, resulting in reduced production costs. Price is the same as the conventional incremental encoders. The advantages of using an absolute encoder. 1. With an absolute encoder, homereturn is not required.. No external home sensor is required since homereturn is not necessary.. Removal of items being worked on is not necessary, even after an emergency stop.. The troublesome creation of homereturn programs is not necessary even when stopping in the complex inside of a machine. Batteryless Encoder No Battery, No Maintenance, No Homing, and No Price Increase. No Going Back to Incremental. The advantages of batteryless 1. No battery maintenance required. No installation space for battery required Builtin position memory system Improved Positioning Repeatability With the improvement of the accurate processing technology of rolled ball screws and the thread grooves of nuts, a significantly higher precision compared to the previous ROBO Cylinder s positioning repeatability (±μm) has been achieved. Standard specification ±μm PowerCON Compatible μm Highprecision specification ± (Available only for RCPSA/WSA) Compatible with PowerCON which is equipped with a highoutput driver. The output of the stepper motor has increased by about % due to the use of PowerCON. This can reduce cycle time and help improve productivity. 1

3 Nextgeneration ROBO Cylinder RCP The Builtin Controller Is Available for All Models. Standard/separate controller type or builtin controller type can be selected for all models. The advantages of a builtin controller type. Smaller control panel. Simple wiring. Less maintenance parts necessary because wires are being shared. By using the gateway unit and the hub unit(s), it is possible to reduce the size of the control panel and a number of cables. *Please refer to P. for more information regarding the gateway unit and the hub unit. Control Panel for Standard Controller Control Panel for the RCPS Builtin Controller Actuator Control panel Power supply un Control panel it Power supply un it Size of the co ntrol p reduce anel d to on e PLC third PLC Gateway unit 1 controllers cables connect r of cables to ntrol panel The numbe co e th d an t en the equipm. from 1 to is reduced 1 cables Device side Device side A case 1 axes are connected axes Hub unit axes axes axes * Maximum cable length between the gateway unit and RCPS is m. If there is a hub unit in between, the maximum length is still m. The cable length from the gateway unit to the hub unit needs to be m or less. Applicable Controllers for RCP (Standard/Separate Controller ) NEW PCONCB/CFB Singleaxis Position Controller MCONC Multiaxis Position Controller MSEL Multiaxis Program Controller See P. for more details. Max. number of controlled axes: 1 axis Max. number of controlled axes: axes Max. number of controlled axes: axes Max. positioning points: points (for network spec, 7 points) Max. positioning points: points Max. positioning points:, points * Max. number of controlled axes is axes when connected to RCP.

4 RCP/RCPS Series: Models and Features Radial Cylinder: RRA Features Since ball circulating linear guides are built in, it can take radial loads and moment loads. The vibration upon stopping can be suppressed and a long stroke of up to 7mm has become possible. In addition, product quality has significantly increased with a nonrotating rod precision of degree with a no load condition. Batteryless absolute encoder The equipment will be compact since an external guide is unnecessary. Base Ball screw Ballcirculating linear guide Inserting, pressfitting, or riveting a work Rod Using as a lifter or a work piece unloader Using as a movable vertical axis of the cartesian system Transferring or positioning a lightweight object Rod : RA Features This is a type that does not build in a linear guide inside of the actuator. Of the RCP rodtypes that resemble air cylinders, this is the least expensive model. Batteryless absolute encoder Frame Ball screw Stopper Switching from rod type air cylinder Rod Push force combined with a guide Inserting, pressfitting, or riveting a work Using as a lifter or a work piece unloader

5 Nextgeneration ROBO Cylinder Wide Radial Cylinder: WRA RCP Features Due to a wide body and highrigidity rod, it can deal with up to four times the allowable torque on rod tip compared to a standard radial cylinder. Due to a high dynamic allowable moment, it can be utilized for uses such as tightening screws and stirring that have large load torque. Batteryless absolute encoder The equipment will be compact since an external guide is unnecessary. Base Inserting, pressfitting, or riveting a work Ball screw Ballcirculating linear guide Tightening a screw or stirring Using as a lifter or a work piece unloader Using as a movable vertical axis of the cartesian system Rod Transferring or positioning a lightweight object Using as a base axis of the pickandplace unit Table : TA Features Work piece can be installed using the tapped mounting holes on the top surface of the table and the tip plate. Batteryless absolute encoder With a builtin ball circulating linear guide in the table section, it will be able to deal with moments in the pitching (Ma), yawing (Mb), and rolling (Mc) directions. Highrigidity specification (doubleblock) can be selected as an option. With two guide blocks, the dynamic allowable moment increases by up to. times in the pitching (Ma) and yawing (Mb) directions. Base Ball screw Switching from table type air cylinder Ballcirculating linear guide Table Clamping tasks that pinch work from both sides Positioning tasks that hold work with the front side of the table A function for pushing works on a conveyor to the side Using as a movable vertical axis of the cartesian system

6 RCP/RCPS Series: Models and Features Slider : SA Features With a base integrated ball circulating linear guide, it will be able to deal with moments in the pitching (Ma), yawing (Mb), and rolling (Mc) directions. Batteryless absolute encoder By combining multiple axes, twodimensional and threedimensional operations are possible. Base Stainless steel sheet Ball screw Ballcirculating linear guide Slider Switching from rodless air cylinder Switching from selfmade equipment with ballscrew, guide, and motor. Using as base and movable axes of the cartesian system. Work such as assembly, inspection, and measuring length that require high accuracy. Wide Slider : WSA Features Perfect for the base axis of the cartesian system. With a builtin ball circulating linear guide inside its wide body, it will be able to deal with moments in the pitching (Ma), yawing (Mb), and rolling (Mc) directions. Batteryless absolute encoder nd axis can be installed onto the wide slider type without removing its stainless steel sheet. By combining multiple axes, twodimensional and threedimensional operations are possible. Base Ball screw Stainless steel sheet Ballcirculating linear guide Slider Switching from rodless air cylinder Switching from selfmade equipment with ballscrew, guide, and motor. Work such as assembly, inspection, and measuring length that require high accuracy.

7 Nextgeneration ROBO Cylinder Builtin Controller : RCP RCPS Controller Checking with LED lights Green Servo ON Red Emergency stop or error occurred No light No power or servo OFF Communication port A port for connecting a PC, a teaching pendant, etc. Power supply/communication line connector A port for connecting a gateway unit, a hub unit, or a PIO unit. Cable exit direction can be selected as an option. Stepper motor Highresolution batteryless absolute encoder RCPS Peripheral Equipment *Gateway unit or PLC connection unit is required to operate the RCPS. 1 Gateway Unit Compatible field networks The communication time when RCPS is connected directly is ms, while it is ms when using the RCPS with a hub unit. There will be no change in communication time when the number of connected actuators is increased. The gate unit can be used with the following types of field networks. Gateway unit ms RCPS or hub units can be connected to a gateway unit. Gateway unit Brake can be forcibly released by supplying power to the brake release input terminal of external power input for each channel. (In the case that the actuator is directly connected) Hub Unit A hub unit is a signal distribution unit used by combining with a gateway unit. A gateway unit and a hub unit, or a hub unit and a RCP are each connected with a serial communication. A maximum of RCPS can be connected. By operating the brake release switch, ON/OFF actions of the brake can be performed. RCPSSAC Hub unit RCPSSAC ms PLC Connection Unit A PLC connection unit is a unit to be moved with serial communication from a master controller or a PLC by combining it with RCPS. A RCPS and a PLC connection unit can be connected with a cable with connectors.

8 Product Lineup Slider : SA External View Body Width SAC mm Coupled SAC mm SA7C 7mm SAC mm SAR mm Sidemounted SAR mm SA7R 7mm SAR mm Positioning Repeatability ±.1 ±.1 [±.] ±.1 ±.1 [±.] ±.1 ±.1 [±.] ±.1 ±.1 [±.] ~ (mm increments) ~ (mm increments) ~ (mm increments) ~1, (mm increments) ±.1 ~ (mm increments) ±.1 ~ (mm increments) ±.1 ~ (mm increments) ±.1 ~1, (mm increments) Max. Reference Max. Page Horizontal Vertical 1, P , <1,> P. 1 1, 7 9 <> P <> 1, <> 1, <> P. 7 1, P , <>. P. 1 1, 7 <7> P , <> 1, <> P. <> 7 <> Values in brackets < > are for vertical use. Values in brackets [ ] are for highprecision specification. Wide Slider : WSA External View Body Width WSAC mm Coupled WSAC 1mm WSA1C 1mm WSA1C 1mm WSAR mm Sidemounted WSAR 1mm WSA1R 1mm WSA1R Positioning Repeatability ±.1 ±.1 [±.] mm ±.1 [±.] ±.1 ±.1 [±.] ±.1 ±.1 [±.] ±.1 ±.1 ±.1 ±.1 ±.1 Max. Reference Max. Page Horizontal Vertical ~ 1 P. (mm increments) 9 <> 19 <17> ~ P. (mm increments) <> ~ P. (mm increments) <> 1 <17> 7 ~1, 1 7 <> P. (mm increments) 19 <17> ~ 1 P. (mm increments) 9 <> 19 <17> ~ P. (mm increments) <> ~ P. (mm increments) <> 1 17 ~1, 1 7 <> P. (mm increments) <1> Values in brackets < > are for vertical use. Values in brackets [ ] are for highprecision specification.

9 Nextgeneration ROBO Cylinder Rod : RA External View Body Width RAC mm Coupled RAC mm RA7C 7mm RAC mm RAR mm Sidemounted RCP RAR mm RA7R 7mm RAR 1. 1 Positioning Repeatability ± mm ±.1 ±.1 ±.1 ±.1 ±.1 ±.1 ±.1 Max. Max. Push Max. Reference Page Force (N) Horizontal Vertical ~ P. 1 (mm increments) ~ P. 1 (mm increments) 7 <> 7 <> 7 ~ P. 1 7 (mm increments) <17> 1,9 <> ~ <> 1, P. (mm increments) 1, 7 <7> ~ P. 1 (mm increments) ~ P. 1 (mm increments) 7 <> 7 ~ P. 1 7 (mm increments) <> 17 1,9 ~ 1, P. (mm increments) 7, Values in brackets < > are for vertical use. Radial Cylinder: RRA External View Body Width RRAC mm Coupled RRAC mm RRA7C 7mm RRAC mm RRAR mm Sidemounted RRAR mm RRA7R 7mm RRAR 1. 1 Positioning Repeatability ± mm ±.1 ±.1 ±.1 ±.1 ±.1 ±.1 ±.1 Max. Max. Push Max. Reference Force (N) Horizontal Vertical Page 1, ~ P. 1 (mm increments) ~1 P. 1 (mm increments) 7 <> 7 <> 7 7~ P. 1 7 (mm increments) 1,9 <> ~7 <> 1, P. (mm increments) 7 1, ~ P. 1 (mm increments) ~1 P. 1 (mm increments) 7 <> 7 7~ P. 1 7 (mm increments) <> 17 1,9 ~7 1, P. (mm increments) 7, Values in brackets < > are for vertical use.

10 Product Lineup Wide Radial Cylinder: WRA External View Coupled Sidemounted WRAC WRAC WRA1C WRA1C WRAR WRAR WRA1R WRA1R Table : TA Body Width mm 1mm 1mm 1mm mm 1mm 1mm 1mm Positioning Repeatability ±.1 ±.1 ±.1 ±.1 ±.1 ±.1 ±.1 ±.1 ~ (mm increments) ~ (mm increments) ~ (mm increments) ~ (mm increments) ~ (mm increments) ~ (mm increments) ~ (mm increments) ~ (mm increments) Max. Max. Push Max. Force (N) Horizontal <> <> 1 <> <> 7 <1> 1,9 <> 1 <> 7 <> 17 <1> <> <> <> 17 <1> <1> 1 <> 1,, ,9 1,, Vertical Reference Page P.77 P.79 P.1 P. P. P.7 P.9 P.91 Values in brackets < > are for vertical use. External View Coupled Sidemounted TAC TAC TA7C TAR TAR TA7R Body Width mm mm 7mm mm mm 7mm Positioning Repeatability ±.1 ±.1 ±.1 ±.1 ±.1 ±.1 Max. Max. Horizontal Vertical Standard: ~1 9 <7> [] 1[] (mm increments) 7 <7> [].[.] DB Spec:,, 9, 9 [] [] 1, 19, 19 [] [] Standard: ~ 1,1 <> [] 1[] (mm increments) [1] [] DB Spec:, 7, 9, 1~ [] [] (mm increments) [] [] Standard: ~ 1, <> [] [] DB Spec:,, 7 <> [] 7[7] 9~9 <> 1[] 1[1] (mm increments) 1[] [] Standard: ~1 9 <7> [] 1[] (mm increments) 7 <7> [].[.] DB Spec:,, 9, 9 [] [] 1, 19, 19 [] [] Standard: ~ 1,1 <> [] 1[] (mm increments) <> [1] [] DB Spec:, 7, 9, 1~ [] [] (mm increments) [] [] Standard: ~ 1, <> [] [] (mm increments) 7 <> [] 7[7] DB Spec:,, 9~9 <> 1[] 1[1] (mm increments) 1[] [] Reference Page P.9 P.9 P.97 P.99 P.1 P. 9 Values in brackets < > are for vertical use. Values in brackets [ ] are for the doubleblock specification.

11 Nextgeneration ROBO Cylinder RCP Model Specification Items Slider : SA RCP RCPS Series WA Encoder Ball Screw Applicable Controller (RCP) I/O (RCPS) Options RCP Standard (Separate controller) RCPS Builtin controller SAC SAC SA7C SAC SAR SAR SA7R SAR Body width mm Coupled motor type Body width mm Coupled motor type Body width 7mm Coupled motor type Body width mm Coupled motor type Body width mm Sidemounted motor type Body width mm Sidemounted motor type Body width 7mm Sidemounted motor type Body width mm Sidemounted motor type WA P P P SP Batteryless absolute Stepper motor Stepper motor Stepper motor Stepper motor ~ mm ~ 1 1,mm PCONCB/CGB (Can be set in mm increments) P MCON MSEL..mm P PCONCFB/CGFB mm When RCP (separate controller type) is selected, mm please pick a code for the 1 mm mm mm mm mm 1mm mm mm mm applicable controller, and when RCPS (builtin controller type) is selected, please pick a code for the I/O type. SE SIO B CJT CJR CJL CJO CJB ML MR NM SS HPR N None P 1m S m M m X Specified length R Robot cable Brake Cable exit direction (Top) Cable exit direction (Right) Cable exit direction (Left) Cable exit direction (Outside) Cable exit direction (Bottom) sidemounted to the left sidemounted to the right Nonmotor end specification Slider spacer Highprecision specification *The type of motor, ball screw lead, stroke, and options vary depending on the actuator type. Please refer to the pages of each type for details. Wide Slider : WSA RCP RCPS Series WA Encoder Ball Screw Applicable Controller (RCP) I/O (RCPS) Options RCP Standard (Separate controller) RCPS Builtin controller WSAC WSAC WSA1C WSA1C WSAR WSAR WSA1R WSA1R Body width mm Coupled motor type Body width 1mm Coupled motor type Body width 1mm Coupled motor type Body width 1mm Coupled motor type Body width mm Sidemounted motor type Body width 1mm Sidemounted motor type Body width 1mm Sidemounted motor type Body width 1mm Sidemounted motor type WA P P P SP Batteryless absolute Stepper motor Stepper motor Stepper motor Stepper motor. 1 ~ 1 1,mm (Can be set in mm increments).mm mm mm mm mm mm mm mm 1mm mm mm mm ~ P SE PCONCB/CGB MCON MSEL SIO P PCONCFB/CGFB When RCP (separate controller type) is selected, please pick a code for the applicable controller, and when RCPS (builtin controller type) is selected, please pick a code for the I/O type. B CJT CJR CJL CJO CJB ML MR NM HPR N None P 1m S m M m X Specified length R Robot cable Brake Cable exit direction (Top) Cable exit direction (Right) Cable exit direction (Left) Cable exit direction (Outside) Cable exit direction (Bottom) sidemounted to the left sidemounted to the right Nonmotor end specification Highprecision specification *The type of motor, ball screw lead, stroke, and options vary depending on the actuator type. Please refer to the pages of each type for details.

12 Model Specification Items Rod : RA RCP RCPS Series WA Encoder Ball Screw Applicable Controller (RCP) I/O (RCPS) Options RCP Standard (Separate controller) RCPS Builtin controller RAC RAC RA7C RAC RAR RAR RA7R RAR Body width mm Coupled motor type Body width mm Coupled motor type Body width 7mm Coupled motor type Body width mm Coupled motor type Body width mm Sidemounted motor type Body width mm Sidemounted motor type Body width 7mm Sidemounted motor type Body width mm Sidemounted motor type WA P P P P Batteryless absolute Stepper motor Stepper motor Stepper motor Stepper motor. 1 ~ mm (Can be set in mm increments).mm mm mm mm mm mm mm mm 1mm mm mm mm ~ P SE PCONCB/CGB MCON MSEL SIO P PCONCFB/CGFB When RCP (separate controller type) is selected, please pick a code for the applicable controller, and when RCPS (builtin controller type) is selected, please pick a code for the I/O type. B CJT CJR CJL CJO CJB FL FT ML MR MT NFA NM NTB N None P 1m S m M m X Specified length R Robot cable Brake Cable exit direction (Top) Cable exit direction (Right) Cable exit direction (Left) Cable exit direction (Outside) Cable exit direction (Bottom) Flange Foot bracket sidemounted to the left sidemounted to the right sidemounted to the top Tip adapter (Internal thread) Nonmotor end specification Tslot nut bar *The type of motor, ball screw lead, stroke, and options vary depending on the actuator type. Please refer to the pages of each type for details. Radial Cylinder: RRA RCP RCPS Series WA Encoder Ball Screw Applicable Controller (RCP) I/O (RCPS) Options 11 RCP Standard (Separate controller) RCPS Builtin controller RRAC RRAC RRA7C RRAC RRAR RRAR RRA7R RRAR Body width mm Coupled motor type Body width mm Coupled motor type Body width 7mm Coupled motor type Body width mm Coupled motor type Body width mm Sidemounted motor type Body width mm Sidemounted motor type Body width 7mm Sidemounted motor type Body width mm Sidemounted motor type WA P P P P Batteryless absolute Stepper motor Stepper motor Stepper motor Stepper motor *The type of motor, ball screw lead, stroke, and options vary depending on the actuator type. Please refer to the pages of each type for details.. 1 ~ 7 7mm (Can be set in mm increments).mm mm mm mm mm mm mm mm 1mm mm mm mm ~ P SE PCONCB/CGB MCON MSEL SIO P PCONCFB/CGFB When RCP (separate controller type) is selected, please pick a code for the applicable controller, and when RCPS (builtin controller type) is selected, please pick a code for the I/O type. B CJT CJR CJL CJO CJB FL FFA NFA KFA ML MR NJ QR NM N None P 1m S m M m X Specified length R Robot cable Brake Cable exit direction (Top) Cable exit direction (Right) Cable exit direction (Left) Cable exit direction (Outside) Cable exit direction (Bottom) Flange Tip adapter (Flange) Tip adapter (Internal thread) Tip adapter (Keyway) sidemounted to the left sidemounted to the right Knuckle joint Clevis bracket Nonmotor end specification

13 Nextgeneration ROBO Cylinder RCP Wide Radial Cylinder: WRA RCP RCPS Series WA Encoder Ball Screw Applicable Controller (RCP) I/O (RCPS) Options RCP Standard (Separate controller) RCPS Builtin controller WRAC WRAC WRA1C WRA1C WRAR WRAR WRA1R WRA1R Body width mm Coupled motor type Body width 1mm Coupled motor type Body width 1mm Coupled motor type Body width 1mm Coupled motor type Body width mm Sidemounted motor type Body width 1mm Sidemounted motor type Body width 1mm Sidemounted motor type Body width 1mm Sidemounted motor type WA P P P P Batteryless absolute Stepper motor Stepper motor Stepper motor Stepper motor. 1 ~ mm (Can be set in mm increments).mm mm mm mm mm mm mm mm 1mm mm mm mm ~ P SE PCONCB/CGB MCON MSEL SIO P PCONCFB/CGFB When RCP (separate controller type) is selected, please pick a code for the applicable controller, and when RCPS (builtin controller type) is selected, please pick a code for the I/O type. N P S M X R None 1m m m Specified length Robot cable B Brake CJT Cable exit direction (Top) CJR Cable exit direction (Right) CJL Cable exit direction (Left) CJO Cable exit direction (Outside) CJB Cable exit direction (Bottom) FL Flange ML sidemounted to the left MR sidemounted to the right NM Nonmotor end specification NTBL Tslot nut bar (Left) NTBR Tslot nut bar (Right) *The type of motor, ball screw lead, stroke, and options vary depending on the actuator type. Please refer to the pages of each type for details. Table : TA RCP RCPS Series WA Encoder Ball Screw Applicable Controller (RCP) I/O (RCPS) Options RCP Standard (Separate controller) RCPS Builtin controller TAC TAC TA7C TAR TAR TA7R Body width mm Coupled motor type Body width mm Coupled motor type Body width 7mm Coupled motor type Body width mm Sidemounted motor type Body width mm Sidemounted motor type Body width 7mm Sidemounted motor type WA P P P Batteryless absolute Stepper motor Stepper motor Stepper motor. 1 ~ 9.mm mm mm mm mm mm mm mm 1mm mm mm mm ~ 9mm SE SIO PCONCB/CGB P MCON MSEL When RCP (separate controller type) is selected, please pick a code for the applicable controller, and when RCPS (builtin controller type) is selected, please pick a code for the I/O type. B CJT CJR CJL CJO CJB DB ML MR NM N None P 1m S m M m X Specified length R Robot cable Brake Cable exit direction (Top) Cable exit direction (Right) Cable exit direction (Left) Cable exit direction (Outside) Cable exit direction (Bottom) Highrigidity (Doubleblock guide) sidemounted to the left sidemounted to the right Nonmotor end specification *The type of motor, ball screw lead, stroke, and options vary depending on the actuator type. Please refer to the pages of each type for details.

14 RCP ROBO Cylinder RCP(S)SAC Model Specification Items SAC WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. 1:1mm :mm : mm.:.mm ±μm Standard ~ : mm (mm increments) ±μm Highprecision Optional Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)SAC Horizontal mount assumes operation at.g, the other leads assume operation at.g RCP(S)SAC Vertical mount 1 1 assumes operation at.g, the. other leads assume operation at.g and Payload Model Number RCP(S)SACWAP1 1 RCP(S)SACWAP RCP(S)SACWAP RCP(S)SACWAP.. Connected Controller Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) ~ (The increment of stroke is mm) and Max. 1. Connected Controller ~ (Every mm) (Unit: mm/s) 1, 1, RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Highprecision specification * HPR See P. Nonmotor end specification NM See P.1 * Positioning repeatability is ±μm for highprecision specification (HPR). Highprecision specification option cannot be selected for lead 1. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 1 RCP(S)SAC Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability (*1) ±.1mm [±.mm] Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: 1.Nm, Mb: 1.Nm, Mc:.Nm Dynamic allowable moment (*) Ma:.Nm, Mb: 7.1Nm, Mc: 9.7Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: 1mm or less, Mb, Mc: 1mm or less (*1) Values in [ ] are for highprecision (for lead.//) specification. (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

15 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. φ. φ. D CAD φh7 reamed, depth M depth 7 (φh7 pitch ±.) *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end ±. Work part installed on the slider. Pay attention to interference. Must be or more Top face of slider ().1 Reference surface (.).. Details of base mounting holes M.E. S.E. A L (9) 7 Home M.E. () (Without brake) 1 (With brake) Range of 9 or more Pay attention to interference.. M depth Reference surface (B dimensions range) 9 Reference offset position for allowable moment calculation Oblong hole depth φ H7 depth (From mounting surface) (From mounting surface) P EM through Hφ., φ. deep counterbored, (Bolt screwin depth: ) depth. (From back side) 17 (R1.) +. Detail view of P RCPSSAC Work part installed on the slider. Pay attention to interference. C J (φ hole oblong hole) K (φ hole φ hole) 11 F G P D P ( for mm stroke) B Must be or more ( for mm stroke) M depth (Same on opposite side).. CJL Left 1 CJT Top CJB Bottom CJR Right 17 (Without brake) 19 (With brake) Teaching port Status LED 7 M depth CJL Left CJT Top 9. CJB Bottom Connector for power supply/i/o cable connection M depth CJR Right Dimensions and Mass by L Mass (kg) 1 RCP w/o brake w/ brake w/o brake RCPS w/ brake A B 1 1 C D 1 1 E 1 F G 1 1 H J 1 1 K RCP w/o brake w/ brake w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)SAC 1

16 RCP ROBO Cylinder RCP(S)SAC Model Specification Items SAC WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. :mm :mm : mm : mm ±μm Standard ~ : mm (mm increments) ±μm Highprecision Optional Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead /. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)SAC Horizontal mount assumes operation at.g, the other leads assume operation at.g RCP(S)SAC Vertical mount assumes operation at.g, the other leads assume operation at.g and Payload Model Number RCP(S)SACWAP RCP(S)SACWAP RCP(S)SACWAP RCP(S)SACWAP Connected Controller Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) ~ (The increment of stroke is mm) and Max. Connected Controller ~ (Every mm) 1, <1,> (Unit: mm/s) 7 7 1, <1,> 1, Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Highprecision specification * HPR See P. Nonmotor end specification NM See P.1 * Positioning repeatability is ±μm for highprecision specification (HPR). Highprecision specification option cannot be selected for lead. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 1 RCP(S)SAC Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability (*1) ±.1mm [±.mm] Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma:.Nm, Mb: 9.Nm, Mc: Nm Dynamic allowable moment (*) Ma: 11.Nm, Mb: 1.Nm, Mc:.Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*1) Values in [ ] are for highprecision (for lead //) specification. (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

17 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. Reference offset position for allowable moment calculation. Top face of slider 1. Reference surface (B dimensions range) φ φ. Reference (.) surface Details of base mounting holes M.E. S.E. D CAD Mφ H7 depth. (From mounting surface) φ H7 reamed, depth M depth 1 (φh7 pitch ±.) A Noblong hole depth. (From mounting surface) P L ± Home M.E. Hφ., φ deep counterbored, depth. (From back side) *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end 1. (Without brake) (With brake) EM through (Bolt screwin depth: ) Must be or more 1 (1.) M depth (R) +. Detail view of P 9 G P J (φ hole oblong hole) K (φ hole φ hole) D P B Unavailable when CJL is selected. CJT Top M depth RCPSSAC Status LED Must be or more. CJL Left 1 CJR Right Unavailable when CJR is selected. CJB Bottom 1. (Without brake) 19 (With brake) 1 (1.) 1 9. Teaching port M depth Unavailable when CJL is selected. CJL Left 1 CJT Top 9. CJB Bottom 1.1 Connector for power supply/i/o cable connection Actuator Center M depth CJR Right Unavailable when CJR is selected. Dimensions and Mass by L w/o brake , 1,7 RCP w/ brake ,. 1,. 1,1. w/o brake ,11 1,1 1,111 RCPS w/ brake ,. 1,. 1,. 1,1. A B D E G H J K 7 7 M N w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)SAC 1

18 RCP ROBO Cylinder RCP(S)SA7C Model Specification Items SA7C WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. :mm 1:1mm : mm : mm ±μm Standard ~ : mm (mm increments) ±μm Highprecision Optional Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width 7 mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead //1. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)SA7C Horizontal mount / assumes operation at.1g, the other leads assume operation at.g RCP(S)SA7C Vertical mount / assumes operation at.1g, the other leads assume operation at.g and Payload Model Number RCP(S)SA7CWAP RCP(S)SA7CWAP1 1 RCP(S)SA7CWAP RCP(S)SA7CWAP Connected Controller Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) ~ (The increment of stroke is mm) and Max. 1 Connected Controller ~ (Every mm) 7 (Unit: mm/s) 7 1, 1, <> <> <> <> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Highprecision specification * HPR See P. Nonmotor end specification NM See P.1 * Positioning repeatability is ±μm for highprecision specification (HPR). Highprecision specification option cannot be selected for lead 1,. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 17 RCP(S)SA7C Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability (*1) ±.1mm [±.mm] Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: 11Nm, Mb: 11Nm, Mc: 9Nm Dynamic allowable moment (*) Ma:.7Nm, Mb:.7Nm, Mc: 9.1Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*1) Values in [ ] are for highprecision (for lead /) specification. (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

19 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. Reference surface. Details of base mounting holes Reference offset position for allowable moment calculation 7. Top face of slider (.) Reference surface (B dimensions range) 19. φ9. φ (1) M.E. 1 S.E. D CAD φ H7 reamed, depth M depth 9 (φh7 pitch ±.) Mφ H7 depth Noblong hole depth (From mounting surface) (From mounting surface) A EM through (Bolt screwin depth: ) 7 ±. L 1 1 (7.) Home *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end 9 M.E. Work part installed on the slider. Pay attention to interference. 1 (Without brake) 19 (With brake) Range of 7. or more Pay attention to interference. () Hφ, φ9. deep counterbored, depth. (From back side) Must be or more 7. 1 M depth (R) +. Detail view of P 9 P G P J (φ hole oblong hole) K (φ hole φ hole) D P B CJT Top RCPSSA7C Status LED Must be or more. Unavailable when CJL is selected. CJL Left M depth CJR Right Unavailable when CJR is selected. 1 (Without brake) 1 (With brake) 1. Teaching port CJB Bottom Unavailable when CJL is selected. CJL Left 17. CJT Top 9. CJB Bottom M depth CJR Right Unavailable when CJR is selected. M depth Connector for power supply/i/o cable connection Dimensions and Mass by L w/o brake , 1,9 1, RCP w/ brake , 1,9 1, 1,19 w/o brake ,17 1,7 1,117 1,17 RCPS w/ brake ,17 1,7 1,117 1,17 1,17 A , B D E G H J K 7 7 M N w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)SA7C 1

20 RCP ROBO Cylinder RCP(S)SAC Model Specification Items SAC WA SP Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller SP: Highthrust Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. : mm : mm : mm : mm ±μm Standard ~ 1,: 1,mm (mm increments) ±μm Highprecision Optional Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON CFB/CGFB [RCPS] SE: SIO Unit Coupled Body Width mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. Correlation Diagrams of and Payload PCON connected. RCP(S)SAC Horizontal mount 9 7 assumes operation at.1g, the other leads assume operation at.g. 1 1 RCP(S)SAC Vertical mount assumes operation at.1g, the other leads assume operation at.g and Payload Model Number Max. Payload Horizontal (kg) Vertical (kg) RCP(S)SACWASP RCP(S)SACWASP RCP(S)SACWASP 7 RCP(S)SACWASP Legend: Applicable controller/i/o type Cable length Options ~1, (The increment of stroke is mm) and Max. ~ (Every mm) (Unit: mm/s) 9 1, 1, 1, 1, 1,1 1, <> <> <> <> <> 1, <> <> <> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Highprecision specification * HPR See P. Nonmotor end specification NM See P.1 * Positioning repeatability is ±μm for highprecision specification (HPR). Highprecision specification option cannot be selected for lead,. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 19 RCP(S)SAC Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw f1mm, rolled C Positioning repeatability (*1) ±.1mm [±.mm] Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: 19Nm, Mb: 19Nm, Mc: 1Nm Dynamic allowable moment (*) Ma: 77.Nm, Mb: 77.Nm, Mc: 1Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*1) Values in [ ] are for highprecision (for lead /) specification. (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

21 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end φ H7 reamed, depth (φh7 pitch ±.) M through (Bolt screwin depth: ) Must be or more. 7 Reference surface (1) Reference offset position for allowable moment calculation Detail view of Q 1. M.E S.E. A L 1 1. Home M.E. 1 (Without brake) 19 (With brake) (.) 7. Top face of slider. 7 M depth Q Reference surface (B dimensions range) Noblong hole depth. (From mounting surface) Mφ H7 depth. (From mounting surface) 1 EM through (Bolt screwin depth: ) (R) 7 P Detail view of P 11 J (φ hole oblong hole) K (φ hole φ hole) D P B Unavailable when CJL is selected. CJT Top M depth RCPSSAC 1 (Without brake) (With brake) Must be or more Status LED M depth 7 (.) Connector for power supply/i/o cable connection Teaching port Unavailable when CJL is selected. CJL Left 9. CJT Top CJB Bottom 17 CJL Left 19 M depth CJR Right Unavailable when CJR is selected. CJB Bottom CJR Right Unavailable when CJR is selected. Dimensions and Mass by , 1, 1, L w/o brake ,1 1,71 1,1 1,171 1,1 1,71 1,1 1,71 1,1 1,71 RCP w/ brake ,1 1,71 1,1 1,171 1,1 1,71 1,1 1,71 1,1 1,71 1,1 w/o brake ,9 1,9 1,9 1,19 1,9 1,9 1,9 1,9 1,9 1,9 1,9 RCPS w/ brake ,9 1,9 1,9 1,19 1,9 1,9 1,9 1,9 1,9 1,9 1,9 1,9 A , 1,7 1, 1,17 1, 1,7 1, B , 1, 1,1 1,1 1, 1, D E J , K , 1, 1, M N w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External Max. number of view controlled axes Input power Control method Positioner Pulse train Program Network Maximum number of positioning points Reference page PCONCFB/CGFB 1 DCV (7 for network spec.) Please see P.11 RCP(S)SAC

22 RCP ROBO Cylinder RCP(S)SAR Model Specification Items SAR WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. 1:1mm :mm : mm.:.mm ~ ±μm : mm (mm increments) Standard Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO N : None P : 1m S : m M : m Unit X : Specified Length R : Robot Cable Sidemounted Options Body Width * mm Please refer to the options table below. *Please make sure to specify either ML or MR when ordering the sidemounted motor type. V Stepper * Body width does not include the width of the sidemounted motor. Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)SAR Horizontal mount assumes operation at.g, the other leads assume operation at.g RCP(S)SAR Vertical mount 1 1 assumes operation at.g, the. other leads assume operation at.g and Payload Model Number RCP(S)SARWAP1 1 RCP(S)SARWAP RCP(S)SARWAP RCP(S)SARWAP.. Legend: Applicable controller/i/o type Cable length Options Connected Controller Max. Payload Horizontal (kg) Vertical (kg) ~ (The increment of stroke is mm) and Max. 1. Connected Controller ~ (Every mm) (Unit: mm/s) 1, 1, Values in brackets < > are for vertical use. RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 1 RCP(S)SAR Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: 1.Nm, Mb: 1.Nm, Mc:.Nm Dynamic allowable moment (*) Ma:.Nm, Mb: 7.1Nm, Mc: 9.7Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: 1mm or less, Mb, Mc: 1mm or less (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

23 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. Top face of slider Reference surface (B dimensions range).1 Reference surface φ. φ. 9 (1) (.) Reference offset position for allowable moment calculation Details of base mounting holes D CAD () M.E. S.E. φ H7 depth (From mounting surface) Must be or more φh7 reamed, depth M depth 7 (φh7 pitch ±.) A L Oblong hole depth (From mounting surface) P 17. (same as the type with brake) 7 ±. Home EM through (Bolt screwin depth: ) M.E Hφ., φ. deep counterbored, depth. (From back side) *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * When fixing the actuator using counterbored holes, please remove the side cover after removing the motor cover. M depth (R1.) +. Detail view of P C J (φ hole oblong hole) K (φ hole φ hole) F G P D P ( for mm stroke) B ( for mm stroke) (.) 1 RCPSSAR 111 M depth. ( sidemounted to the left) 1. ( sidemounted to the right) side view CJO Outside Must be or more 7. (same as the type with brake) M depth 1 * The figure above is the motor sidemounted to the left (ML). Teaching port (9.) 1 11 (Same as motor sidemounted to the right) Status LED M depth side view CJO Outside 17 * The figure above is the motor sidemounted to the left (ML). Dimensions and Mass by 1 L A 1 B 1 1 C D 1 1 E 1 F G 1 1 H J 1 1 Mass (kg) K w/o brake RCP w/ brake w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)SAR

24 RCP ROBO Cylinder RCP(S)SAR Model Specification Items SAR WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. :mm :mm : mm : mm ~ ±μm : mm (mm increments) Standard Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO N : None P : 1m S : m M : m Unit X : Specified Length R : Robot Cable Sidemounted Options Body Width * mm Please refer to the options table below. * Please make sure to specify either ML or MR when ordering the sidemounted motor type. V Stepper * Body width does not include the width of the sidemounted motor. Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead /. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)SAR Horizontal mount assumes operation at.g, the other leads assume operation at.g RCP(S)SAR Vertical mount assumes operation at.g, the other leads assume operation at.g and Payload Model Number RCP(S)SARWAP RCP(S)SARWAP RCP(S)SARWAP RCP(S)SARWAP Connected Controller Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) ~ (The increment of stroke is mm) and Max. Connected Controller ~ (Every mm) (Unit: mm/s) 7 7 1, 1, <> <> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) RCP(S)SAR Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma:.Nm, Mb: 9.Nm, Mc: Nm Dynamic allowable moment (*) Ma: 11.Nm, Mb: 1.Nm, Mc:.Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

25 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. Reference surface φ φ. (.).. D CAD φ H7 reamed, depth 1 (φh7 pitch ±.) M depth ±. *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * When fixing the actuator using counterbored holes, please remove the side cover after removing the motor cover.. Top face of slider 1. Details of base mounting holes Must be or more 19.1 (same as the type with brake) L Reference offset position A 7. for allowable moment 1 1 calculation M.E. S.E. Home M.E. Noblong hole depth. Reference surface Mφ H7 depth. (B dimensions range) 17. (From mounting surface) Hφ., φ deep counterbored, EM through (From mounting surface). P depth. (From back side) (Bolt screwin depth: ) 7 1 (1) (1.) M depth. (R) +. Detail view of P 9 G P J (φ hole oblong hole) K (φ hole φ hole) D P B (.1) 9 RCPSSAR 117 M depth side view. ( sidemounted to the left) 17. ( sidemounted to the right) Must be or more. (same as the type with brake) M depth CJO Outside (.1) * The figure above is the motor sidemounted to the left (ML). Teaching port M depth Status LED side view CJO Outside 1 * The figure above is the motor sidemounted to the left (ML).. ( sidemounted to the left) 17. ( sidemounted to the right) Dimensions and Mass by L A B D E G H J K 7 7 M RCP Mass (kg) RCPS N w/o brake w/ brake w/o brake w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)SAR

26 RCP ROBO Cylinder RCP(S)SA7R Model Specification Items SA7R WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. : mm 1: 1mm : mm : mm ~ ±μm : mm (mm increments) Standard Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO N : None P : 1m S : m M : m Unit X : Specified Length R : Robot Cable Sidemounted Options Body Width 7 * mm Please refer to the options table below. * Please make sure to specify either ML or MR when ordering the sidemounted motor type. V Stepper * Body width does not include the width of the sidemounted motor. Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead //1. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)SA7R Horizontal mount assumes operation at.1g, the other leads assume operation at.g RCP(S)SA7R Vertical mount / assumes operation at.1g, lead assumes operation at.g, the other leads assume 1 operation at.g and Payload Model Number RCP(S)SA7RWAP RCP(S)SA7RWAP1 1 RCP(S)SA7RWAP RCP(S)SA7RWAP Connected Controller Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) ~ (The increment of stroke is mm) and Max. 1 Connected Controller ~ (Every mm) <7> 7 (Unit: mm/s) 7 1, <7> <7> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Nonmotor end specification NM See P.1 Slider spacer SS See P.111 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) RCP(S)SA7R Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: 11Nm, Mb: 11Nm, Mc: 9Nm Dynamic allowable moment (*) Ma:.7Nm, Mb:.7Nm, Mc: 9.1Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

27 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website Top face of slider () 19. Reference surface (B dimensions range). Reference surface L A. Reference offset position 1 1 Range of or more Pay for allowable moment M.E. S.E. Home M.E. attention to interference. calculation () (1) (R) φ9. φ (1) Detail view of P D CAD Details of base mounting holes 9. Mφ H7 depth (From mounting surface) 9 P φ H7 reamed, depth M depth Must be or more Noblong hole depth (From mounting surface) EM through (Bolt screwin depth: ) G P J (φ hole oblong hole) K (φ hole φ hole) D P B 9 (φh7 pitch ±.) ±. () Work part installed on the slider. Pay attention to interference. 9.9 (same as the type with brake) Hφ, φ9. deep counterbored, depth. (From back side) 7 () (.) *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * When fixing the actuator using counterbored holes, please remove the side cover after removing the motor cover. M depth 1 1 ( sidemounted to the left) ( sidemounted to the right) 1.7 RCPSSA7R M depth 1 M depth side view CJO Outside Must be or more (.) Teaching port Status LED.9 (Same as the type with brake) 1.7 side view CJO Outside.. M depth 1 * The figure above is the motor sidemounted to the left (ML). () 1 1 ( sidemounted to the left) ( sidemounted to the right). * The figure above is the motor sidemounted to the left (ML). Dimensions and Mass by L ,17. A B D E G H J K 7 7 M RCP Mass (kg) RCPS N w/o brake w/ brake w/o brake w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)SA7R

28 RCP ROBO Cylinder RCP(S)SAR Model Specification Items SAR WA SP Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller SP: Highthrust Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. : mm : mm : mm : mm ~ ±μm 1: 1,mm (mm increments) Standard Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON CFB/CGFB [RCPS] SE: SIO N : None P : 1m S : m M : m Unit X : Specified Length R : Robot Cable Sidemounted Options Body Width * mm Please refer to the options table below. * Please make sure to specify either ML or MR when ordering the sidemounted motor type. V Stepper * Body width does not include the width of the sidemounted motor. Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. Correlation Diagrams of and Payload PCON connected. RCP(S)SAR Horizontal mount 9 7 assumes operation at.1g, the other leads assume operation at.g RCP(S)SAR Vertical mount assumes operation at.1g, the other leads assume operation at.g and Payload Model Number Max. Payload Horizontal (kg) Vertical (kg) RCP(S)SARWASP RCP(S)SARWASP RCP(S)SARWASP 7 RCP(S)SARWASP Legend: Applicable controller/i/o type Cable length Options ~1, (The increment of stroke is mm) and Max. ~ (Every mm) 7 1, <> 7 9 (Unit: mm/s) 9 1, 1, 1, 1,1 1, <> <> <> <> 1, <> <> <> <> <> <> <> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Nonmotor end specification NM See P.1 Slider spacer SS See P.111 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 7 RCP(S)SAR Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw f1mm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: 19Nm, Mb: 19Nm, Mc: 1Nm Dynamic allowable moment (*) Ma: 77.Nm, Mb: 77.Nm, Mc: 1Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

29 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. (.). Reference surface (B dimensions range) (1) Detail view of Q Reference offset position for allowable moment calculation D CAD φh7 reamed, depth M through (φh7 pitch ±.) (Bolt screwin depth: ) 7 Must be or more 9.9 (same as the type with brake) L 1. A. 1. Range of 9 or more Pay M.E. S.E. Home M.E. attention to interference. (9) Work part installed on the slider. Pay attention to interference. () () *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * When fixing the actuator using counterbored holes, please remove the side cover after removing the motor cover. M depth 1 7. Top face of slider Q 1 (.) (R) 7 Detail view of P 11 P Noblong hole depth. (From mounting surface) J (φ hole oblong hole) K (φ hole φ hole) D P B Mφ H7 depth. (From mounting surface) EM through (Bolt screwin depth: ) 9.. ( sidemounted to the left) 1. ( sidemounted to the right) (.) 1.7 RCPSSAR (.) 1.7 M depth side view () CJO Outside Must be or more.9 (same as the type with brake) 19. Teaching port Status LED M depth side view 7. ( sidemounted to the left) 1. ( sidemounted to the right) M depth * The figure above is the motor sidemounted to the left (ML). * The figure on the right is the motor sidemounted to the left (ML). CJO Outside Dimensions and Mass by , 1, 1, L ,. 1,9. 1,1. 1,19. 1,. 1,9. 1,. A , 1, 1, 1,1 1, 1, 1, B , 1, 1,1 1,1 1, 1, D E J , K , 1, 1, M N w/o brake w/ brake w/o brake RCPS w/ brake RCP Mass (kg) Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External Max. number of view controlled axes Input power Control method Positioner Pulse train Program Network Maximum number of positioning points Reference page PCONCFB/CGFB 1 DCV (7 for network spec.) Please see P.11 RCP(S)SAR

30 RCP ROBO Cylinder RCP(S)WSAC Model Specification Items WSAC WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size ±μm 1:1mm :mm : mm.:.mm Standard ±μm Highprecision Optional ~ : mm (mm increments) Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Vertical Side Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)WSAC Horizontal mount. This graph assumes operation at.g RCP(S)WSAC Vertical mount This graph assumes operation at.g and Payload Model Number RCP(S)WSACWAP1 1 RCP(S)WSACWAP RCP(S)WSACWAP Connected Controller RCP(S)WSACWAP.. Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) 1 ~ (The increment of stroke is mm) and Max. 1. Connected Controller ~ (Every mm) 9 <> 19 <17> (Unit: mm/s) <> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Bottom) CJB See P. Highprecision specification * HPR See P. Nonmotor end specification NM See P.1 * Positioning repeatability is ±μm for highprecision specification (HPR). Highprecision specification option cannot be selected for lead 1. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 9 RCP(S)WSAC Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability (*1) ±.1mm [±.mm] Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: 71Nm, Mb: 71Nm, Mc: Nm Dynamic allowable moment (*) Ma:.Nm, Mb:.Nm, Mc: 1Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*1) Values in [ ] are for highprecision (for lead.//) specification. (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

31 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end φh7 reamed, depth M depth 1 Must be or more unit * It is possible to mount the motor unit at 1 degree rotated. M.E. S.E. Tslot : M (both sides) A L (.) 9 (Without brake) 19 (With brake) 1 Home M.E. 7 1 (φh7 pitch: ±.) Reference offset position for allowable 9 (Slider width) moment calculation 9 7. (.) 97 ( unit width).1.. Reference surface 1 (71) 9 (Base width) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for &mm strokes) +. 1 Grease nipple (both sides) M depth ±. (n/a for &mm strokes) Roblong hole From base mounting surface depth PφH7 reamed From base mounting surface depth Side Tslot details PφH7 reamed From base mounting surface depth Roblong hole From base mounting surface depth G (H) J pitch Kφ. through φ11 counterbored (From opposite side). φ. Details of base mounting part RCPSWSAC Must be or more CJL Left CJT Top CJB Bottom CJR Right 19 (Without brake) 17 (With brake) * It is possible to mount the motor unit at 1 degree rotated. 97 ( unit width) Status LED Teaching port Connector for power supply/i/o cable connection CJT Top CJB Bottom CJR Right M depth Dimensions and Mass by L Mass (kg) 1 w/o brake RCP w/ brake w/o brake RCPS w/ brake A G H 1 J 1 1 K 1 1 N P 1 1 Q R w/o brake RCP w/ brake w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)WSAC

32 RCP ROBO Cylinder RCP(S)WSAC Model Specification Items WSAC WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size ±μm : mm : mm : mm : mm Standard ±μm Highprecision Optional ~ : mm (mm increments) Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width 1 mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Vertical Side Ceiling * Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead /. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)WSAC Horizontal mount This graph assumes operation at.g RCP(S)WSAC Vertical mount This graph assumes operation at.g. 7 9 and Payload Model Number Connected Controller RCP(S)WSACWAP RCP(S)WSACWAP RCP(S)WSACWAP RCP(S)WSACWAP Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) 9 1 ~ (The increment of stroke is mm) and Max. (Unit: mm/s) Connected ~ 7 7 Controller (Every mm) <> <> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Highprecision specification * HPR See P. Nonmotor end specification NM See P.1 * Positioning repeatability is ±μm for highprecision specification (HPR). Highprecision specification option cannot be selected for lead. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 1 RCP(S)WSAC Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability (*1) ±.1mm [±.mm] Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: 11Nm, Mb: 11Nm, Mc: 7Nm Dynamic allowable moment (*) Ma: 7.Nm, Mb: 7.Nm, Mc: Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*1) Values in [ ] are for highprecision (for lead //) specification. (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

33 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end 7 φh7 reamed, depth M depth 1 Must be or more 1 (φh7 pitch: ±.) Reference offset position for allowable moment calculation 7 Reference surface (Slider width) (.) (9) 11 1 (Base width) L (.) 11. (Without brake) unit A 1. (With brake) * It is possible to mount the motor unit at 1 degree rotated ( unit width) M.E. S.E. Home M.E.. Tslot : M.. (both sides) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for &mm strokes) 1 Grease nipple (both sides) M depth ±. (n/a for &mm strokes) Roblong hole From base mounting surface depth PφH7 reamed From base mounting surface depth Side Tslot details PφH7 reamed From base mounting surface depth Roblong hole From base mounting surface depth RCPSWSAC 1. (Without brake) 1. (With brake) Must be or more unit * It is possible to mount the motor unit at 1 degree rotated. G (H) J pitch 117( unit width)... Kφ. through φ. counterbored (From opposite side) CJL Left CJT Top CJB Bottom CJR Right φ. Details of base mounting part Status LED CJL Left Teaching port Connector for power supply/i/o cable connection M depth CJT Top CJB Bottom CJR Right Dimensions and Mass by L w/o brake , 1, 1, 1,1 RCP w/ brake , 1, 1, 1,1 1, w/o brake , 1,7 1, 1,17 RCPS w/ brake , 1, 1, 1,1 1, A ,9. G H J K N P 1 1 Q R w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)WSAC

34 RCP ROBO Cylinder RCP(S)WSA1C Model Specification Items WSA1C WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size ±μm : mm 1: 1mm : mm : mm Standard ±μm Highprecision Optional : mm ~ : mm (mm increments) Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width 1 mm V Stepper Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable Horizontal Vertical Side Ceiling * Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead //1. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)WSA1C Horizontal mount 9 This graph assumes operation at.g RCP(S)WSA1C Vertical mount This graph assumes operation at.g and Payload Model Number RCP(S)WSA1CWAP RCP(S)WSA1CWAP1 1 RCP(S)WSA1CWAP RCP(S)WSA1CWAP Connected Controller Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) 1 ~ (The increment of stroke is mm) and Max. 1 Connected Controller ~ (Every mm) 7 (Unit: mm/s) <> <> <17> <17> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Highprecision specification * HPR See P. Nonmotor end specification NM See P.1 * Positioning repeatability is ±μm for highprecision specification (HPR). Highprecision specification option cannot be selected for lead 1,. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) RCP(S)WSA1C Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability (*1) ±.1mm [±.mm] Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: Nm, Mb: Nm, Mc: 1,17Nm Dynamic allowable moment (*) Ma: Nm, Mb: Nm, Mc: Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*1) Values in [ ] are for highprecision (for lead /) specification. (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

35 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD 9 7 *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end φh7 reamed, depth M depth Must be or more Tslot : M.E. S.E. M (both sides) Home M.E. L A (Without brake) 199 (With brake) (.) unit * It is possible to mount the motor unit at 1 degree rotated. 1. ( unit width) (φh7 pitch±.) Reference offset position for allowable moment calculation 17 (Slider width) 11 (.) Reference surface 1 () 1 1 (Base width) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for &mm strokes) 1 Grease nipple (both sides) ±. (n/a for &mm strokes) Roblong hole From base mounting surface depth 9 PφH7 reamed From base mounting surface depth 9 M depth Side Tslot details PφH7 reamed From base mounting surface depth 9 Roblong hole From base mounting surface depth 9 RCPSWSA1C Must be or more G (H) J pitch Kφ9 through φ1. counterbored (From opposite side) CJL Left CJT Top. φ9 Details of base mounting part CJR Right 19 (Without brake) 199 (With brake) Status LED CJL Left unit * It is possible to mount the motor unit at 1 degree rotated. 1.( unit width)... Teaching port Connector for power supply/ I/O cable connection CJT Top CJB Bottom CJR Right M depth Dimensions and Mass by CJB Bottom L w/o brake , 1, 1,1 1,1 1, RCP w/ brake , 1, 1,1 1,1 1, 1, w/o brake , 1, 1,1 1,1 1, RCPS w/ brake , 1, 1,1 1,1 1, 1, A , 1, G H J K N P 1 1 Q R w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)WSA1C

36 RCP ROBO Cylinder RCP(S)WSA1C Model Specification Items WSA1C WA SP Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. ±μm SP: Highthrust :mm Stepper :mm Size : mm Standard ±μm Highprecision Optional : mm ~ 1: 1,mm (mm increments) Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON CFB/CGFB [RCPS] SE: SIO Unit Coupled Body Width 1 mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Vertical Side Ceiling * Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () The service life of an actuator with lead varies depending on the payload when using vertically. Please refer to P. 11 for more information. Correlation Diagrams of and Payload PCON connected. RCP(S)WSA1C Horizontal mount 1 This graph assumes operation at.1g. 1 7 RCP(S)WSA1C Vertical mount This graph assumes operation at.1g. 7 and Payload Model Number Max. Payload Horizontal (kg) Vertical (kg) and Max. ~ (Every mm) (Unit: mm/s) 9 1, 1, 1, RCP(S)WSA1CWASP RCP(S)WSA1CWASP 7 1 ~1, (The increment of stroke is mm) 9 9 <> <> <> <> <> <> <> RCP(S)WSA1CWASP 19 <17> <17> Legend: Applicable controller/i/o type Cable length Options Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Highprecision specification * HPR See P. Nonmotor end specification NM See P.1 * Positioning repeatability is ±μm for highprecision specification (HPR). Highprecision specification option cannot be selected for lead. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) RCP(S)WSA1C Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw f1mm, rolled C Positioning repeatability (*1) ±.1mm [±.mm] Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: Nm, Mb: Nm, Mc: 1,Nm Dynamic allowable moment (*) Ma: 11Nm, Mb: 11Nm, Mc: Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*1) Values in [ ] are for highprecision (for lead /) specification. (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

37 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD 1 9 φh7 reamed, depth M depth. Must be or more *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end Reference offset position for allowable moment calculation. 1 (Slider width) 1 11 (.) A 7 M.E. S.E. Tslot : M (Both sides) 1 (φh7 pitch: ±.) L Home M.E. (1.) 19 (Without brake) 9 (With brake) unit * It is possible to mount the motor unit at 1 degree rotated. 1 ( unit width) Reference () surface (Base width) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for &mm strokes) 1 Grease nipple (both sides) ±. (n/a for &mm strokes) Roblong hole From base mounting surface depth 9 PφH7 reamed From base mounting surface depth 9 M depth Side Tslot details PφH7 reamed From base mounting surface depth 9 Roblong hole From base mounting surface depth 9 RCPSWSA1C Must be or more G (H) J pitch Kφ9 through φ1. counterbored (From opposite side) CJL Left 9 φ9 Details of base mounting part CJT Top CJR Right (Without brake) 9 (With brake) Status LED unit * It is possible to mount the motor unit at 1 degree rotated. 1 ( unit width) 7.1 Teaching port Connector for power supply /I/O cable connection. M depth CJL Left CJB Bottom CJT Top CJB Bottom CJR Right Dimensions and Mass by , 1, 1, L w/o brake , 1, 1,1 1,1 1, 1, 1, 1, 1, 1, 1, 1, RCP w/ brake , 1,9 1,1 1,19 1, 1,9 1, 1,9 1, 1,9 1, 1,9 1, w/o brake ,1 1, 1,11 1,1 1,1 1, 1,1 1, 1,1 1, 1,1 1, 1,1 RCPS w/ brake , 1,9 1,1 1,19 1, 1,9 1, 1,9 1, 1,9 1, 1,9 1, A ,1 1, 1,11 1,1 1,1 1, 1,1 1, 1,1 G H 1 J K N P 1 1 Q R w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External Max. number of view controlled axes Input power Control method Positioner Pulse train Program Network Maximum number of positioning points Reference page PCONCFB/CGFB 1 DCV (7 for network spec.) Please see P.11 RCP(S)WSA1C

38 RCP ROBO Cylinder RCP(S)WSAR Model Specification Items WSAR WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size 1: 1mm : mm : mm.:.mm ±μm ~ Standard : mm (mm increments) Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Sidemounted Body Width * mm V Stepper * Body width does not include the width of the sidemounted motor. Options N : None Please refer to the P : 1m options table below. S : m Please make sure to M : m specify either ML or MR X : Specified Length when ordering the sidemounted motor R : Robot Cable type. Horizontal Vertical Side Ceiling * Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)WSAR Horizontal mount. This graph assumes operation at.g RCP(S)WSAR Vertical mount This graph assumes operation at.g and Payload Model Number Connected Controller RCP(S)WSARWAP1 1 RCP(S)WSARWAP RCP(S)WSARWAP RCP(S)WSARWAP.. Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) 1 ~ (The increment of stroke is mm) and Max. 1. Connected Controller ~ (Every mm) 9 <> 19 <17> (Unit: mm/s) <> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 7 RCP(S)WSAR Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: 71Nm, Mb: 71Nm, Mc: Nm Dynamic allowable moment (*1) Ma:.Nm, Mb:.Nm, Mc: 1Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*1) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

39 RCP ROBO Cylinder M.E. S.E. A L φh7 reamed, depth M depth 1 1 Home M.E. (φh7 pitch: ±.) Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end Reference offset position for allowable moment calculation 7. 9 (Slider width) 9 7 (.) (71) (1.) Reference surface 1 9 (1) (Base width) Must be or more Tslot : M (both sides) (.) ±. (n/a for &mm strokes) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for &mm strokes) 1. (Without brake, with brake) 1 ( sidemounted to the right: 11) M depth M depth.. Roblong hole From base mounting surface depth PφH7 reamed From base mounting surface depth PφH7 reamed From base mounting surface depth Roblong hole From base mounting surface depth G (H) +. J pitch Kφ. through φ11 counterbored (From opposite side) RCPSWSAR 171. CJO Outside 1.. φ. Details of base mounting part * The figure above is the motor sidemounted to the left (ML) Side Tslot details Must be or more 17. (Without brake, with brake) Status LED 1. M depth (9.) M depth Connector for power supply /I/O cable connection Teaching port.. 1. * The figure above is the motor sidemounted to the left (ML). CJO Outside Dimensions and Mass by 1 L A G H 1 J 1 1 K 1 1 N P 1 1 Q Mass (kg) R w/o brake RCP w/ brake w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)WSAR

40 RCP ROBO Cylinder RCP(S)WSAR Model Specification Items WSAR WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size : mm : mm : mm : mm ±μm ~ Standard : mm (mm increments) Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Sidemounted Body Width 1 * mm V Stepper * Body width does not include the width of the sidemounted motor. Options N : None Please refer to the P : 1m options table below. S : m Please make sure to M : m specify either ML or MR X : Specified Length when ordering the sidemounted motor R : Robot Cable type. Horizontal Vertical Side Ceiling * Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead /. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)WSAR Horizontal mount This graph assumes operation at.g RCP(S)WSAR Vertical mount This graph assumes operation at.g. 7 9 and Payload Model Number Connected Controller RCP(S)WSARWAP RCP(S)WSARWAP Max. Payload Horizontal (kg) Vertical (kg) RCP(S)WSARWAP 9 RCP(S)WSARWAP 1 Legend: Applicable controller/i/o type Cable length Options ~ (The increment of stroke is mm) and Max. (Unit: mm/s) Connected ~ 7 7 Controller (Every mm) <> <> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 9 RCP(S)WSAR Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: 11Nm, Mb: 11Nm, Mc: 7Nm Dynamic allowable moment (*1) Ma: 7.Nm, Mb: 7.Nm, Mc: Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*1) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

41 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end φh7 reamed, depth M depth 1 A L M.E. S.E. Home M.E. 1 (φh7 pitch: ±.) Reference offset 117 (Slider width) position for allowable 111 moment calculation 91 7 Reference surface (.) (9) (7.) 1 11 (1) 1 (Base width) 1 1 Tslot : M (both sides) Must be or more M depth 1. (Without brake, with brake) (.9) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for &mm strokes) 19. ±. (n/a for &mm strokes) Roblong hole From base mounting surface depth PφH7 reamed From base mounting surface depth M depth PφH7 reamed From base mounting surface depth Roblong hole From base mounting surface depth G (H) +. 7 J pitch Kφ. through φ. counterbored (From opposite side) RCPSWSAR CJO Outside Side Tslot details Details of base mounting part * The figure above is the motor sidemounted to the left (ML). φ. Must be or more 7. (Without brake, with brake) 19. Status LED (.9) Teaching port M depth Connector for power supply/i/o cable connection M depth CJO Outside * The figure above is the motor sidemounted to the left (ML). Dimensions and Mass by L ,. 1,. A ,9. G H J K N P 1 1 Q R w/o brake w/ brake w/o brake RCPS w/ brake RCP Mass (kg) Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)WSAR

42 RCP ROBO Cylinder RCP(S)WSA1R Model Specification Items WSA1R WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size : mm 1: 1mm : mm : mm ±μm : mm ~ Standard : mm (mm increments) Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Sidemounted Body Width 1 * mm V Stepper * Body width does not include the width of the sidemounted motor. Options N : None Please refer to the P : 1m options table below. S : m Please make sure to M : m specify either ML or MR X : Specified Length when ordering the sidemounted motor R : Robot Cable type. Horizontal Vertical Side Ceiling * Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead //1. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)WSA1R Horizontal mount 9 / assumes operation at.1g, the other leads assume 7 operation at.g RCP(S)WSA1R Vertical mount This graph assumes operation at.1g and Payload Model Number RCP(S)WSA1RWAP RCP(S)WSA1RWAP1 1 RCP(S)WSA1RWAP RCP(S)WSA1RWAP Connected Controller Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) 1 ~ (The increment of stroke is mm) and Max. 1 Connected Controller ~ (Every mm) 7 (Unit: mm/s) <> <> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 1 RCP(S)WSA1R Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: Nm, Mb: Nm, Mc: 1,17Nm Dynamic allowable moment (*1) Ma: Nm, Mb: Nm, Mc: Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*1) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

43 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD M.E. S.E. A L 117 (φh7 pitch: ±.) φh7 reamed, depth M depth Home M.E. *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end Reference offset 17 (Slider width) position for allowable 11 moment calculation Reference () (.) surface 1 1 (1) 1 (Base width) 1 Tslot : M (both sides) Must be or more M depth (.) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for &mm strokes). (Without brake, with brake). ±. (n/a for &mm strokes) 1 Roblong hole From base mounting surface depth 9 7 M depth PφH7 reamed From base mounting surface depth PφH7 reamed From base mounting surface depth 9 Roblong hole From base mounting surface depth 9 G (H) J pitch Kφ9 through φ1. counterbored (From opposite side) RCPSWSA1R CJO Outside CJO Outside 1. * The figure above is the motor sidemounted to the left (ML)..... φ9 Details of base mounting part Side Tslot details * The figure above is the motor sidemounted to the left (ML). Must be or more 9. (Without brake, with brake).. M depth (.) M depth Status LED Teaching port Connector for power supply/i/o cable connection 1 7 Dimensions and Mass by L ,11 1,1 1,111 A , 1, G H J K N P 1 1 Q R w/o brake w/ brake w/o brake RCPS w/ brake RCP Mass (kg) Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)WSA1R

44 RCP ROBO Cylinder RCP(S)WSA1R Model Specification Items WSA1R WA SP Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. SP: Highthrust : mm Stepper : mm Size : mm ±μm Standard : mm ~ 1: 1,mm (mm increments) Simple Dustproof Batteryless Applicable Controller/I/O [RCP] P: PCON CFB/CGFB [RCPS] SE: SIO Unit Sidemounted Body Width 1 * mm V Stepper * Body width does not include the width of the sidemounted motor. Options N : None Please refer to the P : 1m options table below. S : m Please make sure to M : m specify either ML or MR X : Specified Length when ordering the sidemounted motor R : Robot Cable type. Horizontal Vertical Side Ceiling * Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () The service life of an actuator with lead varies depending on the payload when using vertically. Please refer to P. 11 for more information. Correlation Diagrams of and Payload PCON connected. RCP(S)WSA1R Horizontal mount 1 This graph assumes operation at.1g. 7 RCP(S)WSA1R Vertical mount assumes operation at.1g, lead assumes operation at.g. 1 7 and Payload Model Number Max. Payload Horizontal (kg) Vertical (kg) and Max. ~ 7 7 (Every mm) 9 9 1, (Unit: mm/s) 1, 1, RCP(S)WSA1RWASP RCP(S)WSA1RWASP 7 1 ~1, (The increment of stroke is mm) <> 9 <> <> <> <> <> <> RCP(S)WSA1RWASP 17 <1> 1 <1> Legend: Applicable controller/i/o type Cable length Options Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) RCP(S)WSA1R Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw f1mm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Static allowable moment Ma: Nm, Mb: Nm, Mc: 1,Nm Dynamic allowable moment (*1) Ma: 11Nm, Mb: 11Nm, Mc: Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Reference for overhang load length: Ma: mm or less, Mb, Mc: mm or less (*1) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length.

45 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the slider is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end A L φh7 reamed, depth M depth M.E. S.E. Home M.E. 1 (φh7 pitch: ±.) Reference offset 1 (Slider width) position for allowable 1 moment calculation Reference () (9.) surface 1 1 (1) 1 (Base width) Tslot : M (both sides) Must be or more M depth (.) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for &mm strokes) 7. (Without brake, with brake) ±. (n/a for &mm strokes) Roblong hole From base mounting surface depth 9 PφH7 reamed From base mounting surface depth M depth PφH7 reamed From base mounting surface depth 9 Roblong hole From base mounting surface depth 9 G (H) J pitch Kφ9 through φ1. counterbored (From opposite side) RCPSWSA1R CJO Outside Details of base mounting part Side Tslot details * The figure above is the motor sidemounted to the left (ML). 9 φ9 Must be or more. (Without brake, with brake) Status LED M depth 1 M depth (.) Teaching port Connector for power supply/i/o cable connection CJO Outside. * The figure above is the motor sidemounted to the left (ML). Dimensions and Mass by , 1, 1, L ,1. 1,. 1,11. 1,1. 1,1. 1,. 1,1. 1,. 1,1. 1,. A ,1 1, 1,11 1,1 1,1 1, 1,1 1, 1,1 G H 1 J K N P 1 1 Q , 1, 1, 1,1 R w/o brake w/ brake w/o brake RCPS w/ brake RCP Mass (kg) Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name ZU_RCPWSA1R External Max. number of view controlled axes Input power Control method Positioner Pulse train Program Network Maximum number of positioning points Reference page PCONCFB/CGFB 1 DCV (7 for network spec.) Please see P.11 RCP(S)WSA1R

46 RCP ROBO Cylinder RCP(S)RAC Model Specification Items RAC WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless P: Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P.11 for more information about the model specification items. 1: 1mm : mm : mm.:.mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The value of the horizontal payload assumes that there is an external guide. Please be aware that the antirotation stopper can be damaged when an external force is applied to the rod from any direction other than the moving direction. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)RAC Horizontal mount 1 assumes. operation at.g, the other leads assume operation at.g RCP(S)RAC Vertical mount. 1 assumes operation at.g, the other leads assume operation at.g and Payload Model Number RCP(S)RACWAP1 1 RCP(S)RACWAP RCP(S)RACWAP RCP(S)RACWAP.. Connected Controller Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) ~ (The increment of stroke is mm) and Max. 1. Connected Controller ~ (Every mm) 7 17 (Unit: mm/s) RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Flange FL See P. Foot bracket FT See P.7 Tip adapter (Internal thread) NFA See P.9 Nonmotor end specification NM See P.1 Tslot nut bar NTB See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Material: Aluminum with hard alumite treatment Static allowable torque on rod tip 1.Nm Max. angular displacement on rod tip (*1) ±1. deg. Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) (*1) This is the displacement angle of the rod tip (initial reference value) when the rod is fully retracted and the static allowable torque is applied at the rod tip. RCP(S)RAC

47 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. Must be or more Grease nipple (φ. hole) 17 (19.) M 1. Supplied hex nut (.) M depth M.E. S.E. Home M.E. Grease nipple (φ. hole) (Same on opposite side) M depth P 17 9 The orientation of the width across flats is indeterminable (*) φh7 φ M A L (Without brake) 1 (With brake) CJT Top (.) Detail view of P. M depth (Same on opposite side). CJL Left 1 CJB Bottom CJR Right RCPSRAC 11 Must be or more Teaching port Status LED M depth CJL Left CJT Top 9. M depth CJR Right 17 (Without brake) 19 (With brake) 7 (1.) Connector for power supply/ I/O cable connection 1. CJB Bottom Dimensions and Mass by 1 w/o brake RCP w/ brake 1 1 L w/o brake RCPS w/ brake A w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)RAC

48 RCP ROBO Cylinder RCP(S)RAC Model Specification Items RAC WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless P: Stepper Size RCP does not include a controller. RCPS includes a builtin controller. Please refer to P.11 for more information about the model specification items. : mm : mm : mm : mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The value of the horizontal payload assumes that there is an external guide. Please be aware that the antirotation stopper can be damaged when an external force is applied to the rod from any direction other than the moving direction. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead /. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)RAC Horizontal mount 7 This graph assumes operation at.g RCP(S)RAC Vertical mount This graph assumes operation at.g and Payload Model Number RCP(S)RACWAP RCP(S)RACWAP RCP(S)RACWAP RCP(S)RACWAP Connected Controller Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) 1. ~ (The increment of stroke is mm) and Max. Connected Controller ~ (Every mm) 7 (Unit: mm/s) RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Flange FL See P. Foot bracket FT See P.7 Tip adapter (Internal thread) NFA See P.9 Nonmotor end specification NM See P.1 Tslot nut bar NTB See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Material: Aluminum with hard alumite treatment Static allowable torque on rod tip 1.Nm Max. angular displacement on rod tip (*1) ±1. deg. Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) (*1) This is the displacement angle of the rod tip (initial reference value) when the rod is fully retracted and the static allowable torque is applied at the rod tip. 7 RCP(S)RAC

49 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. Must be or more Grease nipple (φ hole) (19.) M 1. Supplied hex nut M depth M.E. S.E. Home M.E. Grease nipple (φ hole) (Same on opposite side) M depth 1 1 P 1 7 The orientation of the width across flats is indeterminable (*) φh7 φ M A L 1. (Without brake) (With brake). M depth CJL Left CJT Top () 1 Unavailable when CJR is selected. CJR Right Detail view of P Unavailable when CJL is selected. CJB Bottom RCPSRAC Status LED Must be or more M depth 9 (1) Teaching port 1 9. M depth CJL Left 1 Unavailable when CJL is selected. CJT Top 9. Actuator Center Unavailable when CJR is selected. CJR Right CJB Bottom 1. (Without brake) 19 (With brake) (19.1) Connector for power supply/ I/O cable connection Dimensions and Mass by 1 w/o brake RCP w/ brake L w/o brake RCPS w/ brake A w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)RAC

50 RCP ROBO Cylinder RCP(S)RA7C Model Specification Items RA7C WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless P: Stepper Size RCP does not include a controller. RCPS includes a builtin controller. Please refer to P.11 for more information about the model specification items. : mm 1: 1mm : mm : mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width 7 mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The value of the horizontal payload assumes that there is an external guide. Please be aware that the antirotation stopper can be damaged when an external force is applied to the rod from any direction other than the moving direction. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead //1. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)RA7C Horizontal mount 9 / assumes operation at.1g, the other leads assume 7 operation at.g RCP(S)RA7C Vertical mount assumes operation at.1g, the other leads assume operation at.g and Payload Model Number RCP(S)RA7CWAP RCP(S)RA7CWAP1 1 RCP(S)RA7CWAP RCP(S)RA7CWAP Connected Controller Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) 1 ~ (The increment of stroke is mm) and Max. 1 Connected Controller (Unit: mm/s) ~ (Every mm) <> 7 <> <> <17> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Flange FL See P. Foot bracket FT See P.7 Tip adapter (Internal thread) NFA See P.9 Nonmotor end specification NM See P.1 Tslot nut bar NTB See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Material: Aluminum with hard alumite treatment Static allowable torque on rod tip.nm Max. angular displacement on rod tip (*1) ±. deg. Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) (*1) This is the displacement angle of the rod tip (initial reference value) when the rod is fully retracted and the static allowable torque is applied at the rod tip. 9 RCP(S)RA7C

51 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD Grease nipple (φ hole) *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. Must be or more (.) M1 1. M depth 1 Supplied hex nut The orientation of the width across flats is indeterminable (*) M.E. S.E. Home M.E. Grease nipple (φ hole) (Same on opposite side) M depth P φ h7 φ M A L. 1 (Without brake) 19 (With brake) (.).... Detail view of P. Unavailable when CJL is selected. CJL Left CJT Top M depth CJR Right Unavailable when CJR is selected. CJB Bottom RCPSRA7C Status LED Must be or more M depth 1. Unavailable when CJL is selected. CJL Left CJT Top 9. M depth CJR Unavailable when Right CJR is selected. 1 (Without brake) 1 (With brake) (.1) Connector for power supply/i/o cable connection Teaching port 17. CJB Bottom Dimensions and Mass by 1 L w/o brake RCP w/ brake w/o brake RCPS w/ brake A RCP Mass w/o brake w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)RA7C

52 RCP ROBO Cylinder RCP(S)RAC Model Specification Items RAC WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless P: Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P.11 for more information about the model specification items. : mm : mm : mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON CFB/CGFB [RCPS] SE: SIO Unit Coupled Body Width mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Vertical Side Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is.1g for lead and.g for lead /. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The value of the horizontal payload assumes that there is an external guide. Please be aware that the antirotation stopper can be damaged when an external force is applied to the rod from any direction other than the moving direction. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () For RCPS (builtin controller type), please limit the duty cycle to 7% or less. () The service life of an actuator varies depending on the payload when using vertically. Please refer to P. 11 for more information. Correlation Diagrams of and Payload PCON connected. RCP(S)RAC Horizontal mount 1 assumes operation at.1g, the other leads assume operation at.g. 7 RCP(S)RAC Vertical mount 7 assumes operation at.1g, the other leads assume operation at.g. 7 and Payload Model Number Max. Payload Horizontal (kg) Vertical (kg) RCP(S)RACWAP RCP(S)RACWAP RCP(S)RACWAP 7 ~ (The increment of stroke is mm) and Max. ~ (Every mm) <> <> 1 (Unit: mm/s) Legend: Applicable controller/i/o type Cable length Options Values in brackets < > are for vertical use. RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Flange FL See P. Foot bracket FT See P.7 Tip adapter (Internal thread) NFA See P.9 Nonmotor end specification NM See P.1 Tslot nut bar NTB See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Drive system Positioning repeatability Lost motion Rod Static allowable torque on rod tip Max. angular displacement on rod tip (*1) Ambient operating temp. & humidity Description Ball screw f1mm, rolled C ±.1mm.1mm or less fmm Material: Aluminum with hard alumite treatment Nm ±. deg. ~ C, % RH or less (Noncondensing) (*1) This is the displacement angle of the rod tip (initial reference value) when the rod is fully retracted and the static allowable torque is applied at the rod tip. 1 RCP(S)RAC

53 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. M 1. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. Must be or more Grease nipple (φ hole) M depth 1 Supplied hex nut The orientation of the width across flats is indeterminable (*) 7 M.E. S.E. Home M.E. Grease nipple (φ hole) (Same on opposite side) M depth (.) P 7 φ h7 φ M 1. A 7 L 17 (Without brake) 177 (With brake) CJT Top (.).. 1. Detail view of P 1 Unavailable when CJL is selected. CJL Left. M depth CJR Right Unavailable when CJR is selected. CJB Bottom RCPSRAC Status LED Must be or more CJT Top 9. Unavailable when CJL is selected. CJL Left M depth Unavailable when CJR is selected. CJR Right 1 (Without brake) 1 (With brake). 97 (.). M depth Connector for power supply/i/o cable connection Teaching port. CJB Bottom Dimensions and Mass by 1 w/o brake RCP w/ brake L w/o brake RCPS w/ brake A w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External Max. number of view controlled axes Input power Control method Positioner Pulse train Program Network Maximum number of positioning points Reference page PCONCFB/CGFB 1 DCV (7 for network spec.) Please see P.11 RCP(S)RAC

54 RCP ROBO Cylinder RCP(S)RAR Model Specification Items RAR WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size RCP does not include a controller. RCPS includes a builtin controller. Please refer to P.11 for more information about the model specification items. 1: 1mm : mm : mm.:.mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Sidemounted Options Body Width * mm N : None Please refer to the P : 1m options table below. S : m Please make sure to M : m specify ML, MR or MT X : Specified Length when ordering the sidemounted motor R : Robot Cable type. V Stepper * Body width does not include the width of the sidemounted motor. Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The value of the horizontal payload assumes that there is an external guide. Please be aware that the antirotation stopper can be damaged when an external force is applied to the rod from any direction other than the moving direction. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)RAR Horizontal mount 1 assumes. operation at.g, the other leads assume operation at.g RCP(S)RAR Vertical mount. 1 assumes operation at.g, the other leads assume operation at.g and Payload Model Number RCP(S)RARWAP1 1 RCP(S)RARWAP RCP(S)RARWAP RCP(S)RARWAP.. Connected Controller Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) 1. ~ (The increment of stroke is mm) and Max. 1. Connected Controller ~ (Every mm) 17 (Unit: mm/s) RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. Flange FL See P. Foot bracket FT See P.7 sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 sidemounted to the top MT See P.9 Tip adapter (Internal thread) NFA See P.9 Nonmotor end specification NM See P.1 Tslot nut bar NTB See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Material: Aluminum with hard alumite treatment Static allowable torque on rod tip 1.Nm Max. angular displacement on rod tip (*1) ±1. deg. Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) (*1) This is the displacement angle of the rod tip (initial reference value) when the rod is fully retracted and the static allowable torque is applied at the rod tip. RCP(S)RAR

55 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. Grease nipple (φ. hole) (Top and side) 17 (19.) M 1. Supplied hex nut (.) M depth M.E. S.E. Home M.E. Must be or more R 17. (same as the type with brake) 1 M depth () P (1) 9 9 The orientation of the width across flats is indeterminable (*) φ h7 φ M M depth. ( sidemounted to the left) A 1. ( sidemounted to the right) L CJO Outside. 7. Detail view of P 1 * The figure above is the motor sidemounted to the left (ML). RCPSRAR CJO Outside Must be or more R 7. (same as the type with brake) 1 11 M depth Status LED Teaching port 111 M depth 17 * The figure above is the motor sidemounted to the left (ML). Note: * If the length for R is negative in the table below, the length of the actuator body is shorter than the motor unit. Dimensions and Mass by 1 L R Mass (kg) A RCP RCPS RCP w/o brake w/ brake w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)RAR

56 RCP ROBO Cylinder RCP(S)RAR Model Specification Items RAR WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size RCP does not include a controller. RCPS includes a builtin controller. Please refer to P.11 for more information about the model specification items. : mm : mm : mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO N : None P : 1m S : m M : m Unit X : Specified Length R : Robot Cable Sidemounted Options Body Width * mm Please refer to the options table below. Please make sure to specify ML, MR or MT when ordering the sidemounted motor type. V Stepper * Body width does not include the width of the sidemounted motor. Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The value of the horizontal payload assumes that there is an external guide. Please be aware that the antirotation stopper can be damaged when an external force is applied to the rod from any direction other than the moving direction. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead /. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)RAR Horizontal mount 7 This graph assumes operation at.g RCP(S)RAR Vertical mount This graph assumes operation at.g and Payload Model Number RCP(S)RARWAP RCP(S)RARWAP RCP(S)RARWAP RCP(S)RARWAP Connected Controller Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) 1. ~ (The increment of stroke is mm) and Max. Connected Controller ~ (Every mm) 7 (Unit: mm/s) RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. Flange FL See P. Foot bracket FT See P.7 sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 sidemounted to the top MT See P.9 Tip adapter (Internal thread) NFA See P.9 Nonmotor end specification NM See P.1 Tslot nut bar NTB See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Material: Aluminum with hard alumite treatment Static allowable torque on rod tip 1.Nm Max. angular displacement on rod tip (*1) ±1. deg. Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) (*1) This is the displacement angle of the rod tip (initial reference value) when the rod is fully retracted and the static allowable torque is applied at the rod tip. RCP(S)RAR

57 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. Grease nipple (φ hole) (Top and side) 17 (19.) M 1. Supplied hex nut Must be or more M depth 1 1 () (1) M.E. S.E. Home M.E. R 19.1 (same as the type with brake) 9 (same as the type with brake) M depth P 1 7 RCPSRAR 1. (1) 117 The orientation of the width across flats is indeterminable (*) φ h7 φ M Detail view of P M depth A L 7. ( sidemounted to the left) 1. ( sidemounted to the right) 7. CJO Outside 1. * The figure above is the motor sidemounted to the left (ML). 117 CJO Outside Must be or more R. (same as the type with brake) (same as the type with brake) 1. (same as the type with brake) M depth M depth 1 * The figure above is the motor sidemounted to the left (ML). Teaching port Status LED 7. ( sidemounted to the left) 1. ( sidemounted to the right) Note: * If the length for R is negative in the table below, the length of the actuator body is shorter than the motor unit. Dimensions and Mass by 1 L R Mass (kg) A RCP RCPS w/o brake RCP w/ brake w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)RAR

58 RCP ROBO Cylinder RCP(S)RA7R Model Specification Items RA7R WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size RCP does not include a controller. RCPS includes a builtin controller. Please refer to P.11 for more information about the model specification items. : mm 1: 1mm : mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO N : None P : 1m S : m M : m Unit X : Specified Length R : Robot Cable Sidemounted Options Body Width 7 * mm Please refer to the options table below. Please make sure to specify ML, MR or MT when ordering the sidemounted motor type. V Stepper * Body width does not include the width of the sidemounted motor. Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The value of the horizontal payload assumes that there is an external guide. Please be aware that the antirotation stopper can be damaged when an external force is applied to the rod from any direction other than the moving direction. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead //1. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)RA7R Horizontal mount assumes 9 operation at.1g, lead assumes 7 operation at.g, the other leads assume operation at.g RCP(S)RA7R Vertical mount assumes operation at.1g, the other leads assume operation at.g and Payload Model Number RCP(S)RA7RWAP RCP(S)RA7RWAP1 1 RCP(S)RA7RWAP RCP(S)RA7RWAP Connected Controller Legend: Applicable controller/i/o type Cable length Options Max. Payload Horizontal (kg) Vertical (kg) 1 ~ (The increment of stroke is mm) and Max. 1 Connected Controller (Unit: mm/s) ~ (Every mm) <> <> 17 Values in brackets < > are for vertical use. RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. Flange FL See P. Foot bracket FT See P.7 sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 sidemounted to the top MT See P.9 Tip adapter (Internal thread) NFA See P.9 Nonmotor end specification NM See P.1 Tslot nut bar NTB See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Material: Aluminum with hard alumite treatment Static allowable torque on rod tip.nm Max. angular displacement on rod tip (*1) ±. deg. Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) (*1) This is the displacement angle of the rod tip (initial reference value) when the rod is fully retracted and the static allowable torque is applied at the rod tip. 7 RCP(S)RA7R

59 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. Grease nipple (φ hole) (Top and side) (.) M1 1. Supplied hex nut M depth Must be or more The orientation of the width across flats is R 9.9 (same as the type with brake) indeterminable (*) 1.7 M.E. S.E. Home M.E. 7 (1) M depth 1 () P (1) 7 1 φ h7 φ M depth. ( sidemounted to the left) M1 1.. ( sidemounted to the right) 7. A.. 9. L.. CJO Outside RCPSRA7R.. Detail view of P 1 * The figure above is the motor sidemounted to the left (ML). CJO Outside Must be or more R.9 (same as the type with brake). 1.7 M depth * The figure above is the motor sidemounted to the left (ML). M depth Teaching port Status LED. ( sidemounted to the left). ( sidemounted to the right) Note: * If the length for R is negative in the table below, the length of the actuator body is shorter than the motor unit. Dimensions and Mass by 1 L R Mass (kg) A RCP RCPS w/o brake RCP w/ brake w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)RA7R

60 RCP ROBO Cylinder RCP(S)RAR Model Specification Items RAR WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size RCP does not include a controller. RCPS includes a builtin controller. Please refer to P.11 for more information about the model specification items. : mm : mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON CFB/CGFB [RCPS] SE: SIO N : None P : 1m S : m M : m Unit X : Specified Length R : Robot Cable Sidemounted Options Body Width * mm Please refer to the options table below. Please make sure to specify ML, MR or MT when ordering the sidemounted motor type. V Stepper * Body width does not include the width of the sidemounted motor. Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is.1g for lead and.g for lead /. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The value of the horizontal payload assumes that there is an external guide. Please be aware that the antirotation stopper can be damaged when an external force is applied to the rod from any direction other than the moving direction. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () For RCPS (builtin controller type), please limit the duty cycle to 7% or less. () The service life of an actuator varies depending on the payload when using vertically. Please refer to P. 11 for more information. Correlation Diagrams of and Payload PCON connected. RCP(S)RAR Horizontal mount 1 assumes operation at.1g, the other leads assume 7 operation at.g. RCP(S)RAR Vertical mount 7 assumes operation at.1g, the other leads assume operation at.g.. and Payload Model Number Max. Payload Horizontal (kg) Vertical (kg) and Max. ~ (Every mm) (Unit: mm/s) RCP(S)RARWAP RCP(S)RARWAP RCP(S)RARWAP 7 Legend: Applicable controller/i/o type Cable length Options ~ (The increment of stroke is mm) RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. Flange FL See P. Foot bracket FT See P.7 sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 sidemounted to the top MT See P.9 Tip adapter (Internal thread) NFA See P.9 Nonmotor end specification NM See P.1 Tslot nut bar NTB See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw f1mm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Material: Aluminum with hard alumite treatment Static allowable torque on rod tip Nm Max. angular displacement on rod tip (*1) ±. deg. Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) (*1) This is the displacement angle of the rod tip (initial reference value) when the rod is fully retracted and the static allowable torque is applied at the rod tip. 9 RCP(S)RAR

61 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. Grease nipple (φ hole) (Top and side) (.) M 1. Supplied hex nut M depth 1 7 The orientation of the width across flats is indeterminable (*) M.E. S.E. Home M.E. Must be or more R 9. (same as the type with brake) M depth () 7 P 7 (1) φ h7 φ M 1. 7 M depth A. ( sidemounted to the left). ( sidemounted to the right) L 9 CJO Outside Detail view of P 1 * The figure above is the motor sidemounted to the left (ML). RCPSRAR 17. CJO Outside Must be or more R 9. (same as the type with brake) 7..7 M depth 7 M depth * The figure above is the motor sidemounted to the left (ML).. ( sidemounted to the left). ( sidemounted to the right) Status LED Teaching port Note: * If the length for R is negative in the table below, the length of the actuator body is shorter than the motor unit. Dimensions and Mass by 1 L R Mass (kg) A RCP RCPS 1 RCP w/o brake w/ brake w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External Max. number of view controlled axes Input power Control method Positioner Pulse train Program Network Maximum number of positioning points Reference page PCONCFB/CGFB 1 DCV (7 for network spec.) Please see P.11 RCP(S)RAR

62 RCP ROBO Cylinder RCP(S)RRAC Model Specification Items RRAC WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless RCP does not include a controller. RCPS includes a builtin controller. Please refer to P.11 for more information about the model specification items. P: Stepper Size 1: 1mm : mm : mm.:.mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Radial Load OK Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)RRAC Horizontal mount 1 assumes. operation at.g, the other leads assume operation at.g RCP(S)RRAC Vertical mount. 1 assumes operation at.g, the other leads assume operation at.g and Payload Model Number RCP(S)RRACWAP1 1 RCP(S)RRACWAP RCP(S)RRACWAP RCP(S)RRACWAP.. (Note 1) The payload assumes that there is an external guide. Connected Max. Payload Controller Horizontal (kg) (Note 1) Vertical (kg) 7 1. Legend: Applicable controller/i/o type Cable length Options 1 ~ (The increment of stroke is mm) and Max. 1. Connected Controller ~ (Every mm) 1,1 1, (Unit: mm/s) RCP RCPS RCP RCPS 1 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Flange FL See P. Tip adapter (Flange) FFA See P. Tip adapter (Internal thread) NFA See P.9 Tip adapter (Keyway) KFA See P. Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Aluminum Rod nonrotation precision* deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Rod's angular displacement in rotational direction with no load applied to the rod. 1 RCP(S)RRAC

63 RCP ROBO Cylinder φ. 17 φ. M 1. Reference surface (.) Detail view of P Supplied hex nut Details of base mounting holes Dimensions CAD drawings can be downloaded from our website. (R1.). (7.) (1) P.C.D. Reference surface (B dimensions range) (19.).1 M.E. M depth (Width across flats) The orientation of the width across flats is indeterminable (*) (Width across flats) 9 RCPSRRAC Status LED D CAD.. 1. S.E. Home M.E. (effective threaded portion) M 1. φ h7 φ (Rod outer diameter) * Can not be used. 11 Must be or more 1 C *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. * When fixing the actuator using a front bracket or flange, please make sure that there is no external force applied to the main body. 9. Must be or more A J (φ hole oblong hole) K (φ hole φ hole) F G P D P ( for mm stroke) B L Grease nipple 17 (Without brake) 1 (With brake) 7. (Width across flats) φ H7 depth Oblong hole depth EM through Hφ., φ. deep counterbored, (From mounting surface) (From mounting surface) (Bolt screwin depth: ) depth. (From back side) P CJT Top 9. ( for mm stroke) M depth 1 (Same on opposite side) M depth... CJL Left 1 M depth CJT Top CJB Bottom CJR Right 17 (Without brake) 19 (With brake) Teaching port CJL Left CJR Right 7 1. M depth Connector for power supply/i/o cable connection Rod Deflection of RCP(S)RRAC (Reference Values) Deflection Load on rod tip (N) Home st 1st 1st st st st st st 1. CJB Bottom * The two mounting holes (H) on the rod side of the top surface of the base can not be used. The number of the holes (H) in the table does not include these holes that cannot be used. Dimensions and Mass by 1 1 L RCP w/o brake w/ brake RCPS w/o brake w/ brake A B 1 1 C D 1 1 E F G 1 1 H J 1 1 K Allowable static load on rod tip (N) Allowable dynamic Load offset mm load on rod tip (kg) Load offset mm Allowable static torque on rod tip (Nm) Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Home st 1st 1st st st st st st Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)RRAC

64 RCP ROBO Cylinder RCP(S)RRAC Model Specification Items RRAC WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless RCP does not include a controller. RCPS includes a builtin controller. Please refer to P.11 for more information about the model specification items. P: Stepper Size : mm : mm : mm : mm : mm ~ 1: 1mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Radial Load OK Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead /. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)RRAC Horizontal mount 7 This graph assumes operation at.g RCP(S)RRAC Vertical mount This graph assumes operation at.g and Payload Model Number RCP(S)RRACWAP RCP(S)RRACWAP RCP(S)RRACWAP RCP(S)RRACWAP (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) (Note 1) Vertical (kg) Connected Controller Legend: Applicable controller/i/o type Cable length Options 1. ~1 (The increment of stroke is mm) and Max. Connected Controller ~ (Every mm) 7 (Unit: mm/s) 1 RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Flange FL See P. Tip adapter (Flange) FFA See P. Tip adapter (Internal thread) NFA See P.9 Tip adapter (Keyway) KFA See P. Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Aluminum Rod nonrotation precision* deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Rod's angular displacement in rotational direction with no load applied to the rod. RCP(S)RRAC

65 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. (R) +. (19.) 17 M 1. Reference surface (.) Detail view of P Supplied hex nut Details of base mounting holes 1. P.C.D. (7) Reference surface (B dimensions range). 7.9 φ φ. D CAD.. M depth, M.E. S.E. Home M.E. 9 equipartition (effective threaded portion) 1 (Width across flats) M 1. The orientation of the width across flats is indeterminable (*) 1 (Width across flats) (Width across flats) φ h7 φ (Rod outer diameter) Mφ H7 depth. (From mounting surface) *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. * When fixing the actuator using a front bracket or flange, please make sure that there is no external force applied to the main body.. Must be or more A Noblong hole depth. (From mounting surface) P L. Grease nipple 1. (Without brake) (With brake) Hφ., φ deep counterbored, depth. (From back side) EM through (Bolt screwin depth: ) 1 M depth RCPSRRAC Status LED 1. (Without brake) 19 (With brake) Must be or more Teaching port M depth Connector for power supply/ I/O cable connection G P J (φ hole oblong hole) K (φ hole φ hole) D P B CJT Top 9. Actuator Center M depth Unavailable when CJL is selected. CJL CJR Left Right Unavailable when CJR is selected. CJB Bottom Unavailable when CJL is selected. CJL Left CJT Top CJB Bottom M depth CJR Right Unavailable when CJR is selected. Rod Deflection of RCP(S)RRAC (Reference Values) Deflection Load on rod tip (N) Home st 11st 1st 1st st 1st st 1st Dimensions and Mass by L RCP w/o brake w/ brake RCPS w/o brake w/ brake A B D 1 1 E G 1 1 H J 1 1 K M N Allowable static load on rod tip (N) Allowable dynamic Load offset mm load on rod tip (kg) Load offset mm Allowable static torque on rod tip (Nm) Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)RRAC

66 RCP ROBO Cylinder RCP(S)RRA7C Model Specification Items RRA7C WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless RCP does not include a controller. RCPS includes a builtin controller. Please refer to P.11 for more information about the model specification items. P: Stepper Size : mm 1: 1mm : mm : mm 7: 7mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width 7 mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Radial Load OK Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead //1. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)RRA7C Horizontal mount 9 assumes operation at.1g, the other leads assume 7 operation at.g RCP(S)RRA7C Vertical mount / assumes operation at.1g, the other leads assume operation at.g and Payload Model Number RCP(S)RRA7CWAP RCP(S)RRA7CWAP1 1 RCP(S)RRA7CWAP RCP(S)RRA7CWAP (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) (Note 1) Vertical (kg) Connected Controller Legend: Applicable controller/i/o type Cable length Options 1 7~ (The increment of stroke is mm) and Max. 1 Connected Controller 7~ (Every mm) <> 7 <> (Unit: mm/s) Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Flange FL See P. Tip adapter (Flange) FFA See P. Tip adapter (Internal thread) NFA See P.9 Tip adapter (Keyway) KFA See P. Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Aluminum Rod nonrotation precision* deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance 1mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Rod's angular displacement in rotational direction with no load applied to the rod. RCP(S)RRA7C

67 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. * When fixing the actuator using a front bracket or flange, please make sure that there is no external force applied to the main body. 1 Must be or more L Grease nipple P.C.D. (1) 9. Reference surface (B dimensions range) M depth 1, A 9 equipartition M.E. S.E. Home M.E. 7. (effective threaded portion) 19 (Width across flats) M1 1. The orientation of the width across flats is indeterminable (*) 19 (Width across flats) φ h7 φ (Rod outer diameter) (Width across flats) Mφ H7 depth (From mounting surface) Noblong hole depth (From mounting surface) P 1 1 (Without brake) 19 (With brake) EM through (Bolt screwin depth: ) Hφ, φ9. deep counterbored, depth. (From back side) M depth (R) +.. Reference surface φ9. φ RCPSRRA7C (1).. (.) Detail view of P Details of base mounting holes 1 (Without brake) 1 (With brake) M1 1. Supplied hex nut Status LED Must be or more M depth Connector for power supply/ I/O cable connection Teaching port 1. Rod Deflection of RCP(S)RRA7C (Reference Values) Deflection Load on rod tip (N) Home 7st 1st 17st st 7st st 7st st 7st st J (φ hole oblong hole) K (φ hole φ hole) D P G P B Unavailable when CJL is selected. CJL Left 17. CJT Top 9. CJB Bottom M depth CJR Right Unavailable when CJR is selected.. Dimensions and Mass by Unavailable when CJL is selected. CJL Left CJT Top CJB Bottom M depth CJR Right Unavailable when CJR is selected L RCP w/o brake 7 7 w/ brake RCPS w/o brake w/ brake A B 1 D 1 1 E 1 G 1 1 H J 1 1 K M N Allowable static load on rod tip (N) Allowable dynamic Load offset mm load on rod tip (kg) Load offset mm Allowable static torque on rod tip (Nm) Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)RRA7C

68 RCP ROBO Cylinder RCP(S)RRAC Model Specification Items RRAC WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless RCP does not include a controller. RCPS includes a builtin controller. Please refer to P.11 for more information about the model specification items. P: Stepper Size : mm : mm : mm : mm ~ 7: 7mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON CFB/CGFB [RCPS] SE: SIO Unit Coupled Body Width mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Radial Load OK Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is.1g for lead and.g for lead /. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () For RCPS (builtin controller type), please limit the duty cycle to 7% or less.. () The service life of an actuator varies depending on the payload when using vertically. Please refer to P. 11 for more information. Correlation Diagrams of and Payload PCON connected. RCP(S)RRAC Horizontal mount 1 assumes operation at.1g, the other leads assume operation at.g. 7 RCP(S)RRAC Vertical mount 7 assumes operation at.1g, the other leads assume operation at.g. 7 and Payload Model Number (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) (Note 1) Vertical (kg) RCP(S)RRACWAP RCP(S)RRACWAP RCP(S)RRACWAP 7 Legend: Applicable controller/i/o type Cable length Options ~7 (The increment of stroke is mm) and Max. 1 ~ (Unit: mm/s) 7 <> <> <> <> <> <> <> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS 1 7 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Flange FL See P. Tip adapter (Internal thread) NFA See P.9 Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw f1mm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Aluminum Rod nonrotation precision* deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance 1mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Rod's angular displacement in rotational direction with no load applied to the rod. 7 RCP(S)RRAC

69 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. M depth 1 (.) +. 7 (R). Reference surface (B dimensions range). 9 Detail view of P 7 (.) M 1. D CAD Supplied hex nut Grease nipple 7 L M.E. 17 (Without brake) S.E. Home M.E. A 177 (With brake) (effective threaded portion) M 1. 7 (Width across flats) The orientation of the width across flats is indeterminable (*) 7 (Width across flats) (Width across flats) φ h7 φ (Rod outer diameter) *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. * When fixing the actuator using a front bracket or flange, please make sure that there is no external force applied to the main body. 7. Must be or more Oblong hole depth. (From mounting surface) P φ H7 depth. (From mounting surface) 1 EM through (Bolt screwin depth: ) M depth C J (φ holeoblong hole) D P B 7. CJT Top RCPSRRAC Status LED Must be or more Unavailable when CJL is selected. CJL Left M depth CJR Right 1 (Without brake) 1 (With brake) M depth Connector for power supply/i/o cable connection Teaching port Unavailable when CJL is selected. CJL Left 1 CJT Top 9. CJB Bottom M depth CJR Right Unavailable when CJR is selected. CJB Bottom Unavailable when CJR is selected. Rod Deflection of RCP(S)RRAC (Reference Values) Deflection Load on rod tip (N) Home st st st st st st 7st Dimensions and Mass by 1 7 L RCP w/o brake ,9. 1,9. w/ brake ,19. 1,9. 1,119. RCPS w/o brake ,7. 1,77. 1,7. w/ brake ,7. 1,7. 1,7. 1,17. A B C D E J Allowable static load on rod tip (N) Allowable dynamic Load offset mm load on rod tip (kg) Load offset mm Allowable static torque on rod tip (Nm) Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External Max. number of view controlled axes Input power Control method Positioner Pulse train Program Network Maximum number of positioning points Reference page PCONCFB/CGFB 1 DCV (7 for network spec.) Please see P.11 RCP(S)RRAC

70 RCP ROBO Cylinder RCP(S)RRAR Model Specification Items RRAR WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless RCP does not include a controller. RCPS includes a builtin controller. Please refer to P.11 for more information about the model specification items. P: Stepper Size 1: 1mm : mm : mm.:.mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit N : None P : 1m S : m M : m Sidemounted X : Specified Length R : Robot Cable Body Width * mm Options V Stepper * Body width does not include the width of the sidemounted motor. Please refer to the options table below. Please make sure to specify either ML or MR when ordering the sidemounted motor type. Radial Load OK Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)RRAR Horizontal mount This graph assumes. operation at.g RCP(S)RRAR Vertical mount This graph assumes. operation at.g and Payload Model Number RCP(S)RRARWAP1 1 RCP(S)RRARWAP RCP(S)RRARWAP RCP(S)RRARWAP.. (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) Vertical (kg) Connected Controller Legend: Applicable controller/i/o type Cable length Options 1 1. ~ (The increment of stroke is mm) and Max. 1. Connected Controller ~ (Every mm) (Unit: mm/s) RCP RCPS RCP RCPS 1 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. Flange FL See P. Tip adapter (Flange) FFA See P. Tip adapter (Internal thread) NFA See P.9 Tip adapter (Keyway) KFA See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Knuckle joint* NJ See P.1 Nonmotor end specification NM See P.1 Clevis bracket* QR See P.111 * The clevis (QR) and knuckle joint (NJ) are sold as a set. The assembly is to be performed by the customer. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Aluminum Rod nonrotation precision* deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Rod's angular displacement in rotational direction with no load applied to the rod. 9 RCP(S)RRAR

71 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. Reference surface (19.) φ. φ. (.) 17 M 1. Supplied hex nut.. Details of base mounting holes P.C.D.. (1.) (1) +. (R1.) M.E. S.E. Home (effective threaded portion) M 1. Detail view of P D CAD φ h7 φ (Rod outer diameter) M.E. 7. (Width across flats) M depth The orientation of the width across flats is indeterminable (*) *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. * When fixing the actuator using a front bracket or flange, please make sure that there is no external force applied to the main body. L A 1 Must be or more Grease nipple (same as the type with brake) (.) 1 M depth (Width across flats) Reference surface (B dimensions range) (Width across flats) (1) 9 9 φ H7 depth (From mounting surface) M depth Oblong hole depth (From mounting surface) P. ( sidemounted to the left) 1. ( sidemounted to the right) EM through (Bolt screwin depth: ) 17 Hφ., φ. deep counterbored, depth. * Can not be used. 1 C J (φ hole oblong hole) K (φ hole φ hole) F G P D P ( for mm stroke) B 1 ( for mm stroke) RCPSRRAR CJO Outside CJO Outside 1. Must be or more 7.(Same as the type with brake) (9.) * The figure above is the motor sidemounted to the left (ML). M depth * The figure above is the motor sidemounted to the left (ML). * The two mounting holes (H) on the rod side of the top surface of the base can not be used. The number of the holes (H) in the table does not include these holes that cannot be used. Teaching port Status LED M depth Rod Deflection of RCP(S)RRAR (Reference Values) Deflection Load on rod tip (N) Home st 1st 1st st st st st st (Same as motor sidemounted to the right) Dimensions and Mass by 1 1 L A B 1 1 C D 1 1 E F G 1 1 H J 1 1 K Allowable static load on rod tip (N) Allowable dynamic Load offset mm load on rod tip (kg) Load offset mm Allowable static torque on rod tip (Nm) Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Home st 1st 1st st st st st st Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)RRAR 7

72 RCP ROBO Cylinder RCP(S)RRAR Model Specification Items RRAR WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller RCP does not include a controller. RCPS includes a builtin controller. Please refer to P.11 for more information about the model specification items. P: Stepper Size : mm : mm : mm : mm ~ 1: 1mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit N : None P : 1m S : m M : m Sidemounted X : Specified Length R : Robot Cable Body Width * mm Options V Stepper * Body width does not include the width of the sidemounted motor. Please refer to the options table below. Please make sure to specify either ML or MR when ordering the sidemounted motor type. Radial Load OK Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead /. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)RRAR Horizontal mount 7 This graph assumes operation at.g RCP(S)RRAR Vertical mount This graph assumes operation at.g and Payload Model Number RCP(S)RRARWAP RCP(S)RRARWAP RCP(S)RRARWAP RCP(S)RRARWAP (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) Vertical (kg) Connected Controller Legend: Applicable controller/i/o type Cable length Options 1. ~1 (The increment of stroke is mm) and Max. Connected Controller ~ (Every mm) 7 (Unit: mm/s) 1 RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. Flange FL See P. Tip adapter (Flange) FFA See P. Tip adapter (Internal thread) NFA See P.9 Tip adapter (Keyway) KFA See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Knuckle joint* NJ See P.1 Nonmotor end specification NM See P.1 Clevis bracket* QR See P.111 * The clevis (QR) and knuckle joint (NJ) are sold as a set. The assembly is to be performed by the customer. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Aluminum Rod nonrotation precision* deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Rod's angular displacement in rotational direction with no load applied to the rod. 71 RCP(S)RRAR

73 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. (19.) +. (7) M 1. Supplied hex nut φ. φ (R) 17 P.C.D..9. Reference surface (.) Detail view of P Details of base mounting holes M.E. S.E. Home (effective threaded portion) M 1.. D CAD M depth, 9 equipartition φ h7 φ (Rod outer diameter) 1. M.E. 7. (Width across flats) The orientation of the width across flats is indeterminable (*) *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. * When fixing the actuator using a front bracket or flange, please make sure that there is no external force applied to the main body. L A 7. Must be or more Grease nipple (same as the type with brake) (.1) 9. M depth 1 (Width across flats) Reference surface (B dimensions range) 1 (Width across flats) (1) Mφ H7 depth. (From mounting surface) P M depth Noblong hole depth. (From mounting surface). ( sidemounted to the left) 17. ( sidemounted to the right) Hφ., φ counterbored, EM through depth. (From back side) (Bolt screwin depth: ). RCPSRRAR 1 G P J (φ hole oblong hole) K (φ hole φ hole) D P B CJO Outside CJO Outside Must be or more. (same as the type with brake) (.1) * The figure above is the motor sidemounted to the left (ML). M depth * The figure above is the motor sidemounted to the left (ML). Teaching port Status LED M depth Rod Deflection of RCP(S)RRAR (Reference Values) Deflection Load on rod tip (N) Home st 11st 1st 1st st 1st st 1st. ( sidemounted to the left) 17. ( sidemounted to the right). Dimensions and Mass by L A B D 1 1 E G 1 1 H J 1 1 K M N Allowable static load on rod tip (N) Allowable dynamic Load offset mm load on rod tip (kg) Load offset mm Allowable static torque on rod tip (Nm) Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)RRAR 7

74 RCP ROBO Cylinder RCP(S)RRA7R Model Specification Items RRA7R WA P Series Encoder RCP: Separate Controller WA: Batteryless 7: 7mm RCPS: Builtin Controller * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P.11 for more information about the model specification items. P: Stepper Size : mm 1: 1mm : mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit N : None P : 1m S : m M : m Sidemounted X : Specified Length R : Robot Cable Body Width 7 * mm Options V Stepper * Body width does not include the width of the sidemounted motor. Please refer to the options table below. *Please make sure to specify either ML or MR when ordering the sidemounted motor type. Radial Load OK Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead //1. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)RRA7R Horizontal mount 9 assumes operation at.1g, the other leads assume 7 operation at.g RCP(S)RRA7R Vertical mount assumes operation at.1g, the other leads assume operation at.g and Payload Model Number RCP(S)RRA7RWAP RCP(S)RRA7RWAP1 1 RCP(S)RRA7RWAP RCP(S)RRA7RWAP (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) Vertical (kg) Connected Controller Legend: Applicable controller/i/o type Cable length Options 1 7~ (The increment of stroke is mm) and Max. 1 Connected Controller 7~ (Every mm) <> <> 17 (Unit: mm/s) Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. Flange FL See P. Tip adapter (Flange) FFA See P. Tip adapter (Internal thread) NFA See P.9 Tip adapter (Keyway) KFA See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Knuckle joint* NJ See P.1 Nonmotor end specification NM See P.1 Clevis bracket* QR See P.111 * The clevis (QR) and knuckle joint (NJ) are sold as a set. The assembly is to be performed by the customer. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Aluminum Rod nonrotation precision* deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance 1mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Rod's angular displacement in rotational direction with no load applied to the rod. 7 RCP(S)RRA7R

75 RCP ROBO Cylinder 9 (.) Dimensions CAD drawings can be downloaded from our website. (.) +. (R) P.C.D. 19 (Width across flats). Reference surface (B dimensions range) M1 1. Supplied hex nut φ9. φ (1) M.E... Reference surface (1) Detail view of P Details of base mounting holes 7 S.E. Home M.E. 7. (effective threaded portion) M1 1. φ h7 φ (Rod outer diameter) The orientation of the width across flats is indeterminable (*) M depth 1, 9 equipartition 19 (Width across flats) 1.. D CAD (Width across flats) 9. *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. * When fixing the actuator using a front bracket or flange, please make sure that there is no external force applied to the main body. A. Grease nipple 1 Must be or more Mφ H7 depth (From mounting surface) 9.9 (same as the type with brake) (.) 1.7 M depth 1 ( sidemounted to the left) ( sidemounted to the right) Noblong hole depth EM through Hφ, φ9. deep counterbored, (From mounting surface) (Bolt screwin depth: ) depth. (From back side) P 7 M depth 1 RCPSRRA7R (.) J (φ hole oblong hole) K (φ hole φ hole) D P G P B ( sidemounted to the left). ( sidemounted to the right) M depth 1 1 CJO Outside. 1. * The figure above is the motor sidemounted to the left (ML).. CJO Outside Teaching port Must be or more Status LED M depth.9 (same as the type with brake) Rod Deflection of RCP(S)RRA7R (Reference Values) Deflection Load on rod tip (N) Home 7st 1st 17st st 7st st 7st st 7st st 1. 1 * The figure above is the motor sidemounted to the left (ML). Dimensions and Mass by L A B 1 D 1 1 E 1 G 1 1 H J 1 1 K M N Allowable static load on rod tip (N) Allowable dynamic Load offset mm load on rod tip (kg) Load offset mm Allowable static torque on rod tip (Nm) Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)RRA7R 7

76 RCP ROBO Cylinder RCP(S)RRAR Model Specification Items RRAR WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P.11 for more information about the model specification items. P: Stepper Size : mm : mm : mm : mm ~ 7: 7mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON CFB/CGFB [RCPS] SE: SIO Unit N : None P : 1m S : m M : m Sidemounted X : Specified Length R : Robot Cable Body Width * mm Options V Stepper * Body width does not include the width of the sidemounted motor. Please refer to the options table below. *Please make sure to specify either ML or MR when ordering the sidemounted motor type. Radial Load OK Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is.1g for lead and.g for lead /. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () For RCPS (builtin controller type), please limit the duty cycle to 7% or less.. () The service life of an actuator varies depending on the payload when using vertically. Please refer to P. 11 for more information. Correlation Diagrams of and Payload PCON connected. RCP(S)RRAR Horizontal mount 1 assumes operation at.1g, the other leads assume 7 operation at.g. RCP(S)RRAR Vertical mount 7 assumes operation at.1g, the other leads assume operation at.g.. and Payload Model Number (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) Vertical (kg) and Max. ~ (Unit: mm/s) 7 RCP(S)RRARWAP RCP(S)RRARWAP RCP(S)RRARWAP 7 Legend: Applicable controller/i/o type Cable length Options ~7 (The increment of stroke is mm) RCP RCPS RCP RCPS 1 7 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. Flange FL See P. Tip adapter (Internal thread) NFA See P.9 sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Knuckle joint* NJ See P.1 Nonmotor end specification NM See P.1 Clevis bracket* QR See P.111 * The clevis (QR) and knuckle joint (NJ) are sold as a set. The assembly is to be performed by the customer. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw f1mm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Aluminum Rod nonrotation precision* deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance 1mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) * Rod's angular displacement in rotational direction with no load applied to the rod. 7 RCP(S)RRAR

77 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. (.) M 1. Supplied hex nut D CAD 7 M.E. S.E. Home M.E. (effective threaded portion) M 1. *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * The direction of width across flats varies depending on the product. * When fixing the actuator using a front bracket or flange, please make sure that there is no external force applied to the main body. L A 9 9 Grease nipple +. 7 (Width across flats) (R) 9 Detail view of P 7 φ (Rod outer diameter) The orientation of the width across flats is indeterminable (*) M depth 1 (Width across flats) Must be or more 9. (same as the type with brake) (.) 9.7 M depth 1 7. Reference surface (B dimensions range). 7 (Width across flats) 1.9 (1) φ h7 M depth 9 ( sidemounted to the left) ( sidemounted to the right) Oblong hole depth. (From mounting surface) φ H7 depth. EM through (From mounting surface) (Bolt screwin depth: ) P 7 7. C J (φ holeoblong hole) D P B 17. RCPSRRAR CJO Outside Must be or more 9. (same as the type with brake) (.) CJO Outside. * The figure above is the motor sidemounted to the left (ML). M depth * The figure above is the motor sidemounted to the left (ML).. 7 Teaching port Status LED M depth 9 ( sidemounted to the left) ( sidemounted to the right) 7. Rod Deflection of RCP(S)RRAR (Reference Values) Deflection Load on rod tip (N) Home st st st st st st 7st Dimensions and Mass by 1 7 L A B C D E J Allowable static load on rod tip (N) Allowable dynamic Load offset mm load on rod tip (kg) Load offset mm Allowable static torque on rod tip (Nm) Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External Max. number of view controlled axes Input power Control method Positioner Pulse train Program Network Maximum number of positioning points Reference page PCONCFB/CGFB 1 DCV (7 for network spec.) Please see P.11 RCP(S)RRAR 7

78 RCP ROBO Cylinder RCP(S)WRAC Model Specification Items WRAC WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size 1: 1mm : mm : mm.:.mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width mm V Stepper Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable Radial Load OK Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)WRAC Horizontal mount. 1 assumes operation at.g, the other leads assume. operation at.g RCP(S)WRAC Vertical mount This graph assumes operation at.g and Payload Model Number RCP(S)WRACWAP1 1 RCP(S)WRACWAP RCP(S)WRACWAP RCP(S)WRACWAP.. (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) Vertical (kg) Connected Controller Legend: Applicable controller/i/o type Cable length Options 1. ~ (The increment of stroke is mm) and Max. 1. Connected Controller ~ (Every mm) <> 7 (Unit: mm/s) 9 9 <> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Bottom) CJB See P. Flange FL See P. Nonmotor end specification NM See P.1 Tslot nut bar (Left) NTBL See P.1 Tslot nut bar (Right) NTBR See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Stainless steel Rod nonrotation precision deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) 77 RCP(S)WRAC

79 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end Must be or more φh7 reamed, depth M depth φh7 height Details of rod tip φh7 depth P.C.D.φ M.E. S.E. M depth Home () M.E. Grease nipple L (.) 9 (Without brake) unit A 19 (With brake) * It is possible to mount the motor unit at 1 degree rotated. Tslot : M 97 ( unit width) (both sides).1 * Can be used when the actuator is side mounted.... Reference surface (71) 1 9 (Base width) 1. φh7 φ (Rod outer diameter) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for,,1mm strokes) +. 1 ±. (n/a for mm stroke) M depth Roblong hole From base mounting surface depth φh7 reamed From base mounting surface depth (1 hole only for mm stroke) Side Tslot details PφH7 reamed From base mounting surface depth Roblong hole From base mounting surface depth RCPSWRAC Must be or more G (H) J pitch Kφ. through φ11 counterbored (From opposite side). φ. Details of base mounting part CJL Left CJT Top CJR Right 19 (Without brake) 17 (With brake) unit * It is possible to mount the motor unit at 1 degree rotated. 97 ( unit width).1.. CJB Bottom Status LED Teaching port Connector for power supply/ I/O cable connection. M depth CJT Top CJB Bottom Rod Deflection of RCP(S)WRAC (Reference Values) Deflection 1 1 Load on rod tip (N) st st 1st st st st st st st st CJR Right Dimensions and Mass by 1 L RCP w/o brake w/ brake RCPS w/o brake w/ brake A G H J K 1 N P Q 1 R Allowable static load on rod tip (N) Allowable static torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm 9 Allowable dynamic torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. ZU_RCPWRAC(BK) External Max. number of Control method Maximum number Name Input power Reference page view controlled axes Positioner Pulse train Program Network of positioning points PCONCB/CGB 1 MCONC/CG MSELPC/PG DCV Singlephase ~VAC This model is networkcompatible only. *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)WRAC 7

80 RCP ROBO Cylinder RCP(S)WRAC Model Specification Items WRAC WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size : mm : mm : mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width 1 mm V Stepper Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable Radial Load OK Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead /. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)WRAC Horizontal mount 7 This graph assumes operation at.g RCP(S)WRAC Vertical mount assumes operation at.1g, the other leads assume operation at.g and Payload Model Number RCP(S)WRACWAP RCP(S)WRACWAP RCP(S)WRACWAP RCP(S)WRACWAP (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) Vertical (kg) Connected Controller Legend: Applicable controller/i/o type Cable length Options ~ (The increment of stroke is mm) and Max. Connected Controller ~ (Every mm) <> <> <> (Unit: mm/s) 7 <> 1 Values in brackets < > are for vertical use. RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Flange FL See P. Nonmotor end specification NM See P.1 Tslot nut bar (Left) NTBL See P.1 Tslot nut bar (Right) NTBR See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Stainless steel Rod nonrotation precision deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) 79 RCP(S)WRAC

81 RCP ROBO Cylinder Details of rod tip M depth M.E. Home S.E. (7) M.E. L A Tslot : M (both sides) * Can be used when the actuator is side mounted. Grease nipple (.) 11. (Without brake) 1. (With brake) unit * It is possible to mount the motor unit at 1 degree rotated. 7 Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end Must be or more φh7 reamed, depth M depth 1 φh7 height φh7 depth P.C.D. 117 ( unit width)... Reference surface 1 (9) 11 1 (Base width) 17 φh7 φ (Rod outer diameter) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for,,1mm strokes) M depth ±. (n/a for mm stroke) Roblong hole From base mounting surface depth. 7 φh7 reamed From base mounting surface depth (1 hole only for mm stroke) Side Tslot details PφH7 reamed From base mounting surface depth Roblong hole From base mounting surface depth RCPSWRAC 1. (Without brake) 1. (With brake) Must be or more unit * It is possible to mount the motor unit at 1 degree rotated. 117 ( unit width)... G (H) J pitch Kφ. through φ. counterbored (From opposite side) CJL Left 9 φ. Details of base mounting part CJT Top CJB Bottom CJR Right Status LED Teaching port Connector for power supply/ I/O cable connection CJL Left M depth CJT Top CJR Right CJB Bottom Rod Deflection of RCP(S)WRAC (Reference Values) Deflection Load on rod tip (N) st st 1st st st st st st st st Dimensions and Mass by 1 L RCP w/o brake w/ brake RCPS w/o brake w/ brake A G H J K 1 N P Q R Allowable static load on rod tip (N) Allowable static torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)WRAC

82 RCP ROBO Cylinder RCP(S)WRA1C Model Specification Items WRA1C WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size : mm 1: 1mm : mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width 1 mm V Stepper Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable Radial Load OK Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead //1. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)WRA1C Horizontal mount 9 / assumes operation at.1g, the other leads assume 7 operation at.g RCP(S)WRA1C Vertical mount This graph assumes 7operation at.g and Payload Model Number RCP(S)WRA1CWAP RCP(S)WRA1CWAP1 1 RCP(S)WRA1CWAP RCP(S)WRA1CWAP (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) Vertical (kg) Connected Controller Legend: Applicable controller/i/o type Cable length Options 1 ~ (The increment of stroke is mm) and Max. 1 Connected Controller ~ (Every mm) <> <1> (Unit: mm/s) 9 <> 19 <1> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Flange FL See P. Nonmotor end specification NM See P.1 Tslot nut bar (Left) NTBL See P.1 Tslot nut bar (Right) NTBR See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Stainless steel Rod nonrotation precision deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance 1mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) 1 RCP(S)WRA1C

83 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end Must be or more φh7 reamed, depth M depth φh7 height Details of rod tip P.C.D. φh7 depth M.E. M depth 1 7 S.E. Home (1.) M.E. A L Tslot : M (both sides) * Can be used when the actuator is side mounted. Grease nipple 19 (Without brake) 199 (With brake) (.) unit * It is possible to mount the motor unit at 1 degree rotated. 1. ( unit width) Reference surface 1 () 1 1 (Base width) φh7 φ (Rod outer diameter) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for,,1mm strokes) 9 ±. (n/a for mm stroke) M depth Roblong hole From base mounting surface depth 9 φh7 reamed From base mounting surface depth 9. (1 hole only for mm stroke) Side Tslot details RCPSWRA1C 19 (Without brake) 199 (With brake) PφH7 reamed From base mounting surface depth 9 Roblong hole From base mounting surface depth 9 Must be or more CJL Left CJT Top CJB Bottom unit * It is possible to mount the motor unit at 1 degree rotated. 1.( unit width)... G CJR Right (H) J pitch Kφ9 through φ1. counterbored (From opposite side) CJL Left CJT Top CJB Bottom 9. φ9 Details of base mounting part CJR Right 9 Status LED Teaching port Connector for power supply/ I/O cable connection M depth Rod Deflection of RCP(S)WRA1C (Reference Values) Deflection Load on rod tip (N) st st 1st st st st st st st st st st Dimensions and Mass by 1 L RCP w/o brake w/ brake , RCPS w/o brake w/ brake , A 7 7 G H J K N P Q 1 R Allowable static load on rod tip (N) Allowable static torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake RCPWRA1C(BK) Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. External Max. number of Control method Maximum number Name Input power Reference page view controlled axes Positioner Pulse train Program Network of positioning points PCONCB/CGB 1 MCONC/CG MSELPC/PG DCV Singlephase ~VAC This model is networkcompatible only. *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)WRA1C

84 RCP ROBO Cylinder RCP(S)WRA1C Model Specification Items WRA1C WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size : mm : mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON CFB/CGFB [RCPS] SE: SIO Unit Coupled Body Width 1 mm V Stepper Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable Radial Load OK Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes (1) The maximum acceleration/deceleration is.1g for lead and.g for lead /. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () For RCPS (builtin controller type), please limit the duty cycle to 7% or less.. () The service life of an actuator with lead varies depending on the payload when using vertically. Please refer to P. 11 for more information. Correlation Diagrams of and Payload PCON connected. RCP(S)WRA1C Horizontal mount 1 assumes operation at.1g, the other leads assume operation at.g. 1 RCP(S)WRA1C Vertical mount 7 1 assumes operation at.1g, the other leads assume operation at.g.. 1 and Payload Model Number (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) Vertical (kg) and Max. 1~ 7 (Unit: mm/s) 7 RCP(S)WRA1CWAP 9 1 RCP(S)WRA1CWAP. ~ (The increment of stroke is mm) <> <> RCP(S)WRA1CWAP 7 1 <> 11 <> 9 7 Legend: Applicable controller/i/o type Cable length Options Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Flange FL See P. Nonmotor end specification NM See P.1 Tslot nut bar (Left) NTBL See P.1 Tslot nut bar (Right) NTBR See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw f1mm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Stainless steel Rod nonrotation precision deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance 1mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) RCP(S)WRA1C

85 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end Must be or more φh7 reamed, depth M depth φh7 height 1 φh7 depth P.C.D. Details of rod tip M.E. M depth 1 (.) S.E. Home M.E. A Grease nipple L (1.) 19 (Without brake) 199 (With brake) Tslot : M (both sides) * Can be used when the actuator is side mounted. unit * It is possible to mount the motor unit at 1 degree rotated. 1 ( unit width) 1.. Reference surface 1 () 1 1 (Base width) φh7 φ (Rod outer diameter) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for,,1mm strokes) 71 M depth ±. (n/a for mm stroke) Roblong hole From base mounting surface depth 9 φh7 reamed From base mounting surface depth 9 (1 hole only for mm stroke) Side Tslot details 9. PφH7 reamed From base mounting surface depth 9 Roblong hole From base mounting surface depth 9 G (H) J pitch Kφ9 through φ1. counterbored (From opposite side) φ9 Details of base mounting part RCPSWRA1C Must be or more CJL Left CJT Top CJR Right CJL Left CJT Top CJR Right 199 (Without brake) 9 (With brake) unit * It is possible to mount the motor unit at 1 degree rotated. 1 ( unit width) 7.1 CJB Bottom CJB Bottom 71 Teaching port Status LED Connector for power supply/ I/O cable connection. M depth Rod Deflection of RCP(S) WRA1C (Reference Values) Deflection Load on rod tip (N) st st st st st st 7st st Dimensions and Mass by L RCP w/o brake , 1,9 1,1 1,19 w/ brake , 1,7 1, 1,17 1, RCPS w/o brake , 1,7 1, 1,17 1, w/ brake , 1, 1, 1,1 1, 1, A ,7 G H J st K st st N st P st Q st R Allowable 7st static load on rod tip (N) Allowable st static torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External Max. number of view controlled axes Input power Control method Positioner Pulse train Program Network Maximum number of positioning points Reference page PCONCFB/CGFB 1 DCV (7 for network spec.) Please see P.11 RCP(S)WRA1C

86 RCP ROBO Cylinder RCP(S)WRAR Model Specification Items WRAR WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size 1: 1mm : mm : mm.:.mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit N : None P : 1m S : m M : m Sidemounted X : Specified Length R : Robot Cable Body Width * mm Options V Stepper * Body width does not include the width of the sidemounted motor. Please refer to the options table below. *Please make sure to specify either ML or MR when ordering the sidemounted motor type. Radial Load OK Horizontal Vertical Side Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)WRAR Horizontal mount. 1 assumes operation at.g, the other leads assume. operation at.g RCP(S)WRAR Vertical mount This graph assumes operation at.g and Payload Model Number RCP(S)WRARWAP1 1 RCP(S)WRARWAP RCP(S)WRARWAP RCP(S)WRARWAP.. (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) Vertical (kg) Connected Controller Legend: Applicable controller/i/o type Cable length Options 11. ~ (The increment of stroke is mm) and Max. 1. Connected Controller ~ (Every mm) <> 7 (Unit: mm/s) 9 9 <> <1> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. Flange FL See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Nonmotor end specification NM See P.1 Tslot nut bar (Left) NTBL See P.1 Tslot nut bar (Right) NTBR See P.1 * When selecting Tslot nut bar option with a sidemounted motor model, please choose NTBR when the motor is sidemounted to the left, and NTBL when the motor is sidemounted to the right. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Stainless steel Rod nonrotation precision deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) RCP(S)WRAR

87 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end A Grease nipple φh7 reamed, depth M depth φh7 height Details of rod tip P.C.D.φ φh7 depth. 1. Reference surface M depth (71) (1.) 1 9 (1) (Base width) CJO Outside 1 M.E. Home S.E. φh7 φ (Rod outer diameter) () M.E. Must be or more L Tslot : M (Both sides) * Can be used when the actuator is side mounted. 1. (same as the type with brake) ( sidemounted to the right: 1) (.) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for,,1mm strokes) M depth 9 M depth.. ±. (n/a for mm stroke) Roblong hole From base mounting surface depth φh7 reamed From base mounting surface depth (1 hole only for mm stroke).. * The figure above is the motor sidemounted to the left (ML). PφH7 reamed From base mounting surface depth Roblong hole From base mounting surface depth G (H) +. J pitch Side Tslot details Kφ. through φ11 counterbored (From opposite side). φ. Details of base mounting part RCPSWRAR Rod Deflection of RCP(S)WRAR (Reference Values) Deflection 1 st st 1st st st st st st st st Must be or more 17. (same as the type with brake) Teaching port Connector for power supply/ I/O cable connection. (9.) M depth Status LED M depth CJO Outside. * The figure above is the motor sidemounted to the left (ML). 1 Load on rod tip (N) Dimensions and Mass by 1 L A G H J K 1 N P Q 1 R Allowable static load on rod tip (N) Allowable static torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm 9 Allowable dynamic torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake ZU_RCPWRAR Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. External Max. number of Control method Maximum number Name Input power Reference page view controlled axes Positioner Pulse train Program Network of positioning points PCONCB/CGB 1 MCONC/CG MSELPC/PG DCV Singlephase ~VAC This model is networkcompatible only. *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)WRAR

88 RCP ROBO Cylinder RCP(S)WRAR Model Specification Items WRAR WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size : mm : mm : mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit N : None P : 1m S : m M : m Sidemounted X : Specified Length R : Robot Cable Body Width 1 * mm Options V Stepper * Body width does not include the width of the sidemounted motor. Please refer to the options table below. *Please make sure to specify either ML or MR when ordering the sidemounted motor type. Radial Load OK Horizontal Vertical Side Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead /. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)WRAR Horizontal mount 7 This graph assumes operation at.g RCP(S)WRAR Vertical mount This graph assumes operation at.g and Payload Model Number RCP(S)WRARWAP RCP(S)WRARWAP RCP(S)WRARWAP RCP(S)WRARWAP (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) Vertical (kg) Connected Controller Legend: Applicable controller/i/o type Cable length Options ~ (The increment of stroke is mm) and Max. Connected Controller ~ (Every mm) <> <> <> (Unit: mm/s) 7 <> 1 Values in brackets < > are for vertical use. RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. Flange FL See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Nonmotor end specification NM See P.1 Tslot nut bar (Left) NTBL See P.1 Tslot nut bar (Right) NTBR See P.1 * When selecting Tslot nut bar option with a sidemounted motor model, please choose NTBR when the motor is sidemounted to the left, and NTBL when the motor is sidemounted to the right. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Stainless steel Rod nonrotation precision deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) 7 RCP(S)WRAR

89 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end A 19 Grease nipple φh7 reamed, depth M depth 1 φh7 height Details of rod tip P.C.D. φh7 depth 7 17 M depth 7 (7) Home M.E. M.E. S.E. φh7 (φ rod outer diameter) Must be or more 1. (same as the type with brake) 19. G (H) L Tslot : M (both sides) * Can be used when the actuator is side mounted. Reference surface (9) (7.) M depth (1) (.9) 1 (Base width) Q (n/a for &mm strokes) 1 ±. (n/a for mm stroke) Q (n/a for &mm strokes) N±. (n/a for,,1mm strokes) CJO Outside * The figure above is the motor sidemounted to the left (ML). PφH7 reamed From base mounting surface depth Roblong hole From base mounting surface depth RCPSWRAR +. 7 J pitch M depth Roblong hole From base mounting surface depth φh7 reamed From base mounting surface depth (1 hole only for mm stroke). φ. Details of base mounting part Kφ. through φ. counterbored (From opposite side) Side Tslot details Rod Deflection of RCP(S)WRAR (Reference Values) Deflection st st 1st st st st st st st st Must be or more 7. (same as the type with brake) 19. Status LED (.9) Teaching port Connector for power supply/i/o cable connection M depth M depth CJO Outside * The figure above is the motor sidemounted to the left (ML).. 1 Load on rod tip (N) Dimensions and Mass by 1 L 7 A G H J K 1 N P Q R Allowable static load on rod tip (N) Allowable static torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)WRAR

90 RCP ROBO Cylinder RCP(S)WRA1R Model Specification Items WRA1R WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size : mm 1: 1mm : mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit N : None P : 1m S : m M : m Sidemounted X : Specified Length R : Robot Cable Body Width 1 * mm Options V Stepper * Body width does not include the width of the sidemounted motor. Please refer to the options table below. *Please make sure to specify either ML or MR when ordering the sidemounted motor type. Radial Load OK Horizontal Vertical Side Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead //1. Please refer to P.1 for more information. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)WRA1R Horizontal mount 9 / assumes operation at.1g, the other leads assume 7 operation at.g. 1 7 RCP(S)WRA1R Vertical mount This graph assumes operation at.g. 1 7 and Payload Model Number RCP(S)WRA1RWAP RCP(S)WRA1RWAP1 1 RCP(S)WRA1RWAP RCP(S)WRA1RWAP (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) Vertical (kg) Connected Controller Legend: Applicable controller/i/o type Cable length Options 1 ~ (The increment of stroke is mm) and Max. 1 Connected Controller ~ (Every mm) <> (Unit: mm/s) 17 <1> Values in brackets < > are for vertical use. RCP RCPS RCP RCPS 1 Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. Flange FL See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Nonmotor end specification NM See P.1 Tslot nut bar (Left) NTBL See P.1 Tslot nut bar (Right) NTBR See P.1 * When selecting Tslot nut bar option with a sidemounted motor model, please choose NTBR when the motor is sidemounted to the left, and NTBL when the motor is sidemounted to the right. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw fmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Stainless steel Rod nonrotation precision deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance 1mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) 9 RCP(S)WRA1R

91 71 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end Grease nipple A φh7 reamed, depth M depth φh7 height φh7 depth Details of rod tip P.C.D. Must be or more. (same as the type with brake). M depth 1 7 (1.) M.E. S.E. Home M.E. L Tslot : M (Both sides) * Can be used when the actuator is side mounted. M depth 7. () Reference surface (Base width) RCPSWRA1R (.) (1) 9 φh7 φ (Rod outer diameter) Roblong hole From base mounting surface depth 9 PφH7 reamed From base mounting surface depth 9 1 M depth (.) Q (n/a for &mm strokes) Q (n/a for &mm strokes) N±. (n/a for,,1mm strokes) ±. (n/a for mm stroke) 1 1 Roblong hole From base mounting surface depth 9 φh7 reamed From base mounting surface depth 9 (1 hole only for mm stroke) G (H) Kφ9 through φ1. counterbored J pitch (From opposite side) CJO Outside. Must be or more 9. (same as the type with brake). Status LED (.) Teaching port M depth Connector for power supply/ I/O cable connection M depth 1 1 CJO Outside * The figure above is the motor sidemounted to the left (ML).. 1. Side Tslot details 9. φ9 Details of base mounting part * The figure above is the motor sidemounted to the left (ML). Rod Deflection of RCP(S)WRA1R (Reference Values) Deflection Load on rod tip (N) st st 1st st st st st st st st st st Dimensions and Mass by 1 L 7 7 A 7 7 G H J K N P Q 1 R Allowable static load on rod tip (N) Allowable static torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake ZU_RCPWRA1R Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)WRA1R 9

92 RCP ROBO Cylinder RCP(S)WRA1R Model Specification Items WRA1R WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. P: Stepper Size : mm : mm : mm ~ : mm (mm increments) Batteryless Applicable Controller/I/O [RCP] P: PCON CFB/CGFB [RCPS] SE: SIO Unit N : None P : 1m S : m M : m Sidemounted X : Specified Length R : Robot Cable Body Width 1 * mm Options V Stepper * Body width does not include the width of the sidemounted motor. Please refer to the options table below. *Please make sure to specify either ML or MR when ordering the sidemounted motor type. Radial Load OK Horizontal Side Vertical Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is.1g for lead and.g for lead /. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () The radial cylinder is equipped with a builtin guide. Please refer to the graphs shown in P.7 and after for the allowable load mass. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () For RCPS (builtin controller type), please limit the duty cycle to 7% or less.. () The service life of an actuator with lead varies depending on the payload when using vertically. Please refer to P. 11 for more information. Correlation Diagrams of and Payload PCON connected. RCP(S)WRA1R Horizontal mount 1 assumes operation at.1g, the other leads assume operation at.g RCP(S)WRA1R Vertical mount 7 assumes operation at.1g, the other leads assume operation at.g.. 1 and Payload Model Number (Note 1) The payload assumes that there is an external guide. Max. Payload Horizontal (kg) Vertical (kg) and Max. 1~ 7 (Unit: mm/s) 7 RCP(S)WRA1RWAP 9 1 RCP(S)WRA1RWAP. ~ (The increment of stroke is mm) <1> <1> RCP(S)WRA1RWAP 1 <> 11 <> 9 7 Legend: Applicable controller/i/o type Cable length Options Values in brackets < > are for vertical use. RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. Flange FL See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Nonmotor end specification NM See P.1 Tslot nut bar (Left) NTBL See P.1 Tslot nut bar (Right) NTBR See P.1 * When selecting Tslot nut bar option with a sidemounted motor model, please choose NTBR when the motor is sidemounted to the left, and NTBL when the motor is sidemounted to the right. # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Description Drive system Ball screw f1mm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Rod fmm Stainless steel Rod nonrotation precision deg. Allowable load and torque on rod tip See P. 7 Rod tip overhang distance 1mm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) 91 RCP(S)WRA1R

93 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end Grease nipple A 9. φh7 reamed, depth M depth φh7 height 1 φh7 depth Details of rod tip P.C.D. M depth 1 (.) M.E. S.E. Home M.E. Must be or more 7. (same as the type with brake) L Tslot : M (both sides) * Can be used when the actuator is side mounted. M depth Reference surface RCPSWRA1R () (9.) 1 1 (1) 1 (Base width) φh7 φ (Rod outer diameter) Roblong hole From base mounting surface depth 9 PφH7 reamed From base mounting surface depth 9. M depth (.) Q (n/a for &mm strokes) ±. (n/a for mm stroke) Q (n/a for &mm strokes) N±. Roblong hole From base mounting surface depth 9 (n/a for,,1mm strokes) φh7 reamed From base mounting surface depth 9 (1 hole only for mm stroke) G (H) J pitch Kφ9 through φ1. counterbored (From opposite side) Must be or more (.) M depth. (same as the type with brake) Status LED Teaching port Connector for power supply/ I/O cable connection. M depth CJO Outside Side Tslot details Details of base mounting part * The figure above is the motor sidemounted to the left (ML). 9. φ9 CJO Outside. * The figure above is the motor sidemounted to the left (ML). Rod Deflection of RCP(S) WRA1R (Reference Values) Deflection Load on rod tip (N) st st st st st st 7st st Dimensions and Mass by L ,.1,7. A ,7 st G st H st J st K st N st P st Q st R Allowable static load on rod tip (N) Allowable static torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) Allowable dynamic Load offset mm ,km load on rod tip (N) Load offset mm Allowable dynamic torque on rod tip (Nm) w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name ZU_RCPWRA1R External view Max. number of controlled axes Input power Control method Positioner Pulse train Program Network Maximum number of positioning points Reference page PCONCFB/CGFB 1 DCV (7 for network spec.) Please see P.11 RCP(S)WRA1R 9

94 RCP ROBO Cylinder RCP(S)TAC Model Specification Items TAC WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. 1: 1mm : mm : mm.:.mm ~ : mm Table Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Side *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes Vertical Ceiling (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Highrigidity (doubleblock) specification can be selected as an option. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)TAC Horizontal mount, single block RCP(S)TAC Vertical mount, single block 1 assumes 9 9 1/ assumes operation operation at 1.G, lead assumes. at.g, the other leads 7 operation at.7g, 7 assume operation at.g. the other leads assume. operation at.g RCP(S)TAC Horizontal mount, double block assumes operation at.7g, the other leads assume operation at.g RCP(S)TAC Vertical mount, double block. assumes operation at.g, the other leads assume operation at.g.. 7 and Payload Single Block Model Number Connected Controller Max. Payload Horizontal (kg) Vertical (kg) RCP(S)TACWAP1 1 1 RCP(S)TACWAP. RCP(S)TACWAP RCP(S)TACWAP.. RCP(S)TACWAP. RCP(S)TACWAP RCP(S)TACWAP.. Legend: Applicable controller/i/o type Cable length Options Double Block ~1 (The increment of stroke is mm) ~ and Max. 1. Connected Controller (Unit: mm/s) Single Block Double Block ~1 ~19 9 <7> 7 <7> 7 <7> Values in brackets < > are for vertical use. Single Block Double Block RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Highrigidity (Doubleblock guide) DB See P. Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 9 RCP(S)TAC Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Drive system Positioning repeatability Lost motion Base Single block Static allowable moment Double block Single block Dynamic allowable moment (*) Double block Ambient operating temp. & humidity Description Ball screw fmm, rolled C ±.1mm.1mm or less Material: Aluminum with white alumite treatment Ma: 1Nm, Mb: 1.Nm, Mc:.Nm Ma: 7.Nm, Mb: 1Nm, Mc:.Nm Ma:.9Nm, Mb: 7.11Nm, Mc: 9.Nm Ma:.9Nm, Mb:.1Nm, Mc: 1.7Nm ~ C, % RH or less (Noncondensing) (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length. Please refer to RCP instruction manual regarding the displacement of the table.

95 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the table is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end Grease nipple position with the table fully extended φ. Grease nipple for guide Ball screw cover (removable) Applying directly onto ball screw CM through (Bolt screwin depth: or less) B Grease nipple (for guide use) (used with double block) Grease nipple (for guide use) (used with single block) Must be or more M through (Bolt screwin depth: or less) φ H7 depth 7. φ H7 depth. (From mounting surface) A Reference position for guide moment calculation (Single block) 7 (Double block) M.E. S.E. Home M.E. H7 Oblong hole depth. (From mounting surface) L 1 (Without brake) 1 (With brake). M depth H7 oblong hole depth X Jφ through φ counterbored, depth (From opposite side) φ H7 depth (From mounting surface) M.E.. 1. D (Single block) 1 (Double block) H RCPSTAC () 1 Reference position for guide moment calculation (.) φ φ. (9) Detail view of X Pay attention to interference with mounted parts. 17 (Without brake) 19 (With brake) 1. 1 GM through (Bolt screwin depth: 7. or less) Must be or more Teaching port Status LED M depth (φoblong hole) H7 Oblong hole depth. (From mounting surface) E (M hole pitch) CJL Left CJT Top CJB Bottom (F) CJR Right M depth (Same on opposite side) CJL Left. CJT Top CJB Bottom CJR Right Dimensions and Mass by L Mass (kg) Single Block Double Block w/o brake RCP w/ brake w/o brake RCPS w/ brake A B 1 1 C 1 D E 1 7 F G 1 1 H J w/o brake RCP w/ brake w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)TAC 9

96 RCP ROBO Cylinder RCP(S)TAC Model Specification Items TAC WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. : mm : mm : mm : mm ~ : mm Table Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Side Ceiling * Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes Vertical (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead /. Please refer to P.1 for more information. () Highrigidity (doubleblock) specification can be selected as an option. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)TAC Horizontal mount, single block RCP(S)TAC Vertical mount, single block 1 1 assumes / assumes operation at 1.G, operation at.g, lead assumes the other leads assume operation at.g, operation at.g. 9 the other leads assume operation at.g RCP(S)TAC Horizontal mount, double block assumes operation at.g, the other leads assume operation at.g. RCP(S)TAC Vertical mount, double block This graph assumes operation at.g and Payload Single Block Model Number Connected Controller Max. Payload Horizontal (kg) Vertical (kg) RCP(S)TACWAP 1 RCP(S)TACWAP RCP(S)TACWAP RCP(S)TACWAP RCP(S)TACWAP 1 RCP(S)TACWAP RCP(S)TACWAP Legend: Applicable controller/i/o type Cable length Options Double Block ~ (The increment of stroke is mm) ~ and Max. Connected Controller (Unit: mm/s) Single Block Double Block ~ ~ 7 1,1 <> 7 <> <> Values in brackets < > are for vertical use. Single Block Double Block RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Highrigidity (Doubleblock guide) DB See P. Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 9 RCP(S)TAC Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Drive system Positioning repeatability Lost motion Base Single Block Static allowable moment Double Block Single block Dynamic allowable moment (*) Double block Ambient operating temp. & humidity Description Ball screw fmm, rolled C ±.1mm.1mm or less Material: Aluminum with white alumite treatment Ma:.Nm, Mb:.Nm, Mc:.Nm Ma: 19Nm, Mb: Nm, Mc: 17Nm Ma: 11.Nm, Mb: 1.Nm, Mc:.Nm Ma: 9.Nm, Mb: 7.7Nm, Mc: Nm ~ C, % RH or less (Noncondensing) (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length. Please refer to RCP instruction manual regarding the displacement of the table.

97 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the table is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end Grease nipple position with the table fully extended Grease nipple for guide Ball screw cover (removable) Applying directly onto ball screw φ. 7 CM through (Bolt screwin depth: or less) B Grease nipple (for guide use) (used with double block) Grease nipple (for guide use) (used with single block) Must be or more φh7 depth Cable exit direction. φ H7 depth. (From mounting surface) M through (Bolt screwin depth: or less) M.E. S.E. A Reference position for guide moment calculation (Single block) 9 (Double block) Home M.E. 1. L 1. (Without brake). (With brake) 7. H7 Oblong hole depth. (From mounting surface) Reference position for guide moment calculation H7 Oblong hole depth X 17. Jφ through φ9. counterbored, depth (From opposite side) φh7 depth. (From mounting surface) Tslot (M nut). M.E. Tgroove effective range (Same on opposite side). 1 D 1 (Double block) (Single block) H M depth φ9. φ 7 RCPSTAC. 1. (Without brake) 19 (With brake). (7) GM depth Detail view of Tgroove Detail view of X Connector for power supply/i/o cable connection (Top view) Status LED Must be or more Teaching port 17 M depth (φoblong hole) CJL Left CJB Bottom H7 Oblong hole depth. (From mounting surface) E (M hole pitch) (F) CJT Top CJR Right Dimensions and Mass by L Mass (kg) CJL Left Unavailable when CJL is selected. CJT Top CJB Bottom CJR Right Unavailable when CJR is selected. Single Block Double Block w/o brake RCP w/ brake w/o brake RCPS w/ brake A B C D E 7 9 F G H J w/o brake RCP w/ brake w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)TAC 9

98 RCP ROBO Cylinder RCP(S)TA7C Model Specification Items TA7C WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. : mm 1: 1mm : mm : mm ~ 9: 9mm Table Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit Coupled Body Width 7 mm Options N : None Please refer to the P : 1m options table below. S : m M : m X : Specified Length R : Robot Cable V Stepper Horizontal Side Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes Vertical (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead //1. Please refer to P.1 for more information. () Highrigidity (doubleblock) specification can be selected as an option. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)TA7C Horizontal mount, single block RCP(S)TA7C Vertical mount, single block 1 RCP(S)TA7C Horizontal mount, double block 1 assumes operation at.g, the other leads assume operation at.1g. 1 assumes operation at.g, lead 1 assumes operation at.g, the other leads assume operation at.1g /1 assumes operation at.g, the other leads assume operation at.1g RCP(S)TA7C Vertical mount, double block 1 assumes operation at.g, the other leads assume operation at.1g and Payload Single Block Double Block Model Number Connected Controller Max. Payload Horizontal (kg) Vertical (kg) RCP(S)TA7CWAP RCP(S)TA7CWAP1 1 7 RCP(S)TA7CWAP 1 1 RCP(S)TA7CWAP 1 RCP(S)TA7CWAP1 1 7 RCP(S)TA7CWAP 1 RCP(S)TA7CWAP Legend: Applicable controller/i/o type Cable length Options ~ ~9 and Max. 1 Connected Controller (Unit: mm/s) Single Block Double Block ~ ~9 9 1, <> 7 <> <> 1 1 Values in brackets < > are for vertical use. 7 <> <> <> <> Single Block Double Block RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Top) CJT See P. Cable exit direction (Right) CJR See P. Cable exit direction (Left) CJL See P. Cable exit direction (Bottom) CJB See P. Highrigidity (Doubleblock guide) DB See P. Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 97 RCP(S)TA7C Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Drive system Positioning repeatability Lost motion Base Single block Static allowable moment Double block Single block Dynamic allowable moment (*) Double block Ambient operating temp. & humidity Description Ball screw fmm, rolled C ±.1mm.1mm or less Material: Aluminum with white alumite treatment Ma: 11Nm, Mb: 11Nm, Mc: 9Nm Ma: Nm, Mb: Nm, Mc: Nm Ma:.7Nm, Mb:.7Nm, Mc: 9.1Nm Ma: 19Nm, Mb: 19Nm, Mc: 1Nm ~ C, % RH or less (Noncondensing) (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length. Please refer to RCP instruction manual regarding the displacement of the table.

99 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD *1 When the table is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end Grease nipple position with the table fully extended φ. Grease nipple for guide Ball screw cover (removable) Applying directly onto ball screw CM through (Bolt screwin depth: 11 or less) B Grease nipple (for guide use) (used with double block) Grease nipple (for guide use) (used with single block) 1. M through (Bolt screwin depth: 1 or less) φh7 depth RCPSTA7C (Top view) Reference position for guide moment calculation 1 (Without brake) 1 (With brake) Status LED 7. M.E. S.E. H7 Oblong hole depth X Jφ7 through φ11 counterbored, depth (From opposite side) φ11 φ7 (9) φh7 depth (From mounting surface) φ H7 depth (From mounting surface) Detail view of Tgroove Detail view of X. 7.. Teaching port 1 Connector for power supply/ I/O cable connection M depth Must be or more Tslot (M nut) Home GM depth 1 7 (Single block) 1 (Double block) (φoblong hole) 7 H7 Oblong hole depth (From mounting surface) L 19 (With brake) 1 A 1 (Without brake) Reference position for guide moment calculation 7 (Single block) 7 (Double block) M.E M.E Tgroove effective range (Same on opposite side) D CJL Left Unavailable when CJL is selected. H H7 Oblong hole depth (From mounting surface) E (M hole pitch) (F) CJT Top CJB Bottom CJR Right Unavailable when CJR is selected. Dimensions and Mass by L Mass (kg) 7 Must be or more Unavailable when CJL is selected. M depth CJL Left CJT Top CJB Bottom Unavailable when CJR is selected. CJR Right Single Block Double Block w/o brake 7 7 RCP w/ brake 7 7 w/o brake 7 7 RCPS w/ brake 7 7 A B C D E F G H J w/o brake RCP w/ brake w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)TA7C 9

100 RCP ROBO Cylinder RCP(S)TAR Model Specification Items TAR WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. 1: 1mm : mm : mm.:.mm ~ : mm Table Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO Unit N : None P : 1m S : m M : m X : Specified Length R : Robot Cable Sidemounted Options Body Width * mm Please refer to the options table below. * Please make sure to specify either ML or MR when ordering the sidemounted motor type. V Stepper * Body width does not include the width of the sidemounted motor. Horizontal Side Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes Vertical The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Highrigidity (doubleblock) specification can be selected as an option. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)TAR Horizontal mount, single block RCP(S)TAR Vertical mount, single block 9 1 assumes 9 1/ assumes operation at 1.G, operation at.g, lead assumes. the other leads assume 7 operation at.7g, 7 operation at.g. the other leads assume operation at.g RCP(S)TAR Horizontal mount, double block RCP(S)TAR Vertical mount, double block assumes assumes operation at.g, operation at.g, the other leads assume. the other leads assume operation at.g. operation at.g and Payload Single Block Model Number Connected Controller Max. Payload Horizontal (kg) Vertical (kg) RCP(S)TARWAP1 1 1 RCP(S)TARWAP. RCP(S)TARWAP RCP(S)TARWAP.. RCP(S)TARWAP. RCP(S)TARWAP RCP(S)TARWAP.. Legend: Applicable controller/i/o type Cable length Options Double Block ~1 (The increment of stroke is mm) ~ and Max. 1. Connected Controller (Unit: mm/s) Single Block Double Block ~1 ~19 9 <7> 7 <7> 7 <> <> Values in brackets < > are for vertical use. Single Block Double Block RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Highrigidity (Doubleblock guide) DB See P. Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 99 RCP(S)TAR Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Drive system Positioning repeatability Lost motion Base Single block Static allowable moment Double block Single block Dynamic allowable moment (*) Double block Ambient operating temp. & humidity Description Ball screw fmm, rolled C ±.1mm.1mm or less Material: Aluminum with white alumite treatment Ma: 1Nm, Mb: 1.Nm, Mc:.Nm Ma: 7.Nm, Mb: 1Nm, Mc:.Nm Ma:.9Nm, Mb: 7.11Nm, Mc: 9.Nm Ma:.9Nm, Mb:.1Nm, Mc: 1.7Nm ~ C, % RH or less (Noncondensing) (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length. Please refer to RCP instruction manual regarding the displacement of the table.

101 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. Grease nipple position with the table fully extended Grease nipple for guide φ. Ball screw cover (removable) Applying directly onto ball screw M through (Bolt screwin depth: or less) φ H7 depth (19.) 7. D CAD. φ H7 depth. (From mounting surface) B CM through (φoblong hole) (Bolt screwin depth: or less) H7 oblong hole depth. (From mounting surface) Must be or more 17. (with or without brake, common ) L A 1 1 Reference position for guide moment calculation (Single block) 7 (Double block) M.E. S.E. Home M.E. *1 When the table is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it Grease nipple (for guide use) (for use with double block) reaches the M.E. Grease nipple (for guide use) M.E: Mechanical end (for use with single block) S.E: end * For the single block type with ~7mm strokes, tools cannot be used on the f front mounting holes on the top surface because the motor unit interferes. Please use the mounting screw holes on the bottom surface. (Same for the RCPS) (.) M depth (9) φ φ. Detail view of X 9 9 X 1.. H7 Oblong hole depth (1) 9 Jφ through φ counterbored, 1. depth. (From opposite side) 9 φ H7 depth (From mounting surface) * Reference position for guide moment calculation 1 GM through (Bolt screwin depth: 7. or less) R M.E.. (.) D (Single block) 1 (Double block) H (φoblong hole) H7 Oblong hole depth. (From mounting surface) E (M hole pitch) ( sidemounted to the right) 1 ( sidemounted to the left) M depth 1 9 (F).. Standard. 7. CJO Outside RCPSTAR (.) M depth 9 Standard M.E. R 1. (Top view) Must be or more (9.) D M depth Status LED Teaching port (with or without brake, common ) CJO Outside Dimensions and Mass by R* Mass (kg) * If the length for R is negative in the table below, the length of the actuator body is shorter than the motor unit. Single Block Double Block L A B 1 1 C 1 D E 1 7 F G 1 1 H J RCP RCPS w/o brake RCP w/ brake w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points * Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)TAR

102 RCP ROBO Cylinder RCP(S)TAR Model Specification Items TAR WA P Series Encoder RCP: Separate Controller WA: Batteryless : mm RCPS: Builtin Controller P: Stepper Size * RCP does not include a controller. RCPS includes a builtin controller. * Please refer to P. for more information about the model specification items. : mm : mm : mm : mm ~ : mm Table Applicable Controller/I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO N : None P : 1m S : m M : m Unit X : Specified Length R : Robot Cable Sidemounted Options Body Width * mm Please refer to the options table below. * Please make sure to specify either ML or MR when ordering the sidemounted motor type. V Stepper * Body width does not include the width of the sidemounted motor. Horizontal Side Ceiling *Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes Vertical The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead /. Please refer to P.1 for more information. () Highrigidity (doubleblock) specification can be selected as an option. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)TAR Horizontal mount, single block RCP(S)TAR Vertical mount, single block 1 1 assumes assumes operation at 1.G, operation at.g, lead assumes the other leads assume operation at.g, operation at.g. 9 the other leads assume operation at.g RCP(S)TAR Horizontal mount, double block assumes operation at.g, the other leads assume operation at.g RCP(S)TAR Vertical mount, double block This graph assumes operation at.g and Payload Single Block Model Number Connected Controller Max. Payload Horizontal (kg) Vertical (kg) RCP(S)TARWAP 1 RCP(S)TARWAP RCP(S)TARWAP RCP(S)TARWAP RCP(S)TARWAP 1 RCP(S)TARWAP RCP(S)TARWAP Legend: Applicable controller/i/o type Cable length Options Double Block ~ (The increment of stroke is mm) ~ and Max. Connected Controller (Unit: mm/s) Single Block Double Block ~ ~ 7 1,1 <> <> 7 <> <> Values in brackets < > are for vertical use. Single Block Double Block RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Highrigidity (Doubleblock guide) DB See P. Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) 1 RCP(S)TAR Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) * Please refer to P.1 for more information regarding the maintenance cables. Item Drive system Positioning repeatability Lost motion Base Single block Static allowable moment Double block Single block Dynamic allowable moment (*) Double block Ambient operating temp. & humidity Description Ball screw fmm, rolled C ±.1mm.1mm or less Material: Aluminum with white alumite treatment Ma:.Nm, Mb:.Nm, Mc:.Nm Ma: 19Nm, Mb: Nm, Mc: 17Nm Ma: 11.Nm, Mb: 1.Nm, Mc:.Nm Ma: 9.Nm, Mb: 7.7Nm, Mc: Nm ~ C, % RH or less (Noncondensing) (*) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length. Please refer to RCP instruction manual regarding the displacement of the table.

103 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. D CAD CM through (Bolt screwin depth: or less) φ H7 depth. (From mounting surface) Grease nipple position with the table fully extended Grease nipple for guide φ. Ball screw cover (removable) Applying directly onto ball screw. 7 (φoblong hole) B H7 Oblong hole depth. (From mounting surface) Grease nipple (for guide use) (used with double block) Grease nipple (for guide use) (used with single block) *1 When the table is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * For the single block type with ~mm (RCP) and ~mm (RCPS) strokes, tools cannot be used on the f front mounting holes on the top surface because the motor unit interferes. Please use the mounting screw holes on the bottom surface. M through (Bolt screwin depth: or less) φh7 depth X 17. (1.) (1) Reference position for guide moment calculation M.E. S.E. H7 Oblong hole depth φ9. φ L A 1 7. Reference position for guide moment calculation (Single block) 9 (Double block) Home Tslot (M nut) Jφ through φ9. counterbored, depth (From opposite side) * φ H7 depth. (From mounting surface) Must be or more 19.1 (with or without brake, common ) M.E. M.E. 1.. M depth R (.1) 9 Tgroove effective range (except for the part in the way of the motor, same on opposite side) 1 D (Single block) 1 (Double block) H 1 () 7. ( sidemounted to the left) 1. ( sidemounted to the right) Standard M depth (1).. RCPSTAR.... () Detail view of Tgroove Detail view of X M depth Status LED ME Teaching port R (.1) Connector for power supply/i/o cable connection 1. Tgroove effective range (except for the part in the way of the motor, same on opposite side) 1 D (Top view) Must be or more Tslot (M nut). (with or without brake, common ) 1 7 () H7 Oblong hole depth. GM depth (φoblong hole) (From mounting surface) E (M hole pitch) (F) M depth 7 11 (1) 9. Standard CJO Outside Dimensions and Mass by R* Mass (kg) CJO Outside * If the length for R is negative in the table below, the length of the actuator body is shorter than the motor unit. Single Block Double Block L A B C D E 7 9 F G H J RCP RCPS RCP w/o brake w/ brake w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. * Please refer to P.17 for more information about the builtin controller of RCPS series. Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network This model is networkcompatible only. Maximum number of positioning points *Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)TAR

104 RCP ROBO Cylinder RCP(S)TA7R Model Specification Items TA7R WA P Series Encoder RCP: Separate Controller RCPS: Builtin Controller WA: Batteryless RCP does not include a controller. RCPS includes a builtin controller. Please refer to P. for more information about the model specification items. P: Stepper Size : mm 1: 1mm : mm : mm : mm ~ 9: 9mm Table Applicable Controller / I/O [RCP] P: PCON MCON MSEL [RCPS] SE: SIO N : None P : 1m S : m M : m Unit X : Specified Length R : Robot Cable Sidemounted Options Body Width 7 * mm Please refer to the options table below. Please make sure to specify either ML or MR when ordering the sidemounted motor type. V Stepper * Body width does not include the width of the sidemounted motor. Horizontal Side Vertical Ceiling Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. P O I N T Selection Notes The figure above is the motor sidemounted to the left (ML). (1) The maximum acceleration/deceleration is 1G for horizontal, and.g for vertical use. () The actuator specification displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP Tables of Payload by /Acceleration) on P.11 for more details. () When performing pushmotion operation, please confirm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.11. () Depending on the ambient operational temperature, duty control is necessary for the RCPS (builtin controller type) with lead //1. Please refer to P.1 for more information. () Highrigidity (doubleblock) specification can be selected as an option. Correlation Diagrams of and Payload enabled with PCON/MCON/MSEL connected. RCP(S)TA7R Horizontal mount, single block RCP(S)TA7R Vertical mount, single block assumes /1 assumes operation at.g, lead 1 operation at.g, the assumes operation at other leads assume.g, the other leads operation at.1g. assume operation at.1g RCP(S)TA7R Horizontal mount, double block 1 assumes operation at.g, the other leads assume operation at.1g RCP(S)TA7R Vertical mount, double block 1 assumes operation at.g, the other leads assume operation at.1g and Payload Single Block Model Number Connected Controller Max. Payload Horizontal (kg) Vertical (kg) RCP(S)TA7RWAP RCP(S)TA7RWAP1 1 7 RCP(S)TA7RWAP 1 1 RCP(S)TA7RWAP 1 RCP(S)TA7RWAP1 1 7 RCP(S)TA7RWAP 1 RCP(S)TA7RWAP Legend: Applicable controller/i/o type Cable length Options Double Block ~ ~9 and Max. 1 Connected Controller (Unit: mm/s) Single Block Double Block ~ ~9 9 1, <> 7 <> <> Values in brackets < > are for vertical use. 7 <> <> <> <> 1 1 Single Block Double Block RCP RCPS RCP RCPS Options Name Option Code Reference Page Brake B See P. Cable exit direction (Outside) CJO See P. sidemounted to the left ML See P.9 sidemounted to the right MR See P.9 Highrigidity (Doubleblock guide) DB See P. Nonmotor end specification NM See P.1 # When selecting multiple options, please list them in alphabetical order. (e.g. BCJBNM) RCP(S)TA7R Cable Cable Code RCP RCPS P (1m) Standard S (m) M (m) X (m) ~X (m) Specified Length X11 (11m) ~X1 (1m) X1 (1m) ~X (m) R1 (1m) ~R (m) R (m) ~R (m) Robot Cable R (m) ~R (m) R11 (11m) ~R1 (1m) R1 (1m) ~R (m) Please refer to P. 1 for more information regarding the maintenance cables. Item Description Drive system Ball screw фmm, rolled C Positioning repeatability ±.1mm Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Single block Ma: 11Nm, Mb: 11Nm, Mc: 9Nm Static allowable moment Double block Ma: Nm, Mb: Nm, Mc: Nm Single block Ma:.7Nm, Mb:.7Nm, Mc: 9.1Nm Dynamic allowable moment ( ) Double block Ma: 19Nm, Mb: 19Nm, Mc: 1Nm Ambient operating temp. & humidity ~ C, % RH or less (Noncondensing) ( ) Assumes a standard rated life of,km. The service life will vary depending on operation and installation conditions. Please refer to our website for more information regarding the directions of the allowable moment and overhang load length. Please refer to RCP instruction manual regarding the displacement of the table.

105 RCP ROBO Cylinder Dimensions CAD drawings can be downloaded from our website. CM through 1. ф H7 depth (From mounting surface) D CAD (фoblong hole) B H7 Oblong hole depth 7 (From mounting surface) Grease nipple (for guide use) (used with double block) Grease nipple (for guide use) (used with single block) *1 When the table is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the M.E. M.E: Mechanical end S.E: end * For the single block type with ~7mm (RCP) and ~mm (RCPS) strokes, tools cannot be used on the f7 front mounting holes on the top surface because the motor unit interferes. Please use the mounting screw holes on the bottom surface. Grease nipple position with the table fully extended Grease nipple for guide use ф. Ball screw cover (removable) Applying directly onto ball screw M through (Bolt screwin depth: 1 or less) фh7 depth. H7 oblong hole depth (19.) M.E. S.E. Home Must be or more 9.9 (with or without brake, common ) L 1 A 19. Reference position for guide moment calculation M.E. 7 (Single block) 7 (Double block) 19. () M depth 1 (1) (.) Tslot 7 (M nut) X 7. (1) Jф7 through ф11 counterbored, depth (From opposite side) ф H7 depth (From mounting surface) Reference position for guide moment calculation RCPSTA7R 1 (Top view). GM depth M.E. M depth R (.) 1.7 Tgroove effective range 1 (except for the part in the way of the motor, same on opposite side) 19 D (Single block) 1 (Double block) H. M depth (фoblong hole) M.E. Status LED Teaching port R (.) 1.7 Tgroove effective range (except for the part in the way of the motor, same on opposite side) D Must be or more Tslot (M nut).9 (with or without brake, common ) H7 Oblong hole depth (From mounting surface) 7 E (M hole pitch) (F) () 1 9 M depth 1 Standard CJO Outside (1) (.) ( sidemounted to the left) 19. ( sidemounted to the right) Detail view of Tgroove ф11 ф7 Detail view of X 7. Standard CJO Outside If the length for R is negative in the table below, Dimensions and Mass by the length of the actuator body is shorter than the motor unit. 7 Single Block 1 17 L A B 1 1 C 1 D E 7 F G 1 1 H J RCP R RCPS w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Double Block L A B 7 9 C D E F 9 G H 1 1 J R RCP RCPS w/o brake RCP Mass w/ brake (kg) w/o brake RCPS w/ brake Applicable Controllers The RCP series actuators can be operated by the controllers indicated below. Please select the type depending on your intended use. Please refer to P.17 for more information about the builtin controller of RCPS series. ZU_RCPTA7R Name External view PCONCB/CGB 1 MCONC/CG MSELPC/PG Max. number of Input power controlled axes DCV Singlephase ~VAC Control method Positioner Pulse train Program Network Option Option Option This model is networkcompatible only. Maximum number of positioning points Please select "highoutput specification" as an option for the MCON. With the MCON, operation is possible only when the highoutput specification is selected. Note: The type of compatible networks will vary depending on the controller. Please refer to reference page for more information. (7 for network spec.), Reference page Please see P.11 Please see the MCON catalog. Please see the MSEL PC/PG catalog. RCP(S)TA7R

106 Options RCP Series Options Brake Option Code B Applicable Models All Models Description This is a holding mechanism that prevents the slider from falling and damaging any attached fittings when the power or servo is turned off. Cable Exit Direction Option Code Description CJT / CJR / CJL / CJB / CJO Applicable Models All Models This option allows you to change the exit direction of the motorencoder cable to top, bottom, left, or right. Coupled Top (Code: CJT) Sidemounted Left (Code: CJL) Right (Code: CJR) Outside (Code: CJO) * When viewed from the actuator rear side (motor side). Bottom (Code: CJB) * When viewed from the actuator front side. Doubleblock Guide Option Code Description DB Applicable Models RCP(S)TA /TA /TA7 This option allows the actuator to equip internal guide blocks. The dynamic allowable load moment in the Ma and Mb directions will be increased, and when horizontally mounted, its payload will be doubled. Tip Adapter (Flange) Option Code Description FFA Applicable Models RCP(S)RRA /RRA /RRA7 A rodend tooling adapter with threaded holes. For RCP(S)RRA Model Number: RCPFFARRA H7 +. (R.) Reference φ countersinking surface (Reference side mark) For RCP(S)RRA Model Number: RCPFFARRA H7 +. (R.) Reference surface φ countersinking (Reference side mark) Reference surface +. φh7 depth Line through the φ hole center and oblong hole center f.1 A ±. Base reference surface.±. Detail view of S M depth 1 9. (home position) Oblong hole depth 9 f.1a 1 1±. S 1.±. (φ hole position) A Flange B Flange A Reference surface +. φh7 depth Line through the φ hole center and oblong hole center f.1a Base reference surface.±..±. (φ hole position) ±. Detail view of S 9. (home position) M depth 1 Oblong hole depth f.1a 9 S ±. A Flange B Flange A For RCP(S)RRA7 Model Number: RCPFFARRA7 H7 +. Reference surface (R) φ countersinking (Reference side mark) Reference surface +. φh7 depth Line through the φ hole center and oblong hole center f.1 A Base reference surface ±. 11±. (φ hole position).±. Detail view of S M depth 17 Oblong hole depth f.1a S 7.±.. A Flange B. (home position) 9. Flange A Options

107 Flange (Front) Option Code Description FL Applicable Models A bracket that attaches to the actuator body with bolts. Options RCP(S)RA /RA /RA7 /RA /RRA /RRA /RRA7 /RRA /WRA /WRA /WRA1 /WRA1 For RCP(S)RA Model Number: RCPFLRA *Furnished separately. The assembly is to be performed by the customer. () 1. 7 φ. (7) Frame mounting surface 1. (1) () (1) This drawing is for RCP(S)RAC. For RCP(S)RA Model Number: RCPFLRA *Furnished separately. The assembly is to be performed by the customer. 1 (1) 7 9 φ. (9) Frame mounting surface 9. (1) (1) This drawing is for RCP(S)RAC. For RCP(S)RA7 Model Number: RCPFLRA7 *Furnished separately. The assembly is to be performed by the customer. 7. (.) 1 9 φ. () Frame mounting surface 1 (19) (7) (19) This drawing is for RCP(S)RA7C. For RCP(S)RA Model Number: RCPFLRA *Furnished separately. The assembly is to be performed by the customer. 97 () φ. (1) 9 19 () () () Frame mounting surface This drawing is for RCP(S)RAC. For RCP(S)RRA Model Number: RCPFLRRA H7 +. (R) For RCP(S)RRA Model Number: RCPFLRRA H7 +. (R) ±.1 (Pitch between rod and φ hole) +. φh7 through Line through the φ hole center and oblong hole center f.1 A S φ. through (1.) Oblong hole through 1. f.1 A (home position) Detail view of S ±.1 (Pitch between rod and φ hole) +. φh7 through Line through the φ hole center and oblong hole center f.1 A 7 S Detail view of S φ. through (1.) Oblong hole through 9. (home position) f.1 A A A For RCP(S)RRA7 Model Number: RCPFLRRA7 H7 +.1 (R) For RCP(S)RRA Model Number: RCPFLRRA.±.1 (Pitch between rod and φ hole) +.1 φh7 through Line through the φ hole center and oblong hole center f.1 A 9 S φ9 through () Oblong hole through 9 (home position) f.1 A 1 A. Detail view of S () 1 () 1 1 φ9 through φh7. (home position) (7) For RCP(S)WRA Model Number: RCPFLWRA For RCP(S)WRA Model Number: RCPFLWRA +. φh7 through (1.) φ. through (9) Oblong hole through 1 () φh7 +.1 through (1) (7) φ9 through Oblong hole through (7) 17 Options

108 Options For RCP(S)WRA1 Model Number: RCPFLWRA1 For RCP(S)WRA1 Model Number: RCPFLWRA1 +.1 φh7 through (7) 7 φ11 through () Oblong hole through 1 (1.) +.1 φh7 through (.) (9) φ11 through Oblong hole through 1 (.) Foot Bracket Option Code Description FT Applicable Models RCP(S)RA /RA /RA7 /RA This is a bracket to fix the actuator with bolts from the top side. (Bolts are tightened from the top, not from the bottom) For slider type actuators, when the moment load is large, please attach the foot brackets on all the mounting holes on the actuator. The actuator body may be twisted or deformed if insufficient number of mounting foot brackets are used. Actuator life could also be shortened. * Refer to the installation dimensions in the actuator drawing for the installation pitch between the foot brackets. For RCP(S)RAC Model Number: RCPFTRAC (Sold as a set of ) For RCP(S)RAC Model Number: RCPFTRAC (Sold as a set of ) φ. + () φ. +. () (11) () (71) 1 7 For RCP(S)RA7C Model Number: RCPFTRA7C (Sold as a set of ) φ (7.) For RCP(S)RAC Model Number: RCPFTRAC (Sold as a set of ) φ (.) (1) 1 7 (7.) 7. 7 For RCP(S)RAR Model Number: RCPFTRAR1 (For the motor sidemounted to the top) (Sold as a set of ) φ. + () For RCP(S)RAR Model Number: RCPFTRAR1 (For the motor sidemounted to the top) (Sold as a set of ) φ. +. () (199) () 9 For RCP(S)RA7R Model Number: RCPFTRA7R1 (For the motor sidemounted to the top) (Sold as a set of ) φ (7.) For RCP(S)RAR Model Number: RCPFTRAR1 (For the motor sidemounted to the top) (Sold as a set of ) φ (.) (1) Options

109 Options For RCPRAR Model Number: RCPFTRAR (For the motor sidemounted to the right/left) (Sold as a set of ) () φ. + () For RCPSRAR Model Number: RCPFTRAR (For the motor sidemounted to the right/left) (Sold as a set of ) φ. () + () For RCP(S)RAR Model Number: RCPFTRAR (For the motor sidemounted to the right/left) (Sold as a set of ) φ. (7) +. () (7) () (71) 1 (7.) 9 1 (.) (1) 17. (7.) (9.) 117 () () () () () For RCP(S)RA7R Model Number: RCPFTRA7R (For the motor sidemounted to the right/left) (Sold as a set of ) φ (7.) For RCP(S)RAR Model Number: RCPFTRAR (For the motor sidemounted to the right/left) (Sold as a set of ) φ (.) Highprecision Specification Option Code Description HPR The positioning repeatability of the standard type of the RCP(S) slider and wide slider models is ±.1mm. If this option is selected, the positioning repeatability can be ±.mm. * This option can be selected for actuators with lead mm or less. Tip Adapter (Keyway) Option Code Description KFA Applicable Models Applicable Models RCP(S)SA C/WSA C RCP(S)RRA /RRA /RRA7 A female threaded tip adapter with a parallel keyway. For RCP(S)RRA Model Number: RCPKFARRA M 1. depth 1 N9. b.1 A. +.1 φ φh7.1 (R) (home position) For RCP(S)RRA Model Number: RCPKFARRA M 1. depth 1 N9. b.1 A. +.1 φ φh7.1 (R) (home position) Base reference surface 19.±. (Center of φ) ±. (Center of φ) A Base reference surface.±. (Center of φ) ±. (Center of φ) A For RCP(S)RRA7 Model Number: RCPKFARRA7 N9. b.1 A M 1.7 depth +. φ φh7.1 (R). (home position) 1 Base reference surface.±. (Center of φ) ±. (Center of φ) Options

110 Options Sidemounted Direction Option Code ML / MR / MT T Applicable Models Description RCP(S)SA R/WSA R/RA R/RRA R/WRA R/TA R This allows you to specify the direction of the sidemounted motor. As viewed from the motor side of the actuator, ML represents left, MR represents right, and MT represents top. L (LEFT) (TOP) Actuator body R (RIGHT) Tip Adapter (Internal Thread) Option Code Description NFA Applicable Models RCP(S)RA /RA /RA7 /RA /RRA /RRA /RRA7 /RRA A rodend tooling adapter with 1 threaded hole. For RCP(S)RA Model Number: RCPNFARA M 1. depth 1 The orientation of the width across flats is indeterminable..(home position) 1 For RCP(S)RA Model Number: RCPNFARA M 1. depth 1 The orientation of the width across flats is indeterminable..(home position) φ M 1.7 depth The orientation of the width across flats is indeterminable..(home position).1. φ φ For RCP(S)RA7 Model Number: RCPNFARA7 For RCP(S)RA Model Number: RCPNFARA.1. M. depth The orientation of the width across flats is indeterminable. 7.(home position) 7.1. φ For RCP(S)RRA Model Number: RCPNFARRA For RCP(S)RRA Model Number: RCPNFARRA M 1. depth 1 φ f.1 A.(home position) M 1. depth 1 φ f.1a.(home position) 1 Base reference surface 11± ±. A Base reference surface ± ±. A For RCP(S)RRA7 Model Number: RCPNFARRA7.1. M 1.7 depth φ f.1a.(home position) For RCP(S)RRA Model Number: RCPNFARRA.1. M. depth φ f.1 A 7.(home 7 position) Base reference surface ±..1..±. A Base reference surface.±..1..±. A 9 Options

111 Knuckle Joint Option Code Description NJ Options Applicable Models RCP(S)RRA R The knuckle joint gives rotational freedom of movement to the rod tip when clevis or trunnion brackets are used. * Knuckle joint and clevis brackets for RCP(S) radial cylinders are furnished separately. The assembly is to be performed by the customer with reference to the mechanical drawings. When making adjustments, we recommend that the parallelism fall within the level mentioned on the mechanical drawings provided. Also, for RCP(S) Series, please use the knuckle joint and the clevis brackets together as a set. For RCP(S)RRAR Model Number: RCPNJRRAR For RCP(S)RRAR Model Number: RCPNJRRAR Concave type knuckle joint Rear concave type clevis Concave type knuckle joint Rear concave type clevis Please fix the cable so that no force will be applied on the connector. (φ) R //.1 A φd9..7 Builtin controller: Cable exit direction: CJO Builtin controller type outline 1 Min.: Max.: φd9.7 A When the motor is sidemounted to the left (ML), flip this drawing vertically about the middle line. (φ) ( ) ( ) Builtin controller: 111 Builtin controller: //.1 A Please fix the cable so that no force will be applied on the connector. (φ) R1 φd9..9 φd9..9 Standard: 19.1 Highthrust: 11. Standard:. (Builtin controller) Highthrust:. (Builtin controller) Min.: 9. Max.: Cable exit direction: CJO A When the motor is sidemounted to the left (ML), flip this drawing vertically about the middle line. (φ) ( ) ( ) For RCP(S)RRA7R Model Number: RCPNJRRA7R For RCP(S)RRAR Model Number: RCPNJRRAR Concave type knuckle joint //.1 A Please fix the cable so that no force will be applied on the connector. (φ) R1 Min.: 7 Max.: +7.9 φd9. 1 φd Builtin controller:.9 Cable exit direction: CJO Nonmotor End Specification Option Code NM Applicable Models All Models Description Tslot Nut Bar Option Code Description The normal home position is set by the slider and rod on the motor side, but there is the option for the home position to be on the other side to accommodate variations in equipment layout, etc. (Please note that changing the home position after the actuators are shipped may require the products to be sent back to IAI for resetting.) NTB / NTBL / NTBR Applicable Models RCP(S)RA /RA /RA7 /RA /WRA /WRA /WRA1 /WRA1 Tslot nut bar is a barshaped bracket which is to be inserted into the actuator's Tslot. There are fixed holes on the Tslot nut bar. From the motorside view, NTBL is inserted on the left side, and NTBR is inserted on the right. *Rod (RA) type can choose only NTB, while wide radial cylinder (WRA) type can choose either NTBL (for the actuator with its motor sidemounted to the right) or NTBR (for the actuator with its motor sidemounted to the left). For RCP(S)RA Model Number: RCPNTBRA For RCP(S)RA Model Number: RCPNTBRA M () M () Rear concave type clevis A When the motor is sidemounted to the left (ML), flip this drawing vertically about the middle line. (φ) ( ) ( ) Concave type knuckle joint //. A Please fix the cable so that no force will be applied on the connector. (φ) R.9 φ1d9. φ1d Builtin controller: 9. Cable exit direction: CJO +1. Min.: 9 Max.: Rear concave type clevis A When the motor is sidemounted to the left (ML), flip this drawing vertically about the middle line. (φ) (7 ) (7 ) (Max.: Min.: ) +9 (Max.: +. Min.: ) +. Options 1

112 Options For RCP(S)RA7 Model Number: RCPNTBRA7 For RCP(S)RA Model Number: RCPNTBRA M () M () (Max.: +7. Min.: ) (Max.: +7. Min.: 1) For RCP(S)WRA Model Number: RCPNTBWRA For RCP(S)WRA Model Number: RCPNTBWRA NTBR NTBL M () 1 1 () NTBR M NTBL () () For RCP(S)WRA1 Model Number: RCPNTBWRA1 For RCP(S)WRA1 Model Number: RCPNTBWRA1 NTBR NTBL M (.) (.) NTBR NTBL M (.) (.) Clevis Bracket Option Code Description QR Applicable Models RCP(S)RRA R A bracket for aligning the cylinder movement when the load installed on the rod tip moves in a direction different from the rod. Caution If the rod is moved with a clevis bracket attached to it, please use an external guide to prevent the rod Request from receiving any load other than from its moving direction. Applicable Models RCP(S)RRAR RCP(S)RRAR RCP(S)RRA7R RCP(S)RRAR Model Number RCPQRRRAR RCPQRRRAR RCPQRRRA7R RCPQRRRAR * Knuckle joint and clevis brackets for RCP(S) radial cylinders are furnished separately. The assembly is to be performed by the customer with reference to the mechanical drawings. When making adjustments, we recommend that the parallelism fall within the level mentioned on the mechanical drawings provided. Also, for RCP(S) Series, please use the knuckle joint and the clevis brackets together as a set. For mechanical drawings, please refer to the knuckle joint option (NJ) on P.1. Slider Spacer Option Code Description SS Applicable Models RCP(S) SA7R/SAR This option changes the top of the slider position to be higher than the motor height. For RCP(S)SA7R Model Number: RCPSSSA (φh7 pitch: ±.) +. φh7 depth M through (Bolt screwin depth: 9 mm) For RCP(S)SAR Model Number: RCPSSSA φh7 depth. M through (Bolt screwin depth: 1mm) 1 (φh7 pitch: ±.) Options

113 Options Selection Notes for RCP(S) Series Warnings When Selecting the Rod Attachment Option The front flange (FL) rod attachment option cannot be selected when the following strokes are selected for RCP(S)RAR/RAR/RA7R/RAR/RRAR/RRAR/RRA7R; RCPRAR mm (Standard/With a brake) RCPRAR mm (Standard/With a brake) RCPRA7R ~mm (Standard/With a brake) RCPRAR ~mm (Standard/With a brake) RCPRRAR mm (Standard/With a brake) RCPRRAR mm (Standard/With a brake) RCPRRA7R 7mm (Standard/With a brake) The front flange (FL) rod attachment option cannot be used on side mounting position for RCP(S) RRAR when the following strokes are selected. RCP(S)RRAR ~mm (Standard/With a brake) Please be careful of nearby objects when selecting the front flange (FL) option for the RCP(S) RRA R models, there may be some interference between the cable and installation surface for certain strokes. Please also be careful of nearby objects when selecting the tip adapter option (FFA, NFA, KFA) for the RCP(S)RRAR/RRAR/RRA7R models, there may be some interference between the cable and work piece for certain strokes. Warnings When Installing the Rod Actuators When installing the front bracket or flange (optional), please be careful that the actuator does not experience any external force. (External force may cause malfunctions or damaged parts) If the actuator will experience external force or is being used in conjunction with a Cartesian robot, etc., please use the mounting holes on the base of the actuator to secure it into place. Even in cases when external force will not be applied, to secure the actuator in place when installed horizontally using a flange or sidemounted motor specification, please use the bracket mounting holes to create a support base as shown in the diagram on the right. About the Mounting Positions RCPSRAR ~mm (Standard/With a brake) RCPSRAR ~mm (Standard/With a brake) RCPSRA7R ~1mm (Standard/With a brake) RCPSRAR ~1mm (Standard/With a brake) RCPSRRAR ~1mm (Standard/With a brake) RCPSRRAR ~11mm (Standard/With a brake) RCPSRRA7R 7~1mm (Standard/With a brake) External force <Flange mount specification> External force Support base <Sidemounted motor specification> Support base While installation in the side and ceiling mount positions are available, this may cause slack or misalignment in the stainless steel sheet. Continuing to use it this way could cause the stainless steel sheet to break. Please inspect it daily and adjust the sheet if any slack or misalignment is found. When installing the motorcoupled type vertically, please set the motor on the top if possible. While installing the motor on the bottom will not cause problems in normal operation, long periods of no activity may cause the grease to separate, flow into the motor unit, and cause problems in rare occasions. Options 1

114 Reference Data Correlation Diagrams of Push Force and Current Limit RCP Series Slider /Rod In the pushmotion operation, the push force can be changed by changing the current force of the controller to be between % (%)7%. The maximum push force will vary depending on the model, so please refer to the graphs below and on the following page, and select one based on the needed push force for your intended use. When performing the pushmotion operation with the slider type, please limit the push current in order that the reactive moment caused by the push force does not exceed the dynamic allowable moment (Ma, Mb) specified in the catalog (It should be % or less of the dynamic allowable moment for the slider type). Please refer to the figures below, which show the working point of the guide moment, for help with calculating the moment. This can be done by considering the offset of the push force application position. Please note that if excessive force which exceeds the dynamic allowable moment is applied, it may damage the guide and shorten its service life. Please keep this in mind and select a push current that is safely within its limits. Slider type Table type h Working point of the guide moment h h dimension Slider type Table type SA TA SA TA 1. SA7 TA7 19. SA. WSA. WSA WSA1 WSA1. * Unit: mm Calculation example) If pushmotion operation is performed with an RCPSA7C by applying N at the position shown to the right, the moment received by the guide, or Ma, is calculated as: Ma = (+) = 19, (Nmm) = 19. (Nm) N mm Since the dynamic allowable moment of the SA7C is Ma =.7 (Nm), so.7. =.7 > 19., this is an acceptable selection. Also, should an Mb moment occur due to the push operation, calculate the moment from the overhang and ensure that it is within range of the dynamic allowable moment. Correlation Diagrams of Push Force and Current Limit SA/RA/RRA/TA * The graphs below are only a reference, and the graphs may vary slightly from the actual. SA/RA/RRA/TA Push force (N) 1. Current limit (%) 1 7 Push force (N) 1 Current limit (%) 7 SA7/TA7/WSA1 SA/WSA1 Push force (N) 7 Current limit (%) 1 7 Push force (N) 1, Current limit (%) 11 Reference Data

115 Reference Data WSA/WRA WSA/WRA Push force (N) 1. Current limit (%) 1 7 Push force (N) 1 Current limit (%) 7 RA7/RRA7/WRA1 WRA1 Push force (N) 1, 1, Current limit (%) 1 7 Push force (N),, 1, 1, Current limit (%) 7 Vertical Payload and Service Life * The graph below is only a reference, and the graph may vary slightly from the actual. When using RCP(S)RA, RRA, WSA1 (lead only), WRA1 (lead only) vertically, their service life will vary greatly depending on the payload. Please check the following graph. RA/RRA/WSA1/WRA1 Service life (km),,,,, 1, kg Vertical payload (kg) 7 Reference Data 11

116 Reference Data Tables of Payload by /Acceleration Setting RCP Series SA: Slider, Coupled Specification The tables below shows the maximum payload in each acceleration/deceleration for different models. Please select a model that satisfies the operational conditions you desire. For the MSEPC/LC controller, highoutput enabled operation is only available if "highoutput setting" is selected as an option. RCP/RCPSSAC , , RCP/RCPSSAC , , , RCP/RCPSSA7C ,. 1 1, Setting Disabled RCP/RCPSSAC , 1, , Reference Data

117 Reference Data Setting RCP Series SA: Slider, Sidemounted Specification RCP/RCPSSAR , , RCP/RCPSSAR , , RCP/RCPSSA7R , Setting Disabled RCP/RCPSSAR , 1 1, , Reference Data 11

118 Reference Data Tables of Payload by /Acceleration Setting RCP Series WSA: Wide Slider, Coupled Specification RCP/RCPSWSAC ,1 1, RCP/RCPSWSAC ,1 1, 1, RCP/RCPSWSA1C Setting Disabled RCP/RCPSWSA1C Reference Data

119 Reference Data Setting RCP Series WSA: Wide Slider, Sidemounted Specification RCP/RCPSWSAR ,1 1, RCP/RCPSWSAR ,1 1, 1, RCP/RCPSWSA1R Setting Disabled RCP/RCPSWSA1R Reference Data 11

120 Reference Data Tables of Payload by /Acceleration Setting RCP Series RRA: Radial Cylinder, Coupled Specification RCP/RCPSRRAC , RCP/RCPSRRAC RCP/RCPSRRA7C Setting Disabled RCP/RCPSRRAC Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical Reference Data

121 Reference Data Setting RCP Series RRA: Radial Cylinder, Sidemounted Specification RCP/RCPSRRAR RCP/RCPSRRAR ,1 1, 1, RCP/RCPSRRA7R Setting Disabled RCP/RCPSRRAR Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical Reference Data 1

122 Reference Data Tables of Payload by /Acceleration Setting RCP Series WRA: Wide Radial Cylinder, Coupled Specification RCP/RCPSWRAC RCP/RCPSWRAC RCP/RCPSWRA1C Setting Disabled RCP/RCPSWRA1C Orientation Horizontal Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical Reference Data

123 Reference Data Setting RCP Series WRA: Wide Radial Cylinder, Sidemounted Specification RCP/RCPSWRAR RCP/RCPSWRAR RCP/RCPSWRA1R Setting Disabled RCP/RCPSWRA1R Orientation Horizontal Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical Reference Data

124 Reference Data Tables of Payload by /Acceleration Setting RCP Series RA: Rod, Coupled Specification RCP/RCPSRAC RCP/RCPSRAC RCP/RCPSRA7C Setting Disabled RCP/RCPSRAC Orientation Horizontal Orientation Vertical Reference Data Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical

125 Reference Data Setting RCP Series RA: Rod, Sidemounted Specification RCP/RCPSRAR RCP/RCPSRAR RCP/RCPSRA7R Setting Disabled RCP/RCPSRAR Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical Orientation Horizontal Orientation Vertical Reference Data

126 Reference Data Tables of Payload by /Acceleration Setting RCP Series RCP/RCPSTAC ,1 1, RCP/RCPSTAC ,1 1. TA: Table (Single Block), Coupled Specification RCP/RCPSTA7C ,. RCP Series RCP/RCPSTAC RCP/RCPSTAC RCP/RCPSTA7C TA: Table (Double Block), Coupled Specification Reference Data

127 Reference Data Setting RCP Series RCP/RCPSTAR ,1 1, RCP/RCPSTAR ,1 1. TA: Table (Single Block), Sidemounted Specification RCP/RCPSTA7R ,. RCP Series RCP/RCPSTAR RCP/RCPSTAR TA: Table (Double Block), Sidemounted Specification RCP/RCPSTA7R Reference Data

128 Reference Data Selection Guideline for Allowable Load Mass The radial cylinder has a builtin guide, so loads up to a certain level can be applied to the rod without using an external guide. Refer to the graphs below for the allowable load mass. If the allowable load will be exceeded under the required operating conditions, add an external guide. Allowable Load Mass for Horizontally Mounted RCPRRA Series [Horizontally ontally mounted, laid flat] [Horizontally mounted, laid on it s side] Offset distance dx Offset distance dx Overhang distance dz dz Load m dx Overhang distance dz dz Load m dx RCPRRA/RRA/RRA7/RRA <Offset: mm/overhang distance: mm> RRA 9 RRA RRA7 RRA Allowable load mass(kg) <Offset: mm/overhang distance: mm> RRA 9 RRA RRA7 RRA Allowable load mass(kg) <Offset: mm/overhang distance: mm> RRA 9 RRA RRA7 RRA Allowable load mass(kg) <Offset: mm/overhang distance: mm> RRA 9 RRA RRA7 RRA Allowable load mass(kg) <Offset: mm/overhang distance: mm> RRA 9 RRA RRA7 RRA Allowable load mass(kg) <Offset: mm/overhang distance: mm> RRA 9 RRA RRA7 RRA Allowable load mass(kg) Allowable load calculation conditions. Load mass corresponding to a product service life of, km, considering moments generated by acceleration/deceleration. (Acceleration: 1G, speed mm/s) 7 Reference Data

129 Reference Data Allowable Load Mass for Vertically Mounted RCPRRA RRA Series [Vertically mounted] dy dz dx dx dy dz dx dy Offset distance dx Load m Load m Offset distance dy Allowable load calculation conditions. Load mass corresponding to a product service life of, km, considering moments generated by acceleration/deceleration. (Acceleration:.G, speed: mm/s) RCPRRA Allowable load mass(kg) <Allowable load mass, vertically mounted> 7 9 Offset distance RCPRRA7 Allowable load mass(kg) 1 <Allowable load mass, vertically mounted> Offset distance RCPRRA Allowable load mass(kg) 1 <Allowable load mass, vertically mounted> 7 9 Offset distance RCPRRA Allowable load mass(kg) 7 <Allowable load mass, vertically mounted> 7 1 Offset distance Allowable Load Mass for RCPWRA Series [Horizontally mounted, laid flat] Payloadd [Horizontally mounted, laid on it s side] Payload [Vertically mounted] Rod tip Offset distance Rod tip Offset distance Rod tip Offset distance Payload Reference Data

130 Reference Data Selection Guideline for Allowable Load Mass RCPWRA/WRA Allowable load mass(kg) 1 <Offset: mm/overhang distance: mm or less> WRA WRA Allowable load mass(kg) <Offset: mm/overhang distance: mm or less> 1 WRA WRA RCPWRA1/WRA1 Allowable load mass(kg) 1 <Offset: mm/overhang distance: mm or less> WRA1 WRA1 Allowable load mass(kg) <Offset: 1mm/Overhang distance: mm or less> WRA1 WRA RCPWRA 7 9 Allowable load calculation conditions: Load mass corresponding to a product service life of,km, considering moments generated by acceleration/deceleration. (Acceleration: 1G, speed: mm/s. *For WRA1 type, acceleration:.g, speed: mm/s) RCPWRA RCPWRA1 RCPWRA1 <Allowable load mass, vertically mounted> Allowable load mass(kg). Offset distance <Allowable load mass, vertically mounted> Offset distance Allowable load mass(kg) Allowable load mass(kg) <Allowable load mass, vertically mounted> 1 1 Offset distance Allowable load mass(kg) <Allowable load mass, vertically mounted> 7 WRA1C:.kg WRA1R:.kg 1 Offset distance Allowable Load Mass for RCPTA Series (Table ) Due to the table type structure, longer stroke actuators result in lower allowable load mass. <Horizontally mounted, laid flat> Allowable load mass(kg) 1 TASB TADB TASB TADB TA7SB TA7DB <Horizontally mounted, laid on it s side> Allowable load mass(kg) 1 TASB TADB TASB TADB TA7SB TA7DB Allowable load mass(kg) 1 <Vertically mounted> TASB TADB TASB TADB TA7SB TA7DB Allowable load calculation conditions: Load mass corresponding to a product service life of,km, considering moments generated by acceleration/deceleration. (Acceleration:.G, speed: mm/s. *For WRA1 type, acceleration:.g, speed: mm/s) 9 Reference Data

131 Duty Cycle Duty cycle is the percentage of the actuator s active operation time in each cycle. Please note that the way to calculate duty cycle for the stepper motor and AC servo motor differs. <Stepper > For stepper motor type, an actuator can be operated at % of its duty cycle. RCPS is the model that requires the duty cycle to be limited. For RCPS Series Reference Data [Duty Cycle] Duty cycle is the percentage of the actuator s active operation time in each cycle. TM D = X (%) TM + TR One cycle time D: Duty cycle TM: Operation time (Includes pushmotion operation) TR: Stopping time Acceleration Constant speed Deceleration Stop Time Operating time TM Stopping time TR Duty Cycle by Models RCPS Series stepper motor type SA/RRA/RA/TA/WSA/WRA (Common to coupled motor/sidemounted motor) stepper motor type SA/RRA/RA/TA/WSA/WRA (Common to coupled motor/sidemounted motor) stepper motor type SA7/RRA7/RA7/TA7/WSA1/WRA1 (Common to coupled motor/sidemounted motor) highthrust stepper motor type SA/WSA1 (Common to coupled motor/sidemounted motor) highthrust stepper motor type RRA/RA/WRA1 (Common to coupled motor/sidemounted motor) Duty Cycle % Please see the graph below. Please see the graph below. % 7% Correlation diagram of ambient temperature and duty cycle for stepper motor type. Duty Cycle (%) 9 7 mm mm Ambient temperature ( C) stepper motor type SA/RRA/RA/TA/WSA/WRA (Common to coupled motor/sidemounted motor) mm mm mm/mm Duty Cycle Limit 9% at 7 C or below 7% or less at C % at C or below % or less at C % Correlation diagram of ambient temperature and duty cycle for stepper motor type (Excludes the highthrust motor) Duty Cycle (%) 9 7 mm mm 1mm stepper motor type SA7/RRA7/RA7/TA7/WSA1/WRA1 (Common to coupled motor/sidemounted motor) mm mm 1mm mm Duty Cycle Limit % at C or below % or less at C 9% at C or below % or less at C 9% at C or below 7% or less at C % Ambient temperature ( C) Reference Data 1

132 PCONCB/CFB Controller Position Controller for RCP/RCP/ RCP (PowerCON Applicable) /RCP/RCP 1 Features Highresolution batteryless absolute encoder compatible The RCP equipped with a highresolution batteryless absolute encoder is supported. Since no battery is needed to retain position data, less space is required in the control panel, which in turn leads to lower cost of your equipment. The resolution is increased from pulses /rev to,19 pulses/rev. PowerCON Equipped PowerCON (highoutput driver), which can enable the stepper motor to perform at its maximum capacity, is now installed on a small controller. By using PowerCON, the output of the stepper motor is increased by %. It contributes to cycle time reduction and productivity improvement. Collision Detection Function Equipped This function stops the operation immediately when the actuator comes into contact with an object. The actuator stops without crashing, so that damage to the actuator can be minimized. Enhanced Monitor Functions RCP Stops immediately when the actuator collides The PC compatible software can display information about the actuator and controller in operation as waveforms. *Information that can be displayed: Command current value, current speed/position, and PIO signals (start, positioning completion, alarm, etc.) Using the trigger function, the end user can specify a particular moment, either a change in PIO signals or a designated moment during the actuator's operation time, to begin displaying the waveforms. Monitor function screen (example) Display settings Work Trigger settings * Data acquiring starts from time of change of selected items. * Items to be monitored can be selected. Signal: CSTR (start) turned ON 11 PCONCB/CFB

133 List of Models PCONCB/CFB Controller Model number PCONCB/CGB, CFB/CGFB External view Field network type I/O type Positioner type Pulsetrain type DeviceNet CCLink PROFIBUS DP CompoNet MECHATROLINK I,II EtherCAT EtherNet/IP PROFINET IO I/O type model number NP/PN PLN/PLP DV CC PR CN ML EC EP PRT PCON CB/CGB PCON CFB/ CGFB Batteryless absolute specification Incremental specification With absolute battery Simple With absolute absolute battery unit spec. Without absolute battery Batteryless absolute specification Incremental specification PCONCB/CFB

134 PCONCB/CFB Controller Model Specification Items Controller PCON Series CB Standard CGB Safety category compliant type CFB SP/P/P motorcompatible type Safety category CGFB compliant, SP/P/P motorcompliant type WAI SA Encoder Batteryless absolute specification Incremental specification Simple absolute speficication I/O I/O Cable Length Power Supply Voltage VDC Simple Specification Controller Mounting Specification P SP P SP P P SP P SP P P Stepper motor Highthrust stepper motor Stepper motor Highthrust stepper motor Stepper motor Stepper motor Highthrust stepper motor Stepper motor Highthrust stepper motor Highthrust stepper motor Highthrust stepper motor NP PLN PN PLP DV CC PR CN ML EC EP PRT PIO (NPN) Pulse train (NPN) PIO (PNP) Pulse train (PNP) DeviceNet CCLink PROFIBUSDP CompoNet MECHATROLINKI/II EtherCAT EtherNet/IP PROFINET IO No cable m m m * When a field network specification is selected, the I/O cable length is "O". Batteryless absolute specification (Blank) Incremental specification Simple absolute specification AB (With absolute battery. No battery unit included) Simple absolute specification ABU (With absolute battery and battery unit) Simple absolute specification ABUN (Without absolute battery and battery unit) * PCONCFB/CGFB does not support a simple absolute specification. (Blank) DN Screw mounting specification DIN rail mounting specification * The mounting type (screw or DIN rail) of the absolute battery unit and the controller must be the same. 1 PCONCB/CFB

135 PCONCB/CFB Controller System Configuration PIO I/O Interface Input part External input specification PowerCON1 <PCONCB/CGB> Output part External output specification Specification VDC ±% ma, 1 circuit ON voltage, 1VDC min. OFFOption voltage, VDC max. Item Input voltage Input current ON/OFF Option voltage PLC Leak current DeviceNet, CCLink, PROFIBUSDP, MECHATROLINK (I, II) NPN specification CompoNet, EtherCAT, EtherNet/IP, PROFINET IO <Model: TB1 > P Internal circuit.k Input terminal m PNP specification ma max. /point Field network PC compatible software Teaching pendant (See P.1) (See P.1) NPN specification RS connection type <Model: RCM1MW> External USB connection type power supply <Model: RCM1USB> P VDC Item Specification VDC Load voltage Maximum load current ma, 1 circuit Internal circuit Supplied with any PIO spec. controller PIO cable Output terminal (See P.1) <Model: CBPACPIO> Standard: m 1 N Load External power supply VDC PNP specification Option Standard cable: m Input terminal Supplied with PC compatible software.k Connecting cable standard:.m Supplied with absolute battery unit VDC Ppower supply Internal circuit External N power supply Supplied with simple absolute type Internal circuit Controller Model: PCONCB/CGB VDC battery unit <Model: PS1 (V input)> External <Model: PS (Vsupply input)> power Output VDC terminal 1 Load N (See P.1) <Model: SEPABU (DIN rail mount)> <Model: SEPABUS (screw mount)> s of PIO Patterns (Control Patterns) This controller has eight different control methods. Supplied with PCONCGB Battery absolute Please select the for PIOsimple pattern that type best suits your application indummy Parameter plug No., "PIO Pattern Selection". (See P.1) AB7 Model:Set value of parameter No. PIO < Connectable actuators> (Factory setting) Pattern PIO Pattern 1 PIO Pattern PIO RCP Series Pattern PIO Pattern PIO Pattern PIO RCP Series Pattern 1 Teaching mode (Teaching type) Integrated point mode motorencoder ( positioning points) robot cable point mode ( positioning points) Solenoid valve mode 1 (7point type) Supplied with the actuator Solenoid valve Integrated cable mode motorencoder (point type) Integrated motorencoder robot cable Number of positioning points: points Position number command: Binary Coded Decimal (BCD) */encoder cable type Zone signal output*1 : 1 point varies depending on the Position zone signal output* : 1 point actuator type. When Number of positioning points: points ordering a replacement Supplied with the actuator Position number command: Binary Coded Decimal (BCD)cable, please refer to P. 1. * : 1 point Position Integrated zone signal output motorencoder Jog (inching) operation using PIO signals is supported. robot cable Current position data can be written to the position table using PIO signals. Number of positioning points: points Position number command: Binary Coded Decimal (BCD) Position zone signal output* : 1 point RCP Series Number of positioning points: points Position number command: Binary Coded Decimal (BCD) Supplied the actuator No zone signalwith output Integrated motorencoder cable Number of positioning points: 7 points Integrated motorencoder Zone signal output*1 : 1 point robot cable Position number command: Individual number signal ON Position zone signal output* : 1 point Number of positioning points: points RCP Series Position number command: Individual number signal ON Completion signal: A signal equivalent to a LS (limit switch) signal can be output. Zone signal output*1 : 1 point Position zone signal output* : 1 point Supplied with the actuator Pulsetrain control mode for incremental Differential pulse input ( kpps max.) Integrated motorencoder cable Home return function *1 : points Zone signal output Integrated motorencoder No feedback pulse output 7 Pulsetrain control mode for absolute Reference point setting (1 point) Home return function Differential pulse input ( kpps max.) No feedback pulse output Zone signal output*1 : points PIO (Note 1) Positioning mode (Standard type) Supplied with the actuator (Note 1) Pattern 7 (See P.1) <Model: DP>Overview Mode robot cable RCP Series *1 Zone signal output: Please set the desired zone range in Parameter No.1/ or /, and it will remain effective once home return is completed. * Position zone signal output: This command function relates to the position number. Set the desired zone range in the position table, and this function will only become enabled when the corresponding position is specified; it will be disabled for all other position commands. (Note 1) Pulse train control mode is available only the pulse train control type is specified (PCONCBPLN and PLP) at the time of purchase. PCONCB/CFB 1

136 PCONCB/CFB Controller System Configuration SP/P/P Compatible <PCONCFB/CGFB> PLC Option Option Field network PC compatible software Teaching pendant DeviceNet, CCLink, PROFIBUSDP, MECHATROLINK (I, II) CompoNet, EtherCAT, EtherNet/IP, PROFINET IO (See P.1) <Model: TB1 > (See P.1) RS connection type <Model: RCM1MW> USB connection type <Model: RCM1USB> Supplied with any PIO spec. controller PIO cable (See P.1) <Model: CBPACPIO> Standard: m m Option VDC power supply <Model: PS1 (V input)> <Model: PS (V input)> Controller Supplied with PC compatible software Model: PCONCFB/CGFB Supplied with PCONCGFB Dummy plug (See P.1) <Model: DP> < Connectable actuators> Supplied with the actuator Supplied with the actuator Integrated motorencoder cable Integrated motorencoder robot cable RCP Series Integrated motorencoder cable Integrated motorencoder robot cable RCP Series Supplied with the actuator Supplied with the actuator Integrated motorencoder cable Integrated motorencoder robot cable RCP Series Integrated motorencoder cable Integrated motorencoder robot cable RCP Series ROBO Cylinder Highthrust type RCPRAC/RAR ROBO Cylinder Highthrust type RCPRAC ROBO Cylinder Highspeed type RCP(CR)HSC/HSR ROBO Cylinder Splashproof type RCPWSA1C 1 PCONCB/CFB ROBO Cylinder Highthrust type type: RCPWRA7C SP ROBO Cylinder Highthrust type RCPRAC type: SP ROBO Cylinder Highthrust type RCPRAC/RAR ROBO Cylinder RCPSAC/SAR/WSA1C/WSA1R ROBO Cylinder Highthrust type RCPRAC/RAR ROBO Cylinder RCPRAC/RAR/WRA1C/WRA1R

137 PIO I/O Interface Input part Item Input voltage Input current ON/OFF voltage External input specification Specification VDC ±% ma, 1 circuit ON voltage, 1VDC min. OFF voltage, VDC max. Output part Item Load voltage Maximum load current Leak current PCONCB/CFB Controller External output specification Specification VDC ma, 1 circuit ma max. /point NPN specification NPN specification External power supply VDC P.k Input terminal Internal circuit Internal circuit P Output terminal 1 N Load External power supply VDC PNP specification PNP specification External power supply VDC Input terminal N.k Internal circuit Internal circuit P Output terminal 1 N External power supply VDC Load s of PIO Patterns (Control Patterns) This controller has eight different control methods. Please select the PIO pattern that best suits your application in Parameter No., "PIO Pattern Selection". Set value of parameter No. Mode Overview PIO Pattern PIO Pattern 1 PIO Pattern (Factory setting) 1 Positioning mode (Standard type) Teaching mode (Teaching type) point mode ( positioning points) Number of positioning points: points Position number command: Binary Coded Decimal (BCD) Zone signal output *1 : 1 point Position zone signal output * : 1 point Number of positioning points: points Position number command: Binary Coded Decimal (BCD) Position zone signal output * : 1 point Jog (inching) operation using PIO signals is supported. Current position data can be written to the position table using PIO signals. Number of positioning points: points Position number command: Binary Coded Decimal (BCD) Position zone signal output * : 1 point PIO Pattern point mode ( positioning points) Number of positioning points: points Position number command: Binary Coded Decimal (BCD) No zone signal output PIO Pattern PIO Pattern PIO Pattern (Note 1) PIO Pattern 7 (Note 1) 7 Solenoid valve mode 1 (7point type) Solenoid valve mode (point type) Pulsetrain control mode for incremental Pulsetrain control mode for absolute Number of positioning points: 7 points Zone signal output *1 : 1 point Position number command: Individual number signal ON Position zone signal output * : 1 point Number of positioning points: points Position number command: Individual number signal ON Completion signal: A signal equivalent to a LS (limit switch) signal can be output. Zone signal output *1 : 1 point Position zone signal output * : 1 point Differential pulse input ( kpps max.) Home return function Zone signal output *1 : points No feedback pulse output Reference point setting (1 point) Home return function Differential pulse input ( kpps max.) No feedback pulse output Zone signal output *1 : points *1 Zone signal output: Please set the desired zone range in Parameter No.1/ or /, and it will remain effective once home return is completed. * Position zone signal output: This command function relates to the position number. Set the desired zone range in the position table, and this function will only become enabled when the corresponding position is specified; it will be disabled for all other position commands. (Note 1) Pulse train control mode is available only the pulse train control type is specified (PCONCBPLN and PLP) at the time of purchase. PCONCB/CFB 1

138 PCONCB/CFB Controller PIO Patterns and Signal Assignments The table below lists the signal assignments for the I/O flat cable under different PIO patterns. Connect an external device (such as a PLC) according to this table. Pin No. 1A A A A A A 7A A 9A A 11A A 1A 1A 1A 1A 17A 1A 19A A 1B B B B B B 7B B 9B B 11B B 1B 1B 1B 1B 17B 1B 19B B Category Input Output PIO function Number of positioning points Home return signal Jog signal Teaching signal (writing of current position) Brake release Moving signal Zone signal Position zone signal Positioning mode points V V Pulse Input Input Output Pulse Input V V IN IN1 IN IN IN IN IN IN7 IN IN9 IN IN11 IN IN1 IN1 IN1 OUT OUT1 OUT OUT OUT OUT OUT OUT7 OUT OUT9 OUT OUT11 OUT OUT1 OUT1 OUT1 PC1 PC PC PC PC1 PC BKRL RMOD HOME *STP CSTR RES SON PM1 (ALM1) PM (ALM) PM (ALM) PM (ALM) PM1 PM MOVE ZONE1 PZONE/ZONE RMDS HEND PEND SV *EMGS *ALM LOAD/TRQS *ALML Parameter No., PIO Pattern Selection 1 Teaching mode point mode point mode Solenoid valve mode 1 Solenoid valve mode points points points 7 points points (Note 1) (Note 1) PC1 PC PC PC PC1 PC MODE JISL JOG+ JOG RMOD HOME *STP CSTR/PWRT RES SON PM1 (ALM1) PM (ALM) PM (ALM) PM (ALM) PM1 PM MOVE MODES PZONE/ZONE1 RMDS HEND PEND/WEND SV *EMGS *ALM *ALML P P PM1 (ALM1) PM (ALM) PM (ALM) PM (ALM) PZONE/ZONE1 LOAD/TRQS *ALML LOAD/TRQS *ALML LOAD/TRQS *ALML N N PC1 PC PC PC PC1 PC PC PC BKRL RMOD HOME *STP CSTR RES SON PM1 PM PM PM RMDS HEND PEND SV *EMGS *ALM PC1 PC PC PC PC1 PC PC PC PC BKRL RMOD HOME *STP CSTR RES SON PM1 (ALM1) PM (ALM) PM (ALM) PM (ALM) PM1 PM PM PM PM RMDS HEND PEND SV *EMGS *ALM ST ST1 ST ST ST ST ST BKRL RMOD HOME *STP RES SON PE PE1 PE PE PE PE PE ZONE1 PZONE/ZONE RMDS HEND PEND SV *EMGS *ALM ST ST1(JOG+) ST (NonFunctional) BKRL RMOD RES SON LSO LS1(TRQS) LS (Note) ZONE1 PZONE/ZONE (Note) In the table above, asterisk * symbol accompanying each code indicates a negative logic signal. PM1~PM are alarm binary code output signals that are used when an alarm generates. (Note 1) In all PIO patterns other than, this signal can be switched with PZONE by setting Parameter No. 19 accordingly. (Note ) The setting will not become effective until the home return is completed. Reference) Negative logic signal Signals denoted by * are negative logic signals. Negative logic input signals are processed when turned OFF. Negative logic output signals normally remain ON while the power is supplied, and turn OFF when the signal is output. RMDS HEND SV *EMGS *ALM *ALML 17 PCONCB/CFB

139 Pulsetrain Control Circuit Host Unit = Differential PCONCB/CFB Controller Host unit Positioning unit Pulse command (corresponding to line driver C1) V V A A 17B 1B 19B B PCON PIO connector PP /PP NP /NP V V Host Unit = Open Collector The AK (optional) is needed to input pulses. Host unit Positioning unit Pulse command DC V OV 1 Pulse converter AK (sold separately) V PP V *PP PP NP NP*NP 1 A A 17B 1B PCON PIO connector PP /PP NP /NP V V 19B B V V * Please make the interval between the host unit and AK as short as possible.! Caution: Use the same power supply for open collector input/output to/from the host and for the AK. Command Pulse Input Patterns Command pulsetrain pattern Input terminal Forward Reverse Forward pulsetrain PP/PP Reverse pulsetrain NP/NP A forward pulsetrain indicates the amount of motor rotation in the forward direction, while a reverse pulsetrain indicates the amount of motor rotation in the reverse direction. Negative logic Pulsetrain PP/PP Sign NP/NP Low High The command pulses indicate the amount of motor rotation, while the sign indicates the rotating direction. Phase A/B pulsetrain PP/PP NP/NP Command phases A and B having a 9 phase difference (multiplier is ) indicate the amount of rotation and the rotating direction. Forward pulsetrain PP/PP Reverse pulsetrain NP/NP Positive logic Pulsetrain Sign PP/PP NP/NP High Low PP/PP Phase A/B pulsetrain NP/NP PCONCB/CFB 1

140 PCONCB/CFB Controller I/O Signals in Pulsetrain Control Mode The table below lists the signal assignments for the flat cable in the pulsetrain control mode. Connect an external device (such as PLC) according to this table. Pin number 1A A A A A A 7A A 9A A 11A A 1A 1A 1A 1A 17A 1A 19A A 1B B B B B B 7B B 9B B 11B B 1B 1B 1B 1B 17B 1B 19B B Category I/O number Signal abbreviation Signal name V V Pulse Input Input Output Pulse Input V V IN IN1 IN IN IN IN IN IN7 IN IN9 IN IN11 IN IN1 IN1 IN1 OUT OUT1 OUT OUT OUT OUT OUT OUT7 OUT OUT9 OUT OUT11 OUT OUT1 OUT1 OUT1 P P PP /PP SON RES HOME TL CSTP DCLR BKRL RMOD RSTR*1 NC NC NC NC NC NC NC PWR SV INP HEND TLR #ALM #EMGS RMDS ALM1 ALM ALM ALM #ALML REND*1 ZONE1 ZONE NP /NP N N Power supply Power supply Differential pulsetrain input (+) Differential pulsetrain input () Servo ON Reset Home return Torque limit selection Forced stop Deviation counter clear Forced brake release Operation mode switching Reference position movement command System ready Servo ON status Positioning complete Home return complete Torque limited Controller alarm status Emergency stop status Operation mode status Alarm code output signal Minor failure alarm Reference position movement complete Zone signal 1 Zone signal Differential pulsetrain input (+) Differential pulsetrain input () Power supply Power supply I/O power supply +V I/O power supply +V The brake is forcibly released. Not used Not used Not used Not used Not used Not used I/O power supply V I/O power supply V Parameter No., PIO pattern /7 Differential pulses are input from the host. Up to kpps can be input. The servo is ON while this signal is ON, and OFF while the signal is OFF. Present alarms are reset when this signal is turned ON. Home return operation is performed when this signal is turned ON. When this signal is turned ON, the motor torque is limited to the value set by the parameter. The actuator is forcibly stopped when this signal has remained ON for 1ms or more. The actuator decelerates to a stop at the torque set in the controller and the servo turns OFF. This signal clears the deviation counter. The operation mode can be switched when the MODE switch on the controller is set to AUTO. (AUTO when this signal is OFF, and to MANU when the signal is ON.) When this signal turns on, the actuator moves to the reference position set in parameter No.17. *1: Used only in PIO Pattern 7. Not used This signal turns ON when the controller becomes ready after the main power supply has been turned on. This signal turns ON when the servo is ON. This signal turns ON when the amount of remaining travel pulses in the deviation counter falls within the inposition band. This signal turns ON upon completion of home return. This signal turns ON upon reaching the torque limit while the torque is limited. This signal turns ON when the controller is normal, and turns OFF when an alarm generates. This signal turns ON when the emergency stop of the controller is cancelled, and turns OFF when an emergency stop is actuated. The operation mode status is output. This signal turns ON when the controller is in the manual mode. An alarm code is output when an alarm generates. For details, refer to the operation manual. This signal turns ON when the controller is normal, and turns OFF when a messagelevel alarm has been generated. This signal turns ON when movement to the reference point set in parameter No. 17 is completed. *1: Used only in PIO Pattern 7. This signal turns ON when the current position of the actuator falls within the parameterset range. Differential pulses are input from the host. Up to kpps can be input. Note) # indicates a negative logic signal. Negative logic signals are normally ON while the power is supplied, and turn OFF when the signal is output. 19 PCONCB/CFB

141 PCONCB/CFB Controller Field Network Specification: Explanation of Operation Modes If the PCONCB is controlled via a field network, you can select one of the following five modes to operate the actuator. Please note that the data areas required on the PLC side will vary depending on the mode. Mode Description Mode Description 1 Remote I/O mode Position/simple direct value mode Half direct value mode Full direct value mode Remote I/O mode Similarly to the PIO specification, this mode operates by directing bytes to ON/OFF via a network. The number of positioning points and functions will vary depending on the operation patterns (PIO patterns) set by the controller's parameters. The target position value is directly input, while all other operational conditions (speed, acceleration, etc) are set by indicating the position number corresponding to the desired operating conditions from the position data table. The actuator is operated by directly inputting values for speed, acceleration rate and push current, as well as the target position. The actuator is operated by directly inputting values for the target position, speed, acceleration rate and push current, etc. In addition, you are able to read the current position, current speed, and the specified current, etc. This mode is the same as the remote I/O mode above, with the added functionality of reading current position and the command motor current. Required Data Size for Each Network DeviceNet CCLink PROFIBUSDP CompoNet MECHATROLINK I, II EtherCAT EtherNet/IP PROFINET IO Remote I/O mode bytes 1 station bytes bytes * bytes bytes bytes 1 Position/simple direct value mode bytes 1 station bytes bytes * bytes bytes bytes Half direct value mode 1 bytes stations 1 bytes 1 bytes * 1 bytes 1 bytes 1 bytes Full direct value mode bytes stations bytes bytes (Note 1) bytes bytes bytes Remote I/O mode bytes 1 station bytes bytes * bytes bytes bytes * No required data size is set for MECHATROLINK I & II. (Note 1) Please note that the MECHATROLINK specification does not support the full direct value mode. List of Functions by Operation Mode Remote I/O mode Position/simple direct value mode Half direct value mode Full direct value mode (Note 1) Remote I/O mode Number of positioning points points 7 points Unlimited Unlimited points Operation by direct position data input Direct speed/ acceleration input Pushmotion operation Current position read Current speed read Operation by position number input Completed position number read * indicates that the operation is supported, and X indicates that it is not supported. (Note 1) Please note that the MECHATROLINK specification does not support the full direct value mode. PCONCB/CFB 1

142 PCONCB/CFB Controller External Dimensions <PCONCB/CGB> Batteryless /Incremental Specifications Screw Mounting Spec. Batteryless /Incremental Specifications DIN Rail Mounting Spec. φ from the DIN rail center. (mm DIN rail width) () Simple Specification w/ Battery Screw Mounting Spec. Simple Specification w/ Battery DIN Rail Mounting Spec. * The absolute battery is installed on the left side of the controller when viewed from the front of the controller. battery () φ battery * The absolute battery is installed on the left side of the controller when viewed from the front of the controller () from the DIN rail center. (mm DIN rail width) Simple Specification w/ Battery Unit Screw Mounting Spec. Simple Specification w/ Battery Unit DIN Rail Mounting Spec. φ φ (7.) * The controller comes with the absolute battery unit above. 17. () from the DIN rail center. (mm DIN rail width) * The controller comes with the absolute battery unit below. battery unit from the DIN rail center 7.. (). (mm DIN rail width) DIN fixing tab. Moving range: mm () 1 <PCONCFB/CGFB> Batteryless /Incremental Specifications Screw Mounting Spec. Batteryless /Incremental Specifications DIN Rail Mounting Spec. (7) (7) from the DIN rail center. (mm DIN rail width) () 11 PCONCB/CFB

143 Specification List PCONCB/CFB Controller Item PCONCB/CGB Description PCONCFB/CGFB Number of controlled axes Power supply voltage Load current (including controlside current consumption) (Note 1) RCP RCP RCP RCP RCP type type type P, P, SP P, P, P P, P P, P, P, SP, P SP, P, P P, P, P, P Electromagnetic brake power (for actuator with brake) Inrush current (Note ) SP, P Momentary power failure resistance 1 axis VDC±% 1A max..a max. setting disabled:.a max. setting enabled:.a rated/.a max. setting disabled:.a max. setting enabled:.a rated/.a max. VDC±%.1A max..a μs max. A max. A max..7a max. VDC±%.A max. A Highresolution batteryless absolute encoder: Resolution,19 pulses/rev Compatible encoder Batteryless absolute encoder: Resolution pulses/rev Incremental encoder: Resolution pulses/rev Actuator cable length m max. External interface PIO specification Field network specification Dedicated VDC signal input/output (NPN/PNP selection)... Input max. of 1 points, output max. of 1 points, cable length max. of m DeviceNet, CCLink, PROFIBUSDP, CompoNet, MECHATROLINKI/II, EtherCAT, EtherNet/IP, PROFINET IO Data setting, input method Data retention memory Operation mode Number of positionermode positions PC compatible software, touch panel teaching pendant Position data and parameters are saved in nonvolatile memory. (No limit to rewrite) Positioner mode / pulsetrain control mode (selectable by parameter setting) Up to points for positioner type or up to 7 points for network type *The total number of positioning points varies depending on which PIO pattern is selected. Pulsetrain interface Input pulse Command pulse magnification (Electronic gear: A/B) Differential type (linedriver type): kpps max., cable length up to m Opencollector method: Not supported * If the host uses opencollector outputs, use AK (optional, sold separately) to change them to differential outputs. 1/ < A/B < /1 Setting range of A and B (set by parameters): 1~,9 Insulation resistance Feedback pulse output Electric shock protection mechanism Batteryless absolute specification / Incremental specification Mass (Note ) Simple absolute specification (including 19g for battery) Cooling method Ambient operating temperature None Not less than MΩ at VDC Class I, basic insulation Screw mounting type: Not more than g DIN rail mounting type: Not more than g Screw mounting type: Not more than g DIN rail mounting type: Not more than g Natural air cooling ~ C Screw mounting type: Not more than 7g DIN rail mounting type: Not more than g Forced air cooling Environment Ambient operating humidity Operating ambience Degree of protection Not more than % RH (noncondensing) Free from corrosive gases IP Note 1).A higher for the field network specification. Note ) Inrush current flows for approx. msec after the power is input (at C). Please note that the inrush current value varies depending on the impedance of the power line. Note ) g heavier for the field network specification. PCONCB/CFB

144 PCONCB/CFB Controller Options Touch panel teaching pendant Features Model Configuration A teaching device equipped with functions such as position teaching, trial operation, and monitoring. TB1C m Specifications Rated voltage Power consumption Ambient operating temperature Ambient operating humidity Environmental resistance Weight VDC.W or less (1mA or less) ~ C ~ % RH (Noncondensing) IP (initial state) 7g (TB1N unit only) PC compatible software (Windows only) Features Model Configuration The startup support software which comes equipped with functions such as position teaching, trial operation, and monitoring. A complete range of functions needed for making adjustments contributes to a reduced startup time. RCM1MW (with an external device communication cable + RS conversion unit) Please contact IAI for the current supported versions. RS conversion adapter RCBCVMW m Supported Windows versions: XP SP or later / Vista / 7 / PC compatible software (CD).m External device communication cable CBRCASIO Model RCM1USB (with an external device communication cable +USB conversion adapter + USB cable) Please contact IAI for the current supported versions. Configuration USB conversion adapter: RCBCVUSB m m PC compatible software (CD) USB cable: CBSELUSB External device communication cable: CBRCASIO battery unit Overview Model A battery unit, supplied as an accessory for the simple absolute specification, which serves to back up the current position of the controller. SEPABU (DIN rail mounting specification) SEPABUS (Screw mounting specification) Replacement battery Overview Model Replacement battery used with the absolute battery box. AB7 Specification Item Ambient operating temp. & humidity Operating ambience battery battery unit connecting cable Weight DIN rail mounting specification battery unit Specification ~ C (around C is desirable), 9% RH or less (noncondensing) Free from corrosive gases Model: AB7 (NiMH battery/life: approx. years) Model: CBAPSEPAB (length:.m) Standard type: approx.g/dustproof type: approx.g φ 7.. (7.) Dummy plug Overview Model This plug is required when the safety category specification (PCONCGB/CGFB) is used. DP 1 from the DIN rail center. (mm DIN rail width) 7.. () Screw mounting specification () 1 DIN fixing tab. Moving range: mm 1 1 PCONCB/CFB

145 PCONCB/CFB Controller Maintenance Parts When placing an order for the replacement cable, please use the model number shown below. Table of Applicable Cables Model Number Integrated encoder Cable Integrated encoder Robot Cable 1 RCP/RCP/RCPCR/RCPW (Models other than ) CBCANMPA CBCANMPA RB RCP SA/RA/GR RCP RCP RCPW SA/RRA RA7 (Highthrust specification)/ra/ra WSA1/WRA1 RCP/RCPCR/RCPW (Models other than,, ) RCP RAC (Highthrust specification) RCPW RA7C (Highthrust specification) 7 RCP 9 11 RCP RCPCR RCPW RCP RCPCR RCPW GRSS/GRLS/GRST/GRHM/GRHB SRAR/SRGSR/SRGDR RTBS/RTBSL RTCS/RTCSL GRS/GRM GRSS/GRSM RTBS/RTBSL RTCS/RTCSL/RTB/RTBL/RTC/RTCL RTBB/RTBBL/RTCB/RTCBL 1 RCPW SA1C 1 RCP (Models other than ~ 1 ) CBCFAMPA CBCAMPA CBCFAMPA CBCFAMPA RB CBCAMPA RB CBCFAMPA RB CBAPSEPMPA CBRPSEPMPA CBCANMPA CBCANMPA RB RA/HS RA CBCFAMPA CBCFAMPA RB CBPSEPMPA Model Number PIO Flat Cable 1 PCONCB/CGB, CFB/CGFB CBPACPIO Model Number (1) () (Front view) Actuator side CBCANMPA /CBCANMPA RB (1) Minimum bending radius m or less length: r= mm or more (Dynamic bending condition) Longer than m: r= 7mm or more (Dynamic bending condition) * The robot cable is designed for flexresistance: Please use the robot cable if the cable has to be installed through the cable track. (Note 1) If the cable is m or longer, φ9.1 cable diameter applies for a nonrobot cable and φ for a robot cable. L (φ.) (Note 1) () () (Front view) Controller side * Please indicate the cable length (L) in, maximum m, e.g.) = m Pin No Signal name φa VMM φb VMM φ_a φ_b LS+ LS SA[mABS] SB[mABS] A+ A B+ B BK+ BK VCC GND VPS LS_GND (CFvcc) FG Pin No Signal name 1 φa VMM φb VMM φ_a φ_b 7 LS+ LS 11 SA[mABS] SB[mABS] 1 A+ 1 A 1 B+ 1 B 9 BK+ BK 17 VCC 19 GND 1 VPS LS_GND 1 (CFvcc) FG Model Number () (1) IAI (Front view) Actuator side CBCFAMPA / CBCFAMPA RB L (φ.) (Note 1) () Minimum bending radius m or less length: r= mm or more (Dynamic bending condition) Longer than m: r= 7mm or more (Dynamic bending condition) * The robot cable is designed for flexresistance: Please use the robot cable if the cable has to be installed through the cable track. (Note 1) If the cable is m or longer, φ9.1 cable diameter applies for a nonrobot cable and φ for a robot cable. () () (Front view) Controller side * Please indicate the cable length (L) in, maximum m, e.g.) = m Actuator side 171 (AMP) Pin No Signal name A1 B1 A B A B A B A B A7 B7 A B A B A9 B9 A B A11 B11 φa VMM φ_a φb VMM φ_b LS+ LS SA[mABS] SB[mABS] A+ A B+ B BK+ BK LS_GND VPS VCC GND FG Controller side PADPV1S (J.S.T.MFG.CO.,LTD.) Pin No Signal name φa VMM φ_a φb VMM φ_b LS+ LS SA[mABS] SB[mABS] A+ A B+ B BK+ BK LS_GND VPS VCC GND FG PCONCB/CFB 1

146 PCONCB/CFB Controller Maintenance Parts When placing an order for the replacement cable, please use the model number shown below. Model Number CBCAMPA / CBCAMPA RB () () () (Front view) Actuator side Controller side Minimum bending radius r= mm or more (Dynamic bending condition) L (φ.) * The robot cable is designed for flexresistance: Please use the robot cable if the cable has to be installed through the cable track. (Note 1) (Note 1) If the cable is m or longer, φ9.1 cable diameter applies for a nonrobot cable and φ for a robot cable. () () Pin No A1 B1 A B A B A B A B A7 B7 A B A B A9 B9 A B A11 B11 * Please indicate the cable length (L) in, maximum m, e.g.) = m Actuator side 171 (AMP) Signal name Color φa/u VMM/V φ_a/w φb/ VMM/ φ_b/ LS+/BK+ LS/BK /A+ /A A+/B+ A/B B+/Z+ B/Z BK+/LS+ BK/LS LS_GND VPS VCC GND FG Blue (Black) Orange (White) Green (Brown) Brown (Green) Gray (Yellow) Red (Red) Black (Orange) Yellow (Gray) Blue (White) Orange (Yellow) Green (Red) Brown (Green) Gray (Black) Red (Brown) Blue (Black) Orange (Brown) Green (Green) Brown (Red) Gray (White) Red (Yellow) Black () * ( ) indicates the color of the robot cable. Pin No Controller side PADPV1S (J.S.T.MFG.CO.,LTD.) Signal name φa/u VMM/V φ_a/w φb/ VMM/ φ_b/ LS+/BK+ LS/BK /A+ /A A+/B+ A/B B+/Z+ B/Z BK+/LS+ BK/LS LS_GND VPS VCC GND FG Color Blue (Black) Orange (White) Green (Brown) Brown (Green) Gray (Yellow) Red (Red) Black (Orange) Yellow (Gray) Blue (White) Orange (Yellow) Green (Red) Brown (Green) Gray (Black) Red (Brown) Blue (Black) Orange (Brown) Green (Green) Brown (Red) Gray (White) Red (Yellow) Black () Model Number CBCFAMPA /CBCFAMPA RB (1) () (1) (1) () (1) (Front view) Actuator side Minimum bending radius r= mm or more (Dynamic bending condition) * The robot cable is designed for flexresistance: Please use the robot cable if the cable has to be installed through the cable track. L (φ.) (Note 1) If the cable is m or longer, φ9.1 cable diameter applies for a nonrobot cable and φ for a robot cable. () () Controller side * Please indicate the cable length (L) in, maximum m, e.g.) = m Actuator side Controller side SLPV PADPV1S (NICHIATSU) (J.S.T.MFG.CO.,LTD.) Pin No Signal name Pin No Signal name φa VMM φb VMM φ/a φ/b NC NC LS+ LS A+ A B+ B BK+ BK VCC GND VPS NC FG NC NC NC φa VMM φb VMM φ/a φ/b NC NC LS+ LS A+ A B+ B BK+ BK VCC GND VPS NC FG NC NC NC Model Number CBCFAMPA / CBCFAMPA RB () () () (Front view) Actuator side L φ9 Controller side Minimum bending radius r= mm or more (Dynamic bending condition) * The robot cable is designed for flexresistance: Please use the robot cable if the cable has to be installed through the cable track. () () * Please indicate the cable length (L) in, maximum m, e.g.) = m Actuator side 171 (AMP) Pin No A1 B1 A B A B A B A B A7 B7 A B A B A9 B9 A B A11 B11 Signal name φa VMM φ_a φb VMM φ_b LS+ LS A+ A B+ B BK+ BK LS_GND VPS VCC GND FG Controller side PADPV1S (J.S.T.MFG.CO.,LTD.) Pin No Signal name φa VMM φ_a φb VMM φ_b LS+ LS A+ A B+ B BK+ BK LS_GND VPS VCC GND FG Model Number CBAPSEPMPA * Please indicate the cable length (L) in, maximum m, e.g.) = m (1) () φ. (Front view) () Actuator side Minimum bending radius r= mm or more (Dynamic bending condition) * Only robot cable is available for this model. L () () Controller side Actuator side Terminal number A1 B1 A B A B A B A B A7 B7 A B A B A9 B9 A B A11 B11 [PCON] (ACON) Black [φa] (U) White [VMM] (V) Brown [φ/a] (W) Green [φb] () Yellow [VMM] () Red [φ/b] () Orange [LS+] (BK+) Gray [LS] (BK) White [] (A+) Yellow [] [A] Red [A+] (B+) Green [A] (B) Black [B+] (Z+) Brown [B] (Z) Black (identification tape) [BK+] (LS+) Brown (identification tape) [BK] (LS) Green (identification tape) [GNDLS] (GNDLS) Red (identification tape) [VPS] (VPS) White (identification tape) [VCC] (VCC) Yellow (identification tape) [GND] (GND) NC Shield [FG] (FG) NC NC Controller side Terminal number PCONCB/CFB

147 Maintenance Parts PCONCB/CFB Controller Model Number CBPSEPMPA * Please indicate the cable length (L) in, maximum m, e.g.) = m () (1) () (1) (1) (1) (Front view) Actuator side L (φ.) Controller side Minimum bending radius r= mm or more (Dynamic bending condition) * Only robot cable is available for this model. () () Actuator side Terminal number Black [φa] White [VMM] Red [φb] Green [VMM] Brown [φ/a] Yellow [φ/b] Orage [BK+] Gray [BK] NC NC Black [LS+] Brown [LS] White [A+] Yellow [A] Red [B+] Green [B] White (identification tape) [VCC] Yellow (identification tape) [VPS] Red (identification tape) [GND] Green (identification tape) [(reserve)] NC NC NC 1 Shield [FG] Controller side Terminal number Model Number CBRPSEPMPA * Please indicate the cable length (L) in, maximum m, e.g.) = m () (1) (Front view) () Actuator side L (φ.) Minimum bending radius r= mm or more (Dynamic bending condition) * Only robot cable is available for this model. () () Controller side Actuator side Terminal number A1 B1 A B A B A B A7 B7 A B A B A B A9 B9 A B A11 B11 Black [φa] White [VMM] Brown [φ/a] Green [φb] Yellow [VMM] Red [φ/b] Orange [LS+] Gray [LS] Red [A+] Gren [A] Black [B+] Brown [B] NC NC Black (identification tape) [BK+] Brown (identification tape) [BK] Green (identification tape) [GNDLS] Red (identification tape) [VPS] White (identification tape) [VCC] Yellow (identification tape) [GND] NC Shield [FG] (FG) NC NC Controller side Terminal number Model Number CBPACPIO * Please indicate the cable length (L) in, maximum m, e.g.) = m No connector No connector Flat cable (core) L B A A 1A B 1B HIFD1.7R No. Signal Cable name color 1A V Brown1 A V Red1 A Pulse Orange1 A Input Yellow1 A IN Green1 A IN1 Blue1 7A IN Purple1 A IN Gray1 9A IN White1 A IN Black1 11A IN Brown A IN7 Red 1A IN Orange 1A IN9 Yellow 1A IN Green 1A IN11 Blue 17A IN Purple 1A IN1 Gray 19A IN1 White A IN1 Black Wiring Flat cable A (pressurewelded) No. 1B B B B B B 7B B 9B B 11B B 1B 1B 1B 1B 17B 1B 19B B Signal name OUT OUT1 OUT OUT OUT OUT OUT OUT7 OUT OUT9 OUT OUT11 OUT OUT1 OUT1 OUT1 Pulse input V V Cable color Brown Red Orange Yellow Green Blue Purple Gray White Black Brown Red Orange Yellow Green Blue Purple Gray White Black Wiring Flat cable B (pressurewelded) AWG PCONCB/CFB 1

148 RCPS Builtin Controller RCPS with Builtin Controller Builtin controller for RCPS Features By using the gateway unit, a maximum of 1 axes* of RCPS (relayed through a hub unit) can be operated via a field network with less wiring. Hub unit allows us to keep the cable connected to the actuator of each axis short, and motor power supply and control signal lines can be connected as one cable between the hub unit and the RCPS. * The number of connectable axes will vary depending on the type of field network and its mode. Please refer to P. 19 for more information. Control Panel for the RCPS Builtin Controller Actuator Control panel Power supply unit PLC Gateway unit Gateway unit cables Installation example Hub unit axes axes axes axes *Maximum cable length between the gateway unit and RCPS is m. If there is a hub unit in between, the maximum length is still m. The cable length from the gateway unit to the hub unit needs to be m or less. Hub unit RCPS Peripheral Equipment Gateway unit is required in order to operate RCPS. Gateway unit: This unit is used in order to connect RCPS to the field network. See P. 19 Hub unit: This unit can expand the number of axes connected to the gateway unit. See P. PLC connection unit: This unit is used to connect RCPS directly to the PLC using Modbus serial communication. See P RCPS

149 RCPS Builtin Controller Basic Controller Specification List Specification Number of controlled axes Power supply voltage Control power capacity Load current (including controlside current consumption) type Electromagnetic brake power (for actuator with brake) Heat output Inrush current (Note 1) control method Compatible encoder Actuator cable length type P, P, P, P SP, P P, P, P, P SP, P Serial communication interface (SIO port) External interface Data setting, input method Data retention memory LED display Insulation resistance Electric shock protection mechanism Cooling method 1 axis VDC±%.A (Builtin controller only).a max. Specification Description.7A max. VDC±%.1A (Note) For releasing brake,.7a for. sec is required. W ( type P, P, P, P) 19.W ( type SP, P).A (With inrush current protection circuitry) Note1: Inrush current will flow for approximately msec after the power is turned on (at C). Inrush current value differs depending on the impedance on the power supply line. <The Calculation of Number of Connectable Axes and Power Capacity> A (With inrush current protection circuitry) Weak field vector control Resolution of batteryless absolute encoder:,19 pulses/rev m max. RS: 1CH (Modbus protocol RTU/ASCII compliant) : 9.~.Kbps 1CH (Modbus protocol RTU) Field bus connection: DeviceNet, CCLink, PROFIBUSDP, EtherCAT, EtherNet/IP, PROFINETIO. (Note) Additional gateway unit connection is required. PC compatible software, touch panel teaching pendant Position data and parameters are saved in nonvolatile memory. (No limit to rewrite) SV (green) / ALM (red): Servo ON / Alarm triggered and emergency stop Not less than MΩ at VDC Class I basic insulation Natural air cooling To calculate the number of axes connectable to one gateway unit and the current amperage of VDC, figure out (1) to () below and follow (). (1) The Calculation of Number of Connectable Axes, and Current Consumption Condition 1: Sum of motor current consumption connectable to one hub unit:.a or less Condition : Number of controlled axes connectable to corresponding 1 unit: axes or less * By adjusting the number of connected axes or motor type, select the connected axes so each hub unit satisfies the formulas below. Sum of motor current consumption for hub unit = current consumption of 1st axis + current consumption of nd axis (if connected) + current consumption of rd axis (if connected) + current consumption of th axis (if connected).a Sum of motor current consumption = current consumption of hub unit 1st unit + current consumption of nd hub unit (if connected) + current consumption of rd hub unit (if connected) + current consumption of th hub unit (if connected) () Control Power Current Consumption:.A Number of actuator +.A (gateway unit) +.A Number of hub unit () Consumption current when excited phase detected: The maximum current value of the total motor consumption current when servos are turned on at the same time () Inrush Current:.A ( type P, P, P, P) A ( type SP, P) () Current Consumption of Brake Release: Number of actuators with brake.7a * When servo is on, it should be.sec or less, after that retaining of released status should be.1a / axis. () Selection of Power Supply: Usually, the rated current is to be approximately 1. times higher than the total of Control Power + + above considering approximately % of margin to the load current. However, although it is for a short time, current of and will flow, so please take this into account and select a peak load support specification or select a power supply that has sufficient headroom. Avoid having all of the current from and from flowing at the same time by turning the servos on at different times from each other (Note 1). If a power supply with insufficient headroom is selected, voltage may drop instantaneously. Be careful especially when selecting a power source equipped with remote sensing. Note 1: The timing to turn the servo on can be tuned in Parameter No. 1 [Latency after Shutdown Release]. (Note) Ensure motor and control power supplies reference the same potential when using multiple power supplies. RCPS 1

150 RCPS Builtin Controller Options Gateway Unit (RCMPGW) Features: This unit is used in order to connect RCPS to the field network. Details: Compatible with many field networks. (Applicable networks: CCLink, DeviceNet, PROFIBUSDP, EtherCAT, EtherNet/IP, PROFINETIO) power and control power for all of the connected axes can be supplied through the gateway unit. Monitoring during AUTO is possible. A miniusb connection comes standard. Each channel has MPO/MPI for drive source cutoff. Brake can be forcibly released by supplying power to the brake release input terminal for each channel. (In the case that the actuator is directly connected) When RCPS is directly connected to the gateway unit, the communication time is msec. When RCPS is connected to the gateway unit through the hub unit, the communication time is msec. The communication time does not become longer even if the connected axes increase. Model Configuration RCM Series PGW (Blank) Standard (Separate controller) G Safety category compliant Connection Image CBRCPSPWBIO CBRCPSPWBIO RB (Robot cable) * Supplied with the actuator CC DV PR EC EP PRT Field network CCLink connection specification DeviceNet connection specification PROFIBUSDP connection specification EtherCAT connection specification EtherNet/IP connection specification PROFINET IO connection specification PC Teaching pendant TB1 CBRCPSRLY CBRCPSRLY RB (Robot cable) * Sold separately The Number of Connectable Axes: Maximum connectable axes for RCPGW are as shown below. Direct value mode Simple direct value mode Positioner 1 Positioner Positioner Positioner CCLink DeviceNet PROFIBUS EtherCAT EtherNet/IP PROFINET IO PLC Available Models Models CCLink specification DeviceNet specification PROFIBUS specification EtherCAT specification EtherNet/IP specification PROFINET IO specification Safety category CCLink specification Safety category DeviceNet specification Safety category PROFIBUSDP specification Safety category EtherCAT specification Safety category EtherNet/IP specification Safety category PROFINET IO specification * For safety category compliant specification, DP will be included. Up to 1 axes (*1) of RCPS can be connected per gateway unit with hub units. (*) Because both the motor power and control power for all the axes connected to the gateway unit can be supplied together, the required wiring for RCPS can be connected as one cable between the hub and RCPS. Also RCPS can be directly connected to the gateway unit. (*1) Number of connectable axes varies depending on the type of the field network. Please see Number of connectable axes table for details. (*) Hub unit: Refer to P. for the details. 19 RCPS

151 RCPS Builtin Controller Field Network Control Operation Mode These control modes are available to choose from when using the RCPS via field network. Data required for operation (target position, speed, acceleration, push current value, etc.) are written by a PLC or other host controller into the specified addresses. Operation mode Description Overview Positioner 1/ Simple direct numerical value mode (Simple direct mode) Positioner 1 mode can store up to points of position data, and can move to the stored position. Both modes allow monitoring the current position numerically with.1mm increments. The simple direct numerical value mode can modify any of the stored target positions by numerical value. Both modes allow monitoring the current position numerically with.1mm increments. PLC Target position Target position number Control signal Current position Completed position number Status signal Communication via field network +V Gateway unit Hub unit Direct numerical control mode (Direct indication/ Full mode) This mode allows designating the target position, speed, acceleration/deceleration, and motor current percentage for pushing numerically. Also, it is capable of monitoring the current position, current speed, and the motor current command value with.1mm increments. PLC Target position Positioning band, acceleration/deceleration Pushing percentage Control signal Current position current (command value) Current speed (command value) Alarm code Status signal Communication via field network +V Gateway unit Hub unit Positioner mode Positioner mode can store up to points of position data, and can move to the stored position. This mode does not allow monitoring of the current position. This is a mode that has less in/out data transfer volume than the Positioner 1 mode. PLC Target position number Control signal Completed position number Status signal Communication via field network +V Gateway unit Hub unit Positioner mode Positioner mode can store up to points of position data, and can move to the stored position. This mode does not allow monitoring of the current position. This is a mode that has less in/out data transfer volume than the Positioner mode, and operates with a minimum number of signals. PLC Target position number Control signal Completed position number Status signal Communication via field network +V Gateway unit Hub unit Positioner mode Positioner mode can store up to 1 points of position data, and can move to the stored position. This is a mode that has less in/out data transfer volume than the Positioner mode, and allows monitoring the current position numerically with.1mm increments. PLC Target position number Control signal Current position Completed position number Status signal Communication via field network +V Gateway unit Hub unit RCPS 1

152 RCPS Builtin Controller List of Functions by Operation Mode Simple direct value mode Positioner 1 mode Direct numerical control mode (Direct indication/full mode) Positioner mode Positioner mode Positioner mode Number of positioning points points points Unlimited points points 1 points Home return operation Positioning operation r r r r, acceleration/deceleration settings r r r r r Different acceleration and deceleration settings r r r r r Pitch Feed (Incremental) r r r r Pushmotion operation r r r r r changes while moving r r r r r Pausing Zone signal output r r r r r r Position zone signal output r r r Current position reading (Resolution) (.1mm) (.1mm) (.1mm) * indicates that direct setting is possible, r indicates position data or parameter input is required, x indicates the operation is not supported. (.1mm) Names and Functions of Each Part (1) () () () () () (7) () External Dimensions φ. (9) <Bottom> () (11). (1) Field network connector The connector used to connect to the field network. () System I/O connector The connector for emergency stop input, external AUTO/MANU switchover input, and brake release input in case of directly connecting RCPS to a gateway unit. () Operation mode setting switch For switching the operation mode between automatic (AUTO) and manual (MANU). () SIO connector The connector used to connect a teaching pendant or PC software. () USB connector The connector used to connect the PC software. () Drive power cutoff connector The connector used to connect an external drive power cutoff relay to the VDC power supply from the motor power connector. (7) power supply connector For VDC motor power supply for a gateway unit. () Control power supply connector The connector for the gateway unit VDC control power supply and the frame ground (FG). (9) Status display LED Displays the status of the gateway unit. Code LED Display color and operating status.. (.) 11.. (mm DIN rail width) from the DIN rail center LED1 SYS System status Ready (Green) Alarm (Red) LED AUTO Operation mode (AUTO/MANU) status Automatic operation mode (Green) LED EMG Emergency stop (EMG) status Emergency stop (EMG)(Red) LED T. ERR Bus communication error in the controller T.ERR (Orange) LED C. ERR Field bus network communication error C.ERR (Orange) () Axis control connector The connector used to supply power and control signals (VDC control power, VDC motor power, communication line, brake release signal, emergency stop status, etc.) from the gateway unit to the hub unit or RCPS. (11) Axis power supply connector The connector used to supply VDC motor power via gateway unit to either a RCPS or a hub unit. 11 RCPS

153 RCPS Builtin Controller Gateway Unit Basic Specifications Specification Number of controlled axes Power supply voltage Control power capacity power capacity Cooling method Emergency stop input Enable input T.P. enable input Enable operation Backup memory Description 1 axes max. ( axes with a single gateway unit) VDC±%.A (.A with a single gateway unit + field bus module.a) External V power supply Consumption current.a (A effective)* Natural air cooling B contact input None Yes Servo OFF FRAM (kbit), No. of overwrites: Unlimited Calendar function Yes (retains data for days after power off) SYS LED 1 (RUN/ALM), EMG LED 1, MODE LED 1 (AUTO/MANU), T.ERR LED Gateway board 1, C.ERR LED 1 LED display Field bus module status LED Tool connection T/P connector: RS 1ch (Modbus protocol compliant) USB connector: USB 1ch Electromagnetic braking forced release mechanism System I/O connector: External brake release signal input (VDC) *Only used when an RCPS unit is directly connected to the gateway unit. Disabled when a hub is connected. Electric shock protection mechanism Class 1, basic insulation Insulation withstanding voltage VDC MΩ Weight g External dimensions W 11H D *The amount limited by the connectors rated current and PCB trace widths through to the actual A value. =.A Options Hub Unit (RCMPHUB) Features: The connection between gateway unit hub unit and hub unit RCPS can be established using serial communication. By using a gateway unit with hub units, up to 1 axes can be controlled. * The number of connectable axes will vary depending on the type of field networks and its mode. Please see P. 19 for the details. The hub unit cannot be used alone. It must be used with a gateway unit. Model Configuration RCM Series PHUB Mounting specification (Blank) Screw mounting specification DN DIN rail mounting specification External Dimensions [DIN rail specification] [Screw mounting specification]. Specification 11 (.).. (mm DIN rail width). from the DIN rail center φ φ Specification Description Number of controlled axes axes max. Power supply voltage VDC±% Control power capacity.a (single hub unit) power capacity.a max. from connected axes Emergency stop input None Enable input None LED display SYS LED 1 (RUN/ALM) AXIS LED (RUN/ALM) Electromagnetic braking External brake release forced release mechanism switch Electric shock protection mechanism Class 1, basic insulation Insulation withstanding voltage VDC MΩ Contamination Contamination Weight g External dimensions W 11H D RCPS

154 RCPS Builtin Controller Options PLC Connection Unit (RCBPPLC) Features: This is a terminal block used to connect the RCPS and the PLC using serial communication. The RCPS and the PLC connection unit can be easily connected with a cable. * The gateway unit and the hub unit cannot be connected to this PLC connection unit. Model Configuration RCB Series PPLC Mounting specification (Blank) DN Screw mounting specification DIN rail mounting specification Connection Image Emergency stop switch PLC connection unit V power supply Specification Specification Number of controlled axes Power supply voltage 1 axis VDC±% Description A for single PLC connection unit Control power capacity.a for connected PLC units + RCPS builtin driver For brake type,.7a for. sec is required for releasing brake power capacity Depending on RCPS builtin driver Emergency stop input B contact input Enable input None LED display None Electromagnetic braking forced release mechanism External brake release signal input (VDC) Electric shock protection mechanism Class 1, basic insulation Insulation withstanding voltage VDC MΩ Contamination Contamination Weight g External Dimensions W 11H D External Dimensions [DIN rail specification] [Screw mounting specification].. φ φ from the DIN rail center 11 (.). (mm DIN rail width) Options Touch Panel Teaching Pendant Features A teaching device equipped with functions such as position teaching, trial operation, and monitoring. Model TB1C 1 RCPS PC Compatible Software (for Windows) Features This is startup support software which comes equipped with functions such as position input, trial operation, monitoring, etc. A complete range of functions needed for making adjustments contributes to a reduced startup time. Model RCM1MW (with an external device communication cable + RS conversion unit) Model RCM1USB (with an external device communication cable +USB conversion adapter + USB cable)