RCP4 Series PCON-CA. RoboCylinder. PowerCon

Transcription

1 GB RoboCylinder PowerCon RCP Series PCON-CA

2 PowerCon Realizing 1. Times the Speed and Double the Payload The PowerCon 1 series boosts the performance of RoboCylinder IAI is proud to introduce the PCON-CA model combining a the newly developed high-output driver (patent pending). Improved dynamic performance (the speed is up to 1. times and payload is up to twice *Specific values vary depending on the model. New functions designed to enhance maintainability enable preventative maintenance, The takt time minimization function lets you set optimal operating conditions with greater RCP Series Variations RCP-SA RCP-SA RCP-SA7 Series Shape Type External view Actuator size (width) SA 2mm Stroke 1 2 Slider type SA 8mm RCP SA7 7mm Rod type RA RA 2mm 1mm mm~mm mm~mm Controller Series Type Page 1 PCON CA p.21

3 RCP series 1% the Output, Achievable with Standard Controllers standard motorized cylinders to amazing new heights. PowerCon 1 controller with a RCP actuator supporting IAI s conventional models*) significantly boosts the productivity of your system. so less time is needed for maintenance. ease. RCP-RA RCP-RA PCON-CA 7 8 mm~8mm mm~8mm mm~8mm Ball screw lead (mm) Maximum speed (mm/s) Maximum payload (kg) Horizontal Vertical Maximum acceleration Page 1G p.9 1G p.11 1G p.1 1G p.1 1G p.17 2

4 Features Shorter Takt Time Significantly Boosts New Functions of RCP Actuator From times higher maximum speed and double the payload when combined with a PowerCon 1 When the new controller (PowerCon 1) equipped with our newly developed high-output driver (patent pending) is used, the maximum speed increases significantly by up to 1. times the levels achievable with IAI s conventional models, while the payload is greater by up to twice (*). In addition to these amazing improvements in s, the maximum speed does not drop as much even when the payload increases due to increased torque with the high speed motor, meaning that dynamic performance equivalent to that of a higher-class model can be achieved at lower cost. (*) The specific rates of improvement vary depending on the model. PowerCon 1 PCON-CA Many variations to choose from, including three slider types and two rod types the current RCP2 series, we selected three slider types (SA/SA/SA7) and two rod types (RA/RA), which are among the most widely used actuators. We plan to add more variations in the future. Payload (kg) Slider Type, ead 12, Acceleration/Deceleration. G 1 1 RCP-SAC Conventional model RCP2-SAC Motorized actuator by other Manufacturer Speed (mm/s) Correlation Diagram of Speed and Payload RCP-SA RCP-SA Slider type RCP-SA7 RCP-RA Rod type RCP-RA

5 RCP series the Productivity of Your System The The rod type <Radial Cylinder> with a built-in guide mechanism can carry radial loads over a long stroke (mm). rod type <Radial Cylinder> has a built-in guide mechanism in the actuator to carry radial loads on the rod over a long stroke of up to mm. The guide mechanism also reduces vibration and deflection of the rod significantly. Conventional onal mm mm RCP <Radial Cylinder> Easy replacement of the motor with removal of only one setscrew Allowable load (N) 2 1 RCP-RAC RCP-RAC RCP-RAC RCP-RAC RCP2-RGDC RCP2-RGDC RCP2-RGSC RCP2-RGSC Stroke (mm) Comparison of Allowable oad at End of Rod (Assuming km of Traveling ife) The motor has been unitized for easy replacement. The actuator and motor unit can be separated and replaced by removing only one setscrew, so the time required for maintenance becomes significantly shorter. Setscrew Motor unit Slider types have mounting holes compatible with the RCP2 Slider types have mounting holes that are compatible with RCP2 actuators, meaning that you can replace your current RCP2 actuator with a RCP with ease. Also, the mounting holes provided on rod types are the same as those provided on slider types, instead of T-slots found on the RCP2, and reamed holes are also provided to significantly improve installation Mounting hole repeatability. Reamed hole Bottom of rod type Can be installed from either the top or bottom Installed with a flange

6 Features New Functions to Enhance Maintainability New Functions of PowerCon 1 PCON-CA Keep track of the production volume and utilization ratio with the total movement counter function The total number of times the actuator has moved is counted and recorded in the controller, and a signal is output to an external device once the pre-defined count is exceeded. This function can be used to keep track of the production volume, utilization ratio, etc. 7 The 8 The Know when to perform maintenance with the total travel counter function total distance travelled by the actuator is counted and recorded in the controller, and a signal is output to an external device once the pre-defined count is exceeded. By using this function, you know when to add grease or perform periodic maintenance. Retain alarm generation times with the calendar function calendar function (clock function) lets you add timestamps to the history of alarms, etc. This information is useful in troubleshooting, etc.

7 RCP series Optimal Operating Conditions Are Set Automatically Takt time minimization function 9 Setting optimal operating conditions has become easier with the takt time minimization function The takt time minimization function is a new feature added to the RoboCylinder PC software (Ver or later) and touch-panel teaching (model number CON-PTA). All you need is to connect the actuator to a controller supporting this function and enter the actuator model, load, etc., and optimal acceleration/deceleration and speed according to the load will be set automatically. model number of the actuator used and the load (mass) to be transported. 1. Setting the acceleration/deceleration from the speed Enter a desired speed in the position data table, and the maximum settable acceleration/deceleration will be set 2. Setting the acceleration/deceleration and speed from the travel Specify the position data number associated with desired start/end positions of movement and set a desired travel distance, and the combination of acceleration/deceleration and speed that gives the shortest travel time will be set automatically. 1 PIO control, pulse-train control and field network compatible mode to choose from You can select a controller of one of three types: the positioner type where position numbers are specified by I/Os (input/ output signals) from a PC, etc., the pulse-train type where the actuator is directly operated by sending pulses from a positioning unit (pulse-train controllers also support positioner operation using I/Os), and the field network type where dedicated fieldbus commands or industrial ethernet communication protocols are used by direct connection. 11 Motor silencer function Typical operating noises of pulse motors are reduced at low speed.

8 System Configuration PC PC software RS22 connection type <Model number: RCM-11-MW-EU> USB connection type <Model number: RCM-11-USB-EU> Refer to P. 29. PIO cable <Model number: CB-PAC-PIO2> Standard length: 2m (Supplied with the controller) Refer to P.. Touch-panel teaching pendant (Model number: CON-PTA-C-ENG/ CON-PDA-C-ENG/CON-PGA-C-S-ENG) Refer to P. 28. m DC2V Power Supply 2V V FG Simple absolute battery <Model number: AB-7> Refer to P. 29. Integrated motor/encoder cable <Model number: CB-PSEP-MPA > Standard lengths: 1m/m/m (Supplied with the actuator) Refer to P.. Integrated motor/encoder cable <Model number: CB-APSEP-MPA > Standard lengths: 1m/m/m (Supplied with the actuator) Refer to P.. Actuator RCP2 series Actuator RCP series Integrated motor/encoder cable <Model number: CB-CA-MPA > <Model number: CB-CA-MPA RB> Standard lengths: 1m/m/m (Supplied with the actuator) Refer to P.. <RCP series> Slider type RCP-SAC Slider type RCP-SAC Slider type RCP-SA7C Rod type RCP-RAC Rod type RCP-RAC 7

9 RCP series Model Specification Items Actuator RCP I Series Type Encoder type Motor type Ball screw lead Stroke Applicable controller P Cable length Options SAC SAC SA7C RAC RAC Slider width 2mm Coupling type Slider width 8mm Coupling type Slider width 7mm Coupling type Rod width 2mm Coupling type Rod width 1mm Coupling type I Incremental 2P P ead mm ead mm ead mm 8 ead 8mm 12 ead 12mm 1 ead 1mm 2 ead 2mm 2 ead 2mm 2 frame pulse motor frame pulse motor P PCON-CA mm 8 8mm (Can be set in mm increments) N P S M X R B Brake NM Non-motor end F SC Flange Scraper None 1m m m Specified ength Robot cable Actuator Options Brake Option code: B Applicable models Description RCP-SAC/SAC/SA7C/RAC/RAC A mechanism to hold the slider in place when the actuator is used vertically, so that it will not drop and damage the work part, etc., when the power or servo is turned off. Non-motor end Option code: NM Applicable models Description RCP-SAC/SAC/SA7C/RAC/RAC Select this option if you want to change the home position of the actuator slider or rod from the normal position (motor end) to the front end. Applicable models Description RCP-SAC/SAC A bracket used to secure a rod actuator from the actuator side. The flange can be purchased separately later on. Flange Option code: F RCP-RA type Model number of flange: RCP-F-RA C1 8 ±.2 -., through 1 RCP-RA type Model number of flange: RCP-F-RA C1-9, through ±.2 ±.1 ±.1 Scraper Option code: SC Applicable models Description RCP-RAC/RAC When a rod actuator is used, select this option if you want to prevent dust attached to the rod from entering the actuator. 8

10 RCP-SAC Model Specification Items RCP Series SAC Type I Encoder type I: Incremental RoboCylinder, Slider Type, Motor Unit Coupled, Actuator Width 2mm, 2-V Pulse Motor 2P Motor type 2P: Pulse motor, size 2 ead Stroke Cable length Options 2 : 2mm 12 : 12mm : mm : mm : mm 8: 8mm (every mm) P Applicable controller P: PCON-CA N: None P: 1m S: m M: m X : Specified length R : Robot cable Refer to the options table below. Correlation Diagrams of Speed and Payload With the RCP series, due to the characteristics of the pulse motor, payload decreases as the speed increases. Use the chart below to confirm that the desired speed and payload requirements are met. Payload (kg) ead The values for leads //12 are based on operation at.g. ead Horizontal 1 9 ead 12 ead 2 (when operated at.g). ead 2 (when operated at. G) Speed (mm/s) (1) The payload is the value when operated at. G acceleration. The upper limit of acceleration is 1 G (or. G in a vertical installation). Note that raising the acceleration causes the payload to drop. (Refer to P. 2.) Payload (kg) The values for leads //12 are based on operation at.g. ead Vertical 2 ead ead 12 ead 2 (when operated at.g) Speed (mm/s) Actuator Specifications eads and Payloads Model number ead Maximum payload (mm) Horizontal (kg) Vertical (kg) Positioning repeatability (mm) RCP-SAC-I-2P-2- ➀ -P- ➁ - ➂ 2. 1 ±. RCP-SAC-I-2P-12- ➀ -P- ➁ - ➂ RCP-SAC-I-2P-- ➀ -P- ➁ - ➂ 18 ±.2 Stroke (mm) ~8 (every mm) Stroke and Maximum Speed (See P2) Stroke ~ ead (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) <128> <128> RCP-SAC-I-2P-- ➀ -P- ➁ - ➂ 2 12 Code explanation ➀ Stroke ➁ Cable length ➂ Options The values in < > apply when the actuator is used vertically. (unit: mm/s) Cable ength Type Standard type Special length Robot cable Options Cable symbol P (1m) S (m) M (m) X (m) ~ X1 (1m) X11 (11m) ~ X1 (1m) X1 (1m) ~ X2 (2m) R1 (1m) ~ R (m) R (m) ~ R (m) R (m) ~ R1 (1m) R11 (11m) ~ R1 (1m) R1 (1m) ~ R2 (2m) Name Option code See page Brake B8 Non-motor end NM 8 Actuator Specifications Item Description Drive system Ball screw 1mm, rolled C1 ost motion.1mm or less Base Material: Aluminum with white alumite treatment Guide inear guide Dynamic allowable moment (*) Ma:.9 N m, Mb:.8 N m, Mc: 11.7 N m Allowable overhang 1mm or less in Ma, Mb and Mc directions Ambient operating temperature, humidity to oc, 8% RH or less (Non-condensing) (*) Based on km of traveling life Overhang load Allowable load moment directions lengths Ma Mb Mc Ma Mc 9

11 Dimensional Drawings CAD drawings can be downloaded from the website. 2/D 2D CAD *If the non-motor end is selected, reverse the dimension on motor end (distance to the home) and that on front end. *1 Connect the motor and encoder cables. *2 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. Cable joint connector(*1) 2-øH7, depth M, depth 9 2 (). Reference plane ø8 ø. Detail view of X (Mounting hole and reference plane) 2 (Reamed hole pitch ±.2) 19±.2 Allowable bending radius of securing cable: R Reference offset position for Ma/Mc moments (without brake) F 18 (with brake ) 18 Stroke 9 19 ME SE Home ME (*2) 2 X +.12 B 22. Ground tap M, depth (Same on opposite side) 2-øH7, depth. (from bottom base) * The dimensions in ( ) apply when brake is equipped H-oblong hole, depth. (from bottom base) D-M, depth 7 1 P E-ø., through ø8 counterbored, depth. (from opposite side) Detail Y Y C 1 P J (reamed hole and oblong hole pitch) 2 7 A 2 G 1 (1) Dimensions and Mass by Stroke Stroke Without brake With brake A B C D E F G H J Mass Without brake (kg) With brake Applicable Controller RCP series actuators can be operated with the controller indicated below. Select the type according to your intended application. Name External view Model number Features Positioner type (NPN ) Positioner type (PNP ) Pulse-train type (NPN ) Pulse-train type (PNP ) PCON-CA-2PI-NP- -- PCON-CA-2PI-PN- -- PCON-CA-2PI-PN- -- PCON-CA-2PI-PP- -- * Refer to P. 22 for the details of the aforementioned model numbers. Maximum number of positioning points Register positions to move the actuator into the controller beforehand, and specify the number 12 points corresponding to each desired position to operate the actuator. The actuator can be operated freely via pulse-train controller from an external output device. Input power DC2V Power supply capacity Refer to P. 27 Reference page P. 21 1

12 RCP-SAC RoboCylinder, Slider Type, Motor Unit Coupled, Actuator Width 8 mm, 2-V Pulse Motor Model Specification Items RCP Series SAC Type I Encoder type I: Incremental 2P Motor type 2P: Pulse motor, size 2 ead Stroke Cable length Options 2 : 2mm 12 : 12mm : mm : mm : mm 8: 8mm (every mm) P Applicable controller P: PCON-CA N: None P: 1 m S: m M: m X : Specified length R : Robot cable Refer to the options table below. (1) The payload is the value when operated at. G acceleration. The upper limit of acceleration is 1 G (or. G in a vertical installation). Note that raising the acceleration causes the payload to drop. (Refer to P. 2.) Correlation Diagrams of Speed and Payload With the RCP series, due to the characteristics of the pulse motor, payload decreases as the speed increases. Use the chart below to confirm that the desired speed and payload requirements are met. The values for leads //12 are based ead on operation at. G. 2 ead Horizontal ead 12 ead 2 (when 1 operated at. G) 9. ead 2 (when operated at. G) Speed (mm/s) 1 ead 12 The values for leads //12 are based on operation at. G. 1 Vertical 8 ead ead 2 (when 2. ead 12 operated at. G) Speed (mm/s) Payload (kg) Payload (kg) Actuator Specifications eads and Payloads Stroke and Maximum Speed (See P2) Model number ead Maximum payload Positioning Stroke Stroke (mm) Horizontal (kg) Vertical (kg) repeatability (mm) (mm) ead ~ (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) RCP-SAC-I-2P-2- ➀ -P- ➁ - ➂ ±. 2 1 <128> 1 <128> RCP-SAC-I-2P-12- ➀ -P- ➁ - ➂ ~ (every RCP-SAC-I-2P-- ➀ -P- ➁ - ➂ 2 ±.2 mm) RCP-SAC-I-2P-- ➀ -P- ➁ - ➂ 2 12 Code explanation ➀ Stroke ➁ Cable length ➂ Options The values in < > apply when the actuator is used vertically. (unit: mm/s) Cable ength Type Standard type Special length Robot cable Options Cable symbol P (1m) S (m) M (m) X (m) ~ X1 (1m) X11 (11m) ~ X1 (1m) X1 (1m) ~ X2 (2m) R1 (1m) ~ R (m) R (m) ~ R (m) R (m) ~ R1 (1m) R11 (11m) ~ R1 (1m) R1 (1m) ~ R2 (2m) Name Option code See page Brake B8 Non-motor end NM 8 Actuator Specifications Item Description Drive system Ball screw 1mm, rolled C1 ost motion.1mm or less Base Material: Aluminum with white alumite treatment Guide inear guide Dynamic allowable moment (*) Ma: 8.9 N m, Mb: 12.7 N m, Mc: 18. N m Allowable overhang 22mm or less in Ma, Mb and Mc directions Ambient operating temperature, humidity to C, 8% RH or less (Non-condensing) (*) Based on km of traveling life Allowable load moment directions Overhang load lengths Ma Mb Mc Ma Mc 11

13 Dimensional Drawings CAD drawings can be downloaded from the website. 2/D 2D CAD *If the non-motor end is selected, reverse the dimension on motor end (distance to the home) and that on front end. *1 Connect the motor and encoder cables. *2 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. Cable joint connector (*1) ø. Reference plane ø8. Detail view of X (Mounting hole and reference plane) 2-øH7, depth M, depth 9 2 () 1 (Reamed hole pitch ±.2) 2±.2 Allowable bending radius of securing cable: R Reference offset position 98 (without brake) for Ma/Mc moments K 18 (with brake) 18 Stroke ME SE Home ME (*2) 28 X 22. Ground tap M, depth (Same on opposite side) * The dimensions in ( ) apply when a brake is equipped H-oblong hole, depth. (from bottom base) D-M, depth 9 F-ø., through ø8 counterbored, depth. (from opposite side) E-øH7, depth. B 1 P (from bottom base) 9. Detail Y 7 Y CX1 P 2 J (reamed hole and oblong hole pitch) A 7 2 G 1 (1) Dimensions and Mass by Stroke Stroke Without brake With brake A B C D E 2 F G H J K Mass Without brake (kg) With brake Applicable Controller RCP series actuators can be operated with the controller indicated below. Select the type according to your intended application. Title External view Model number Features Positioner type (NPN ) Positioner type (PNP ) Pulse-train type (NPN ) Pulse-train type (PNP ) PCON-CA-2PI-NP- -- PCON-CA-2PI-PN- -- PCON-CA-2PI-PN- -- PCON-CA-2PI-PP- -- Maximum number of positioning points Register positions to move the actuator into the controller beforehand, and specify the number 12 points corresponding to each desired position to operate the actuator. The actuator can be operated freely via pulse-train controller from an external output device. * Refer to P. 22 for the details of the aforementioned model numbers. Input power DC2V Power supply capacity Refer to P. 27 Reference page P

14 RCP-SA7C Model Specification Items RCP Series SA7C Type I Encoder type I: Incremental RoboCylinder, Slider Type, Motor Unit Coupled, Actuator Width 7mm, 2-V Pulse Motor P Motor type P: Pulse motor, size ead Stroke Cable length Options 2 : 2mm 1 : 1mm 8 : 8mm : mm : mm 8: 8mm (every mm) P Applicable controller P: PCON-CA N: None P: 1m S: m M: m X : Specified length R : Robot cable Refer to the options table below. (1) The payload is the value when operated at. G acceleration. The upper limit of acceleration is 1 G (or. G in a vertical installation). Note that raising the acceleration causes the payload to drop. (Refer to P. 2.) Correlation Diagrams of Speed and Payload With the RCP series, due to the characteristics of the pulse motor, payload decreases as the speed increases. Use the chart below to confirm that the desired speed and payload requirements are met. lead The values below are based ead 8 on operation at. G. Horizontal ead ead Speed (mm/s) Payload (kg) Payload (kg) lead The values below are based 2 on operation at. G. Vertical ead ead 1 ead Speed (mm/s) Actuator Specifications eads and Payloads Model number ead Maximum payload (mm) Horizontal (kg) Vertical (kg) Positioning repeatability (mm) RCP-SA7C-I-P-2- ➀ -P- ➁ - ➂ 2 2 ±. RCP-SA7C-I-P-1- ➀ -P- ➁ - ➂ 1 8 RCP-SA7C-I-P-8- ➀ -P- ➁ - ➂ 8 1 RCP-SA7C-I-P-- ➀ -P- ➁ - ➂ 2 Code explanation ➀ Stroke ➁ Cable length ➂ Options ±.2 Stroke (mm) ~8 (every mm) Stroke and Maximum Speed (See P2) Stroke ~ ead (mm) (mm) (mm) (mm) (mm) (mm) <8> <8> <21> <21> The values in < > apply when (Unit: mm/s) the actuator is used vertically. Cable ength Type Standard type Special length Robot cable Options Cable symbol P (1m) S (m) M (m) X (m) ~ X1 (1m) X11 (11m) ~ X1 (1m) X1 (1m) ~ X2 (2m) R1 (1m) ~ R (m) R (m) ~ R (m) R (m) ~ R1 (1m) R11 (11m) ~ R1 (1m) R1 (1m) ~ R2 (2m) Name Option code See page Brake B8 Non-motor end NM 8 Actuator Specifications Item Description Drive system Ball screw 12mm, rolled C1 ost motion.1mm or less Base Material: Aluminum with white alumite treatment Guide inear guide Dynamic allowable moment (*) Ma: 1.9 N m, Mb: 19.9 N m, Mc: 8. N m Allowable overhang 2mm or less in Ma, Mb and Mc directions Ambient operating temperature, humidity to oc, 8% RH or less (Non-condensing) Overhang load Allowable load moment directions lengths Ma Mb Mc Ma Mc 1

15 Dimensional Drawings CAD drawings can be downloaded from the website. 2/D 2D CAD *If the non-motor end is selected, reverse the dimension on motor end (distance to the home) and that on front end. *1 Connect the motor and encoder cables. *2 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. Cable joint connector (*1).. Reference plane ø9. ø Detail view of X (Mounting hole and reference plane) 2-øH7, depth M, depth 1 2 () 9 (Reamed hole pitch ø.2) 2±.2 Allowable bending radius of securing cable: R Reference offset position for Ma/Mc moments (without brake) K 18 (with brake) Stroke ME SE Home ME (*2) 21 X 2 Ground tap M, depth (Same on opposite side) F-ø, through, ø9. counterbored, H-oblong hole, depth. depth. (Separate from opposite side) (from bottom base) E-øH7, depth D-M, depth 9 B 1 P (from bottom base) * The dimensions in ( ) apply when a brake is equipped Detail Y C 1 P Y J (reamed hole and oblong hole pitch) A G 1. (19.) Dimensions and Mass by Stroke Stroke Without brake With brake A B C D E 2 F G H J K Mass Without brake (kg) With brake Applicable Controller RCP series actuators can be operated with the controller indicated below. Select the type according to your intended application. Title External view Model number Features Positioner type (NPN ) Positioner type (PNP ) Pulse-train type (NPN ) Pulse-train type (PNP ) PCON-CA-PI-NP- -- PCON-CA-PI-PN- -- PCON-CA-PI-PN- -- PCON-CA-PI-PP- -- Maximum number of positioning points Register positions to move the actuator into the controller beforehand, and specify the number 12 points corresponding to each desired position to operate the actuator. The actuator can be operated freely via pulse-train controller from an external output device. * Refer to P. 22 for the details of the aforementioned model numbers. Input power DC2V Power supply capacity Refer to P. 27 Reference page P. 21 1

16 RCP-RAC Model Specification Items RCP Series RAC Type I Encoder type I: Incremental RoboCylinder, Rod Type, Motor Unit Coupled, Actuator Width 2 mm, 2-V Pulse Motor 2P Motor type 2P: Pulse motor, size 2 ead Stroke Cable length Options 2 :2 mm 12 :12 mm : mm : mm : mm : mm (every mm) P Applicable controller P: PCON-CA N: None P: 1 m S: m M: m X : Specified length R : Robot cable Refer to the options table below. Built-in guide mechanism (1) The payload is the value when operated at. G acceleration. The upper limit of acceleration is 1 G (or. G in a vertical installation). Note that raising the acceleration causes the payload to drop. (Refer to P. 2.) Correlation Diagrams of Speed and Payload With the RCP series, due to the characteristics of the pulse motor, payload decreases as the speed increases. Use the chart below to confirm that the desired speed and payload requirements are met. 7 ead The values below are based on operation at. G. Horizontal ead 2 2 ead Speed (mm/s) Payload (kg) Payload (kg) ead ead The values below are based on operation at. G. Vertical ead ead Speed (mm/s) Actuator Specifications eads and Payloads Stroke and Maximum Speed (See P2) Model number ead Maximum payload Maximum Positioning Stroke Stroke ~ (mm) Horizontal (kg) Vertical (kg) push force (N) repeatability (mm) (mm) ead (every mm) RCP-RAC-I-2P-2- ➀ -P- ➁ - ➂ 2 1. ±. 2 8 RCP-RAC-I-2P-12- ➀ -P- ➁ - ➂ RCP-RAC-I-2P-- ➀ -P- ➁ - ➂ 1 18 ±.2 ~ (every mm) 12 7 RCP-RAC-I-2P-- ➀ -P- ➁ - ➂ Code explanation ➀ Stroke ➁ Cable length ➂ Options (unit: mm/s) Cable ength Type Standard type Special length Robot cable Cable symbol P (1m) S (m) M (m) X (m) ~ X1 (1m) X11 (11m) ~ X1 (1m) X1 (1m) ~ X2 (2m) R1 (1m) ~ R (m) R (m) ~ R (m) R (m) ~ R1 (1m) R11 (11m) ~ R1 (1m) R1 (1m) ~ R2 (2m) Actuator Specifications Item Description Drive system Ball screw 1 mm, rolled C1 ost motion.1mm or less Rod 22 stainless steel pipe Rod non-rotation precision ±.1 deg Allowable load/torque at end of rod Refer to the table on the facing page. oad offset distance at end of rod 1mm or less Ambient operating temperature, humidity to C, 8% RH or less (Non-condensing) Offset distance at end of rod (1mm or less) oad at end of rod Options Name Option code See page Brake B 8 Flange bracket F 8 Non-motor end NM 8 Scraper SC 8 1

17 Dimensional Drawings CAD drawings can be downloaded from the website. 2/D 2D CAD *If the non-motor end is selected, reverse the dimension on motor end (distance to the home) and that on front end. *1 Connect the motor and encoder cables. *2 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. * The direction of width across flats varies depending on the product. * If the actuator is installed using the front housing and flange, make sure the actuator will not receive any external force. (For details, refer to Notes on Installing Rod Actuators on P. 19.) Dimensions with Flange (Optional) (*) -., bored through. Reference plane 8 Outer diameter of rod: 22. Detail view of X (Mounting hole and reference plane) M1 1.2 Stroke -M, depth 12 (*) 1. ME SE Home ME (*2) (width across flats)(*) K (1.) 1 (without brake) 1 (with brake) Cable joint connector (*1) 2 () Allowable bending radius of securing cable: R X 1 2 Front housing (*) D-M, depth 7 2-H7, depth. (from bottom base) Oblong hole, depth. (from bottom base) N C 1 P Ground tap M, depth (Same on opposite side) 2. F-., through 8 counterbored, depth. (from opposite side) Detail Y 18 Y J (reamed hole and oblong hole pitch) M B 1 P A G 11.(1.) M (19.) Supplied rod end nut Rod Deflection of RCP-RAC (Reference Values) (The graph below plots deflection as measured by installing the actuator vertically and applying a force to the rod from one side.) oad at end of rod(n) Deflection (mm) Home st 1st 1st 2st 2st st st st Dimensions and Mass by Stroke Stroke Without brake With brake A B C D F G J K M N Allowable static load at end of rod (N) Allowable dynamic oad offset mm load at end of rod (N) oad offset 1mm Allowable static torque at end of rod (N m) Allowable dynamic torque at end of rod (N m) Mass Without brake (kg) With brake Applicable Controller RCP series actuators can be operated with the controller indicated below. Select the type according to your intended application. Name External view Model number Features Positioner type (NPN ) Positioner type (PNP ) Pulse-train type (NPN ) Pulse-train type (PNP ) PCON-CA-2PI-NP- -- PCON-CA-2PI-PN- -- PCON-CA-2PI-PN- -- PCON-CA-2PI-PP- -- Register positions to move the actuator to in the controller beforehand, and specify the number corresponding to each desired position to operate the actuator. The actuator can be operated freely via pulse-train controller from an external output device. * Refer to P. 22 for the details of the aforementioned model numbers. Maximum number of positioning points 12 points Input power DC2V Power supply capacity Refer to P. 27 Reference page P. 21 1

18 RCP-RAC Model Specification Items RCP Series RAC Type I Encoder type I: Incremental RoboCylinder, Rod Type, Motor Unit Coupled, Actuator Width 1mm, 2-V Pulse Motor P Motor type P: Pulse motor, size ead Stroke Cable length Options 2 : 2mm 1 : 1mm 8 : 8mm : mm : mm : mm (every mm) P Applicable controller P: PCON-CA N: None P: 1 m S: m M: m X : Specified length R : Robot cable Refer to the options table below. Built-in guide mechanism (1) The payload is the value when operated at. G acceleration. The upper limit of acceleration is 1 G (or. G in a vertical installation). Note that raising the acceleration causes the payload to drop. (Refer to P. 2.) Correlation Diagrams of Speed and Payload With the RCP series, due to the characteristics of the pulse motor, payload decreases as the speed increases. Use the chart below to confirm that the desired speed and payload requirements are met. 9 8 ead The values below are based on operation at. G. 7 ead 8 Horizontal ead ead Speed (mm/s) Payload (kg) Payload (kg) ead 1 ead 8 The values below are based on operation at. G. Vertical ead 1 ead Speed (mm/s) Actuator Specifications eads and Payloads Stroke and Maximum Speed (See P2) Model number ead Maximum payload Maximum Positioning Stroke Stroke ~ (mm) Horizontal (kg) Vertical (kg) push force (N) repeatability (mm) (mm) ead (every mm) RCP-RAC-I-P-2- ➀ -P- ➁ - ➂ ±. 2 8 <> RCP-RAC-I-P-1- ➀ -P- ➁ - ➂ ~ 1 7 <> (every RCP-RAC-I-P-8- ➀ -P- ➁ - ➂ ±.2 mm) 8 2 RCP-RAC-I-P-- ➀ -P- ➁ - ➂ Code explanation ➀ Stroke ➁ Cable length ➂ Options 21 The values in < > apply when the actuator is used vertically. (Unit: mm/s) Cable ength Type Standard type Special length Robot cable Cable symbol P (1m) S (m) M (m) X (m) ~ X1 (1m) X11 (11m) ~ X1 (1m) X1 (1m) ~ X2 (2m) R1 (1m) ~ R (m) R (m) ~ R (m) R (m) ~ R1 (1m) R11 (11m) ~ R1 (1m) R1 (1m) ~ R2 (2m) Actuator Specifications Item Description Drive system Ball screw 12 mm, rolled C1 ost motion.1mm or less Rod 2 stainless steel pipe Rod non-rotation precision ±.1 deg Allowable load/torque at end of rod Refer to the table on the facing page. oad offset distance at end of rod 1mm or less Ambient operating temperature, humidity to C, 8% RH or less (Non-condensing) Offset distance at end of rod (1mm or less) oad at end of rod Options Name Option code See page Brake B 8 Flange bracket F 8 Non-motor end NM 8 Scraper SC 8 17

19 Dimensional Drawings CAD drawings can be downloaded from the website. 2/D 2D CAD *If the non-motor end is selected, reverse the dimension on motor end (distance to the home) and that on front end. *1 Connect the motor and encoder cables. *2 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. * The direction of width across flats varies depending on the product. * If the actuator is installed using the front housing and flange, make sure the actuator will not receive any external force. (For details, refer to Notes on Installing Rod Actuators on P. 19.) Dimensions with Flange (Optional) (*) -9, bored through Reference plane 8.. Detail view of X (Mounting hole and reference plane) -M8, depth 1 (*) ME SE Stroke Outer diameter of rod: 2 M (width across flats) (*) K Home ME (*2) () 1 (without brake) 18 (with brake) Cable joint connector (*1) 2 () Allowable bending radius of securing cable: R X Front housing (*) 2-H7, depth. (from bottom base) Y 7 N D-M, depth 9 C 1 P 2 2 Ground tap M, depth (Same on opposite side) F-., through 8 counterbored, depth. (from opposite side) 1 Detail Y Oblong hole, depth. (from bottom base) M B 1 P A J (reamed hole and oblong hole pitch) 2 G 1.(19.) M (2.) Rod Deflection of RCP-RAC (Reference Values) (The graph below plots deflection as measured by installing the actuator vertically and applying a radial force to the rod from one side.) Deflection (mm) oad at end of rod (N) Home st 1st 1st 2st 2st st st st st st Supplied rod end nut Dimensions and Mass by Stroke Stroke Without brake With brake A B C D F G J K M N Allowable static load at end of rod (N) Allowable dynamic oad offset mm load at end of rod (N) oad offset 1mm Allowable static torque at end of rod (N m) Allowable dynamic torque at end of rod (N m) Mass Without brake (kg) With brake Applicable Controller RCP series actuators can be operated with the controller indicated below. Select the type according to your intended application. Name External view Model number Features Positioner type (NPN ) Positioner type (PNP ) Pulse-train type (NPN ) Pulse-train type (PNP ) PCON-CA-PI-NP- -- PCON-CA-PI-PN- -- PCON-CA-PI-PN- -- PCON-CA-PI-PP- -- Register positions to move the actuator to in the controller beforehand, and specify the number corresponding to each desired position to operate the actuator. The actuator can be operated freely via pulse-train controller from an external output device. * Refer to P. 22 for the details of the aforementioned model numbers. Maximum number of positioning points 12 points Input power DC2V Power supply capacity Refer to P. 27 Reference page P

20 Notes on Installing Rod Actuators When installing the actuator using the front housing or with a flange (optional), make sure the actuator will not receive external forces. (External forces may cause malfunction or damaged parts.) If the actuator will receive external forces or when the actuator is combined with a Cartesian robot, etc., use the mounting holes on the actuator base to secure the actuator. External force External force Even if the actuator will not receive external forces, provide a support base as shown in the figure on the right to support the actuator if the actuator is installed horizontally and operated over a stroke of 1 or more. (It is recommended that a support base be installed whenever possible even if the stroke is 1 or less.) Support Base Selection Guideline (Correlation Diagram of Push Force and Current-limiting Value) In push-motion operation, the push force can be used by changing the current-limiting value of the controller over a range of 2% to 7%. The maximum push-force varies depending on the model, so check the required push force from the table below and select an appropriate type meeting the purpose of use. When performing push-motion operation using a slider actuator, limit the push current so that the reactive force moment generated by the push force will not exceed 8% of the rated moment (Ma, Mb) specified in the catalog. To help with the moment calculations, the application position of the guide moment is shown in the figure below. Calculate the necessary moment by considering the offset of the push force application position. Note that if an excessive force exceeding the rated moment is applied, the guide may be damaged and the life may become shorter. Accordingly, include a sufficient safety factor when deciding on the push force. SAC: h=9mm SAC: h=mm SA7C: h=mm Calculation example) If push-motion operation is performed with a RCP-SA7C by applying 1 N at the position shown to the right, the moment received by the guide, or Ma, is calculated as ( + ) x 1 = 9 (N mm) = 9. (N m). Since the rated moment Ma of the SA7C is 1.9 (N m), 1.9 x.8 = > 9., suggesting that this selection is acceptable. If a Mb moment generates due to push-motion operation, calculate the moment from the overhang and confirm, in the same way, that the calculated moment is within 8% of the rated moment. Correlation Diagrams of Push Force and Current-limiting value The table below is only a reference, and the graphs may vary slightly from the actual values. SAC/SAC/RAC type SA7C type RAC type Push force (N) ead ead ead 12 ead Current-limiting value (%) Push force (N) ead ead 8 ead 1 1 ead Current-limiting value (%) Push force (N) ead ead 8 ead 1 2 ead Current-limiting value (%) 19 Notes on Use The relationship of push force and current-limiting value is only a reference, and the graphs may vary slightly from the actual values. If the current-limiting value is less than 2%, the push force may vary. Make sure the current-limiting value remains 2% or more. The graphs assume a traveling speed of 2 mm/s during push-motion operation.

21 RCP series Selection Guideline (Table of RCP Payload by Speed/Acceleration) The maximum acceleration/deceleration of the RCP is 1. G in a horizontal application or. G in vertical application. The payload drops as the acceleration increases, so when selecting a model, use the tables below to find one that meets the desired speed, acceleration and payload. RCP-SAC, ead 2 RCP-SAC, ead 12 RCP-SAC, ead RCP-SAC, ead Speed Acceleration (G) (mm/s) RCP-SAC, ead 2 Speed Acceleration (G) (mm/s) Speed Acceleration (G) (mm/s) Speed (mm/s) Acceleration (G) RCP-SAC, ead 12 Speed (mm/s) Acceleration (G) Speed Acceleration (G) (mm/s) Speed (mm/s) Acceleration (G) RCP-SAC, ead Speed Acceleration (G) (mm/s) Speed Acceleration (G) (mm/s) Speed (mm/s) Acceleration (G) RCP-SAC, ead Speed Acceleration (G) (mm/s) RCP-SA7C, ead 2 RCP-SA7C, ead 1 RCP-SA7C, ead 8 RCP-SA7C, ead Speed Acceleration (G) (mm/s) RCP-RAC, ead 2 Speed Acceleration (G) (mm/s) Speed Acceleration (G) (mm/s) RCP-RAC, ead 12 Speed Acceleration (G) (mm/s) Speed (mm/s) Acceleration (G) RCP-RAC, ead Speed (mm/s) Acceleration (G) Speed Acceleration (G) (mm/s) RCP-RAC, ead Speed Acceleration (G) (mm/s) RCP-RAC, ead 2 RCP-RAC, ead 1 RCP-RAC, ead 8 RCP-RAC, ead Speed Acceleration (G) (mm/s)

22 PCON-CA Positioner / Field network / Pulse-train Type Controller with High-output Driver for RCP <PowerCon 1> 1 2 Built-in high-output driver designed exclusively for RCP generates greater torque at high speed The newly developed high-output driver (patent pending) conventional models (RCP2 series), with the acceleration/ deceleration higher by 1. times, maximum speed by 1. times, and payload twice as large. (*) The rates of improvement vary depending on the type. Acceleration/ deceleration Maximum speed Payload Positioner type, field network type and pulse-train type to choose from You can select a controller of one of three types: the positioner type and the field network type where position numbers are specified by I/Os (input/output signals) or by network communication protocol from a PC, etc., and the pulse-train type where the actuator is operated by sending pulses. (Pulse-train controllers also support positioner operation using I/Os.) RCP2.7G RCP 1.G RCP2 1mm/s RCP 1mm/s RCP2 RCP kg I/O signal 1. times 1. times 12kg Communication protocol 2 times Controller PC Pulse train Controller an option for the conventional PCON series, two types of controllers are now available including the incremental absolute comes with a battery (optionally in a box as battery unit), so it can be used as a simple absolute unit to facilitate the startup process without having to add a separate device. (Note) All pulse-train PowerCon controllers are of the incremental. Simple absolute battery 21 Takt time minimization function, maintenance information, calendar function The takt time minimization function sets an optimal acceleration/deceleration rate according to the load that is available (*). You can also record the number of times the actuator has moved and the distance that it has travelled, for use in maintenance. (*) You need PC software Ver or later or a CON-PTA (teaching pendant) to use the takt time minimization function.

23 ist of Models Series name Type name Description PCON CA Controller with high-output driver for RCP PCONcontroller External view Control method Positioner type Field network type Pulse-train type Positioning method / Position points 12 points 78 points Model Number PCON CA I Series Type Motor type Encoder type I/O type I/O cable length Power supply voltage Simple absolute spec. Mounting CA 2P 2SP 28P 28SP P 2P P Controller with high-output driver for RCP 2 frame pulse motor compatible 2 frame high-load pulse motor compatible (RCP-RA2A /RA2B dedicated) 28 frame pulse motor compatible 28 frame pulse motor compatible (RCP2-RAC/RGDC dedicated) frame pulse motor compatible 2 frame pulse motor compatible frame pulse motor compatible * 2SP is a dedicated code for RCP-RA2. When this code is specified, the motor type of the actuator is automatically specified as 2SP, as well. * 28SP is a dedicated code for RCP2-RA/RGD. When this code is specified, the motor type of the actuator is automatically specified as 28P. I NP PN PN PP DV CC PR CN M EC EP PT Incremental * The encoder type is still I (incremental ) for the simple absolute type. NPN PIO (parallel I/O) PNP PIO (parallel I/O) NPN pulse-train input PNP pulse-train input DeviceNet connection CC-ink connection Profibus connection CompoNet connection Mechatrolink connection EtherCAT connection Ethernet/IP connection Profinet connection * Profinet interface ("PT") is planned. No cable 2-VDC 2 2m (standard) m m * "" for network spec. ("DV".. "PT") (Blank) AB ABU Normal incremental (not simple absolute type) Simple absolute The controller comes with an absolute battery on its side. Simple absolute The controller comes with an absolute battery unit (battery in a box). Simple absolute If ABUN is specified in the model ABUN number, the controller is of simple absolute type but it does not come with an absolute battery / battery unit. (Blank) Screw fastening DN DIN rail mounting Note: The PCON-CA controller can operate actuators of the RCP2/RCP/RCP series. 22

24 PIO I/O Interface Input Part External Input Specifications Item Input voltage 2 VDC ± 1% Input current ma, 1 circuit ON/OFF voltage ON voltage: 18 VDC min. OFF voltage: VDC max. Specification Output Part External Output Specifications Item Specification oad voltage 2 VDC Maximum load current ma, 1 circuit eak current 2mA max. per point NPN NPN External power supply DC2V P2 8.k Input terminal Internal circuit Internal circuit P2 Output terminal 1 N oad External power supply DC2V PNP PNP External power supply DC2V Input terminal N.k Internal 8 circuit Internal circuit Output terminal 1 P2 N External power supply DC2V oad Types of PIO Patterns (Control Patterns) This controller supports seven types of control methods. Select in Parameter No. 2, PIO pattern selection the PIO pattern that best suits your purpose of use. Type Set value of Parameter No. 2 Mode Overview PIO pattern (factory setting) PIO pattern 1 1 PIO pattern 2 2 Positioning mode (standard type) Teaching mode (teaching type) 2-point mode (2 positioning points) Number of positioning points: points Position number command: Binary Coded Decimal (BCD) Zone signal output* 1 : 1 point Position zone signal output* 2 : 1 point Number of positioning points: points Position number command: Binary Coded Decimal (BCD) Position zone signal output* 2 : 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: 2 points Position number command: Binary Coded Decimal (BCD) Position zone signal output* 2 : 1 point PIO pattern PIO pattern PIO pattern PIO pattern 12-point mode (12 positioning points) Solenoid valve mode 1 (7-point type) Solenoid valve mode 2 (-point type) Pulse-train control mode Number of positioning points: 12 points Position number command: Binary Coded Decimal (BCD) No zone signal output Number of positioning points: 7 points Position number command: Individual number signal ON Zone signal output* 1 : 1 point Position zone signal output* 2 : 1 point Number of positioning points: points Position number command: Individual number signal ON Completion signal: A signal equivalent to a S (limit switch) signal can be output. Zone signal output* 1 : 1 point Position zone signal output* 2 : 1 point Differential pulse input (2 kpps max.) Home return function Zone signal output* 1 : 2 points No feedback pulse output 2 * 1 Zone signal output: A desired zone is set by Parameter Nos. 1 and 2 or 2 and 2, and the set zone always remains effective once home return has completed. * 2 Position zone signal output: This function is available as part of a position number. A desired zone is set in the position table and becomes effective only when the corresponding position is specified, but not with commands specifying other positions.

25 PIO Patterns and Signal Assignments Category PIO function Number of positioning points Parameter No. 2, PIO pattern selection 1 2 Positioning mode Teaching mode 2-point mode 12-point mode PCONcontroller The table below lists the signal assignments for the I/O flat cable under different PIO patterns. Connect an external device (such as a PC) according to this table. Solenoid valve mode 1 Solenoid valve mode 2 points points 2 points 12 points 7 points points Home return signal Pin number Input Output Jog signal Teaching signal (writing of current position) Brake release Moving signal Zone signal Position zone signal 1A 2V P2 2A 2V P2 A Pulse A input A IN PC1 PC1 PC1 PC1 ST ST A IN1 PC2 PC2 PC2 PC2 ST1 ST1(JOG+) 7A IN2 PC PC PC PC ST2 ST2(-) 8A IN PC8 PC8 PC8 PC8 ST 9A IN PC1 PC1 PC1 PC1 ST 1A IN PC2 PC2 PC2 PC2 ST 11A IN MODE PC PC ST 12A IN7 JIS PC128 PC128 Input 1A IN8 JOG+ PC2 1A IN9 BKR JOG- BKR BKR BKR BKR 1A IN1 RMOD RMOD RMOD RMOD RMOD RMOD 1A IN11 HOME HOME HOME HOME HOME 17A IN12 *STP *STP *STP *STP *STP 18A IN1 CSTR CSTR/PWRT CSTR CSTR 19A IN1 RES RES RES RES RES RES 2A IN1 SON SON SON SON SON SON 1B OUT PM1(AM1) PM1(AM1) PM1(AM1) PM1(AM1) PE OS 2B OUT1 PM2(AM2) PM2(AM2) PM2(AM2) PM2(AM2) PE1 S1(TRQS) B OUT2 PM(AM) PM(AM) PM(AM) PM(AM) PE2 S2(-) B OUT PM8(AM8) PM8(AM8) PM8(AM8) PM8(AM8) PE B OUT PM1 PM1 PM1 PM1 PE B OUT PM2 PM2 PM2 PM2 PE 7B OUT MOVE MOVE PM PM PE 8B OUT7 ZONE1 MODES PM128 PM128 ZONE1 ZONE1 Output 9B OUT8 PZONE/ZONE2 PZONE/ZONE1 PZONE/ZONE1 PM2 PZONE/ZONE2 PZONE/ZONE2 1B OUT9 RMDS RMDS RMDS RMDS RMDS RMDS 11B OUT1 HEND HEND HEND HEND HEND HEND 12B OUT11 PEND PEND/WEND PEND PEND PEND 1B OUT12 SV SV SV SV SV SV 1B OUT1 *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS 1B OUT1 *AM *AM *AM *AM *AM *AM 1B OUT1 OAD/TRQS *AM *AM OAD/TRQS *AM OAD/TRQS *AM OAD/TRQS *AM *AM 17B Pulse 18B input 19B V N 2B V N Note: In the table above, asterisk * symbol accompanying each code indicates a negative logic signal. PM1 to PM8 are alarm binary code output signals that are used when an alarm generates. 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. Note: The names of the signals above inside () are functions before the unit returns home. 2

26 Pulse-train Control Circuit Host Unit = Differential Type Host unit Positioning unit Pulse command (corresponding to line driver 2C1) V V A A 17B 18B 19B 2B PCON PIO connector PP /PP NP /NP V V Host Unit = Open Collector Type The AK- (optional) is needed to input pulses. Host unit Positioning unit Pulse command DC 2V V 1 2 Pulse converter AK- (sold separately) 2V PP V *PP PP NP NP *NP 1 2 A A 17B 18B PCON PIO connector PP /PP NP /NP V V 19B 2B V V Caution: Use the same power supply for open collector input/output to/from the host and for the AK-. Command Pulse Input Patterns Command pulse-train pattern Input terminal Forward Reverse Forward pulse-train Reverse pulse-train PP /PP NP /NP A forward pulse-train indicates the amount of motor rotation in the forward direction, while a reverse pulse-train indicates the amount of motor rotation in the reverse direction. Pulse-train PP /PP Negative logic Sign NP /NP ow High The command pulses indicate the amount of motor rotation, while the sign indicates the rotating direction. Phase A/B pulse-train 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 pulse train PP /PP Reverse pulse-train NP /NP Positive logic Pulse-train Sign PP /PP NP /NP High ow 2 Phase A/B pulse-train PP /PP NP /NP

27 I/O Signals in Pulse-train Control Mode PCONcontroller The table below lists the signal assignments for the flat cable in the pulse-train control mode. Connect an external device (such as PC) according to this table. Pin number Category I/O number Signal abbreviation Signal name Parameter No. 2, PIO pattern 1A 2V P2 Power supply I/O power supply +2 V 2A 2V P2 Power supply I/O power supply +2 V A Pulse PP Differential pulse-train input (+) A input /PP Differential pulse-train input (-) Differential pulses are input from the host. Up to 2 kpps can be input. A IN SON Servo ON The servo is ON while this signal is ON, and OFF while the signal is OFF. A IN1 RES Reset Present alarms are reset when this signal is turned ON. 7A IN2 HOME Home return Home return operation is performed when this signal is turned ON. 8A IN T Torque limit selection 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 9A IN CSTP Forced stop remained ON for 1 ms or more. The actuator decelerates to a stop at the torque set in the controller and the servo turns OFF. 1A IN DCR Deviation counter clear This signal clears the deviation counter. 11A Input IN BKR Forced brake release The brake is forcibly released. The operation mode can be switched when the MODE 12A IN7 RMOD Operation mode switching switch on the controller is set to AUTO. (AUTO when this signal is OFF, and to MANU when the signal is ON.) 1A IN8 NC Not used 1A IN9 NC Not used 1A IN1 NC Not used 1A IN11 NC Not used 17A IN12 NC Not used 18A IN1 NC Not used 19A IN1 NC Not used 2A IN1 NC Not used 1B OUT PWR System ready This signal turns ON when the controller becomes ready after the main power has been turned on. 2B OUT1 SV Servo ON status This signal turns ON when the servo is ON. This signal turns ON when the amount of remaining B OUT2 INP Positioning complete travel pulses in the deviation counter falls within the in-position band. B OUT HEND Home return complete This signal turns ON upon completion of home return. B OUT TR Torque limited B OUT *AM Controller alarm status 7B OUT *EMGS Emergency stop status Output 8B OUT7 RMDS Operation mode status 9B OUT8 AM1 1B OUT9 AM2 11B OUT1 AM Alarm code output signal 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. 12B OUT11 AM8 1B OUT12 *AM Minor failure alarm This signal is output when a message-level alarm generates. 1B OUT1 NC Not used 1B OUT1 ZONE1 Zone signal 1 This signal turns ON when the current position of the actuator falls within the parameter-set range. 1B OUT1 ZONE2 Zone signal 2 17B Pulse NP Differential pulse-train input (+) Differential pulses are input from the host. 18B input /NP Differential pulse-train input (-) Up to 2 kpps can be input. 19B V N Power supply I/O power supply V 2B V N Power supply I/O power supply V 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. (Note) The number of encoder pulses is 8 with all RCP series models. For details, refer to the operation manual. 2

28 External Dimensions Incremental / Simple absolute <PCON-CA> (8) Simple absolute with absolute battery unit φ φ Absolute battery Absolute battery unit φ φ Screw fastening Screw fastening 7..2 (7.) * The above absolute battery unit comes with the controller. Incremental / Simple absolute Simple absolute with absolute battery unit 178. () () 18 Absolute battery from DIN rail center (). (DIN rail width: mm) DIN rail mounting * The above absolute battery unit comes with the controller. Absolute battery unit 1 from DIN rail center.. (DIN rail width: mm) (DIN rail width: mm) DIN rail mounting from DIN rail center () DIN securing tab moving width: mm (1) Item Number of controlled axes 1 axis Power supply voltage 2VDC ± 1% RCP2 2P, 2SP, 28P, 28SP 1A max. RCP 2P, P 2.2A max. oad capacity RCP Motor type Motor type Description 2P, P Rated:.A /.2A max. (High-output setting disabled: 2A max.) Power supply for electromagnetic brake (for actuators with brake) 2VDC ± 1%,.1A (max.) Heat output RCP2, RCP W RCP 8W Rush current (Note 1) 8.A Momentary power failure resistance μs max. Emergency stop input 1 dedicated circuit (in the power supply connector), contakt B input (2VDC) Actuator cable length 2m max. Serial communication interface (SIO port) RS8: 1 channel (conforming to Modbus protocol RTU/ASCII) / Speed: 9. to 2.kbps Actuators can be controlled via serial communication in a mode other than pulse-train (cable length: 1m). External interface PIO Dedicated 2-V-DC signal input/output (NPN or PNP selected) - Up to 1 input & output points / Cable length: 1m max. Field network spec. DeviceNet, CC-ink, Profibus, CompoNet, Mechatrolink, EtherCAT, Ethernet/IP, Profinet Data setting/input method PC software, touch-panel teaching pendant Data retention memory Position data and parameters are saved in the non-volatile memory (rewrite life: unlimited) Number of positions in positioner mode Standard points, maximum 12/78 points (PIO/network ) Note) Positioning points vary depending on the selected PIO pattern. Input pulse Open collector method: Not supported (Note 2) Pulse-train interface 1/ < A/B < /1 (electronic gear ratio: A/B) Setting range of A and B (set by parameters): 1 to 9 Feedback pulse output None SV (green)/am (red): Servo ON/alarm generation ED display (installed on the front panel) STS to : Status indication RDY (green)/am (red): Absolute function normal/absolute function abnormal 1 (green), (red): Absolute function status indication (simple absolute Electromagnetic brake forced release switch (installed on the front panel) Switched between NOM (standard) and BK RS (forced release) Isolation resistance VDC, 1MΩ or more Electric shock protection mechanism Class I (basic isolation) according to DIN EN -1/98-1 (JIS C 9-1/81-1) Ambient operating temperature ~ C Ambient operating humidity 8%RH or less (non-condensing) Operating ambience Not exposed to corrosive gases Maximum operating altitude 1m Environment Protection degree IP2 Cooling method Natural air cooling Vibration 1 to 7 Hz / Amplitude:.7mm 7 to 1 Hz / Acceleration: 9.8m/s 2 Sweep time in X/Y/Z directions: 1 minutes / Number of sweeps: 1 times Weight 28g or less, or 8g (including19g for battery) or less for the simple absolute (Note 1) Rush current will flow for approx. 1 to 2 msec after the power is turned on (at C). Take note that the rush current value varies depending on the impedance of the power supply line. (Note 2) If the host implements open collector output, use the separately sold AK- (optional) to convert the signals to differential output signals.

29 Option PCONcontroller Touch-panel Teaching Pendant for Position Controller Developed based on the design of the popular CON-PT series adopting an easy-to-use interactive touch-panel menu screen, this new data input device supports various functions offered by the PCON-CA controller. 1. Color screen for greater ease of view 2. Supporting the takt time minimization function and maintenance information checking/ input functions of the PCON-CA. Position, parameters and other data can be saved in a SD card. Built-in clock function records the date & time of each event; data can then be saved in a SD card. CON-PTA Model Numbers/Specifications Item Description Model number CON-PTA-C-ENG CON-PDA-C-ENG CON-PGA-C-S-ENG Type Standard type Enable switch type Safety-category compliant type Connectable controllers ACON/PCON/SCON/RACON/RPCON ASEP/PSEP AMEC/PMEC ERC2 (*1) /ERC -position enable switch Position data input/editing Moving function (moving to set positions, jogging/inching) Parameter editing Functions Monitoring (current position, current speed, I/O signals, alarm code, alarm generation time) Saving/reading data to/from external SD cards (position data parameters, alarm list) Takt time minimization function Maintenance information (total number of movements, total distance travelled, etc.) Display colors (1-bit colors), white ED backlight Ambient operating temperature/humidity to C, 2 to 8% RH (non-condensing) Environmental resistance IP or equivalent Mass Approx. 7g Approx. g Cable length m Stylus, TP adapter (Model number: RCB-B-TG) Accessories Stylus Stylus Dummy plug (Model number: DP-) Controller cable (Model number: CB-CON-B) *1 Among the ERC2 series, only the actuators bearing 9 or greater number stamped on the serial number label can be connected. Name of Each Part Name of Each Part/External Dimensions Stylus Emergency stop button Wall-mounting hook 98 Operation screen 18 Enable switch () Option Strap (Model number: STR-1) m 28

30 Option PC Software (Windows Only) This startup support software provides functions to input positions, perform test operations and monitor data, among others. It also supports the takt time minimization function, calendar function, maintenance information, etc., so, for example, you can set optimal operating conditions for your actuator and carry out preventive maintenance. * The above functions are supported by software versions of 8... and later. Features Startup support software with functions to program and input positions, perform test operations and monitor data, among others. It enhances the functions needed for debugging to help shorten the startup time. Model number With external device communication cable + RS22 conversion unit RCM-11-MW-EU Configuration RS22 conversion adapter RCB-CV-MW m PC software (CD).m External device communication cable CB-RCA-SIO Model number With external equipment communication cable + USB conversion adapter + USB cable RCM-11-USB-EU Configuration USB conversion adapter RCB-CV-USB m m PC software (CD) USB cable CB-SE-USB External device communication cable CB-RCA-SIO Example of position input Alarm list Maintenance information Service part Simple absolute battery Model number AB-7 29

31 Integrated Motor/Encoder Cable & Integrated Motor/Encoder Robot Cable for RCP Model number Actuator end Integrated Motor/Encoder Cable for RCP2 Model number Actuator end Integrated Motor/Encoder Cable for RCP Model number Actuator end CB-CA-MPA /CB-CA-MPA -RB CB-PSEP-MPA CB-APSEP-MPA * Robot cables are cables resistant to flexing forces. If the cable must be guided in a cable track, use a robot cable. Controller end * The default of this cable is robot cable. Controller end * The default of this cable is robot cable. Controller end PCONcontroller * indicates the cable length (). A desired length can be specified up to 2m. Example: 8=8m Actuator end (AMP) Pin No. Signal name Color A1 A/U Blue(Black) B1 A2 VMM/V _A/W Orange (White) Green (Brown) B2 B/- Brown (Green) A B VMM/- _B/- Gray (Yellow) Red (Red) A S+/BK+ Black (Orange) B S-/BK- Yellow (Gray) A -/A+ Blue (White) B -/A- Orange (Yellow) A7 A+/B+ Green (Red) B7 A-/B- Brown (Green) A8 B+/Z+ Gray (Black) B8 B-/Z- Red (Brown) A BK+/S+ Blue (Black) B A9 BK-/S- S_GND Orange (Brown) Green (Green) B9 VPS Brown (Red) A1 VCC Gray (White) B1 GND Red (Yellow) A11 B11 FG Black ( ) * Colors of robot cables are shown in ( ). Actuator end Terminal number A1 B1 A2 B2 A B A B A B A7 B7 A8 B8 A B A9 B9 A1 B1 A11 B11 * indicates the cable length (). A desired length can be specified up to 2m. Example: 8=8m Actuator end Terminal number Controller end PADP-2V-1-S (JST) Pin No. Signal name Color 1 A/U Blue (Black) 2 VMM/V _A/W Orange (White) Green (Brown) B/- Brown (Green) VMM/- _B/- Gray (Yellow) Red (Red) 7 S+/BK+ Black (Orange) 8 S-/BK- Yellow (Gray) 11 -/A+ Blue (White) 12 -/A- Orange (Yellow) 1 A+/B+ Green (Red) 1 A-/B- Brown (Green) 1 B+/Z+ Gray (Black) 1 B-/Z- Red (Brown) 9 BK+/S+ Blue (Black) 1 2 BK-/S- S_GND Orange (Brown) Green (Green) 18 VPS Brown (Red) 17 VCC Gray (White) 19 GND Red (Yellow) FG Black ( ) Black [A] White [VMM] Red [B] Green [VMM] Brown [/A] Yellow [/B] Orange [BK+] Gray [BK-] NC NC Black [S+] Brown [S-] White [A+] Yellow [A-] Red [B+] Green [B-] White (identification tape) [VCC] Yellow (identification tape) [VPS] Red (identification tape) [GND] Green (identification tape) [(spare)] NC NC NC Shield [FG] * indicates the cable length (). A desired length can be specified up to 2m. Example: 8=8m [PCON] (ACON) Black [A] (U) White [VMM] (V) Brown [/A] (W) Green [B] (-) Yellow [VMM] (-) Red [/B] (-) Orange [S+] (BK+) Gray [S-] (BK-) White [-] (A+) Yellow [-] (A-) Red [A+] (B+) Green [A-] (B-) Black [B+] (Z+) Brown [B-] (Z-) Black (identification tape) [BK+] (S+) Brown (identification tape) [BK-] (S-) Green (identification tape) [GNDS] (GNDS) Red (identification tape) [VPS] (VPS) White (identification tape) [VCC] (VCC) Yellow (identification tape) [GND] (GND) NC Shield [FG] (FG) NC NC Controller end Terminal number Controller end Terminal number I/O Flat Cable Model number CB-PAC-PIO * indicates the cable length (). A desired length can be specified up to 1m. Example: 8=8m No connector No connector Flat cable (2 cores) x 2 B A 2A 1A 2B 1B Half-pitch MI socket: HIF-D-1.27R (Hirose) HIF-D-1.27R No. Signal name Cable color Wiring 1A 2V Brown - 1 2A 2V Red - 1 A Pulse Orange - 1 A input Yellow - 1 A IN Green - 1 A IN1 Blue - 1 7A IN2 Purple - 1 8A IN Gray - 1 9A 1A IN IN White - 1 Black - 1 Flat cable [A] (pressure welded) 11A IN Brown A IN7 Red - 2 1A IN8 Orange - 2 1A IN9 Yellow - 2 1A IN1 Green - 2 1A IN11 Blue A IN12 Purple A IN1 Gray A IN1 White - 2 2A IN1 Black - 2 No. Signal name Cable color Wiring 1B OUT Brown - 2B OUT1 Red - B OUT2 Orange - B OUT Yellow - B OUT Green - B OUT Blue - 7B OUT Purple - 8B OUT7 Gray - 9B OUT8 White - Flat cable [B] 1B OUT9 Black - (pressure welded) 11B OUT1 Brown - AWG 28 12B OUT11 Red - 1B OUT12 Orange - 1B OUT1 Yellow - 1B OUT1 Green - 1B OUT1 Blue - 17B Pulse Purple - 18B input Gray - 19B V White - 2B V Black -

32 RCP Series Slider / Rod Type Catalogue No. 212-E The information contained in this catalog is subject to change without notice for the purpose of product improvement IAI Industrieroboter GmbH Ober der Röth D-82 Schwalbach / Frankfurt Germany Phone: Fax: info@iai-gmbh.de Internet: IAI America, Inc. 29 W. 27th Street Torrance, CA 9, U.S.A. Phone: Fax: IAI (Shanghai) Co., td. Shanghai Jiahua B. C. A8.88 Hongqiao Rd., Shanghai 2, China Phone: Fax: IAI CORPORATION -1 Shimizu Hirose Shizuoka 2-12, Japan Phone: Fax: IAI, the IAI-logo, RoboCylinder, the RoboCylinder -logo, IntelligentActuator and the IntelligentActuator -logo are trademarks or product names of IAI Corporation or of the subsidiaries in USA, China or Germany