RCP5 Series ABSOLUTE. obo c y linde r. d e. RoboCylinder with Standard Battery-less Absolute Encoder

Transcription

1 GB RoboCylinder with Standard Battery-less Absolute Encoder RCP Series ABSOLUTE obo c y linde r. d e

2 Introducing the RCP series actuator with battery-less absolute encoder, realizing the convenience of an absolute encoder along with the cost and simplicity of an incremental encoder The battery-less absolute encoder is an innovative encoder requiring no hassle or cost of battery replacement or adjustment associated therewith (patent pending), as rotational position data is recognized by a combination of gears to make the battery, which has been a required component of any traditional absolute encoder, no longer necessary. This encoder is ideal for the automobile industry and other production facilities where many absolute type actuators are used. Slider type RCP-SA7C RCP-SA6C RCP-SA4C 1

3 The Industry s First Electric Actuator with Built-in Battery-less Absolute Encoder Rod type RCP-RA7C RCP-RA6C RCP-RA4C Controller Single-axis Controller PCON-CA Supporting the battery-less absolute encoder 1-axis position control Supporting the PowerCon 6-axis controller with PLC function MSEP-LC (*) Supporting the battery-less absolute encoder PLC function 6-axis position control Supporting the PowerCon ( axes) (*) MSEP-LC coming soon with CE conformity. 8-axis controller MSEP-C Supporting the battery-less absolute encoder 8-axis position control Supporting the PowerCon (4 axes) 2

4 Merit RCPseries The RoboCylinder is Easy to Use!!! No More Problems Shop-Floor Problems and Solutions Air cylinder problems Electric actuator problem (Incremental type) Electric actuator problem (Absolute type) 1 2 Reduced operation rate due to choco-tei caused by the auto switch failure or air cycle-time due to the speed limit from the shock caused by a stoppage A long time is required to return to home or for an adjustment after an emergency stop is reset 1 2 Higher cost Battery replacement time management is required Battery replacement labor and cost Solved with an electric actuator (CT Effects)* Solved with the absolute type Solved with the battery-less absolute type 1 1 reduced increase now Home return not required 2 possible with no shock 2 caused by a stoppage Battery is not required Slider type offered at the same price as the incremental type Problems solved with the RCP Series! Battery-Less ABSOLUTE * The CT Effects refer to increased production output per unit time with shorter cycle time and reduced choco-tei achieved by re-examining the devices that are part of automation equipment.

5 Feature 1 Battery-less absolute What is an absolute encoder? Incremental type Home return Home The home reference is lost when the power is shut down. This type of encoder will return to home before making a commanded move after a power cycle. Absolute type With this type, position data is retained even if the power is shut down and it can be started from the current position where the power is turned on. Advantages of an absolute encoder Advantage 1: Advantage 2: Home return is not required, which means reduced amount of labor and time required for adjustment when starting up the device. The amount of time required is reduced for adjustment to restart the device after an emergency stop. What is a battery-less absolute encoder? the current position based on the interlocked gear position. On conventional absolute encoders, the current position was stored in the battery. battery-less type is now available and a battery to store data is no longer required. Advantages of a battery-less absolute encoder Advantage 1: Advantage 2: Advantage : Advantage 4: Advantage : Advantage 6: More economical with no cost associated with battery replacement. Battery replacement management is no longer required. Labor for replacement work is also no longer required. Battery installation space is not required. Operation can resume with no adjustment required even when the cable between the controller and the actuator is replaced because the positional information is read each time. No external sensor, such as a sensor to check the origin, is required since home return is not necessary. IAI s slider type, even with the battery-less absolute encoder, is offered for the same price as the conventional incremental type. Service life of a battery-less absolute encoder offers a service life that is approximately four times the actuator guide s standard rating. Furthermore, it can be used with a sense of security because it will output an error when a certain amount of wear in the gear section is detected. 4

6 Merit RCPseries The RoboCylinder is Easy to Use!!! Feature 2 1. times higher maximum speed and double the payload when combined with a PowerCon When the new controller <PowerCon> is equipped with our newly developed high-output levels achievable with IAI s conventional models, while the payload is greater by up to twice (*). drop as much even when the payload increases due to increased torque with the high speed motor, meaning that the dynamic performance equivalent to that of a higher-class model can be achieved at lower cost. Slider Type, Lead 12, Acceleration/Deceleration. G RCP-SA6C Payload (kg) Conventional model RCP2-SA6C Electric actuator by Manufacturer A Power CON PCON-CA (mm/s) Correlation Diagram of and Payload Multi-axis type is now available with a PowerCon The MSEP controller, now with a PowerCon, is capable of operating the RCP in up to four-axis applications at high speeds 1. times the level achievable with the conventional models, and at a least double the dynamic payload performance. Additionally, the standard type not combined with a PowerCon can operate the RCP in up to eight-axis applications. RCP operated in up to four-axis application* Field network compatible *Eight-axis application if a PowerCon (high-output capable) is NOT used.

7 Feature The rod type can carry radial loads. The rod type <Radial Cylinder > with a built-in guide mechanism can carry radial loads over a long stroke of up to 8mm. The rod type <Radial Cylinder> has a built-in ball circulating type linear guide mechanism in the actuator to carry radial loads applied to the rod over a long stroke of up to 8mm. The actuator can also support a radial load applied at a position offset from the center of the rod. Radial Cylinder No rattling in the horizontal, vertical or rotation directions Radial load * With RCP-RA6C 1.9kg Ball circulating type with a built-in linear guide Slide unit mm (8mm with the model in the longest stroke series) Internal mechanism Ball circulating type linear guide Usage example 1 When a guide mechanism is required in a tight space Conventional models RCP-RA Usage example 2 When the rod needs to be straight Conventional models RCP-RA Feature 4 Easier to Maintain Greasing has become easier, as the ball screw and guide can be lubricated at the same time from the two grease nipples on the left and right, accessible when the frame cover is removed. Frame cover Grease nipple * This feature is not available for RCP-RA8/RA1. 6

8 Variation RCPseries The RoboCylinder is Easy to Use!!! Model type Slider type P.11 Type External view Actuator width Stroke Ball screw lead Maximum speed (mm/s) Maximum payload (kg) Horizontal Vertical Page SA4C SA6C 4mm 8mm ~ ~ <128> P.11 P.1 SA7C 7mm ~ <84> <21 > 4 2 P.1 Rod type P.17 Type External view Actuator width Stroke Ball screw lead Maximum speed (mm/s) Maximum payload (kg) Horizontal Vertical Page <84> 6 1. RA4C 4mm 6~ P RA6C 8mm 6~ P <6> 2 RA7C 7mm 7~ <6> P.21 7

9 Rod type P.2 Model Type External view Actuator width Stroke Ball screw lead Maximum speed (mm/s) Maximum payload (kg) Horizontal Vertical Page Straight motor Side-mounted motor RA8C RA1C RA8R RA1R 88mm 18mm 88mm 18mm ~7 ~8 ~7 ~8 2 6 <4> 1 <2> <167> <14> P.2 P.2 P.27 P.29 Controller P.9 Maximum number of connected axes Type External view I/O control function Applicable encoder Power-supply voltage Features Page 1 axis PCON-CA/CFA Incremental Single-axis positioner is designed for easy control using PIOs. Common boards are used to let you operate the range of actuators from RCP2 through RCP with the same controller by simply changing the parameters. P.9 8 axes MSEP-C Simple absolute Battery-less absolute DC24V 8-axis positioner is designed for easy control using PIOs. A combination of pulse motor, AC servo motor and DC servo motor actuators can be operated with one controller. P.47 6 axes MSEP-LC (*) The I/O control function supports standalone operation and control of peripheral equipment. (*) MSEP-LC coming soon with CE conformity. 8

10 Models/Options RCPseries The RoboCylinder is Easy to Use!!! Model Items <Slider type > RCP WA P Series Type Encoder type Motor type Ball screw lead Stroke Applicable controllercable length Options SA4C SA6C SA7C 2. 2.mm WA Battery-less absolute mm 6 6mm 4 4mm P mm 8 8mm 6 6mm (Can be set in mm increments) 8 8mm Actuator width: 4mm Coupling type P frame pulse motor 1 1mm N 12 12mm Actuator width: 8mm 42P 42 frame pulse motor P 16 16mm Coupling type S 6P 6 frame pulse motor 2 2mm Actuator width: 7mm M 24 24mm Coupling type * The available selections for encoder type, motor type, ball screw X lead and stroke vary depending on the actuator type. For details, R refer to the page featuring each actuator type. PCON-CA MSEP None 1m m m Robot cable B NM Brake <Rod type RA4/RA6/RA7> RCP WA P Series Type Encoder type Motor type Ball screw lead Stroke Applicable controllercable length Options RA4C RA6C RA7C WA Actuator width: 4mm Coupling type Actuator width: 8mm Coupling type Actuator width: 7mm Coupling type 2. 2.mm mm mm 4 4mm mm 2 2mm 6 6mm (Can be set in mm increments) 8 8mm P frame pulse motor 1 1mm 12 12mm 42P 42 frame pulse motor 16 16mm 6P 6 frame pulse motor 2 2mm 24 24mm * The available selections for encoder type, motor type, ball screw lead and stroke vary depending on the actuator type. For details, refer to the page featuring each actuator type. Battery-less absolute P N P S M X R PCON-CA MSEP None 1m m m Robot cable B FL FFA NFA KFA NM Brake Flange Tip adapter (Flange) Tip adapter (Internal Thread) Tip adapter (Keyway) Non-motor end specification <Rod type RA8/RA1> RCP WA P4 Series Type Encoder type Motor type Ball screw lead Stroke Applicable controllercable length Options RA8C RA1C RA8R RA1R WA Actuator width: 88mm Coupling type Actuator width: 18mm Coupling type Actuator width: 84mm Side-mounted motor type Actuator width: 18mm Side-mounted motor type Battery-less absolute 6P 86P 6 frame pulse motor 86 frame pulse motor 2. 2.mm mm 1 1mm 2 2mm * The available selections for encoder type, motor type, ball screw lead and stroke vary depending on the actuator type. For details, refer to the page featuring each actuator type. mm 8 8mm (Can be set in mm increments) P4 N P S M X R PCON-CFA None 1m m m Robot cable B CJT CJR CJL CJO CJB FL ML MR NM Brake Optional cable exit direction (top) Optional cable exit direction (right) Optional cable exit direction (left) Optional cable exit direction (outside) Optional cable exit direction (bottom) Flange Motor side-mounted to the left (standard) Motor side-mounted to the right 9

11 Option Actuator Options Brake Option code: B Applicable models Description All models A mechanism that is used to hold the slider or rod 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. Optional cable exit direction Option code: CJT CJR CJL CJB CJO Applicable models Description Motor coupled type Left (Option code: CJL) RCP-RA8C/RA1C/RA8R/RA1R Select this option if you want to change the exit direction of the motor/encoder cables to the top, bottom, left or right. Top (Option code: CJT) Right (Option code: CJR) Side-mounted motor type Top (Option code: CJT) Outside (Option code: CJO) Bottom (Option code: CJB) Bottom (Option code: CJB) * View from the rear of the actuator (motor side) * View from the front of the actuator Side-mounted motor direction Option code: ML/MR * Be sure to specify either ML or MR for the side-mounted motor type. Applicable models Description The motor is side-mounted to the left (standard) Option code: ML Motor RCP-RA8R/RA1R respectively, as viewed from the motor side of the actuator. The motor is side-mounted to the right Option code: MR Motor Non-motor end specification Option code: NM Applicable models Description All models Select this option if you want to change the home position of the actuator's slider or rod from the normal position (the motor end) to the front end. Flange Option code: FL Applicable models Description RCP-RA4C/RA6C/RA7C/RA8C/RA8R/RA1C/RA1R A bracket that is used to secure a rod actuator from the actuator side. The flange can be purchased separately later. * For dimensions on each model, check on P. 9. Tip Adapter (Flange) Option code: FFA Applicable models Description RCP-RA4C/RA6C/RA7C An adapter that is used to install jigs, etc. on the rod tip using four bolts. * For dimensions on each model, check on P. 9. Tip Adapter (Internal thread) Option code: NFA Applicable models Description RCP-RA4C/RA6C/RA7C An adapter that is used to install jigs, etc. on the rod tip using a bolt. * For dimensions on each model, check on P. 6. Tip Adapter (Keyway) Option code: KFA Applicable models Description RCP-RA4C/RA6C/RA7C An adapter that is used to install jigs, etc. on the rod tip using a bolt and parallel key. * For dimensions on each model, check on P. 6. 1

12 R C P - S A 4 C RoboCylinder, Model Items RCP Series SA4C WA P P Slider Type, Motor Unit Coupled, Actuator Width 4mm, 24-V Pulse Motor Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options WA : Battery-less P : Pulse motor, 16:16mm : mm P : PCON-CA N : None Refer to the absolute size 1:1mm MSEP-C/LC P : 1m options table ation : mm : mm S : m below. M : m 2.:2.mm (every mm) X : R : Robot cable Correlation Diagrams of and Payload High output enabled (PowerCon) - PCON-CA, MSEP-C/LC connected ~ High output disabled (standard) - PCON-CA, MSEP-C/LC connected (1) The payload in Actuator Specifications represents the maximum values, but the payload of a specific model varies depending on the acceleration. For details, refer to Selection Guideline (Table of RCP Payload by /Acceleration) on pp. to 4. (2) Refer to P. 1 for the push-motion operation. Actuator Specifications Lead and Payload Stroke and Maximum (unit: mm/s) Model number Lead High output Maximum payload Stroke Lead High output ~4 4 setting Horizontal (kg) Vertical (kg) setting (every mm) RCP-SA4C-WA-P P RCP-SA4C-WA-P-1-1 -P- 2 - RCP-SA4C-WA-P-- 1 -P ~ (every mm) RCP-SA4C-WA-P P Code explanation 1 Stroke 2 Cable length Options Cable Length Type Standard type Special length Robot cable Cable symbol P(1m) S(m) M (m) X6(6m) ~ X1(1m) X11(11m) ~ X1(1m) X16(16m) ~ X2(2m) R1(1m) ~ R(m) R4(4m) ~ R(m) R6(6m) ~ R1(1m) R11(11m) ~ R1(1m) R16(16m) ~ R2(2m) Option Name Option code See page Brake B Non-motor end specification NM P.1 Actuator Specifications Item Description Drive system Ball screw ø8mm, rolled C1 Positioning repeatability ±.2mm Lost motion.1 mm or less Base Material: Aluminum with white alumite treatment Guide Linear guide Dynamic allowable moment (*1) Ma:.9 Nm, Mb:. Nm, Mc: 7. Nm Allowable overhang 12mm or less in Ma, Mb and Mc directions Ambient operating temperature, humidity to 4 C, 8% RH or less (Non-condensing) ( *1) Based on km of traveling life Allowable load moment directions Overhang load lengths L Ma Mb Mc Ma Mc L 11

13 Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD *1 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. ME: Mechanical end SE: Stroke end Ø 6. Ø.4 4-M, depth 7 2 (Ø H7 interval: ±.2) ±.2 2-Ø H7 reamed, depth 6 Work part installed on the slider Pay attention to interference. Must be 1 or more.. 6. Reference plane 2. Detail view of X (6) K L 124 (without brake) 1 (with brake ) 48 Top face of slider 12 6 (1) (1) X Refer position for Ma/Mc moments 8. M.E. 12 S.E. Stroke 76 Home 24 Range of 6 or more M.E. Pay attention to interference ( ). () (1) M, depth 4 (Same on opposite side) (For ground line) A (Reamed hole pitch) 2 Oblong hole, depth 4 Y B (Reamed hole and oblong hole pitch) 17 2-Ø H7 reamed, depth H E D 1 (at stroke ) G x 1 (M4 hole pitch) J C 12 2 F-Ø.4, through Ø6. counterbored, depth. (from opposite side) M-M4, through (Bolt screw-in depth: mm or less) 1 (186) Detail Y (R1.) * The dimensions in ( ) apply when brake is equipped. Dimensions and Mass by Stroke Stroke L Without brake With brake A B C 2 D E F G H J K 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 Pulse-train type Field network type Position controller, 8-axis type 6-axis type with I/O control function PCON-CA-PWAI-PLN- PCON-CA-PWAI-PLP- PCON-CA-PWAI-NP- PCON-CA-PWAI-PN- PCON-CA-PWAI MSEP-C- -PWAI~ - - Equipped with a high-output driver Positioner type based on PIO control Equipped with a high-output driver Pulse-train input type Equipped with a high-output driver Supporting major field networks Positioner type that accepts connection of up to eight axes. MSEP-LC- -PWAI~ - -- (*) Axes can be moved and I/O signal turned (*) MSEP-LC coming soon with CE conformity. ON/OFF using a ladder logic program. Maximum number of positioning points 12 points 768 points points/26 points 26 points Input power DC24V * In the model numbers shown above, indicates the field network specification (DV, CC, PR, CN, PRT, EC or EP). Power supply capacity Reference page Refer to P. 46 Refer to P. 9 Refer to P. Refer to P

14 RCP- SA6C RoboCylinder, Model Items RCP SA6C WA 42P P Series Slider Type, Motor Unit Coupled, Actuator Width 8mm, 24-V Pulse Motor Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options WA : Battery-less 42P : Pulse motor, 2 : 2mm : mm P : PCON-CA N : None Refer to the absolute size : 12mm MSEP-C/LC P : 1m options table ation 6 : 6mm 8 : 8mm S : m below. M : m : mm (every mm) X : R : Robot cable ~ Correlation Diagrams of and Payload High output enabled (PowerCon) - PCON-CA, MSEP-C/LC connected High output disabled (standard) - PCON-CA, MSEP-C/LC connected (1) The payload in Actuator Specifications represents the maximum values, but the payload of a specific model varies depending on the acceleration. For details, refer to Selection Guideline (Table of RCP Payload by /Acceleration) on pp. to 4. (2) Refer to P. 1 for the push-motion operation. Actuator Specifications The values in < > apply when the actuator Lead and Payload Stroke and Maximum is used vertically. (unit: mm/s) Lead High output Maximum payload Stroke Lead High output ~ Model number setting Horizontal (kg) Vertical (kg) setting (every mm) <128> <128> RCP-SA6C-WA-42P-2-1 -P RCP-SA6C-WA-42P P RCP-SA6C-WA-42P-6-1 -P ~8 (every mm) RCP-SA6C-WA-42P-- 1 -P Code explanation 1 Stroke 2 Cable length Options Cable Length Type Standard type Special length Robot cable Cable symbol P(1m) S(m) M (m) X6(6m) ~ X1(1m) X11(11m) ~ X1(1m) X16(16m) ~ X2(2m) R1(1m) ~ R(m) R4(4m) ~ R(m) R6(6m) ~ R1(1m) R11(11m) ~ R1(1m) R16(16m) ~ R2(2m) Option Name Option code S ee p a g e Brake B Non-motor end specification NM P.1 Actuator Specifications Item Description Drive system Ball screw ø1mm, rolled C1 Positioning repeatability (*1) ±.2mm [±.] Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Guide Linear guide Dynamic allowable moment (*2) Ma: 8.9 Nm, Mb: 12.7 Nm, Mc: 18.6 Nm Allowable overhang 1mm or less in Ma, Mb and Mc directions Ambient operating temperature, humidity to 4 C, 8% RH or less (Non-condensing) (*1) The value at lead 2 is shown in [ ]. (*2) Based on km of traveling life Ma Allowable load moment directions Overhang load lengths L Mb Mc Ma Mc L 1

15 Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD *1 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. ME: Mechanical end SE: Stroke end 6 Ø8 Ø4. 4-M, depth 1 1 ( Ø H7 interval: ±.2) ±. 2 2-Ø H7 reamed, depth 6 Must be 1 or more. 4. Reference plane Detail view of X. K L 112. (without brake) 12 (with brake) 4 2 M.E. 1 S.E. Stroke 11 Hom e 7. M.E. (*1) (4.) 62. Top face of slider X M, depth 6 (Same on opposite side) (For ground line) for Ma/Mc moments G-oblong hole, depth. Y A B (Reamed hole and oblong hole pitch) 6 (Reamed hole pitch) 28 1 H-Ø4 H7 reamed, depth C 1 E 1 J 142 (181.) 6 (M hole pitch) 1 F-M, through (Bolt screw-in depth: 9mm or less) D-Ø4., throug h Ø8 counterbored, depth 4. (from opposite side ) Detail Y (R2) * The dimensions in ( ) apply when brake is equipped. Dimensions and Mass by Stroke Stroke L Without brake With brake A B C D E F G H 2 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. Name External view Model number Features Positioner type Pulse-train type Field network type Position controller, 8-axis type 6-axis type with I/O control function PCON-CA-42PWAI-PLN- PCON-CA-42PWAI-PLP- PCON-CA-42PWAI-NP- PCON-CA-42PWAI-PN- PCON-CA-42PWAI MSEP-C- -42PWAI~ - - MSEP-LC- -42PWAI~ - -- (*) (*) MSEP-LC coming soon with CE conformity. Equipped with a high-output driver Positioner type based on PIO control Equipped with a high-output driver Pulse-train input type Equipped with a high-output driver Supporting major field networks Positioner type that accepts connection of up to eight axes. Axes can be moved and I/O signal turned ON/OFF using a ladder logic program. Maximum number of positioning points 12 points 768 points points/26 points 26 points Input power DC24V * In the model numbers shown above, indicates the field network specification (DV, CC, PR, CN, PRT, EC or EP). Power supply capacity Reference page Refer to P. 46 Refer to P. 9 Refer to P. Refer to P

16 RCP-SA7C RoboCylinder, Model Items Slider Type, Motor Unit Coupled, Actuator Width 7mm, 24-V Pulse Motor RCP SA7C WA 6P P Series Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options WA : Battery-less 6P : Pulse motor, 24 : 24mm : mm P : PCON-CA N : None Refer to the absolute size 6 16 : 16mm MSEP-C/LC P : 1m options table ation 8 : 8mm 8 : 8mm S : m below. M : m 4 : 4mm (every mm) X : R : Robot cable ~ Correlation Diagrams of and Payload High output enabled (PowerCon) - PCON-CA, MSEP-C/LC connected High output disabled (standard) - PCON-CA, MSEP-C/LC connected (1) The payload in Actuator Specifications represents the maximum values, but the payload of a specific model varies depending on the acceleration. For details, refer to Selection Guideline (Table of RCP Payload by /Acceleration) on pp. to 4. (2) Refer to P. 1 for the push-motion operation. Actuator Specifications Lead and Payload Stroke and Maximum Model number Lead High output Max. payload Stroke Lead High output ~ setting Horizontal (kg) Vertical (kg) setting (every mm) RCP-SA7C-WA-6P P RCP-SA7C-WA-6P P- 2 - RCP-SA7C-WA-6P-8-1 -P- 2 - RCP-SA7C-WA-6P-4-1 -P- 2 - Code explanation 1 Stroke 2 Cable length Options ~8 (every mm) <84> 24 <21> 87 <84> 21 <21> The values in < > apply when the actuator is used vertically. (unit: mm/s) Cable Length Type Standard type Special length Robot cable Cable symbol P(1m) S(m) M (m) X6(6m) ~ X1(1m) X11(11m) ~ X1(1m) X16(16m) ~ X2(2m) R1(1m) ~ R(m) R4(4m) ~ R(m) R6(6m) ~ R1(1m) R11(11m) ~ R1(1m) R16(16m) ~ R2(2m) Option Name Option code See page Brake B Non-motor end specification NM P.1 Actuator Specifications Item Description Drive system Ball screw ø12mm, rolled C1 Positioning repeatability (*1) ±.2mm [±.] Lost motion.1mm or less Base Material: Aluminum with white alumite treatment Guide Linear guide Dynamic allowable moment (*2) Ma: 1 Nm, Mb: 14.2 Nm, Mc: 28.8 Nm Allowable overhang 2mm or less in Ma, Mb and Mc directions Ambient operating temperature, humidity to 4 C, 8% RH or less (Non-condensing) (*1) The value at lead 24 is shown in [ ]. (*2) Based on,km of traveling life Overhang load lengths Ma Allowable load moment directions L Mb Mc Ma Mc L 1

17 6 Ø9. Ø6 4-M, depth 1 9 ( Ø H7 interval: ±.2) 2± Ø H7, depth 1 Part installed on the slider Pay attention to interference. Must be 1 or more. Reference plan e Detail view of X.. 48 (72) L K 14(without brake) 19(with brake ) (7) 48 1 Stroke 11 6 M.E. S.E. Home M.E. (*1) 72 () Range of 72 or more Pay attention to interference. (7) 64 Top face of slider X M, depth 6 (Same on opposite side) (For ground line) Refer for Ma/Mc moments G-oblong hole, depth 6 Y A B (Reamed hole and oblong hole pitch) 6 (Reamed hole pitch) H-Ø4 H7 reamed, depth (R2) Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD *1 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. ME: Mechanical end SE: Stroke end Detail Y 9 J C 1 E (M hole pitch) F-M, depth 9 D-Ø6, through Ø9. counterbored, depth. (from opposite side) 19 (24) *The dimensions in ( ) apply when brake is equipped. Dimensions and Mass by Stroke Stroke L Without brake With brake A B C D E F G H 2 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. Name External view Model number Features Positioner type Pulse-train type Field network type Position controller, 8-axis type 6-axis type with I/O control function PCON-CA-6PWAI-PLN- PCON-CA-6PWAI-PLP- PCON-CA-6PWAI-NP- PCON-CA-6PWAI-PN- PCON-CA-6PWAI MSEP-C- -6PWAI~ - - MSEP-LC- -6PWAI~ - -- (*) (*) MSEP-LC coming soon with CE conformity. Equipped with a high-output driver Positioner type based on PIO control Equipped with a high-output driver Pulse-train input type Equipped with a high-output driver Supporting major field networks Positioner type that accepts connection of up to eight axes. Axes can be moved and I/O signal turned ON/OFF using a ladder logic program. Maximum number of positioning points 12 points 768 points points/26 points 26 points Input power DC24V * In the model numbers shown above, indicates the field network specification (DV, CC, PR, CN, PRT, EC or EP). Power supply capacity Reference page Refer to P. 46 Refer to P. 9 Refer to P. Refer to P

18 RoboCylinder, Rod Type, Motor Unit Coupled, Actuator Width 4mm, 24-V Pulse Motor RCP-RA4C Model Items RCP RA4C WA P P Series Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options WA : Battery-less absolute ation P : Pulse motor, size 16 : 16mm 1 : 1mm : mm 2. : 2.mm 6 : 6mm ~ 41 : 41mm (every mm) P : PCON-CA MSEP-C/LC N : None P : 1m S : m M : m X : R : Robot cable Refer to the options table below. Built-in guide mechanism Correlation Diagrams of and Payload High output enabled (PowerCon) - PCON-CA, MSEP-C/LC connected High output disabled (standard) - PCON-CA, MSEP-C/LC connected (1) The payload in Actuator Specifications represents the maximum values, but the payload of a specific model varies depending on the acceleration. For details, refer to Selection Guideline (Table of RCP Payload by /Acceleration) on pp. to 4. (2) Refer to P. 1 for the push-motion operation. Actuator Specifications Lead and Payload Model number RCP-RA4C-WA-P P- 2 - Lead High output Max. payload Max. push setting Horizontal (kg) Vertical (kg) force (N) Stroke Stroke and Maximum Lead 16 High output setting (unit: mm/s) 6~6 41 (every mm) RCP-RA4C-WA-P-1-1 -P- 2 - RCP-RA4C-WA-P-- 1 -P ~41 (every mm) RCP-RA4C-WA-P P Code explanation 1 Stroke 2 Cable length Options Cable Length Type Standard type Special length Robot cable Option Cable symbol P(1m) S(m) M (m) X6(6m) ~ X1(1m) X11(11m) ~ X1(1m) X16(16m) ~ X2(2m) R1(1m) ~ R(m) R4(4m) ~ R(m) R6(6m) ~ R1(1m) R11(11m) ~ R1(1m) R16(16m) ~ R2(2m) Actuator Specifications Item Description Drive system Ball screw ø8mm, rolled C1 Positioning repeatability ±.2mm Lost motion.1mm or less Rod ø2mm Aluminum Rod non-rotation precision (*1) ± deg Allowable rod load mass Refer to P. 18 and P. Rod tip overhang distance 1mm or less Ambient operating temperature, humidity to 4 C, 8% RH or less (Non-condensing) (*1) Accuracy of rod displacement in rotating direction when no load is received. Load at end of rod 17 Name Option code S ee page Brake B P.1 Flange FL Tip adapter (flange) FFA P.9 Tip adapter (internal thread) NFA Tip adapter (keyway) KFA P.6 Non-motor end specification NM P.1

19 Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD *1 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. *2 The orientation of the 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. 1.) ME: Mechanical end SE: Stroke end Deflection Rod Deflection of RCP-RA4C (Reference Values) Load at end of rod (N) Home 6st 11st 16st 21st 26st 1st 6st 41st Dimensions and Mass by Stroke Stroke L Without brake With brake A B C 2 D E F G H J K M Allowable static load at end of rod (N) Allowable dynamic Load offset mm load at end of rod (N) Load offset 1mm Allowable static torque at end of rod (Nm) Allowable dynamic torque at end of rod (Nm) Mass (kg) Without brake 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 Pulse-train type Field network type Position controller, 8-axis type 6-axis type with I/O control function PCON-CA-PWAI-PLN- PCON-CA-PWAI-PLP- PCON-CA-PWAI-NP- PCON-CA-PWAI-PN- PCON-CA-PWAI MSEP-C- -PWAI~ - - MSEP-LC- -PWAI~ - -- (*) (*) MSEP-LC coming soon with CE conformity. Equipped with a high-output driver Positioner type based on PIO control Equipped with a high-output driver Pulse-train input type Equipped with a high-output driver Supporting major field networks Positioner type that accepts connection of up to eight axes. Axes can be moved and I/O signal turned ON/OFF using a ladder logic program. Maximum number of positioning points 12 points 768 points points/26 points 26 points Input power DC24V * In the model numbers shown above, indicates the field network specification (DV, CC, PR, CN, PRT, EC or EP). Power supply capacity Reference page Refer to P. 46 Refer to P. 9 Refer to P. Refer to P

20 RCP-RA6C RoboCylinder, Rod Type, Motor Unit Coupled, Actuator Width 8mm, 24-V Pulse Motor Model Items RCP RA6C WA 42P P Series Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options WA : Battery-less absolute ation 42P : Pulse motor, size 42 2 : 2mm 12 : 12mm 6 : 6mm : mm 6 : 6mm ~ 41 : 41mm (every mm) P : PCON-CA MSEP-C/LC N : None P : 1m S : m M : m X : R : Robot cable Refer to the options table below. Built-in guide mechanism Correlation Diagrams of and Payload High output enabled (PowerCon) - PCON-CA, MSEP-C/LC connected High output disabled (standard) - PCON-CA, MSEP-C/LC connected (1)The payload in Actuator Specifications represents the maximum values, but the payload of a specific model varies depending on the acceleration. For details, refer to Selection Guideline (Table of RCP Payload by /Acceleration) on pp. to 4. (2) Refer to P. 1 for the push-motion operation. Actuator Specifications Lead and Payload Model number Lead RCP-RA6C-WA-42P-2-1 -P- 2-2 High output setting Max. payload Horizontal (kg) Vertical (kg) 6 1. Max. push force (N) 6 Stroke Stroke and Maximum Lead High output 6~6 setting (every mm) (unit: mm/s) 41 RCP-RA6C-WA-42P P RCP-RA6C-WA-42P-6-1 -P ~41 (every mm) RCP-RA6C-WA-42P-- 1 -P Code explanation 1 Stroke 2 Cable length Options Cable Length Type Standard type Special length Robot cable Option Cable symbol P(1m) S(m) M (m) X6(6m) ~ X1(1m) X11(11m) ~ X1(1m) X16(16m) ~ X2(2m) R1(1m) ~ R(m) R4(4m) ~ R(m) R6(6m) ~ R1(1m) R11(11m) ~ R1(1m) R16(16m) ~ R2(2m) Actuator Specifications Item Description Drive system Ball screw ø1mm, rolled C1 Positioning repeatability (*1) ±.2mm [±.mm] Lost motion.1mm or less Rod ø2mm Aluminum Rod non-rotation precision (*2) ± deg Allowable rod load mass Refer to P. 2 and P. Rod tip overhang distance 1mm or less Ambient operating temperature, humidity to 4 C, 8% RH or less (Non-condensing) (*1) The value at lead 2 is shown in [ ]. (*2) Accuracy of rod displacement in rotating direction when no load is received. Load at end of rod 19 Name Option code S ee page Brake B P.1 Flange FL Tip adapter (flange) FFA P.9 Tip adapter (internal thread) NFA Tip adapter (keyway) KFA P.6 Non-motor end specification NM P.1

21 Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD *1 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. *2 The orientation 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. 1.) ME: Mechanical end SE: Stroke end Rod Deflection of RCP-RA6C (Reference Values) Load at end of rod (N) Home 6st 11st 16st 21st 26st 1st 6st 41st Dimensions and Mass by Stroke Stroke L Without brake With brake A B C D E F G H 2 J K Allowable static load at end of rod (N) Allowable dynamic Load offset mm load at end of rod (N) Load offset 1mm Allowable static torque at end of rod (Nm) Allowable dynamic torque at end of rod (Nm) Mass (kg) Without brake 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 Pulse-train type Field network type Position controller, 8-axis type 6-axis type with I/O control function PCON-CA-42PWAI-PLN- PCON-CA-42PWAI-PLP- PCON-CA-42PWAI-NP- PCON-CA-42PWAI-PN- PCON-CA-42PWAI MSEP-C- -42PWAI~ - - MSEP-LC- -42PWAI~ - -- (*) (*) MSEP-LC coming soon with CE conformity. Equipped with a high-output driver Positioner type based on PIO control Equipped with a high-output driver Pulse-train input type Equipped with a high-output driver Supporting major field networks Positioner type that accepts connection of up to eight axes. Axes can be moved and I/O signal turned ON/OFF using a ladder logic program. Maximum number of positioning points 12 points 768 points points/26 points 26 points Input power DC24V * In the model numbers shown above, indicates the field network specification (DV, CC, PR, CN, PRT, EC or EP). Power supply capacity Reference page Refer to P. 46 Refer to P. 9 Refer to P. Refer to P. 47 2

22 RCP-RA7C RoboCylinder, Rod Type, Motor Unit Coupled, Actuator Width 7mm, 24-V Pulse Motor Model Items Built-in guide mechanism RCP RA7C WA 6P P Series Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options WA : Battery-less absolute ation 6P : Pulse motor, size 6 24 : 24mm 16 : 16mm 8 : 8mm 4 : 4mm 7 : 7mm ~ 2 : 2mm (every mm) P : PCON-CA MSEP-C/LC N : None P : 1m S : m M : m X : R : Robot cable Refer to the options table below. Correlation Diagrams of and Payload High output enabled (PowerCon) - PCON-CA, MSEP-C/LC connected High output disabled (standard) - PCON-CA, MSEP-C/LC connected (1) The payload in Actuator Specifications represents the maximum values, but the payload of a specific model varies depending on the acceleration. For details, refer to Selection Guideline (Table of RCP Payload by /Acceleration) on pp. to 4. (2) Refer to P. 1 for the push-motion operation. Actuator Specifications Lead and Payload Stroke and Maximum Model number Lead High output Max. payload Max. push Stroke Lead High output setting Horizontal (kg) Vertical (kg) force (N) setting RCP-RA7C-WA-6P P RCP-RA7C-WA-6P P ~2 (every mm) 6 18 RCP-RA7C-WA-6P-8-1 -P RCP-RA7C-WA-6P-4-1 -P The values in < > apply when the actuator is used vertically. (unit: mm/s) 7~2 (every mm) 8 <6> 6 <4> 7 <6> Code explanation 1 Stroke 2 Cable length Options Cable Length Type Standard type Special length Robot cable Cable symbol P(1m) S(m) M (m) X6(6m) ~ X1(1m) X11(11m) ~ X1(1m) X16(16m) ~ X2(2m) R1(1m) ~ R(m) R4(4m) ~ R(m) R6(6m) ~ R1(1m) R11(11m) ~ R1(1m) R16(16m) ~ R2(2m) Actuator Specifications Item Description Drive system Ball screw ø12mm, rolled C1 Positioning repeatability (*1) ±.2mm [±.mm] Lost motion.1mm or less Rod ømm Aluminum Rod non-rotation precision (*2) ± deg Allowable rod load mass Refer to P. 22 and P. Rod tip overhang distance 1mm or less Ambient operating temperature, humidity to 4 C, 8% RH or less (Non-condensing) (*1) The value at lead 24 is shown in [ ]. (*2) Accuracy of rod displacement in rotating direction when no load is received. 21 Option Name Option code S ee page Brake B P.1 Flange FL Tip adapter (flange) FFA P.9 Tip adapter (internal thread) NFA Tip adapter (keyway) KFA P.6 Non-motor end specification NM P.1 Load at end of rod

23 Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD *1 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. *2 The orientation of the 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. 1.) ME: Mechanical end SE: Stroke end Rod Deflection of RCP-RA7C (Reference Values) Load at end of rod (N) Deflection Home 7st 12st 17st 22st 27st 2st 7st 42st 47st 2st Dimensions and Mass by Stroke Stroke L Without brake With brake A B C D E F G H 2 J K Allowable static load at end of rod (N) Allowable dynamic Load offset mm load at end of rod (N) Load offset 1mm Allowable static torque at end of rod (Nm) Allowable dynamic torque at end of rod (Nm) Mass (kg) Without brake 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 Pulse-train type Field network type Position controller, 8-axis type 6-axis type with I/O control function PCON-CA-6PWAI-PLN- PCON-CA-6PWAI-PLP- PCON-CA-6PWAI-NP- PCON-CA-6PWAI-PN- PCON-CA-6PWAI MSEP-C- -6PWAI~ - - Equipped with a high-output driver Positioner type based on PIO control Equipped with a high-output driver Pulse-train input type Equipped with a high-output driver Supporting major field networks Positioner type that accepts connection of up to eight axes. MSEP-LC- -6PWAI~ - -- (*) Axes can be moved and I/O signal turned (*) MSEP-LC coming soon with CE conformity. ON/OFF using a ladder logic program. Maximum number of positioning points 12 points 768 points points/26 points 26 points Input power DC24V * In the model numbers shown above, indicates the field network specification (DV, CC, PR, CN, PRT, EC or EP). Power supply capacity Reference page Refer to P. 46 Refer to P. 9 Refer to P. Refer to P

24 RCP-RA8C RoboCylinder, High-thrust Rod Type, Motor Unit Coupled, Actuator Width 88mm, 24-V Pulse Motor Model Items Built-in guide mechanism RCP RA8C WA 6P P4 Series Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options WA : Battery-less absolute ation 6P : Pulse motor, size 6 2 : 2mm 1 : 1mm : mm : mm ~ 7 : 7mm (every mm) P4 : PCON-CFA N : None Refer to the P : 1m options table S : m below. M : m X : R : Robot cable Correlation Diagrams of and Payload (1) The payload assumes operation at an acceleration of.1g for lead and operation at an acceleration of.2g for lead 1 and lead 2. The above values are the upper limits of acceleration/deceleration. (2) Exercise caution that the RA8C requires a dedicated controller (highthrust PCON-CFA). Actuator Specifications Lead and Payload Model number Lead Connected controller Maximum payload Horizontal (kg) Vertical (kg) RCP-RA8C-WA-6P-2-1 -P PCON-CFA RCP-RA8C-WA-6P-1-1 -P PCON-CFA RCP-RA8C-WA-6P-- 1 -P4-2 - PCON-CFA Maximum Stroke push force (N) ~7 (every mm) The values in < > apply when the actuator Stroke and Maximum is used vertically. (unit: mm/s) Lead ~ <4> <4> 8 6 <4> 2 <4> <2> <2> 26 <2> Code explanation 1 Stroke 2 Cable length Options Cable Length Type Standard type Special length Robot cable Cable symbol P(1m) S(m) M (m) X6(6m) ~ X1(1m) X11(11m) ~ X1(1m) X16(16m) ~ X2(2m) R1(1m) ~ R(m) R4(4m) ~ R(m) R6(6m) ~ R1(1m) R11(11m) ~ R1(1m) R16(16m) ~ R2(2m) Actuator Specifications Item Description Drive system Ball screw ø16mm, rolled C1 Positioning repeatability ±.2mm Lost motion.1mm or less Rod ø4mm Aluminum Rod non-rotation precision (*1) ± deg Allowable rod load mass Refer to P. 24 and P. Rod tip overhang distance 1mm or less Ambient operating temperature, humidity to 4 C, 8% RH or less (Non-condensing) (*1) Accuracy of rod displacement in rotating direction when no load is received. Option Name Option code See page Brake B Optional cable exit direction (top) CJT Optional cable exit direction (right) CJR Optional cable exit direction (left) CJL P.1 Optional cable exit direction (bottom) CJB Flange bracket FL Non-motor end specification NM Load at end of rod 2

25 Dimensional Drawings CAD drawings can be downloaded from the website. 2D CAD *1 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. *2 The orientation of the 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. 1.) ME: Mechanical end SE: Stroke end Dimensions with Flange (Optional) Dimensions with Brake (Optional) 4 Cable Exit Directions (Optional) Note If an actuator of lead is installed vertically, the service life of the actuator varies significantly depending on the payload. Pay attention to the diagram of payload and service life shown below. (If the actuator is installed horizontally, its service life is not affected by the payload.) Deflection Rod Deflection of RCP-RA8C (The graph below shows the measurements of how much a horizontally installed rod would deflect when a load is applied to the end of the rod. The measured deflection include the deflection due to the weight of the rod.) Load at end of rod (N) 7st 6st st 4st st 2st 1st Home Dimensions and Mass by Stroke Stroke L Without brake With brake A B C D Allowable static load at end of rod (N) Allowable dynamic Load offset mm load at end of rod (N) Load offset 1mm Allowable static torque at end of rod (Nm) Allowable dynamic torque at end of rod (Nm) Mass (kg) Without brake 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 Pulse-train type Field network type PCON-CFA-6PWAI-NP- PCON-CFA-6PWAI-PN PCON-CFA-6PWAI-PLN- -- PCON-CFA-6PWAI-PLP- -- PCON-CFA-6PWAI- --- Positioner type based on PIO control Maximum number of positioning points 12 points Pulse-train input type Supporting major field networks 768 points Input power * In the model numbers shown above, indicates the field network specification (DV, CC, PR, CN, PRT, EC or EP). Power supply capacity Reference page DC24V Refer to P. 46 Refer to P. 9 24

26 RCP-RA1C RoboCylinder, High-thrust Rod Type, Motor Unit Coupled, Actuator Width 18mm, 24-V Pulse Motor Model Items RCP RA1C WA 86P P4 Series Built-in guide mechanism Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options WA : Battery-less absolute ation 86P : Pulse motor, size 86 1 : 1mm : mm 2. : 2.mm : mm ~ 8 : 8mm (every mm) P4 : PCON-CFA N : None P : 1m S : m M : m X : R : Robot cable Correlation Diagrams of and Payload Refer to the options table below. (1) The payload assumes operation at an acceleration of.1g for lead 2., operation at an acceleration of.2g for lead and operation at an acceleration of.4g for lead 1. The above values are the upper limits of acceleration/deceleration. (2) Exercise caution that the RA1C requires a dedicated controller (highthrust PCON-CFA). Actuator Specifications Lead and Payload Model number Lead Connected controller Maximum payload Horizontal (kg) Vertical (kg) RCP-RA1C-WA-86P-1-1 -P PCON-CFA RCP-RA1C-WA-86P-- 1 -P4-2 - PCON-CFA 1 1 RCP-RA1C-WA-86P P PCON-CFA 1 6 Maximum Stroke push force (N) ~8 (every mm) Stroke and Maximum Lead <167> 2~4 (every mm) 4 2 <167> 6 The values in < > apply when the actuator is used vertically. (unit: mm/s) <167> <167> <167> Code explanation 1 Stroke 2 Cable length Options Cable Length Type Standard type Special length Robot cable Cable symbol P(1m) S(m) M (m) X6(6m) ~ X1(1m) X11(11m) ~ X1(1m) X16(16m) ~ X2(2m) R1(1m) ~ R(m) R4(4m) ~ R(m) R6(6m) ~ R1(1m) R11(11m) ~ R1(1m) R16(16m) ~ R2(2m) Actuator Specifications Item Description Drive system Ball screw Ø2mm (lead 2./1mm), Ø16mm (lead mm), rolled C1 Positioning repeatability ±.2mm Lost motion.1mm or less Rod Ø4mm Aluminum Rod non-rotation precision (*1) ± deg Allowable rod load mass Refer to P. 26 and P. Rod tip overhang distance 1mm or less Ambient operating temperature, humidity to 4 C, 8% RH or less (Non-condensing) (*1) Accuracy of rod displacement in rotating direction when no load is received. Option Name Option code See page Brake B Optional cable exit direction (top) CJT Optional cable exit direction (right) CJR Optional cable exit direction (left) CJL P.1 Optional cable exit direction (bottom) CJB Flange bracket FL Non-motor end specification NM Load at end of rod 2

27 Dimensional Drawings CAD drawings can be downloaded from the website. Dimensions with Flange (Optional) 2D CAD *1 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. *2 The orientation of the 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. 1.) ME: Mechanical end SE: Stroke end 4 Cable Exit Directions (Optional) Deflection Rod Deflection of RCP-RA1C (The graph below shows the measurements of how much a horizontally installed rod would deflect when a load is applied to the end of the rod. The measured deflection include the deflection due to the weight of the rod.) Load at end of rod (N) 8st 7st 6st st 4st st 2st 1st Home Correlation Diagrams of Vertical Load and Traveling Life Dimensions and Mass by Stroke Stroke L Without brake With brake A B C D Allowable static load at end of rod (N) Allowable dynamic Load offset mm load at end of rod (N) Load offset 1mm Allowable static torque at end of rod (Nm) Allowable dynamic torque at end of rod (Nm) Mass (kg) Without brake With brake Since the RCP-RA1C has a greater maximum thrust than other types, its service life varies significantly depending on the payload and push force applied when the actuator is installed vertically. When selecting an appropriate type from the correlation diagram of speed and payload or correlation diagram of push force and current-limiting value, check its traveling life on the correlation diagram of payload and service life as well as on the correlation diagram of push force and service life. Note The rated value represents the maximum value at a traveling life of km. The greatest value is the maximum value at which the actuator can operate. Take note that, if an actuator is operated beyond its rating, its service life will drop as shown by the applicable graph on the right. Applicable Controller RCP series actuators can be operated with the controller indicated below. Select the type according to your intended application. Maximum number of Name External view Model number Features positioning points Positioner type Pulse-train type Field network type PCON-CFA-86PWAI-NP- PCON-CFA-86PWAI-PN PCON-CFA-86PWAI-PLN- -- PCON-CFA-86PWAI-PLP- -- PCON-CFA-86PWAI- --- Positioner type based on PIO control 12 points Pulse-train input type Supporting major field networks 768 points Input power * In the model numbers shown above, indicates the field network specification (DV, CC, PR, CN, PRT, EC or EP). Power supply capacity Reference page DC24V Refer to P. 46 Refer to P. 9 26

28 RoboCylinder, RCP-RA8R Model RCP RCP RA8R WA RA8R 6P WA 6P P4 High-thrust Rod Type, Side Mounted Motor Type, Actuator Width 88mm, 24-V Pulse 88mm 24V Motor Series Type Encoder type Motor type Items Lead Stroke Applicable controller Cable length Options P4 WA: 6P: P4:PCON-CFA WA : Battery-less 6P : Pulse motor, 2 2 : : 2mm : mm : PCON-CFA N : None Refer to the 6 1 : absolute size : 1mm P : 1m options table ation :: mm mm 7 : 7mm S : m below. (every mm M : m mm) X X : : R R : : Robot cable ~ Built-in guide mechanism Correlation Diagrams of and Payload (1) The payload assumes operation at an acceleration of.1g for lead and operation at an acceleration of.2g for lead 1 and lead 2. The above values are the upper limits of acceleration/deceleration. (2) Exercise caution that the RA8R requires a dedicated controller (highthrust PCON-CFA). Actuator Specifications Lead and Payload Model number Lead Connected controller Maximum payload Horizontal (kg) Vertical (kg) Maximum push force (N) RCP-RA8R-WA-6P-2-1 -P PCON-CFA RCP-RA8R-WA-6P-1-1 -P PCON-CFA RCP-RA8R-WA-6P-- 1 -P4-2 - PCON-CFA Stroke ~7 (every mm) Stroke and Maximum Lead 1~4 6 6 (unit: mm/s) Code explanation 1 Stroke 2 Cable length Options Cable Length Type Standard type Special length Robot cable Cable symbol P(1m) S(m) M (m) X6(6m) ~ X1(1m) X11(11m) ~ X1(1m) X16(16m) ~ X2(2m) R1(1m) ~ R(m) R4(4m) ~ R(m) R6(6m) ~ R1(1m) R11(11m) ~ R1(1m) R16(16m) ~ R2(2m) Actuator Specifications Item Description Drive system Ball screw Ø16mm, rolled C1 Positioning repeatability ±.2mm Lost motion.1mm or less Rod Ø4mm Aluminum Rod non-rotation precision (*1) ± deg Allowable rod load mass Refer to P. 28 and P. Rod tip overhang distance 1mm or less Ambient operating temperature, humidity to 4 C, 8% RH or less (Non-condensing) (*1) Accuracy of rod displacement in rotating direction when no load is received. Option Name Option code See page Brake B Optional cable exit direction (top) CJT Optional cable exit direction (outside) CJO Optional cable exit direction (bottom) CJB Motor side-mounted to the left (standard) ML P.1 Motor side-mounted to the right MR Flange bracket FL Non-motor end specification NM Load at end of rod 27

29 Dimensional Drawings CAD drawings can be downloaded from the website. Dimensions with Flange (Optional) 2D CAD *1 During home return be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. *2 The orientation of the 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. 1.) ME: Mechanical end SE: Stroke end Note For the specification with brake of -mm stroke, a flange is installed in a 9-degree angle. Dimensions with Brake (Optional) Cable Exit Directions (Optional) Note If an actuator of lead is installed vertically, the service life of the actuator varies significantly depending on the payload. Pay attention to the diagram of payload and service life shown below. (If the actuator is installed horizontally, its service life is not affected by the payload.) Deflection Rod Deflection of RCP-RA8R (The graph below shows the measurements of how much a horizontally installed rod would deflect when a load is applied to the end of the rod. The measured deflection include the deflection due to the weight of the rod.) Load at end of rod (N) 7st 6st st 4st st 2st 1st Home Dimensions and Mass by Stroke Stroke L A B C D Allowable static load at end of rod (N) Allowable dynamic Load offset mm load at end of rod (N) Load offset 1mm Allowable static torque at end of rod (Nm) Allowable dynamic torque at end of rod (Nm) Mass (kg) Without brake With brake Applicable Controller RCP series actuators can be operated with the controller indicated below. Select the type according to your intended application. Maximum number of Name External view Model number Features positioning points Positioner type Pulse-train type Field network type PCON-CFA-6PWAI-NP- PCON-CFA-6PWAI-PN- Positioner type based on PIO control 12 points Input power Power supply capacity Reference page PCON-CFA-6PWAI-PLN- -- PCON-CFA-6PWAI-PLP- -- Pulse-train input type DC24V Refer to P. 46 Refer to P. 9 PCON-CFA-6PWAI- --- Supporting major field networks 768 points * In the model numbers shown above, indicates the field network specification (DV, CC, PR, CN, PRT, EC or EP). 28

30 RCP-RA1R RoboCylinder, High-thrust Rod Type, Side Mounted Motor Type, Actuator Width 18mm, 24-V Pulse Motor Model Items RCP RA1R WA 86P P4 Series Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options WA : Battery-less absolute ation 86P : Pulse motor, size 86 1 : 1mm : mm 2. : 2.mm : mm ~ 8 : 8mm (every mm) P4 : PCON-CFA N : None P : 1m S : m M : m X : R : Robot cable Refer to the options table below. Built-in guide mechanism Correlation Diagrams of and Payload (1) The payload assumes operation at an acceleration of.1g for lead 2., operation at an acceleration of.2g for lead and operation at an acceleration of.4g for lead 1. The above values are the upper limits of acceleration/deceleration. (2) Exercise caution that the RA1R requires a dedicated controller (highthrust PCON-CFA). Actuator Specifications Lead and Payload Model number Lead Connected controller Maximum payload Maximum Stroke Horizontal (kg) Vertical (kg) push force (N) RCP-RA1R-WA-86P-1-1 -P PCON-CFA RCP-RA1R-WA-86P-- 1 -P4-2 - PCON-CFA 1 1 RCP-RA1R-WA-86P P PCON-CFA 1 6 ~8 (every mm) Stroke and Maximum Lead 1 1 2~ (every mm) <14> 2 <14> The values in < > apply when the actuator is used vertically. (unit: mm/s) 18 <14> <14> Code explanation 1 Stroke 2 Cable length Options Cable Length Type Standard type Special length Robot cable Cable symbol P(1m) S(m) M (m) X6(6m) ~ X1(1m) X11(11m) ~ X1(1m) X16(16m) ~ X2(2m) R1(1m) ~ R(m) R4(4m) ~ R(m) R6(6m) ~ R1(1m) R11(11m) ~ R1(1m) R16(16m) ~ R2(2m) Actuator Specifications Item Description Drive system Ball screw Ø2mm (lead 2./1mm), Ø16mm (lead mm), rolled C1 Positioning repeatability ±.2mm Lost motion.1mm or less Rod Ø4mm Aluminum Rod non-rotation precision (*1) ± deg Allowable rod load mass Refer to P. and P. Rod tip overhang distance 1mm or less Ambient operating temperature, humidity to 4 C, 8% RH or less (Non-condensing) (*1) Accuracy of rod displacement in rotating direction when no load is received. Option Name Option code See page Brake B Optional cable exit direction (top) CJT Optional cable exit direction (outside) CJO Optional cable exit direction (bottom) CJB Motor side-mounted to the left (standard) ML P.1 Motor side-mounted to the right MR Flange bracket FL Non-motor end specification NM Load at end of rod 29

31 Dimensional Drawings CAD drawings can be downloaded from the website. Dimensions with Flange (Optional) 2D CAD *1 During home return, be careful to avoid interference from peripheral objects because the slider travels until the mechanical end. *2 The orientation of the 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. 1.) ME: Mechanical end SE: Stroke end Note For the specification with brake of -mm stroke, a flange is installed in a 9-degree angle. Cable Exit Directions (Optional) Deflection Rod Deflection of RCP-RA1R (The graph below shows the measurements of how much a horizontally installed rod would deflect when a load is applied to the end of the rod. The measured deflection include the deflection due to the weight of the rod.) Load at end of rod (N) 8st 7st 6st st 4st st 2st 1st Home Correlation Diagrams of Vertical Load and Traveling Life Dimensions and Mass by Stroke Stroke L A B C D Allowable static load at end of rod (N) Allowable dynamic Load offset mm load at end of rod (N) Load offset 1mm Allowable static torque at end of rod (Nm) Allowable dynamic torque at end of rod (Nm) Mass (kg) Without brake With brake Since the RCP-RA1R has a greater maximum thrust than other types, its service life varies significantly depending on the payload and push force applied when the actuator is installed vertically. When selecting an appropriate type from the correlation diagram of speed and payload or correlation diagram of push force and current-limiting value, check its traveling life on the correlation diagram of payload and service life as well as on the correlation diagram of push force and service life. Note The rated value represents the maximum value at a traveling life of,km. The greatest value is the maximum value at which the actuator can operate. Take note that, if an actuator is operated beyond its rating, its service life will drop as shown by the applicable graph on the right. Applicable Controller RCP series actuators can be operated with the controller indicated below. Select the type according to your intended application. Maximum number of Name External view Model number Features positioning points Positioner type Pulse-train type Field network type PCON-CFA-86PWAI-NP- PCON-CFA-86PWAI-PN PCON-CFA-86PWAI-PLN- -- PCON-CFA-86PWAI-PLP- -- PCON-CFA-86PWAI- --- Positioner type based on PIO control 12 points Pulse-train input type Supporting major field networks 768 points Input power * In the model numbers shown above, indicates the field network specification (DV, CC, PR, CN, PRT, EC or EP). Power supply capacity Reference page DC24V Refer to P. 46 Refer to P. 9

32 Points to Note/Selection RCPseries Notes on Installing Rod Actuators External force (optional), make sure that the actuator will not receive any 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. Even when the actuator does not receive any external forces, provide the right, if the actuator is installed horizontally and secured using a Support Base External force 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 graphs on the following pages and select an appropriate type meeting the purpose of use. When performing push-motion operation using a slider actuator, limit the push current limit so that the reactive moment generated by the push catalog. To help with the moment calculations, the application position of 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, h SA4C : h=6mm SA6C : h=46mm SA7C : h=46.mm Calculation example: If push-motion operation is performed with an RCP-SA7C by applying N at the position shown to the right, the moment received by the guide, or Ma, is calculated as (46.+ ) x = 482 (Nmm) = 4.82 (Nm) N mm Since the rated Ma moment of the SA7C is 1 (Nm), 1 x.8 = 8 > 4.82, suggesting that this selection is acceptable. If an Mb moment generates due to push-motion operation, calculate calculated moment is within 8% of the rated moment. 1

33 Correlation Diagrams of Push Force and Current-limiting value SA4C/RA4C type The graphs below are only a reference, and the graphs may vary slightly from the actual values. SA6C/RA6C type Push force (N) Lead 2. Lead Lead 1 Push force (N) Lead Lead 6 Lead 12 Lead 16 Lead 2 Current-limiting value (%) Current-limiting value (%) SA7C type RA7C type Push force (N) Lead 4 Lead 8 Lead 16 Push force (N) Lead 4 Lead 8 Lead 16 Lead 24 Lead 24 Current-limiting value (%) Current-limiting value (%) RA8C/RA8R type RA1C/RA1R type Lead Lead 2. Push force (N) Lead 1 Lead 2 Push force (N) Lead Lead 1 Current-limiting value (%) Current-limiting value (%) 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 1 mm/s for RA8C/RA8R/RA1C/RA1R and 2 mm/s for other than those models during push-motion operation. Be sure to use the RA8C/RA8R at a current-limiting value of 6% or less, because performing push-motion operation with these actuators at a current-limiting value of 7% may lead to motor damage. Use the table below as a rough guide for the upper limit of push cycles when the RCP-RA1C/RA1R of each lead is operated with the maximum push force over a push-motion travel distance of 1 mm. Lead (type) 2. 1 Push cycles 1.4 million cycles 2 million cycles 17.6 million cycles * The upper limit of push cycles varies depending on the impact, vibration and other operating conditions. The cycles shown to the left assume no impact or vibration. Points to Note on Push-motion Operation Using RCP-RA1C/RA1R The push force is limited on certain RA1C/RA1R models due to its relationship with the buckling load of the ball screw. (Refer to the table below.) Items Lead 1 Stroke mm or less Stroke 6 mm or less Stroke 6 mm or less Stroke 7 mm or less As shown in the push force graph Stroke 7 mm or less Stroke 8 mm or less Lead As shown in the graph 29 N 2 N 22 N 2 N 18 N Lead 2. As shown in the graph 9 N 4 N 2

34 Selection RCPseries Selection Guideline (Tables of RCP Payload by /Acceleration) When operating the RCP, increasing the speed/acceleration reduces the travel time, but it also causes the payload to drop. The tables below provide correlations between speed/acceleration and payload for different models, so check the applicable graph to see if the model you will be using meets the conditions you desire. Also note that the maximum speed, maximum acceleration and payload vary between the PowerCon (high output setting) and the standard (high output unsetting) specification. Check your specification in each table (the upper tables represent the PowerCon specification, while the lower tables represent the standard specification). RCP-SA4C PowerCon Specification Standard Specification Lead 16 Lead 16 (mm/s) (mm/s) PowerCon Specification Standard Specification Lead 1 (mm/s) Lead 1 (mm/s) PowerCon Specification Standard Specification Lead (mm/s) Lead (mm/s) PowerCon Specification Standard Specification Lead 2. (mm/s) Lead 2. (mm/s) RCP-SA6C PowerCon Specification Lead 2 (mm/s) PowerCon Specification Lead 12 (mm/s) PowerCon Specification Lead 6 (mm/s) PowerCon Specification Lead (mm/s) Standard Specification Lead 2 (mm/s) Standard Specification Lead 12 (mm/s) Standard Specification Lead 6 (mm/s) Standard Specification Lead (mm/s) RCP-SA7C PowerCon Specification Lead 24 (mm/s) PowerCon Specification Lead 16 (mm/s) PowerCon Specification Lead 8 (mm/s) PowerCon Specification Lead 4 (mm/s) Standard Specification Lead 24 (mm/s) Standard Specification Lead 16 (mm/s) Standard Specification Lead 8 (mm/s) Standard Specification Lead 4 (mm/s)

35 RCP-RA4C PowerCon Specification Standard Specification Lead 16 Lead 16 (mm/s) (mm/s) PowerCon Specification Standard Specification Lead 1 (mm/s) Lead 1 (mm/s) PowerCon Specification Standard Specification Lead (mm/s) Lead (mm/s) PowerCon Specification Standard Specification Lead 2. (mm/s) Lead 2. (mm/s) RCP-RA6C PowerCon Specification Standard Specification Lead 2 Lead 2 (mm/s) (mm/s) PowerCon Specification Standard Specification Lead 12 (mm/s) Lead 12 (mm/s) PowerCon Specification Standard Specification Lead 6 (mm/s) Lead 6 (mm/s) PowerCon Specification Standard Specification Lead (mm/s) Lead (mm/s) RCP-RA7C PowerCon Specification Standard Specification Lead 24 Lead 24 (mm/s) (mm/s) PowerCon Specification Standard Specification Lead 16 (mm/s) Lead 16 (mm/s) PowerCon Specification Standard Specification Lead 8 (mm/s) Lead 8 (mm/s) PowerCon Specification Standard Specification Lead 4 (mm/s) Lead 4 (mm/s) RCP-RA8C Lead Lead 1 Lead 2 Orientation (mm/s) Horizontal Orientation (mm/s) Vertical Orientation (mm/s) Horizontal Orientation (mm/s) Vertical Orientation (mm/s) Horizontal Orientation (mm/s) Vertical RCP-RA8R Lead Lead 1 Lead 2 Orientation (mm/s) 9 1 Horizontal Orientation (mm/s) Vertical Orientation (mm/s) Horizontal Orientation (mm/s) Vertical Orientation (mm/s) 4 Horizontal Orientation (mm/s) 6 4 Vertical

36 Selection RCPseries RCP-RA1C Lead 2. Lead Lead 1 Orientation (mm/s) 42 6 Horizontal.1 Orientation (mm/s) Vertical Orientation (mm/s) 8 12 Horizontal Orientation (mm/s) Vertical Orientation (mm/s) Horizontal Orientation (mm/s) Vertical RCP-RA1R Lead 2. Lead Lead 1 Orientation (mm/s) Horizontal.1 Orientation (mm/s) 2 7 Vertical Orientation (mm/s) 1 Horizontal Orientation (mm/s) Vertical Orientation (mm/s) 2 Horizontal Orientation (mm/s) Vertical Selection References (Guide for Selecting Allowable Load for Radial Cylinder) The radial cylinder has a built-in 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 RCP, horizontally mounted Horizontally mounted, laid on it s side Overhang distance dz Offset distance dx Overhang distance dz Offset distance dx RCP-RA4/RA6/RA7 <Offset: mm/overhang: mm> <Offset: mm/overhang: mm> <Offset: mm/overhang: 1mm> Allowable load mass (kg) Stroke Stroke Stroke <Offset: 1mm/Overhang: mm> <Offset: 1mm/Overhang: mm> <Offset: 1mm/Overhang: 1mm> Allowable load mass (kg) Allowable load mass (kg) Allowable load mass (kg) Allowable load mass (kg) Allowable load mass (kg) Stroke Stroke Stroke

37 RCP-RA8/RA1 <Offset: mm/overhang: mm> <Offset: mm/overhang: mm> <Offset: mm/overhang: 1mm> Stroke Stroke Stroke <Offset: 1mm/Overhang: mm> <Offset: 1mm/Overhang: mm> <Offset: 1mm/Overhang: 1mm> RCP-RA4 RCP-RA6 RCP-RA7 Allowable load mass (kg) Allowable load mass (kg) Allowable load mass (kg) Allowable load mass (kg) Allowable load mass (kg) Allowable load mass (kg) Stroke Stroke Stroke Allowable load mass for RCP, vertically mounted Vertically mounted Eccentric distance dx Eccentric distance dy Allowable load calculation conditions. Load mass corresponding to a product traveling life of km, considering moments generated by acceleration/ deceleration. (Maximum speed in the specification of speed.) <Allowable load mass, vertically mounted> <Allowable load mass, vertically mounted> <Allowable load mass, vertically mounted> Allowable load mass (kg) Allowable load mass (kg) RCP-RA8 Eccentric distance Lead 2. Lead Lead 1 Lead 16 <Allowable load mass, vertically mounted> Lead Lead 1 Lead 2 Allowable load mass (kg) Allowable load mass (kg) RCP-RA1 Eccentric distance Lead Lead 6 Lead 12 Lead 2 <Allowable load mass, vertically mounted> Lead 2. Lead Lead 1 Allowable load mass (kg) Eccentric distance Lead 4 Lead 8 Lead 16 Lead 24 Eccentric distance Eccentric distance 6

38 RCPseries Refer to P. 9 Option PC software (Refer to P. 6) RS22 connection type <Model number: RCM-11-MW> USB connection type <Model number: RCM-11-USB> Option Teaching pendant (Refer to P. 6) <Model number: TB-1-C (*)> PLC Field network DeviceNet/CC-Link/PROFIBUS-DP/PROFINET-IO/ CompoNet/EtherCAT/EtherNet/IP (*) TB-1-C coming soon with CE conformity. (Refer to P. 8) <Model number: CB-MSEP-PIO2> Standard length: 2m m Standard:.m Absolute battery unit Comes with the simple absolute type <Model number: SEP-ABU> (DIN rail mount) <Model number: SEP-ABUS> (Screw mount) DC24V Power Supply 24V V FG Simple Absolute battery <Model number: AB-7> Controller (Refer to P. 9) <Model number: PCON-CA> <Connectable Actuators> Actuators indicated in green are of Integrated motor/encoder cable <Model number: CB-PSEP-MPA > Standard lengths: 1m/m/m (Refer to P. 8) Supplied with the actuator Integrated motor/encoder cable <Model number: CB-APSEP-MPA > Standard lengths: 1m/m/m (Refer to P. 7) Supplied with the actuator 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 (Refer to P. 7) Supplied with the actuator Integrated motor/encoder cable <Model number: CB-CAN-MPA > <Model number: CB-CAN-MPA -RB> Standard lengths: 1m/m/m (Refer to P. 7) Supplied with the actuator Integrated motor/encoder cable (for RCP-RA8C/8R/1C/1R) <Model number: CB-CFA-MPA > <Model number: CB-CFA-MPA -RB> Standard lengths: 1m/m/m (Refer to P. 7) Actuator RCP4 Series Actuator RCP Series 7

39 Refer to P. 47 Option PC software (Refer to P. 6) RS22 connection type <Model number: RCM-11-MW> USB connection type <Model number: RCM-11-USB> *The PowerCon (high-output driver) and Mini Cylinder are supported by Ver or later. Option Teaching pendant (Refer to P. 6) <Model number: TB-1-C (*)> PLC Field network DeviceNet/CC-Link/PROFIBUS-DP/PROFINET-IO/ CompoNet/EtherCAT/EtherNet/IP (*) TB-1-C coming soon with CE conformity. (Refer to P. 8) <Model number: CB-MSEP-PIO2> Standard length: 2m * You can choose either the PIO * the controller communications using the gateway parameter setting tool that comes with the PC software. Please purchase the PC software if you don t already have it. * Field network connection cables are the responsibility of the customer. m This cable comes with the PC software. This cable comes with the absolute battery box. Option Absolute battery box <Model number: MSEP-ABB> Replacement battery <Model number: AB-7> m *If Simple absolute type is model, the controller will come with the absolute battery box. (Refer to P. 6 for the dimensions.) Controller (Refer to P. 47) <Model number: MSEP-C> <Model number: MSEP-LC (*)> DC24V Power Supply 24V V FG (*) MSEP-LC coming soon with CE conformity. <Connectable Actuators> Integrated motor/encoder cable <Model number: CB-PSEP-MPA > Standard lengths: 1m/m/m (Refer to P. 8) Supplied with the actuator Actuators indicated in orange are of the BLDC servo motor specification. Integrated motor/encoder cable <Model number: CB-ASEP-MPA > Standard lengths: 1m/m/m (Refer to P. 8) Supplied with the actuator Actuator RCP2 Series *The RCP2-RTBS/RTCS are excluded. Integrated motor/encoder cable <Model number: CB-RPSEP-MPA > Standard lengths: 1m/m/m (Refer to P. 8) Supplied with the actuator Integrated motor/encoder cable <Model number: CB-APSEP-MPA > Standard lengths: 1m/m/m (Refer to P. 7) Supplied with the actuator Actuator RCA series Actuator RCP2, Small Rotary (RCP2-RTBS/RTCS) *Exercise caution that rotary actuators (RCP2-RT SL/RT L/RT BL) are not supported. Integrated motor/encoder cable <Model number: CB-CA-MPA > Integrated robot motor/encoder cable <Model number: CB-CA-MPA -RB> Standard lengths: 1m/m/m (Refer to P. 7) Supplied with the actuator Actuator Integrated (robot) motor/encoder cable <Model number: CB-CAN-MPA > <Model number: CB-CAN-MPA -RB> Standard lengths: 1m/m/m (Refer to P. 7) Supplied with the actuator RCP Series RCP2-GRSS/GRLS/GRST RCP2-SRA4R/SRGS4R/SRGD4R RCA2 Series RCL Series (Note 1) (Note 1) Exercise caution that the RCL series does not Integrated (robot) motor/encoder cable (for RCP-RA8C/8R/1C/1R) <Model number: CB-CFA-MPA > <Model number: CB-CFA-MPA -RB> Standard lengths: 1m/m/m (Refer to P. 7) Actuator RCP4 Series Actuator RCP Series RCD Series 8

40 Controller <PCON-CA/CFA> RCPseries RCP/RCP4 <PowerCon Type> RCP/RCP2 Position Controllers 1 Built-in high-output driver designed exclusively for RCP/RCP4 generates greater torque at high speed Acceleration/ deceleration RCP2 RCP.7G 1.G 1.4 times The newly developed high-output driver (patent compared to conventional models (RCP2 series), with the acceleration/deceleration higher by 1.4 times, maximum speed by 1. times, and payload twice as large. Maximum speed Payload RCP2 RCP RCP2 RCP 1mm/s 144mm/s 6kg 1. times 12kg 2 times (*) The rates of improvement vary depending on the type. (*) The RCP/RCP2 are also supported. 2 Supporting the battery-less absolute encoder The RCP equipped with a battery-less absolute encoder is supported. Since no battery is needed to retain position data, less space is needed to install the control panel, which in turn leads to lower cost of your equipment. Common boards ensures greater ease of maintenance While conventional controllers require a separate set of boards for each actuator, the PCON-CA/CFA use common boards for all actuators, meaning that actuators of different models such as RCP, RCP4, RCP and RCP2 can be operated simply by changing the controller settings. The result is significant reduction in maintenance stock. 4 Smart tuning 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. 9

41 List of Models RoboCylinder Position Controller Field network type I/O type Positioner type Pulse-train type DeviceNet connec- CC-Link connection PROFIBUS-DP connection CompoNet connec- PROFINET-IO connection EtherCAT connec- EtherNet/ IP connection I/O type model number NP/PN PLN/PLP DV CC PR CN PRT EC EP PCON-CA Simple absolute with absolute battery with absolute battery unit No absolute battery PCON-CFA Bat * If the RCP is used with pulse-train I/Os, the actuator must complete a home return prior to operation, as with any incremental actuator. <Controller> PCON Series Type Motor type Encoder type I/O type I/O cable length Power supply voltage Simple absolute Actuator mounting CA CFA Standard type 6P/86P motor type WAI SA DC24V 2P 2 size pulse motor 2 size pulse motor 2SP (RCP-RA2A high-thrust type dedicated) 28P 28 size pulse motor 28 size pulse motor 28SP (RCP2-RAC dedicated) P size pulse motor 42P 42 size pulse motor 6P 6 size pulse motor 6P 6 size pulse motor 86P 86 size pulse motor NP PLN PN PLP DV CC PR CN PRT EC EP No cable 2 2m m m * If a network connection CC, PR, CN, PRT, EC or EP) is selected, the I/O cable length becomes (no cable). (Blank) AB (With absolute battery, without absolute battery unit) ABU (With absolute battery unit, with absolute battery) ABUN (No absolute battery, no absolute battery unit) (Blank) DN 4

42 Controller <PCON-CA/CFA> RCPseries PIO I/O Interface Input Part Item Input voltage DC24V ±1% Input current ON/OFF voltage ma, 1 circuit ON voltage: 18 VDC min. OFF voltage: 6 VDC max. Output Part Item Load voltage Maximum load current Leak current DC24V ma, 1 circuit 2 ma max. per point External power supply DC24V Internal circuit Internal circuit Output terminal Load Input terminal External power supply DC24V External power supply DC24V Input terminal Internal circuit Internal circuit Output terminal External power supply DC24V Load 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 Positioning mode Number of positioning points: 64 points Position number command: Binary Coded Decimal (BCD) (factory setting) (standard type) Zone signal output (*1) : 1 point Position zone signal output (*2) : 1 point PIO pattern 1 1 Number of positioning points: 64 points Teaching mode Position number command: Binary Coded Decimal (BCD) Position zone signal output (*2) : 1 point (teaching type) Jog (inching) operation using PIO signals is supported. Current position data can be written to the position table using PIO signals. PIO pattern 2 2 PIO pattern PIO pattern 4 4 PIO pattern PIO pattern 6 (Note 1) 6 26-point mode (26 positioning points) 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: 26 points Position number command: Binary Coded Decimal (BCD) Position zone signal output (*2) : 1 point 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 LS (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 (*1) Zone signal output: A desired zone is set by Parameter Nos. 1 and 2 or 2 and 24, 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 (Note 1) Pulse Train Control Model is available only if the pulse train control type is indicated (from PCON-CA-PLN and PLP) at the time of purchase. 41

43 PIO Patterns and Signal Assignments Connect an external device (such as a PLC) according to this table. Pin number Category Input Output PIO function Parameter No. 2, PIO pattern selection Positioning mode Teaching mode 26-point mode 12-point mode Solenoid valve mode 1 Solenoid valve mode 2 Number of positioning points 64 points 64 points 26 points 12 points 7 points points Home return signal Jog signal Teaching signal (writing of current position) Brake release Moving signal Zone signal (Note 1) (Note 1) Position zone signal 1A 24V P24 2A 24V P24 A Pulse input 4A A IN PC1 PC1 PC1 PC1 ST ST 6A IN1 PC2 PC2 PC2 PC2 ST1 ST1(JOG+) 7A IN2 PC4 PC4 PC4 PC4 ST2 ST2(-) 8A IN PC8 PC8 PC8 PC8 ST 9A IN4 PC16 PC16 PC16 PC16 ST4 1A IN PC2 PC2 PC2 PC2 ST 11A IN6 MODE PC64 PC64 ST6 12A IN7 JISL PC128 PC128 Input 1A IN8 JOG+ PC26 PC26 14A IN9 BKRL JOG- BKRL BKRL BKRL BKRL 1A IN1 RMOD RMOD RMOD RMOD RMOD RMOD 16A IN11 HOME HOME HOME HOME HOME 17A IN12 *STP *STP *STP *STP *STP 18A IN1 CSTR CSTR/PWRT CSTR CSTR 19A IN14 RES RES RES RES RES RES 2A IN1 SON SON SON SON SON SON 1B OUT PM1(ALM1) PM1(ALM1) PM1(ALM1) PM1(ALM1) PE LSO 2B OUT1 PM2(ALM2) PM2(ALM2) PM2(ALM2) PM2(ALM2) PE1 LS1(TRQS) B OUT2 PM4(ALM4) PM4(ALM4) PM4(ALM4) PM4(ALM4) PE2 LS2 (Note2) 4B OUT PM8(ALM8) PM8(ALM8) PM8(ALM8) PM8(ALM8) PE B OUT4 PM16 PM16 PM16 PM16 PE4 6B OUT PM2 PM2 PM2 PM2 PE 7B OUT6 MOVE MOVE PM64 PM64 PE6 8B OUT7 ZONE1 MODES PM128 PM128 ZONE1 ZONE1 Output 9B OUT8 PZONE/ZONE2 PZONE/ZONE1 PZONE/ZONE1 PM26 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 14B OUT1 *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS 1B OUT14 *ALM *ALM *ALM *ALM *ALM *ALM 16B OUT1 LOAD/TRQS *ALML *ALML LOAD/TRQS *ALML LOAD/TRQS *ALML LOAD/TRQS *ALML *ALML 17B Pulse input 18B 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. (Note 1) In all PIO patterns other than, this signal can be switched with PZONE by setting Parameter No. 149 accordingly. (Note 2) 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. Note: The names of the signals above inside ( ) are functions before the unit returns home. 42

44 Controller <PCON-CA/CFA> RCPseries Pulse-train Control Circuit Host Unit = Differential Type Host unit Positioning unit (corresponding to line driver 26C1) V V A 4A 17B 18B 19B 2B PCON PIO connector PP /PP NP /NP V V Host Unit = Open Collector Type The AK-4 (optional) is needed to input pulses. Host unit Positioning unit Pulse command DC 24V V Pulse converter AK-4 (sold separately) 24V PP 1 V *PP 2 PP NP NP *NP 4 A 4A 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-4. Command Pulse Input Patterns Command pulse-train pattern Input terminal Forward Reverse Forward pulse-train Reverse pulse-train PP /PP NP /NP Negative logic Pulse-train 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. PP /PP Sign NP /NP Low High The command pulses indicate the amount of motor rotation, while the sign indicates the rotating direction. PP /PP Phase A/B pulse-train NP /NP Command phases A and B having a 9 phase difference (multiplier is 4) 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 Low Phase A/B pulse-train PP /PP NP /NP 4

45 I/O Signals in Pulse-train Control Mode Connect an external device (such as PLC) according to this table. Pin number Category I/O number Signal abbreviation Signal name Function description 1A 24V P24 Power supply I/O power supply +24 V 2A 24V P24 Power supply I/O power supply +24 V A PP Differential pulse-train input (+) Pulse input 4A /PP Differential pulse-train input (-) A 12A Input IN7 RMOD Operation mode switching Differential pulses are input from the host. Up to 2 kpps can be input. N SON Servo ON The servo is ON while this signal is ON, and OFF while the signal is OFF. 6A 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 TL Torque limit selection When this signal is turned ON, the motor torque is limited to the value set by the parameter. 9A IN4 CSTP Forced stop The actuator is forcibly stopped when this signal has remained ON for 16 ms or more. The actuator decelerates to a stop at the torque set in the controller and the servo turns OFF. 1A IN DCLR Deviation counter clear This signal clears the deviation counter. 11A IN6 BKRL Forced brake release The brake is forcibly released. 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.) 1A IN8 NC Not used 14A IN9 NC Not used 1A IN1 NC Not used 16A IN11 NC Not used 17A IN12 NC Not used 18A IN1 NC Not used 19A IN14 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. B OUT2 INP Positioning complete This signal turns ON when the amount of remaining travel pulses in the deviation counter falls within the in-position band. 4B OUT HEND Home return complete This signal turns ON upon completion of home return. B OUT4 TLR Torque limited This signal turns ON upon reaching the torque limit while the torque is limited. 6B OUT *ALM Controller alarm status This signal turns ON when the controller is normal, and turns OFF when an alarm generates. 7B OUT6 *EMGS Emergency stop status 8B Output OUT7 RMDS Operation mode status 9B OUT8 ALM1 1B OUT9 ALM2 11B OUT1 ALM4 12B OUT11 ALM8 Alarm code output signal 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. 1B OUT12 *ALML Minor failure alarm This signal is output when a message-level alarm generates. 14B OUT1 NC Not used 1B OUT14 ZONE1 Zone signal 1 This signal turns ON when the current position of the actuator falls within the 16B OUT1 ZONE2 Zone signal 2 parameter-set range. 17B NP Differential pulse-train input (+) Pulse input 18B /NP Differential pulse-train input (-) Differential pulses are input from the host. 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. 44

46 Controller <PCON-CA/CFA> RCPseries Take note that the required data areas on the PLC side vary depending on the mode. Mode Description Mode Remote I/O mode Description of positioning points and functions vary with each of the operation patterns (PIO patterns) that can be set by the controller s parameter. 1 2 Position/simple direct numerical mode Half direct numerical mode Full direct numerical mode specifying the desired position number corresponding to the desired operating conditions already input to the position data table. The actuator is operated by specifying the speed, acceleration/deceleration and push current, in addition to the target position, by directly entering values. The actuator is operated by specifying the target position, speed, acceleration/deceleration, push current control value, etc., by directly entering values. The current position, current speed, command current, etc., can also be read. 4 Remote I/O mode 2 Same as the above remote I/O mode, plus the current position read function and command current read function. Required Data Size for Each Network DeviceNet CC-Link PROFIBUS-DP CompoNet PROFINET-IO EtherCAT EtherNet/IP Remote I/O mode 1CH 1 station 2 bytes 2 bytes 2 bytes 2 bytes 2 bytes 1 2 Position/simple direct numerical mode Half direct numerical mode Full direct numerical mode 4CH 1 station 8 bytes 8 bytes 8 bytes 8 bytes 8 bytes 8CH 2 stations 16 bytes 16 bytes 16 bytes 16 bytes 16 bytes 16CH 4 stations 2 bytes 2 bytes 2 bytes 2 bytes 2 bytes 4 Remote I/O mode 2 6CH 1 station 12 bytes 12 bytes 12 bytes 12 bytes 12 bytes List of Functions by Operation Mode Remote I/O mode Position/simple direct numerical mode Half direct numerical mode Full direct numerical mode Remote I/O mode 2 Number of positioning points 12 points 768 points Unlimited Unlimited 12 points Operation by direct position Direct speed/acceleration Push-motion operation Current position read Current speed read Operation by position Completed position number read * indicates that the operation is supported, and - indicates that it is not supported. 4

47 External Dimensions Battery-less absolute & Incremental specification (WAI) 14 from the center of DIN rail.4 (mm DIN rail width) Absolute battery Absolute battery 14 from the center of DIN rail.4 (mm DIN rail width) * The absolute battery is installed on the left side of the controller as seen from the front of the controller. (SA ABU) Absolute battery unit 14 from the center of DIN rail.4 (mm DIN rail width) Absolute battery unit from the center of DIN rail.4 (mm DIN rail width) PCON-CFA * The controller comes with the absolute battery unit above. Moving range: mm * The controller comes with the absolute battery unit above. 14 from the center of DIN rail.4 (mm DIN rail width) Item Description PCON-CA PCON-CFA Number of controlled axes 1 axis Power-supply voltage DC24V±1% Load current 2P, 28P, 28SP 1 A max. RCP2 (including Motor type 42P, 6P 2.2 A max. RCP control-side 6P, 86P 6 A max current 28P, P, High-output setting disabled: 2.2 A max. consumption) RCP4 Motor type 42P, 6P High-output setting enabled:. A rated / 4.2 A max. (Note 1) RCP 6P, 86P 6 A max Electromagnetic brake power (for actuator with brake) DC24V ±1%.1A (max) DC24V ±1%.A (max) Rush current (Note 2) 8.A 1A Momentary power failure resistance MAX.µs Supported encoder Battery-less absolute encoder/incremental encoder Actuator cable length 2m max. External interface Dedicated 24-VDC signal inputs/outputs (NPN/PNP selectable) --- Up to 16 input points, up to 16 output points, cable length up to 1m DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, PROFINET-IO, EtherCAT, EtherNet/IP Data setting, input method PC software, touch panel teaching pendant, teaching pendant Data retention memory Position data and parameters are saved in non-volatile memory. (There are no limits to how many times the memory can be rewritten.) Operation mode Positioner mode/pulse-train control mode (selectable by parameter setting) Number of positioner-mode positions Up to 12 points for positioner type or up to 768 points for network type (Note) The total number of positioning points varies depending on which PIO pattern is selected. Differential type (line-driver type): 2 kpps max., cable length up to 1m Input pulses Open-collector type: Not supported. * If the host uses open-collector outputs, use the separately sold AK-4 (optional) to change them to differential outputs. Pulse-train interface 1/ < A/B < /1 (Electronic gear: A/B) Setting range of A and B (set by parameters): 1 to 496 Feedback pulse output None Insulation resistance Not less than 1 MΩ at VDC, Electric shock protection mechanism Class I, basic insulation Mass (Note ) - ing 19 g for battery) than 48g Cooling method Natural cooling by air Forced cooling by air Ambient operating temperature to 4 C Ambient operating humidity Not more than 8% RH (non-condensing) Environment Operating ambience Free from corrosive gases Degree of protection IP2 Note 1) Note 2) Note ) 46

48 Controller <MSEP-C/LC> RCPseries Position Controller, 8-axis Type 6-axis Type with PLC Function MSEP-LC (*) (*) MSEP-LC coming soon with CE conformity. MSEP-C 1 Added PLC function MSEP-LC (*) (*) MSEP-LC coming soon with CE conformity. Operating the actuator and controlling the ON/OFF of I/O (input/output) signals using a ladder logic program is now possible. If your equipment is small enough, the MSEP-LC is all you need to control it. If your equipment is larger in size, you can still use the MSEP-LC to perform distributed control for each process to reduce the load of the main PLC. The MSEP-LC also makes your program simpler and troubleshooting easier. 16 input points (up to 2 points) No need for a host controller No need for wiring IN Switch Sensor Etc. 16 output points (up to 2 points) OUT Indicator lamp Etc. 2 Supporting actuators with the battery-less absolute encoder MSEP-LC (*) MSEP-C (*) MSEP-LC coming soon with CE conformity. Features of actuators with the battery-less absolute encoder 1 Home return is no longer necessary, so these actuators start and restart quicker than incremental actuators to begin working right away. They are also free from problems relating to home return, such as position shift. RoboCylinder with the battery-less absolute encoder RCP 2 Compared to standard absolute actuators, no battery is required, which No need to purchase or replace batteries No need to control the stocks and replacement timing of batteries No need to make adjustment (absolute reset) normally required after battery replacement 47

49 Supporting the PowerCon (high-output driver) and Mini Cylinder MSEP-LC (*) MSEP-C (*) MSEP-LC coming soon with CE conformity. When the PowerCon (newly developed high-output driver) is installed and combined with the RCP or RCP4, high performance is realized as indicated by the maximum speed of 1. times higher than that of conventional models and payload of more than twice. Since the super-compact Mini Cylinders are also supported, you have a greater range of actuator variations - from small to large - to choose from. Max. speed vs. conventional models times higher 1. Payload vs. conventional models More than twice PowerCon supported Mini Cylinder RCP-SA RCP-RA RCD-RA + Choice of 6 boards to install 1 Pulse motor board PowerCon (pulse high-output motor) board PowerCon board for battery-less absolute specification AC servo motor board Mini Cylinder (DC servo motor) board * Boards and permit operation of only one axis per board. 4 MSEP-LC (*) MSEP-C (*) MSEP-LC coming soon with CE conformity. DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, EtherCAT, EtherNet/IP, PROFINET-IO and other major field networks are directly accessible. 26 positioning points per axis Numerically specify the target position or speed to move to Checking the current position in real time Substantially shorter communications time inside the controller (approx. one-tenth of conventional models) Free ladder logic support software is downloadable from our website MSEP-LC (*) (*) MSEP-LC coming soon with CE conformity. Ladder support software is available for free download from our website. You can create a ladder program before purchasing any product. Available Soon [Free] -> download -> software 48

50 Controller <MSEP-C/LC> RCPseries Application Examples Rear panel positioning system Shifted work parts are aligned by the push motion of the RoboCylinder as they enter the machining stage for automotive rear panels. One controller can handle multiple axes, so wiring is easy. Palletizing system Should the system halt due to an emergency stop, etc., it can resume operation right away thanks to the battery-less absolute encoder. Transferring work parts between machining systems Work parts can be transferred between systems without using a dedicated PLC. Positioning on an automotive manufacturing line In the case of a large-scale line, implementing distributed control of each process and connecting to the host controller via a field network reduces the control load of the host controller. Field network Host controller 49

51 MSEP Controller Models Details of slot Details of slot 1 to MSEP Series C Type Total number of axes (Axis 1/top connector/ax) Motor type Encoder type Option (Axis 2/bottom connector/ax1) Motor type Encoder type Option (Description of the rd to 8 th axis) I/O type Type of I/O cable Powersupply voltage Simple absolute option C HA High acceleration/deceleration capability LA Power-saving T High-output setting specification (PowerCon) * HA/LA can be selected only for the RCA, while T can be selected only for the RCP/RCP4. operation of one axis per slot. WAI Battery-less absolute/incremental (*1) SA Simple absolute (*2) I Incremental (*) (*1) Pulse motor type only. (*2) Can be used with both pulse motor/ac servo motor types. (*) AC servo motor/dc servo motor types only. NP PN DV CC PR CN EC EP PRT DC24V 2P 2 pulse motor type 2 pulse motor type 2SP (RCP-RA2A, RA2B exclusive) 28P 28 pulse motor type 28SP 28 pulse motor type (RCP2-RAC, RGDC exclusive) P pulse motor type 42P 42 pulse motor type 6P 6 pulse motor type P Unused pulse motor axis D DC brush-less 2.W motor type 2 2 W servo motor type W servo motor type S W servo motor type (RCA2-SA2A, RA2A exclusive) 1 1 W servo motor type 2 2 W servo motor type 2S 2W servo motor type (RCA2-SA4, TA ; RCA-RA, RGS, RGD exclusive) W servo motor type A Unused servo motor axis N Code for no connected axis No cable 2 2m (standard) m m ABB With absolute battery box (simple absolute type) ABBN No absolute battery box (simple absolute type) (Blank) Battery-less absolute or Incremental type * The RCD series does not support the simple (*) MSEP-LC coming soon with CE conformity. MSEP Series LC LC Type Logic controller Total number of axes 2P 2 pulse motor type (Axis 1/top connector/ax) Motor type 2 pulse motor type 2SP (RCP-RA2A, RA2B exclusive) 28P 28 pulse motor type 28SP 28 pulse motor type (RCP2-RAC, RGDC exclusive) P pulse motor type 42P 42 pulse motor type 6P 6 pulse motor type P Unused pulse motor axis D DC brush-less 2.W motor type Encoder type HA LA T Details of slot Option (Axis 2/bottom connector/ax1) Motor type WAI Battery-less absolute/incremental (*1) SA Simple absolute (*2) Encoder type Option High acceleration/deceleration capability Power-saving High-output setting specification (PowerCon) I Incremental (*) (*1) Pulse motor type only. (*2) Can be used with both pulse motor/ac servo motor types. (*) AC servo motor/dc servo motor types only. 2 2 W servo motor type W servo motor type S * HA/LA can be selected only for the RCA, while T can be selected only for the RCP/RCP4. operation of one axis per slot. W servo motor type (RCA2-SA2A, RA2A exclusive) 1 1 W servo motor type 2 2 W servo motor type 2S 2W servo motor type (RCA2-SA4, TA ; RCA-RA, RGS, RGD exclusive) W servo motor type A Unused servo motor axis N Code for no connected axis Details of slot 1 to 2 Description of the rd to 6 th axis NP No cable 2 2m (standard) m m NP DV CC PR CN EC EP PRT (Blank) No expansion I/O I/O type Type of I/O cable Powersupply voltage DC24V Simple absolute option ABB With absolute battery box (simple absolute type) ABBN No absolute battery box (simple absolute type) (Blank) Battery-less absolute or Incremental type * The RCD series does not support the simple Expansion I/O type

52 Controller <MSEP-C/LC> RCPseries How to Operate the MSEP-C PIO Specification Input position data to the MSEP-C and specify a desired position number via PIO from the host PLC to operate the actuator. PLC Ladder logic program Positioning complete signal Completed position number Position data Tools required for setting 1 Teaching pendant ( Refer to P. 6.) 2 PC software ( Refer to P. 6.) * You only need either 1 or 2 to complete all necessary settings. Actuator Field Network Specification 1 PLC network from the PLC to operate the actuator. 2 The PLC sends numerical position, speed and other data Ladder logic program Positioning complete signal Completed position number Current position Position data Tools required for setting 1 Teaching pendant ( Refer to P. 6.) 2 PC software ( Refer to P. 6.) Gateway parameter setting tool Actuator * You only need either 1 or 2 to complete all the necessary settings. comes with the PC software. 1

53 How to Operate the MSEP-LC (*) PIO Specification The MSEP-LC runs a ladder logic program internally to operate the axis and control the PIO I/O signals. The axis can be operated either by using position data or specifying coordinates directly. (*) MSEP-LC coming soon with CE conformity. Peripheral equipment Tools required for setting 1 Teaching pendant ( Refer to P. 6.) 2 PC software ( Refer to P. 6.) Gateway parameter setting tool 4 Ladder logic support software ( Refer to P. 48.) General-purpose output signals General-purpose input signals * You only need either 1 or 2 to complete all the necessary settings. comes with the PC software. 4 is downloadable from our website. Available Soon Position data Ladder logic program Actuator Field Network Specification The MSEP-LC runs a ladder logic program internally to operate the axis and control I/O signals via a network. The axis can be operated either by using position data or specifying coordinates directly. General-purpose output signals Position data Peripheral equipment General-purpose input signals Position data Tools required for setting 1 Teaching pendant ( Refer to P. 6.) 2 PC software ( Refer to P. 6.) Gateway parameter setting tool 4 Ladder support software ( Refer to P. 48.) * You only need either 1 or 2 to complete all necessary settings. comes with the PC software. 4 is downloadable from our website. Available Soon Position data Ladder logic program Actuator 2

54 Controller <MSEP-C/LC> RCPseries Names of the MSEP Controller Components MSEP-C MSEP-LC (*) (*) MSEP-LC coming soon with CE conformity. Descriptions of the components Motor-encoder connectors for the actuator connection Connect motor-encoder cable to the actuator Connector for the absolute data backup battery Connector for the external brake input The connector to input a signal to release the brake for the actuator externally. Connector for the emergency stop input for power source shut-off The emergency stop input connector to connect in/output terminal of the external relay of the motor drive shut-off and each driver slot (*1). +24 V power source input connector The main power source connector for the controller: Motor drive source shut-down is possible while restoring the power source for the controller unit in case of an emergency shut-down; This is because the terminals for the power source of the motor and the controller are separate. Fan unit Easily replaceable fan unit. (Replacement fan unit: Model MSEP-FU) AUTO/MANUAL switch To switch automatic operation to/from manual operation SIO connector To connect teaching box and the connecting cable for PC software System I/O connector The connector for remote AUTO/MANU switch input and emergency stop input for the entire controller with functions including an external regeneration-resistance expansion terminal Standard I/Os (MSEP-LC only) (*) (*) MSEP-LC coming soon with CE conformity. The MSEP-LC comes installed with a 4-pin PIO connector as standard equipment. Expansion I/Os (MSEP-LC only) (*) (*) MSEP-LC coming soon with CE conformity. Expansion I/Os can be installed as an option. Available I/O types include PIO, DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, Ethernet/IP, EtherCAT and PROFINET-IO. (*1) The shut-off feature is available on a single slot basis which is for two axes per slot. Please note that a single axis basis cannot be accommodated.

55 Input/Output (PIO) Signals The MSEP-C has dedicated inputs and outputs set to PIO signals at 4 input points/4 output points. The axis operates when each signal is turned ON/OFF from the host PLC. With the MSEP-LC, general-purpose input/output signals at 2 input points/2 output points can be used in a ladder logic program by using the standard 16 input points/16 output points plus expansion I/Os. MSEP-C (PIO specification) MSEP-LC (Expansion I/O specification) (*) (*) MSEP-LC coming soon with CE conformity. PIO connector PIO connector PIO Wiring Diagram for MSEP-C Connector name: HIF6-68PA-1.27DS (Hirose Electric) Pin No. Category Signal ID Pin No. Category Signal ID A1 24V For I/O A18 OUT A2 IN A19 Output OUT1 A Input IN1 A2 (Axis No. ) OUT2 A4 (Axis No. ) IN2 A21 OUT A IN A22 OUT4 A6 IN4 A2 Output OUT A7 Input IN A24 (Axis No. 1) OUT6 A8 (Axis No. 1) IN6 A2 OUT7 A9 IN7 A26 OUT8 A1 IN8 A27 Output OUT9 A11 Input IN9 A28 (Axis No. 2) OUT1 A12 (Axis No. 2) IN1 A29 OUT11 A1 IN11 A OUT12 A14 IN12 A1 Output OUT1 A1 Input IN1 A2 (Axis No. ) OUT14 A16 (Axis No. ) IN14 A OUT1 A17 IN1 A4 OV For I/O Connector name: HIF6-68PA-1.27DS (Hirose Electric) Pin No. Category Signal ID Pin No. Category Signal ID B1 24V For I/O B18 OUT16 B2 IN16 B19 Output OUT17 B Input IN17 B2 (Axis No. 4) OUT18 B4 (Axis No. 4) IN18 B21 OUT19 B IN19 B22 OUT2 B6 IN2 B2 Output OUT21 B7 Input IN21 B24 (Axis No. ) OUT22 B8 (Axis No. ) IN22 B2 OUT2 B9 IN2 B26 OUT24 B1 IN24 B27 Output OUT2 B11 Input IN2 B28 (Axis No. 6) OUT26 B12 (Axis No. 6) IN26 B29 OUT27 B1 IN27 B OUT28 B14 IN28 B1 Output OUT29 B1 Input IN29 B2 (Axis No. 7) OUT B16 (Axis No. 7) IN B OUT1 B17 IN1 B4 OV For I/O PIO Wiring Diagram for MSEP-LC (*) (*) MSEP-LC coming soon with CE conformity. Standard I/Os Pin No. Category Assigned memory Pin No. Category Assigned memory A1 +24-V A11 X6 A2 external input A12 X7 A Not used A1 X8 A4 Not used A14 X9 A X A1 XA Input A6 X1 A16 XB A7 X2 A17 XC Input A8 X A18 XD A9 X4 A19 XE A1 X A2 XF Pin No. Category Assigned memory Pin No. Category Assigned memory B1 Y B11 YA B2 Y1 B12 YB B Y2 B1 YC Output B4 Y B14 YD B Y4 B1 YE Output B6 Y B16 YF B7 Y6 B17 Not used B8 Y7 B18 Not used B9 Y8 B19 V external input B1 Y9 B2 Expansion I/Os Pin No. Category Assigned memory Pin No. Category Assigned memory A1 +24-V A11 X16 A2 external input A12 X17 A Not used A1 X18 A4 Not used A14 X19 A X1 A1 X1A Input A6 X11 A16 X1B A7 X12 A17 X1C Input A8 X1 A18 X1D A9 X14 A19 X1E A1 X1 A2 X1F Pin No. Category Assigned memory Pin No. Category Assigned memory B1 Y1 B11 Y1A B2 Y11 B12 Y1B B Y12 B1 Y1C Output B4 Y1 B14 Y1D B Y14 B1 Y1E Output B6 Y1 B16 Y1F B7 Y16 B17 Not used B8 Y17 B18 Not used B9 Y18 B19 V external input B1 Y19 B2 4

56 Controller <MSEP-C/LC> RCPseries Description Number of axes in the controller 8 axes MAX (MSEP-C), 6 axes MAX (MSEP-LC) (*) (*) MSEP-LC coming soon with CE conformity. Controller/ Motor input power DC24V ±1% Brake power.1 A x Number of axes Current consumption by control power.8a Controller inrush current A MAX, under ms Servo motor type Rated ampere Maximum Pulse motor Standard/ Energy saver Hi-accel./decel. type Rated ampere Maximum 2W.8A 4.6A 2P 1.A 2.A W(RCD).7A 1.A 28P 1.A 2.A Motor consumption current W 1.A 6.4A P 2.2 A (high output disabled) put disabled) 2.2 A (high out- 1W(RCL) 6.4A 1.A 1W(RCA/RCA2) 2.A 4.4A 42P. A (high 4.2 A (high 2W 1.A 2.A 4.4A 2 W (2S type) 1.7A.4A.1A output output 6P W 1.A 2.2A 4.4A Motor inrush current Slot numbers x 1A MAX, under ms Motor-encoder cable length Maximum length 2m (note) for absolute position Serial communication (SIO port: dedicated teaching) RS48 1ch (Modbus protocol compatible) 9.6 to 2.4kbps External interface Data retention memory Maximum cable length 1 m DeviceNet, CC-Link, PROFIBUS-DP, PROFINET-IO, CompoNet, EtherCAT, EtherNet/IP Restore the position data and parameter in non-volatile memory (unlimited input) Positioning points LED display (On the front panel) Electromagnetic brake force release Surge protection Electric shock protection Insulation resistance Weight Cooling method Ambient operating temperature/humidity International Protection code LED for driver status, 8 LEDs (for each driver board) Enable to force-release by transmitting a deactivation signal to each axis (DC24 V input). Overcurrent protection (A cut-off semiconductor circuit is built-in on each slot) Class I basic insulation DCV 1 MΩ Forced- air cooling to 4 C, under 8% RH (non-condensing) IP2 Exterior Dimensions Controller (The same dimensions apply to the MSEP-C/LC.) (mm DIN rail width) Absolute data backup battery box (mm DIN rail width) 9 from the center of DIN rail 9 from the center of DIN rail

57 Options Teaching pendant Summary Model Setting Teaching device for positioning input, test operation, and monitoring. TB-1-C (*) (*) TB-1-C coming soon with CE conformity. Exterior dimensions Rated voltage 24V DC Power consumption.6 W or less (1 ma or less) Ambient operating temperature ~ Ambient operating humidity 2 to 8%RH (non-condensing) Environmental resistance IP4 (initial state) Weight 7 g (TB-1 unit only) PC software (Windows only) Summary Model Setting * A startup support software for inputting positions, performing test runs, and monitoring. With enhancements for adjustment functions, the startup time is shortened. RCM-11-MW (External device communication cable + RS22 conversion unit) MSEP is supported by Ver or later Supported Windows: 2 SP4 or later / XP SP2 or later / Vista / 7 RS22 converter adaptor PC software (CD) USB converter adaptor Model Setting RCM-11-USB (External device communication cable + USB converter adaptor + USB cable) MSEP is supported by Ver or later USB converter adaptor PC software (CD) USB cable USB converter adaptor External regeneration resistor Summary Model Box for the absolute data backup battery Summary Model Exterior dimensions The regeneration resistor converts regenerated current dissipated during deceleration of the motor load into heat. The MSEP controller has an internal regeneration resistor for ordinary operations, however, depending on the operational condition, please install an external RER-1 Exterior dimensions Square shape helix resistor: BGR1THA12RF(KOA) <Guideline for regeneration resistor requirement > One regeneration resistor is required when to 8 actuators with backup battery box is included with the controller. However, if the battery box is ordered as a separate unit, it does not include the battery but just the box itself. If the battery is needed, please purchase it separately. (Model: AB-7). MSEP-ABB See P. (Batteries not included) * A cable (Model CB-MSEP-AB) that connects the absolute data backup battery box to the MSEP is included with the box. Driver board Summary MSEP controller. When the actuator that control motions needs to be without changing the entire controller. (The parameters need to be adjusted when changing the driver board) Model Motor type High output type Encoder type Number of axes Model Battery-less High output absolute/ 1-axis MSEP-PPD1-W setting incremental Simple absolute 1-axis MSEP-PPD1-A Pulse motor AC servo motor DC servo motor Replacement battery Summary Model Cancellation of high output setting The replacement battery for the absolute data backup battery box. AB-7 Battery-less absolute/ incremental Simple absolute Incremental Simple absolute Incremental Replacement fan unit Model MSEP-FU 1-axis 2-axis 1-axis 2-axis 1-axis 2-axis 1-axis 2-axis 1-axis 2-axis MSEP-PD1-W MSEP-PD2-W MSEP-PD1-A MSEP-PD2-A MSEP-AD1-I MSEP-AD2-I MSEP-AD1-A MSEP-AD2-A MSEP-DD1-I MSEP-DD2-I 6

58 Service parts RCPseries 7 Service parts Model number (Front view) Actuator side Model number () (18) (Front view) Actuator side Model number (Front view) Actuator side Model number (Front view) CB-CAN-MPA Integrated Motor-Encoder Cable for CB-CAN-MPA -RB Integrated Motor-Encoder Robot Cable RCP/RCD * Please indicate cable length (L) in, maximum 2m. e.g.) 8=8m Actuator side Minimum bending radius m or less length Longer than m (Note 1) * cable if the cable has to be installed through the cable track. (Note 1) If the cable is m or longer, Ø9.1 cable diameter applies for a non-robot cable and Ø1 for a robot cable. * Please indicate cable length (L) in, maximum 2m. e.g.) 8=8m (Note 1) R = 68mm or more (for moving parts) R = 7mm or more (for moving parts) * Please indicate cable length (L) in, maximum 2m. e.g.) 8=8m (4) L ( 8.) (Note 1) * cable if the cable has to be installed through the cable track. (Note 1) If the cable is m or longer, Ø9.1 cable diameter applies for a non-robot cable and Ø1 for a robot cable. * cable if the cable has to be installed through the cable track. (Note 1) If the cable is m or longer, Ø9.1 cable diameter applies for a non-robot cable and Ø1 for a robot cable. * Please indicate cable length (L) in, maximum 2m. e.g.) 8=8m (Front view) Controller side (1) (26) (Front view) Controller side (Front view) Controller side Controller side Pin No Signal name ØA VMM 1 ØB 9 VMM 4 Ø_A 1 Ø_B 8 LS+ 14 LS- 12 SA[mABS] 17 SB[mABS] 1 A+ 6 A- 11 B+ 16 B- 2 BK+ 2 BK- 21 VCC 7 GND 18 VPS 1 LS_GND (CFvcc) 2 24 FG Actuator side (AMP) Pin No Signal name A1 Ø A B1 VMM A2 Ø_A B2 ØB A VMM B Ø_B A4 LS+ B4 LS- A6 SA[mABS] B6 SB[mABS] A7 A+ B7 A- A8 B+ B8 B- A BK+ B BK- A9 LS_GND B9 VPS A1 VCC B1 GND A11 B11 FG Actuator side (AMP) Pin No Signal name A1 ØA/U B1 VMM/V A2 Ø A/W B2 ØB/- A VMM/- B Ø_B/- A4 LS+/BK+ B4 LS-/BK- A6 -/A+ B6 -/A- A7 A+/B+ B7 A-/B- A8 B+/Z+ B8 B-/Z- A BK+/LS+ B BK-/LS- A9 LS_GND B9 VPS A1 VCC B1 GND A11 B11 FG Actuator side Pin number A1 B1 A2 B2 A B A4 B4 A6 B6 A7 B7 A8 B8 A B A9 B9 A1 B1 A11 B11 [PCON](ACON) [ 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-) [GNDLS] (GNDLS) [VPS] (VPS) [VCC] (VCC) [GND] (GND) NC Shield [FG] (FG) NC NC Pin No Signal name 1 ØA 2 VMM ØB 4 VMM Ø_A 6 Ø_B 7 LS+ 8 LS- 11 SA[mABS] 12 SB[mABS] 1 A+ 14 A- 1 B+ 16 B- 9 BK+ 1 BK- 17 VCC 19 GND 18 VPS 2 LS_GND (CFvcc) 2 24 FG CB-CFA-MPA Integrated Motor-Encoder Cable for CB-CFA-MPA -RB Integrated Motor-Encoder Robot Cable RCP-RA8C/8R/1C/1R Minimum bending radius m or less length Longer than m CB-CA-MPA Integrated Motor-Encoder Cable for CB-CA-MPA -RB Integrated Motor-Encoder Robot Cable RCP4 Minimum bending radius m or less length Longer than m R = 68mm or more (for moving parts) R = 7mm or more (for moving parts) R = 68mm or more (for moving parts) R = 7mm or more (for moving parts) CB-APSEP-MPA - LC Integrated Motor-Encoder Cable for CB-APSEP-MPA Integrated Motor-Encoder Robot Cable RCP/RCA2 and others Minimum bending radius R = 68mm or more (for moving parts) * cable if the cable has to be installed through the cable track. Controller side PADP-24V-1-S (JST) Pin No Signal name 1 Ø A 2 VMM Ø_A ØB 4 VMM 6 Ø_B 7 LS+ 8 LS- 11 SA[mABS] 12 SB[mABS] 1 A+ 14 A- 1 B+ 16 B- 9 BK+ 1 BK- 2 LS_GND 18 VPS 17 VCC 19 GND FG Controller side PADP-24V-1-S (JST) Pin No Signal name 1 Ø A/U 2 VMM/V Ø_A/W ØB/- 4 VMM/- 6 Ø_B/- 7 LS+/BK+ 8 LS-/BK- 11 -/A+ 12 -/A- 1 A+/B+ 14 A-/B- 1 B+/Z+ 16 B-/Z- 9 BK+/LS+ 1 BK-/LS- 2 LS_GND 18 VPS 17 VCC 19 GND FG Controller side Pin number

59 Model number CB-PSEP-MPA Integrated Motor-Encoder Robot Cable (Front view) Actuator side (Front view) Actuator side (Front view) * Please indicate cable length (L) in, maximum 2m. e.g.) 8=8m * Please indicate cable length (L) in, maximum 2m. e.g.) 8=8m * Please indicate cable length (L) in, maximum 2m. e.g.) 8=8m Actuator side Minimum bending radius R = 68mm or more (for moving parts) * Please indicate cable length (L) in, maximum 2m. e.g.) 8=8m Controller side Model number CB-RPSEP-MPA Integrated Motor-Encoder Robot Cable Minimum bending radius R = 68mm or more (for moving parts) Controller side Model number CB-ASEP-MPA Integrated Motor-Encoder Robot Cable * Please indicate cable length (L) in, maximum 1m. e.g.) 2=2m HIF6-68D-1.27R No. Cable color Wiring A1 Brown-1 A2 Red-1 A Orange-1 No connector Flat cable A A4 Yellow-1 A Green-1 A6 Blue-1 A7 Purple-1 A8 Gray-1 Flat cable A9 White-1 (pressure- A1 Black-1 welded) A11 Brown-2 No connector Flat cable B A12 Red-2 A1 Orange-2 A14 Yellow-2 A1 Green-2 Flat cable (4-core) x 2 Connector: HIF6-68D-1.27R A16 Blue-2 A17 Purple-2 Model number CB-PAC-PIO PIO Flat Cable No connector No connector Minimum bending radius Flat cable (2-core) x 2 R = 68mm or more (for moving parts) Model number CB-MSEP-PIO PIO Flat Cable A B Half-pitch MIL socket: HIF6-4D-1.27R (Hirose) Controller side No. Cable color Wiring A18 Gray-2 A19 White-2 A2 Black-2 A21 Brown- A22 Red- A2 Orange- A24 Yellow- A2 Green- Flat cable A26 Blue- (pressure- A27 Purple- welded) A28 Gray- A29 White- A Black- A1 Brown-4 A2 Red-4 A Orange-4 A4 Yellow-4 for RCP2 Actuator side Pin number Actuator side Pin number A1 B1 A2 B2 A B A6 B6 A7 B7 A8 B8 A4 B4 A B A9 B9 A1 B1 A11 B11 Actuator side Pin number No. Cable color Wiring B1 Brown- B2 Red- B Orange- B4 Yellow- B Green- B6 Blue- B7 Purple- B8 Gray- Flat cable B9 White- (pressure- B1 Black- welded) B11 Brown-6 B12 Red-6 B1 Orange-6 B14 Yellow-6 B1 Green-6 B16 Blue-6 B17 Purple-6 HIF6-4D-1.27R No. Signal name Cable color Wiring A1 24V Brown-1 A2 24V Red-1 A Orange-1 A4 Yellow-1 A IN Green-1 A6 IN1 Blue-1 A7 IN2 Purple-1 A8 IN Gray-1 A9 IN4 White-1 Flat cable A1 IN Black-1 (pressure- A11 IN6 Brown-2 A12 IN7 Red-2 welded) A1 IN8 Orange-2 A14 IN9 Yellow-2 A1 IN1 Green-2 A16 IN11 Blue-2 A17 IN12 Purple-2 A18 IN1 Gray-2 A19 IN14 White-2 A2 IN1 Black-2 [ ΦA ] [ VMM ] [ ΦB ] [ VMM ] [ Φ/A ] [ Φ/B ] [ BK+ ] [ BK- ] NC NC [ LS+ ] [ LS- ] [ A+ ] [ A- ] [ B+ ] [ B- ] [VCC] [VPS] [GND] [Spare] NC NC NC Shield [ FG ] [ ΦA ] [ VMM ] [ Φ/A ] [ ΦB ] [ VMM ] [ Φ/B ] [ LS+ ] [ LS- ] [ A+ ] [ A- ] [ B+ ] [ B- ] NC NC [BK+] [BK-] [GNDLS] [VPS] [VCC] [GND] NC Shield [ FG ] (FG) NC NC [ U ] [ V ] NC NC [ W ] NC [ BK+ ] [ BK- ] [ LS+ ] [ LS- ] [ A+ ] [ A- ] [ B+ ] [ B- ] [ Z+ ] [ Z- ] [VCC] [VPS] [GND] [Spare] NC NC NC Shield [ FG ] Controller side Pin number for RCP2-RTBS/RTBSL/RTCS/RTCSL for RCA for MSEP-C for PCON-CA/MSEP-LC Controller side Pin number Controller side Pin number No. Cable color Wiring B18 Gray-6 B19 White-6 B2 Black-6 B21 Brown-7 B22 Red-7 B2 Orange-7 B24 Yellow-7 B2 Green-7 Flat cable B26 Blue-7 (pressure- B27 Purple-7 welded) B28 Gray-7 B29 White-7 B Black-7 B1 Brown-8 B2 Red-8 B Orange-8 B4 Yellow-8 No. Signal name Cable color Wiring B1 OUT Brown- B2 OUT1 Red- B OUT2 Orange- B4 OUT Yellow- B OUT4 Green- B6 OUT Blue- B7 OUT6 Purple- B8 OUT7 Gray- B9 OUT8 White- Flat cable B1 OUT9 Black- (pressure- B11 OUT1 Brown-4 B12 OUT11 Red-4 welded) B1 OUT12 Orange-4 B14 OUT1 Yellow-4 B1 OUT14 Green-4 B16 OUT1 Blue-4 B17 Purple-4 B18 Gray-4 B19 V White-4 B2 V Black-4 8

60 Actuator Options RCPseries Rod Installation Option Flange bracket Option code FL Applicable rod types RCP-RA4C/RA6C/RA7C/RA8C/RA8R/RA1C/RA1R Flange Option code: FL Item A bracket that is used to secure a rod actuator from the actuator side. RCP-RA4C Model number RCP-FL-RA4 2 ±.1 (Rod and ø4 hole pitch) +.12 ø4 H7, through 6 4-ø4., through Oblong hole, through 4 H (R2) (41.) Detail view of X 1. (Home position) 1 X 2 6 ø8 H7 +.1, through 44. ±.16 (Rod and ø8 hole pitch) H X 8 8 RCP-RA6C Model number RCP-FL-RA6 6 ±.1 (Rod and ø6 hole pitch) 8 72 ø6 H7 +.12, through H7 4-ø6.6, through (41.) Oblong hole, through 29. (Home position) 12 Detail view of X 8 (R) RCP-RA7C Model number RCP-FL-RA7 4-ø9, through (4) Oblong hole, through 9 Detail view of X (Home position) 1 42 X 12 RCP-RA8C/8R Model number RCP-FL-RA8 RCP-RA1C/RA1R Model number RCP-FL-RA1 4-ø9, through 4-ø9, through 8 6 () 1 () ø 6 h () 1 () ø6 h Tip adapter (Flange) Option code FFA Applicable rod types RCP-RA4C/RA6C/RA7C Tip adapter (Flange) Option code: FFA Item An adapter that is used to install jigs, etc. on the rod tip using four bolts. RCP-RA4C Model number RCP-FFA-RA4 Reference plane ø H7 +.12, depth 8 H R2. Reference plane Detail view of X 4-M6, depth Oblong hole, depth 8 ø counterbore (mark on reference side) 49. (Home position) 22 Base Reference plane 26 ±.8.± ±.8 X 1 1. ±.8 (ø hole position) Flange B Flange A RCP-RA6C Model number RCP-FFA-RA6 Reference plane ø H7 +.12, depth 8 Base Reference plane.±.8 ±.8 H Reference plane Detail view of X 4-M6, depth Oblong hole, depth 8 X (R2.) 1. ±.8 (ø hole position) ±.8 Flange B ø counterbore (mark on reference side) 49. (Home position) 22 Flange A RCP-RA7C Model number RCP-FFA-RA7 Reference plane ø6 H7 +.12, depth 8 Base Reference plane 4±.8 ± H Detail view of X 1 ±.8 (ø6 hole position) Reference plane 4-M8, depth Oblong hole, depth 8 X 8 (R) ±.8 Flange B ø counterbore (mark on reference side) 64. (Home position) Flange A 9