Solutions For the New Millennium

Transcription

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2 Solutions For the New Millennium Electromechanical Alternative to Pneumatic Cylinders The Robo Cylinder TM is a new series of electric actuators that are specifically designed to compete with pneumatic cylinders. In recent years, some air cylinder manufacturers have worked hard to provide air cylinders with intelligence. Yes, this can be done now, but at what cost? The new Robo Cylinder TM provides an electromechanical solution capable of multiple positioning with excellent repeatability and programmable control over acceleration/deceleration as well as speed. The product is easy to use and is offered in both slider and rod-types. Best of all, it is a very attractive price for all of these features. Positioning for up to positions Repeatability: ±.mm (±. ) Programmable Speed Control Programmable Control over Acceleration/Deceleration Minimum Speed: mm/sec inking via serial communications for up to axes VDC Power Supply Design ife (,km of travel at maximum specifications) Environmental Awareness Think air cylinders are inexpensive? Consider the amount of electricity required to run the compressors that drive the air cylinders that often run -hours a day. Because the new Robo Cylinder TM is an electric actuator, relative power consumption is roughly /3 compared to that needed to operate air cylinders. Reduced electrical consumption not only reduces operating costs but also contributes to global energy conservation, and that s good for everyone! Introducing 3 new types. Select according to your application needs!. With Guide Type: Available in single guide, double guide and ball bush specifications.. Controller Integrated Type: Since the controller is integrated into the actuator, this type is especially well-suited for space constrained applications. P. 3. Dust Splash Proof Type: Dust Splash-proof model achieves IP rating (protects against dust and splashing water).

3 Compare the capabilities and functions of the new Robo Cylinder TM! Simple Operation! Easy programming. Simply input the location and velocity using numerical values. Slider Stainless sheet High Rigidity and Precision! The actuator base itself is the linear motion guide for the slider type model. Aluminum cover Base (Guide integrated) Steel bearings Ballscrew Environmentally Friendly! Attractive Price! Relatively low power consumption compared to air cylinder compressors. The Robo Cylinder TM is an amazingly affordable product. Through serial communication, it is possible to link up to axes! In addition, only VDC power supply is needed. P.

4 Problem Environmental The oil mist spray pollutes the environment. Solution: Robo Cylinder TM No oil spray to contaminate the environment. ower energy needs reduces operating costs and helps our environment. Performance Worn cylinder seals resulting in premature or unwanted extension. Difficulty in Controlling Deceleration. Difficulty in Controlling Speeds. Variations in Speed. Difficulty in achieving accurate mid-stroke positioning. Difficult/complicated to achieve multiple positioning. No problem due to worn seal extension. Simple parameter changes to adjust acceleration and deceleration settings. Stable Speeds. Changes from one speed to another without first decelerating to zero are possible. Repeatability of positioning: ±.mm. Positioning for up to different points. Signal output at position complete. Time/abor Tedious selection and installation of filters, fittings, flow controls, mufflers, tubing and shock absorbers. Seemingly continuous need for manual adjustment. Easy product selection based on required speed and payload (thrust). Positioning and control via the input of simple numerical values. Take advantage of the flexibility and convenience of an electromechanical positioning system! P. 3

5 Motion Pattern Position Mode Repeatable to ±.mm. Application Example: Used to open and close Application Example: Used to pick and place Application: To transfer and move parts. Features: Program up to positions Adjustable position - complete output signal. Able to set Acceleration and Deceleration separately. Ability to change speed in mid-motion. Acceleration/Deceleration It is Possible to Set Different Acceleration and Deceleration Values. The Robo Cylinder TM acceleration and deceleration values are set in the position table. However, by inserting as the value for acceleration only MAX, the deceleration will still follow the value in the point table, but the acceleration will be as fast as possible for the system. Assigned Speed Acceleration Deceleration No Position (mm) Speed Time Speed (mm/sec) Stopped Maximum acceleration according to load Position Data Table (Set by either Teaching Pendant or PC Software) Acceleration (G) Force (%) Deceleration set in the position table Positioning Width (mm) Acceleration Only MAX ( or ) 3.3. Note: If the value of the acceleration only MAX is, then the value of both acceleration and deceleration is determined by acceleration (G). If the value of acceleration only MAX is, then the value of the deceleration is the same as above. However, the acceleration is maximized for the system. P.

6 Operation Example: mm/sec mm/sec Acceleration 3 Deceleration Acceleration 7 Deceleration Speed Time Stopped Signal output before mm Signal output before mm Start Signal Position Input Inputt (Transfer Start) Position Positioning Complete Signal Output Position 3 Transfer Complete Position Inputt Start Signal Input (Transfer Start) 7 Positioning Complete Signal Output Transfer Complete No. Position (mm) Speed (mm/sec) Acceleration (G) Force (%) Positioning width (mm) Acceleration Only MAX ( or ) Speed Changes It is Possible to Change Speeds While In Motion Without Stopping. It is possible to change speeds in mid-motion without stopping. This capability can effectively reduce cycle times. 3mm/sec mm/sec mm/sec Stopped Speed Time Position No. Position Speed Speed Position 3 Speed 3 3 Position No. Start Signal Input (Transfer Start) Position No. Speed Change by Start Signal Input Position No. 3 Speed Change by Start Signal Transfer Complete Positioning Complete Signal Output P.

7 RC RC RC Motion Pattern Motion Function (Incremental) The Robo Cylinder TM is able to make incremental movments from any assigned position. Application Example: Elevator of Stacker Application Example: Part transfer during marking process.! Features: In addition to the assignable points, more positions can be added using the incremental motion function. P.

8 Maximizes on AC Servo Function. Operation Example: 3 Position input Start Signal (Positioning Mode) Position Transfer complete to mm loation Position Transfer Start at mm using Start Signal Input (incremental motion function) Position Assigned Start Signal Repeat transfer of mm per input Position Data Table (Set by either Teaching Pendant or PC Software) No = Position (mm) Speed (mm/sec) 3 3 Acceleration (G).3.3 Force (%) Positioning Width (mm).. Acceleration Only MAX ( or ) Displays incremental motion function. No Oscillation During Stop The Robo Cylinder TM experiences no differential vibration while at rest, thereby making it an ideal solution. AC Servo Robo Cylinder TM Oscillates. Stops without oscillation. P.7

9 Motion Pattern 3 Push Function Similar to an air cylinder, it s possible to maintain pressure while pushing the work. Application Example: Push work Application Example: Fix work Application: Part detection, press fit, clamp, etc. Features: By combining the Push Motion Function with the Position Complete Signal, the tolerance of parts can be determined. Push force can be pre-set to up to 7% of the maximum current. Caution: This chart is for general reference only. For specific capabilities of individual actuators, please contact your local Intelligent Actuator Representative. (RMA Type) P.

10 Operation Example: 3mm/sec Speed Stopped Time Acceleration Deceleration 3 Position Coordinate value Part Positioning width mm * Positioning complete output will not be activated unless the pre-set force is encountered. Position input Start Signal Input (transfer start) 3 Move forward at a low speed without stopping Stops pushing work (maintains push according to the set push power Positioning Complete Signal Output Position Data Table (Set by either Teaching Pendant or PC Software) No Position (mm) Speed (mm/sec) Acceleration (G) Force (%) Positioning Width (mm) Acceleration Only MAX ( or ) 3.3 Part Size Recognition By combining the Postion Complete Signal with the Zone Signal, different part recognition is possible. Part A Positioning Complete Signal ON c Zone Signal OFF Part B Positioning Complete Signal ON Zone Signal ON Part C Zone signal setting width Positioning Complete Signal OFF Zone Signal ON P.9

11 Minimizes Power Consumption. Hold Input During movement, the slider can stop quickly via an external signal. By setting an interlock with a peripheral device, once Hold Input turns OFF, the Robo Cylinder TM will stop immediately. Movement will resume once the quick stop input is turned ON. ON OFF Acceleration Acceleration Deceleration Speed Time 3 3 Position No. Start Signal Input (Transfer Start) Temporary Stop Upon Quick-Stop Signal OFF Resume Motion Upon Quick-Stop Signal ON Transfer Complete Positioning Complete (Signal Output) Zone Output Output is ON while slider is within a set range. The zone output will turn ON whenever the slider is within the zone range set in the parameters. This function may be useful for designing a dangerous area or reducing cycle time. 3 Speed Time Acceleration OFF ON Deceleration OFF Zone Signal Output Range 3 Position No. Start Signal Input (Transfer Start) Once Slider Moves Inside the Set Range, the Zone Signal Turns ON Zone Signal Will turn OFF Once the Slider is Outside the Set Range Transfer Complete Positioning Complete (Signal Output) P.

12 Communication Parallel I/O and Serial I/O are standard. Movement may be executed through parallel (digital) I/O by connecting the flat cable to a PC, Super SE Controller or any digital I/O device. Using the serial I/O port (RS), the user may control up to units from a separate device (i.e., PC, PC, Operator Interface Panel and Vision System). Parallel Communication Serial Communication Electrical Consumption Electrical consumption about /3 that required to run compressors to drive air cylinders. The Robo Cylinder TM is an electromechanical system that is very energy efficient. Product Comparison Air Cylinder: Inner diameter φ mm (Application Pressure kg/cm ) Robo Cylinder TM : RCP-SA (Slider Type) Comparison Requirement : Speed: mm cycles per minute Comparisons of Annual Electrical Consumption Air Cylinder (Approximately 3kwh) Robo Cylinder TM (Approximately kwh) Rated ife 3 (kwh) At maximum rated specifications, km of travel can be expected. Because the Robo Cylinder TM does not rely on hard stops to achieve position, it is possible to run the unit continuously at rated specifications for up to km of travel without parts replacement. Operating the unit at less than rated specifications (lower thrust) will significantly increase the rated life of the unit. For RCP-RMA (the Radial oad on the Rod is ignored) P.

13 Specifications Machine Type Model Type Size Speed Type Max. Speed (mm/sec) (*) Max. Push Power N (kgf) (*Note ) Page Number SA Base Width mm 3 3 M H 3.. P Slider Type Rod Type Straight Type Motor (in-line) Type Standard Type Dust Splash Proof Type Controller Integrated Type Integrated Type (Dust Splash Proof Specifications) SA SS SM SSR SMR RSA RMA RSW RMW RSI RMI RSIW RMIW Base Width mm Base Width mm Base Width mm Base Width mm Base Width mm Base Width mm Base Width mm Base Width mm Base Width mm Base Width mm Base Width mm Base Width mm Base Width mm M H M H M H M H M H M H M H M H M H M H M H M H M H () (*3) (*3) (*3) (*3) 3~ 3~ 3~ ~ ~ ~ 3~ ~. ~. ~. ~ 3~ ~ ~3 ~3 ~ ~ ~ ~3 ~3 ~ ~ ~ ~3 ~3 ~ ~ ~ ~3 ~3 ~ (*) ~ 3~..~ ~ ~ ~ ~. ~. ~. ~. ~. ~. ~. 9~. 3~. 9 ~. ~.~. ~. 7.~. ~ 9~. ~..~. ~ ~. ~. 9~. ~.~. ~. 7.~. ~ 9~. ~..~. ~ ~. ~. 9 (3) 3 (.) (.) 7 () 3 (3.7) (.) 9 (3) 3 (.) (.) 7 () 3 (3.7) (.) 9 (3) 3 (.) (.) 7 () 3 (3.7) (.) 9 (3) 3 (.) (.) 7 () 3 (3.7) (.) P P3 P P P P9 P3 P33 P3 P37 P3 P39 P With Sing Guide Ty RSGS RMGS Base Width mm Base Width mm M H M H ~ ~. ~ ~. (*) 9~. ~ 3.~. ~. 3~ ~. 9 (3) 3 (.) (.) 7 () 3 (3.7) (.) P P With Double Guide Ty RSGD RMGD Base Width mm Base Width mm M H M H (*3) `. ~. ~ ~. ~ ~3.~.~. 9 (3) 3 (.) (.) 7 () 3 (3.7) (.) P7 P Tip Ball Bush Built-in in Type RSGB RMGB Base Width mm Base Width mm M H M H (*3) ~. 9~3. ~..~. ~ 7~..~. 9 (3) 3 (.) (.) 7 () 3 (3.7) (.) P9 P Note : The maximum speed will vary according to the requirements of load and stroke. The number in the ( ) indicates the value for vertical application. Note : The maximum push power is the maximum sustain power during stop of the push movement. Note 3: The maximum speed for the stroke is H: 7mm/sec, M: 37mm/sec and : mm/sec, and for the 3 stroke is H:3mm/sec, M: 7mm/sec and : 7mm/sec. Note : When using the no-guide rod type horizontally, use with external guide bearings. Note : When using with guide rod type horizontally, the load will shorten the life span so, please follow the tip allowable weight range shown on Page 3 in this catalog. P.

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15 System Components User side equipment Upper System (Sequensor) PC Flat Cable Cable engt m (option) m or m External Connection Unit (RCA -) (RCA -) PC Software (RCA--MW) EMG Switch Wiring m V Power Wiring +V G FG Encoder Cable m/3m/m Teaching Pendant (RCA-T/TD) Controller (RCP-C) ead ine.m Motor Cable m/3m/m m Actuator (RCP) Actuator Controller (accessory) Option Item Product Teaching Pendant* Model Type RCA-T RCA-TD Content Cable m With deadman switch Controller options: Please specify PNP or NPN Type I/O. Note : The RS adapter is included in the PC software Kit. Note : For the External Serial Connection Unit, cable m type (for PC connection) and cable m type (for PC connection) aare are available. Note 3: Standard length of the serial communication cable, CB-RCA-CT- is mm. If a longer cable is needed, please use the CB-RCA-SIO- or CB-RCS-SIO-. Easy Teaching Pendant PC Software* (Note ) External Serial Connection Cable (Note, ) Controller Serial ink Cable (Note, ) Junction Box Motor Robot Cable Encoder Cable RCA-E RCA--MW (for DOS/V) RCA- - (Cable m) - (Cable m) Economy Type with similar function as the RCA-T Software and Manuals RC-ADP-MW (RS Adapter) CB-RCA-SIO- Communication Cable RC-ADP-MW (RS Adapter) CB-RCA-SIO- Communication Cable C B-RCA-CT Controller Connection Cable (.m) RC-B CB-RCA-MA- CB-RCA-PA- -RB -RB Exclusively for Controller Integrated Type Warp-resistant motor cable Warp-resistant motor cable P.

16 Controller Integrated Type Multiple Axes Connection: External Interface Power and Brake Cable V Control Power GND(G) V Main Power N(G) BK Brake Power BK FG Earth SIO Cable Pin Number Signal Name Section V Output SGA SIO Signal 3 GND(G) Output SGB SIO Signal P Cable Signal Name Section Signal Name Section +V OV Start (CSTR) Command Position (PC) Command Position (PC) Command Position (PC) Command Position (PC) Hold(IK) Positioning Complete (PFIN) Homing Complete (ZFIN) Zone (ZONE) Alarm (AM) FG Power for PIO Input Input Input Input Input Input Output Output Output Output Earth Controller Specifications Column RSI Power Main Power DCV+%, -% (maximuma) Voltage Control Power DCV±% (maximum.a) Ambient Temperature and Humidity Temperature ~ Humidity ~% (No condensation) EPROM check sum error, Bank data abnormality, Motor exciting phase detection movement Protective Function abnormality, Excessive speed, Servo abnormality, Main power excessive voltage, Circuit voltage abnormality, Deviation counter abnormality and Excessive load. I/O Power Signal Number of Positions Data Input Method Memory Device points RMI DC V type DI/DO Interface (PIO) (Input) Start, Command position number ( bit binary), Hold, Total points (Output) Positioning complete, Homing complete, Zone, Alarm Total points Serial Interface I/O Power (SIO) Teaching Box (Conjunction Box is needed) or RS communications EPROM P.

17 AQ Seal Minimizes long term maintenance. Characteristics: AQ Seal is made of material that is impregnated with lubrication oil. The AQ Seal option provides long term maintenance free operation and is standard on all Robo Cylinders. The lubrication oil is released when the unit contacts the guide and the surface of the rolling steel balls. Thus, long term maintenance free operation is made possible. Effects of the AQ Seal: Troublesome greasing work can be reduced to minimal frequency. (ong term maintenance free operation of km or 3 years between applications of grease) Practical for systems where greasing work is hard to perform. Environmentally friendly. Since less grease will be applied, the operation environment can be kept clean. Component AQ Seal Nut Coil spring Ball screw Coil spring Reference Data Variation of AQ Seal oil content (upon. years is an estimate) Running Test Data, km running continuously With AQ Seal Oil Content No lubrication,km Increased friction Stops Elapsed year amount hours of work/per day days of work/per year Elapsed changes of ubricant oil's oil content and actuator driver source are excluded. Brake When using the Robo Cylinder vertically, this brake supports to prevent the fall of work mounted on the rod tip or slider, as well as during Servo OFF or Power OFF (built inside the actuators). Controller ink Cable: Model Type: CB-RCA-CT- Features: This is a linking cable for multiple connection of the Robo Cylinder Controller. Via serial communication, all of controller s test movement and position data write-over linked from the PC Software is possible (refer to Pages 3 and Pages in this catalog). External Connection Unit: Model Type: RC-- (Cable ength: m) RC-- (Cable ength: m) Content: External Device Connection Cable* (Part number: CB-RCA-SIO-/) RS Conversion Adapter* (Part number: RC-ADP-MW) * Refer to Page 3 in this Catalog Features: This is used to connect the RC Controller, PC and Sequencer via serial communication. The External Device Connecting Cable and the RS Conversion Adapter are available as individual parts. P.

18 Teaching Pendant (For the Controller) Model Type: RCA-T (standard) RCA-TD (With deadman switch) Features: Easy to use operation. Simply enter the numbers in the appropriate spot. Slide-out help panel allows for a quick, on the spot instruction. ock-type Emergency Stop Switch. Specifications Item Operating Temperature Operating Environment Humidity Specification s Temperature ~ C Humidity: % RH or less Free of corrosive gas, no excessive dust W eight Approximately G (includes cable) Cable ength Display m Characters X rows CD Display Easy Type Teaching Pendant (For the Controller) Model Type: RCA-E Features: Equipped with the same function as the RCA-T, the RCA-E is a high performance Teaching Pendant with a low price Features tag. column display achieves a compact body size. Specifications Item Specification s Operating Temperature Operating Environment Humidity Temperature ~ C Humidity: % RH or less Free of corrosive gas, no excessive dust W eight Approximately G (includes cable) Cable ength Display m Characters X rows CD Display PC Software Model Type: Content: RCA--MW Features: RCA--MW Floppy disks External Device Connection Cable (see Page 3 in this Catalog) (Part number: CB-RCA-SIO- or CB-RCA-SIO-) RS Conversion Adapter (see Page 3 in this Catalog) (Part number: RC-ADP-MW) By linking the controllers, it is possible to access and control up to -axes. Such useful functions such as Jog function, incremental movement and step operation improve debugging capabilities. P.7

19 Option Model Type RCA-E RCA-T (TD) * RCA--MW Part Name Easy Teaching Pendant Teaching Pendant PC Software Cable ength Main Body Cable m Exclusive Cable (accesory) m Display Area CD Display Characters X ines CD Display Characters X ines For PC Screen Position Data Setting Axes Transfer Movement Monitor Emergency Stop Switch Enable Switch Numeric Input Remote Teaching Direct Teaching Speed/ ACC Push Setting DEC Positioning Width ACC Only MAX Zone Output Range Incremental Motion Function Homing JOG Movement Increment Movement Transfer to Assigned Position Consecutive Move Multiple Connect Axes Change-Over Movement Multiple Connect Axes Simutaneous Movement Easy Move Program Current Value Display I/O Status Error ist N/A N/A ( ) N/A N/A N/A N/A N/A N/A *: RCA-TD has Deadman specifications (with enable switch). P.

20 Easy Model Selection To move objects above the main body, and to position. Slider Type See Page in this Catalog. To move and position objects that are inserting the rod IN/OUT. Rod Type See Page 7 in this Catalog. Push movement for clamps and press fit. See Page in this Catalog. To use under environments that have dust and water splash. Dust Splash Resistance Type See Page 3 in this Catalog. Controller To use under environments that lack controller space. Controller Integrated Type See Page 3 in this Catalog. To use horizontally, and to prevent rod oscilliation. High Rigidity Type See Page in this Catalog. P.9

21 Depending on the Application, Select Either the Slider Type or Rod Type Slider Type zontal or vertical Caution (If using the Slider Type): When overhanging the slider mounting piece from the center, please consider the load moment and overhang load length. oad Moment Select speed type from cycle time of application This is the type that suits your application Ma Mb Mc Overhang oad ength This is when the center of the gravity for the attached object is / of the overhang length. When the attached object overhangs in the direction of either Ma, Mb and Mc, please use within this value range. Max. Speed mm/sec 3 mm/sec mm/sec High Speed Type Medium Speed Type ow Speed Type 3 3 SMR-H SSR-H SA-H SA-H 3 7 SM-M SM-H SM-H SS-H SS-M 3 SSR-M SA-M SA-M 3 3 SMR-M SMR- SS- 3 SSR- SA- SA- SM- 3 SS-H SMR-H SM-H SA-H SA-H SSR-H 3 7 SM-MM SMR-M SS-M SSR-M SA-M 3 3 SM- SMR- SS- SSR- SA- SA- P.

22 SA Slider (Straight) Type RCP-SA Encoder Type A: Absolute I: Incremental Options Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~ Cable ength P: m S: 3m M: m X!!: ength Custom R!!: Robot Cable Brake Options: BR, B, BE (see diagram below) Motor Ballscrew Guide Base oad Moment Overhang oad ength Repeatability ~ mm (mm increments) AC Servo Motor (Encoder Single Unit) φ mm SA Exclusive Single Unit Extruded Aluminum Ma:.9N m Mb:.N m Mc:.7N m * (.kgf m) (.7kgf m) (.kgf m) Ma, Mb, Mc: mm or less ±.mm * MC7.N m (.kgf m) for stroke over 3 Speed Vs. Diagram (when acc./dec. is.3g) SA-H (High) 9 7 SA-M (Medium) 9 7 SA- (ow) 3 3 (Minimum Speed mm/sec) (Minimum Speed mm/sec) (Minimum Speed mm/sec) Dimensions P.

23 SA Slider (Straight) Type RCP-SA Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~ Cable ength P: m S: 3m M: m X!!: ength Custom R!!: Robot Cable Options Brake Options: BR, B, BE (see diagram below) Motor Ballscrew Guide Base oad Moment Overhang oad ength Repeatability ~ mm (mm increments) AC Servo Motor (Encoder Single Unit) φ mm SA Exclusive Single Unit Extruded Aluminum Ma:.9N m Mb:.7N m Mc:.N m (.9kgf m) (.3kgf m) (.9kgf m) Ma, Mb, Mc: mm or less ±.mm Speed Vs. (when acc./dec. is.3g) 7 3 SA-H (High). 3 SA-M (Medium). SA- (ow) Dimensions (Minimum speed mm/sec) (Minimum speed mm/sec) * In case of stroke, maximum speed will be H:, M:7, :3 (Minimum speed mm/sec) * During home, since the slider will of interferences with surrounding objects. -M depth 9 3 -φh depth 9 A M.E.: Mechanical End S.E. : End ( ) indicates the referenced dimensions. E x P 3 D-M depth 9 Brake area dimensions C φh depth Select either BR, B or BE. BR Maintain over 3 Brake wiring side space 3.3 B. Weight A B C D E Dimensions according to speed type Speed Type G H I J ow Medium High P.

24 SS Slider (Straight) Type RCP-SS Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~ Cable ength P: m S: 3m M: m X!!: ength Custom R!!: Robot Cable Option Brake: With Brake (See diagram below) Motor Ballscrew Guide Base Moment oad Overhang oad ength Repeatability ~ mm (mm increments) AC Servo Motor (Encoder Single Unit) φ mm SS Exclusive Single Unit Hardened Steel Alloy Ma:.7N m Mb:.7N m Mc: 33.3N m (.kgf m) (.kgf m) (3.kgf m) Ma, Mb, Mc Direction: 3mm or less ±.mm Speed Vs. Diagram (when acc./dec. speed is.3g horizontal and.g vertical) SS-H (High) SS-M (Medium) SS- (ow) (Minimunm speed mm/sec) (Minimum speed mm/sec) * In case of stroke, maximum speed will be H:7, M:3, : (Minimum speed mm/sec) Dimensions -φh depth Mdepth 7 -φh depth Brake area dimensions * During home, since the slider will (J) *M.E. S.E. (H) (A) () S () () Home (G) (I) M.E.* 9 3 Maintain over move up to M.E., please be cautious of interferences with surrounding objects. M.E.: Mechanical End S.E. : End ( ) indicates the referenced dimensions. 3 N X P C N X P B D-M depth * The brake cable passes through inside the main body and connects the wire cable to the controller. Weight A B C D N Speed according to speed type Speed Type G H I J ow Medium.... High P.3

25 SM Slider (Straight) Type RCP-SM Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~ Cable ength P: m S: 3m M: m X!!: ength Custom R!!: Robot Cable Option Brake: With Brake (See diagram below) Motor Ballscrew Guide Base Moment oad Overhang oad ength Repeatability ~ mm (mm increments) AC Servo Motor (Encoder Single Unit) φ mm SM Exclusive Single Unit Hardened Steel Alloy Ma: 3.3N m Mb: 3.3N m Mc: 77.N m (3.7kgf m) (3.7kgf m) (7.9kgf m) Ma, Mb, Mc Direction: mm or less ±.mm Speed Vs. Diagram (when acc./dec. speed is.g) SM-H (High) SM-M (Medium) SM- (ow) (Minimum speed mm/sec) (Minimum speed mm/sec) (Minimum speed mm/sec) * In case of 9, strokes, maximum speed will be H:, M:, : Dimensions M depth * During home, since the slider will move up to M.E., please be cautious of interferences with surrounding objects. M.E.: Mechanical End 7 (J) φh depth () (A) S () (7) (I) 3 Maintain over S.E. : End ( ) indicates the referenced dimensions. 73 *M.E. S.E. (H) Home (G) M.E.* N X P B -φh depth DM- depth Brake Area Dimensions * The brake cable passes through inside the main body and connects the wire cable to the controller. Weight A B D N Dimensions according to speed type Speed Type G H I J ow Medium High 3 3 P.

26 SSR Slider (Motor Folded) Type RCP-SSR Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~ Cable ength P: m S: 3m M: m X!!: ength Custom R!!: Robot Cable Options B: With Brake (see diagram below) R: Motor opposite Motor Ballscrew Guide Base Moment oad Overhang oad ength Repeatability ~ mm (mm increments) AC Servo Motor (Encoder Single Unit) φ mm SS Exclusive Single Unit Hardened Steel Alloy Ma:.7N m Mb:.7N m Mc: 33.3N m (.kgf m) (.kgf m) (3.kgf m) Ma, Mb, Mc: 3mm or less ±.mm Speed Vs. Diagram (when acc./dec. is.3g horizontal and.g vertical) SSR-H (High) SSR-M (Medium) SSR- (ow) (Minimum speed mm) (Minimum speed mm) 3. (Minimum speed mm) * In case of stroke, maximum speed will be H:7, M:7, : Dimensions ().. 7 *M.E. (J) S.E. (H) -φh depth (A) S () () (I) M depth Home (G) (7) (7) M.E.* (3.7) (.7) (.3) (3) (.3) 3 (3) 7. 9 * During home, since the slider will move up to M.E., please be cautious of interferences with surrounding objects. 3 M.E.: Mechanical End S.E. : End ( ) indicates the referenced dimensions. Brake Area Dimensions 3 7 -φh depth B N X P C N X P D-M depth.3 * The brake cable passes through inside the main body and connects the wire cable to the controller. 3. Weight A B C D N Speed Type G H I J ow Medium.... High P.

27 SMR Slider (Motor Folded) Type RCP-SMR Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~ Cable ength P: m S: 3m M: m X!!: ength Custom R!!: Robot Cable Options B: With Brake (see diagram below) R: Motor opposite Motor Ballscrew Guide Base Moment oad Overhang oad ength Repeatability ~ mm (mm increments) AC Servo Motor (Encoder Single Unit) φ mm SM Exclusive Single Unit Hardened Steel Alloy Ma: 3.3N m Mb: 3.3N-m Mc: 77.N-m (3.7kgf -m) (3.7kgf-m) (7.9kgf-m) Ma, Mb, Mc: mm or less ±.mm Speed Vs. Diagram (when acc./dec. speed is.3g horizontal and.g vertical) SMR-H (High) SMR-M (Medium) SMR-(ow) (Minimum speed mm/sec) (Minimum speed mm/sec) (Minimum speed mm/sec) * In case of stroke, maximum speed will be H:, M:, : Dimensions 3 Brake area dimensions φh depth B D-M depth Nx P. () () 7 () (J) *M.E. S.E. (H) -φh depth 73 3 () (A) 7. S () M depth (7) Home (G) 3 (I) (7) M.E.* (7) () (7) () * During home, since the slider will move up to M.E., please be cautious of interferences with surrounding objects. M.E.: Mechanical End S.E. : End ( ) indicates the referenced dimensions. 3 * The brake cable passes through inside the main body and connects the wire cable to the controller. Weight A B D N Dimensions according to speed type Speed Type G H I J ow Medium High 3 3 P.

28 Model Selection Rod Standard Type Positioning Mode Function Select either horizontal or vertical Select speed type from cycle time of application Note : No side loading is recommended for non-guided rod type actuators. Note : The maximum speed is limited for the, 3 strokes of RSA Type as follows: stroke (H:7mm/sec, M:37mm/sec, :mm/sec) 3 stroke (H:3mm/sec, M:7mm/sec, :7mm/sec) This is the type that suits your application Max. Speed mm/sec mm/sec mm/sec High Speed Type Medium Speed Type ow Speed Type RSA-H RSA-M RSA- RMA- RMA-H 3 (Note ) (Note ) RMA-M RMA-H RSA-H RMA-M RSA-M RMA- RSA- P.7

29 Rod Type Push Motion Function By changing the controller's current limit value, you can easily change the push power during push motion. Since the push power varies according to model type, verify the necessary push power from the chart below, and select the type that satifies your requirements. Caution during application: Since the realtionship between the push power and current limit value is a standard number, there will be a slight difference with the actual number. In case the current limit value is less than %, the push power may disperse. Therefore, please maintain above % during application. Max. Speed mm/sec mm/sec mm/sec High Speed Type Medium Speed Type ow Speed Type RSAType RSA, RSW, RSI, RSIW, RSGS, RSGD, RSGB RMAType RMA, RMW, RMI, RMIW, RMGS, RMGD, RMGB Push Power Push Power (kgf) (kgf) RMA-H RSA-H Current imit Value (ratio %) Current imit Value (ratio %) 3 3 Push Power (kgf) RSA-M Current imit Value (ratio %) Current imit Value (ratio %) 9 9 Push Power (kgf) RSA- Push Power (kgf) Current imit Value (ratio %) Current imit Value (ratio %) Push Power (kgf) 9 RMA- RMA-M P.

30 RSA Rod (Standard) Type RCP-RSA Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~3 Motor Base Rod Diameter Rod Tip Screw Diameter Maximum Push Power N (kgf)* Repeatability Attachment Cable ength P: m S: 3m M: m X!!: ength Custom R!!: Robot Cable ~ 3mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm M Pitch. :9 (3) M: 3 (,) H: (.) ±.m M3 Square Head Nut ( pieces) +M Hexagonal Nut ( piece) Note: No side loading is recommended for non-guided rod type actuators. *: The maximum push power is the maximum sustainable power during stop of the push movement. * Due to its structure, home reversed specification is not available for the Rod Type. Options B: With Brake (see diagram below) Dimensions P.9

31 RMA Rod (Standard) Type RCP-RMA Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~3 Cable ength P: m S: 3m M: m X!!: ength Custom R!!: Robot Cable Options B: With Brake (see diagram below) Motor Base Rod Diameter Rod Tip Screw Diameter Maximum Push Power N (kgf) Repeatability Attachment ~ 3mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm M Pitch. :7 () M:3 (3.7) H: (.) ±.mm M Square Head Nut ( pieces) + M Hegagonal Nut ( piece) Note: No side loading is recommended for non-guided rod type actuators. *: The maximum push power is the maximum sustain power during stop of the push movement. * Due to its structure, home reversed specification is not available for the Rod Type. Speed Vs. Diagram (when acc. is.g) * For horizontal, in case with guide) RMA-H (High) RMA-M (Medium) RMA- (ow) (Minimum Speed mm/sec) (Minimum Speed mm/sec) (Minimum Speed mm/sec) Dimensions P.3

32 Dust Splash Resistance Type The dust and splash resistance model achieves IP rating (protects against dust and splashing water) by applying the following treatments to a standard rod type Robo Cylinder actuator: The motor cover is sealed utilizing a rubber gasket seal and a contact silicon seal. The addition of scraper mechanism to the rod support area of the main body tip to repel dust. The strain relieve portion of the actuator cable is designed to protect against dust and splashing water. Attached exhaust port has been added to relieve any internal pressure created by the improved sealing. As for the exhaust port, insert a tube with an outer diameter of φ and extend it to a place where water does not reach. Ingress Protection Codes Achieves IP rating! st Digit Protection Against Foreign Objects nd Digit Protection Against Moisture Not protected Not protected Protected against objects greater than mm Protected against water dripping Protected against objects greater than mm Protected against dripping water when tilted up to N 3 Protected against objects greater than.mm 3 Protected aginst water spraying Protected against objects greater than.mm Procted against water splashing Dust protected Dust tigh t 7 Protected against water jets Protected against heavy seas Protection against the effects of immersion Protection against submersion P.3

33 Caution when using the Dust Splash Resistance Type: The Dust Splash Resistance Type is not water resistant. Please refer to the IP chart listed on the previous page, and use in suitable environments. The actuator cable extending from the actuator body is meters in length. Standard Rod Type actuators feature a centimeter cable. Due to the sliding resistance from scrapers, the Dust Splash Resistance Type has lower speed and payload than the Standard Type. When selecting a machine type, please follow the chart listed below (the push power is same as the Standard Type). P.3

34 RSW Rod (Dust Splash Resistance) Type RCP-RSW Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~3 Cable ength P: m S: 3m M: m X!!: ength Custom R!!: Robot Cable Options B: With Brake (see diagram below) Motor Base Rod Diameter Rod Tip Screw Diameter Maximum Push Power N (kgf)* Repeatability Attachment ~ 3mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm M Pitch. :9 (3) M: 3 (.) H: (.) ±.mm M3 Square Head Nut ( pieces) +M Hexagonal Nut ( piece) Note: No side loading is recommended for non-guided rod-type actuators. *: The maximum push power is the maximum sustainable power during stop of the push movement. * Due to its structure, home reversed specification is not available for the Rod Type. Speed Vs. Diagram (when acc. is.g) * For horizontal, in case with guide RSW-H (High) RSW-M (Medium) RSW-(ow ) (Minimum speed mm/sec) (Minimum speed mm/sec) (Minimum speed mm/sec) Note: Maximum stroke for stroke is (H: 7mm/sec, M: 37mm/sec. : mm/sec) and for 3 stroke is (H:3mm/sec, M:7mm/sec, :7mm/sec). Dimensions (D): ow Speed.7mm Medium Speed.3mm High Speed.mm *Home (D) M.E. Coupling may be rotated 3. B +. (±.) (C±.) ead line lenth m 3 -M Effective depth (Note ) Exhaust Port ( face width) φ () (3.) φ3 φ Mx. 7. T-Slot range (3.) (A) (9) Maintain over * During home, since the slider will move up to M.E., please be cautious of interferences with surrounding objects. 3.±..±..±..7±..±. M3.. With brake M.E.: Mechanical End S.E. : End ( ) indicates the referenced dimensions. T-Slot Details M3 Square Head Nut Details (9) Maintain over Note : As for the exhaust port, insert a tube with an outer diameter of φ and extend it to a place where water will not reach. Weight A B C With brake Weight A B C P.33

35 RMW Rod (Dust Splash Resistance) Type RCP-RMW Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~3 Motor Base Rod Diameter Rod Tip Screw Diameter Maximum Push Power N (kgf)* Repeatability Attachment Cable ength P: m S: 3m M: m X!!: ength Custom R!!: Robot Cable ~ 3mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm M Pitch. :7 () M: 3 (3.7) H: (.) ±.mm M Square Head Nut ( pieces) +M Hexagonal Nut ( piece) Note: No side loading is recommended for non-guided rod-type actuators. *: The maximum push power is the maximum sustainable power during stop of the push movement. * Due to its structure, home reversed specification is not available for the Rod Type. Options B: With Brake (see diagram below) Dimensions P.3

36 P.3

37 Emergency Stop Circuit (limited to the Integrated Type) Since the Robo Cylinder Integrated Type is not equipped with an emergency stop circuit, please refer to the diagram below. RCP Integrated Type V Power Emergency Stop Button V Power In addition, when using the Teaching Pendant, the emergency stop button can not be used with the Integrated type. To add your own E-stop circuit, please refer to the following diagram. V Conjunction Box Internal Circuit RCP Integrated Type Power terminal board Relay for emergency stop GND Emergency Stop Button EMG EMG V N FG 3 PORT Switch -: PORT OFF -3: PORT ON Emergency Stop Button for the Teaching Pendant GND External (user) connection area Internal Circuit V, N:RC Integrated Type main power Vcc, GND: Relay power for emergency stop Brake Circuit (imited to the Integrated Type) When using with brake specifications, since the Integrated Type is not equipped with a brake circuit, the brake control needs to be done on the user side. In regards to the timing to release the brake and timing to apply the brake: Monitors the V main power and alarm of PIO output via PCm and controls the ON/OFF of the brake by the following timing: Brake ON Timing: When V main power AND alarm are ON Brake OFF Timing: When V main power OR alarm OFF Main Power ON Main Power Main Power OFF Alarm Alarm ON Alarm OFF Alarm ON Brake Brake ON Brake OFF Brake ON Brake OFF K! K! K! (Note) Since the alarm is set as reversed logic, it will be ON during normal status, and OFF during an alarm occurrence. P.3

38 RSI Rod (Controller Integrated) Type RCP-RSI Encoder Type I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~3 Motor Base Rod Diameter Rod Tip Screw Diameter Maximum Push Power N (kgf)* Repeatability Attachment Dimensions Cable ength P: m S: 3m M: m X!!: ength Custom R!!: Robot Cable ~ 3mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm M Pitch. :9 (3) M: 3 (.) H: (.) ±.mm M3 Square Head Nut ( pieces) +M Hexagonal Nut ( piece) Note: As for the Rod Type, there is no consideration for external power other than the load put on from the Rod forward direction. Therefore, when an external power of vertical or rotational direction is placed against the rod, please use guide. Options B: With Brake (see diagram below) *: The maximum push power is the maximum sustainable power during stop of the push movement. * Due to its structure, home reversed specification is not available for the Rod Type. P.37

39 RMI Rod (Controller Integrated) Type RCP-RMI Encoder Type I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~3 Motor Base Rod Diameter Rod Tip Screw Diameter Maximum Push Power N (kgf)* Repeatability Attachment Cable ength P: m S: 3m M: m X!!: ength Custom Options B: With Brake (see diagram below) ~ 3mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm M Pitch. :7 () M: 3 (3.7) H: (.) ±.mm M Square Head Nut ( pieces) +M Hexagonal Nut ( piece) Note: As for the Rod Type, there is no consideration for external power other than the load put on from the Rod forward direction. Therefore, when an external power of vertical or rotational direction is placed against the rod, please use guide. *: The maximum push power is the maximum sustainable power during stop of the push movement. * Due to its structure, home reversed specification is not available for the Rod Type. Speed Vs. Diagram (when acc. is.g) * For horizontal, in case with guide 3 3 RMI-H (High) RMI-M (Medium) RMI- (ow) 7.. (Minimum Speed mm/sec) (Minimum Speed mm/sec) (Minimum Speed mm/sec) Dimensions P.3

40 RSIW Rod (Controller Integrated Dust Splash Resistance) Type RCP-RSIW Encoder Type I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~3 Motor Base Rod Diameter Rod Tip Diameter Max. Push Power N (kgf) * Repeatability Attachment Cable ength P: m S: 3m M: m X!!: ength Custom Options B: With Brake (see diagram below) ~ 3mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm M Pitch. :9 (3) M:3 (.) H: (.) ±.m M3 Square Head Nut ( pieces) M Hexagonal Nut ( piece) Note: As for the Rod Type, there is no consideration for external power other than the load put on from the Rod forward direction. Therefore, when an external power of vertical or rotational direction is placed against the rod, please use guide. *: The maximum push power is the maximum sustainable power during stop of the push movement. * Due to its structure, home reversed specification is not available for the Rod Type. Speed Vs. (when acc. is.g) * For horizontal, in case with guide RSIW-H (High) RSIW-M (Medium) RSIW- (ow) (Minimum Speed mm/sec) (Minimum Speed mm/sec) (Minimum Speed mm/sec) (Note) The maximum speed for stroke is (H:7mm/sec, M:37mm/sec, : mm/sec) and for 3 stroke is (H:3mm/sec, M: 7mm/sec, :7mm/sec). Dimensions D: ow Speed.7mm Medium Speed.3mm High Speed.mm * Home (D) M.E.. 3 B +. (-M Effective depth ) Coupling may be rotated 3. (±.) (C±.) ead line length m (Note ) Exhaust Port ( face width) φ 7.. For mounting T-Slot (For M3 Square Head Nut) 3.±..±. 3 () (3.) (.).±..7±..±. φ3 φ Mx (3.) M3 9.. T-Slot Range (A) With brake (9) Maintain over * During home, since the slider will move up to M.E., please be cautious of interferences with surrounding objects. M.E.: Mechanical End S.E. : End ( ) indicates the referenced dimensions. T-Slot Details M3 Square Head Nut Details Note : As for the exhaust port, insert a tube with an outer diameter of f and extend it to a place where water will not reach. Weight A B C With brake Weight A B C (9) Maintain over P.39

41 RMIW Rod (Controller Integrated Dust Splash Resistance) Type RCP-RMIW Encoder Type I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~3 Motor Base Rod Diameter Rod Tip Diameter Max. Push Power N (kgf) * Repeatability Attachment Cable ength Options B: With Brake (see diagram below) P: m S: 3m M: m X!!: ength Custom ~ 3mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm M Pitch. :7 () M:3 (3.7) H: (.) ±.m M Square Head Nut ( pieces) M Hexagonal Nut ( piece) Note: As for the Rod Type, there is no consideration for external power other than the load put on from the Rod forward direction. Therefore, when an external power of vertical or rotational direction is placed against the rod, please use guide. *: The maximum push power is the maximum sustainable power during stop of the push movement. * Due to its structure, home reversed specification is not available for the Rod Type. Dimensions P.

42 P.

43 P.

44 High Rigidity Type Caution during application: For horizontal use, please refer to the charts below for tip allowable weight. The rotational direction allowable weight shows each stroke's allowable moment against the tip allowable weight (life span km) and the variable load at that moment. The rod tip variable weight listed on the right page shows each stroke's variable weight when rod tip is placed on each radial load.. Tip Allowable Weight This diagram shows life span vs. load placed on the rod tip when the High Rigidity Type is used horizontally. The larger the load, the shorter the guide life span will be, and the smaller the load, the longer the life span will be. oad oad Tip Allowable Weight Graph mm mm mm RSGD Tip Allowable Weight W Usable oad 7.. mm.. mm RSGB Tip Allowable Weight W mm mm. mm. mm. Usable oad mm Usable oad mm mm... ife Span Running Distance (km) ife Span Running Distance (km) ife Span Running Distance (km). Usable oad. ife Span Running Distance (km) ife Span Running Distance (km) ife Span Running Distance (km) mmmm mm mm RMGB Tip Allowable Weight W. Non-rotational Accuracy Refer to chart # for non-rotational accuracy when the rod is fully retracted. + θ - θ Chart # Machine Type RSGS RSGD RSGB RMGS RMGD RMGB Non-rotational Accuracy ± ±. ±. ± ±.3 Refer to chart #3 for non-rotational accuracy when the rod is extended. P.3

45 3. Rotational Direction Allowable Weight and Variable Amount This is the rotational direction allowable weight for the tip plate. After attaining the tip allowable weight using the graph shown on the previous page, use the formula to calculate: Rotational allowable weight (kg cm) = tip allowable weight x A RSGS A= RMGS A=. RSGD A= RMGD A= (RSGB, EMGB does not accept rotational allowable moment). The chart on the right shows the rotational allowable moment of tip allowable weight km and its variable weight. oad Chart # Machine Type RSGS RSGD RMGS Tip allowable weight (kgf).9 Rotation allowable moment (kgf cm) Variable weight. ±. Tip allowable weight (kgf). Rotation allowable moment (kgf cm) Variable Weight. ±. Tip allowable weight (kgf). Rotation allowable moment (kgf cm) Variable weight. ±. (mm ±... ± ±... ±... ±... ±.3 oad RMGD Tip allowable weight (kgf).7 Rotation allowable moment (kgf cm).... Variable weight ±. ±. ±. (The tip allowable weight is the numeric value of km life span). Rod Tip Variable oad Amount This is the variable amount placed on the tip plate according to the radial load. oad Chart #3 Radial oad kg kg 3kg kg kg Machine Type RSGS RSGD RSGB RMGS RMGD RMGB RSGS RSGD RSGB RMGS RMGD RMGB RSGS RSGD RSGB RMGS RMGD RMGB RSGS RSGD RSGB RMGS RMGD RMGB RSGS RSGD RSGB RMGS RMGD RMGB (Oscillation accuracy: unit mm) (mm) P.

46 RSGS Rod (Single Guide) Type RCP-RSGS Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~3 Motor Base Rod Diameter Guide Tip allowable Weight W Rotational Allowable Weight M * Max. Push Power N (kgf) * Repeatability Attachment Dimensions Cable ength P: m S: 3m M: m X!!: ength Custom ~ 3mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm Single guide Guide rod diameter φ Sliding bush type See Page 3 in this catalog M= xw See right diagram :9 (3) M:3 (.) H: (.) ±.m M3 Square Head Nut ( pieces) Options B: With Brake (see diagram below) Speed Vs. Diagram (when acc. is.g) RSGS-H (High) RSGS-M (Medium) RSGS-(ow) 7 9 Vertoca; *: As for the rotation allowable weight, using the graph, attain W and tip allowable 3 3 weight and calculate them in a numeric format. *: As for horizontal application, please use within the tip allowable weight w range. *3: As for the maximum push power, it is the maximum hold power during stoppage (Minimum speed mm/sec) (Minimum speed mm/sec) (Minimum speed mm/sec) of push movment. * Due to its structure, home reversed specification is not available for the Rod Type. (F): ow Speed.7mm Medium Speed.3mm High Speed.mm * Home (F) M.E. B +. (±.) (C±.) * During home, since the slider will move up to M.E., please be cautious of interferences with surrounding objects. M.E.: Mechanical End S.E. : End ( ) indicates the referenced dimensions. -φ7 drill thru 3 ±. -φh depth (.) 7 E D -M φ φ.. 7 ±. ±. 33 () (.) (.) T-Slot Range (A) With brake. (9) Maintain over.7±. M3 3.±..±..±..±. T-Slot Details T-Slot Pitch is 7mm.. M3 Square Head Nut Details Weight A B C D E With brake Weight A B C D E (9) Maintain over P.

47 RMGS Rod (Single Guide)Type RCP-RMGS Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~3 Cable ength P: m S: 3m M: m X!!: ength Custom Options B: With Brake (see diagram below) Motor Base Rod Diameter Guide Tip allowable Weight W Rotational Allowable Weight M * * Max. Push Power N (kgf) *3 Repeatability Attachment ~ 3mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm Single guide Guide rod diameter φ Sliding bush type See Page 3 in this catalog M=.xW See right diagram :7 () M:3 (3.7) H: (.) ±.m MSquare Head Nut ( pieces) *: As for the rotation allowable weight, using the graph, attain W and tip allowable weight and calculate them in a numeric format. *: As for horizontal application, please use within the tip allowable weight w range. *3: As for the maximum push power, it is the maximum hold power during stoppage of push movment. * Due to its structure, home reversed specification is not available for the Rod Type. Dimensions (F): ow Speed.mm Medium Speed.mm High Speed.mm * Home (F) M.E. * During home, since the slider will move up to M.E., please be cautious of interferences with surrounding objects. M.E.: Mechanical End B +. (±.) S.E. : End ( ) indicates the referenced dimensions. (C±.) 3 -φ9drill thru -φh depth (.7) E 7 D -M φ φ 39 7.±..±..±..7±..±. T-Slot Details T-Slot Pitch is mm 7 ±. 7 Weight A B C D E ±. ±. 3. Y Y Detailed View From X R (7.) () -R Y-Y Cross Section (.9) (3.7) M M Sqaure Head Nut Details T-Slot Range (A) X With brake With brake Weight A B C D E () () Maintain over Maintain over P.

48 RSGD Rod (Double Guide) Type RCP-RSGD Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~3 Cable ength P: m S: 3m M: m X!!: ength Custom Options B: With Brake (see diagram below) Motor Base Rod Diameter Guide Tip allowable Weight W Rotational Allowable Weight M * Max. Push Power N (kgf) * Repeatability Attachment ~ 3mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm Single guide Guide rod diameter φ Sliding bush type See Page 3 in this catalog M= xw See right diagram :9 (3) M:3 (.) H: (.) ±.m M3 Square Head Nut ( pieces) Note : As for the rotation allowable weight, using the graph, attain W and tip allowable weight and calculate them in a numeric format. Note : As for horizontal application, please use within the tip allowable weight W range. Note 3: As for the maximum push power, it is the maxium hold power during the push movement. * Due to its structure, home reversed specification is not available for the Rod Type. Speed Vs. Diagram (when acc. is.g) 3 RSGD-H (High) RSGD-M (Medium) RSGD- (ow) 3 3 (Minimum Speed mm) (Minimum Speed mm) (Note) The maximum speed for stroke: (H:7mm/sec M:37mm/sec :mm/sec) and for 3 stroke: (H:3mm/sec M:7mm/sec : 7mm/sec)... (Minimum Speed mm) Dimensions 3 9 -M thru -φ7 thru * Home (F) M.E. (F): ow Speed.7mm Medium Speed.3mm High Speed.mm 7 3 -φh depth φ φ9.7±. 3 3 M3 (7.) 39 (E) (D) * During home, since the slider will move up to M.E., please be cautious of interferences with surrounding objects. 3.±..±..±..±. T-Slot Details T-Slot pitch is 7mm. M3 Sqaure Head Nut Details. B T-Slot Range (.) (A) (9) (±.) (C±.) With brake. Maintain over M.E.: Mechanical End S.E. : End ( ) indicates the referenced dimensions.. (9) Maintain over Weight A B C D E With brake Weight A B C D E P.7

49 Model Type RMGD Rod (Double Guide) Type RCP-RMGD Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~3 Motor Base Rod Diameter Guide Tip allowable Weight W Rotational Allowable Weight M * Max. Push Power N (kgf) * Repeatability Attachment Cable ength P: m S: 3m M: m X!!: ength Custom ~ 3mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm Single guide Guide rod diameter φ Sliding bush type See Page 3 in this catalog M=xW See right diagram :7 () M:3 (3.7) H: (.) ±.m M Square Head Nut ( pieces) Options B: With Brake (see diagram below) Speed Vs. Diagram (when acc. is.g) RMGD-H (High) RMGD-M (Medium) RMGD- (ow) (Minimum Speed mm/secc) (Minimum Speed mm/secc) (Minimum Speed mm/secc Note : As for the rotation allowable weight, using the graph, attain W and * Due to its structure, home reversed specification is not available for the Rod Type. tip allowable weight and calculate them in a numeric format. Note : As for horizontal application, please use within the tip allowable weight W range. Note 3: As for the maximum push power, it is the maxium hold power during the push movement. Dimensions M thru -φ9 thru -φh depth * Home (F) M.E. (F): ow Speed.mm Medium Speed.mm High Speed.mm 9 3 φ φ 9 3 (.7) E 39 D 7.±..±..7±..±..±. T-Slot Details T-Slot Pitch is mm Y Y Detailed View From X M B +. (.7) T-Slot Range X (A) (±.) (C±.) With brake () Maintain over * During home, since the slider will move up to M.E., please be cautious of interferences with surrounding objects. M.E.: Mechanical End S.E. : End ( ) indicates the referenced dimensions. -R -R Y-Y Cross Section (.9) M Square Head Nut Details () Maintain over Weight A B C D E With brake Weight A B C D E P.

50 RSGB Rod (Built-in Ball Bushing) Type RCP-RSGB Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~ Motor Base Rod Diameter Guide Tip allowable Weight W Rotational Allowable Weight M * Max. Push Power N (kgf) * Repeatability Attachment Dimensions Cable ength P: m S: 3m M: m X!!: ength Custom ~ mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm Built-in ball bush See Page 3 in this catalog ---- See right diagram :9 (3) M:3 (.) H: (.) ±.m M3 Square Head Nut ( pieces) *: As for the rotation allowable weight, using the graph, attain W and tip allowable weight and calculate them in a numeric format. *: As for horizontal application, please use within the tip allowable weight w range. *3: As for the maximum push power, it is the maximum hold power during stoppage of push movment. * Due to its structure, home reversed specification is not available for the Rod Type. Options Brake Options: B (see diagram below) Speed Vs. Diagram (when acc. is.g) RSGB-H (High) RSGB-M (Medium) RSGB- (ow) (Minimum speed mm/sec) (Minimum speed mm/sec) (Minimum speed mm/sec) P.9

51 RMGB Rod (Built-in Ball-Bushing) Type RCP-RMGB Encoder Type A: Absolute I: Incremental Speed Type : ow Speed Type M: Medium Type H: High Speed Type ~ Motor Base Rod Diameter Guide Tip allowable Weight W Rotational Allowable Weight M * Max. Push Power N (kgf) * Repeatability Attachment *: As for the rotation allowable weight, using the graph, attain W and tip allowable weight and calculate them in a numeric format. *: As for horizontal application, please use within the tip allowable weight w range. *3: As for the maximum push power, it is the maximum hold power during stoppage of push movment. * Due to its structure, home reversed specification is not available for the Rod Type. Dimensions Cable ength P: m S: 3m M: m X!!: ength Custom ~ mm AC Servo Motor (Encoder Single Unit) Extruded Aluminum φ mm Built-in ball bush See Page 3 in this catalog ---- See right diagram :9 (3) M:3 (.) H: (.) ±.m M3 Square Head Nut ( pieces) Options Brake Options: B (see diagram below) Speed Vs. Diagram (when acc. is.g) RMGB-H (High) RMGB-M (Medium) RMGB- (ow) (Minimum speed mm/sec) (Minimum speed mm/sec) (Minimum speed mm/sec) P.

52 Mounting Method Slider Type SA Mount from the front side using hexagonal bolts. * RCP-SA: M SA, SA, SS, SM Mount from the back side using bolts. * RCP-SA Screw hole specifications: M Depth 7 * RCP-SA Screw hole specifications: M Depth 9 * RCP-SS Screw hole specifications: M Depth * RCP-SM Screw hole specifications: M Depth Rod Type Standard Type Mount from the Rod side using screw holes. * RCP-RSA Screw hole specifications: M depth * RCP-RMA Screw hole specifications: M depth SSR, SMR Mount from the back side using bolts. * RCP-SSR Screw hole specifications: M Depth * RCP-SMR Screw hole specifications: M Depth P.

53 Flange Specifications (F Option) Attached from the main body side using bolts. Foot Tool Specifications Attached from the main body side using bolts. * RCP-RSA: M * RCP-RMA: M * RCP-RSA: M * RCP-RMA: M With RSA Foot Tool With RMA Foot Tool The bolt used for mounting the foot tool is M3X bolt with hexagonal holes. For mounting T-slot, SUS (equivalent) M3 square is used. ( ) indicates the standard dimensions. 7 -φ. thru drill The bolt used for mounting the foot tool is MX bolt with hexagonal hole. SUS M square is used for the T-slot for mounting. ( ) indicates the standard dimensions. -φ9 thru drill MX. φ MX. T-slot range With RSA Flange With RMA Flange The bolt used to mount the flange on the main body is MX bolt with hexagonal hole. ( ) indicates the standard dimensions. The bolt used to mount the flange on to the main body is MX bolt with hexagonal hole. ( ) indicates the standard dimensions. drill thru -φ MX () T-slot range 99 (3) (7.7) (T-slot range) P.

54 Maintenance P.3

55 P.

56 Controller Model Model Type Type RCP-C-SAI For PNP specifications, please specify P at the end. Robo Cylinder Body Type Features Easy operation by simply assigning a position number from a PC, then move. Up to different positions may be assigned. Parallel I/O and Serial I/O are standard equipment. Power supply is simply VDC. Incremental specifications Specifications Item Description Part Names P ower Voltage DC V +%, -% (Maximum.A) Ambient Temperature & Humidity Temperature: ~, Humidity: % RH or less Main Body Mounting Hole Operating Environment Free of corrosive gas, No excessive dust Isolation Resistance V M or more ED Display Motor Brake Connector U nit Weight 3g (controller only) Safety Features EPROM Error Check, Memory Error, Deviation Counter Abnormality, Encoder Stoppage Determination Error, Encoder Counter Correction Abnormality, Encoder Breakage, Speed Abnormality, Overcurrent, Main Power Voltage Abnormality, Circuit Power Abnormality, Home Abnormality SIO Connector Encoder Connector Motor AC Servo Motor W, 3W Equivalen t ED Display RDY (ready) / RUN / AM (Alarm) Port Switch Memory Capacity Memory Device Positions CMOS Main Communication Port Connector PIO Connector Input/Output Signal DC V Type DI/DO Interface (Input): Start Input, Assigned Position (bit binary), Hold Input (Output): Positioning Complete Signal Output, Homing Complete Signal Output, Zone Signal Output, Alarm Output, Emergency Stop Output Brake Release Switch Serial Interface I/O O uter Dimensions.3 (W) X (H) X (D) A ttachments I/O Flat Cable (m) Power and Emergency Stop Terminal Block Address Dip Switches P.

57 External I/O (Incremental or absolute) Pin No. Section Signal Name Cable Color Content 3 Input Selected Position No. Never connect. P + V (Note ) B rown- Connect power V. N (Note) R ed- Connect power OV. Start O ragne- Input Transfer Start Signal. Assigned Position Yellow- Input Assigned Position Green- Assigned Position Blue- 7 Assigned Position Purple- Gray- Unusable (Note ) 9 White- I nput Hold (Note 3) B lack- Immediately stops a moving actuator. Brown- Red- 3 Unusable (Note ) Orange- Never connect. Yellow- Green- Complete Positon Blue- Outputs transfer complete position No. 7 Complete Position Purple- Complete Position Gray- 9 Complete Position White- Output Positioning Complete B lack- Outputs upon transfer compplete. Homing Complete B rown-3 Outputs upon homing complete. Zone R ed-3 Outputs within the setting range. 3 Alarm (Note ) O range-3 Outputs during controller abnoramality. Emergency Stop (Note ) Y ellow-3 Outputs during emergency stop. Green-3 Unusable (Note ) Blue-3 Never connect. (Note ) Please be careful when connecting to a V power. (Note ) Never connect to unused port. (Note 3) For safety reasons, E-Stop is normally closed. (Note ) For safety reasons, each output of alarm and emergency stop will turn ON during normal movement, and will turn OFF during abnomality. P.

58 RCP-C -***A (Absolute Compliance Controller) (). 9 (). Column Type Manufacturer Content Nickel Cadmium Battery Matsushita Denki Kogyo Model P-3H/FG N ominal Voltage. (.Vx) Rated Average Capacity Weight ife Span 3mAh Approximately 3g Approximately years C harged Time Approximately hours (when ambient temperature is ºC) B attery Sustain Time * Approximately hours (when ambient temperature is ºC) P.7