Space-saving design half the volume

The all-new RCP2 ROBO Cylinders provide higher accuracy,higher rigidity and a new level of user-friendliness.

The ROBO Cylinder is a motorized cylinder equipped with a ball screw, linear guide and closed-loopstepper motor.It provides a degree of performance, rigidity and functionality that places it among the top in theindustry, and adopts a universal design that ensures effortless operation for everyone.The new ROBO Cylinder achieves enhanced ease of use by incorporating characteristics such asquiet operation, superior maintainability and multi-point positioning, which covers up to 64 points.Use the new ROBO Cylinder to improve the efficiency of your multiple-type, small-volume productionor solve various issues associated with your production line.

Save up to 67% in operating costs over air cylinders!Think air cylinders are inexpensive? Consider the amount of electricity required to run the compressors thatdrive the air cylinders. Because the ROBO Cylinder is an electric actuator, relative power consumption isroughly 1/3 compared to that needed to operate air cylinders. Reduced electrical consumption not onlyreduces operating costs, but also contributes to global energy conservation and that's good for everyone!

Space-saving designApprox.

half the volume

Complex controls Multiple-type production

Caulking of capsInspection device forautomotive-parts screws

Complex movements can be performed swiftly,thanks to 64-point positioning (maximum).

The new controller achieves multi-point positioningcovering up to 64 points, thus enabling morecomplex movement. Additionally, speed change isnow possible while the slider/rod is moving.

A significantly compact controller savesinstallation space for the control panel.

The new, slim controller is W35 x H163 x D68.1(mm), which is approximately half that of a conventional type (RCP-C) in volume. Thecompact body saves installation space.

The 73mm-wide slider model offers a largerload capacity.

A new model with a 73mm-wide aluminumbase has been added to the slider lineup. Thismodel nearly triples the load capacity of thewidest conventional model (58mm).

Tripleload capacity

The 35mm ultrathin head contributes to size reduction in your equipment. The new rod type with an ultrathin head (35mm square) helps you make the most of limited space and reduces the overall size of your mechanical equipment.

2

Application R ais ing/lowering of a s tocker, pallet transfer, etc.

T he R OB O C ylinder performs pos itioning based on coordinates specified with respect to origin, or travels an arbitrary distance relative to the current pos ition.

R ais ing/lowering a s tocker F eeding the work in a marking process

No.

1

2

(mm)

100

25

(mm/sec)

300

300

(G)

0.3

0.3

(%)

0

0

(mm)

0.1

0.1

(0or1)

0

0A “=” is indicated during Incremental Move mode.

=

P os itioning Operation

Used for opening/clos ing of a door

Application T ransferring or moving work, etc.

Used for pick & place applications

P os ition-Data T able(S et by the teaching pendant or P C software)

No.

1

2

P osition

100

200

S peed

100

200

0.3

0.3

0

0

P ositioning width

10

20

Acceleration only MAX

0

0

P osition 1 P os ition 2

lj k m

Input of pos ition 1 Input of s tart s ignal (S tart of movement)

C ompletion of movement

pn o q

P osition number P os ition 0C oordinate 0

P os ition 1C oordinate 100

P osition 2C oordinate 25

100 25 25 25 25

300mm/sec

j lk

m

j

k

C ompletion of movement to pos ition

1 (100mm position)

lInput of pos ition 2

Input of s tart s ignal25mm

(P itch F eed mode)

m

F eatures Multi-point pos itioning covering a maximum of 64 points

S peed and acceleration/deceleration rates can be set for each pos ition.

A pos itioning-completion s ignal can be output at an arbitrary pos ition before a specified pos ition s imply by setting an appropriate pos itioning width.

Acceleration and deceleration rates can be set separately.

S peed can be changed during movement without s topping.

200mm/sec

100mm/sec

S tationary

T ime

S peed

Accelerating Accelerating

j l n pk m o q

Example of

operation

Decelerating Decelerating

Output of pos itioning-completion s ignal

Input of pos ition 2 Input of s tart s ignal (S tart of movement)

C ompletion of movement

Output of pos itioning-completion s ignal

Acceleration/deceleration P ush motion

Inc remental Moves Operation pattern 2

F eatures P os itioning to 64 points or more at a constant pitch is enabled by specifying repeated travel. (Movement can be initiated for as many times as poss ible within the stroke range.)

T he des ired pitch is eas ily specified us ing the pos ition-data table.

P os ition-Data T able (S et by the teaching pendant or P C software)

P os ition S peed P ositioning width Acceleration only MAX


Movement by 25mm is repeated

each time pos ition 2 is specified and the start s ignal

is input

S tationary

T ime

S peed

Example of

operation

Input of pos ition 1Input of s tart s ignal(P os itioning mode)

(mm) (mm/sec) (G ) (%) (mm) (0or1)

T he R OB O C ylinder moves the load installed on the axis s lider or rod and performs pos itioning with a repeatability of 0.02mm.

F u n c t io n E x pla n a t io n o f t h e R O B O C y l in de r S e r ie s

Operation pattern 1

3

Application Detection, press-fitting or clamping of work, etc.

P aus e Input

T he ac c eleration and dec eleration rates c an be s et s eparately.

T he acceleration and deceleration rates of the R OB O C ylinder are set us ing the pos ition-data table. Normally the R OB O C ylinder accelerates/decelerates at the specified rate, but setting"1" under "Acceleration only MAX" enables quick acceleration and gradual deceleration.

* If "Acceleration only MAX" is set to "0" the setting under "Acceleration/deceleration" will apply to both acceleration and deceleration.

No mic ro-vibration at s top (R C P S eries )

Zone Output A signal is output when the s lider enters the specified range.

P us h & Hold OperationWith the R OB O C ylinder the rod can be maintained in a condition where it is continually pressed against the work, etc., just like an air cylinder.

P ress ing the rod against the work

C onventional AC servo R OB O C ylinder

Medium-speedtype

Low-speed type

Affixing a work

No.

1

(mm)

100

(mm/sec)

300

(G )

0.3

(%)

50

(mm)

50

(0 or1)

0

No.

1

2

300 100 0.3

0.3

0 0.1 1

0

C urrent-limiting value (R MA type)

Pus

h fo

rce

in s

tatio

nary

sta

te (

N)

10% 20% 30% 40% 50% 60% 70%

C a u t io n

Command speed

Maximum acceleration by load31. Decelerates at the value set under ﾒAcceleration/deceleration.

T he accuracy of push force is not guaranteed in the stationary s tate. T he above figure is provided only as a reference. C aution should be exercised, because if the push force is too small, push-motion operation may not be performed properly due to s lide res is tance, etc.

T here is no micro-vibration, which is experienced by conventional servo motors in the action of s topping. T his makes the R OB O C ylinder ideal for measurement in tandem with an attached camera, etc.

Y ou can set an interlock (interference prevention) with peripheral equipment to cause the s lider to decelerate and stop the moment the pause input turns OF F . When the pause input turns ON, the operation will res ume to complete the remaining movements . F or s afety reasons , this s ignal uses contact B logic (the s lider operates when the s ignal turns OF F ).

A s ignal can be output at arbitrary pos itions during movement (the range of pos itions being set by parameter), so the R OB O C ylinder can be used to set a danger area, shorten the tact time, etc.

Hunting

F eatures A pos itioning-completion s ignal is output the moment the rod contacts the work, so the R OB O C ylinder can be used for the screening of work, etc., by combining a pos itioning-completion s ignal with zone s ignals .

T he force to push the work (push force) can be changed over a range from several N to a maximum of 800N by changing the setting in the pos ition-data table.

* If the work is s till not contacted at the end of the pos itioning width, the pos itioning-completion s ignal will not be output.

n

n

P ositioning width: 50j

l

k m

j k l m

S topping upon contact with work

Work

300mm/sec

n

n

P ause s ignal input OF F

OFF

ON

j l

k

m

j k l m

n

n

S pecified zone-s ignal output range

OFF

ON

j

lk

m

j k

Zone s ignal OF F on exit from

specified range

l m

P ause input s ignal

Operation pattern 3

S tationary

Accelerating

Decelerating

T ime

S peed

T ime

S peed

T ime

S peed

Accelerating Decelerating

High-speedtype

Input of pos ition 1

Input of s tart s ignal

(S tart of movement)

Output of pos itioning-completion

s ignal




T he s lider decelerates to a s top upon the input of an external s ignal.

S tationary

Accelerating DeceleratingS tationary


C ompletion of

movement


s ignal

Input of pos ition 1Input of s tart s ignal(S tart of movement)

Deceleration to s top at pause OF F

T ime

S peedS tationary


Decelerates at the value set under "Acceleration/deceleration".

Maximum acceleration by load



Acceleration/deceleration

P ush motion

Input of pos ition 1Input of s tart s ignal(S tart of movement)

Zone s ignal ON on entry into

specified range

C ompletion of

movement

Example of

operation

Example of

operation

Example of

operation


s ignal


800

700

600

500

400

300

200

100

0

(mm) (mm/sec) (G ) (%) (mm) (0 or1)

F orward movement

at low speed without s topping

(Work remains pressed at the specified push force)

R esumption of movement

at pause ON

Zone output s ignal

S tops immediately

4

R C P 2 -R M A - I -P M -8 - 3 0 0 - P 1 - M - F T

R C P 2 - C - R M A - I - P M - O - P

ロボシリンダ型式基準

S A5, S A6, S A7

S S , S M, S S R , S MR

R XA, R S A, R MA

O : 24V DC

R C P 2

R C P 2

E xplanation of S pec ific ation Items for A c tuator Model (R efer to page 26 for the s pec ific ation items for the c ontroller model.)

P 1: R C P 2-C R C P 2-C G

S A5S A6S A7S SS MS S RS MRR X AR S AR MA

12, 6 , 312, 6 , 316, 8 , 412, 6 , 3

20, 10, 512, 6 , 3

20, 10, 55, 2 . 5

10, 5 , 2 . 516, 8 , 4

50~50050~600

100~800100~600

100~1000100~600

100~100050~20050~30050~300

S eries

S eries

S eries

E ncoder type

C ontroller type Actuator type E ncode type I/O s ignal formatPower-supply voltage

C : Internal drive-power cutoff relayC G : E xternal drive-power cutoff relay

T ype E ncoder type

I: Incremental

I: Incremental

P M: P ulse motor

Motor Lead (mm) S troke (mm) Applicable controller C able length Option

Lengthspecification

R obot cable

B : B rake

B E : B rake (front)

B L: B rake (left)

B R : B rake (right)

F L: F lange

F T : F oot bracket

NM: R eversed origin

R : Inverse motor-revers ing direction

(Note 1) T he stroke is set in 50mm increments for S A5, S A6, R XA, R S A and R MA, and in 100mm increments for S A7, S S , S M, S S R and S MR .(Note 2) Depending on the type, not all options may be applicable. F or details , refer to the page showing the specifications for each type.

Not specified: NP N P : P NP

1 T ype2

Motor4

Lead5

S troke6

3

C able length8

Option9

Indicate the name of each series .

Indicate whether the encoder installed in the actuator should be an “absolute” type or an “increment” type.

Indicate the length of motor/encoder cables used for connecting the actuator and controller.

Indicate the option(s) to be installed on the actuator. * When selecting multiple options, specify them in alphabetical order (e.g., B -FL-NM).

A : A bs olute type T his setting is not available with the R C P 2.

I: Inc rement type S lider pos ition data will be lost when the power is turned off, so origin return is required each time the power is turned on.

Indicate the shape (s lider, rod, etc.), s ize (S A5, R XA, etc.),function (dustproof/splash-proof, etc.) and guide category.

P M: P ulse motor

T ravel distance per revolution of the ball screw.

Indicate the actuator s troke (range of operation). (Unit: mm)

[B rake] A brake for preventing the s lider from falling in a vertical application when the power or servo is turned off[B rake] Indicate the exit direction of the brake cable for the S A5, S A6 or S A7 s lider whose brake cable must be wired outs ide the actuator.[F lange] A flange for mounting the rod type actuator with a clearance (see page 24)[F oot bracket] A foot bracket for mounting the rod type actuator from above us ing bolts (see page 24)[R eversed-origin specification] Normally the origin is set on the motor s ide. E nter this option to specify the origin on the counter-motor s ide (not available with the rod type).[Inverse motor-revers ing direction] E nter this option for the motor-revers ing type to specify the inverse direction for the revers ing of the motor.

B :B E , B L, B R :F L :F T :NM :

R :

R OB O C ylinder S eries Model S tandards

Actuator Model

C ontroller Model

7

Motor

P M: P ulse motor

P E R S ONA LC OMP UT E R

0V24V

PORT

AD/RS

PIO

RDY RUN ALM

OFF

SIO

ENC

NOM

MOT

S1

S2

MPO

MPI

24V

N

F.G

RISBK

ON

R C A-T

R C A-T D

R C A-E

R C A-P

R C B -101-MW

R C B -105-2(5)

Item Model Description P age

Item Model Description P age

P 37

P 36

C B -R C P 2-P A

C B -R C P 2-MA

C B -R C P 2-P A -R B

C B -R C A-P IO020

C B -R C A-S IO020(050)

R C B -C V -MW

-

C ontroller S ys tem C onfiguration Diagram

C ontroller Options T ableC ontroller Options

C ontroller S pare P arts

E quipment provided by user

Actuator, controller and standard accessories

T eaching P endant (NOT E 1)

T eaching P endant (Deadman S witch S pecification) (NOT E 1)

S imple T eaching P endant (NOT E 1)

Data S etting Unit (NOT E 1)

P C S oftware (NOT E 2)

E xternal C onnection Unit

Motor C able

E ncoder C able

E ncoder R obot C able

I/O F lat C able

E xternal E quipment C ommunication C able

R S 485 C onvers ion Adapter

P os ition data input, actuator test operation, etc.

R C A-T with a deadman switch

An economical type offering functions equivalent to those of R C A-T

Used exclus ively for data input (cannot be used for actuator operation)

P os ition data input, actuator test operation, etc.

S erial communication cable unit (external equipment communication cable + R S 485 convers ion adapter)

Motor power cable (for controller and actuator connection) E nter the cable length in . E xample) 080 = 8m (maximum length: 20m)* T he standard motor cables are robot types .

E ncoder s ignal cable (for controller and actuator connection)E nter the cable length in . E xample) 080 = 8m (maximum length: 20m)

Highly flexible encoder cable

P arallel communication cable (for P LC and controller connection) No connector on P LC end

S erial communication cable *Used with an R S 485 convers ion adapter

Adapter for converting R S 485 communication s ignals to R S 232 communication s ignals

Options

Host system <P LC >

* R efer to pages 33 and 34 for the emergency-stop circuit.

I/O flat cableC able length: 2mS tandard accessory

(R efer to page 36.)

(R efer to page 36.)

Motor cable<Model C B -R C P 2-MA >

S tandard: 1m/3m/5m(S ee the table below.)

P C software<Model R C B -101-MW>T his software facilitates the creation and input of pos ition data, as well as actuator operation (test operation), us ing a P C .

T eaching pendant<Model R C A-T /T D><Model R C A-E ><Model R C A-P >T his pendant facilitates the input ofpos ition data and actuator operation(test operation).

E ncoder cable

S tandard: 1m/3m/5m(S ee the table below.)

C ontroller<R C P 2-C ><R C P 2-C G >

Lead wire0.3m

2m

or

5m

5m

5m

Actuator <R C P 2>

E mergency-stop switch and wiring

F G

P ower-supply voltage

P C

E xternal connection unit<Model R C B -105-2><Model R C B -105-5>

Used when the controller is to be controlled via

S IOs (serial communication) from a P LC or P C .

(S ee the table below.)

R OB O C ylinder S eries S ys tem C onfiguration

8

<Model C B -R C P 2-P A ><Model C B -R C P 2-P A -R B >

(Note 1) A product of an earlier vers ion cannot be used with the R C P 2. Upgrade the vers ion as necessary.(Note 2) If you are currently us ing P C S oftware for the R C P (R C A-101-MW), the software can be used continuously after a proper vers ion upgrade. T he shape of R C B -101-MW’s R S 485 convers ion adapter has changed from that of the adapter used with R C A-101-MW, but functionality remains the same.

R OB O C ylinder S eries P oints to Note

Notes on C atalog S pecifications <C ommon to all models>

S pe e d

A c c e le r a t io n /D e c e le r a t io n R a t e s

P o s it io n in gR e pe a t a bi l i t y

“ S peed” refers to the s pec ified s peed at whic h the ac tuator s lider (or rod, arm or output s haft) will move. T he s lider ac c elerates from a s tationary s tate, and onc e the s pec ified s peed is reac hed it will maintain that s peed until the s pec ified pos ition (immediately before the target pos ition), where it will begin dec elerating to s top at the target pos ition.

<C aution>(1) T he maximum speed of the R C P 2 S eries will vary according to the weight of the s lider load (rod, arm). S elect an appropriate model by referring to “C orrelation Diagrams of S peed and Load C apacity” on pages 10 and 11.(2) T he time needed to reach the specified speed will vary according to the acceleration (deceleration) rate.(3) If the travel dis tance is short, the specified speed may not be reached.(4) With a long-stroke axis , the maximum speed will drop to avoid reaching a dangerous speed. (If you are us ing a s troke of 600mm or longer, check the maximum speed for the applicable s troke in the corresponding dimensional drawing.)(5) When calculating the travel time, cons ider acceleration, deceleration and stabilization periods in addition to the travel time at the specified speed.(6) S peed can be set in increments of 1mm/sec. in pos ition data.

(1) Increas ing the acceleration (deceleration) rate will shorten the duration of acceleration (deceleration) and decrease the travel time. However, doing so will also cause rapid acceleration (deceleration), resulting in increased shock.(2) T he rated acceleration rate is 0.3G (or 0.2G if the lead is 2.5, 3 or 4, or in the case of a vertical application). (T he load capacity is set based on the rated acceleration rate.)(3) If the R OB O C ylinder is operated at an acceleration (deceleration) rate exceeding the rated acceleration rate, its life may be s ignificantly reduced or breakdown may occur. B e sure to use an acceleration rate not exceeding the rated acceleration rate, or use a s ingle-axis robot of the high-acceleration/deceleration type. (T he IS P S eries supports the maximum acceleration rate of 1G .) Increas ing the acceleration (deceleration) rate will decrease the load capacity from the level corresponding to the rated acceleration rate.(4) Acceleration rate can be set in increments of 0.01G in pos ition data.

“ A c c eleration rate” refers to the rate of c hange of s peed when the s peed ris es from zero (s tationary s tate) to the s pec ified s peed. “ Dec eleration rate” refers to the rate of c hange of s peed when the s pec ified s peed drops to zero (s tationary s tate). In the programs , both are s pec ified in “ G ” (0.3G = 2940mm/s ec 2).

“ P os itioning repeatability” refers to the pos itioning ac c urac y of repeated movements to a pre-s tored pos ition.T his is not the s ame as “ abs olute pos itioning ac c urac y,” s o exerc is e c aution.

<C aution>

T he origin is s et on the motor s ide for the s tandard s pec ific ation, or on the c ounter-motor s ide for therevers ed-origin s pec ific ation.

<C aution>

(1) T he incremental actuator always requires origin return each time the power is reconnected.(2) During origin return the s lider (or rod) will move to the mechanical end before revers ing, so be careful to prevent contact with surrounding parts

E ac h load moment is c alc ulated bas ed on an as s umed dis tanc e of 5,000km for S A 5, S A 6 and S A 7 or 10,000km for S S , S M, S S R and S MR . E xerc is e c aution, bec aus e applying a moment exc eeding the s pec ified value will reduc e the life of the guide.

Direc tions of load moment

L o a d M o m e n t /L i fe

When eac h model is us ed with an overhung load exc eeding the allowable length, vibration or s tabilization delay may res ult. T herefore, be

s ure to keep the overhung load length within the allowable value.

O v e r h u n g L o a d L e n g t h

L

L

O r ig in

Ma Mb Mc

9

45

40

35

30

25

20

15

10

5

0

0 100 200 300 400 500 600 700

SMR-20

SM-20

SSR-12

60

50

40

30

20

10

0

SA5-6

SA6-6

SSR-6

SM-10

SS-6

0 50 100 150 200 250 300 350

SMR-10

SS-3

60

50

40

30

20

10

00 20 40 60 80 100 120 140 160 180

SM-5

SMR-5

SSR-3

SA7-4

6

5

4

3

2

1

00 100 200 300 400 500 600 700

SA5-12

SA6-12SS-12

SM-20

SSR-12SMR-20

SM-10

SMR-10

0 50 100 150 200 250 300 350

14

12

10

8

6

4

2

0

SS-6

SSR-6

SA6-6

SA5-6

25

20

15

10

5

00 20 40 60 80 100 120 140 160 180

SM-5

SS-3

SMR-5

SSR-3

SA6-3

SA5-3

Correlation Diagrams of Speed and Load Capacity

RCP Slider Type

M a M b M c

Selection of horizontal or vertical installation

150mm/sec

300mm/sec

Precaution for use

600mm/sec

L

L

SS-12

SA6-12

SA5-12

SA6-3

SA5-3

If you are using the slider type and the load on the slider will extend considerably from the center, give consideration to the load moments and overhung load length.

SA7-8

SA7-16SA7-16

SA7-8

SA7-4

Selection of speed type based on equipment cycle time

Select a desired type that meets your purpose by referring to the diagrams for speed and load capacity below.

Load momentsMa, Mb and Mc must be within the specified range of load moment.

Overhung load lengthThe specified value applies when the load's center of gravity is L/2. If the load extends in the direction of Ma, Mb or Mc, keep within the specified range.

Maximumspeed Horizontal installation Vertical installation

Hig

h-sp

eed

type

Med

ium

-spe

ed t

ype

Low

-spe

ed t

ype

Load

cap

acity

(kg

)Lo

ad c

apac

ity (

kg)

Load

cap

acity

(kg

)Lo

ad c

apac

ity (

kg)

Load

cap

acity

(kg

)

Load

cap

acity

(kg

)

Speed (mm/sec)

Speed (mm/sec)

Speed (mm/sec)Speed (mm/sec)

Speed (mm/sec)

Speed (mm/sec)

(Note) The number shown after the type in the above graphs indicates the lead specification.

10

P ositioning Operation

40

35

30

25

20

15

10

5

00 100 200 300 400 500 600

RMA-16

RSA-10

50

40

30

20

10

00 50 100 150 200 250 300

RMA-8RSA-5

60

50

40

30

20

10

00 20 40 60 80 100 120 140

RMA-4

0 100 200 300 400 500 600

12

10

8

6

4

2

0

RMA-16

RMA-8

RSA-5

25

20

15

10

5

00 50 100 150 200 250 300

RMA-4

30

25

20

15

10

5

00 20 40 60 80 100 120 140

Horizontal application (Note 1) V ertical application (Note 2)

125mm/sec

250mm/sec

(Note 1) T he horizontal application assumes the use of an external guide.(Note 2) If the R OB O C ylinder is operated under the maximum load capacity for a given speed, overshoot may occur due to vibration. T herefore, when selecting a model provide an allowance of approximately 70%.

S elec tion of horizontal or vertic al applic ation

RSA-2.5

RSA-2.5

RXA-5

T he rod type only cons iders external forces from the rod’s direction of movement. If the rod will receive external forces from the vertical

direction or rotary direction, use a high-rigidity type or purchase a separate guide.

T he maximum speed is limited only with the R S A type with a s troke of 250mm or 300mm. 250mm stroke(Lead 10: 458mm/sec., lead 5: 237mm/sec., lead 2.5: 118mm/sec.) 300mm stroke(Lead 10: 350mm/sec., lead 5: 175mm/sec.,

lead 2.5: 87mm/sec.)

RSA-10

RXA-2.5

RXA-2.5

RXA-5

R od T ype

S elec tion of s peed type bas ed on equipment c yc le time

S elect a des ired type that meets your purpose by referring to the diagrams

for speed and load capacity below.

P recaution for use

500mm/sec

Maximumspeed

Hig

h-s

pe

ed

typ

e M

ed

ium

-sp

ee

d t

ype

L

ow

-sp

ee

d t

ype

Load

cap

acity

(kg

)Lo

ad c

apac

ity (

kg)

Load

cap

acity

(kg

)Lo

ad c

apac

ity (

kg)

Load

cap

acity

(kg

)

Load

cap

acity

(kg

)

S peed (mm/sec)

S peed (mm/sec)

S peed (mm/sec)S peed (mm/sec)

S peed (mm/sec)

S peed (mm/sec)

(Note) T he number shown after the type in the above graphs indicates the lead specification.

11

200

180

160

140

120

100

80

60

40

20

0

0 10 20 30 40 50 60 70

（N）

400

350

300

250

200

150

100

50

00 10 20 30 40 50 60 70

100

200

300

400

500

600

700

800

0

0 10 20 30 40 50 60 70

R S A typeR XA type

C orrelation Diagrams of P us h F orc e and C urrent-L imiting V alue

200

180

160

140

120

100

80

60

40

20

0

0 10 20 30 40 50 60 70

80

70

60

50

40

30

20

10

00 10 20 30 40 50 60 70

RXA-5

RSA-10

300

250

200

150

100

50

0

0 10 20 30 40 50 60 70

RXA-2.5

300

250

200

150

100

50

00 10 20 30 40 50 60 70

500

450

400

350

300

250

200

150

100

50

0

0 10 20 30 40 50 60 70

RSA-5

RSA-2.5

RMA-16

RMA-8

RMA- 4

R C P R od T ype P ush-Motion Operation

T he pus h forc e us ed during pus h-motion operation c an be c hanged freely by c hanging the c ontroller’ s c urrent-limiting value.T he maximum pus h forc e will vary ac c ording to the model. C onfirm the required pus h forc e from the graphs below and s elec t a type that meets your purpos e.

T he relationships of push force and current-limiting value are provided for reference only. T he actual figures may vary s lightly.

If the current-limiting value is under 20%, the push force may become subject to fluctuation. T herefore, set the current-limiting value to 20% or more.

P recaution for use

R MA type

Hig

h-s

pe

ed

typ

e M

ed

ium

-sp

ee

d t

ype

L

ow

-sp

ee

d t

ype

Pus

h fo

rce

(N)

Pus

h fo

rce

(N)

Pus

h fo

rce

(N)

Pus

h fo

rce

(N)

Pus

h fo

rce

(N)

Pus

h fo

rce

(N)

C urrent-limiting value (%) C urrent-limiting value (%) C urrent-limiting value (%)

C urrent-limiting value (%) C urrent-limiting value (%) C urrent-limiting value (%)

C urrent-limiting value (%) C urrent-limiting value (%)

(Note) T he number shown after the type in the above graphs indicates the lead specification.

Pus

h fo

rce

(N)

Pus

h fo

rce

(N)

12

(2.1)

3ME *2

119942.7

16

(2.8)S E

L

(240)1930

26206

6

2-øf4H10, depth 6

50

52

2050

56 33 81

26 24

50

52

2640

107.

5

15.5 9 15.5

14.541.513.3

5.113.3

16.5

16.5

35.5

50 o

r m

ore

4352

434.

546

.52.

5

2.7

(2.8)

4-M4, depth 9

A minimum of 100 is required.

Origin

D-M4, depth 72-øf4H10, depth 5

S troke

E -øf4.5 through, ø8 counterboredepth 4.5 (from opposite s ide)

B rake DimensionsB R : B rake cable exiting from the right

B E : B rake cable exiting the end

B L: B rake cable exiting from the left

C able joint connector *1

B X 100P

C X 100P

S EME

ME

13.8

57.5

57.5

A

1

RCP2-SA5 R OB O C ylinder S lider T ype: Unit Width 52mm, P ulse Motor,S traight S hape

T ype S lider (52mm wide) S troke 50~500mm

Model/S pecifications

Options

Dimensions

C ommon S pecifications

Model

Name

B rake (C able exiting the end)

B rake (C able exiting from the left)

B rake (C able exiting from the right)

R eversed-origin specification

B E

B L

B R

NM

P 24

P 24

P 24

P 24

Model P age

R C P 2-S A5-I-P M-12-***-P 1--

R C P 2-S A5-I-P M-6-***-P 1--

R C P 2-S A5-I-P M-3-***-P 1--

E ncoder type

Incremental

Lead(mm)

12

6

3

S troke50mm increments (mm)

S peed(mm/s)

Load capacity (Note 1)

Horizontal (kg)

50~500

10~600

5~300

1~150

4

8

8

V ertical (kg)P os itioning

repeatability (mm)

1

2.5

4.5

±0.02

Applicable C ontroller S pecifications

* With the reversed-origin specification, the specificationon the motor s ide (distance tothe origin) and that on the counter-motor s ide are reversed.

S troke

Dimensions , Weight and Maximum S peed by S troke50 100 150 200 250 300 350 400 450 500

L

A

B

C

D

E

Weight (kg)

279

73

0

0

4

4

1.5

600

300

150

329

100

0

0

4

4

1.6

379

100

0

1

4

6

1.7

429

200

1

1

6

6

1.8

479

200

1

2

6

8

1.9

529

300

2

2

8

8

2.1

579

300

2

3

8

10

2.2

629

400

3

3

10

10

2.3

679

400

3

4

10

12

2.4

729

500

4

4

12

12

2.5

Model details

(E xample) RCP2 - SA5 - I - PM - 6 - 500 - P1 - S - BE

OptionsC able lengthApplicable controllerS trokeLeadMotorE ncoder typeT ypeS eries

* In the above model names , *** indicates the stroke, the cable length and the applicable options .

Drive system

B acklash

G uide

Allowable load moment (Note 2)

Overhung load length

B ase

C able length (Note 3)

B all screw øf10mm, rolled C 10

0.1mm or less

Integrated with base

Ma: 4.9N • m Mb: 6.8N • m Mc: 11.7N • m

Ma direction: 150mm or less , Mb/Mc directions : 150mm or less

Material: Aluminum with white alumite treatment

N: No cable, P: 1m, S: 3m, M: 5m, X : Length specification, R : Robot cable

Load capacity 8kg (horizontal)/4.5kg (vertical)

(Note 1) Load capacity at the rated acceleration rate (R efer to page 9.)(Note 2) Mc moment will become 7.8N·m with a stroke of 350mm or longer.(Note 3) The maximum cable length is 20m. Specify the desired length in meters

(e.g., X08 = 8m).

* R efer to page 9 for other points to note.

* T he maximum speed limit of the R C P 2 S eries will vary according to the weight of the load on the s lider (rod). R efer to C orrelation Diagrams of S peed and Load C apacity on pages 10 and 11.

*1. C onnect the motor/encoder cables .R efer to page 37 for details on the cables .ME : Mechanical endS E : S troke endR eference dimensions are shown inparentheses .

*2. During origin return the s lider will move to the ME , so be careful to prevent contact with surrounding parts .

Maximumspeed

(mm/s)

Lead 12Lead 6Lead 3

C aution

13

ApplicableC ontroller

Maximum number of controlled axes

C ompatibleencoder type

P rogramoperation

P ositioneroperation

P ulse-traincontrol

Power-supplyvoltage

P age

IncrementalX

X

O

O

X

X24V DC

P 25

P 25

R C P 2-C

R C P 2-C G

1 axis

1 axis

823

8

19.5 21 19.5

31

3250

(2.2)

311911516

2.7

(3.1)

13.8

59.5

5658

2843

106.

559

.5

5658

75A 19.5 33 81

20100

31 31

ME S E

14.341.713.3

13.3

5.1

18.5

18.5

3.5

37.5

6.5

4348

.51 43

58

(3.1)

2.7

50 o

r

(240)

F -øf4.5 through, øf8 counterbore depth 4.5 (from opposite s ide)

Origin

D-M5, depth 9

S troke

E -øf4H10, depth 5

4-M5, depth 9 2-øf5H10, depth 6



B rake Dimensions

B R : B rake cable exiting from the right



B X 100P

C X 100P

ME *2ME S E

mor

e

L


Dimensions


Model P age



Dimensions , Weight and Maximum S peed by S troke




P rogramoperation


P ulse-traincontrol

Power-supplyvoltage

P age

IncrementalX

X

O

O

X

X24V DC

P 25

P 25

(Note 1) A longer s troke will result in a lower maximum speed to prevent the ball screw from reaching a dangerous speed. (R efer to the above table for the maximum speed at a given stroke.)

(Note 2) Load capacity at the rated acceleration rate (R efer to page 9.)(Note 3) The maximum cable length is 20m. Specify the desired length in meters

(e.g., X08 = 8m).




C aution

Model

R C P 2-S A6-I-P M-12-***-P 1--

R C P 2-S A6-I-P M-6-***-P 1--

R C P 2-S A6-I-P M-3-***-P 1--

E ncoder type

Incremental

Lead(mm)

12

6

3


S peed (Note 1)(mm/s)


Horizontal (kg)

50~600

10~600

5~300

1~150

6

12

12

V ertical (kg)

P os itioningrepeatability (mm)

1.5~1

3~2.5

6~4

±0.02


RCP2-SA6 R OB O C ylinder S lider T ype: Unit Width 58mm, P ulse Motor, S traight S hape


Model details



Load capacity 12kg (horizontal)/6kg (vertical)

S troke 50 100 150 200 250 300 350 400 450 500 550 600

300

0

0

0

4

2

4

1.8

350

100

0

0

6

3

4

2.0

400

100

0

1

6

3

6

2.1

450

200

1

1

8

3

6

2.2

500

200

1

2

8

3

8

2.4

550

300

2

2

10

3

8

2.5

600

300

150

600

300

2

3

10

3

10

2.7

650

400

3

3

12

3

10

2.8

700

400

3

4

12

3

12

2.9

750

500

4

4

14

3

12

3.1

800

500

4

5

14

3

14

3.2

850

600

5

5

16

3

14

3.4

540

270

135

Maximumspeed

(mm/s)

Lead 12

Lead 6

Lead 3

R C P 2-C

R C P 2-C G

1 axis

1 axis


Options

Name





B E

B L

B R

NM

P 24

P 24

P 24

P 24

Model P age Drive system

B acklash

G uide

Allowable load moment


B ase


B all screw fø10mm, rolled C 10

0.1mm or less


Ma: 8.9N • m Mb: 12.7N • m Mc: 18.6N • m

Ma/Mb/Mc directions : 220mm or less



L

A

B

C

D

E

F

Weight (kg)

14

40 40

(3)

3

(4.8)

18 126 159

20 20 20

39

930

9

3250

100 3080 18 51.5 103.5

3350

1476

7173 14

.57173

76

1818

(4.8)

16.344.713.3

5273

5.113.3

48581

527

5

(240)

12

4-M5, depth 10 2-øf5H10, depth 10

Origin

S troke


F -øf6 through, øf9.5 counterbore depth 5.5 (from opposite s ide)D-M5, depth 9E -øf4H10, depth 5

50 o

r

B rake Dimensions

B R : B rake cable exiting from the right



*2


B X 100P

C X 100P

A

ME S E

mor

e

ME S E3

ME

L

3



Dimensions


Model

R C P 2-S A7-I-P M-16-***-P 1--

R C P 2-S A7-I-P M-8-***-P 1--

R C P 2-S A7-I-P M-4-***-P 1--

E ncoder type

Incremental

Lead(mm)

16

8

4




Horizontal (kg)

100~800

10~533

5~266

1~133

35~7

40~10

40


repeatability (mm)

5~0.5

10~1.5

15~5

±0.02




Model details








C aution

RCP2-SA7R OB O C ylinder S lider T ype: Unit Width 73mm, P ulse Motor,S traight S hape

S troke 100 200 300 400 500 600 700 800

L

A

B

C

D

E

F

Weight (kg)

Maximumspeed

(mm/s)

Lead 16

Lead 8

Lead 4

403

100

0

0

6

3

4

3.3

266

133

533 480

503

200

1

1

8

3

6

3.8

603

300

2

2

10

3

8

4.2

703

400

3

3

12

3

10

4.7

803

500

4

4

14

3

12

5.1

903

600

5

5

16

3

14

5.6

1003

700

6

6

18

3

16

6.0

1103

800

7

7

20

3

18

6.5

240

120




P rogramoperation


P ulse-traincontrol

Power-supplyvoltage

P age

IncrementalX

X

O

O

X

X24V DC

P 25

P 25

R C P 2-C

R C P 2-C G

1 axis

1 axis

(Note 1) A longer s troke will result in a lower maximum speed to prevent the ball screw from reaching a dangerous speed. (R efer to the above table for the maximum speed at a given stroke.)


(e.g., X08 = 8m).


Options

Name





B E

B L

B R

NM

P 24

P 24

P 24

P 24

Model P age Drive system

B acklash

G uide



B ase



0.1mm or less


Ma: 13.9N • m Mb: 19.9N • m Mc: 38.3N • m




15

RCP2-SSR R OB O C ylinder S lider T ype with Iron B ase: Unit Width 60mm, P ulse Motor, Motor-R evers ing S hape

C18 18100100 B

94(240)

13

0

54

M.E . *2Origin5

25(126) 10(A)

(L)

126605032

59

59

S .E .

57

40

.63

22

3.4

25

5

12

M.E .55

0.541.527 1

60

58

(3)

27.550

30

19.5 19.521

N X 100P

S (S troke)

4-M5, depth102-øf5H10, depth 10

(6.3

)(2

.7)

(67)(57)

(32.

7)(6

1.3

)(3

6)

1

5553

27

60

51

.3

36.5


N X 100P

D-M5, depth 84-øf4H10, depth 5B rake Dimensions

* T he brake cable is routed ins ide the actuator and is connected to the motor cable.


Options

Dimensions


Name

B rake

Inverse motor-revers ing direction


B

R

NM

P 24

P 24

P 24

Model P age






P rogramoperation


P ulse-traincontrol

Power-supplyvoltage

P age

IncrementalX

X

O

O

X

X24V DC

P 25

P 25* R efer to page 9 for other points to note.

C aution

Model

R C P 2-S S R -I-P M-12-***-P 1--

R C P 2-S S R -I-P M-6-***-P 1--

R C P 2-S S R -I-P M-3-***-P 1--

E ncoder type

Incremental

Lead(mm)

12

6

3




Horizontal (kg)

100~600

10~600 (440)

5~250

1~105

20~5.5

20~2.5

30~20


repeatability (mm)

4~0.5

5~0.5

10~1.5

±0.02


T ype S lider (60mm wide),motor-revers ing S troke 100~600mm

Model details

(E xample) RCP2 - SSR - I - PM - 6 - 600 - P1 - S - B



R C P 2-C

R C P 2-C G

1 axis

1 axis

(Note 1) A longer s troke will result in a lower maximum speed to prevent the ball screw from reaching a dangerous speed. (R efer to the above table for the maximum speed at a given stroke.)T he figures in parentheses apply to a vertical application.


(e.g., X08 = 8m).

S troke 100 200 300 400 500 600

L

A

B

C

D

N

Weight (kg)

600 (440)

250

105

555

476

240

40

12

2

5.4

655

576

340

140

12

2

6.1

755

676

440

40

16

3

6.7

Maximumspeed

(mm/s)(Note 1)

Lead 12

Lead 6

Lead 3

*2. During origin return the s lider will move to the ME ,so be careful to prevent contact with surrounding parts .

*1. C onnect the motor/encoder cables .R efer to page 37 for details on the cables .

ME : Mechanical endS E : S troke endR eference dimensions areshown in parentheses .



Drive system

B acklash

G uide



B ase



0.05mm or less


Ma: 14.7N • m Mb: 14.7N • m Mc: 33.3N • m


Material: S pecial alloy s teel


355

276

40

40

8

1

4.1

455

376

140

140

8

1

4.7

855

776

540

140

16

3

7.4

470 (440)

230

105

18

RCP2-SMR R OB O C ylinder S lider T ype with Iron B ase: Unit Width 80mm, P ulse Motor, Motor-R evers ing S hape

B 10010015

45

6835

｢2｣

75

｢6｣

70

55

34 0.5

1

17

30

M.E .

5

170

90

757.5 7.545 1515

(A)

(L)

5

10

138(4

2)16

5

15

(67

(57)

(78)

(45)

｢2｣

80

S .E .

30

(240)

* T he brake cable is routed ins ide the actuator and is connected to the motor cable.


S (S troke)

Origin M.E . *2

4-M8, depth 102-øf8H10, depth 10

D-M8, depth 104-øf5H10, depth 5

73 56 45 34

35 3520

(170)

N X 100P

43

50

0.5

80

7059

34

B rake Dimensions

T ype S lider (80mm wide),motor-revers ing S troke 100~1000mm


Dimensions


Model

R C P 2-S MR -I-P M-20-***-P 1--

R C P 2-S MR -I-P M-10-***-P 1--

R C P 2-S MR -I-P M-5-***-P 1--

E ncoder type

Incremental

Lead(mm)

20

10

5




Horizontal (kg)

100~1000

10~600 (333)

5~300 (250)

1~166 (140)

23~1

28~4

55~1.5


repeatability (mm)

3~0.5

9~0.5

20~0.5

±0.02


* With the reversed-origin specification, the specification on the motor s ide (distance to the origin) and that on the counter-motors ide are reversed.


Model details

(E xample) RCP2 - SMR - I - PM - 10 - 1000 - P1 - S - B




0.05mm or less


Ma: 36.3N • m Mb: 36.3N • m Mc: 77.4N • m


Material: S pecial alloy s teel




C autionApplicableC ontroller



P rogramoperation


P ulse-traincontrol

Power-supplyvoltage

P age

IncrementalX

X

O

O

X

X24V DC

P 25

P 25

R C P 2-C

R C P 2-C G

1 axis

1 axis

(Note 1) A longer s troke will result in a lower maximum speed to prevent the ball screw from reaching a dangerous speed. (R efer to the above table for the maximum speed at a given stroke.)T he figures in parentheses apply to a vertical application.


(e.g., X08 = 8m).

Options

Name

B rake

Inverse motor-revers ing direction


B

R

NM

P 24

P 24

P 24

Model P age

S troke 100 200 300 400 500 600 700 800 900 1000

L

A

B

D

N

Weight (kg)

414

330

100

8

3

7.9

600 (333)

300 (250)

166 (140)

514

430

200

10

4

9.0

614

530

300

12

5

10

714

630

400

14

6

11.1

814

730

500

16

7

12.1

914

830

600

18

8

13.2

1014

930

700

20

9

14.3

1114

1030

800

22

10

15.3

1214

1130

900

24

11

16.4

1314

1230

1000

26

12

17.4

515 (333)

255

125

Maximumspeed

(mm/s)(Note 1)

Lead 20

Lead 10

Lead 5

*2. During origin return the s lider will move to the ME ,so be careful to prevent contact with surrounding parts .

*1. C onnect the motor/encoder cables .R efer to page 37 for details on the cables .

ME : Mechanical endS E : S troke endR eference dimensions areshown in parentheses .


Drive system

B acklash

G uide



B ase


19

±

±

Home ME*22

39ST

SEME(2.3)

1.5351.52814

35 28 14

8

4-M4, depth 10

M10 X 1.25

32 22 20

31.522

3.54

7.5 (Width across flats)(240)

Cable jointconnector *1

*1. Connect the motor/ encoder cables. Refer to page 37 for details on the cables.

38

14.5

42.5

0.5

*2. During homing the rod will move to the ME, so be careful to prevent contact with surrounding parts. ME: Mechanical end SE: Stoke end Reference dimensions are shown in parentheses.


90.5L

n-M4, depth 630N X 5020

27

Dimensions of supplied nut

6 17 M10 X 1.25

(19.

6)

Common Specifications

Drive systemBacklashGuideRod diameterRod Non-rotative accuracyBaseCable length (Note 2)

* Due to its structure, the rod type is not available in the reverse homing specification. Exercise caution.

Note) The RXA type is not available with a brake.

With flangeWith foot bracket

Name Model PageFLFT

P24P24

Options

Dimensions, Weight and Maximum Speed by Stroke50

112.520316

0.8

200262.5353412

1.25

150212.53033101.1

187114

100162.525328

0.95

StrokelLNn

Weight (kg)Max speed

(mm/s)Lead 5Lead 2.5

Dimensions

Applicable Controller SpecificationsApplicableController

Compatibleencoder type

Programoperation

Positioneroperation

Pulse-traincontrol

Power-supplyvoltage

Page

RCP2-CRCP2-CG

1 axis1 axis

Incremental 24VDC P25P25

Caution

(Note 1) Load capacity at the rated acceleration rate (Refer to page 9.)(Note 2) The maximum cable length is 20m. Specify the desired length in meters (e.g., X08 = 8m).

* Refer to page 9 for other points to note.

Model/Specifications* The maximum speed limit of the RCP2 series will vary according to the weight of the load on the slider (rod). Refer to Correlation Diagrams of Speed and Load Capacity on pages 10 and 11.

Model Encoder type Lead(mm)

Speed(mm/s)

Stroke (mm)(in 50mm increments)

Maximum push force(N)

Positioningrepeatability

(mm)

Load capacity (Note 1)Horizontal (kg) Vertical (kg)

* In the above model names, *** indicates the stroke, the cable length and the applicable options.

±

±

Home

Model/Specifications

Model


* The maximum speed limit of the RCP2 series will vary according to the weight of the load on the slider (rod). Refer to Correlation Diagrams of Speed and Load Capacity on pages 10 and 11.

Encoder type Lead(mm)


Speed (Note 1)(mm/s)


Maximum push force(N)


(mm)

Options Common Specifications

BrakeWith flangeWith foot bracket

BFLFT

P24P24P24

Name Model Page Drive systemBacklashGuideRod diameterRod Non-rotative accuracyBaseCable length (Note 2)

Dimensions

* Due to its structure, the rod type is not available in the reverse homing specification. Exercise caution.

32 22 20

31.522

3.54




M10 X 1.254-M4, depth 12

10.5

14173445

24.5

2.5 2.5

47 34 14

A(2.3)

ME SE

ST

ME*2

39L


86.550

1357

0.5


With Brake

86.558

47 46.5

0.5


6 17 M10 X 1.25

(19.

6)1.8

4.3

4.37.3

Detailed View of A

* The figures in parentheses apply to the brake type, while those in < > apply to a vertical application.Dimensions, Weight and Maximum Speed by Stroke

StrokelL

Weight (kg)Maximum

speed(mm/s)

Lead 10Lead 5Lead 2.5

50112.5

199 (257)1.35 (1.75)

100162.5

249 (307)1.6 (2)

150212.5

299 (357)1.85 (2.25)

200262.5

349 (407)2.1 (2.5)

250312.5

399 (457)2.35 (2.75)

458237118

300362.5

449 (507)2.6 (3)

35017587

458250

125 <110>


RCP2-CRCP2-CG

Maximum numberof controlled axes

1 axis1 axis


Incremental

Programoperation

Positioneroperation

Pulse-traincontrol

Power-supplyvoltage Page

24VDC P25P25

Caution


(Note 1) A longer stroke will result in a lower maximum speed to prevent the ball screw from reaching a dangerous speed. (Refer to the above table for the max. speed at a given stroke). The figures in parentheses apply to a vertical application.(Note 2) Load capacity at the rated acceleration rate (Refer to page 9.)(Note 3) The maximum cable length is 20m. Specify the desired length in meters (e.g., X08 = 8m).

±

±

Home

Model/Specifications

Model Encoder type Lead(mm)


Speed(mm/s)


Maximumpush force

(N)


(mm)


Options

BrakeWith flangeWith foot bracket

Name Model PageBFLFT

P24P24P24

Common Specifications

Drive systemBacklashGuideRod diameterRod Non-rotative accuracyBaseCable length (Note 2)

Dimensions* Due to its structure, the rod type is not available in the reverse homing specification. Exercise caution.

43 30 28

4230.5

6 4




M14 X 1.54-M8, depth 15

1164 50 19

192550642 2

A

ME SE

(4.8)ST

4

ME*2

52L

112


68

1375


With Brake

64 63.5

0.5 11272.5


M14 X 1.58 22

(25.

4)

82.

6

6.510.5Detailed View of A (2:1)

Dimensions, Weight and Maximum Speed by Stroke* The figures in parentheses apply to the brake type, while those in < > apply to a vertical application.

StrokelL

Weight (kg)Maximum

speed(mm/s)

Lead 16Lead 8Lead 4

50138

250 (322.5)3.1 (3.98)

100188

300 (372.5)3.6 (4.48)

150238

350 (422.5)4.1 (4.98)

200228

400 (472.5)4.6 (5.48)

250338

450 (522.5)5.1 (5.98)

300388

500 (572.5)5.6 (6.48)

450 <400>210130


RCP2-CRCP2-CG

Maximum numberof controlled axes

1 axis1 axis


Incremental

Programoperation

Positioneroperation

Pulse-traincontrol

Power-supplyvoltage Page

24VDC P25P25

Caution

(Note 1) Load capacity at the rated acceleration rate (Refer to page 9.)(Note 2) The maximum cable length is 20m. Specify the desired length in meters (e.g., X08 = 8m).


SA5, SA6, SA7 R emove the cover and affix from the front

s ide us ing bolts .

R C P 2-S A5 : øf4.5

R C P 2-S A6 : øf4.5

R C P 2-S A7 : øf6

Slider Type

Installation Method

SSR, SMR

Affix from the reverse s ide us ing bolts .

R C P 2-S S R screw-hole specification: M5, depth 8

R C P 2-S MR screw-hole specification: M8, depth 10

SA5, SA6, SA7, SS, SM

Affix from the reverse s ide us ing bolts .

R C P 2-S A5 screw-hole specification: M4, depth 7



R C P -S S screw-hole specification: M5, depth 8

R C P -S M screw-hole specification: M8, depth 10

RXA, RSA, RMA Affix through the screw holes provided on the rod s ide.

R C P 2-R XA screw-hole specification: M4, depth 10

R C P 2-R S A screw-hole specification: M6, depth 12

R C P 2-R MA screw-hole specification: M8, depth 15

Rod Type

RXA, RSA, RMA (F oot bracket specification)

Affix from above us ing bolts .

R C P 2-R XA foot-bracket specification: øf6.6

R C P 2-R S A foot-bracket specification: øf6.6

R C P 2-R MA foot-bracket specification: øf9

RXA, RSA, RMA Affix from the reverse s ide us ing bolts .

R C P 2-R XA screw-hole specification: M4, depth 6

R C P 2-R S A square-nut insertion: M4 (T -groove depth 6.1)

R C P 2-R MA square-nut insertion: M6 (T -groove depth 10.6)

RXA, RSA, RMA (F lange specification)

Affix from the actuator s ide us ing bolts .

R C P 2-R XA flange specification: øf4.5

R C P 2-R S A flange specification: øf6.6

R C P 2-R MA flange specification: øf9

Actuator Options

23

Actuator Options

Brake

Model

Explanation

Remarks

Model

Explanation

Remarks

Model

Explanation

Model

Explanation

Model

Explanation

Reverse Homing Specification

Inverse Motor-Reversing Direction

Foot Bracket

Flange

BE, BL, BR (SA5, SA6, SA7 types) B (Other types)

NM

R

FT

FL

This brake is used with the ROBO Cylinder installed vertically in order to prevent the load attached at the tip of the slider or rod from falling due to deadweight when the servo or power is turned off.

With the SA5, SA6 or SA7 types, the brake cable is not routed within the actuator. Instead, the cable exits the actuator and is guided into the joint cable nearthe motor cover.The brake cable can be taken out at the end (BE), right (BR) or left (BL).All other types are specified with "B," since the brake cable is routed within the actuator.

Normally the home is set on the motor side.Specify this option if the home must be set on the counter-motor side due to the equipment structure.

The rod type is not available in the reverse homing specification due to its structure. Exercise caution.

The reversing direction of the motor for the motor-reversing type actuator (SSR, SMR) is set to the inverse direction.

This bracket is used to affix the actuator from above using bolts.Since the foot bracket is affixed into the T-grooves provided at the bottomof the actuator, it can be adjusted in the length direction to a certaindegree. (In the RXA type the bracket is installed using tapped holes.)Refer to the drawings below for the dimensions of each actuator with afoot bracket.

Foot Bracket Specification(Specify "FT" after the actuator model.)

Affix from above using bolts.

Flange Specification(Specify "FL" after the actuator model.)

Affix from the actuator sideusing bolts.

This bracket is used to affix the actuator from the actuator side using bolts.Refer to the drawings below for the dimensions of each actuator with aflange.

RXA

RXA

RSA

RSA

RMA

RMA

20

3835

4-φ6.6 drilled through 4-φ6.6 drilled through 4-φ9 drilled through20

5045

6864

95 79

T-groove range T-groove range

64 8712

71 57

47 67.5

10

66 52

35 53

10

4-φ4.5 drilled through 4-φ6.6 drilled through4-φ9 drilled through

25

10

394555 60

7510

39 52

12

50 63.5

6.75

5.25

34 44.524 35

5.5

R C P 2 controller

Actuator

Host system (P LC )

P OR T

AD/R S

P IO

R DY R UN ALM

OF F

S IO

E NC

NOM

MOT

S 1

S 2

MP O

MP I

24V

N

F.G

R ISB K

ON

Model details



RCP2-C/CGDedicated R C P 2 C ontroller

Operating method P ositioner operation

Number of pos itions that can be registered S tandard 16 pos itions/Maximum 64 pos itions

P ower-supply voltage 24V DC

Features

1 S pac e-s aving des ign with a 49% s maller footprintT he compact, s lim body of 35mm in width x 68.1mm in depth saves space

in the installation of the panel. Of course, the driver, control unit and power

stages are all housed within the unit, so no cumbersome wiring or

adjustment is needed. S imply connect the actuator, and your equipment is

ready to go.

2 Multi-point pos itioning c overing up to 64 pointsT he increased P IO points and expanded internal memory allow the

registration of pos ition data for up to 64 points , so the controller can

effortless ly perform complex operations . With this s imple, high-function

controller you can also perform pos itioning at an accuracy of 6 0.02mm,

s imply by specifying P IO pos itions from a P LC .

5 Us eful s oftware func tionsT he controller provides a range of useful functions that take advantage of

the AC servo features , thus allowing the setting and execution of complex

operations .

C onvenience is further enhanced with an increase in the number of zone-

s ignal outputs (two have been added).

4 Internal or external relay for c utting off themotor's drive power upon emergenc y s top

T he controller, which incorporates its own drive-power cutoff relay, ensures

safety by cutting off the motor's drive power when an emergency stop is

actuated. T o further enhance safety, use the external relay type that cuts off

the motor's drive power us ing a safety relay provided externally to the

controller.

1

Actuator'scurrent pos itionnumber

P os ition number

Useful S oftware F unctions

A footprint reduc tion of approx. 49%

1 P os itioning-width setting functionNormally a movement completion s ignal (pos itioning-completion s ignal) is

output when the target pos ition is reached. With the R C P 2 this s ignal can be

output at an arbitrary pos ition before the target pos ition. F or example, this

function can be used to shorten the tact time.

200mm/s ec

100mm/s ec

S tationary

T he s ignal is input10mm before.

T he s ignal is input20mm before.

P os ition 1 P os ition 2

Time

S peed

Accele-rating

Accele-rating

Decele- rating

Decele- rating

2 Incremental move functionT he controller allows for incremental movement, or movement of an arbitrary

distance specified from the current pos ition.

Y ou can perform continuous moves at a fixed pitch for as many pos itioning

points as des ired, s imply by repeating incremental movements with the

same distance specification.

300mm/s ec

25252525100




P os ition number

S tationaryTime

S peed

3 P ause functionT he s lider operation can be paused in keeping with the ON/OF F status of an

external s ignal.

Use this function to stop the operation temporarily or provide an interlock

with surrounding equipment.

O N

O F F

Time

S peed

P aus e s ignal input

Accele-rating

Decele- rating

Accele-rating

Decele- rating

3 F ive pin-as s ignment patterns for P IO s ignalsY ou can now choose from a total of five pin-ass ignment patterns for P IO

s ignals , including the pattern allowing for pos ition specification of up to 64

points , the pattern providing two zone-s ignal outputs , and the pattern for

teaching operation (refer to page 29).

T he P IO connector is the same as the one used by the conventional R C P

controller (R C P -C ), and the factory-set pin ass ignments are also the same.

T herefore, the P IO wiring need not be adjusted after replacing your R C P

controller with an R C P 2.

(Note) Y ou cannot replace only your R C P controller with an R C P 2 and continue us ingthe R C P actuator.

25

3$1

R CP 2 - C - R XA - I - P M - O - P❶ ❷ ❸ ❹ ❺

❶S eries

❷C ontroller type

❹P ower-supply

voltage

❸Actuator type

C : S ingle-axis, internal drive-power cutoff relay

C G: S ingle-axis, external drive-power cutoff relay

E nter the (type) of the actuator

to be operated – (encoder type)

– (motor).

O : 24V DCR C P 2

Model2

C ontroller T ype

4 P ush and hold operationT he s lider can be maintained in a condition where it is continually pressed

against the work, just like an air cylinder.

T his function is used for clamp fitting or other applications requiring that the

work be pressed.

300mm/s ec

S tationary


Work

P os itioning width: 50mmTime

S peed

E x ample of pus h and hold operation


If the work is s till not contacted at the end of the pos itioning width, the pos itioning-completion s ignal will not be output.

*

5 Zone output functionT his function outputs a s ignal when the s lider enters a specified range during

operation.

It can be used to set a danger area or provide a pseudo sensor function.

O N

O F F

S pecified zone-s ignal output rangeTime

S peed

Zone s ignal output

Accele-rating

Decele- rating

R C P 2-C : T his controller has an internal emergency-stop circuit, which responds to an external emergency-stop input to halt the actuator and cut off the motor

drive power us ing the relay within the controller.

(Use this type for general applications .)

R C P 2-C G : T his controller has no internal emergency-stop circuit, but it has a dedicated terminal for cutting off the motor's drive power. T he controller will

conform to the safety s tandard of S afety C ategory 2 or equivalent if the user provides an emergency-stop circuit us ing a safety relay, etc., routed to

the controller externally.

26

❺I/O s ignal format

Not specified: NP N

P : P NP

Output CircuitInput Circuit

System Configuration Diagram3

I/O Wiring Diagrams4

Compatible Actuators Host System (PLC)

Main Power I/O Power

RCP2 Series Slider Type Slider Motor-Reversing Type Rod Type

I/O flat cable, 2m(Supplied with the controller.)(Refer to page 37.)

Motor cable Standard: 1m/3m/5m (Refer to page 37.)Encoder cable Standard: 1m/3m/5m (Refer to page 37.)(Supplied with the actuator.)

Teaching pendant<RCA-T/TD>

<RCA-E><RCA-P>

PC software<RCB-101-MW>

(Refer to page 36)

Communication cable, 5m(Refer to page 37) *1(Supplied with the PC software)

5m

The PC communication cable consistsof an external equipment communicationcable (CB-RCA-SIO050) and an RS485conversion adapter (RCB-CV-MW).

*1

24VDC 24VDC

External output specificationsExternal input specifications

PERSONALCOMPUTER

Input voltageInput currentNumber of input pointsLeak currentInsulation method

Item Specification24VDCA10%7mA/point10 points1mA or less/pointPhotocoupler

SpecificationItemLoad voltageMaximum load currentNumber of output pointsResidual voltageInsulation method

24VDC20mA/point10 points2V or lessPhotocoupler

NPN SpecificationNPN Specification

PNP Specification PNP Specification

Internal circuitInternal circuit

Internal circuit Internal circuit

P24

Input terminal

Externalpower supply

+24V

Externalpower supply

+24V

N

Input terminal

Each inputIN0~9

Each inputIN0~9

N

N

P24

P24

Each output OUT0~9

Each output OUT0~9

Externalpowersupply+24V

Externalpowersupply+24V

Load

LoadR=560

R=3.3k

R=3.3k

R=560

E xternal C onnec tion Diagrams5

Internal Drive-P ower C utoff R elay T ype(Model: R C P 2-C )

Input power24V DC

1 (S G A)2 (S G B )3 (+5V )45 (E MG A)6 (+24V )7 (G ND)8 (E MG B )

S IO

Motor

R C P 2

(P OR T switch)

E ncoder

G ND

B rake release switch

24V

P G

M

Holding brake

P IO

MOT

E NC

(S ignal abb.)

Terminal boxS 1S 2MP IMP O24VNE MG

1A

2A

3A

4A

5A

6A

7A

8A

9A

10A

11A

12A

13A

1B

2B

3B

4B

5B

6B

7B

8B

9B

10B

11B

12B

13B

A1(A)

A2(V MM)

A3(B )

B 1(A)

B 2(V MM)

B 3(B )

1 (F G )

5 (G ND)

6 (5V )

9 (E NB )

10 (E NB )

11 (E NA)

12 (E NA)

13 (B K -)

14 (B K +)

+24 [V ]

0 [V ]

C ommand pos ition 1




P ause

S tart

Origin return

S ervo ON

R eset

(Not used)

(Not used)

(Not used)

C ompleted pos ition 1




Zone output

Moving

P ositioning completion

Origin return completion

E mergency stop

R eady

Alarm

B rown 1

R ed 1

Orange 1

Yellow 1

G reen 1

B lue 1

P urple 1

G ray 1

White 1

B lack 1

B rown 2

R ed 2

Orange 2

Yellow 2

G reen 2

B lue 2

P urple 2

G ray 2

White 2

B lack 2

B rown 3

R ed 3

Orange 3

Yellow 3

G reen 3

B lue 3

B lue

B lack

White

R ed

B lack

G reen

Orange(B lack 2)

White(B lack 1)

White(R ed 1)

Light blue(R ed 1)

Light blue(B lack 1)

Yellow(R ed 1)

Yellow(B lack 1)

Orange(R ed 2)

P 24

N

P C 1

P C 2

P C 4

P C 8

*S T P

C S T R

HOME

S ON

R E S

P M1

P M2

P M4

P M8

ZONE

P E ND

HE ND

*E MG S

S R DY

*ALM

Teaching pendant and P C connection

C ontroller

User equipment

E xternal E MG switch

Actuator24V0VF G

Ou

tpu

t si

de

In

pu

t si

de

Upperstage

Lowerstage

E xternal Drive-P ower C utoff R elay T ype(Model: R C P 2-C G )

1 (S G A)2 (S G B )3 (+5V )45 (E MG A)6 (+24V )7 (G ND)8 (E MG B )

S IOR C P 2

G ND

24V

P G

M

P IO

MOT

E NC

S 1S 2MP IMP O24VNF G

1A

2A

3A

4A

5A

6A

7A

8A

9A

10A

11A

12A

13A

1B

2B

3B

4B

5B

6B

7B

8B

9B

10B

11B

12B

13B

A1(A)

A2(V MM)

A3(B )

B 1(A)

B 2(V MM)

B 3(B )

1 (F G )

5 (G ND)

6 (5V )

9 (E NB )

10 (E NB )

11 (E NA)

12 (E NA)

13 (B K -)

14 (B K +)

C utoff circuit for motor drive power

Teaching pendant and P C connection

Input power24V DC

24V0VF G

User equipmentB rown 1

R ed 1

Orange 1

Yellow 1

G reen 1

B lue 1

P urple 1

G ray 1

White 1

B lack 1

B rown 2

R ed 2

Orange 2

Yellow 2

G reen 2

B lue 2

P urple 2

G ray 2

White 2

B lack 2

B rown 3

R ed 3

Orange 3

Yellow 3

G reen 3

B lue 3

Lowerstage

Upperstage

+24 [V ]

0 [V ]





P ause

S tart

Origin return

S ervo ON

R eset

(Not used)

(Not used)

(Not used)





Zone output

Moving

P ositioning completion

Origin return completion

E mergency stop

R eady

Alarm

Ou

tpu

t si

de

In

pu

t si

de

C ontroller

B lue

B lack

White

R ed

B lack

G reen

Motor

Actuator

E ncoder

Orange(B lack 2)

White(B lack 1)

White(R ed 1)

Light blue(R ed 1)

Light blue(B lack 1)

Yellow(R ed 1)

Yellow(B lack 1)

Orange(R ed 2)

Holding brake

B rake release switch

(P OR T switch)

Terminal box

(S ignal abb.)

P 24

N

P C 1

P C 2

P C 4

P C 8

*S T P

C S T R

HOME

S ON

R E S

P M1

P M2

P M4

P M8

ZONE

MOV E

P E ND

HE ND

S R DY

*ALM

*P IO connection shown is oneexample. R efer to "I/O S ignalT able" on page 29 for an addition-al P IO pattern.

*P IO connection shown is oneexample. R efer to "I/O S ignalT able" on page 29 for an addition-al P IO pattern.

28

I/O S ignal T able6

T his controller provides five P IO patterns to meet the needs of various applications . S imply change the parameter setting (0to 4), and you can use any one of the five patterns specified below.

Note: T wo or more of the following patterns cannot be used in combination, so exercise caution.

(F or example, 64-point pos itioning cannot be implemented while two zone s ignals are used.)

P arameter(P IO pattern selection)

0

P IO pattern

C onventional

F eatures

T his pattern is compatible with the pin ass ignments of the R C P -C controller.(F actory setting)

1 S tandardAll functions of the conventional pattern, plus origin-return command input, servo ON input, resetinput, moving output and ready output.

2 64-point pos itioningT he input ports for pos itioning command pos itions are extended to allow for specification of up to64 points . (T he servo ON s ignal and ready output have been removed.)

3 2 zone output s ignalsT wo zone output s ignals are set.(T he moving output has been removed.)

4 T eachingT his pattern allows for jogging and teaching (writing of current pos ition coordinates) us ing I/Os .T he mode can be switched between "Normal" and "T eaching." In the Normal mode, the sameoperations available with the standard pattern can be performed.

P in No. C ategory Wire color

P arameter No. 21

0 1 2 3 4

C onventional S tandard64-point

pos itioning2 zone

output s ignals

T eaching

Normal mode

1A

2A

3A

4A

5A

6A

7A

8A

9A

10A

11A

12A

13A

1B

2B

3B

4B

5B

6B

7B

8B

9B

10B

11B

12B

13B

B rown 1

R ed 1

Orange 1

Y ellow 1

G reen 1

B lue 1

P urple 1

G ray 1

White 1

B lack 1

B rown 2

R ed 2

Orange 2

Y ellow 2

G reen 2

B lue 2

P urple 2

G ray 2

White 2

B lack 2

B rown 3

R ed 3

Orange 3

Y ellow 3

G reen 3

B lue 3

C S T R

P C 1

P C 2

P C 4

P C 8

—

—

*S T P

—

—

P M1

P M2

P M4

P M8

P E ND

HE ND

ZONE

*ALM

—

—

P C 1

P C 2

P C 4

P C 8

—

*S T P

C S T R

HOME

S ON

R E S

P M1

P M2

P M4

P M8

ZONE

MOV E

P E ND

HE ND

S R DY

*ALM

P 24

N

P C 1

P C 2

P C 4

P C 8

P C 16

P C 32

C S T R

HOME

*S T P

R E S

NC

NC

NC

P M1

P M2

P M4

P M8

P M16

P M32

P E ND

HE ND

MOV E

*ALM

P C 1

P C 2

P C 4

P C 8

—

*S T P

C S T R

HOME

S ON

R E S

P M1

P M2

P M4

P M8

ZONE 1

ZONE 2

P E ND

HE ND

S R DY

*ALM

P C 1

P C 2

P C 4

P C 8

MODE

HOME

S ON

P M1

P M2

P M4

P M8

MODE S

MOV E

HE ND

S R DY

*ALM

*S T P

C S T R

R E S

P E ND

J OG +

P WR T

J OG -

WE ND

T eaching mode

Note: (1) T he s ignals indicated by * (ALM, S T P , E MG S ) use the negative logic, so they remain ON in normal conditions of use.(2) P in Nos . 13A, 1B and 2B cannot be connected.(3) T he NP N specification and P NP specification use the same pin ass ignments for connection of the power circuit, so there is no need to reverse the power-circuit pins

for the P NP specification.(4) P in No. 11B is valid only on the internal cutoff relay type. (It is not connected in the external cutoff relay type.)

Upperstage

Lowerstage

P 24

N

Input

Output

Output

Internal cutoff relay type: *E MG S / E xternal cutoff relay type: NC

29

Overview of I/O S ignal F unc tions7

E xplanations of S ignal Names

P IO P attern Func tion T able A "circle" indicates that the setting is available, while – indicates that the setting is not available. T he figures indicate the numbers of points .

MovingZoneR eadyR esetC urrentpos ition

writeJ ogP ause

Originreturn

command

S ervoON

Number ofpos itioning

points

Output s ignalsInput s ignals

P IO patternP arameter

(P IO patternselection)

–

–

1

1

–

2

–

–

–

––

–

–

–

–

–

–

–

––

–

16

16

64

16

16

C onventional

S tandard

64-point pos itioning

2 zone output s ignals

T eaching

0

1

2

3

4

C ategory

Input

Output

S ignal name

S tart

S ignal abbreviation

C S T R

F unction overview

A starting trigger that s tarts movement at the rise edge

S ervo ON S ONT he servo remains ON while this s ignal is ON.T he servo remains OF F while this s ignal is OF F .

Alarm reset R E ST he remaining travel amount is reset at the rise edge when an alarm is present oroperation is paused.

Origin return HOME Origin return operation starts at the rise edge.

Operation mode MODE ON: T eaching mode, OF F : Normal mode

C urrent pos ition write P WR TWhen this s ignal has been ON for 20msec., the current pos ition will be written to theposition number selected by P C 1 through P C 8.

+ J og J OG + T he s lider/rod moves in the pos itive direction while this s ignal is ON.

- J og J OG - T he s lider/rod moves in the negative direction while this s ignal is ON.

* P ause *S T P T he motor decelerates to a s top at the ON —> OF F fall edge.

C ommand pos ition number

P C 1 P C 2

P C 4 P C 8

P C 16 P C 32

T he target pos ition number is input.

R eady S R DY

T his s ignal is always output once the servo is turned ON and the R OB O C ylinder isready to operate. T he s ignal is synchronized with the ON/OF F status of the "R UN" LE D on the front panelof the enclosure.It is used by the P LC to determine when it can start operation.

Moving MOV ET his s ignal turns ON while the s lider/rod is moving, and turns OF F while it is s topped.It is used during push-motion operation to determine whether the work is contacted.

P os itioning completion P E NDT his s ignal turns ON when pos itioning is completed with the target pos ition reached andthe s lider/rod enters the specified in-pos ition range. It is used to determine whether pos itioning has been completed.

Origin return completion HE ND T his s ignal turns ON when origin return has been completed.

ZoneZONE 1

ZONE 2

T his s ignal is output when the current actuator pos ition is ins ide the range set by theapplicable parameter.It can be used as a limit switch at an intermediate point or as a s imple ruler.

* Alarm *ALMT his s ignal remains ON in normal condition and turns OF F when an alarm generates .It is synchronized with the OF F /ON status of the corresponding LE D on the front panel ofthe enclosure.

C ompleted pos ition number

P M1 P M2

P M4 P M8

P M16 P M32

T he relevant pos ition number is output once pos itioning is complete.T he s ignal will turn OF F once the next movement starts .It is used by the P LC to check if the commanded pos ition has definitively been reached.

C urrent operation mode MODE S ON: T eaching mode, OF F : Normal mode

* E mergency stop *E MG ST his s ignal is enabled on a controller equipped with a s imple emergency-stop relay.

OF F : E mergency stop is actuated

Write completion WE NDT his s ignal is output upon the completion of writing to the nonvolatile memory in

response to a pos ition-information write command.

30

S pec ific ation T able8

Item Description

C ontroller series/type R C P 2-C /C G

C ompatible actuators R C P 2-S A5 /S A6 /S A7 /S S /S M /S S R /S MR R C P 2-R XA /R S A /R MA

P ower capacity 2A max.

Number of controlled axes 1 axis

C ontrol method Weak field-magnet vector control (patent pending)

P os itioning command P osition number specification

P osition number S tandard 16 points , maximum 64 points

B ackup memoryP osition number data and parameters are saved in the nonvolatile memory. T he serial E 2P R OM can berewritten 100,000 times .

P IOR C P 2-C (C G ): 10 dedicated inputs (10 points ) / 10 dedicated outputs (11 points ), selectable from fivepatterns

LE D indicators R DY (green), R UN (green), ALM (red)

I/F power E xternal power supply: 24V610%, 0.3A, insulated

Input power 24V DC 610%

C ommunication R S 485 1 channel (terminated externally)

E ncoder interface Incremental specification conforming to E IA R S -422A/423A

F orced release of electromagnetic brake T oggle switch on front panel of enclosure

Insulation strength 500V DC 10MV

V ibration res is tance 10~57Hz in XY Z directions / P ulsating amplitude: 0.035mm (continuous), 0.075mm (intermittent)

Operating temperature 0~40°C

Operating humidity 85%R H or less (non-condensing)

Operating environment Not subject to corros ive gases .

P rotection class IP 20

Accessory P IO flat cable (2m)

Weight 300g

C able length

Motor/encoder cables : 20m or less

P IO cable: 5m or less

31

P ort switch (P OR T )

A s ignal-output selector switch for the S IO connector

([3])

P ower for the teaching pendant and IAIR S 485 convers ion adapter is output fromthe S IO connector ( [3]) . T his s witch isconnected to the E MG line (S 1, S 2 of [6])of the teaching pendant.

C ommunication with the teaching pendantor P C is disabled. However, s ince the S IOs ignal line is active, the controllers can stillcommunicate with each other.

Note: B e sure to turn this switch OF F each time the S IOconnector has been plugged in or unplugged.

T erminal blockAn emergency-s top s witch contact. Whenthe P O R T s witch ([2]) is turned O N, theemergency-s top s witch on the tea chingpe nda nt will be c onne c te d. W he n theP O R T s witch is turned O F F , S 1 and S 2will be shorted.

T hes e termina ls a re us ed to cut off themotor’s drive power directly and externallyusing a safety relay, etc. (R efer to page 34.)

P os itive s ide of the 24-V DC power supply

Negative s ide of the 24-V DC power supply

E mergency-stop input (R C P 2-C )

G round terminal (R C P 2-C G )

B rake release switch (B K )

T his switch is enabled only when the actuator is used

with a brake option.

B rake is forcibly released

B rake is in use (normal setting)

P OR T

AD/R S

P IO

R DY R UN ALM

OF F

S IO

E NC

NOM

MOT

S 1

S 2

MP O

MP I

24V

N

F.G

R ISB K

ON

68.1

fø5

5

35

16

3

17

0.5

(In

sta

llatio

n d

ime

nsi

on

)

17

8.5

1035

"%34

1*0

3% : 36/"-.

0''

4*0

&/$

/0.

.05

4

4

.10

.1*

7

/

'(

3*4#,

0/

E xternal Dimens ions9

Names and Func tions of P art10

C ontroller

RCP2-C/CG

1

2

3

3

3

6

4

5

6

7

8

9

Unit: mm

R DY

R UN

ALM

LE D indicators

Indicates that the C P U is operating normally

Indicates a normal operating condition (themotor a nd e nc ode r wir ing ha s be e nchecked and the servo is ON)

Indicates that an a larm is pres ent or anemergency stop has been actuated

1

2

ON

OF F

S 1/S 2

MP I/MP O

24V

N

E MG

F .G

S etting range

6

R LS

NOM

T eaching pendant/P C connector (S IO)

A connector for the teaching pendant or dedicated

communication cable

3

4

Motor cable connector (MOT )A motor cable connector for the actuator

Motor cable connector (MOT )A motor cable connector for the actuator

5

P IO connector (P IO)A P IO cable connector

7

E ncoder/brake connector (E NC )T his c onne c tor is us e d to c onne c t the a c tua tor’sencoder/brake cables .

9

Address switch (ADR S )T his switch is used to set the address for the controllera xis . I f two or more controllers a re connected viacommunication cables , prevent duplicate controlleraddresses .

0~F

8

2

32

E mergenc y-S top C irc uit11

Internal Drive-P ower C utoff R elay T ype (Model: R C P 2-C )

(1) When only one controller is used

T he internal drive-power cutoff relay type will s top the actuator operation and cut off the motor’s drive power of the actuator us ing the internal relay when theE MG (emergency stop) input s ignal is turned OF F at the controller’s terminal block.R epresentative connection examples are given below.

* T he emergency stop will not be cancelled without the following wiring, so exercise caution.

C onnect the MP I and MP O terminals us ing a jumper cable (factory setting).

C onnect one end of the E MG button to the 24-V input power, and connect

the other end to the S 1 terminal. Also connect the S 2 and E MG terminals

us ing a jumper cable.

Input power24V DC

E MG button

S 1S 2MP IMP O24VNE MG

(2) When two to eight controllers are used with a s ingle power supply

C onnect the MP I and MP O terminals us ing a jumper cable (factory setting). C onnect one end of the E MG button to the 24-V input power, and connect

the other end to the S 1 terminal. T hen, provide crossover connections bysequentially connecting the S 2 terminal of controller 1 to the S 1 terminal ofcontroller 2, the S 2 terminal of controller 2 to the S 1 terminal of controller 3,

the S 2 terminal of controller 3 to the S 1 terminal of controller 4, and so on,and connect the S 2 terminal of the last controller to the E MG terminals of allcontrollers . Use a relay ter minal block for connection to the E MG terminals .(Note) Do not insert more than one wire into a s ingle terminal.


[C ontroller 1]


[C ontroller 2]


[C ontroller 3]


[C ontroller 4]E MG buttonInput power

(3) When nine or more controllers are used

P lease contact IAI.

R efer to the operating manual for details .

33

E xternal Drive-P ower C utoff R elay T ype (Model: R C P 2-C G )

T he external drive-power cutoff relay type is des igned to cut off the motor’s drive power us ing an external safety relay, etc., and therefore no internal emergency-stop circuit is provided. Accordingly, the user must des ign a circuit such as the one shown below, us ing a safety relay unit, a contactor, etc.

Input power

24V DC

C onnects to the 24-V terminal and E MG terminal

C onnects to the N terminal

24V

0V

S 1

S 2

MP I

MP O

24V

N

F G

C ontactor

S 33 5143332313S 12

S afety relay unitP hoenix C ontact P S R -S C P -24UC -/E S A2/4X1/1X2/B

S 11S 34

A1 5244342414A2

S 1

S 2

MP I

MP O

24V

N

F G

S 1

S 2

MP I

MP O

24V

N

F G

[C ontroller 1] [C ontroller 1] [C ontroller 1]

* T he above diagram shows only the safety-relay output circuit.Determine the appropriate emergency-stop input circuit in accordance with your equipment.

34

Connection of Multiple Controllers via Serial Communication12

Basic Specifications

Connection Example

External Dimensions of SIO Converter Controller Link Cable

The following explains how to connect multiple controllers using a PC or PLC communication module as the host:

Item SpecificationMaximum number of units that can be connected

Maximum cable length

Terminal resistor

16 units

100m or less

220Ω

* Provide a communication path via bus connection and be sure to provide a terminal resistor at the end.

Teaching pendant

* Use a commercial cross cable for connection with the PC

PC, etc.

SIO converter (optional)(built-in terminal resistor)Model: RCB-TU-SIO-A (B)

* The user must provide the following wiring: (Recommended)

Junction (AMP 5-1473574-4)

FG

0V

24VInput power24VDC

Controller power

0.2m

Controller link cableModel: CB-RCB-CTL002

0.2m 0.2m

Terminal resistorR=220

RCP-C/CG

Vertical mounting specification using DIN railModel: RCB-TU-SIO-A

[Controller 1] [Controller 2] [Controller n]

Horizontal mounting specification using DIN railModel: RCB-TU-SIO-B

Model: CB-RCB-CTL002200mm

E-Con connector (AMP 3-1473562)

(44) 45

102

4544

102

Pin No. Signal Wire color Name

1

2

3

4

5

6

7

8

SGA

SGB

---

---

---

---

GND

---

Brown

Red

---

---

---

---

---

Yellow/Orange

RS485 differential signal + side

RS485 differential signal - side

0V

C ontroller Options13

T eac hing P endant

A teaching device that provides all of the functions needed for test operation/ adjustment, such as position-data input, test operation and monitoring of the current axis position and I/O signals.

The interactive-type panel ensures easy operation. All you need is to enter values in the required fields, so you won’t need the operation manual for basic operations.

The internal help panel allows you to quickly check the desired operating procedure whenever necessary.

Model Model

Features Features

RCA-T (S tandard) RCA-TD (With deadman s witc h)

Help panel

80

105 7.532.5

ø4.8

24

9.5

S pecifications

Dimensions

S imple T eac hing P endant

Item

Operating temperature/humidity

Operating environment

Weight

C able length

Display

A highly cost-effective teaching device that provides the same functions as the R C A-T at a s ignificantly lower price.

T he unit s ize has been reduced through the use of a two-digit display.

RCA-E

S pecifications

Dimensions

14

0

2380

21

6.326.215.1

23

.5

43

14

8.5

7 (34)72.5

(113.5)

Data S etting Unit

Item



Weight

C able length

Display

An affordable data setting unit offering edit functions , except for operations involving axis movement.

E dit functions P osition data input C onfirmation of current axis pos ition I/O s ignal monitoring, etc.

Model Model

Features

Features

RCA-P * Operations involving axis movement c annot be performed

S pecifications

Dimensions

P C S oftware

A support software for pos ition data input and test operation. T his software s ignificantly improves the equipment debugging

operations by offering wide-ranging functions such as jogging, inching, s tep operation and continuous operation, and also by allowing easy operation via a large P C screen.

(NOT E 1) R efer to C B -R C A-S IO050 and R C B -C V -MW on page 37 for the P C communication cables .

RCB-101-MW (DOS /V, Windows vers ion)C ontent: F loppy dis k, P C c ommunic ation c able (5m) (NOT E 1)

Item



Weight

C able length

Display

S pecification

Temperature: 0~40°C , Humidity: 85%R H or less

Not subject to corrosive gases or significant dust.

Approx. 550g (including cables)

5m

21 characters x 16 lines , LC D

S pecification

Temperature: 0~40° C , Humidity: 85%R H or less


Approx. 400g (including cables)

5m

16 characters x 2 lines, LC D

S pecification

Temperature: 0~40° C , Humidity: 85%R H or less


Approx. 360g

5m

16 characters x 2 lines , LC D

R C P 2 36

A product older than V er. 1.61 cannot be used with the R C P 2.(The customer’s existing product can be sent to IAI for a version upgrade.)

A product older than Ver. 1.63 cannot be used with the R C P 2.(The customer’s existing product can be sent to IAI for a version upgrade.)

A product older than Ver. 1.63 cannot be used with the R C P 2.(The customer’s existing product can be sent to IAI for a version upgrade.)

(*) If you are using R C A-101-MW, the software can be used with the R C P 2 after a proper version upgrade. The shape of R C B-101-MW’s R S 485 conversion adapter has changed from that of the adapter used with R C A-101-MW, but functionality remains the same.

R C P 2

T he following cables are supplied with the actuator and controller.When ordering new cables for replacement, etc., please specify the required types by referring to the information below:

(F ront view)(F ront view)

AV MM

BA

V MMB

AV MMAB

V MMB

I-1318119-3(AMP )

S LP -06V(J .S .T . Mfg.)

C N3 C N1

A1A2A3B 1B 2B 3

123456

(20)(8)

(15

)

L

C N3CN1

(ø8)

(28

)

(14)

(14

)

(20)

C ontroller end Machine end

B lueB lackWhiteR ed

B lackG reen (Y ellow 3)

R edB lackB lue

G reen (Y ellow 3)B lackWhite

M cable

(F ront view)

P G cableC N4 C N2

P HDR -16V S(J .S .T . Mfg.)

(B AT 2)

(B AT 1)

B K +

B K -

E NA

E NA

E NB

E NB

S D

S D

5V

G ND

(NC )

(NC )

(NC )

F .G

E NA

E NA

E NB

E NB

––––

GND5V–––––

BK+BK-F.G

L

CN2

C N4

(5) (8) (13) (15)

(ø9)

(35

)

(25

)

16

15

14

13

12

11

10

9

8

7

6

5

4

3

2

1

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

(18

)

C ontroller end

(F ront view)

Machine end

––

Light blue (Red 1)Light blue (Black 1)White (Red 1)White (Black 1)Yellow (Red 1)Yellow (Black 1)

––

Orange (Red 2)Orange (Black 2)

–––

Drain

XMP -18V(J .S .T . Mfg.)

White (Red 1)White (Black 1)Yellow (Red 1)Yellow (Black 1)

––––

Orange (Black2)Orange (Red 2)

–––––

Light blue (Red 1)Light blue (Black 1)

Drain

No.123456789

10111213

No.14151617181920212223242526

C olorB rown-1

R ed-1Orange-1Y ellow-1G reen-1B lue-1

P urple-1G ray-1White-1B lack-1B rown-2

R ed-2Orange-2

C olorY ellow-2G reen-2B lue-2

P urple-2G ray-2White-2B lack-2B rown-3

R ed-3Orange-3Y ellow-3G reen-3B lue-3

13 26

1 14

No connector

No connector A

B

2m S ignal name+24V

N(24G )S tart

C ommand pos ition 1C ommand pos ition 2C ommand pos ition 4C ommand pos ition 8

NCNC

* P auseNCNCNC

S ignal nameNCNC

C ompleted pos ition 1C ompleted pos ition 2C ompleted pos ition 4C ompleted pos ition 8P ositioning completionOrigin return completion

Zone* Alarm

* E mergency stopNCNC

F lat cable A

Wiring

F lat cable B

Wiring

Model CB-RCP2-MAMotor C able (F or R C P 2-C )

Model CB-RCP2-PAE nc oder C able (F or R C P 2-C )

Model CB-RCA-PIO020I/O F lat C able (C ommon to R C P and R C P 2-C )

C ontroller endR S 485 convers ion adapter end

S ignal No.1

2

3

4

5

6

No.1

2

3

4

5

6

7

8

5V

S G A

G ND

S G B

G ND

5V

S ignalS G A

S G B

5V

E MG S

E MG A

24V

G ND

E MG B

F G

2m/5mC olorB orownY ellow

R edOrange

B lueG reen

C olorY ellowOrangeB rown/G reen

–

B lack–

R ed/B lue

B lackS hielded

S horted: UL1007 AWG 28 (black)

S hielded, not connected

Model CB-RCA-SIO020(050)E xternal E quipment C ommunic ation C able

40

20 55 270 4814

33

C D (DC D)S D (T XD)R D (R XD)E R (DT R )S G (G ND)DR (DS R )R S (R T S )C S (C T S )

R I

1

2

3

4

5

6

7

8

9

E xternal equipmentcommunication

cable endP C end

G ND

D-sub, 9 pinsS ignal No.

R D: R eceive data

S D: S end data

S G : S ignal ground

C D: C arrier detection

C T S : C lear to send

1

Model RCB-CV-MWR S 485 C onvers ion A dapter

C B -R C A-S IO020 (C able length: 2m)

C B -R C A-S IO050 (C able length: 5m)

S pare P arts14

37

C atalog No. CJ0056-1A-E (April 2004)

T he information contained in this catalog is subject to change without notice for the purpose of product improvement.

Home page: www. intelligentactuator. com

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