GB RCP4-SA3/RA3 - IAI Automation · 2020. 6. 2. · Small SA3/RA3 Standard Types and SA3 Cleanroom...
Transcript of GB RCP4-SA3/RA3 - IAI Automation · 2020. 6. 2. · Small SA3/RA3 Standard Types and SA3 Cleanroom...
RCP4series
Cleanroom TypeCleanroom TypeSeries Added
w w w . r o b o c y l i n d e r . d e
Small Standard Slider & Rod Type
Small Cleanroom Slider Type
RCP4-SA3/RA3RCP4CR-SA3
GB
1
1440900450225
1440900450225
1200980490245
1120700350175800700450225800700420210
1440900450225
1280900450225
1000840490210800700450225800560420175
1440900450225
1440900450225
1200980490245
6.59
182010152525204045456
1224366
254060205060806.59
182010152525204045456
25406020506080
6.59
18201015252520404545
12.56
121
2.56
1238
16251.52.55
101.54
102038
18281
2.56
121
2.56
1238
16251.54
102038
1828
12.56
121
2.56
1238
1625
Small SA3/RA3 Standard Types and SA3 Cleanroom Typewith 32mm body width added to RCP4 Series
The horizontal payload of the Rod Type described above is that when an external guide is used. Refer to the individual catalog for the RCP4 Series.
201263
201263
241684
16105
2.5201263
241684
201263
201263
241684
201263
241684
201263
201263
241684
32mm
52mm
58mm
73mm
32mm
52mm
61mm
52mm
58mm
73mm
52mm
61mm
32mm
52mm
58mm
73mm
Series Feature Type Externalview
Actuatorwidth
Stroke(mm)
Ballscrewlead (mm)
Maximumspeed (mm/s)
Maximum payload (kg)Horizontal Vertical
RCP4
SliderType
MotorStraight
Side-mountedMotor
Cleanroom
SliderType
RCP4CR SliderType
SA3C
SA5C
SA6C
SA7C
RA3C
RA5C
RA6C
SA5R
SA6R
SA7R
RA5R
RA6R
SA3C
SA5C
SA6C
SA7C
50~800
25~300
25~300
25~300
50~400
50~500
6
4
2
420
280
140
3
5
8
3
5
8
1.5
2.5
3.5
50~800
50~400
50~500
50~800
RCP4 Series
NEW
NEW
NEW
RodType
( )RadialCylinder
RodType
( )RadialCylinder
6
4
2
420
280
140
1.5
2.5
3.5
2Refer to the individual catalog for the RCP5 Series. Refer to the RCP5 catalog supplement for the RCP5CR Cleanroom Series.
Series Feature Type Externalview
Actuatorwidth
Stroke(mm)
Ballscrewlead (mm)
Maximumspeed (mm/s)
Maximum payload (kg)Horizontal Vertical
Cleanroom SliderType
16
10
5
2.5
20
12
6
3
24
16
8
4
16
10
5
2.5
20
12
6
3
24
16
8
4
20
10
5
10
5
2.5
20
10
5
10
5
2.5
600<450>
300<250>
150
250<167>
125
63
400
200
100
200<140>
100
50
30
60
100
80
150
300
30
60
100
80
150
300
5
40
70
80
100
150
5
40
70
80
100
150
1260
785
390
195
1440<1280>
900
450
225
1200
980<840>
490
245<210>
1120<840>
700
350
175
800
700
450
225
800<600>
700<560>
420
210
4
10
12
12
10
15
25
25
20
40
45
45
6
15
28
40
6
25
40
60
20
50
60
80
1
2.25
4.5
9
1
2.5
6
16
3
8
16
25
1.5
2.5
5
10
1.5
4
10
20
3
8
18
28
16
10
5
2.5
20
12
6
3
24
16
8
4
1260
785
390
195
1440<1280>
900
450
225
1200
980<840>
490
245<210>
4
10
12
12
10
15
25
25
20
40
45
45
1
2.25
4.5
9
1
2.5
6
16
3
8
16
25
40mm
58mm
73mm
40mm
58mm
73mm
88mm
108mm
88mm
108mm
40mm
58mm
73mm
50~500
50~800
50~800
60~410
65~415
70~520
50~700
50~800
50~700
50~800
50~500
50~800
50~800
RCP5
RCP5CR
SliderType
MotorStraight
Side-mountedMotor
SA4C
SA6C
SA7C
RA4C
RA6C
RA7C
RA8C
RA10C
RA8R
RA10R
SA4C
SA6C
SA7C
RCP5 Series
RodType
( )RadialCylinder
RodType
( )RadialCylinder
NEW
NEW
NEW
With Battery-less Absolute Encoder Installed as a Standard
RCP4/RCP5series
3
R C P 4 - S A 3 C RoboCylinder, Slider Type, Motor Unit Coupled, Actuator Width 32mm, 24-V Pulse Motor
RCP4-SA3C Vertical
0150 200100 30025050 350 400 4500
0150 200100 30025050 350 400 4500
0150 200100 30025050 350 400 4500
0150 200100 30025050 350 400 4500
RCP4-SA3C HorizontalHigh output enabled (PowerCon) - PCON-CA•MSEP-C/LC•MSEL connected
RCP4-SA3C Horizontal
21
9876543
RCP4-SA3C Vertical
Speed (mm/s)
This graph assumes that the actuator is operated at 0.3G.
10.5
43.5
32.5
21.5
Speed (mm/s)
21
3.53.5
9876543
10.5
43.5
32.5
21.5
0.750.75
1.251.25
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6Payl
oad
(kg)
Payl
oad
(kg)
Speed (mm/s) Speed (mm/s)
Payl
oad
(kg)
Payl
oad
(kg)
1
High output disabled (standard) - PCON-CA•MSEP-C/LC connected2
This graph assumes that the actuator is operated at 0.3G.
This graph assumes that the actuator is operated at 0.3G.
This graph assumes that the actuator is operated at 0.3G.
28P : Pulse motor, size 28
I : Incremental speci�cation
P3 : PCON-CAMSEP-C/LC
MSEL
Refer to the optionlist below.
25 : 25mm
~
300 : 300mm(every 25 mm)
RCP4 SA3C I 28P P3 Series Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options
P
O I N T
Note onselection
(1) Even though the payload described in the actuator speci�cations is the maximum value, it may vary depending on the acceleration. Refer to “Tables for Payload by Acceleration and Speed” on pg. 4 for details.
(2) Refer to “Relative Graph for Pressing Force and Current Limit” on pg. 10 for the pressing operation.
N : NoneP : 1mS : 3mM : 5mX : Speci�ed lengthR : Robot cable
6 : 6mm 4 : 4mm 2 : 2mm
Correlation Diagrams of Speed and Payload
Cable Length
Options
Actuator Speci�cations
Legend 1 Stroke 2 Cable length 3 Options
Actuator Speci�cationsLeads and Payloads Stroke and Max. Speed
Lead(mm)
High-Output Setting
25 ~ 300(every 25mm)
6Enabled
420Disabled
4Enabled
280Disabled
2Enabled
140Disabled
Item DescriptionDrive system Ball screw Ø6mm rolled C10Positioning repeatability ±0.02mmLost motion 0.1mm or lessBase Material: Aluminum with white alumite treatmentGuide Linear guideDynamic allowable moment (*1) Ma: 2.4 N•m, Mb: 3.5 N•m, Mc: 3.8 N•mAllowable overhang Ma direction: 100mm or less Mb•Mc direction: 100mm or lessAmbient operating temperature, humidity 0 to 40°C, 85% RH or less (Non-condensing)
Type Cable symbol
Standard typeP (1m)S (3m)M (5m)
Special lengthX06 (6m) ~ X10 (10m)X11 (11m) ~ X15 (15m)X16 (16m) ~ X20 (20m)
Robot cable
R01 (1m) ~ R03 (3m)R04 (4m) ~ R05 (5m)R06 (6m) ~ R10 (10m)R11 (11m) ~ R15 (15m)R16 (16m) ~ R20 (20m)
Name Option code Reference pageBrake B
Refer toRoboCylinder
General Catalog
Home-position check sensor (on right) HSRHome-position check sensor (on left) HSLNon-motor end speci�cation NMSlider roller speci�cation SR
* In the home-position check sensor “HS”, there are variations of “HSR” (attached on the right) and “HSL” (attached on the left) depending on the orientation of the sensor that is attached. Refer to the RoboCylinder General Catalog for the contents of “HS” and the following page for the orientation of the attachment.
(*1) Based on 5000km of traveling life.
Model number Lead(mm)
Maximum payload Stroke(mm)Horizontal (kg) Vertical (kg)
RCP4-SA3C-I-28P-6- 1 -P3- 2 - 3 6 3 1.5
25 ~ 300(every 25mm)RCP4-SA3C-I-28P-4- 1 -P3- 2 - 3 4 5 2.5
RCP4-SA3C-I-28P-2- 1 -P3- 2 - 3 2 8 3.5
Model
Items
(unit: mm/s)
L
L
Ma MaMb Mc Mc
Allowable load moment directionsOverhang load lengths
4
CAD drawings can be downloaded from the website. www.robocylinder.de
Dimensions
Sensor Attachment (options)
Orientation of SensorAttachment: Left (HSL)
Orientation of Sensor Attachment: Right (HSR)
1921
23.8 (0.5)
Sensor Rail 328.3
1410
16
7.8
0.5
32
1410
16
7.8
1
7.2
10
6.3
Dimensions for Sensor Rail
4.5
+0.0
100
(R1.5)
(16.
4)
T-shaped Slot forM3 (1pc) Insertion
Stroke
X
ME SE Home ME (*2)
10.5
29.5
40
32
17.531
Guide Datum Point for Center of Mass
2
2.5
L
A
2.5606 25
Must be 100 or more.11±0.0218 (Ø2 H7 interval ±0.02)
24
18
23
4-M3, depth 6
2-Ø2 H7, depth 3
(17.
6)
Removable CableConnector
32.5 (Slider Center (Home))
25
F
D (Ø3 hole - Ø3 hole)(40)
C (Ø3 hole - oblong hole)
E×50
JH×503025 15
B
1012
310.
5
Base DatumSurface
39
32
3
4
Detail view of X31(0.5) (0.5)
4
10
Ø3.4
Ø6
23
4.8
Detail of Base Attachment Holes
80.5 (without brake)105.5 (with brake)
M3, depth 5 (For ground line)
K-Ø3.4, throughØ6 counterbored, depth 3 (from opposite side) (*1)
G-M4, through(Bolt screw-in depth: 5mm or less)
2
2-Ø3 H7, depth 4(from base bottom)
4.5
*1 On the 25mm stroke type, there are six counterbored mounting holes on the bottom of the base.
The two counterbored mounting holes in the middle are not available to use.*2 During home return, be sure to avoid interference
from peripheral objects because the slider travels until reaching the mechanical end.
ME : Mechanical end SE : Stroke end*3 Refer to pg. 8 for the slider roller
speci�cation (SR).
Dimensions and Mass by StrokeStroke 25 50 75 100 125 150 175 200 225 250 275 300
Lwithout brake 201.5 226.5 251.5 276.5 301.5 326.5 351.5 376.5 401.5 426.5 451.5 476.5with brake 226.5 251.5 276.5 301.5 326.5 351.5 376.5 401.5 426.5 451.5 476.5 501.5A 121 146 171 196 221 246 271 296 321 346 371 396B 90 115 140 165 190 215 240 265 290 315 340 365C 10 35 60 85 110 135 160 185 210 235 260 285D 25 50 75 100 125 150 175 200 225 250 275 300E 0 0 0 1 1 2 2 3 3 4 4 5F 25 50 75 50 75 50 75 50 75 50 75 50G 4 4 4 6 6 8 8 10 10 12 12 14H 0 0 0 1 1 2 2 3 3 4 4 5J (20) 45 70 45 70 45 70 45 70 45 70 45K (6) 6 6 8 8 10 10 12 12 14 14 16
Mass (kg)
without brake 0.51 0.55 0.58 0.61 0.65 0.68 0.71 0.75 0.78 0.81 0.85 0.88with brake 0.6 0.64 0.67 0.7 0.74 0.77 0.8 0.84 0.87 0.9 0.94 0.97
Tables for Payload by Acceleration and Speed
High output enabled (PowerCon spec.) Lead 6Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 3 3 3 3 3 1.5 1.5 1.550 3 3 3 3 3 1.5 1.5 1.5
105 3 3 3 3 3 1.5 1.5 1.5155 3 3 3 3 3 1.5 1.5 1.5210 3 3 3 3 3 1.5 1.5 1.5260 3 3 3 3 3 1.5 1.5 1.5315 3 3 3 3 3 1.5 1.5 1.5365 3 3 3 3 3 1.5 1.5 1.25420 3 3 3 3 3 1.5 1.25 1
High output disabled (standard spec.) Lead 6Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 3 3 3 3 3 1.5 1.5 1.550 3 3 3 3 3 1.5 1.5 1.5
105 3 3 3 3 3 1.5 1.5 1.5155 3 3 3 3 3 1.5 1.5 1.5210 3 3 3 3 3 1.25 1.25 1.25260 3 3 3 3 3 1 1 1315 3 3 3 3 3 1 1 1365 2.5 2.5 2.5 2.5 2.5 1 1 0.75420 2 2 2 2 2 1 0.75 0.5
High output enabled (PowerCon spec.) Lead 4Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 5 5 5 5 4.5 2.5 2.5 2.535 5 5 5 5 4.5 2.5 2.5 2.570 5 5 5 5 4.5 2.5 2.5 2.5
105 5 5 5 5 4.5 2.5 2.5 2.5140 5 5 5 5 4.5 2.5 2.5 2.5175 5 5 5 5 4.5 2.5 2.5 2.5210 5 5 5 5 4.5 2.5 2.5 2.5245 5 5 5 5 4.5 2.5 2.5 2280 5 5 5 5 4.5 2 2 1.75
High output disabled (standard spec.) Lead 4Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 5 5 5 5 4.5 2.5 2.5 2.535 5 5 5 5 4.5 2.5 2.5 2.570 5 5 5 5 4.5 2.5 2.5 2.5
105 5 5 5 5 4.5 2.5 2.5 2.5140 4.5 4.5 4.5 4.5 4 2.25 2.25 2.25175 4.5 4.5 4.5 4.5 4 2 2 2210 4 4 4 4 3.5 2 2 2245 4 4 4 3.5 3 2 2 1.5280 3.5 3.5 3.5 3 2.5 1 1 0.75
High output enabled (PowerCon spec.) Lead 2Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 8 8 7 6 5 3.5 3.5 3.515 8 8 7 6 5 3.5 3.5 3.535 8 8 7 6 5 3.5 3.5 3.550 8 8 7 6 5 3.5 3.5 3.570 8 8 7 6 5 3.5 3.5 3.585 8 8 7 6 5 3.5 3.5 3.5
105 8 8 7 6 5 3.5 3.5 3.5120 7 7 6 6 5 3 3 2.5140 6 6 6 5 5 2.5 2.5 2
High output disabled (standard spec.) Lead 2Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 8 8 7 6 5 3.5 3.5 3.515 8 8 7 6 5 3.5 3.5 3.535 8 8 7 6 5 3.5 3.5 3.550 8 8 7 6 5 3.5 3.5 3.570 7.5 7 6 5 4.5 3.25 3.25 3.2585 7.5 7 6 5 4.5 3 3 3
105 7 6.5 6 5 4.5 2.5 2.5 2120 6.5 6 5 4.5 4 2 2 1.5140 5.5 5 4.5 4 3.5 1.5 1.5 1
(Note) MSEP-C/LC is available for high output only if “High-Output Speci�cation” (PowerCon) is selected in the options.
2DCAD2D
CAD
(*3)
RadialLoadOK
5
Options
Name Option code Reference pageBrake B Refer to
RoboCylinder General Catalog
Home-position check sensor (top) HSNon-motor end speci�cation NM
Correlation Diagrams of Speed and Payload
Cable Length
Actuator Speci�cationsLeads and Payloads
Type Cable symbol
Standard typeP (1m)S (3m)M (5m)
Special lengthX06 (6m) ~ X10 (10m)X11 (11m) ~ X15 (15m)X16 (16m) ~ X20 (20m)
Robot cable
R01 (1m) ~ R03 (3m)R04 (4m) ~ R05 (5m)R06 (6m) ~ R10 (10m)R11 (11m) ~ R15 (15m)R16 (16m) ~ R20 (20m)
Model number Lead(mm)
Maximum payload Maximum push force (N)
Stroke(mm)Horizontal (kg) Vertical (kg)
RCP4-RA3C-I-28P-16- 1 -P3- 2 - 3 16 6 1.5 36
25 ~ 300(every 25mm)
RCP4-RA3C-I-28P-10- 1 -P3- 2 - 3 10 12 2.5 57
RCP4-RA3C-I-28P-5- 1 -P3- 2 - 3 5 24 5 114
RCP4-RA3C-I-28P-2.5- 1 -P3- 2 - 3 2.5 36 10 229
Actuator Speci�cations
Item DescriptionDrive system Ball screw Ø8mm rolled C10Positioning repeatability ±0.02mmLost motion 0.1mm or lessRod Ø16mm AluminumRod non-rotation precision(*1) ±0 degAllowable rod load mass Refer to reference at the backRod tip overhang distance 100mm or lessAmbient operating temperature, humidity 0 to 40°C, 85% RH or less (Non-condensing)
(*1) Accuracy of rod displacement in rotating direction when no load is received.
(unit: mm/s)Stroke and Max. SpeedLead(mm)
High-Output Setting
25 ~ 300(every 25mm)
16Enabled 1120
Disabled 840
10Enabled
700Disabled
5Enabled
350Disabled
2.5Enabled
175Disabled
RCP4-RA3C Vertical
0400 600200 800 1000 12000
0400 600200 800 1000 12000
0400 600200 800 1000 12000
0400 600200 800 1000 12000
RCP4-RA3C Horizontal
RCP4-RA3C Horizontal
5
40
3536
24
5
2.5
1.5
12
6
3025
2015
10
Lead 2.5
Lead 5
Lead 10
Lead 16 (Operated at 0.5G)
Lead 2.5
Lead 5
Lead 10
Lead 16 (Operated at 0.5G)
RCP4-RA3C Vertical
2
12
10
8
6
4
26
18
2
5
40
3536
24
5
2.5
1.5
12
6
3025
2015
102
12
10
8
6
4
18
1111
3 0.750.50.5
0.750.75
Speed (mm/s) Speed (mm/s)
Payl
oad
(kg)
Payl
oad
(kg)
Speed (mm/s) Speed (mm/s)
Payl
oad
(kg)
Payl
oad
(kg)
The graph shows the condition when operation is conducted at 0.3G for Lead 2.5/5/10 and 0.5G for Lead 16.
The graph shows the condition when operation is conducted at 0.3G for Lead 2.5/5/10 and 0.5G for Lead 16.
The graph shows the condition when operation is conducted at 0.3G for Lead 2.5/5/10 and 0.5G for Lead 16.
Lead 2.5Lead 2.5
Lead 5Lead 10
Lead 16(Operated at 0.5G)
Lead 5Lead 10
Lead 16(Operated at 0.5G)Lead 16 (Operated at 0.5G)Lead 16 (Operated at 0.5G)
Lead 2.5
Lead 5
Lead 10
Lead 2.5
Lead 5
Lead 10
High output enabled (PowerCon) - PCON-CA•MSEP-C/LC•MSEL connected1
High output disabled (standard) - PCON-CA•MSEP-C/LC connected2
Lead 10 Lead 16(Operated at 0.5G)
Lead 5
Lead 2.5
Lead 10 Lead 16(Operated at 0.5G)
Lead 5
Lead 2.5
The graph shows the condition when operation is conducted at 0.3G for Lead 2.5/5/10 and 0.5G for Lead 16.
P
O I N T
Note onselection
(1) Even though the payload described in the actuator speci�cations is the maximum value, it may vary depending on the acceleration. Refer to “Tables for Payload by Acceleration and Speed” on pg. 6 for details.
(2) Refer to “Relative Graph for Pressing Force and Current Limit” on pg. 10 for the pressing operation.
Legend 1 Stroke 2 Cable length 3 Options
R C P 4 - R A 3 C RoboCylinder, Rod Type, Motor Unit Coupled, Actuator Width 32mm, 24-V Pulse Motor
28P : Pulse motor, size 28
I : Incremental speci�cation
P3 : PCON-CAMSEP-C/LC
MSEL
Refer to the optionlist below.
25 : 25mm
~
300 : 300mm(every 25 mm)
RCP4 RA3C I 28P P3 Series Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options
N : NoneP : 1mS : 3mM : 5mX : Speci�ed lengthR : Robot cable
16 : 16mm 10 : 10mm 5 : 5mm2.5 :2.5mm
Model
Items
Load at end of rod
6
32
38.5
46.8
8.3
910
Sensor Rail
7.8
1
7.24.5
10
6.3
Dimensions for Sensor Rail
Sensor Attachment (option)
Orientation of SensorAttachment: top (HS)
X
17.531
32
20
16
24 1210
12 (W
idth a
cross
Flats)
12 (Width across Flats)
4-M4, depth 8
not constant *3
L
100 (without brake)130 (with brake)14
32
M3, depth 5 (For ground line)
Ø16
M8×1.25
Ø20
h7
1.5
(16.
4)
14 25
T-shaped Slot for M3 (1pc) Insertion
Diretion ofHome Position
Must be 100 or more.
(17.
6)
5
Removable CableConnector
Enclosed Hex NutM8×1.25 (Class 3)
25
F
D (Ø3 hole - Ø3 hole)
C (Ø3 hole - oblong hole)
E×50
JH×50 15
B
1012K-Ø3.4, throughØ6 counterbored, depth 3 (from opposite side)
G-M4, through(Bolt screw-in depth: 5mm or less)
2-Ø3 H7, depth 4(from base bottom)
31
55
25
Base DatumSurface
*1Not for Use
42
32
3
4(R1.5)
Detailview of X
13
15
31
423
4.8
10
Ø3.4Ø6
Detail of Base Attachment Holes
(0.5) (0.5)
(0.5
)
(40)
4.5
+0.0
100
Stroke
+0.0
100
2
2
Front Housing (*4)
SEME
ME (*2)Home
A
Dimensions
Dimensions and Mass by StrokeRCP4-RA3C Rod De�ection (reference)Stroke 25 50 75 100 125 150 175 200 225 250 275 300
Lwithout brake 229 254 279 304 329 354 379 404 429 454 479 504
with brake 259 284 309 334 359 384 409 434 459 484 509 534A 129 154 179 204 229 254 279 304 329 354 379 404B 90 115 140 165 190 215 240 265 290 315 340 365C 10 35 60 85 110 135 160 185 210 235 260 285D 25 50 75 100 125 150 175 200 225 250 275 300E 0 0 0 1 1 2 2 3 3 4 4 5F 25 50 75 50 75 50 75 50 75 50 75 50G 4 4 4 6 6 8 8 10 10 12 12 14H 0 0 0 1 1 2 2 3 3 4 4 5J 20 45 70 45 70 45 70 45 70 45 70 45K 4 4 4 6 6 8 8 10 10 12 12 14
Allowable static load at end of rod(N) 38.8 33.5 29.5 26.3 23.7 21.6 19.8 18.2 16.9 15.7 14.7 13.8Allowable dynamic
load at end of rod (N)Load o�set 0mm 19.4 16.6 14.2 12.2 10.7 9.5 8.5 7.7 7.0 6.4 5.8 5.4Load o�set 100mm 9.1 9.4 8.9 8.3 7.7 7.1 6.6 6.1 5.6 5.2 4.9 4.5
Allowable static torque at end of rod (N•m) 3.9 3.4 3.0 2.7 2.4 2.2 2.0 1.9 1.7 1.6 1.5 1.4Allowable dynamic torque at end of rod (N•m) 0.9 0.9 0.9 0.8 0.8 0.7 0.7 0.6 0.6 0.5 0.5 0.5
Mass (kg)
without brake 0.59 0.64 0.69 0.73 0.78 0.83 0.88 0.93 0.98 1.02 1.07 1.12with brake 0.68 0.73 0.78 0.82 0.87 0.92 0.97 1.02 1.07 1.11 1.16 1.21
Tables for Payload by Acceleration and Speed
5.0
4.0
3.0
2.0
1.0
0.0
0 10 20 30 40 50Load at end of rod (N)
Home25st50st75st125st150st175st200st225st250st275st300st
High output enabled (PowerCon spec.) Lead 16Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 6 6 6 5 3.5 1.5 1.5 1.5140 6 6 6 5 3.5 1.5 1.5 1.5280 6 6 6 5 3.5 1.5 1.5 1.5420 6 6 6 5 3.5 1 1 1560 6 6 5 3.5 1 1700 5.5 5 4 2.5 1 1840 4.5 3.5 3 2 1 1980 2.5 2 1.5 1
1120 2 1.5 1 0.75
High output disabled (standard spec.) Lead 16Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 6 6 6 5 3.5 1.5 1.5 1.5140 6 6 6 5 3.5 1.5 1.5 1.5280 6 6 6 5 3.5 1.5 1.5 1.5420 6 6 6 5 3.5 1 1 1560 6 5.5 4.5 3 1 1700 5 4.5 3.5 2 1 1840 4 3 2.5 1.5 1 0.75980
1120
High output enabled (PowerCon spec.) Lead 2.5Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 36 36 36 30 20 10 10 1020 36 36 36 30 20 10 10 1040 36 36 36 30 20 10 10 1065 36 36 36 30 20 10 10 1085 36 36 36 30 20 10 10 10
105 36 36 33 26 20 10 10 10130 36 33 28 22 16 10 10 9150 33 30 24 18 14 10 9 8175 30 26 20 14 10 9 8 7
High output disabled (standard spec.) Lead 2.5Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 36 36 36 30 20 10 10 1020 36 36 36 30 20 10 10 1040 36 36 36 30 20 10 10 1065 36 36 36 30 20 10 10 1085 36 36 36 30 20 10 10 10
105 36 36 30 22 18 10 10 10130 36 30 24 18 14 9 9 8150 32 26 20 14 12 5 5 5175 28 18 16 12 8 2 2 2
High output enabled (PowerCon spec.) Lead 10Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 12 12 11 9 6 2.5 2.5 2.585 12 12 11 9 6 2.5 2.5 2.5
175 12 12 11 9 6 2.5 2.5 2.5260 12 12 11 9 6 2.5 2.5 2.5350 12 12 11 9 6 2.5 2.5 2.5435 12 11 9 7 6 2.5 2.5 2.5525 12 9 7 5.5 4 2.5 2.5 2.5610 7 5 4 3 2.5 2700 5 3.5 2.5 2 2 1.5
High output disabled (standard spec.) Lead 10Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 12 12 11 9 6 2.5 2.5 2.585 12 12 11 9 6 2.5 2.5 2.5
175 12 12 11 9 6 2.5 2.5 2.5260 12 12 11 9 6 2.5 2.5 2.5350 12 12 10 8 5.5 2.5 2.5 2.5435 12 11 8 6 5 2.25 2.25 2.25525 11 8 6 4 3 2 2 2610 6 4 3 2 1 1700 3 2.5 1.5 1 0.5 0.5
High output enabled (PowerCon spec.) Lead 5Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 24 24 22 18 12 5 5 540 24 24 22 18 12 5 5 585 24 24 22 18 12 5 5 5
130 24 24 22 18 12 5 5 5175 24 24 22 18 12 5 5 5215 24 24 22 18 12 5 5 5260 24 22 20 16 10 5 5 5305 22 20 18 14 7 5 5 4.5350 20 18 16 12 5 5 4 3.5
High output disabled (standard spec.) Lead 5Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 24 24 22 18 12 5 5 540 24 24 22 18 12 5 5 585 24 24 22 18 12 5 5 5
130 24 24 22 18 12 5 5 5175 24 24 22 18 12 5 5 5215 24 24 20 16 10 5 5 5260 24 20 16 12 7.5 4.5 4.5 4305 20 16 12 10 5 3 3 3350 16 11 7 6 3 2 2 2
*1 The two counterbored mounting holes on the bottom of the base near the rod end are not available to use.
*2 During home return, be sure to avoid interference from peripheral objects because the slider travels until reaching the mechanical end.
ME : Mechanical end SE : Stroke end*3 The orientation of the bolt varies depending on the product.*4 Do not attempt to apply external force on the main body when installing the body
using the front housing. Refer to the instruction manual for details.
(Note) MSEP-C/LC is available for high output only if “High-Output Speci�cation” (PowerCon) is selected in the options.
2DCAD2D
CAD
CAD drawings can be downloaded from the website. www.robocylinder.de
7
RCP4CR-SA3C Cleanroom RoboCylinder, Slider Type, Motor Unit Coupled, Actuator Width 32mm, 24-V Pulse Motor
RCP4CR-SA3C Vertical
0150 200100 30025050 350 400 4500
0150 200100 30025050 350 400 4500
0150 200100 30025050 350 400 4500
0150 200100 30025050 350 400 4500
RCP4CR-SA3C HorizontalHigh output enabled (PowerCon) - PCON-CA•MSEP-C/LC•MSEL connected
RCP4CR-SA3C Horizontal
21
9876543
RCP4CR-SA3C Vertical
Speed (mm/s)
This graph assumes that the actuator is operated at 0.3G.
10.5
43.5
32.5
21.5
Speed (mm/s)
21
3.53.5
9876543
10.5
43.5
32.5
21.5
0.750.75
1.251.25
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6
Lead 2
Lead 4
Lead 6Payl
oad
(kg)
Payl
oad
(kg)
Speed (mm/s) Speed (mm/s)
Payl
oad
(kg)
Payl
oad
(kg)
1
High output disabled (standard) - PCON-CA•MSEP-C/LC connected2
This graph assumes that the actuator is operated at 0.3G.
This graph assumes that the actuator is operated at 0.3G.
This graph assumes that the actuator is operated at 0.3G.
28P : Pulse motor, size 28
I : Incremental speci�cation
P3 : PCON-CAMSEP-C/LC
MSEL
Refer to the optionlist below.
25 : 25mm
~
300 : 300mm(every 25 mm)
RCP4CR SA3C I 28P P3 Series Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options
P
O I N T
Note onselection
(1) Even though the payload described in the actuator speci�cations is the maximum value, it may vary depending on the acceleration. Refer to “Tables for Payload by Acceleration and Speed” on pg. 8 for details.
(2) Refer to “Relative Graph for Pressing Force and Current Limit” on pg. 10 for the pressing operation.
N : NoneP : 1mS : 3mM : 5mX : Speci�ed lengthR : Robot cable
6 : 6mm 4 : 4mm 2 : 2mm
Correlation Diagrams of Speed and Payload
Cable Length
Options
Actuator Speci�cations
Legend 1 Stroke 2 Cable length 3 Options
Actuator Speci�cationsLeads and Payloads Stroke, Max. Speed and Suction amount
Lead(mm)
High-Output Setting
25 ~ 300(every 25mm)
Suction Amount (Nl/mm)
6Enabled
420 10Disabled
4Enabled
280 15Disabled
2Enabled
140 20Disabled
Item DescriptionDrive system Ball screw Ø6mm rolled C10Positioning repeatability ±0.02mmLost motion 0.1mm or lessBase Material: Aluminum with white alumite treatmentGuide Linear guideDynamic allowable moment (*1) Ma: 2.4 N•m, Mb: 3.5 N•m, Mc: 3.8 N•mAllowable overhang Ma direction: 100mm or less Mb•Mc direction: 100mm or lessGrease Low particle-emission (urea based) grease used (on both ball screw and guide)Cleanliness Class ISO Class 4 (US FED STD class 10) Ambient operating temperature, humidity 0 to 40°C, 85% RH or less (Non-condensing)
Type Cable symbol
Standard typeP (1m)S (3m)M (5m)
Special lengthX06 (6m) ~ X10 (10m)X11 (11m) ~ X15 (15m)X16 (16m) ~ X20 (20m)
Robot cable
R01 (1m) ~ R03 (3m)R04 (4m) ~ R05 (5m)R06 (6m) ~ R10 (10m)R11 (11m) ~ R15 (15m)R16 (16m) ~ R20 (20m)
Name Option code Reference pageBrake B
Refer toRoboCylinder
General Catalog
Home-position check sensor (on right) HSRHome-position check sensor (on left) HSLNon-motor end speci�cation NMOrientation di�erence of vacuum joint outlet VR
* In the home-position check sensor “HS”, there are variations of “HSR” (attached on the right) and “HSL” (attached on the left) depending on the orientation of the sensor that is attached. Refer to the RoboCylinder General Catalog for the contents of “HS” and the following page for the orientation of the attachment.
(*1) Based on 5000km of traveling life.
Model number Lead(mm)
Maximum payload Stroke(mm)Horizontal (kg) Vertical (kg)
RCP4CR-SA3C-I-28P-6- 1 -P3- 2 - 3 6 3 1.5
25 ~ 300(every 25mm)RCP4CR-SA3C-I-28P-4- 1 -P3- 2 - 3 4 5 2.5
RCP4CR-SA3C-I-28P-2- 1 -P3- 2 - 3 2 8 3.5
Model
Items
(unit: mm/s)
L
L
Ma MaMb Mc Mc
Allowable load moment directionsOverhang load lengths
8
CAD drawings can be downloaded from the website. www.robocylinder.de
Dimensions
10.5
29.5
40
32
4.5
17.5
31
(18.2)
20.5
Guide Datum Point for Center of Mass
22
2.5
(Ø32)
L
A80.5 (without brake)105.5 (with brake)
2.5
606 25
M3, depth 5 (For ground line)Same on the opposite side
(16.
4)
10 10 5
19
T-shaped Slot forM3 (1pc) Insertion
ME (*2)M.E. HomeS.E.
Rotation Area of Joint
Applicable Tube O.D.:Ø6
Must be 100 or more.11±0.02
18 (Ø2 H7 interval ±0.02)
24
18
234-M3, depth 6
2-Ø2 H7, depth 3
(17.
6)
25
F
D (Ø3 hole - Ø3 hole)(40)C (Ø3 hole - oblong hole)
E×50
JH×503025 15
B
1012G-M4, through(Bolt screw-in depth: 5mm or less)2-Ø3 H7, depth 4
(from base bottom)
310.
5
39
32
3+
0.01
00
4(R1.5)
Detail view of X
31(0.5 () 0.5)
4
10
Ø3.4
Ø6
234.
8
Detail of Base Attachment Holes
Base DatumSurface
X
Stroke
Sensor Attachment (options)
Orientation of SensorAttachment: Left (HSL)
Orientation of Sensor Attachment: Right (HSR)
1921
23.8 (0.5)
Sensor Rail 328.3
1410
16
7.8
0.5
32
1410
16
7.8
1
7.2 10
6.3
Dimensions for Sensor Rail
4.5
(*3)
K-Ø3.4, throughØ6 counterbored, depth 3 (from opposite side) (*1)
*1 On the 25mm stroke type, there are six counterbored mounting holes on the bottom of the base.
The two counterbored mounting holes in the middle are not available to use.
*2 During home return, be sure to avoid interference from peripheral objects because the slider travels until reaching the mechanical end.
ME : Mechanical end SE : Stroke end*3 For RCP4-SA3C Slider Roller Type (SR),
there is no pipe joint.
Dimensions and Mass by StrokeStroke 25 50 75 100 125 150 175 200 225 250 275 300
Lwithout brake 201.5 226.5 251.5 276.5 301.5 326.5 351.5 376.5 401.5 426.5 451.5 476.5with brake 226.5 251.5 276.5 301.5 326.5 351.5 376.5 401.5 426.5 451.5 476.5 501.5A 121 146 171 196 221 246 271 296 321 346 371 396B 90 115 140 165 190 215 240 265 290 315 340 365C 10 35 60 85 110 135 160 185 210 235 260 285D 25 50 75 100 125 150 175 200 225 250 275 300E 0 0 0 1 1 2 2 3 3 4 4 5F 25 50 75 50 75 50 75 50 75 50 75 50G 4 4 4 6 6 8 8 10 10 12 12 14H 0 0 0 1 1 2 2 3 3 4 4 5J (20) 45 70 45 70 45 70 45 70 45 70 45K (6) 6 6 8 8 10 10 12 12 14 14 16
Mass (kg)
without brake 0.51 0.55 0.58 0.61 0.65 0.68 0.71 0.75 0.78 0.81 0.85 0.88with brake 0.6 0.64 0.67 0.7 0.74 0.77 0.8 0.84 0.87 0.9 0.94 0.97
Tables for Payload by Acceleration and Speed
High output enabled (PowerCon spec.) Lead 6Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 3 3 3 3 3 1.5 1.5 1.550 3 3 3 3 3 1.5 1.5 1.5
105 3 3 3 3 3 1.5 1.5 1.5155 3 3 3 3 3 1.5 1.5 1.5210 3 3 3 3 3 1.5 1.5 1.5260 3 3 3 3 3 1.5 1.5 1.5315 3 3 3 3 3 1.5 1.5 1.5365 3 3 3 3 3 1.5 1.5 1.25420 3 3 3 3 3 1.5 1.25 1
High output disabled (standard spec.) Lead 6Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 3 3 3 3 3 1.5 1.5 1.550 3 3 3 3 3 1.5 1.5 1.5
105 3 3 3 3 3 1.5 1.5 1.5155 3 3 3 3 3 1.5 1.5 1.5210 3 3 3 3 3 1.25 1.25 1.25260 3 3 3 3 3 1 1 1315 3 3 3 3 3 1 1 1365 2.5 2.5 2.5 2.5 2.5 1 1 0.75420 2 2 2 2 2 1 0.75 0.5
High output enabled (PowerCon spec.) Lead 4Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 5 5 5 5 4.5 2.5 2.5 2.535 5 5 5 5 4.5 2.5 2.5 2.570 5 5 5 5 4.5 2.5 2.5 2.5
105 5 5 5 5 4.5 2.5 2.5 2.5140 5 5 5 5 4.5 2.5 2.5 2.5175 5 5 5 5 4.5 2.5 2.5 2.5210 5 5 5 5 4.5 2.5 2.5 2.5245 5 5 5 5 4.5 2.5 2.5 2280 5 5 5 5 4.5 2 2 1.75
High output disabled (standard spec.) Lead 4Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 5 5 5 5 4.5 2.5 2.5 2.535 5 5 5 5 4.5 2.5 2.5 2.570 5 5 5 5 4.5 2.5 2.5 2.5
105 5 5 5 5 4.5 2.5 2.5 2.5140 4.5 4.5 4.5 4.5 4 2.25 2.25 2.25175 4.5 4.5 4.5 4.5 4 2 2 2210 4 4 4 4 3.5 2 2 2245 4 4 4 3.5 3 2 2 1.5280 3.5 3.5 3.5 3 2.5 1 1 0.75
High output enabled (PowerCon spec.) Lead 2Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 8 8 7 6 5 3.5 3.5 3.515 8 8 7 6 5 3.5 3.5 3.535 8 8 7 6 5 3.5 3.5 3.550 8 8 7 6 5 3.5 3.5 3.570 8 8 7 6 5 3.5 3.5 3.585 8 8 7 6 5 3.5 3.5 3.5
105 8 8 7 6 5 3.5 3.5 3.5120 7 7 6 6 5 3 3 2.5140 6 6 6 5 5 2.5 2.5 2
High output disabled (standard spec.) Lead 2Orientation Horizontal VerticalSpeed(mm/s)
Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0 8 8 7 6 5 3.5 3.5 3.515 8 8 7 6 5 3.5 3.5 3.535 8 8 7 6 5 3.5 3.5 3.550 8 8 7 6 5 3.5 3.5 3.570 7.5 7 6 5 4.5 3.25 3.25 3.2585 7.5 7 6 5 4.5 3 3 3
105 7 6.5 6 5 4.5 2.5 2.5 2120 6.5 6 5 4.5 4 2 2 1.5140 5.5 5 4.5 4 3.5 1.5 1.5 1
(Note) MSEP-C/LC is available for high output only if “High-Output Speci�cation” (PowerCon) is selected in the options.
2DCAD2D
CAD
9
PCON-CA
MSEL-PC/PG
MSEP-CMSEP-LC
Position Controller for RCP5/RCP4 (Supporting PowerCon)/RCP3/RCP2
4-axis Program Controller for RoboCylinder
Position Controller for RoboCylinder, 8-axis Type
Position Controller with PLC Function for RoboCylinder, 6-axis Type
RCP4-SA3/RA3 RCP4CR-SA3 Applicable Controllers
Equipped with a high-output driver for RCP5/RCP4
Supporting battery-less absolute encoder
Upgraded maintainability with commonized PC board
Equipped with smart tuning feature, maintenance information and calendar feature
Max. number of positioning points: 768 points
* Refer to the catalog of “RCP4 Series / PCON-CA Controller” for details.
Equipped with a high-output driver for RCP5/RCP4
Supporting battery-less absolute encoder
Applicable for pulse motor / 24VAC servo motor / brushless DC servo motor
Available to have combined patterns
With PLC function (MSEP-LC)
Dedicated ladder program creating software "LC-LADDER" available
Max. number of positioning points: 256 points
* Refer to the catalog of "MSEP-C/LC Controller" for details.
Available to control 4 axes at maximum with pulse motor mounted RoboCylinder
Equipped with a high-output driver for RCP5/RCP4
Supporting battery-less absolute encoder
Number of programs: 255 points, Number of positions: 30000 points
Safety Category compliant (MSEL-PG)
Equipped with extension I/O slot
Small size with 130mm (W) x 195mm (H)
* Switchover of high-output setting between activate and inactivate is not available.
* Refer to the catalog of "MSEL-PC/PG Controller" for details.
10
[Horizontal Mount] [Horizontally Oriented Wall Mount]
dz dx dz dxOverhang Distance O Overhang Distance O
Allowable Load Mass in Vertical Mount
Document for Selection of Radial Cylinder RCP4-RA3C Allowable Load
Allowable Load Mass in Horizontal Mount
Because the Radial Cylinder is equipped with a built-in guide structure, a certain amount of load can be applied to the rod even without an external guide.Refer to the graphs below for the allowable load mass.Please note that it is necessary to apply an external guide feature when the operational condition exceeds the allowable load.
Relative Graph for Pressing Force and Current LimitThe pressing force in the pressing operation can be changed with
the current limit (20% to 70%) on the controller.
It is necessary to control the pressing force so the reaction moment
generated by the pressing force in the pressing operation would
not exceed 80% of the rated moment (M
catalog when pressing operation is conducted with the Slider Type.
Refer to the instruction manual for the details of how to select.
2.0
1.5
1.0
0.5
0.00 50 100 150 200 250 300
Stroke (mm)
2.0
1.5
1.0
0.5
0.00 50 100 150 200 250 300
Stroke (mm)
RCP4-RA3 Allowable Load Mass in Vertical Mount
12
10
8
6
4
2
0
Distance of Eccentricity (mm)
0 10 20 30 40 50 60 70 80 90 100
dxDistance of Eccentricity Distance of Eccentricity
dy
* 30% to 70% for Lead 16 of RCP4-RA3
Allo
wab
le L
oad
Mas
s (k
g) Overhang Distance 0mm
Overhang Distance 50mm
Overhang Distance 100mm
Overhang Distance 0mm
Overhang Distance 50mm
Overhang Distance 100mm
Allo
wab
le L
oad
Mas
s (k
g)A
llow
able
Loa
d M
ass
(kg)
RCP4-RA3 Lead 2.5
RCP4-RA3 Lead 5
RCP4-RA3 Lead 10
RCP4-RA3 Lead 16
RCP4(CR)-SA3 Type
0
50
250
200
150
100
8020 40 600Current Limit (%)
RCP4-RA3 Type
0
50
250
200
150
100
8020 40 600Current Limit (%)
Pres
sing
For
ce (N
)
Pres
sing
For
ce (N
)
Lead 2
Lead 4
Lead 6
Lead 2.5
Lead 5
Lead 10
Lead 16
Criteria for Selection
Modelnumber
CB-CAN-MPA Integrated Motor-Encoder Cable for RCP4-SA3/RA3/RCP4CR-SA3CB-CAN-MPA-RB Integrated Motor-Encoder Robot Cable
* Please indicate cable length (L) in , maximum 20m. e.g.) 080 = 8m *Refer to the RCP5 individual catalog for details.
Maintenance Parts
IAI Industrie r oboter GmbH Ober der Röth 4
D-658 2 4 Schwalb a ch / Frankfurt Germany
T el.:+49- 6 1 96-8895-0 Fax:+49- 6 1 96-8895- 2 4
E-Mail: [email protected] Inte r net: http://ww w .eu.IAI-GmbH.de
The information contained in this catalog is subject to change without notice for the purp ose
of product inprovement
IAI, the IAI-logo, RoboCylinder™, the RoboCylinder™-logo, Intel ligentActuator™ and the IntelligentActuator™-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA, China,Thailand or Germany
IAI America, Inc. 2690 W. 237th Street, Torrance, CA 90505, U.S.APhone: +1-310-891-6015, Fax: +1-310-891-0815
IAI (Shanghai) Co., LtdShanghai Jiahua Business Centee A8-303.808,Hongqiao Rd., Shanghai 200030, China Phone: +86-21-6448-4753, Fax: +86-21-6448-3992
IAI CORPORATION645-1 Shimizu Hirose, Shizuoka 424-0102, JapanPhone: +81-543-64-5105, Fax: +81-543-64-5182
IAI Robot (Thailand) Co., Ltd825 PhairojKijja Tower 12th Floor, Bangna-Trad RD.,Bangna, Bangna, Bangkok 10260, ThailandPhone: +66-2-361-4457, Fax: +66-2-361-4456
RCP4/RCP4CR SeriesSmall Slider / Rod TypeCatalogue No. 0215-E