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

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2 The all-new RCP 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-loop stepper motor. It provides a degree of performance, rigidity and functionality that places it among the top in the industry, and adopts a universal design that ensures effortless operation for everyone. The new ROBO Cylinder achieves enhanced ease of use by incorporating characteristics such as quiet operation, superior maintainability and multi-point positioning, which covers up to points. Use the new ROBO Cylinder to improve the efficiency of your multiple-type, small-volume production or solve various issues associated with your production line. Space-saving design Approx. half the volume Triple load capacity Complex controls Multiple-type production Inspection device for automotive-parts screws Caulking of caps Complex movements can be performed swiftly, thanks to -point positioning (maximum). A significantly compact controller saves installation space for the control panel. The 7mm-wide slider model offers a larger load capacity. The new controller achieves multi-point positioning covering up to points, thus enabling more complex movement. Additionally, speed change is now possible while the slider/rod is moving. The new, slim controller is W x H x D. (mm), which is approximately half that of a conventional type (RCP-C) in volume. The compact body saves installation space. A new model with a 7mm-wide aluminum base has been added to the slider lineup. This model nearly triples the load capacity of the widest conventional model (mm). Save up to 7% in operating costs over air cylinders! Think air cylinders are inexpensive? Consider the amount of electricity required to run the compressors that drive the air cylinders. Because the ROBO Cylinder is an electric actuator, relative power consumption is roughly / compared to that needed to operate air cylinders. Reduced electrical consumption not only reduces operating costs, but also contributes to global energy conservation and that's good for everyone!

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

4 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 lin de r S e r ie s Operation pattern P os itioning Operation T he R OB O C ylinder moves the load installed on the axis slider or rod and performs positioning with a repeatability of 0.0mm. Used for opening/closing of a door Used for pick & place applications Example of operation 00mm/sec Application T ransferring or moving work, etc. F eatures Multi-point positioning covering a maximum of points S peed and acceleration/deceleration rates can be set for each position. A positioning-completion signal can be output at an arbitrary position before a specified position simply by setting an appropriate positioning width. Acceleration and deceleration rates can be set separately. S peed can be changed during movement without stopping. S peed 00mm/sec S tationary T ime P os ition-data Table (S et by the teaching pendant or P C software) P osition S peed Acceleration/ Acceleration deceleration P ush motion Positioning width only MA (mm) (mm/sec) (G ) (%) (mm) (0or) Position Position j k m Input of position Input of start signal (S tart of movement) o p q Input of position Accelerating Accelerating j k m o p q Input of start signal (S tart of movement) Decelerating Output of positioningcompletion signal Output of positioningcompletion signal Decelerating C ompletion of movement C ompletion of movement 0 0 Operation pattern Inc remental Moves T he R OB O C ylinder performs positioning based on coordinates specified with respect to origin, or travels an arbitrary distance relative to the current position. R aising/lowering a stocker F eeding the work in a marking process Example of operation 00mm/sec S peed S tationary T ime j k Application R aising/lowering of a stocker, pallet transfer, etc. Position number Position 0 Coordinate 0 Position Coordinate 00 Position m Coordinate F eatures P ositioning to points or more at a constant pitch is enabled by specifying repeated travel. (Movement can be initiated for as many times as possible within the stroke range.) The desired pitch is easily specified using the position-data table. j Input of position Input of start signal (Positioning mode) k C ompletion of movement to position (00mm position) Input of position Input of start signal mm (P itch F eed mode) m Movement by mm is repeated each time position is specified and the start signal is input P os ition-data T able (S et by the teaching pendant or P C software) A = is indicated during Incremental Move mode. Position S peed Acceleration/ deceleration P ush motion Positioning width Acceleration only MA 0 0

5 Operation pattern P us h & Hold Operation With 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 ressing the rod against the work Affixing a work Example of operation S peed S tationary T ime 00mm/sec j Accelerating k Decelerating Position Coordinate 00 m Work Positioning width: 0 * If the work is still not contacted at the end of the positioning width, the positioning-completion signal will not be output. Application Detection, press-fitting or clamping of work, etc. F eatures A positioning-completion signal 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 positioning-completion signal with zone signals. T he force to push the work (push force) can be changed over a range from several to a maximum of 00 by changing the setting in the position-data table. P aus e Input Push force in stationary state () Low-speed type C urrent-limiting value (R MA type) Medium-speed type Y ou can set an interlock (interference prevention) with peripheral equipment to cause the slider to decelerate and stop the moment the pause input turns OF F. When the pause input turns O, the operation will res ume to complete the remaining movements. F or s afety reasons, this signal uses contact B logic (the slider operates when the signal turns OF F ). Example of operation T he slider decelerates to a stop upon the input of an external signal High-speed type j k m Input of position C a u t io n P osition S peed Acceleration/ P ositioning width deceleration P ush motion Acceleration only MA (mm) (mm/sec) (G ) (%) (mm) (0 or) 00 Input of start signal (S tart of movement) P os ition-data Table (S et by the teaching pendant or P C software) 00 Zone Output A signal is output when the slider enters the specified range. 0. S topping upon contact with work (Work remains pressed at the specified push force) T he accuracy of push force is not guaranteed in the stationary state. 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 slide resistance, etc. A signal can be output at arbitrary positions during movement (the range of positions being set by parameter), so the R OB O C ylinder can be used to set a danger area, shorten the tact time, etc. Example of operation F orward movement at low speed without stopping 0 0 Output of positioningcompletion signal 0 Pause input signal Zone output signal k k S peed T ime S tationary Accelerating Decelerating Accelerating Decelerating j m P ause signal input OF F S peed T ime S tationary Accelerating j S pecified zone-signal output range Decelerating m j k m Input of position Input of start signal (S tart of movement) Deceleration to stop at pause OFF R esumption of movement at pause O C ompletion of movement Output of positioningcompletion signal j Input of position Input of start signal (S tart of movement) k Zone signal O on entry into specified range m Zone signal OF F on exit from specified range C ompletion of movement Output of positioningcompletion signal The acceleration and deceleration rates can be s et s eparately. T he acceleration and deceleration rates of the R OB O C ylinder are set using the position-data table. ormally the R OBO Cylinder accelerates/decelerates at the specified rate, but setting "" under "Acceleration only MA" enables quick acceleration and gradual deceleration. Accelerating Decelerating o micro-vibration at s top (R C P S eries ) T here is no micro-vibration, which is experienced by conventional servo motors in the action of stopping. T his makes the R OB O C ylinder ideal for measurement in tandem with an attached camera, etc. C onventional AC servo R OB O C ylinder S peed T ime S tationary P os ition-data Table (S et by the teaching pendant or P C software) Maximum acceleration by load P osition S peed Acceleration/ P ositioning width Acceleration deceleration (mm) (mm/sec) (G ) (%) (mm) P ush motion only MA (0 or) * If "Acceleration only MA" is set to "0" the setting under "Acceleration/deceleration" will apply to both acceleration and deceleration. Decelerates at the value set under Acceleration/deceleration". Hunting Stops immediately

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8 R OB O C ylinder S eries S tandards Actuator R C P -R MA-I-P M P - M-F T S eries R C P S A S A S A7 S S S M S S R S MR R A R S A R MA Type E ncoder type I: Incremental Motor Lead (mm) S troke (mm) Applicable controller P M: P ulse motor,,,,,,,, 0, 0,,, 0, 0,,. 0,,.,, 0~00 0~00 00~00 00~00 00~000 00~00 00~000 0~00 0~00 0~00 R C P -C -R MA -I-P M-O-P P : R C P -C R C P -C G C able length Length specification R obot cable (ote ) T he stroke is set in 0mm increments for S A, S A, R A, R S A and R MA, and in 00mm increments for S A7, S S, S M, S S R and S MR. (ote ) Depending on the type, not all options may be applicable. F or details, refer to the page showing the specifications for each type. C ontroller Option B : B rake BE : Brake (front) BL: Brake (left) B R : B rake (right) F L: F lange F T : F oot bracket M: R eversed origin R : Inverse motor-reversing direction S eries R C P C ontroller type Actuator type E ncode type Motor P ower-supply voltage I/O signal format C : Internal drive-power cutoff relay CG: E xternal drive-power cutoff relay S A, S A, S A7 S S, S M, S S R, S MR R A, R S A, R MA I: Incremental P M: P ulse motor O: V DC ot specified: P P : P P E xplanation of S pec ific ation Items for A c tuator (R efer to page for the s pec ific ation items for the c ontroller model.) S eries T ype Indicate the name of each series. Indicate the shape (slider, rod, etc.), size (S A, R A, etc.), function (dustproof/splash-proof, etc.) and guide category. E ncoder type Indicate whether the encoder installed in the actuator should be an absolute type or an increment type. I: Inc rement type S lider position data will be lost when the power is turned off, so origin return is required each time the power is turned on. A : A bs olute type T his setting is not available with the R C P. Motor P M: P ulse motor Lead Travel distance per revolution of the ball screw. S troke Indicate the actuator stroke (range of operation). (Unit: mm) C able length Indicate the length of motor/encoder cables used for connecting the actuator and controller. 7 9 Option Indicate the option(s) to be installed on the actuator. * When selecting multiple options, specify them in alphabetical order (e.g., B -FL-M). B : B E, B L, B R : F L : F T : M : R : [B rake] A brake for preventing the slider 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 A, S A or S A7 slider whose brake cable must be wired outside the actuator. [F lange] A flange for mounting the rod type actuator with a clearance (see page ) [F oot bracket] A foot bracket for mounting the rod type actuator from above using bolts (see page ) [R eversed-origin specification] ormally the origin is set on the motor side. E nter this option to specify the origin on the counter-motor side (not available with the rod type). [Inverse motor-reversing direction] E nter this option for the motor-reversing type to specify the inverse direction for the reversing of the motor.

9 R OB O C ylinder S eries S ys tem C onfiguration C ontroller S ys tem C onfiguration Diagram E quipment provided by user Host system <P LC > P C P E R S OA L C OMP UT E R I/O flat cable Cable length: m S tandard accessory * R efer to pages and for the emergency-stop circuit. E mergency-stop switch and wiring m or m E xternal connection unit < R C B -0-> < R C B -0-> 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.) m (R efer to page.) PC software < R CB -0-MW> T his software facilitates the creation and input of position data, as well as actuator operation (test operation), using a P C. Power-supply voltage V 0V F G C ontroller <R CP-C> <R CP-CG> Motor cable < CB -R CP-MA > S tandard: m/m/m (S ee the table below.) Teaching pendant < R CA-T /TD> < R CA-E> < R CA-P> T his pendant facilitates the input of position data and actuator operation (test operation). Lead wire 0.m (R efer to page.) Actuator <R CP> E ncoder cable < CB -R CP-PA > < CB -R CP-PA -R B> S tandard: m/m/m (S ee the table below.) m C ontroller Options T able C ontroller Options T eaching P endant (OT E ) Actuator, controller and standard accessories Item Description P age Teaching Pendant (Deadman S witch S pecification) (OTE ) S imple Teaching Pendant (OT E ) Data S etting Unit (OT E ) P C S oftware (OT E ) E xternal Connection Unit C ontroller S pare P arts Motor C able R C A-T R C A-T D R C A-E R C A-P R C B -0-MW R C B -0-() Item Description P age CB -R CP-MA P osition 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 exclusively for data input (cannot be used for actuator operation) P osition data input, actuator test operation, etc. Options S erial communication cable unit (external equipment communication cable + R S conversion adapter) (ote ) A product of an earlier version cannot be used with the R C P. Upgrade the version as necessary. (ote ) If you are currently using P C S oftware for the R C P (R C A-0-MW), the software can be used continuously after a proper version upgrade. T he shape of R C B -0-MW s R S conversion adapter has changed from that of the adapter used with R CA-0-MW, but functionality remains the same. Motor power cable (for controller and actuator connection) E nter the cable length in. E xample) 00 = m (maximum length: 0m) * T he standard motor cables are robot types. P E ncoder C able E ncoder R obot C able CB -R CP-PA CB -R CP-PA -R B E ncoder signal cable (for controller and actuator connection) E nter the cable length in. E xample) 00 = m (maximum length: 0m) Highly flexible encoder cable P 7 I/O F lat C able CB -R CA-PIO00 P arallel communication cable (for P LC and controller connection) o connector on P LC end E xternal E quipment C ommunication C able CB -R CA-S IO00(00) S erial communication cable *Used with an R S conversion adapter R S Conversion Adapter R C B -C V -MW Adapter for converting R S communication signals to R S communication signals

10 R OB O C ylinder S eries P oints to ote otes on C atalog S pecifications <C ommon to all models> S pe e d 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 decelerating to s top at the target pos ition. <C aution> () T he maximum speed of the R C P S eries will vary according to the weight of the slider load (rod, arm). S elect an appropriate model by referring to C orrelation Diagrams of S peed and Load C apacity on pages 0 and. () The time needed to reach the specified speed will vary according to the acceleration (deceleration) rate. () If the travel distance is short, the specified speed may not be reached. () With a long-stroke axis, the maximum speed will drop to avoid reaching a dangerous speed. (If you are using a stroke of 00mm or longer, check the maximum speed for the applicable stroke in the corresponding dimensional drawing.) () When calculating the travel time, consider acceleration, deceleration and stabilization periods in addition to the travel time at the specified speed. () S peed can be set in increments of mm/sec. in position data. 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 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.G = 90mm/s ec ). <C aution> () Increasing 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. () T he rated acceleration rate is 0.G (or 0.G if the lead is., or, or in the case of a vertical application). (T he load capacity is set based on the rated acceleration rate.) () If the R OBO Cylinder is operated at an acceleration (deceleration) rate exceeding the rated acceleration rate, its life may be significantly reduced or breakdown may occur. B e sure to use an acceleration rate not exceeding the rated acceleration rate, or use a single-axis robot of the high-acceleration/deceleration type. (The IS P S eries supports the maximum acceleration rate of G.) Increasing the acceleration (deceleration) rate will decrease the load capacity from the level corresponding to the rated acceleration rate. () Acceleration rate can be set in increments of 0.0G in position data. P o s it io n in g R e pe a t a bilit y 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. O r igin The origin is s et on the motor s ide for the s tandard s pecification, or on the counter-motor s ide for the revers ed-origin s pecification. <C aution> () The incremental actuator always requires origin return each time the power is reconnected. () During origin return the slider (or rod) will move to the mechanical end before reversing, so be careful to prevent contact with surrounding parts L o a d M o m e n t /L ife E ac h load moment is c alc ulated bas ed on an as s umed dis tanc e of,000km for S A, S A and S A 7 or 0,000km 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 9 O v e r h u n g L o a d L e n g t h 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.

11 Correlation Diagrams of Speed and Load Capacity RCP Slider Type Selection of horizontal or vertical installation Precaution for use Selection of speed type based on equipment cycle time 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. Load moments Ma, Mb and Mc must be within the specified range of load moment. Maximum speed Select a desired type that meets your purpose by referring to the diagrams for speed and load capacity below. Horizontal installation Overhung load length The specified value applies when the load's center of gravity is L/. If the load extends in the direction of Ma, Mb or Mc, keep within the specified range. Vertical installation High-speed type Load capacity (kg) Speed (mm/sec) Load capacity (kg) Speed (mm/sec) Medium-speed type Load capacity (kg) Speed (mm/sec) Load capacity (kg) Speed (mm/sec) Low-speed type Load capacity (kg) Load capacity (kg) Speed (mm/sec) Speed (mm/sec) (ote) The number shown after the type in the above graphs indicates the lead specification. 0

12 R od T ype P ositioning Operation Maximum speed S elec tion of horizontal or vertic al applic ation S elec tion of s peed type bas ed on equipment c yc le time S elect a desired type that meets your purpose by referring to the diagrams for speed and load capacity below. Horizontal application(ote P recaution for use T he rod type only considers 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 stroke of 0mm or 00mm. 0mm stroke(lead 0: mm/sec., lead : 7mm/sec., lead.: mm/sec.) 00mm stroke(lead 0: 0mm/sec., lead : 7mm/sec., lead.: 7mm/sec.) V ertical application(ote High-s peed type Load capacity (kg) S peed (mm/sec) Load capacity (kg) S peed (mm/sec) Medium-speed type Load capacity (kg) Load capacity (kg) S peed (mm/sec) S peed (mm/sec) Low-s peed type Load capacity (kg) Load capacity (kg) S peed (mm/sec) S peed (mm/sec) (ote) The number shown after the type in the above graphs indicates the lead specification. (ote ) The horizontal application assumes the use of an external guide. (ote ) 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%.

13 C orrelation Diagrams of P us h F orce and C urrent-l imiting V alue 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. P recaution for use The relationships of push force and current-limiting value are provided for reference only. The actual figures may vary slightly. If the current-limiting value is under 0%, the push force may become subject to fluctuation. T herefore, set the current-limiting value to 0% or more. R A type R S A type R MA type High-s peed type Push force () C urrent-limiting value (%) C urrent-limiting value (%) Push force () Medium-speed type Push force () Push force () C urrent-limiting value (%) C urrent-limiting value (%) C urrent-limiting value (%) Push force () Low-s peed type Push force () Push force () Push force () C urrent-limiting value (%) C urrent-limiting value (%) C urrent-limiting value (%) (ote) The number shown after the type in the above graphs indicates the lead specification.

14 RCP-SA R Type S lider (mm wide) S troke 0~00mm OBO Cylinder S lider Type: Unit Width mm, Pulse Motor, S traight S hape Load capacity kg (horizontal)/.kg (vertical) details S eries T ype E ncoder type Motor Lead S troke Applicable controller Cable length Options (E xample) RCP - SA - I - PM P - S - BE /S pecifications * T he maximum speed limit of the R C P S eries will vary according to the weight of the load on the slider (rod). R efer to C orrelation Diagrams of S peed and Load C apacity on pages 0 and. R C P -S A-I-P M-- -P - - *** R C P -S A-I-P M-- -P - - *** R C P -S A-I-P M-- -P - - *** E ncoder type Incremental Lead (mm) S troke 0mm increments (mm) 0~00 S peed (mm/s) 0~00 ~00 ~0 Load capacity (ote ) Horizontal (kg) Vertical (kg).. P ositioning repeatability (mm) ±0.0 * In the above model names, *** indicates the stroke, the cable length and the applicable options. Options Common S pecifications ame Brake (C able exiting the end) Brake (C able exiting from the left) Brake (C able exiting from the right) R eversed-origin specification B E B L B R M P age P P P P Drive system B acklash G uide Allowable load moment (ote ) Overhung load length B ase C able length (ote ) Ball screw øf0mm, rolled C 0 0.mm or less Integrated with base Ma:.9 m Mb:. m Mc:.7 m Ma direction: 0mm or less, Mb/Mc directions: 0mm or less Material: Aluminum with white alumite treatment : o cable, P: m, S: m, M: m, : Length specification, R : Robot cable Dimensions *With the reversed-origin specification, the specification on the motor side (distance to the origin) and that on the counter-motor side are reversed ME.7 S E (.) S troke 0 -M, depth 9 L øfh0, depth Origin ME * (.) 9 (0) A minimum of 00 is required. C able joint connector * øfh0, depth D-M, depth 7 E -øf. through,ø counterbore depth. (from opposite side) 0. 0 or more Brake Dimensions BR : Brake cable exiting from the right BE : Brake cable exiting the end. BL: Brake cable exiting from the left ME S E (.) C 00 P A *. C onnect the motor/encoder cables. R efer to page 7 for details on the cables. ME : Mechanical end S E : S troke end 0 0 R eference dimensions are shown in B 00 P parentheses. *. During origin return the slider will move to the ME, so be careful to prevent contact with surrounding parts. Dimensions, Weight and Maximum S peed by S troke S troke L A B C 0 0 D 0 0 E 0 0 Weight (kg) Maximum Lead speed Lead (mm/s) Lead Applicable Controller S pecifications Applicable C ontroller R C P -C R C P -C G Maximum number of controlled axes axis axis C ompatible encoder type Incremental P rogram operation P ositioner P ulse-train Power-supply operation control voltage O O V DC P age P P C aution (ote ) Load capacity at the rated acceleration rate (R efer to page 9.) (ote ) Mc moment will become 7. m with a stroke of 0mm or longer. (ote ) The maximum cable length is 0m. Specify the desired length in meters (e.g., 0 = m). * R efer to page 9 for other points to note.

15 RCP-SA R Type S lider (mm wide) S troke 0~00mm OB O C ylinder S lider T ype: Unit Width mm, P ulse Motor, S traight S hape Load capacity kg (horizontal)/kg (vertical) details S eries T ype E ncoder type Motor Lead S troke Applicable controller Cable length Options (E xample) RCP - SA - I - PM P - S - BE /S pecifications * T he maximum speed limit of the R C P S eries will vary according to the weight of the load on the slider (rod). R efer to C orrelation Diagrams of S peed and Load C apacity on pages 0 and. R C P -S A-I-P M-- -P - - *** R C P -S A-I-P M-- -P - - *** R C P -S A-I-P M-- -P - - *** E ncoder type Incremental Lead (mm) S troke 0mm increments (mm) 0~00 S peed (ote ) (mm/s) 0~00 ~00 ~0 Load capacity (ote ) Horizontal (kg) Vertical (kg).~ ~. ~ P ositioning repeatability (mm) ±0.0 * In the above model names, *** indicates the stroke, the cable length and the applicable options. Options Common S pecifications ame P agepage Drive system Brake (C able exiting the end) B E P B acklash Brake (C able exiting from the left) B L P G uide Brake (C able exiting from the right) B R P Allowable load moment R eversed-origin specification M P Overhung load length B ase C able length (ote ) Ball screw fø0mm, rolled C 0 0.mm or less Integrated with base Ma:.9 m Mb:.7 m Mc:. m Ma/Mb/Mc directions: 0mm or less Material: Aluminum with white alumite treatment : o cable, P: m, S: m, M: m, : Length specification, R : Robot cable Dimensions *With the reversed-origin specification, the specification on the motor side (distance to the origin) and that on the counter-motor side are reversed ME.7 S E (.) S troke -M, depth 9 -øfh0, depth 0 L 9 Origin ME * (.) (0) A minimum of 00 is required. C able joint connector * 9. E -øfh0, depth D-M, depth 9 F -øf. through, øf counterbore depth. (from opposite side).... Brake Dimensions more 0 or. BR : Brake cable exiting from the right B E : B rake cable exiting the end B L: B rake cable exiting from the left ME S E (.) *. C onnect the motor/encoder cables. R efer to page 7 for details on the cables. ME : Mechanical end B 00 S E : S troke end P R eference dimensions are shown in C 00 P 00 0 parentheses. A 7 9. *. During origin return the slider will move to the ME, so be careful to prevent contact with surrounding parts. Dimensions, Weight and Maximum S peed by S troke S troke L A B C D E F Weight (kg) Maximum speed (mm/s) Lead Lead Lead Applicable Controller S pecifications Applicable C ontroller R C P -C R C P -C G Maximum number of controlled axes axis axis C ompatible encoder type Incremental P rogram operation P ositioner P ulse-train Power-supply operation control voltage O O V DC P age P P C aution (ote ) A longer stroke 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.) (ote ) Load capacity at the rated acceleration rate (R efer to page 9.) (ote ) The maximum cable length is 0m. Specify the desired length in meters (e.g., 0 = m). * R efer to page 9 for other points to note.

16 0 RCP-SA7R OBO Cylinder S lider Type: Unit Width 7mm, Pulse Motor, S traight S hape Type S lider (7mm wide) S troke 00~00mm Load capacity 0kg (horizontal)/kg (vertical) details S eries T ype E ncoder type Motor Lead S troke Applicable controller Cable length Options (E xample) RCP - SA7 - I - PM P - S - BE /S pecifications * T he maximum speed limit of the R C P S eries will vary according to the weight of the load on the slider (rod). R efer to C orrelation Diagrams of S peed and Load C apacity on pages 0 and. R C P -S A7-I-P M-- -P - - *** R C P -S A7-I-P M-- -P - - *** R C P -S A7-I-P M-- -P - - *** E ncoder type Incremental Lead (mm) S troke 00mm increments (mm) 00~00 S peed (ote ) (mm/s) 0~ ~ ~ Load capacity (ote ) Horizontal (kg) Vertical (kg) ~7 ~0. 0~0 0~. 0 ~ P ositioning repeatability (mm) ±0.0 * In the above model names, *** indicates the stroke, the cable length and the applicable options. Options ame Brake (C able exiting the end) Brake (C able exiting from the left) Brake (C able exiting from the right) R eversed-origin specification Common S pecifications Page Drive system B E P B acklash B L P G uide B R P Allowable load moment M P Overhung load length B ase C able length (ote ) Ball screw øfmm, rolled C 0 0.mm or less Integrated with base Ma:.9 m Mb: 9.9 m Mc:. m Ma/Mb/Mc directions: 0mm or less Material: Aluminum with white alumite treatment : o cable, P: m, S: m, M: m, : Length specification, R : Robot cable Dimensions *With the reversed-origin specification, the specification on the motor side (distance to the origin) and that on the counter-motor side are reversed. ME M, depth 0 -øfh0, depth 0 0 L S troke 9 S E Origin ME * (.) () (0) A minimum of 00 is required. C able joint connector * or Brake Dimensions more BR : Brake cable exiting from the right B E : B rake cable exiting the end B L: B rake cable exiting from the left E -øfh0, depth ME S E (.) D-M, depth 9 0 B 00 P C 00 P A F -øf through, øf9. counterbore depth. (from opposite side) Dimensions, Weight and Maximum S peed by S troke L A B C D E F Weight (kg) Maximum speed (mm/s) S troke Lead Lead Lead 7 7. *. C onnect the motor/encoder cables. R efer to page 7 for details on the cables. ME : Mechanical end S E : S troke end R eference dimensions are shown in parentheses. *. During origin return the slider will move to the ME, so be careful to prevent contact with surrounding parts Applicable Controller S pecifications Applicable C ontroller R C P -C R C P -C G Maximum number of controlled axes axis axis C ompatible encoder type Incremental P rogram operation P ositioner P ulse-train Power-supply operation control voltage O O V DC P age P P C aution (ote ) A longer stroke 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.) (ote ) Load capacity at the rated acceleration rate (R efer to page 9.) (ote ) The maximum cable length is 0m. Specify the desired length in meters (e.g., 0 = m). * R efer to page 9 for other points to note.

17 ±

18 ±

19 RCP-SSR R T ype S lider (0mm wide), motor-reversing S troke 00~00mm OB O C ylinder S lider T ype with Iron B ase: Unit Width 0mm, Pulse Motor, Motor-R eversing S hape Load capacity 0kg (horizontal)/0kg (vertical) details S eries T ype E ncoder type Motor Lead S troke Applicable controller Cable length Options (E xample) RCP - SSR - I - PM P - S - B /S pecifications * T he maximum speed limit of the R C P S eries will vary according to the weight of the load on the slider (rod). R efer to C orrelation Diagrams of S peed and Load C apacity on pages 0 and. R C P -S S R -I-P M-- -P - - *** R C P -S S R -I-P M-- -P - - *** R C P -S S R -I-P M-- -P - - *** E ncoder type Incremental Lead (mm) S troke 00mm increments (mm) 00~00 S peed (ote ) (mm/s) 0~00 (0) ~0 ~0 Load capacity (ote ) Horizontal (kg) Vertical (kg) 0~. ~0. 0~. ~0. 0~0 0~. P ositioning repeatability (mm) ±0.0 * In the above model names, *** indicates the stroke, the cable length and the applicable options. Options Common S pecifications ame B rake Inverse motor-reversing direction R eversed-origin specification B R M P age P P P Drive system B acklash G uide Allowable load moment Overhung load length B ase C able length (ote ) Ball screw øf0mm, rolled C 0 0.0mm or less Integrated with base Ma:.7 m Mb:.7 m Mc:. m Ma/Mb/Mc directions: 00mm or less Material: S pecial alloy steel : o cable, P: m, S: m, M: m, : Length specification, R : Robot cable Dimensions *With the reversed-origin specification, the specification on the motor side (distance to the origin) and that on the counter-motor side are reversed. (.7) (.) 0 () M.E. S.E. -øfh0, depth (A) S (S troke) 9 *. C onnect the motor/encoder cables. R efer to page 7 for details on the cables. 0 0 (L) C able joint connector * -M, depth0 (0) (7) () 0 (7) Origin 9 M.E. * (.7) (.) 0 () *. During origin return the slider will move to the ME, so be careful to prevent contact with surrounding parts. 0 ME : Mechanical end S E : S troke end R eference dimensions are shown in parentheses. 0 Brake Dimensions 7. -øfh0, depth * T he brake cable is routed inside the actuator and is connected to the motor cable. 00 B 00 D-M, depth 00 P C 00 P. Dimensions, Weight and Maximum S peed by S troke S troke L A B C D Weight (kg) Maximum speed (mm/s) (ote ) Lead Lead Lead (0) (0) 0 0 Applicable Controller S pecifications Applicable C ontroller R C P -C R C P -C G Maximum number of controlled axes axis axis C ompatible encoder type Incremental P rogram operation P ositioner P ulse-train Power-supply operation control voltage O O V DC P age P P C aution (ote ) A longer stroke 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.) The figures in parentheses apply to a vertical application. (ote ) Load capacity at the rated acceleration rate (R efer to page 9.) (ote ) The maximum cable length is 0m. Specify the desired length in meters (e.g., 0 = m). * R efer to page 9 for other points to note.

20 RCP-SMR R T ype S lider (0mm wide), motor-reversing S troke 00~000mm OB O C ylinder S lider T ype with Iron B ase: Unit Width 0mm, Pulse Motor, Motor-R eversing S hape Load capacity kg (horizontal)/0kg (vertical) details S eries T ype E ncoder type Motor Lead S troke Applicable controller Cable length Options (E xample) RCP - SMR - I - PM P - S - B /S pecifications * T he maximum speed limit of the R C P S eries will vary according to the weight of the load on the slider (rod). R efer to C orrelation Diagrams of S peed and Load C apacity on pages 0 and. R C P -S MR -I-P M-0- -P - - *** R C P -S MR -I-P M-0- -P - - *** R C P -S MR -I-P M-- -P - - *** E ncoder type Incremental Lead (mm) 0 0 S troke 00mm increments (mm) 00~000 S peed (ote ) (mm/s) 0~00 () ~00 (0) ~ (0) Load capacity (ote ) Horizontal (kg) Vertical (kg) ~ ~0. ~ 9~0. ~. 0~0. P ositioning repeatability (mm) ±0.0 * In the above model names, *** indicates the stroke, the cable length and the applicable options. Options Common S pecifications ame B rake Inverse motor-reversing direction R eversed-origin specification B R M P age P P P Drive system B acklash G uide Allowable load moment Overhung load length B ase C able length (ote ) Ball screw øfmm, rolled C 0 0.0mm or less Integrated with base Ma:. m Mb:. m Mc: 77. m Ma/Mb/Mc directions: 0mm or less Material: S pecial alloy steel : o cable, P: m, S: m, M: m, : Length specification, R : Robot cable Dimensions *With the reversed-origin specification, the specifica tion on the motor side (distance to the origin) and that on the counter-motor side are reversed M.E. S.E. -øfh0, depth 0 (L) (A) S (S troke) M, depth 0 (70) (7 0 0 (7) Origin M.E. * () *. C onnect the motor/encoder cables. R efer to page 7 for details on the cables. 0 C able joint connector * (0) (7) () *. During origin return the slider will move to the ME, so be careful to prevent contact with surrounding parts. 0 Brake Dimensions øfh0, depth * T he brake cable is routed inside the actuator and is connected to the motor cable. 00 B P Dimensions, Weight and Maximum S peed by S troke D-M, depth 0 S troke L A B D Weight (kg) Maximum speed (mm/s) (ote ) Lead 0 Lead 0 Lead () 00(0) (0) ME : Mechanical end S E : S troke end R eference dimensions are shown in parentheses () Applicable Controller S pecifications Applicable C ontroller R C P -C R C P -C G Maximum number of controlled axes axis axis C ompatible encoder type Incremental P rogram operation P ositioner P ulse-train Power-supply operation control voltage O O V DC P age P P C aution (ote ) A longer stroke 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.) The figures in parentheses apply to a vertical application. (ote ) Load capacity at the rated acceleration rate (R efer to page 9.) (ote ) The maximum cable length is 0m. Specify the desired length in meters (e.g., 0 = m). * R efer to page 9 for other points to note. 9

21 /Specifications * The maximum speed limit of the RCP 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 0 and. Encoder type Lead (mm) Stroke (mm) (in 0mm increments) Speed (mm/s) Load capacity (ote ) Horizontal (kg) Vertical (kg) Maximum push force () Positioning repeatability (mm) ± * In the above model names, *** indicates the stroke, the cable length and the applicable options. Options ame Page With flange FL P With foot bracket FT P ote) The RA type is not available with a brake. Common Specifications Drive system Backlash Guide Rod diameter Rod on-rotative accuracy Base Cable length (ote ) ± Dimensions * Due to its structure, the rod type is not available in the reverse homing specification. Exercise caution. -M, depth 0 M (Width across flats) (0) Cable joint connector * *. Connect the motor/ encoder cables. Refer to page 7 for details on the cables.... ME (.) SE Home ST 7 ME* 9 L 90. A minimum of 00 is required.. 0. *. 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. Dimensions of supplied nut n-m, depth 7 M0. (9.) Dimensions, Weight and Maximum Speed by Stroke Stroke l L n Weight (kg) Max speed (mm/s) Lead Lead Applicable Controller Specifications Applicable Controller RCP-C RCP-CG axis axis Compatible encoder type Incremental Program operation Positioner operation Pulse-train control Power-supply voltage VDC Page P P Caution (ote ) Load capacity at the rated acceleration rate (Refer to page 9.) (ote ) The maximum cable length is 0m. Specify the desired length in meters (e.g., 0 = m). * Refer to page 9 for other points to note.

22 /Specifications Encoder type Lead (mm) * The maximum speed limit of the RCP 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 0 and. Stroke (mm) Speed (ote ) (in 0mm increments) (mm/s) Load capacity (ote ) Horizontal (kg) Vertical (kg) Maximum push force () Positioning repeatability (mm) ± * In the above model names, *** indicates the stroke, the cable length and the applicable options. Options Common Specifications Brake With flange With foot bracket ame Page Drive system B FL FT P P P Backlash Guide Rod diameter Rod on-rotative accuracy Base Cable length (ote ) ± Dimensions * Due to its structure, the rod type is not available in the reverse homing specification. Exercise caution (Width across flats) (0) Cable joint connector * 0. -M, depth M A Detailed View of A.. ME (.) SE ST Home ME* 9 Dimensions of supplied nut 7 M0. (9.) Dimensions, Weight and Maximum Speed by Stroke Stroke l L Weight (kg) Maximum speed (mm/s) Lead 0 Lead Lead (7). (.7) (07). () 0 <0> (7). (.) (07). (.) * The figures in parentheses apply to the brake type, while those in < > apply to a vertical application (7). (.7) (07). () L With Brake A minimum of 00 is required *. Connect the motor/ encoder cables. Refer to page 7 for details on the cables. *. 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. Applicable Controller Specifications Applicable Controller RCP-C RCP-CG Maximum number of controlled axes axis axis Compatible encoder type Incremental Program operation Positioner operation Pulse-train control Power-supply voltage VDC Page P P Caution (ote ) 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. (ote ) Load capacity at the rated acceleration rate (Refer to page 9.) (ote ) The maximum cable length is 0m. Specify the desired length in meters (e.g., 0 = m). * Refer to page 9 for other points to note.

23 /Specifications Encoder type Lead (mm) Stroke (mm) (in 0mm increments) Speed (mm/s) Load capacity (ote ) Horizontal (kg) Vertical (kg) Maximum push force () Positioning repeatability (mm) ± * In the above model names, *** indicates the stroke, the cable length and the applicable options. Options Brake With flange With foot bracket ame Page B FL FT P P P Common Specifications Drive system Backlash Guide Rod diameter Rod on-rotative accuracy Base Cable length (ote ) ± Dimensions * Due to its structure, the rod type is not available in the reverse homing specification. Exercise caution (Width across flats) (0) Cable joint connector * -M, depth 0 M. *. Connect the motor/ encoder cables. Refer to page 7 for details on the cables ME SE Home ME* (.) A ST Dimensions of supplied nut M. L With Brake. A minimum of 00 is required. *. 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 Detailed View of A (:) Dimensions, Weight and Maximum Speed by Stroke Stroke l L Weight (kg) Maximum speed (mm/s) Lead Lead Lead 0 0 (.). (.9) (7.). (.) (.) 0 0 (.). (.9) 0 <00> * The figures in parentheses apply to the brake type, while those in < > apply to a vertical application (7.). (.) 0 0 (.). (.9) (7.). (.) 7. Applicable Controller Specifications Applicable Controller RCP-C RCP-CG Maximum number of controlled axes axis axis Compatible encoder type Incremental Program operation Positioner operation Pulse-train control Power-supply voltage VDC Page P P Caution (ote ) Load capacity at the rated acceleration rate (Refer to page 9.) (ote ) The maximum cable length is 0m. Specify the desired length in meters (e.g., 0 = m). * Refer to page 9 for other points to note.

24 Actuator Options Installation Method Slider Type SA, SA, SA7 R emove the cover and affix from the front side using bolts. R C P -S A : øf. R C P -S A : øf. R C P -S A7 : øf SA, SA, SA7, SS, SM Affix from the reverse side using bolts. R CP-S A screw-hole specification: M, depth 7 R CP-S A screw-hole specification: M, depth 9 R CP-S A7 screw-hole specification: M, depth 9 R CP-S S screw-hole specification: M, depth R CP-S M screw-hole specification: M, depth 0 SSR, SMR Affix from the reverse side using bolts. R CP-S S R screw-hole specification: M, depth R CP-S MR screw-hole specification: M, depth 0 Rod Type RA, RSA, RMA Affix through the screw holes provided on the rod side. R CP-R A screw-hole specification: M, depth 0 R C P -R S A screw-hole specification: M, depth R CP-R MA screw-hole specification: M, depth RA, RSA, RMA (F oot bracket specification) Affix from above using bolts. R CP-R A foot-bracket specification: øf. R CP-R S A foot-bracket specification: øf. R CP-R MA foot-bracket specification: øf9 RA, RSA, RMA (F lange specification) Affix from the actuator side using bolts. R CP-R A flange specification: øf. R C P -R S A flange specification: øf. R CP-R MA flange specification: øf9 RA, RSA, RMA Affix from the reverse side using bolts. R CP-R A screw-hole specification: M, depth R C P -R S A square-nut insertion: M (T -groove depth.) R CP-R MA square-nut insertion: M (T -groove depth 0.)

25 Actuator Options Brake Explanation 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 dead weight when the servo or power is turned off. Remarks With the SA, SA 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 near the 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. Reverse Homing Specification BE, BL, BR (SA, SA, SA7 types) B (Other types) M Explanation ormally 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. Remarks The rod type is not available in the reverse homing specification due to its structure. Exercise caution. Inverse Motor-Reversing Direction Explanation Foot Bracket Explanation R The reversing direction of the motor for the motor-reversing type actuator (SSR, SMR) is set to the inverse direction. FT 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 bottom of the actuator, it can be adjusted in the length direction to a certain degree. (In the RA type the bracket is installed using tapped holes.) Refer to the drawings below for the dimensions of each actuator with a foot bracket. RA 0 -φ. drilled through RSA 0 Foot Bracket Specification (Specify "FT" after the actuator model.) Affix from above using bolts. -φ. drilled through RMA -φ9 drilled through T-groove range T-groove range Flange Explanation FL 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 a flange. Flange Specification (Specify "FL" after the actuator model.) Affix from the actuator side using bolts. RA RSA RMA -φ. drilled through -φ. drilled through -φ9 drilled through

26 B K R DY R U ALM P OR T O R IS P IO AD/R S OF F S IO E C OM MOT S S MP I MP O V F. G RCP-C/CG Dedicated R C P C ontroller Operating method umber of positions that can be registered Power-supply voltage Positioner operation S tandard positions/maximum positions VDC details S eries T ype E ncoder type Motor Lead S troke Applicable controller Cable length Options (E xample) RCP - SA - I - PM P - S - BE F eatures S pac e-s aving des ign with a 9% s maller footprint T he compact, slim body of mm in width x.mm 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. A footprint reduc tion of approx. 9% Multi- point pos itioning c overing up to points The increased P IO points and expanded internal memory allow the registration of position data for up to points, so the controller can effortlessly perform complex operations. With this simple, high-function controller you can also perform positioning at an accuracy of 0.0mm, simply by specifying PIO positions from a PLC. Internal or external relay for c utting off the motor' s drive power upon emergenc y s top The 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 using a safety relay provided externally to the controller. Us eful s oftware func tions T 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 zonesignal outputs (two have been added). Useful S oftware F unctions P ositioning-width setting function ormally a movement completion signal (positioning-completion signal) is output when the target position is reached. With the R C P this signal can be output at an arbitrary position before the target position. F or example, this function can be used to shorten the tact time. 00mm/sec 00mm/sec Host system (P LC ) S peed S tationary Time T he signal is input 0mm before. T he signal is input 0mm before. Accelerating Accelerating Decelerating Decelerating Actuator's current position number Position number Incremental move function P osition Position T he controller allows for incremental movement, or movement of an arbitrary distance specified from the current position. R CP controller Y ou can perform continuous moves at a fixed pitch for as many positioning points as desired, simply by repeating incremental movements with the same distance specification. 00mm/sec Actuator S peed S tationary Time 00 P osition number P osition 0 C oordinate 0 P osition C oordinate 00 P osition C oordinate F ive pin- as s ignment patterns for P IO s ignals Y ou can now choose from a total of five pin-assignment patterns for P IO signals, including the pattern allowing for position specification of up to points, the pattern providing two zone-signal outputs, and the pattern for teaching operation (refer to page 9). T he P IO connector is the same as the one used by the conventional R C P controller (R CP-C ), and the factory-set pin assignments are also the same. T herefore, the P IO wiring need not be adjusted after replacing your R C P controller with an R CP. (ote) Y ou cannot replace only your R C P controller with an R C P and continue using the R C P actuator. P ause function T he slider operation can be paused in keeping with the O/OF F status of an external signal. Use this function to stop the operation temporarily or provide an interlock with surrounding equipment. P aus e s ignal input S peed Time O OF F Accelerating Decelerating Accelerating Decelerating

27 P ush and hold operation T he slider 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. E xample of pus h and hold operation 00mm/sec Zone output function This function outputs a signal when the slider enters a specified range during operation. It can be used to set a danger area or provide a pseudo sensor function. Zone s ignal output O OF F Accelerating S peed S tationary Time Decelerating P osition C oordinate 00 Work P ositioning width: 0mm * If the work is still not contacted at the end of the positioning width, the positioning-completion signal will not be output. S peed Time Accelerating Decelerating S pecified zone-signal output range RCP - C - RA- I-PM - O - P ❶ ❷ ❸ ❹ ❺ ❶ S eries ❷ C ontroller type ❸ Actuator type ❹ P ower-supply voltage ❺ I/O signal format R C P C : S ingle-axis, internal drive-power cutoff relay CG: S ingle-axis, external drive-power cutoff relay E nter the (type) of the actuator to be operated (encoder type) (motor). O : V DC ot specified: P P : P P C ontroller T ype R CP-C : This 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 using the relay within the controller. (Use this type for general applications.) R CP-CG: This controller has no internal emergency-stop circuit, but it has a dedicated terminal for cutting off the motor's drive power. The controller will conform to the safety standard of S afety Category or equivalent if the user provides an emergency-stop circuit using a safety relay, etc., routed to the controller externally.

28 System Configuration Diagram Compatible Actuators RCP Series Slider Type Slider Motor-Reversing Type Rod Type Host System (PLC) Teaching pendant <RCA-T/TD> <RCA-E> <RCA-P> PC software <RCB-0-MW> I/O flat cable, m (Supplied with the controller.) (Refer to page 7.) (Refer to page ) PERSOAL COMPUTER Motor cable Standard: m/m/m (Refer to page 7.) Encoder cable Standard: m/m/m (Refer to page 7.) (Supplied with the actuator.) m Communication cable, m (Refer to page 7) * (Supplied with the PC software) * The PC communication cable consists of an external equipment communication cable (CB-RCA-SIO00) and an RS conversion adapter (RCB-CV-MW). Main Power VDC I/O Power VDC I/O Wiring Diagrams Input Circuit Item Input voltage Input current umber of input points Leak current Insulation method External input specifications Specification VDCA0% 7mA/point 0 points ma or less/point Photocoupler Output Circuit Item Load voltage Maximum load current umber of output points Residual voltage Insulation method External output specifications Specification VDC 0mA/point 0 points V or less Photocoupler P Specification P Specification P P External power supply +V Each input I0~9 R=0 Input terminal R=.k Internal circuit Internal circuit Each output OUT0~9 Load External power supply +V PP Specification PP Specification External power supply +V Each input I0~9 R=0 Input terminal R=.k Internal circuit Internal circuit P Each output OUT0~9 Load External power supply +V

29 E xternal C onnec tion Diagrams Internal Drive-P ower C utoff R elay T ype (: R C P -C ) *PIO connection shown is one example. R efer to "I/O S ignal T able" on page 9 for an additional P IO pattern. Input power V DC Output side Input side V 0V F G User equipment + [V ] 0 [V ] C ommand position C ommand position C ommand position C ommand position P ause S tart Origin return S ervo O R eset (ot used) (ot used) (ot used) C ompleted position C ompleted position C ompleted position C ompleted position Zone output Moving Positioning completion Origin return completion Teaching pendant and PC connection E mergency stop E xternal E MG switch R eady Alarm Upper stage Lower stage Brown R ed Orange Yellow Green B lue Purple G ray White Black Brown R ed Orange Yellow Green B lue Purple G ray White Black Brown R ed Orange Yellow Green B lue S IO (S G A) (S G B ) (+V ) (E MG A) (+V ) 7 (G D) (E MG B ) Terminal box S S MP I MP O V E MG R C P P IO (S ignal abb.) A P A A A A A 7A A 9A 0A A A A B B B B B B 7B B 9B 0B B B B P C P C P C P C * S T P C S T R HOME S O R E S P M P M P M G D P M ZOE P E D HE D * E MG S S R DY * ALM C ontroller (PORT switch) V MOT A(A) A(V MM) A(B ) B (A) B (V MM) B (B ) E C (F G ) (G D) (V ) 9 (E B ) 0 (E B ) (E A) (E A) (B K -) (BK+) B lue B lack White R ed B lack G reen Orange (Black ) Orange (R ed ) Yellow (Black ) Yellow (R ed ) White (Black ) White (R ed ) Light blue (Black ) Light blue (R ed ) B rake release switch Actuator M Motor P G E ncoder Holding brake E xternal Drive-P ower C utoff R elay T ype S IO (: R C P -C G ) (S G A) *PIO connection shown is one example. R efer to "I/O S ignal T able" on page 9 for an additional P IO pattern. Input power V V DC 0V F G Output side Input side User equipment Teaching pendant and PC connection + [V ] 0 [V ] C ommand position C ommand position C ommand position C ommand position P ause S tart Origin return S ervo O R eset (ot used) (ot used) (ot used) C ompleted position C ompleted position C ompleted position C ompleted position Zone output Moving Positioning completion Origin return completion E mergency stop R eady Alarm C utoff circuit for motor drive power Upper stage Lower stage Brown R ed Orange Yellow Green B lue Purple G ray White Black Brown R ed Orange Yellow Green B lue Purple G ray White Black Brown R ed Orange Yellow Green B lue (S G B ) (+V ) (E MG A) (+V ) 7 (G D) (E MG B ) Terminal box S S MP I MP O V F G P IO A A A A A A 7A A 9A 0A A A A B B B B B B 7B B 9B 0B B B B C ontroller R C P (S ignal abb.) P P C P C P C P C * S T P C S T R HOME S O R E S P M P M P M G D P M ZOE MOV E P E D HE D S R DY * ALM (PORT switch) V MOT A(A) A(V MM) A(B ) B (A) B (V MM) B (B ) E C (F G ) (G D) (V ) 9 (E B ) 0 (E B ) (E A) (E A) (B K -) (BK+) B lue B lack White R ed B lack G reen Orange (Black ) Orange (R ed ) Yellow (Black ) Yellow (R ed ) White (Black ) White (R ed ) Light blue (Black ) Light blue (R ed ) B rake release switch Actuator M Motor P G E ncoder Holding brake

30 I/O S ignal T able T his controller provides five P IO patterns to meet the needs of various applications. S imply change the parameter setting (0 to ), and you can use any one of the five patterns specified below. ote: T wo or more of the following patterns cannot be used in combination, so exercise caution. (F or example, -point positioning cannot be implemented while two zone signals are used.) P arameter (PIO pattern selection) 0 PIO pattern C onventional F eatures This pattern is compatible with the pin assignments of the R CP-C controller. (Factory setting) S tandard -point positioning zone output signals T eaching All functions of the conventional pattern, plus origin-return command input, servo O input, reset input, moving output and ready output. T he input ports for positioning command positions are extended to allow for specification of up to points. (T he servo O signal and ready output have been removed.) T wo zone output signals are set. (T he moving output has been removed.) T his pattern allows for jogging and teaching (writing of current position coordinates) using I/Os. The mode can be switched between "ormal" and "Teaching." In the ormal mode, the same operations available with the standard pattern can be performed. ote: Pin o. C ategory Wire color A A A A A A 7A A 9A 0A A A A B B B B B B 7B B 9B 0B B B B P Input Output Output Upper stage Lower stage Brown R ed Orange Yellow Green B lue Purple G ray White Black Brown R ed Orange Yellow Green B lue Purple G ray White Black Brown R ed Orange Yellow Green B lue Parameter o. 0 Conventional C S T R P C P C P C P C *S T P P M P M P M P M P E D HE D ZOE *ALM S tandard P C P C P C P C *S T P C S T R HOME S O R E S P M P M P M P M ZOE MOV E P E D HE D S R DY *ALM -point positioning P C P C P C P C P C P C C S T R HOME *S T P R E S P M P M P M P M P M P M P C C C P E D HE D MOV E *ALM zone output signals P C P C P C P C *S T P C S T R HOME S O R E S P M P M P M P M ZOE ZOE P E D HE D S R DY *ALM T eaching ormal mode Teaching mode *S T P C S T R R E S P E D Internal cutoff relay type: *E MGS / E xternal cutoff relay type: C P C P C P C P C MODE HOME S O P M P M P M P M MODE S () T he signals indicated by * (ALM, S T P, E MG S ) use the negative logic, so they remain O in normal conditions of use. () P in os. A, B and B cannot be connected. () T he P specification and P P specification use the same pin assignments for connection of the power circuit, so there is no need to reverse the power-circuit pins for the PP specification. () P in o. B is valid only on the internal cutoff relay type. (It is not connected in the external cutoff relay type.) MOV E HE D S R DY *ALM J OG + P WR T J OG - WE D 9

31 7 Overview of I/O S ignal Func tions P IO P attern Func tion T able A "circle" indicates that the setting is available, while indicates that the setting is not available. The figures indicate the numbers of points. P arameter (PIO pattern selection) PIO pattern umber of positioning points S ervo O Origin return command Input signals P ause J og C urrent position write R eset Output signals R eady Zone Moving 0 C onventional S tandard -point positioning zone output signals T eaching E xplanations of S ignal ames C ategory S ignal name S ignal abbreviation Function overview S tart C S T R A starting trigger that starts movement at the rise edge S ervo O S O T he servo remains O while this signal is O. T he servo remains OF F while this signal is OF F. Alarm reset R E S T he remaining travel amount is reset at the rise edge when an alarm is present or operation is paused. Origin return HOME Origin return operation starts at the rise edge. Input Operation mode MODE O: Teaching mode, OFF: ormal mode Current position write PWR T When this signal has been O for 0msec., the current position will be written to the position number selected by P C through P C. + Jog JOG+ The slider/rod moves in the positive direction while this signal is O. - Jog JOG- The slider/rod moves in the negative direction while this signal is O. * P ause *S T P T he motor decelerates to a stop at the O > OF F fall edge. C ommand position number R eady Moving Positioning completion P C P C P C P C P C PC S R DY MOV E PE D T he target position number is input. T his signal is always output once the servo is turned O and the R OB O C ylinder is ready to operate. T he signal is synchronized with the O/OF F status of the "R U" LE D on the front panel of the enclosure. It is used by the P LC to determine when it can start operation. T his signal turns O while the slider/rod is moving, and turns OF F while it is stopped. It is used during push-motion operation to determine whether the work is contacted. T his signal turns O when positioning is completed with the target position reached and the slider/rod enters the specified in-position range. It is used to determine whether positioning has been completed. Origin return completion HE D This signal turns O when origin return has been completed. Output Zone ZOE ZOE T his signal is output when the current actuator position is inside the range set by the applicable parameter. It can be used as a limit switch at an intermediate point or as a simple ruler. * Alarm *ALM This signal remains O in normal condition and turns OFF when an alarm generates. It is synchronized with the OF F /O status of the corresponding LE D on the front panel of the enclosure. C ompleted position number P M P M P M P M P M P M T he relevant position number is output once positioning is complete. T he signal will turn OF F once the next movement starts. It is used by the P LC to check if the commanded position has definitively been reached. Current operation mode MODE S O: Teaching mode, OFF: ormal mode * E mergency stop *E MG S This signal is enabled on a controller equipped with a simple emergency-stop relay. OFF: E mergency stop is actuated Write completion WE D T his signal is output upon the completion of writing to the nonvolatile memory in response to a position-information write command. 0

32 S pec ific ation T able Item Description Controller series/type R CP-C /CG C ompatible actuators R C P -S A/S A/S A7/S S /SM/S S R /S MR R C P -R A/R S A/R MA Input power VDC 0% Power capacity A max. umber of controlled axes axis C ontrol method Weak field-magnet vector control (patent pending) Positioning command Position number specification Position number Backup memory P IO LE D indicators S tandard points, maximum points P osition number data and parameters are saved in the nonvolatile memory. T he serial E P R OM can be rewritten 00,000 times. R CP-C (CG): 0 dedicated inputs (0 points) / 0 dedicated outputs ( points), selectable from five patterns R DY (green), R U (green), ALM (red) I/F power E xternal power supply: V0%, 0.A, insulated Communication R S channel (terminated externally) E ncoder interface Incremental specification conforming to E IA R S -A/A F orced release of electromagnetic brake T oggle switch on front panel of enclosure Cable length Motor/encoder cables: 0m or less P IO cable: m or less Insulation strength 00VDC 0MV Vibration resistance 0~7Hz in YZ directions / Pulsating amplitude: 0.0mm (continuous), 0.07mm (intermittent) Operating temperature 0~0 C Operating humidity %R H or less (non-condensing) Operating environment ot subject to corrosive gases. Protection class IP0 Weight 00g Accessory P IO flat cable (m)

33 9 E xternal Dimens ions C ontroller RCP-C/CG fø Unit: mm. R DY R U ALM P IO P OR T O B K R IS AD/R S OF F S IO E C OM MOT 70. (Installation dimension) 7. S S MP I MP O V F. G 0 ames and Func tions of P art 7 9 R DY R U ALM P ort switch (P OR T ) A signal-output selector switch for the S IO connector ([]) O OF F LE D indicators Indicates that the CPU is operating normally Indicates a normal operating condition (the motor and encoder wiring has been checked and the servo is O) Indicates that an alarm is present or an emergency stop has been actuated P ower for the teaching pendant and IAI R S conversion adapter is output from the S IO connector ([]). T his switch is connected to the E MG line (S, S of []) of the teaching pendant. Communication with the teaching pendant or PC is disabled. However, since the S IO signal line is active, the controllers can still communicate with each other. ote: B e sure to turn this switch OF F each time the S IO connector has been plugged in or unplugged. Motor cable connector (MOT ) A motor cable connector for the actuator S /S MP I/MP O 7 V E MG F.G T erminal block An emergency-stop switch contact. When the P OR T switch ([]) is turned O, the emergency-stop switch on the teaching pendant will be connected. W hen the P OR T switch is turned O F F, S and S will be shorted. T hese terminals are used to cut off the motor s drive power directly and externally using a safety relay, etc. (R efer to page.) P ositive side of the -VDC power supply egative side of the -VDC power supply E mergency-stop input (R CP-C ) Ground terminal (R CP-CG) P IO connector (P IO) A PIO cable connector T eaching pendant/p C connector (S IO) A connector for the teaching pendant or dedicated communication cable B rake release switch (B K ) Address switch (ADR S ) T his switch is used to set the address for the controller axis. If two or more controllers are connected via communication cables, prevent duplicate controller addresses. S etting range 0~F This switch is enabled only when the actuator is used with a brake option. R LS OM Brake is forcibly released Brake is in use (normal setting) 9 E ncoder/brake connector (E C ) T his connector is used to connect the actuator s encoder/brake cables.

34 E mergenc y-s top C irc uit Internal Drive-P ower C utoff R elay Type (: R CP-C ) T he internal drive-power cutoff relay type will stop the actuator operation and cut off the motor s drive power of the actuator using the internal relay when the E MG (emergency stop) input signal is turned OFF 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. R efer to the operating manual for details. () When only one controller is used C onnect the MP I and MP O terminals using a jumper cable (factory setting). C onnect one end of the E MG button to the -V input power, and connect the other end to the S terminal. Also connect the S and E MG terminals using a jumper cable. Input power V DC E MG button S S MP I MP O V E MG () When two to eight controllers are used with a single power supply C onnect the MP I and MP O terminals using a jumper cable (factory setting). C onnect one end of the E MG button to the -V input power, and connect the other end to the S terminal. Then, provide crossover connections by sequentially connecting the S terminal of controller to the S terminal of controller, the S terminal of controller to the S terminal of controller, the S terminal of controller to the S terminal of controller, and so on, and connect the S terminal of the last controller to the E MG terminals of all controllers. Use a relay ter minal block for connection to the E MG terminals. (ote) Do not insert more than one wire into a single terminal. Input power E MG button [C ontroller ] [C ontroller ] [C ontroller ] [C ontroller ] S S MP I MP O V E MG S S MP I MP O V E MG S S MP I MP O V E MG S S MP I MP O V E MG () When nine or more controllers are used P lease contact IAI.

35 E xternal Drive-P ower C utoff R elay Type (: R CP-CG) T he external drive-power cutoff relay type is designed to cut off the motor s drive power using an external safety relay, etc., and therefore no internal emergencystop circuit is provided. Accordingly, the user must design a circuit such as the one shown below, using a safety relay unit, a contactor, etc. Input power V DC V 0V C onnects to the -V terminal and E MG terminal C onnects to the terminal [C ontroller ] [C ontroller ] [C ontroller ] S S MP I MP O V F G S S MP I MP O V F G S S MP I MP O V F G C ontactor S S S S S afety relay unit Phoenix Contact PSR-SCP-UC -/ESA///B A A * T he above diagram shows only the safety-relay output circuit. Determine the appropriate emergency-stop input circuit in accordance with your equipment.

36 Connection of Multiple Controllers via Serial Communication The following explains how to connect multiple controllers using a PC or PLC communication module as the host: Basic Specifications Item Specification Maximum number of units that can be connected units Maximum cable length 00m or less Terminal resistor 0Ω * Provide a communication path via bus connection and be sure to provide a terminal resistor at the end. Connection Example Teaching pendant PC, etc. * Use a commercial cross cable for connection with the PC SIO converter (optional) (built-in terminal resistor) : RCB-TU-SIO-A (B) * The user must provide the following wiring: (Recommended) Junction (AMP -77-) FG 0V V Input power VDC 0.m 0.m 0.m Terminal resistor R=0 Controller power Controller link cable : CB-RCB-CTL00 RCP-C/CG [Controller ] [Controller ] [Controller n] External Dimensions of SIO Converter Controller Link Cable Vertical mounting specification using DI rail : RCB-TU-SIO-A Horizontal mounting specification using DI rail : RCB-TU-SIO-B : CB-RCB-CTL00 00mm Pin o. Signal Wire color ame 0 SGA Brown RS differential signal + side 0 SGB Red RS differential signal - side () GD Yellow/Orange 0V E-Con connector (AMP -7)

37 C ontroller Options T eac hing P endant RCA-T (S tandard) Features RCA-TD (With deadman s witch) 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. S pecifications A product older than V er.. cannot be used with the R C P. (The customer s existing product can be sent to IAI for a version upgrade.) S imple T eaching P endant RCA-E Features A highly cost-effective teaching device that provides the same functions as the R CA-T at a significantly lower price. T he unit size has been reduced through the use of a two-digit display. S pecifications A product older than Ver.. cannot be used with the R C P. (The customer s existing product can be sent to IAI for a version upgrade.) Item S pecification Item S pecification Operating temperature/humidity Temperature: 0~0 C, Humidity: %R H or less Operating temperature/humidity Temperature: 0~0 C, Humidity: %R H or less Operating environment ot subject to corrosive gases or significant dust. Operating environment ot subject to corrosive gases or significant dust. Weight Approx. 0g (including cables) Weight Approx. 00g (including cables) Cable length m Cable length m Display characters x lines, LC D Display characters x lines, LC D Dimensions Dimensions (.) Help panel 0 ø () Data S etting Unit RCA-P F eatures An affordable data setting unit offering edit functions, except for operations involving axis movement. E dit functions Position data input C onfirmation of current axis position I/O signal monitoring, etc. S pecifications Item A product older than Ver.. cannot be used with the R C P. (The customer s existing product can be sent to IAI for a version upgrade.) * Operations involving axis movement c annot be performed S pecification P C S oftware RCB-0-MW (DOS /V, Windows vers ion) Content: Floppy dis k, PC communication cable (m) (OT E ) F eatures A support software for position data input and test operation. T his software significantly improves the equipment debugging operations by offering wide-ranging functions such as jogging, inching, step operation and continuous operation, and also by allowing easy operation via a large PC screen. (OT E ) R efer to C B -R C A-S IO00 and R C B -C V -MW on page 7 for the PC communication cables. Operating temperature/humidity Operating environment Weight Cable length Display Temperature: 0~0 C, Humidity: %R H or less ot subject to corrosive gases or significant dust. Approx. 0g m characters x lines, LC D Dimensions 0 0 (*) If you are using R C A-0-MW, the software can be used with the R C P after a proper version upgrade. The shape of R C B -0-MW s R S conversion adapter has changed from that of the adapter used with R CA-0-MW, but functionality remains the same.