IAI RCP3 User manual

RCP3/RCA2 Actuator
Table Type
First Step Guide Eighth Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (CD/DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.
•Using or copying all or part of this Instruction Manual without permission is prohibited.
•The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts (The option is excluded.)
No. Part Name Model Quantity Remarks
1 Actuator Main Body Refer to “How to read the
model plate”, “How to read
the model No.”
1
Accessories
2 Motor · Encoder Cable (Note 1) 1
3 Home Position Marking
Sticker
1 Enclosed to TA3C, TA4C,
TA5C, TA6C, TA7C, TA3R,
TA4R, TA5R, TA6R, TA7R
4 First Step Guide 1
5 Instruction Manual (CD/DVD) 1
6 Safety Guide 1
Note 1 Enclosed Motor · Encoder Cable differ depending on the applied controller.
Please refer to [Wiring] for the applicable cables.
2. How to read the model plate
3. How to read the model No.
3.1 RCP3 Actuator
Note 1 This may be displayed for the manufacturing reason.
(This is not to indicate the manufacturing model code.)
[Refer to the catalog or Instruction Manual (CD/DVD) for specification details.]
3.2 RCA2 Actuator
Note 1 This may be displayed for the manufacturing reason.
(This is not to indicate the manufacturing model
code.)
Note 2 TCA3N, TCA4N, TWA3N, TWA4N, TFA3N, TFA4N
are not applicable.
[Refer to the catalog or Instruction Manual (CD/DVD) for specification details.]
Precautions in Handling
Handle it with great care, and keep to the following instructions. Failure to do so may cause
damage to the product.
1. Handling of the Packed Product
Take the greatest care in transporting the product, not to bump or drop it.
•When setting down the packed actuator keep it horizontal.
•Do not step on the package.
•Do not place any heavy article on top of the package that may deform the package.
2. Handling of the Unpacked Product
Do not transport the actuator by holding the cable or move it by pulling the cable.
•When the actuator is taken out from the package and handled, hold the base section.
•When carrying the actuator, do not bump or drop the actuator or otherwise cause the actuator to
receive any impact or excessive force.
•Do not give any unnatural force to any of the sections in the actuator.
Installation Environment, Storage Environment
1. Installation Environment
An environment that satisfies the following conditions is required during installation.
Generally speaking, it should be an environment where a worker can work without any protective gear.
•There should be no direct sunlight.
•Any radiant heat from a large heat source such as heat treatment furnace should not be directed at the
machine main body.
•The ambient temperature should be 0 to 40°C.
•The relative humidity should be 85% or less. There should not be dew condensation.
•There should not be corrosive gas or flammable gas.
•It should be a normal assembling work environment where there is not too much dust.
•Oil mist or cutting liquid should not be directed at the machine.
•Chemical liquid should not be splashed on it.
•An impact or vibration should not be transmitted to it.
•There should not be strong electromagnetic waves, ultraviolet rays or radiation.
•The working space required for maintenance or inspection should be secured.
2. Storage and Preservation Environment
The storage and preservation environment should comply with the same standards as those for the
installation environment. In particular, when the machine is to be stored for a long time, pay close
attention to environmental conditions so that no condensation forms. Unless specially specified,
moisture absorbency protection is not included in the package when the machine is delivered. In the
case that the machine is to be stored and preserved in an environment where condensation is
anticipated, take the condensation preventive measures from outside of the entire package, or directly
after opening the package.
In the storage and preservation for up to 1 month, it can endure in the temperature at 60°C at maximum.
For the storage and preservation longer than that, keep the temperature at 50°C at maximum.
External Dimensions
1. Motor Unit Type
1.1 Motor Coupling Type
RCP3-TA3C, TA4C, TA5C, TA6C, TA7C
RCA2-TA4C, TA5C, TA6C, TA7C
1.2 Motor Reversing Type
RCP3-TA3R, TA4R, TA5R, TA6R, TA7R
RCA2-TA4R, TA5R, TA6R, TA7R
* Connector position in the figure above is that with no ejection direction change.
RCP3-TA5C-I-35P-10-25-P1-P-B-**
Identification for IAI use only (Note 1)
<Option>
B : Brake-equipped
CJT : Cable exit direction
changed (to top side)
CJR : Cable exit direction
changed (to right side)
CJL : Cable exit direction
changed (to left side)
CJB : Cable exit direction
changed (to bottom side)
CJO : Cable exit direction
changed (to end side)
NM : Reversed-Home Type
<Cable length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Specified Length
<Applicable Controller>
P1 : PSEL
PCON-C/CG
PCON-CY
PCON-SE
PCON-PL/PO
P3 : PMEC
PSEP
<Stroke>
<Series>
<Type>
Motor Coupling Type
TA3C [Thin and Small Type ROBO Cylinder]
TA4C [Thin and Small Type ROBO Cylinder]
TA5C
TA6C
TA7C
Motor Reversing Type
TA3R [Thin and Small Type ROBO Cylinder]
TA4R [Thin and Small Type ROBO Cylinder]
TA5R
TA6R
TA7R
<Encoder type>
I : Incremental
<Motor Type>
20P (20 □Size) : TA3C, TA3R
28P (28 □Size) : TA4C, TA4R
35P (35 □Size) : TA5C, TA5R
42P (42 □Size) : TA6C, TA6R,
TA7C, TA7R
<Lead>
TA3C, TA3R TA6C, TA6R
2/4/6 3/6/12
TA4C, TA4R TA7C, TA7R
2/4/6 3/6/12
TA5C, TA5R
2.5/5/10
RCA2-TA5C-I-20-10-25-A1-P-B
MODEL
SERIAL No. 600090254
MADE IN JAPAN
Model
Serial number
TCA3NA, TWA3NA,
TFA3NA
TCA3N, TWA3N,
TFA3N (Lead Screw)
1S/2S/4S
TCA3NA, TWA3NA,
TFA3NA
TCA3N, TWA3N,
TFA3N (Ball Screw)
1/2/4
RCA2-TA5C-I-20-10-25-
A
1-P-B-**
Identification for IAI use only (Note 1)
<Option>
B : Brake-equipped (Note 2)
CJT : Cable exit direction changed
(to top side)
CJR : Cable exit direction changed
(to right side)
CJL : Cable exit direction changed
(to left side)
CJB : Cable exit direction changed
(to bottom side)
CJO : Cable exit direction changed
(to end side)
K2 : Connector Cable exit direction
changed
LA : Power Saving Type
NM : Reversed-Home Type
( Except for TCA*, TWA* and TFA* )
BG : Ball Guide Type
(Note) The model codes for the
option BG (ball guide type)
are to be those with old
codes such as TC3N.
<Cable length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Specified Length
<Applicable Controller>
A1 : ASEL
ACON-C/CG
ACON-CY
ACON-SE
ACON-PL/PO
A3 : AMEC
ASEP
<Stroke>
<Series>
<Type>
Motor Unit Type
Motor Coupling Type
TA4C [Thin and Small Type ROBO Cylinder]
TA5C
TA6C
TA7C
Motor Reversing Type
TA4R [Thin and Small Type ROBO Cylinder]
TA5R
TA6R
TA7R
Total Length Short Type
Compact Type
TCA3NA [Thin and Small Type ROBO Cylinder]
TCA4NA [Thin and Small Type ROBO Cylinder]
TCA3N [Thin and Small Type ROBO Cylinder]
TCA4N [Thin and Small Type ROBO Cylinder]
Wide Type
TWA3NA [Thin and Small Type ROBO Cylinder]
TWA4NA [Thin and Small Type ROBO Cylinder]
TWA3N [Thin and Small Type ROBO Cylinder]
TWA4N [Thin and Small Type ROBO Cylinder]
Flat Type
TFA3NA [Thin and Small Type ROBO Cylinder]
TFA4NA [Thin and Small Type ROBO Cylinder]
TFA3N [Thin and Small Type ROBO Cylinder]
TFA4N [Thin and Small Type ROBO Cylinder]
<Encoder type>
I : Incremental
<Motor Type>
10(10W) : TCA3NA, TWA3NA,
TFA3NA
TCA3N, TWA3N,
TFA3N
20(20W) : TCA4NA, TWA4NA,
TFA4NA
TCA4N, TWA4N,
TFA4N,
TA5C, TA5R,
TA6C, TA6R
30(30W) : TA7C, TA7R
<Lead>
TA3C, TA3R
2/4/6
TA4C, TA4R
2/4/6
TA5C, TA5R
2.5/5/10
TA6C, TA6R
3/6/12
TA7C, TA7R
3/6/12
Ball Screw Cover
Table
Motor Unit
Front Plate
Connector
Opposite Side
of the Motor Motor Side
Right Side
Left Side
Reversing Bracket
Table
Motor Unit
Connector
Opposite Side
of the Motor Motor Side
Right Side
Left Side
Ball Screw Cover
Front Plate
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the CD/DVD Manual included in the box this device was packaged in. It should be
retained with this device at all times.
A hard copy of Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cove
r
of the Instruction Manual or on the First Step Guide.
TCA4NA, TWA4NA,
TFA4NA
TCA4N, TWA4N,
TFA4N (Lead Screw)
2S/4S/6S
TCA4NA, TWA4NA,
TFA4NA
TCA4N, TWA4N,
TFA4N (Ball Screw)
2/4/6

Reference Surface
Reference Surface
Reference Surface
Reference Surface
2. Total Length Short Type
2.1 Compact Type
RCA2-TCA3NA, TCA3N (Lead Screw, Ball Screw), TCA4NA, TCA4N (Lead Screw, Ball Screw)
•Without Brake
•Brake-equipped
2.2 Wide Type
RCA2-TWA3NA, TWA3N (Lead Screw, Ball Screw), TWA4NA, TWA4N (Lead Screw, Ball Screw)
•Without Brake
•Brake-equipped
2.3 Flat Type
RCA2-TFA3NA, TFA3N (Lead Screw, Ball Screw), TFA4NA, TFA4N (Lead Screw, Ball Screw)
•Without Brake
•Brake-equipped
Attachment
1. Motor Unit Type
RCP3-TA3C, TA4C, TA5C, TA6C, TA7C, TA3R, TA4R, TA5R, TA6R, TA7R
RCA2-TA4C, TA5C, TA6C, TA7C, TA4R, TA5R, TA6R, TA7R
1.1 Installing the Actuator
Fix it using the tapped hole on the rear side.
Description of the Set Screws
•For the base male set screw, use a hexagon socket head cap screw.
•For the bolt to be used, a high-tensile bolt complying with ISO-10.9 or more is
recommended.
•The length of thread engagement should be 1.8 times more than the nominal
diameter, and pay attention not to stick the screw out inside the actuator.
Tightening Torque
Model
Tap Size and
Max. Screw
Depth
Bolt to
be used
In the case that steel is
used for the bolt seating
surface:
In the case that aluminum
is used for the bolt seating
surface:
A(mm) Reamed Hole(mm)
TA3 M3 Depth 5 M3 1.54N·m(0.16kgf·m) 0.83N·m(0.085kgf·m) 28 Depth 3.5 from the
φ3H7 Base Surface
TA4 M4 Depth 7.5 M4 3.59N·m(0.37kgf·m) 1.76N·m(0.18kgf·m) 31 Depth 4.5 from the
φ4H7 Base Surface
TA5 M5 Depth 10 M5 7.27N·m(0.74kgf·m) 3.42N·m(0.35kgf·m) 45 Depth 5 from the
φ5H7 Base Surface
TA6 M5 Depth 10 M5 7.27N·m(0.74kgf·m) 3.42N·m(0.35kgf·m) 55 Depth 5 from the
φ5H7 Base Surface
TA7 M6 Depth 12 M6 12.34N·m(1.26kgf·m) 5.36N·m(0.55kgf·m) 64 Depth 6 from the
φ6H7 Base Surface
Note : Take care in selecting the bolt. Using a bolt with inappropriate length may cause damage to
the tapped hole, insufficient attachment strength of the actuator or interference with the
driving section, which may result in degradation of accuracy, damage or unexpected accident.
1.2 Attachment Surface
•The base has to have a structure with
sufficient rigidity to prevent oscillation.
•For the surface to which the actuator is
attached, a machined surface or flat one
with equivalent accuracy should be used.
The flatness should be within ±0.05mm/m.
•Secure the space where maintenance work
can be performed.
•This surface is used as the reference for the
actuator base side and lower side slider
running. In the case that the running
accuracy is required, attach the actuator
using this surface as the reference.
Refer to the following figure for the
processing when the actuator is attached to
the base using the base reference surface.
1.3 Attachment of the payload to be carried
•Fix the payload to be carried using the tapped hole on the front
plate or on the table upper surface.
•For the male set screw, use a hexagon socket head cap screw.
•For the bolt to be used, a high-tensile bolt complying with
ISO-10.9 or more is recommended.
•There are the two reamed holes on the upper surface of the table.
In the case that the reproducibility for the attachment and
removal is required, use these reamed holes. Also, in the case
that fine adjustment for squareness is required, select one of
these reamed holes to be used and adjust.
•Refer to the follow table for the screw depth and reamed hole
depth.
In the case that the screw is screwed in the hole to the depth more than the value in the following table, it
might cause a damage to the tapped hole or insufficient attachment strength of the object to be carried,
which may result in degradation of accuracy or unexpected accident.
Set Screw
Model A B C D Screw Nominal
Diameter Tightening Torque
TA3 24 5 10 M4 Depth 6 M4 1.76N·m(0.18kgf·m)
TA4 29 5 13 M5 Depth 6 M5 3.42N·m(0.35kgf·m)
TA5 29 6.5 14 M6 Depth 10 M6 5.36N·m(0.55kgf·m)
TA6 35 7 18 M6 Depth 13 M6 5.36N·m(0.55kgf·m)
TA7 44 6.5 21.5 M8 Depth 15 M8 11.48N·m(1.17kgf·m)
1.4 T-Groove
A T-groove is provided on the side of the main body of TA5C, 6C, 7C, 5R, 6R or 7R
to attach the external equipment (for M3). Use the groove freely for the sensor
attachment or fixing of wires, when necessary.
The dimensions of the groove are described as follows.
•For the nut used for the T-groove, a square nut is recommended, but a hexagon
nut can also be used.
•When it is attached, take care in selecting the bolt length so that the end of the
bolt does not touch the bottom section of the T-groove.
2. Total Length Short Type
2.1 Main Body Attachment
Fix it using the tapped hole on the rear side.
Description of the Set Screws
•For the base male set screw, use a hexagon socket head cap screw.
•For the bolt to be used, a high-tensile bolt complying with ISO-10.9 or more is recommended.
2.1.1 Compact Type
RCA2-TCA3NA, TCA3N (Lead Screw, Ball Screw), TCA4NA, TCA4N (Lead Screw, Ball Screw)
Tightening Torque
Model
Tap Size and
Max. Screw
Depth
Bolt to
be used
In the case that steel is
used for the bolt
seating surface:
In the case that
aluminum is used for the
bolt seating surface:
Slot Reamed
Hole(mm)
TCA3NA, TCA3N
(Lead Screw,
Ball Screw)
M4 Depth 3 M4 3.59N·m(0.37kgf·m) 1.76N·m(0.18kgf·m) A:3, B:4,
Depth: 3 φ3 Depth 3
TCA4NA, TCA4N
(Lead Screw,
Ball Screw)
M4 Depth 4 M4 3.59N·m(0.74kgf·m) 1.76N·m(0.35kgf·m) A:3, B:4,
Depth: 3 φ3 Depth 3
Note : The tapped hole in the attachment section is partly a through hole. Never use the screw
longer than the screw effective length. Failure to do so may cause damage to inner
mechanism or electrical component.
Tightening Torque
Model
Tap Size and
Max. Screw
Depth
Bolt to
be used
In the case that steel is
used for the bolt
seating surface:
In the case that
aluminum is used for the
bolt seating surface:
Slot Reamed
Hole(mm)
TC3N
(Lead Screw) M4 Depth 3 M4 3.59N·m(0.37kgf·m) 1.76N·m(0.18kgf·m) A:3, B:4, Depth: 3 φ3 Depth 3
TC4N
(Lead Screw,
Ball Screw)
M4 Depth 4 M4 3.59N·m(0.74kgf·m) 1.76N·m(0.35kgf·m) A:3, B:4,
Depth: 3 φ3 Depth 3
A
Table Type
A
B
C
3-D
5.5
1.8
5.8
3.3
2.7
A
R0.3 or less
Cable
Connector Cover
Main Body (Aluminum Frame)
Table Right Side
Left Side
Front Plate
RearFront
Cable
Connector Cover
Main Body (Aluminum Frame)
Table Right Side
Left Side
Front Plate
RearFront
Cable
Connector Cover
Main Body (Aluminum Frame)
Table Right Side
Left Side
Front Plate
RearFront
Size A(mm)
2 to 4 or less
3 Depth 3
+0.05
0
Slot 2-M4 Depth 6
Tapped Hole
4-M4 Depth 4
Reamed Hole
195.5
4
10 30
25
30
22 4
223
(TC3N (Lead Screw) Ball Guide Type (Option: Model Code BG))
φ3 Depth 3
+0.03
0
3 Depth 3
+0.05
0
26 4
34
4
4
6.5 21
30
15 30
Slot
Slot
2-M4 Depth 8
26
Tapped Hole
4-M4 Depth 5
Reamed Hole
(TC4N (Lead Screw), TC4N (Ball Screw) Ball Guide Type (Option: Model Code BG))
φ3 Depth 3
+0.03
0
Actuator Cable
Connector Cover
Table
Right Side
Left Side
Rear
Connector Cover
Table
Actuator Cable
Right Side
Left Side
Rear
Table
Connector Cover
Right Side
Left Side
Rear
Actuator Cable
Reamed Hole
Tapped Hole
4-M4 Depth 3
Slot
2-M4 Depth 6
22 4
30
22
3
4
19
5.5
3010
25
3 Depth 3
+0.05
0
+0.03
0
φ3 Depth 3
(TCA3NA, TCA3N (Lead Screw, Ball Screw))
Slot
A
B
4
216.5
25
10 30
Reamed Hole
Tapped Hole
4-M4 Depth 4
Slot
3 Depth 3
+0.05
0
3 Depth 3
+0.05
0
(TCA4NA, TCA4N (Lead Screw, Ball Screw))
2-M4, depth 8
426
14.9
26
94
34

2.1.2 Wide Type
RCA2-TWA3NA, TWA3N (Lead Screw, Ball Screw), TWA4NA, TWA4N (Lead Screw, Ball Screw)
Tightening Torque
Model
Tap Size and
Max. Screw
Depth
Bolt to
be used
In the case that steel is
used for the bolt
seating surface:
In the case that
aluminum is used for
the bolt seating surface:
Slot Reamed
Hole(mm)
TWA3NA, TWA3N
(Lead Screw,
Ball Screw)
M4 Depth 6 M4 3.59N·m(0.37kgf·m) 1.76N·m(0.18kgf·m) A:3, B:4,
Depth: 3 φ3 Depth 3
TWA4NA, TWA4N
(Lead Screw,
Ball Screw)
M4 Depth 6 M4 3.59N·m(0.74kgf·m) 1.76N·m(0.35kgf·m) A:3, B:4,
Depth: 3 φ3 Depth 3
Note : The tapped hole in the attachment section is partly a through hole. Never use the screw
longer than the screw effective length. Failure to do so may cause damage to inner
mechanism or electrical component.
Tightening Torque
Model
Tap Size and
Max. Screw
Depth
Bolt to
be used
In the case that steel is
used for the bolt
seating surface:
In the case that
aluminum is used for
the bolt seating surface:
Slot Reamed
Hole(mm)
TW3N
(Lead Screw) M4 Depth 6 M4 3.59N·m(0.37kgf·m) 1.76N·m(0.18kgf·m) A:3, B:4, Depth: 3 φ3 Depth 3
TW4N
(Lead Screw,
Ball Screw)
M4 Depth 6 M4 3.59N·m(0.74kgf·m) 1.76N·m(0.35kgf·m) A:3, B:4,
Depth: 3 φ3 Depth 3
2.1.3 Flat Type
RCA2-TFA3NA, TFA3N (Lead Screw, Ball Screw), TFA4NA, TFA4N (Lead Screw, Ball Screw)
Tightening Torque
Model
Tap Size and
Max. Screw
Depth
Bolt to
be used
In the case that steel is
used for the bolt seating
surface:
In the case that
aluminum is used for
the bolt seating surface:
Slot Reamed
Hole(mm)
TFA3NA, TFA3N
(Lead Screw,
Ball Screw)
M4 Depth 3 M4 3.59N·m(0.37kgf·m) 1.76N·m(0.18kgf·m) A:3, B:4,
Depth: 3 φ3 Depth 3
TFA4NA, TFA4N
(Lead Screw,
Ball Screw)
M4 Depth 4 M4 3.59N·m(0.74kgf·m) 1.76N·m(0.35kgf·m) A:3, B:4,
Depth: 3 φ3 Depth 3
Note : The tapped hole in the attachment section is partly a through hole. Never use the screw
longer than the screw effective length. Failure to do so may cause damage to inner
mechanism or electrical component.
Tightening Torque
Model
Tap Size and
Max. Screw
Depth
Bolt to
be used
In the case that steel is
used for the bolt seating
surface:
In the case that
aluminum is used for
the bolt seating surface:
Slot Reamed
Hole(mm)
TF3N
(Lead Screw) M4 Depth 3 M4 3.59N·m(0.37kgf·m) 1.76N·m(0.18kgf·m) A:3, B:4, Depth: 3 φ3 Depth 3
TF4N
(Lead Screw,
Ball Screw)
M4 Depth 4 M4 3.59N·m(0.74kgf·m) 1.76N·m(0.35kgf·m) A:3, B:4,
Depth: 3 φ3 Depth 3
2.2 Attachment of an object to be carried
•Fix the object to be carried using the tapped hole on the front plate or on the table upper surface.
•For the male set screw, use a hexagon socket head cap screw.
•For the bolt to be used, a high-tensile bolt complying with ISO-10.9 or more is recommended.
•Attach it using the same procedure for the attachment of the main body.
•There are the two reamed holes on the upper surface of the table. In the case that the reproducibility
for the attachment and removal is required, use these reamed holes. Also, in the case that fine
adjustment for squareness is required, select one of these reamed holes to be used and adjust.
•Refer to the following figures for the screwing depth and reamed hole depth.
In the case that the screw is screwed in the hole to the depth more than the value in the following figures,
it might cause a damage to the tapped hole or insufficient attachment strength of the object to be carried,
which may result in degradation of accuracy or unexpected accident.
2.2.1 Compact Type
RCA2-TCA3NA, TCA3N (Lead Screw, Ball Screw), TCA4NA, TCA4N (Lead Screw, Ball Screw)
2.2.2 Wide Type
RCA2-TWA3NA, TWA3N (Lead Screw, Ball Screw), TWA4NA, TWA4N (Lead Screw, Ball Screw)
2.2.3 Flat Type
RCA2-TFA3NA, TFA3N (Lead Screw, Ball Screw), TFA4NA, TFA4N (Lead Screw, Ball Screw)
A
B
450
424.5
30
4
6.5 45
Slot
4-M4 Depth 8
Tapped Hole
4-M4 Depth 8
Reamed Hole
Slot
15 30
3 Depth 3
+0.05
0
φ3 Depth 3
+0.03
0
(TW4N (Lead Screw), TW4N (Ball Screw) Ball Guide Type (Option: Model Code BG))
(TW3N (Lead Screw) Ball Guide Type (Option: Model Code BG))
Slot
Tapped Hole
4-M4 Depth 6
3-M4 Depth 6
Reamed Hole
10 30
25
376.5
4
40 5
9
322
3 Depth 3
+0.05
0
φ3 Depth 3
+0.03
0
Slot
Slot
Tapped Hole
4-M4 Depth 5
Reamed Hole
3-M4 Depth 6
15 30
30
4
586.5
37 26 4
26
4
(TF4N (Lead Screw), TF4N (Ball Screw) Ball Guide Type (Option: Model Code BG))
3 Depth 3
+0.05
0
φ3 Depth 3
+0.03
0
3-M4 Depth 6
Slot
Tapped Hole
4-M4 Depth 4
Reamed Hole
10 30
25
5.5 50
4
32 23 3
421
(TF3N (Lead Screw) Ball Guide Type (Option: Model Code BG))
3 Depth 3
+0.05
0
φ3 Depth 3
+0.03
0
10.5
4
16
16
32
45
23
22.6
31
43
7
10.5
4
36
51
20
20
24
34
22.6
7
(TCA3NA, TCA3N (Lead Screw, Ball Screw))
3 Depth 3
+0.05 0
+0.03
0
φ 3 Depth 3
4-M4 through hole
(TCA4NA, TCA4N (Lead Screw, Ball Screw))
3 Depth 3
+0.05 0
+0.03
0
φ 3 Depth 3 4-M4 through hole
(TWA3NA, TWA3N (Lead Screw, Ball Screw))
4
50
43
26
16 21
41
29
12
3 Depth 3
+0.05 0
+0.03
0
φ 3 Depth 3
4-M4 through hole
(TWA4NA, TWA4N (Lead Screw, Ball Screw))
4
58
48
46
20 21
30
31
14
3 Depth 3
+0.05 0
+0.03
0
φ 3 Depth 3
4-M4 through hole
(TFA3NA, TFA3N (Lead Screw, Ball Screw))
24
15.5
29.5
1.5
57
61
25.5
28
2-M4 through hole
(TFA4NA, TFA4N (Lead Screw, Ball Screw))
28
18.5
35.5
1.5
71
66
34
30.5
2-M4 through hole
φ 3 Depth 3
(TWA4NA, TWA4N (Lead Screw, Ball Screw))
Slot
A
B
4
45
25
30
10
6.5
Reamed Hole
Slot
3 Depth 3
+0.05
0
+0.03
0
Tapped Hole
4-M4 Depth 6
(TWA3NA, TWA3N (Lead Screw, Ball Screw))
3-M4 Depth 6
40
223
9
5
4
30
37
10
25
6.5
Reamed Hole
Slot
3 Depth 3
+0.05
0
φ 3 Depth 3
Tapped Hole
4-M4 Depth 6 +0.05
0
3-M4, depth 8
50
12
9
26
26
14.9
4
4
4
Slot
3010
10 880
25
Slot
A
B
(TFA4NA, TFA4N (Lead Screw, Ball Screw))
58 6.5
Reamed Hole
3 Depth 3
+0.05
0
+0.03
0
φ 3 Depth 3
Tapped Hole
4-M4 Depth 6
4
25
505.5
3010 Slot
(TFA3NA, TFA3N (Lead Screw, Ball Screw))
3-M4 Depth 6
32 23
214
3
Reamed Hole
Tapped Hole
4-M4 Depth 3
3 Depth 3
+0.05
0
+0.03
0
φ 3 Depth 3
26
4
37
14.9
26
9
4
3-M4, depth 8

Wiring
For the controller, use the dedicated controller manufactured by our company.
For the connection between the actuator and controller, use the attached dedicated connection
cable.
1. RCP3 Actuator Connection
Motor Coupling Type SA3C/SA4C/SA5C/SA6C, Motor Reversing Type SA3R/SA4R/SA5R/SA6R
[Connection to the PMEC, PSEP and MSEP controller]
Dedicated Connection Cable CB-APSEP-MPA***
*** shows the cable length. The max. length should be 10m.
Example) 080=8m
[Connection to the PCON, PSEL controller]
Dedicated Connection Cable CB-PCS-MPA***
*** shows the cable length. The max. length should be 10m.
Example) 080=8m
2. RCA2 Actuator Connection
Motor Coupling Type SA3C/SA4C/SA5C/SA6C, Motor Reversing Type SA3R/SA4R/SA5R/SA6R
[Connection to the AMEC, ASEP and MSEP controller]
Dedicated Connection Cable CB-APSEP-MPA***
*** shows the cable length. The max. length should be 10m.
Example) 080=8m
[Connection to the ACON, ASEL controller]
Dedicated Connection Cable CB-ACS-MPA***
*** shows the cable length. The max. length should be 10m.
Example) 080=8m
[Prohibited Items in the Cable Processing]
•Do not pull or bend forcibly the cable so as not to give any extra load or tension to the cable.
•Do not process the cable to extend or shortening by means of cutting out, combination or connecting
with another cable.
•Do not let the cable flex at a single point.
•Do not let the cable bend, kink or twist.
•Do not pull the cable with a strong force.
•Do not let the cable receive a turning force at a single point.
•Do not pinch, drop a heavy object onto or cut the cable.
•When fixing the cable, provide a moderate slack and do not tension it too tight.
•Separate the I/O line, communication line and power line from each other. Arrange so that such lines
are independently routed in the duct.
Follow the instructions below when using a cable track.
•If there is an indication to the cable for the space factor in a cable track, refer to the wiring
instruction given by the supplier when storing the cable in the cable track.
•Avoid the cables to get twined or twisted in the cable track, and also to have the cables move freely
and do not tie them up. (Arrange the wiring so the cables are not to be pulled when bent.)
Do not pile up cables. It may cause faster abrasion of the sheaths or cable breakage.
Note:
•When the cable is connected or disconnected, make sure to turn off the power to the controller.
When the cable is connected or disconnected with the controller power turned ON, it might
cause a malfunction of the actuator and result in a serious injury or damage to the machinery.
•When the connector connection is not correct, it would be dangerous because of a malfunction
of the actuator. Make sure to confirm that the connector is connected correctly.
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL [phone] FAX [phone]
website: www.iai-robot.co.jp/
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL [phone] FAX [phone]
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL [phone] FAX [phone]
website: www.iai-robot.com
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL [phone] FAX [phone]
Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143
TEL [phone] FAX [phone]
TEL [phone] FAX [phone]
website: www.intelligentactuator.com
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL [phone] FAX [phone]
RCP3- ××
r
Dedicated Controller
PCON
PSEL
Dedicated Connection Cable
(Connect RCP3 and the dedicated controller).
r = 68mm or more (Movable Use)
r
= 34mm or more (Fixed Use)
Manual No.: ME3676-8A
Do not use spiral tube in any
position where cables are bent
frequently.
Power Line
Duct
I/O Line
(Flat Cable, etc.)
Steel Strap
(Piano Wire)
Tie them up softly.
RCA2- ××
r
Dedicated Controller
ACON
ASEL
Dedicated Connection Cable
(Connect RCA2 and the dedicated controller).
r = 84mm or more (Movable Use)
r
= 42mm or more (Fixed Use)
RCP3- ××
r
Dedicated Controller
PMEC
PSEP
MSEP
Dedicated Connection Cable
(Connect RCP3 and the dedicated controller).
r=68mm or more (Movable Use)
r=34mm or more (Fixed Use)
RCA2- ××
r
Dedicated Controller
AMEC
ASEP
MSEP
Dedicated Connection Cable
(Connect RCA2 and the dedicated controller).
r=68mm or more (Movable Use)
r=34mm or more (Fixed Use)