IAI ROBO Cylinder RCP2 Series User manual

RCP2/RCA/RCS2/RCS3 Actuator
Slider Type/Rod Type/
Arm Type/Flat Type
First Step Guide Tenth Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (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 “2. How to read the model plate”,
“3. How to read the model No.” 1
Accessories
2 Motor • Encoder Cable*1 1 set
3 Home Position Marking Sticker 1 Packaged in slider type
4 Nut Refer to list below
5 First Step Guide 1
6 Instruction Manual (DVD) 1
7 Safety Guide 1
*1 Please refer to the wiring layout for the enclosed motor cable and encoder cable.
(List of Included Nut Type)
Model No. Nut
M10×1.25
Nut
M12×1.25
Nut
M14×1.5
Nut
M20×1.5
Nut
M22×1.5
Square Nut
6×6 M4
Square Nut
7×7 M4
Square Nut
10×10 M6
RCP2-RA3C 1
RCP2-RA4C 1 4
RCP2-RA6C 1 4
RCP2-RA8C 1
RCP2-RA10C 1
RCP2-RA3R 1
RCP2-RA4R 1 4
RCP2-RA6R 1 4
RCP2-RA8R 1
RCP2-RGS4C 4
RCP2-RGS6C 4
RCP2-RGD4C 4
RCP2-RGD6C 4
RCP2-SRA4R 1
RCA-SRA4R 1
RCS2-RA7AD 1
RCS2-RA7BD 1
RCS2-SRA7BD 1
RCS2-RA5C
4 or 8*1
RCS2-RA5R 1
4 or 8*1
RCS2-RGD5C
4 or 8*1
*1 Stroke 100mm or less : 4 Units, stroke 100mm or more : 8 Units
Model No. Nut A
M26×1.5
Nut B
M35×1.5
Nut C
M8×1.5
Nut A
M30×1.5
Nut B
M40×1.5
Nut C
M10×1.5
RCA-RA3C 1 1 1
RCA-RA4C 1 1 1
RCA-RA3D 1 1 1
RCA-RA4D 1 1 1
RCA-RA3R 2 1
RCA-RA4R 2 1
RCA-RGS3C 1 1
RCA-RGS4C 1 1
RCA-RGS3D 1 1
RCA-RGS4D 1 1
RCA-RGD3C 1 1
RCA-RGD4C 1 1
RCA-RGD3D 1 1
RCA-RGD4D 1 1
RCA-RGD3R 2
RCA-RGD4R 2
RCS2-RA4C 1 1 1
RCS2-RA4D 1 1 1
RCS2-RA4R 2 1
RCS2-RGS4C 1 1
RCS2-RGS4D 1 1
2. How to read the model plate
3. How to read the Model No.
3.1 Slider Type
3.1.1 RCP2 Actuator
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
3.1.2 RCA Actuator
Note : Models applicable for the battery-less absolute type are RCA-SA4C/R, SA5C/R, SA6C/R,
RCACR-SA4C, SA5C and SA6C.
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
3.1.3 RCS2 Actuator
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
3.1.4 RCS3 Actuator
Note : Models applicable for the battery-less absolute type are RCS2-SA4C/R, SA5C/R,
SA6C/R, SA7C/R, RCS2CR-SA4C, SA5C, SA6C, SA7C, RCS3-SA8C/R, SS8C/R,
RCS3CR-SA8C, SS8C.
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
3.2 Rod Type
3.2.1 RCP2 Actuator
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
3.2.2 RCA Actuator
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
3.2.3 RCS2 Actuator
Note : Models applicable for the battery-less absolute type are RCS2-RA5C/R, RGS5C and RGD5C.
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
*1 This may be displayed for the manufacturing reason.(This is not to indicate the manufacturing model code.)
Model
Serial number
MODEL RCP2-SA5C-I-42P-12-50-P1-P-BE
SERIAL No.600090266 MADE IN JAPAN
Note : For Absolute Type, there are encoder types A and TA.
Check the model types of the actuator and the controller when the controller is one of those listed below. In the
case the encoder type differs from what is indicated on the label, it may be necessary to make some changes to
the parameters. Please contact your nearest IAI sales office. Using the controller that requires parameter
changes will cause D67 (Motor/Encoder Structure Information) Error. However, it would not cause malfunction of
the product.
[Applicable Controllers] XSEL-J/K, XSEL-P/Q/R/S, SSEL
RCP2-SA5C-I-42P-12-50-P1-P-BE-**
<Series Name>
Standard Type Clean-Room Type
RCP2 RCP2CR
<Type>
Aluminum-Based Type
SA5C, SA6C
SA7C
Steel-Based Type
SS7C, SS8C
Steel-Based, High-Speed Type
HS8C
Aluminum-Based, Motor-Reversing Type
SA5R, SA6R
SA7R
Steel-Based, Motor-Reversing Type
SS7R, SS8R
Steel-Based, High-Speed, Motor-Reversing Type
HS8R
<Encoder Type>
I : Incremental
<Motor Type>
42P : 42 □Size 56P : 56 □Size 86P : 86 □Size
<Lead>
3 : 3mm 10 : 10mm , 4 : 4mm 12 : 12mm
5 : 5mm 16 : 16mm , 6 : 6mm 20 : 20mm
8 : 8mm 30 : 30mm
Identification for IAI use only*1
<Option>
B : Brake
BE : Brake (Cable on end)
BL : Brake (Cable on left)
BR : Brake (Cable on right)
NM : Reversed-Home Type
ML : Motor Reversing from Left Side
MR : Motor Reversing from Right Side
SR : Slider Roller Specification Type
VR : Suction Joint Reversed Type
<Cable Length>
N : None, P : 1m
S : 3m , M : 5m
X□□ : Specified Length
R□□ : Robot Cable
<Controller>
P1: PSEL, PCON-C/CG
PCON-CF, PCON-CY
PCON-SE, PCON-PL/PO
P3: PCON-CA, PMEC
PSEP, MSEL, MCON
<Stroke>
Identification for IAI use only*1
<Option>
B : Brake
BE : Brake (Cable on end)
BL : Brake (Cable on left)
BR : Brake (Cable on right)
FT : Foot Bracket
HA : High Accel/Decel Type
LA : Power Saving Type
HS : Home-Check Sensor
NM : Reversed-Home Type
SR : Slider Roller Specification Type
SS : Slider Spacer
ML : Motor Reversing from Left Side
MR : Motor Reversing from Right Side
VR : Suction Joint Reversed Type
<Cable Length>
N : None P : 1m S : 3m
M : 5m X□□: Specified Length
R□□ : Robot Cable
<Controller>
A1: ASEL A3: AMEC A5: ACON-CA
ACON-C/CG ASEP ACON-CB
ACON-CY MSEP MCON
ACON-SE
ACON-PL/PO
RCA-SA4C-I-20-10-50-A1-P-B-**
<Stroke>
<Series Name>
Standard Type Clean-Room Type
RCA RCACR
<Type>
Coupling Type Built-in Type
Aluminum-Based Type Aluminum-Based Type
SA4C, SA5C SA4D, SA5D
SA6C SA6D
Steel-Based Type
SS4D, SS5D
SS6D
Aluminum-Based,
Motor-Reversing Type
SA4R, SA5R
SA6R
<Encoder Type>
I : Incremental A : Absolute WA : Battery-less Absolute
<Motor Type>
20 : 20W 30 : 30W
<Lead>
2.5 : 2.5mm 6 : 6mm
3 : 3mm 10 : 10mm
5 : 5mm 12 : 12mm
20 : 20mm
RCS2-SA4C-I-20-10-50-A1-P-B-**
<Series Name>
Standard Type Clean-Room Type
RCS2 RCS2CR
<Type>
Coupling Type
Aluminum-Based Type Steel-Based Type
SA4C, SA5C SS7C, SS8C
SA6C, SA7C
Built-in Type
Aluminum-Based Type
SA4D, SA5D
SA6D
Aluminum-Based, Motor-Reversing Type
SA4R, SA5R
SA6R, SA7R
Steel-Based, Motor-Reversing Type
SS7R, SS8R
<Encoder Type>
I : Incremental A : Absolute TA : Absolute
WA : Battery-less Absolute
<Motor Type>
20 : 20W 60 : 60W 150 : 150W
30 : 30W 100 : 100W
<Lead>
2.5 : 2.5mm 6 : 6mm 12 : 12mm
3 : 3mm 8 : 8mm 16 : 16mm
4 : 4mm 10 : 10mm 20 : 20mm
5 : 5mm
Identification for IAI use only*1
<Option>
B : Brake
BE : Brake (Cable on end)
BL : Brake (Cable on left)
BR : Brake
FT : Foot Bracket
HA : High Accel/Decel Type
HS : Home-Check Sensor
NM : Reversed-Home Type
SR : Slider Roller Specification Type
SS : Slider Spacer
ML : Motor Reversing from Left Side
MR : Motor Reversing from Right Side
VR : Suction Joint Reversed Type
CE : CE Marking
<Cable Length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Specified Length
R□□ : Robot Cable
<Controller>
T1: XSEL-J/K
T2: SCON
SSEL
XSEL-P/Q/R/S
<Stroke>
RCS3-SA8C-I-100-5-50-T1-P-B-**
<Series Name>
Standard Type Clean-Room Type
RCS3 RCS3CR
<Type>
Aluminum-Based Type Steel-Based Type
SA8C SS8C
Aluminum-Based Reversing Type Steel-Based Reversing Type
SA8R SS8R
<Encoder Type>
I : Incremental A : Absolute TA : Absolute
WA : Battery-less Absolute
<Motor Type>
100 : 100W 150 : 150W
<Lead>
5 : 5mm 20 : 20mm
10 : 10mm 30 : 30mm
<Stroke>
<Controller>
T1: XSEL-J/K
T2: SCON, SSEL, XSEL-P/Q
Identification for IAI use only*1
<Option>
B : Brake
NM : Reversed-Home Type
A1S : Cable Exit on Left Side
A1E : Cable Exit on Left of Rear Side
A3S : Cable Exit on Right Side
A3E : Cable Exit on Right of Rear Side
MLE : Motor Reversed on Left Side,
Cable Exit on Rear Side
MLS : Motor Reversed on Left Side,
Cable Exit on a Side
MRE : Motor Reversed on Right Side,
Cable Exit on Rear Side
MRS : Motor Reversed on Right Side,
Cable Exit on a Side
SR : Slider Roller Specification Type
VL : L-shaped Vacuum Joint Type
VN : No Vacuum Joint
CE : CE Marking
<Cable Length>
N : None P : 1m S:3m
M :5m X□□ : Specified Length
R□□ : Robot Cable
RCA-RA3C-I-20-10-50-A1-P-B-**
<Series Name>
Standard Type
RCA
Dust and Splash-Proof Type
RCAW
<Type>
Standard Type
Coupling Type
RA3C, RA4C
Built-in Type
RA3D, RA4D
Motor-Reversing Type
RA3R, RA4R
Single-Guide Type
Coupling Type
RGS3C, RGS4C
Built-in Type
RGS3D, RGS4D
Double-Guide Type
Coupling Type
RGD3C, RGD4C
Built-in Type
RGD3D, RGD4D
Motor-Reversing Type
RGD3R, RGD4R
Short Length Type
SRA4R
Short Length Type
With Single Guide
SRGS4R
Short Length Type
With Double Guide
SRGD4R
Identification for IAI use only*1
<Option>
B : Brake
FT : Foot Bracket
FT2 : Foot Bracket (right attached)
FT4 : Foot Bracket (left attached)
GS2 : Single Guide, right attached
FL : Flange Bracket (front)
FLR : Flange Bracket (rear)
HA : High Accel/Decel Type
HS : Home-Check Sensor
LA : Power Saving Type
NJ : Knuckle Joint
NM : Reversed-Home Type
TRF : Trunnion Bracket (front)
TRR : Trunnion Bracket (rear)
QR : Clevis Bracket
RP : Rear Attachment Plate
<Cable Length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Specified Length
R□□ : Robot Cable
<Controller>
A1: ASEL, ACON-C/CG
ACON-CY, ACON-SE
ACON-PL/PO
A3: AMEC, ASEP, MSEP
A5: ACON-CA, ACON-CB, MCON
<Encoder Type>
I : Incremental
A : Absolute
<Motor Type>
20 :20W
30 :30W
<Lead>
2.5 : 2.5mm
3 : 3mm
5 : 5mm
6 : 6mm
10 : 10mm
12 : 12mm
<Stroke>
RCS2-RA4C-I-20-12-50-T1-P-B-**
<Series Name>
Standard Type
RCS2
Dust and Splash-Proof Type
RCS2W
<Type>
Standard Type
Coupling Type
RA4C, RA5C
Built-in Type
RA4D, SRA7BD
RA7AD, RA7BD
Motor-Reversing Type
RA4R, RA5R
RA13R
Single-Guide Type
Coupling Type
RGS4C, RGS5C
Built-in Type
RGS4D, SRGS7BD
RGS7AD, RGS7BD
Double-Guide Type
Coupling Type
RGD4C, RGD5C
Built-in Type
RGD4D, SRGD7BD
RGD7AD, RGD7BD
Motor-Reversing Type
RGD4R
Short Length Type
SRA7BD
With Single Guide
SRGS7BD
With Double Guide
SRGD7BD
Identification for IAI use only*1
<Option>
B : Brake
B : Brake (RA13R brake box equipped)
BN : Brake (RA13R brake box excluded)
FT : Foot Bracket
FL : Flange Bracket (front)
FLR : Flange Bracket (rear)
HA : High Accel/Decel Type
HS : Home-Check Sensor
NJ : Knuckle Joint
NM : Reversed-Home Type
TRF : Trunnion Bracket (front)
TRR : Trunnion Bracket (rear)
QR : Clevis Bracket
RP : Rear Attachment Plate
A1 to A3 :
Varied in connector cable orientation
ML : Motor-Reversing Type (Standard)
MR : Motor-Reversing Type
MT1, MT2, MT3 :
Motor Reversing from Upper Side
MR1, MR2 :
Motor Reversing from Right Side
ML1, ML2 :
Motor Reversing from Left Side
GS2 to GS4 :
Varied in guide attachment orientation
LCT : With loadcell and cable track
LCN : Without loadcell and cable track
CE : CE Marking
<Cable Length>
N : None P : 1m S : 3m
M : 5m X□□: Specified Length
R□□: Robot Cable
<Encoder Type>
I : Incremental A : Absolute
TA : Absolute
WA : Battery-less Absolute
<Motor Type>
20 : 20W
30 : 30W
60 : 60W
100 : 100W
150 : 150W
750 : 750W
<Lead>
1.25 : 1.25mm
2.5 : 2.5mm
3 : 3mm
4 : 4mm
6 : 6mm
8 : 8mm
12 : 12mm
16 : 16mm
<Stroke>
<Controller>
T1: XSEL-J/K
T2: SCON
SSEL
XSEL-P/Q/R/S
RCP2-RA2C-I-20P-1-50-P1-P-FL-**
<Series Name>
Standard Type
RCP2
Dust and Splash-Proof Type
RCP2W
<Type>
Standard Type Reversing Type
RA2C, RA3C RA3R, RA4R
RA4C, RA6C RA6R, RA8R
RA8C, RA10C
Single-Guide Type
RGS4C, RGS6C
Double-Guide Type
RGD3C, RGD4C
RGD6C
Short Length Type
SRA4R
Short Length Type
With Single Guide
SRGS4R
Short Length Type
With Double Guide
SRGD4R
<Encoder Type>
I : Incremental
<Motor Type>
20P : 20 □Size
28P :28 □Size
35P : 35 □Size
42P : 42 □Size
56P : 56 □Size
86P : 86 □Size
Identification for IAI use only*1
<Option>
B : Brake
FL : Flange Bracket (front)
FLR : Flange Bracket (rear)
FT : Foot Bracket
FT2 : Foot Bracket (right attached)
FT4 : Foot Bracket (left attached)
GS2 : Single Guide, right attached
GS3 : Single Guide, bottom attached
GS4 : Single Guide, left attached
NM : Reversed-Home Type
A1 : Connector cable oriented on left
A2 : Connector cable oriented toward rod
A3 : Connector cable oriented on right
<Cable Length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Specified Length
R□□ : Robot Cable
<Controller>
P1: PSEL P3: PCON-CA
PCON-C/CG PMEC
PCON-CF PSEP
PCON-CY MSEL
PCON-SE MCON
PCON-PL/PO
<Lead>
1 : 1mm 8 : 8mm
2.5 : 2.5mm 10 : 10mm
4 : 4mm 16 : 16mm
5 : 5mm
<Stroke>
Warning : Ope
r
ation of this equipment requires detailed installation and operation instructions which are
provided on the DVD Manual included in the box this device was packaged in. It should be retained
with this device at all times.
A hardcopy of the 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.

3.3 Arm Type
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
3.4 Flat Type
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
*1 This may be displayed for the manufacturing reason.
(This is not to indicate the manufacturing model code.)
Precautions in Handling
1. Handling of the Packed Product
Take the greatest care in transporting the product, not to bump or drop it.
•An operator should never attempt to carry a heavy package on his own.
•When setting down the package temporarily, keep it horizontal.
•Do not step on the package.
•Do not place on the package a heavy object that may cause the box deformation or apply stress on it.
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 the stainless sheet is attached, never hold the stainless sheet section.
•When transporting the actuator, be careful not to hit it against other objects. In particular, pay attention to the side cover.
•Do not give any unnatural force to any of the sections in the actuator. In particular, pay attention not to apply any force on
the stainless steel sheet if the actuator is equipped with the stainless steel sheet.
Installation Environment, Storage Environment
1. Installation Environment
An environment that satisfies the following conditions is required during installation.
In general, the actuator for standard and clean-room types should be used in the environment where an
operator can work without equipping 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. (Standard and clean-room types)
•If air purge is performed, the actuator will have water resistance of the protective structure shown in the table below.
•There should not be corrosive gas or flammable gas.
•There should be no flammable dust or ignitable liquid in the surrounding.
•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 actuator should not be installed where it gets dipped in liquid.
•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 and preserved for a long time, pay close attention to
environmental conditions so that no dew 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 dew condensation is anticipated,
take the condensation preventive measures from outside of the entire package, or directly after opening the package.
•For storage and preservation temperature, the machine withstands temperatures up to 60°C for a short time, but in the
case of the storage and preservation period of 1 month or more, control the temperature to 50°C or less.
Names of the Parts
1. Slider Type
1.1 RCP2, RCA, RCS2 Standard Type
1.1.1 Motor Straight Type
The Figures above are that of RCP2-SA5C, SA6C and SA7C.
For the other details of appearance, dimensions and outlines for the actuator, refer to the catalog or Instruction Manual (DVD).
1.1.2 Motor Reversing Type
The Figures above are that of RCP2-SA5R and SA6R.
For the other details of appearance, dimensions and outlines for the actuator, refer to the catalog or Instruction Manual (DVD).
1.2 RCP2, RCA, RCS2 Clean-Room Type
The Figures above are that of RCP2CR-SA5C, SA6C and SA7C.
For the other details of appearance, dimensions and outlines for the actuator, refer to the catalog or Instruction Manual (DVD).
1.3 RCS3 Standard Type
[SA8C] [SS8C]
1.4 RCS3 Clean-Room Type
[SA8C] [SS8C]
1.5 RCS3 Motor Reversing Type
[SA8R] [SS8R]
2. Rod Type
2.1 RCP2
2.1.1 Standard Type
[RA2C] There is no brake-equipped type.
[RA3C] There is no brake-equipped type.
[RA4C, 6C]
[RA8C]
[RA10C]
[RA3R]
[RA4R, RA6R]
For the details of dimensions and outlines, refer to the catalog or Instruction Manual (DVD).
Protective
Structure Model
IP65 RCP2W-RA4C, RA6C
IP54 RCP2W-RA10C
RCAW-RA3C, RA3D, RA3R
RCAW-RA4C, RA4D, RA4R
RCS2W-RA4C, RA4D, RA4R
Rod
Aluminum Frame
Rod-Tip Adapter
Right
Left
Motor Side
Rod Side
Motor Bracket
Cable
Motor Cover
Grease Supply Port
(Thin Head Screw)
Motor Side
Rod Side
Right
Left
Rod
Rod-Tip Adapter Aluminum Frame
Motor Bracket
Cable Joint Connector
Motor Housing Motor-End Cap
Range of T-slot
Right
Left
Motor Side
Rod Side
Grease Supply Port
(Thin Head Screw)
Cable Joint Connector
Rod
Rod-Tip Adapter
Aluminum Frame Motor Bracket Motor-End Cap
Cable
Motor Housing Brake Unit
Front Bracket
Cable Cover
Tie Rod
Right
Left
Motor Side
Rod Side
Rod-Tip Bracket
Rod
Cable
Base Motor Housing
Motor-End Cap
Motor Bracket Brake Unit
Stainless
Steel Sheet Side Cover Cable Joint Connector
Right
Opposite
Side of the
Motor
Cable
Motor Bracket
Slider
Motor-End Cap
Motor Housing
Base
Front Cover
Brake Unit
Motor Side
Left
Right
Left
Opposite
Side of the
Motor Motor Side
Stainless
Steel Sheet Side Cover Attachment Flange
Pulley Cover
Slider
Motor-End Cap
Motor Housing
Base
Front Cover
Brake Unit
Right
Left
Opposite
Side of the
Motor
Motor Side
Stainless
Steel Sheet Side Cover Cable Joint Connector
Cable
Motor Bracket
Slider
Motor-End Cap
Motor Housing
Base
Front Cover
Brake Unit
Suction Joint
Right
Left
Opposide
Side of the
Motor
Motor
Side
Screw Cover
Side Cover
Slider
Front
Bracket
Motor Unit
Cable
Bearing
Housing
Base
Stainless
Steel Sheet
Slider
Front
Bracket
Slider Cover
Cable
Base
Motor Unit
Side Cover
Opposide
Side of the
Motor
Motor
Side
Bearing
Housing
Right
Left
Stainless
Steel Sheet
Slider
Front
Bracket
Slider Cover
Joint
Motor Unit
Cable
Bearing Housing
Base
Side Cover
Opposide
Side of the
Motor
Motor Side
Right
Left
Stainless
Steel Sheet
Side Cover
Slider
Front
Brancket
Slider Cover
Joint
Motor Unit
Cable
Bearing Housing
Base
Opposide
Side of the
Motor
Motor Side
Right
Left
Screw Sheet Reversing
Bracket
Side Cover Slider
Front
Bracket
Motor Unit
Cable
Base
Right
Left
Opposide
Side of the
Motor
Motor Side
Stainless
Steel Sheet
Reversing
Bracket
Slider
Front
Brancket
Slider Cover
Motor Unit
Cable
Base
Opposide
Side of the
Motor
Motor Side
Side Cover
Right
Left
Grease Supply Port
(Thin Head Screw)
Aluminum Frame
Rod
Rod-Tip Adapter Motor Cover
Wire Cover
Cable
Motor-End Cover
Right
Left
Reversing Bracket End Plate
Cable Joint
Connector
Motor Side
Rod Side
Grease Supply Port
(Thin Head Screw)
Cable
Wire Cover
Right
Left
Motor Cover
Motor-End Cover
Rod-Tip Adapter
Aluminum Frame
Rod
Range of T-slot
Motor Side
Rod Side
Grease Supply Port
(Thin Head Screw)
Right
Left Cable Joint
Connector
Wire Cover
Motor Cover
Motor-End Cover
Rod-Tip Adapter
Aluminum Frame
Rod
Reversing Bracket
End Plate
RCA-A3R-I-20-10-50-A1-P-B-**
<Series Name>
RCA
RCS2
<Type>
Arm Type
A4R
A5R
A6R
<Encoder Type>
I : Incremental
A : Absolute
<Motor Type>
20 : 20W
30 : 30W
<Lead>
5 : 5mm
6 : 6mm
10 : 10mm
12 : 12mm
<Stroke>
Identification for IAI use only*1
<Option>
B : Brake
LA : Power Saving Type
NM : Reversed-Home Type
MB : Motor Reversing from Lower Side
MR : Motor Reversing from Right Side
ML : Motor Reversing from Left Side
<Cable Length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Specified Length
R□□ : Robot Cable
<Controller>
A1: ASEL
ACON-C/CG
ACON-CY
ACON-SE
ACON-PL/PO
A3: ASEP
RCS2-F5D-I-60-16-50-T1-P-B-**
<Series Name>
<Type>
<Encoder Type>
I : Incremental
A : Absolute
<Motor Type>
60 : 60W
100 : 100W
<Lead>
4 : 4mm
8 : 8mm
16 : 16mm
<Stroke>
Identification for IAI use only*1
<Option>
B : Brake
NM : Reversed-Home Type
CE : CE Marking
<Cable Length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Specified Length
R□□ : Robot Cable
<Controller>
T1: XSEL-J/K
T2: SCON
SSEL
XSEL-P/Q

[RA8R]
[RGS4C, RGS6C]
[RGD3C, RGD4C, RGD6C]
There is no brake-equipped type for RGD3C.
2.1.2 Short Length Type
[SRA4R]
The appearance should be the same for the brake-equipped type.
[SRGS4R]
The appearance should be the same for the brake-equipped type.
For the details of dimensions and outlines, refer to the catalog or Instruction Manual (DVD).
[SRGD4R]
The appearance should be the same for the brake-equipped type.
2.1.3 Dust and Splash-Proof Type
[RA4C, RA6C]
[RA10C]
2.2 RCA, RCS2
2.2.1 Standard Type
[RA3C, RA4C]
[RA5C]
[RA3D, RA4D]
There is no brake-equipped type.
[RA7AD, RA7BD]
For the details of dimensions and outlines, refer to the catalog or Instruction Manual (DVD).
[RA3R, RA4R]
[RA5R]
[RA13R]
[RGS3C, RGS3D, RGS4C, RGS4D]
There are no brake-equipped types for RGS3D and RGS4D.
[RGS5C]
[RGS7AD, RGS7BD]
For the details of dimensions and outlines, refer to the catalog or Instruction Manual (DVD).
Guide Bracket
Guide Rod
Guide Bearing
Right
Left
Motor Side
Rod Side
Aluminum Frame
Range of T-slot Motor Housing Cable
Grease Supply Port
(Thin Head Screw)
Motor Bracket Motor-End Cap
Brake Unit
Mounting Bracket
Guide Rod
Right
Left
Rod Side Motor Side
Guide Bearing Grease Supply Port
(Thin Head Screw)
Guide Bracket
Aluminum Frame
Guide Bearing Guide Rod
Motor Bracket Motor-End Cap
Range of T-slot Motor Housing
Cable
Brake Unit
Front Tapped
Mounting Holes Side Tapped Mounting Holes Rear Tapped Mounting Holes
Bottom Tapped Mounting Holes
Right
Left
Motor SideRod Side
Rod
Cable
Aluminum Frame Motor Housing
Pulley Cover
Rod-Tip Adapter
Right Left
Bottom
Grease Supply Port
(Thin Head Screw)
Right
Left
Guide Bearing
Guide Rod
Motor SideRod Side
Motor Housing
Guide Bracket
Pulley Cover
Mounting Bracket
Right
Left
Motor Housing
Guide Bracket
Pulley Cover
Guide Bearing Guide Rod
Motor SideRod Side
Suction/Exhaust Port
The joint can be turned 360 degrees.
Right
Left
Rod Side Motor Side
Grease Supply Port
(Truss Head Screw) Motor Housing
Motor Bracket
Motor-End Cap
Aluminum Frame
Rod
Rod-Tip Adapter Range of T-slot Cable Brake Unit
The joint can be turned 360 degrees.
Rod-Tip Bracket
Right
Left
Motor Side
Rod Side
Cable
Cable Cover
Motor Housing
Tie Rod
Base
Suction/Exhaust Port
Rod
Front Bracket Motor Bracket
Motor-End Cap Brake Unit
Rod Cover Motor Unit
Head Cover
Cylinder Tube
Right
Left
Motor Side
Rod Side
Rod
Rod-Tip Adapter
Cable
Brake Unit
Encoder Cover
Connector Box
Right
Left
Motor Side
Rod Side
Aluminum Frame
Rod
Motor Housing
Rod-Tip Adapter Brake Unit
Head Cover
Cylinder Tube
Right
Left
Motor Side
Rod Side
Rod Cover Motor Unit
Cable
Rod-Tip Adapter
Rod
Right
Left
Motor Side
Rod Side
Connector Box
Encoder Cover
Rod-Tip Adapter Motor Housing
Aluminum Frame
Anti-Vibration Screws (4 places)
Do not touch these screws.
Brake Unit
Right
Left
Motor Side
Rod Side
Brake Unit
Cable Pulley Case
Head Cover
Cylinder Tube
Rod Cover
Rod
Rod-Tip Adapter
Brake Unit
Right
Left
Pulley Cover
Motor Housing
Brake Unit
Right
Left
Motor Side
Rod Side
Motor Housing
Rod
Connector Box Pulley Cover
Rod-Tip Adapter
Aluminum Frame
Base Motor Bracket Brake Unit
Right
Left
Motor Side
Rod Side
Guide Bearing
Guide Rod Head Cover
Motor Unit
Cable
Cylinder Tube
Rod Cover
Rod
Guide Bracket
Brake Unit
Right
Left
Guide Bracket Guide Bearing
Guide Rod Connector Box
Rod Motor Housing Encoder Cover Brake Unit
Right
Left
Motor SideRod Side
Guide Bracket
Guide Bearing
Guide Rod
Rod
Connector Box
Encoder Cover
Motor Housing
Brake Unit
Grease Supply Port
(Thin Head Screw)
Aluminum Frame
Rod
Right
Left
Rod-Tip Adapter
Motor Cover
Wire Cover
Cable
Motor-End Cover
Reversing Bracket End Plate

[RGD3C, RGD3D, RGD4C, RGD4D]
There are no brake-equipped types for RGD3D and RGD4D.
[RGD5C]
[RGD7AD, RGD7BD]
[RGD3R, RGD4R]
2.2.2 Short Length Type
[SRA4R, SRGS4R, SRGD4R]
The appearance is the same as RCP2-SRA4R, SRGS4R and SRGD4R.
[SRA7BD]
[SRGS7BD]
The appearance should be the same for the brake-equipped type.
For the details of dimensions and outlines, refer to the catalog or Instruction Manual (DVD).
[SRGD7BD]
The appearance should be the same for the brake-equipped type.
2.2.3 Dust and Splash-Proof Type
[RA3C, RA3D, RA4C, RA4D]
There are no brake-equipped types for RA3D and RA4D.
[RA3R, RA4R]
3. Arm Type
3.1 RCA, RCS2
[A4R, A5R, A6R]
Equipped with brake
4. Flat Type
4.1 RCS2
[F5D]
For the details of dimensions and outlines, refer to the catalog or Instruction Manual (DVD).
Attachment
Refer to the Instruction Manual (DVD) for the attachments of the actuator and loads.
[Precautions for Attachments]
No. Item Precautions
1 Installation • Installing the slider type actuator with to horizontally oriented wall mount or ceiling mount
may cause the stainless steel sheet to be slacked or off the right position. Continued use of
the actuator with this condition may result in the breakage of the stainless steel sheet.
Adjust the sheet tension accordingly in the regular inspection.
(Refer to the maintenance section on the Instruction Manual for the procedure of stainless
steel sheet tension adjustment.)
• Avoid using the actuator with no brake in the vertical orientation.
2 Attachment Surface • The base has to have a structure with sufficient rigidity to prevent oscillation.
•The side and the bottom surfaces of the base of the slider type actuator are the datum for
the slider drive. If accuracy for its run is required, use these surfaces as a datum of the
installation.
Reference Surface
(Side of Base)
Reference Surface
Reference Surface
Reference Surface
(Side of Base)
• The actuator mounting surface and other surfaces that are used as a datum should be flat
enough with an accuracy of machining or equivalent treatment, and the flatness of the
mounting surface needs to be 0.05mm/m or less.
• Secure the space where maintenance work can be performed.
3 Bolt to be used • For the bolts to be used, a high-tensile bolt complying with ISO-10.9 or more is recommended.
• If using the tapped holes, use screws with the thread length dimension being less than the
effective depth of the holes.
• In case the tapped hole is a through hole, be careful so the screw tip does not exceed the
surface of the tapped hole.
• For the actuator mounting, use a bolt with the dimension of its effective mating length to the
tapped hole is as stated below.
If tapped hole on steel →thread length same as nominal diameter
If tapped hole on aluminum →thread length 1.8 times longer than nominal diameter
• When using a foot base for installation to a platform or equivalent, in order to protect the
foot base, apply washers dedicated for high-tensile bolt if using bolts of M8 or larger. No
washer is needed for M6 or smaller bolts. Also, do not use a normal washer.
4 Tightening Torque • Please follow the specification values stated in the Instruction Manual (DVD) for the
tightening torque. Failure to do so may cause an operation problem.
5 Load Moment and Overhung
length
• Please follow the specification values stated in the Instruction Manual (DVD) for the load
moment and the overhung length.
Failure to do so may cause abnormal vibration or noise, and also may remarkably shorten
the product life.
• Please do not apply any external force from other than rod moving direction (radial load) to
the rod.
Any perpendicular or radial force to the rod may cause damage to the actuator or operation
problem.
Use an actuator with a guide or equip the actuator with an optional guide if the
actuator receives an external force from the direction other than its moving direction.
6 Stainless sheet • Please do not hold the stainless steel sheet directly with hands. Please, also, be careful not
to make a dent on the stainless steel sheet. Stainless sheet is easy to get dented because it
is thin. Using it with a dent on may cause a breakage.
• If there is dust or metal contamination attached on the stainless steel sheet, please wipe it
off the sheet surface. Operation with the stainless sheet that has foreign matters on its
surface may cause problems such as sheet damage, waviness, etc. inside the slider.
• Please do not operate the unit in the ambient with dust or metal contamination.
7 Load Attachment to Rod • Do not apply rotation torque on the rod
(slide shaft). It may cause damage inside.
• Tighten the nut on the rod tip with holding
the rot with a wrench or an equivalent tool.
Wiring
For the controller, only the dedicated controller manufactured by our company can be used.
For the connection between the actuator and controller, use the attached dedicated connection cable.
1. RCP2, RCP2CR, RCP2W Actuator
[Connection to the PCON (other than PCON-CA), PSEL controller]
Dedicated Connection Cable
•Motor Cable (Robot Cable) CB-RCP2-MA□□□
•Encoder Cable CB-RCP2-PB□□□/Encoder Cable Robot Cable CB-RCP2-PB□□□-RB
□□□ shows the cable length. The max. length should be 20m. Example) 080=8m
[Connection to the PCON-CA, PMEC, PSEP controller, etc]
Dedicated Connection Cable
•Motor Encoder Cable CB-PSEP-MPA□□□
□□□ shows the cable length. The max. length should be 20m. Example) 080=8m
Right
Left
Guide Bracket Guide Bearing
Guide Rod Head Cover
Motor Unit
Motor Side
Rod Side
Rod Rod Cover Cylinder Tube
Cable
Brake Unit
Right
Left
Motor Side
Rod Side
Guide Bracket
Guide Bearing
Guide Rod
Rod Connector Box
Encoder Cover
Motor Housing Brake Unit
Right
Left
Motor SideRod Side
Guide Bracket
Guide Bearing
Guide Rod
Rod
Connector Box
Encoder Cover
Motor Housing
Brake Unit
Right
Left
Guide Bearing
Guide Bracket
Guide Rod
Head Cover
Motor Unit
Rod Cover
Rod
Cable
Motor Side
Rod Side
Brake Unit
Home Position Adjustment Screws (2 places)
Do not touch these screws.
Connector Box
Right
Left
Encoder Cover
Motor Housing
Aluminum Frame Brake Unit
Right
Left
Guide Bracket Guide Bearing
Guide Rod
Connector Box
Encoder Cover
Motor Housing
Rod
Right
Left
Connector Box
Encoder Cover
Motor Housing
Guide Bearing
Guide Bracket
Guide Rod
Rod
Guide Bracket
Bellows
Right
Left
Motor SideRod Side
Suction/Exhaust Port
Cylinder Tube Head Cover
Motor Unit
Cable
Rod Cover
Rod
Rod-Tip Adapter Brake Unit
Bellows
Right
Left
Suction/Exhaust Port
Cable Motor Unit
Rod
Rod-Tip Adapter Cylinder Tube
Rod Cover Pulley Case
Head Cover
Motor Side
Rod Side
Brake Unit
Screw Cover
Screw Cover
Attachment Screw
Right
Left
Opposite
Side of the
Motor
Motor Side
Slider
Base
Cable
Encoder Cover Motor Housing
Motor Bracket
Pulley Cover
Right
Left
Slider
Connector Box
Encoder Cover
Motor Housing
Brake Unit
RCP2, RCP2CR, RCP2W
r
r = 68mm or more (Movable Use)
r = 34mm or more (Fixed Use)
Dedicated Controller
PCON-CA, PMEC, PSEP,
MSEP, MSEL, MCON
Dedicated Connection Cable
(Connect RCP2, RCP2CR or RCP2W with the dedicated controller.)
RCP2, RCP2CR, RCP2W
Dedicated Connection Cable
(Connect RCP2, RCP2CR or RCP2W with the dedicated controller.)
r
r
Dedicated Controller
PCON (other than PCON-CA)
PSEL
Robot Cable
r = 54mm or more (Movable Use)
Standard Cable
r = 75mm or more (Fixed Use)
Use robot cables if the cables tend to move.

2. RCA, RCACR, RCAW Actuator
[Connection to the ACON (other than ACON-CA, CB), ASEL controller]
Dedicated Connection Cable
•Motor Cable (Robot Cable) CB-ACS-MA□□□
•Encoder Cable CB-ACS-PA□□□/Encoder Cable Robot Cable CB-ACS-PA□□□-RB
□□□ shows the cable length. The max. length should be 20m. Example) 080=8m
[Connection to the ACON-CA, AMEC, ASEP controller, etc]
Dedicated Connection Cable
•Motor Encoder Cable CB-ASEP2-MPA□□□
□□□ shows the cable length. The max. length should be 20m.
Example) 080=8m
3. RCS2, RCS2CR, RCS2W, RCS3, RCS3P, RCS3CR, RCS3PCR Actuator
[Connection to the SCON, SSEL controller]
Dedicated Connection Cable
•Motor Cable CB-RCC-MA□□□/Motor Cable Robot Cable CB-RCC-MA□□□-RB
•Encoder Cable CB-RCS2-PA□□□/Encoder Cable Robot Cable CB-X3-PA□□□
□□□ shows the cable length. The max. length should be 30m.
Example) 080=8m
[Connection to the X-SEL controller]
Dedicated Connection Cable
•Motor Cable CB-RCC-MA□□□/Motor Cable Robot Cable CB-RCC-MA□□□-RB
•Encoder Cable dedicated for XSEL-J/K types CB-RCBC-PA□□□
/Encoder Cable Robot Cable dedicated for XSEL-J/K types CB-RCBC-PA□□□-RB
•Encoder Cable dedicated for XSEL-P/Q/R/S types CB-RCS2-PA□□□
/Encoder Cable Robot Cable dedicated for XSEL-P/Q/R/S types CB-X3-PA□□□
□□□ shows the cable length.
The max. length should be 15m. The max. length for other cables is 20m.
Example) 080=8m
[Connection to the RCS2-RA13R and SCON controller]
◎Brake-Equipped Type ◎Non-Brake Type
◎Loadcell-Equipped Type (Option)
[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 for extension or shortening by means of cutting out, combination or connecting with another cable.
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: 110 East State Parkway, Schaumburg, IL 60173
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]
Manual No.: ME3687-10A
Moptor Cable
(CB-RCC-MA***)
Encoder Cable
(CB-RCS2-PLA***)
SCON 400W or more
Actuator
Radius for Cable Bend
R=100mm or more (Fixed Use)
RCS2, RCS2CR, RCS2W
RCS3, RCS3P, RCS3CR, RCS3PCR
r
r
Dedicated Controller
SCON
SSEL
Dedicated Connection Cable
(Connect RCS2, RCS2CR, RCS2W
RCS3, RCS3P, RCS3CR or RCS3PCR with the dedicated controller.)
Robot Cable
r = 58mm or more (Movable Use)
Standard Cable
r = 93mm or more (Fixed Use)
Use robot cables if the cables tend to move.
RCS2, RCS2CR, RCS2W
RCS3, RCS3P, RCS3CR, RCS3PCR
r
r
Dedicated Controller
XSEL
Dedicated Connection Cable
(Connect RCS2, RCS2CR, RCS2W
RCS3, RCS3P, RCS3CR or RCS3PCR with the dedicated controller.)
Robot Cable
r = 58mm or more (Movable Use)
Standard Cable
r = 93mm or more (Fixed Use)
Use robot cables if the cables tend to move.
•Do not let the cable flex at a single point.
Steel Strap
(Piano Wire)
Tie them up softly.
•
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.
Do not use spiral tube in any
position where cables are bent
frequently.
•Separate the I/O line, communication line and power
line from each other.
Arrange so that such lines are independently routed in
the duct.
Power Line
Duct
I/O Line
(Flat Cable, etc.)
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. (Avoid tension being applied when the
cables are bent.)
Do not pile up cables. It may cause faster abrasion of
the sheaths or cable breakage.
r
Dedicated Controller
RCA, RCACR, RCAW
r = 68mm or more (Movable Use)
r = 34mm or more (Fixed Use)
Dedicated Connection Cable
(Connect RCA, RCACR or RCAW with the dedicated controller.)
A
CON-CA, AMEC, ASEP, MSEP, ACON-CB, MCON
RCA, RCACR, RCAW
r
r
Dedicated Controller
ACON (other than ACON-CA, CB)
ASEL
Dedicated Connection Cable
(Connect RCA, RCACR or RCAW with the dedicated controller.)
Robot Cable
r = 54mm or more (Movable Use)
Standard Cable
r = 75mm or more (Fixed Use)
Use robot cables if the cables tend to move.
SCON 400W or more
Motor Cable
(CB-RCC-MA***)
Encoder Cable
(CB-RCS2-PLA010)
Encoder Cable
(CB-RCS2-PLA***)
Actuator External Brake Connection Box
(RCB-110-RA13-0)
Radius for Cable Bend
R=100mm or more (Fixed Use)
Radius for Cable Bend
R=100mm or more (Fixed Use)
Motor Cable
(CB-RCC-MA***)
Cable inside Loadcell Pair
(CB-LDC-CTL***)
Encoder Cable
(CB-RCS2-PLA***)
(CB-X2-PLA***)
Actuator
SCON-CA 400W or more
Encoder Cable
(CB-RCS2-PLLA010)