IAI ROBO Cylinder RCP6-RRA User manual

ROBO Cylinder® Pulse Press RCP6-RRA
Catalog No. CE0286-2A (2021OCT)
www.intelligentactuator.com
IAI Industrieroboter GmbH
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
IAI (Shanghai) Co., Ltd.
Shanghai Jiahua Business Center A8-303, 808,
Hongqiao Rd., Shanghai 200030, China
IAI Robot (Thailand) Co., Ltd.
825 Phairojkijja Tower 7th Floor, Debaratana Rd.,
Bangna Nuea, Bangna, Bangkok 10260, Thailand
The information contained in this product brochure may change without prior notice due to product improvements.
USA Headquarters & Western Region (Los Angeles) : 2690 W. 237th Street, Torrance, CA 90505 [phone]
Midwest Branch Office (Chicago) :110 East State Parkway, Schaumburg, Illinois 60173 [phone]
Southeast Branch Office (Atlanta) : 1220 Kennestone Circle, Suite 108, Marietta, GA 30066 [phone]
IAI America, Inc.
JAPAN Headquarters : 577-1 Obane, Shimizu-ku, Shizuoka-shi, Shizuoka, 424-0103, JAPAN
www.intelligentactuator.com
ROBO Cylinder® Pulse Press RCP6-RRA
Catalog No. CE0286-2A (2021OCT)
www.intelligentactuator.com
IAI Industrieroboter GmbH
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
IAI (Shanghai) Co., Ltd.
Shanghai Jiahua Business Center A8-303, 808,
Hongqiao Rd., Shanghai 200030, China
IAI Robot (Thailand) Co., Ltd.
825 Phairojkijja Tower 7th Floor, Debaratana Rd.,
Bangna Nuea, Bangna, Bangkok 10260, Thailand
The information contained in this product brochure may change without prior notice due to product improvements.
USA Headquarters & Western Region (Los Angeles) : 2690 W. 237th Street, Torrance, CA 90505 [phone]
Midwest Branch Office (Chicago) :110 East State Parkway, Schaumburg, Illinois 60173 [phone]
Southeast Branch Office (Atlanta) : 1220 Kennestone Circle, Suite 108, Marietta, GA 30066 [phone]
IAI America, Inc.
JAPAN Headquarters : 577-1 Obane, Shimizu-ku, Shizuoka-shi, Shizuoka, 424-0103, JAPAN
www.intelligentactuator.com

Actuator compatible with
presses that allows for simple power control
Capable of both pushing and pulling
1
Lineup
3
Reasonable cost
2
Select from several types based on use (push force from 60N to 2,000N).
A pulse press is an actuator combining a
stepper motor and load cell, that is
capable of performing power control.
It provides a loading repeatability of
±1.0% F.S. (full scale), based on feedback
from the load cell.
Equipped with a stepper motor, it is less than half the cost of an IAI servo press.
Both pushing and pulling are supported in the load direction. There are
no limitations on pushing or pulling times.
RCP6-RRA4R
RCP6-RRA6R
RCP6-RRA7R
60N~300N
60N~600N
200N~2,000N
Example) Washer press tting (pushing) Example) Wire harness pulling test
What is a pulse press?
IAI's new
pulse press!
POINT
F.S. : Full Scale
Maximum measurable value
System for inspecting
air leaks in sweet bread
packaging
Example
Load cell
RCP6-RRA
(pulse press)
PCON-CBP
(pulse press dedicated
controller)
Stepper motor
Feedback
(load information)
1

Actuator compatible with
presses that allows for simple power control
Capable of both pushing and pulling
1
Lineup
3
Reasonable cost
2
Select from several types based on use (push force from 60N to 2,000N).
A pulse press is an actuator combining a
stepper motor and load cell, that is
capable of performing power control.
It provides a loading repeatability of
±1.0% F.S. (full scale), based on feedback
from the load cell.
Equipped with a stepper motor, it is less than half the cost of an IAI servo press.
Both pushing and pulling are supported in the load direction. There are
no limitations on pushing or pulling times.
RCP6-RRA4R
RCP6-RRA6R
RCP6-RRA7R
60N~300N
60N~600N
200N~2,000N
Example) Washer press tting (pushing) Example) Wire harness pulling test
What is a pulse press?
IAI's new
pulse press!
POINT
F.S. : Full Scale
Maximum measurable value
System for inspecting
air leaks in sweet bread
packaging
Example
Load cell
RCP6-RRA
(pulse press)
PCON-CBP
(pulse press dedicated
controller)
Stepper motor
Feedback
(load information)
Actuator compatible with
presses that allows for simple power control
Capable of both pushing and pulling
1
Lineup
3
Reasonable cost
2
Select from several types based on use (push force from 60N to 2,000N).
A pulse press is an actuator combining a
stepper motor and load cell, that is
capable of performing power control.
It provides a loading repeatability of
±1.0% F.S. (full scale), based on feedback
from the load cell.
Equipped with a stepper motor, it is less than half the cost of an IAI servo press.
Both pushing and pulling are supported in the load direction. There are
no limitations on pushing or pulling times.
RCP6-RRA4R
RCP6-RRA6R
RCP6-RRA7R
60N~300N
60N~600N
200N~2,000N
Example) Washer press tting (pushing) Example) Wire harness pulling test
What is a pulse press?
IAI's new
pulse press!
POINT
F.S. : Full Scale
Maximum measurable value
System for inspecting
air leaks in sweet bread
packaging
Example
Load cell
RCP6-RRA
(pulse press)
PCON-CBP
(pulse press dedicated
controller)
Stepper motor
Feedback
(load information)
2

Easy setup using a dedicated tool
Pushing/pulling can easily be setup using the PC teaching
software or teaching pendant.
PC teaching software (screenshot)
Example of washer press fitting
Position No. 1
start signal
input
Completion
signal output
Moves to position
No. 2 immediately
before workpiece
Begins push-motion
operation at a push
speed of 10mm/s
Arrives at
specified push
force*
Position
of 0mm
Position
of 50mm
Push force of
302N reached
Approach Push Complete
* A completion signal is
not output if the specified
push force is not reached
until the push width value.
3

Easy setup using a dedicated tool
Pushing/pulling can easily be setup using the PC teaching
software or teaching pendant.
PC teaching software (screenshot)
Example of washer press fitting
Position No. 1
start signal
input
Completion
signal output
Moves to position
No. 2 immediately
before workpiece
Begins push-motion
operation at a push
speed of 10mm/s
Arrives at
specified push
force*
Position
of 0mm
Position
of 50mm
Push force of
302N reached
Approach Push Complete
* A completion signal is
not output if the specified
push force is not reached
until the push width value.
Model Specification Items
Specification Table
P3 ( ) RCP6 WA
Series Type Encoder Motor type Lead Stroke
Applicable
controllers
Cable
length Options
RRA4R Side-mounted
rod 40mm width
RRA6R Side-mounted
rod 58mm width
RRA7R Side-mounted
rod 73mm width
35P (RRA4R type) 35stepper motor
42P (RRA6R type) 42stepper motor
56P (RRA7R type) 56stepper motor
(RRA4R type) (RRA6R type) (RRA7R type)
110
~
310
110mm
~
310mm
115
~
315
115mm
~
315mm
120
~
320
120mm
~
320mm
(every 50mm)
2.5 (RRA4R type)
Lead 2.5mm
1.5 (RRA6R type)
Lead 1.5mm
4(RRA7R type)
Lead 4mm
2(RRA7R type)
Lead 2mm
WA Battery-less
absolute
P3 PCON-CBP/CGBP
*The range of selections varies according to the actuator type.
Please refer to the pages of each type for details.
NNo
P1m
S3m
M5m
X Specified length
R Robot cable
BBrake
CJB Cable exit direction (bottom)
CJO Cable exit direction (outside)
CJT Cable exit direction (top)
FL Flange (front)
FT Foot bracket
LCT Equipped with load cell
(standard equipment)
ML Motor side-mounted (left)
MR Motor side-mounted (right)
Type
Stroke (mm) and max speed (mm/s)
Lead
(mm)
Max. push/
pull force
(N)
Payload
(kg) Reference
page
Horizontal Vertical
110 115 120 - Stroke can be selected in 50mm units - 310 315 320
RRA4R 2.5 300 3 3 P5
RRA6R 1.5 600 10 10 P9
RRA7R
4 1,000 10 10
P13
2 2,000 10 10
200
* Length of band = Stroke (*Numbers in band = Maximum speed by stroke)
110
160
85
4

RCP6 ROBO Cylinder®
24V
Stepper
Motor
Body Width
40
mm
Side-mounted
Motor
Battery-
less
Absolute
RCP6-RRA4R (Pulse press specification)
■Model Specification Items
RCP6 -RRA4R -WA -35P -2.5 - - P3 - -
Series - Type - Encoder type - Motor type - Lead - Stroke - Applicable controllers - Cable length - Option
WA Battery-less absolute 35P Stepper motor 2.5 2.5mm 110 110mm P3 PCON NNo Refer to Options
below.
35size
~ ~
P1m
310 310mm S3m
(every 50mm) M5m
X Specied length
R Robot cable
(Note) The figure above is the motor side-mounted to left (ML).
Horizontal
Vertical
Side
Ceiling
■Stroke
Stroke (mm) RCP6-RRA4R
110 
160 
210 
260 
310 
■Options * Please check the Options reference pages to confirm each option.
Name Option code Reference page
Brake (Note 1) B17
Cable exit direction (bottom) (Note 1, 2) CJB 17
Cable exit direction (outside) (Note 1) CJO 17
Cable exit direction (top) (Note 1) CJT 17
Flange (front) (Note 1) FL 17
Foot bracket (Note 2, 3) FT 18
Equipped with load cell (standard equipment) (Note 4) LCT 18
Motor side-mounted (left) (Note 5) ML 18
Motor side-mounted (right) (Note 5) MR 18
(Note 1) Cable exit direction (CJB/CJO/CJT) and flange (front) (FL) cannot be selected
when selecting brake (B) with a stroke of 110mm.
(Note 2) Foot bracket (FT) cannot be selected when selecting cable exit direction (bottom)
(CJB).
(Note 3) Please refer to P. 18 for the number of brackets included.
(Note 4) Be sure to enter a selection in the options section of the model number.
(Note 5) Be sure to enter a code in the options section of the model number.
■Cable Length
Type Cable code P3
Standard type
P(1m) 
S(3m) 
M(5m) 
Specified length
X06(6m) ~ X10(10m) 
X11(11m) ~ X15(15m) 
X16(16m) ~ X20(20m) 
Robot cable
R01(1m) ~ R03(3m) 
R04(4m) ~ R05(5m) 
R06(6m) ~ R10(10m) 
R11(11m) ~ R15(15m) 
R16(16m) ~ R20(20m) 
Selection
Notes
(1) There are no limitations on the continuous push time or continuous pull time.
(2) Continuous operation is possible at a duty ratio of 100%.
(3) Pay close attention to the mounting method of the body. Please refer to P. 20 for
details.
(4) Pay close attention to the mounting orientation. Please refer to P. 20 for details.
(5) Please refer to P. 20 for information on load cells.
RCP6-RRA4R
5

RCP6 ROBO Cylinder®
Item Description
Lead Ball screw lead (mm) 2.5
Horizontal
Payload
Maximum payload (kg)
(high-output enabled) 3
Maximum payload (kg)
(high-output disabled) 3
Speed /
acceleration/
deceleration
Max. speed (mm/s) 200
Rated acceleration/deceleration (G) 0.5
Max. acceleration/deceleration (G) 0.5
Vertical
Payload
Maximum payload (kg)
(high-output enabled) 3
Maximum payload (kg)
(high-output disabled) 3
Speed /
acceleration/
deceleration
Max. speed (mm/s) 200
Rated acceleration/deceleration (G) 0.5
Max. acceleration/deceleration (G) 0.5
Push
Max. push force (N) 300
Min. push force (N) 60
Max. push speed (mm/s) 10
Pull
Max. pull force (N) 300
Min. pull force (N) 60
Max. pull speed (mm/s) 10
Brake Brake specification Non-excitation actuating
solenoid brake
Brake holding force (kg) 3
Stroke
Min. stroke (mm) 110
Max. stroke (mm) 310
Stroke pitch (mm) 50
■Main Specifications
Item Description
Drive system Ball screw, φ8mm, rolled C10
Positioning repeatability ±0.02mm
Lost motion 0.1mm or less
Load cell rated capacity 600N
Loading repeatability (Note 6) ±1.0% F.S. (Note 7)
Ambient operating
temperature, humidity 0 ~ 40°C, 85%RH or less (no condensation)
Ingress protection IP20
Vibration & shock resistance 4.9m/s2
Overseas standards CE marking, RoHS directive
Motor type Stepper motor
Encoder type Battery-less absolute
Number of encoder pulses 8192 pulse/rev
(Note 6) Ratio (in percentage) of the load variations caused by the repeated operations to
the load cell rated capacity.
(Note 7) F.S.: Full Scale, the maximum measurable value.
■Tables of Payload by Speed/Acceleration
■High-output setting enabled (the unit for payload is kg)
Orientation Horizontal Vertical
Speed
(mm/s)
Acceleration (G)
0.5 0.5
0 3 3
40 3 3
85 3 3
130 3 3
150 3 3
200 3 3
■High-output setting disabled (the unit for payload is kg)
Orientation Horizontal Vertical
Speed
(mm/s)
Acceleration (G)
0.5 0.5
0 3 3
40 3 3
85 3 3
130 3 3
150 3 3
■Stroke and Max Speed
High-output
setting
Stroke (mm)
110 160 210 260 310
Enabled 200
Disabled 150
(Unit: mm/s)
Push force (N)
0
50
100
150
200
250
300
350
0 20 40 60 80 100
Push command value (%)
■C
orrelation diagram between push force and push command value
Pull force (N)
0
50
100
150
200
250
300
350
0 20 40 60 80 100
Pull command value (%)
■C
orrelation diagram between pull force and pull command value
RCP6-RRA4R 6

RCP6 ROBO Cylinder®
*1 The 2 counterbored mounting holes shown in the figure cannot be used.
(Note) When returning to the home position, the rod will move to the M.E. Be careful of interference with surrounding objects.
ST: Stroke
M.E: Mechanical end
S.E: Stroke end
S
S
V
V
Load cell tip mounting jig reference size
4 4
ST
30
A
L
98.5
31.5
1.5
φ24h7
φ20 (rod outer diameter)
S.E.M.E. Home M.E.
3210
32
40
6
4-M4 depth 9 (20)
(26)
39
40
97
(6) 40
48
(8.7)
52
71
103
26
19.5
(11)
53
Base mounting surface
Reference surface
(Dimension B range)
20
C
B 16
17
K (between φ3 hole - φ3 hole)
J (φ3 hole - oblong hole)
2-φ3H7 reamed, depth 4
(from base mounting surface)
E-M4 depth 6
14
H-φ3.4 through,
6.5 deep counterbored,
depth 3.5 (from the opposite side)
G×100P
1250
50 F
D×100P
Oblong hole
*1 Unavailable
P
40°
40°
P.C.D.30
4-M4 depth 8
Cross section of S-S
45°
45°
φ5H7 reamed, depth 5
φ10H7 depth 5
P.C.D.30.5
4-M5 depth 8
Jig mounting dimensions details
(equidistant)
4
Depth 4 from base seating surface
(R)
Detailed view of P
Base oblong hole details
(43.3)
Cable connection
(16.2)
(15.6)
Cable exit direction (option)
22
135 (w/o brake)
179 (with brake)
P.C.D.30.5
φ42 or more
45°
45°
4-φ5.5 through,
φ9.5 deep counterbored,
depth 5.5
(equidistant)
4
φ10h7
R0.5 or less
φ5H7 reamed
3+0.010
0
Must be
100 or more
2
φ42 (load cell outer diameter)
136 (w/o brake)
180 (with brake) 27
67
26
Cable exit direction (option)
CJB
bottom
CJO
outside
CJT
top
0.5
1
2.5 3.5
φ3.4
φ6.5
Cross section V-V
Details of base mounting counterbored holes
■Dimensions by stroke
Stroke 110 160 210 260 310
L 244 294 344 394 444
A 214 264 314 364 414
B 184 234 284 334 384
C 50 100 50 100 50
D 1 1 2 2 3
E 6 6 8 8 10
F 100 50 100 50 100
G 0 1 1 2 2
H 8 10 10 12 12
J 85 85 185 185 285
K 100 100 200 200 300
■Mass by stroke
Stroke 110 160 210 260 310
Mass
(kg)
Without brake 2.2 2.3 2.4 2.6 2.7
With brake 2.4 2.5 2.7 2.8 2.9
■Dimensions
CAD drawings can be downloaded from our website.
www.intelligentactuator.com
3D
CAD
3D
CAD
2D
CAD
2D
CAD
■Applicable Controllers
The actuators on this page can be operated by the controllers indicated below. Please select the type depending on your intended use.
Name External
view
Maximum
number of
connectable
axes
Power
supply
voltage
Control method
Maximum number
of positioning points
Reference
page
Positioner Pulse-train Program
Network (*selection)
DV CC CIE PR CN
ML ML3 EC EP PRT SSN ECM
PCON-CBP/
CGBP 1 24VDC 
*Selection - -       -   - -
512
(768 for network
spec.)
21
(Note) Please refer to P. 8-17 of the General Catalog 2021 for information on network abbreviation codes such as DV and CC.
RCP6-RRA4R
7

RCP6 ROBO Cylinder®
RCP6-RRA4R 8

RCP6 ROBO Cylinder®
24V
Stepper
Motor
Body Width
60
mm
Side-mounted
Motor
Battery-
less
Absolute
RCP6-RRA6R (Pulse press specification)
■Model Specification Items
RCP6 -RRA6R -WA -42P -1.5 - - P3 - -
Series - Type - Encoder type - Motor type - Lead - Stroke - Applicable controllers - Cable length - Option
WA Battery-less absolute 42P Stepper motor 1.5 1.5mm 115 115mm P3 PCON NNo Refer to Options
below.
42size
~ ~
P1m
315 315mm S3m
(every 50mm) M5m
X Specied length
R Robot cable
(Note) The figure above is the motor side-mounted to left (ML).
Horizontal
Vertical
Side
Ceiling
■Stroke
Stroke (mm) RCP6-RRA6R
115 
165 
215 
265 
315 
■Options * Please check the Options reference pages to confirm each option.
Name Option code Reference page
Brake B17
Cable exit direction (bottom) (Note 1) CJB 17
Cable exit direction (outside) CJO 17
Cable exit direction (top) CJT 17
Flange (front) FL 17
Foot bracket (Note 1, 2) FT 18
Equipped with load cell (standard equipment) (Note 3) LCT 18
Motor side-mounted (left) (Note 4) ML 18
Motor side-mounted (right) (Note 4) MR 18
(Note 1) Foot bracket (FT) cannot be selected when selecting cable exit direction (bottom)
(CJB).
(Note 2) Please refer to P. 18 for the number of brackets included.
(Note 3) Be sure to enter a selection in the options section of the model number.
(Note 4) Be sure to enter a code in the options section of the model number.
■Cable Length
Type Cable code P3
Standard type
P(1m) 
S(3m) 
M(5m) 
Specified length
X06(6m) ~ X10(10m) 
X11(11m) ~ X15(15m) 
X16(16m) ~ X20(20m) 
Robot cable
R01(1m) ~ R03(3m) 
R04(4m) ~ R05(5m) 
R06(6m) ~ R10(10m) 
R11(11m) ~ R15(15m) 
R16(16m) ~ R20(20m) 
Selection
Notes
(1) There are no limitations on the continuous push time or continuous pull time.
(2) Continuous operation is possible at a duty ratio of 100%.
(3) Pay close attention to the mounting method of the body. Please refer to P. 20 for
details.
(4) Pay close attention to the mounting orientation. Please refer to P. 20 for details.
(5) Please refer to P. 20 for information on load cells.
RCP6-RRA6R
9