User manual | RCP2-SA6R pdf

Slider
Type
RCP2
ROBO Cylinder
RCP2-SA6R
Mini
ROBO Cylinder Slider Type 58mm Width Pulse Motor Side-Mounted Motor
Standard
■ Configuration:
Controllers
Integrated
RCP2
SA6R
I
42P
Type
Encoder
Motor
Series
Rod
Type
Mini
Lead
Stroke
12 : 12mm
6 : 6mm
3 : 3mm
50: 50mm
∼
I: Incremental
42P: Pulse motor
* The Simple
42 □ size
absolute encoder
models are
labeled as "I".
* See page Pre-35 for explanation of each code that makes up the configuration name.
800:800mm
(50mm pitch
increments)
Compatible Controllers
Due to the characteristics of the pulse motor,
the RCP2 series' load capacity decreases at
high speeds. In the table below, check if your
desired speed and load capacity are supported.
Controllers
Integrated
Table/Arm
/Flat Type
Load Capacity (kg)
35
Mini
Standard
Gripper/
Rotary Type
Pictured: Left-mounted motor model (ML).
P
O
A-5
(1) When the stroke increases, the maximum speed will drop to prevent the ball screw from reaching the critical
rotational speed.
Use the actuator specification table below to check the maximum speed at the stroke you desire.
INT
(2) Since the RCP2 series use a pulse motor, the load capacity decreases at high speeds.
Check in the Speed vs. Load Capacity graph to see if your desired speed and load capacity are supported.
Notes on
Selection
15 3mm lead 6mm lead
12
10
12mm lead
5
100
200
300
400
Speed (mm/s)
Actuator Specifications
■ Lead and Load Capacity
Max. Load Capacity (Note 1)
Horizontal (kg) Vertical (kg)
Lead
(mm)
RCP2-SA6R-I-42P-12- 1 - 2 - 3 - 4
12
RCP2-SA6R-I-42P-6- 1 - 2 - 3 - 4
6
6
12
8
6
600
500
600
700
3mm lead
4 3
2 1.5
0
0
6mm lead
12mm lead
0.5
100
200
300
400
Speed (mm/s)
700
■ Stroke and Maximum Speed
Stroke
Stroke
(mm)
Lead
∼ 1.5
∼3
500
Vertical
(Note 1) Please note that the maximum load capacity decreases as the speed increases.
Model
6
10
(3) The load capacity is based on operation at an acceleration of 0.3G (0.2G for the 3mm-lead model, or when used
vertically).
These values are the upper limits for the acceleration.
PMEC
/AMEC
PCON
20
14
Load Capacity (kg)
Technical
References
Splash-Proof
ERC2
25
12
Cleanroom
Type
ROBO
NET
Horizontal
30
0
0
Linear Servo
Type
PSEP
/ASEP
Option
■ Speed vs. Load Capacity
Standard
Controllers
Cable Length
N : None
See Options below
P : 1m
* Be sure to specify which
S : 3m
side the motor is to be
M : 5m
mounted (ML/MR).
X □□ : Custom Length
R □□ : Robot cable
P1:PCON
RPCON
PSEL
P3:PMEC
PSEP
50 ∼ 800
(50mm
50 ∼ 550
600
650
700
750
800
(50mm increments) (mm)
(mm)
(mm)
(mm)
(mm)
12
600
540
460
400
360
300
6
300
270
230
200
180
150
3
150
135
115
100
90
75
increments)
ACON
SCON
RCP2-SA6R-I-42P-3- 1 - 2 - 3 - 4
Legend
1
Stroke
2
Compatible controller
3
Cable length
3
4
12
∼6
(Unit: mm/s)
Options
1 Stroke List
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
3 Cable List
Stroke (mm)
Standard Price
50
100
150
200
250
300
350
400
450
500
550
600
650
700
750
800
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
P (1m)
Standard
S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
Option Code
B
NM
ML
MR
SR
∼
∼
∼
∼
∼
∼
∼
∼
Standard Price
–
–
–
–
–
–
–
–
–
–
–
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
* See page A-39 for cables for maintenance.
Actuator Specifications
4 Option List
Name
Brake
Reversed-home
Left-Mounted Motor (Standard)
Right-Mounted Motor
Slider Roller
Cable Symbol
Type
See Page
Standard Price
→ A-25
→ A-33
→ A-33
→ A-33
→ A-36
—
—
—
—
—
Item
Drive System
Positioning Repeatability
Lost Motion
Base
Allowable Static Moment
Allowable Dynamic Moment (*)
Overhang Load Length
Ambient Operating Temp./Humidity
Description
Ball screw Ø10mm C10 grade
±0.02mm
0.1mm or less
Material: Aluminum (white alumite treated)
Ma: 38.3 N∙m Mb: 54.7 N∙m Mc: 81.0 N∙m
Ma: 8.9 N∙m Mb: 12.7 N∙m Mc: 18.6 N∙m
Ma direction: 220mm or less; Mb∙Mc direction: 220mm or less
0∼40°C, 85% RH or less (Non-condensing)
(*) Based on 5,000km travel life.
41
Directions of Allowable Load Moments
Ma
RCP2-SA6R
Mb
Overhang Load Length
Mc
Ma
L
Mc
L
RCP2
ROBO Cylinder
Slider
Type
Dimensions
CAD drawings can be
downloaded from IAI website.
www.intelligentactuator.com
Controllers
Integrated
2.7
SE
ME
(3.1)
5
2-ø5H7, depth 6
60
Home
50
5
9 32±0.02 9
0.5
58
3
ME *2
(2.2)
Mini
4-M5, depth 9
Standard
31
123
6.5
58
*The offset reference position for the moment Ma
is the same as the SA6 type. (See P30)
10
1.5
Controllers
Integrated
123
16
43
28
Rod
Type
67
115
Stroke
(Reamer hole
tolerance ±0.02)
The motor-encoder cable is connected here.
See page A-39 for details on cables.
When homing, the slider moves to the ME; therefore,
please watch for any interference with the surrounding
objects.
ME: Mechanical end
SE: Stroke end
The values enclosed in "( )" are reference dimensions.
8 23 8
*2.
Standard
*For the reversed-home model, the dimensions (distance to home)
on the motor-side and that on the opposite side are flipped.
2D
2D
CAD
CAD
*1.
Mini
A-9
For Special Orders
Table/Arm
/Flat Type
Cable joint
connector *1
(240)
1.5
1.5
48
50
76
6 24
50
Mini
L
0.5
Standard
Dimensions of the brake section
* Adding a brake will increase the actuator's overall length by 40mm, and its weight by 0.4kg.
Gripper/
Rotary Type
Mounting direction:
symmetrically opposite
18.5
D-ø4H7, depth from bottom of base 5.5
P
Linear Servo
Type
31
B×100
43
Cleanroom
Type
13.3
C-M5, depth 9
H-oblong hole, depth from bottom of base 5. 5
A
75
19.5
32
5
Splash-Proof
+0.012
40
37.5
P (ø4 hole and oblong hole pitch)
5.1
41.7
Details for Oblong Hole
Controllers
* For brake cable exiting from the side, it can only exit from the motor side.
PMEC
/AMEC
■ Dimensions/Weight by Stroke
Stroke
L
A
B
C
D
H
P
50
248
0
0
4
2
0
0
100
298
100
0
6
3
1
85
150
348
100
0
6
3
1
85
200
398
200
1
8
3
1
185
250
448
200
1
8
3
1
185
300
498
300
2
10
3
1
285
350
548
300
2
10
3
1
285
400
598
400
3
12
3
1
385
450
648
400
3
12
3
1
385
500
698
500
4
14
3
1
485
550
748
500
4
14
3
1
485
600
798
600
5
16
3
1
585
650
848
600
5
16
3
1
585
700
898
700
6
18
3
1
685
750
948
700
6
18
3
1
685
800
998
800
7
20
3
1
785
Weight (kg)
2.3
2.5
2.6
2.7
2.9
3.0
3.2
3.3
3.4
3.6
3.7
3.9
4.0
4.1
4.3
4.4
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
2 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
PMEC-C-42PI-NP-2-1
Easy-to-use controller, even for beginners
Max. Positioning Points
Input Voltage
AC100V
AC200V
Power Supply Capacity
Standard Price
See Page
See P481
—
→ P477
Solenoid Valve Type
PSEP-C-42PI-NP-2-0
Splash-Proof Solenoid
Valve Type
Positioner Type
PSEP-CW-42PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
3 points
—
→ P487
—
PSEL
ASEL
SSEL
XSEL
—
PCON-C-42PI-NP-2-0
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-42PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-42PI-NP-2-0
Pulse train input type with differential line
driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-42PI-NP-2-0
Pulse train input type with open
collector support
Serial Communication
Type
PCON-SE-42PI-N-0-0
512 points
—
Pulse Motor
DC24V
2A max.
—
→ P525
(−)
Field Network Type
Program Control Type
RPCON-42P
PSEL-C-1-42PI-NP-2-0
Servo Motor
(24V)
—
Dedicated to serial communication
64 points
—
Dedicated to field network
768 points
—
→ P503
Programmed operation is possible
Can operate up to 2 axes
1500 points
—
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V / 2: 100∼240V).
RCP2-SA6R
42
Servo Motor
(200V)
Linear
Servo Motor

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