User manual | RCAW

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCAW
ROBO Cylinder
RCAW-RA4C/RA4D/RA4R
RCAW
Model
Specification
Items
Series
Type
RA4C:Coupled type
RA4D:Built-in
RA4R:Side-mounted
motor
* See page Pre-47 for details on the model descriptions.
Encoder type
Motor type
20:20W Servo
motor
*The absolute models are 30:30W Servo
only compatible with ASEL. motor
I: Incremental
A: Absolute
Robo Cylinder, Splash-Proof Rod Type, ø37mm Diameter,
24V Servo Motor, Coupled/Built-In/Side-Mounted Motor Specification
Lead
Stroke
12 :12mm
6: 6mm
3: 3mm
50: 50mm
Simple absolute encoders are considered incremental.
Applicable controller
300: 300mm
(50mm pitch
increments)
Cable length
Options
N: None
See Options below.
P: 1m
S: 3m
M: 5m
X:Custom Length
R: Robot Cable
A1:ACON
ASEL
A3:AMEC
ASEP
MSEP
Mini
Standard
Controllers
Integrated
Appendix
P.5
Table/
Arm/
Flat Type
(1) When the stroke increases, the maximum 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.
(2) The load capacity is based on operating the standard and power-saving models at 0.3G (0.2G for 3mm-lead
model). These values are the upper limits for the acceleration.
(3) Please use external guide combination for horizontal load capacity; the value is for when no external
force coming from a direction other than that of the rod's direction of travel is applied.
(4) The cable joint connector is not splash-proof; secure it in a place that is not prone to water spills.
(5) See page A-71 for details on push motion.
Mini
Standard
*Please note that the bellows shape has some change from
the photo above.
Gripper/
Rotary
Type
Actuator Specifications
„„Lead and Payload
Linear
Servo
Type
„„Stroke and Maximum Speed
Horizontal (kg)
Vertical (kg)
Rated
thrust (N)
12
3.0
1.0
18.9
6
6.0
2.0
37.7
RCAW- ➀ - ➁ -20-3- ➂ - ➃ - ➄ - ➅
3
12.0
4.0
75.4
RCAW- ➀ - ➁ -30-12- ➂ - ➃ - ➄ - ➅
12
4.0
1.5
28.3
6
9.0
3.0
56.6
3
18.0
6.5
113.1
Model number
RCAW- ➀ - ➁ -20-12- ➂ - ➃ - ➄ - ➅
RCAW- ➀ - ➁ -20-6- ➂ - ➃ - ➄ - ➅
Cleanroom
Type
20
RCAW- ➀ - ➁ -30-6- ➂ - ➃ - ➄ - ➅
SplashProof
Type
Max. Load Capacity
Lead
(mm)
Motor
output (W)
30
RCAW- ➀ - ➁ -30-3- ➂ - ➃ - ➄ - ➅
Stroke
(mm)
Servo
Motor
(200V)
Linear
Servo
Motor
50~300
(every 50mm)
50
100
150
200
250
300
RA4C/RA4D
RA4R
Encoder Type
Encoder Type
Incremental
Absolute
Incremental
Absolute
Motor power output Motor power output Motor power output Motor power output
20W
30W
20W
30W
20W
30W
20W
30W
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
50~300
(every 50mm)
12
600
6
300
3
150
(Unit: mm/s)
*See page A-71 for details on push motion.
Type
Standard
Special length
Robot Cable
Cable symbol
P (1m)
S (3m)
M (5m)
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
Standard Price
—
—
—
—
—
—
—
—
—
—
—
* See page A-59 for cables for maintenance.
 Options
Name
Brake (*1)
Flange bracket
Foot bracket (front)
Home sensor (*2)
Power-saving
Knuckle joint
Non-motor end specification (*2)
Clevis bracket (*3)
Rear mounting plate (*3)
Trunnion bracket (front) (*4)
Trunnion bracket (rear) (*4)
Option code See page Standard price
B
—
➝ A-42
FL
—
➝ A-45
FT
—
➝ A-49
HS
—
➝ A-50
LA
—
➝ A-52
NJ
—
➝ A-53
NM
—
➝ A-52
QR
—
➝ A-53
RP
—
➝ A-54
TRF
—
➝ A-57
TRR
—
➝ A-58
(*1) No brake option for RA4D.
(*2) The home sensor (HS) cannot be used on the Non-motor end models (NM).
(*3) Clevis bracket and rear mounting plate only available for RA4R.
(*4) Trunnion bracket (rear) only available for RA4C/RA4D.
519
Stroke
Cable Length
Standard price
Servo
Motor
(24V)
Lead
Code explanation ➀ Type ➁ Encoder ➂ Stroke ➃ Applicable controller  Cable Length  Options
Encoder/ Stroke
Pulse
Motor
Stroke
(mm)
RCAW-RA4C/RA4D/RA4R
Actuator Specifications
Item
Drive System
Positioning Repeatability
Lost Motion
Base
Rod diameter
Non-rotating accuracy of rod
Protection structure
Ambient operating temperature, humidity
Description
Ball screw, ø10mm, rolled C10
±0.02mm
0.1mm or less
Material: Aluminum, white alumite treated
ø20mm
±1.0 deg
IP54
0 to 40oC, 85% RH or less (Non-condensing)
RCAW
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
(Note) No 3D CAD data for RA4D type. (*1)
(*2)
(*3)
2D
CAD
[RA4C/RA4D]
M30×1.5
(effective screw
range 17.5)
Intake/exhaust port*3
(can rotate by 360°)
M10×1.25
(effective screw range 20)
22
22
47 (across flats)
44
15
Incremental ø42
Absolute ø48
n
3
ME*2
SE
Home 38 (across flats)
7.5
Nut A
Nut B
36 (across flats)
ø4
ø52
ø50
.8
Cable joint
Secure connector*1
at least
100
5
Nut C
14 (across flats)
44.1
22
58.1
n
10
L
16
19
ℓ
m
(2m)
[RA4R]
*The actuator cable is
the same as RA3C/RA3D.
14 (across flats)
Dimensions
of Nut A
8
40.2
44.1
Dimensions
of Nut B
M40×1.5
33 20
53
ℓ
L
Dimensions
of Nut C
.8
ø52
M10x1.25
10
M10
depth 18
10
n
ø
38
22
58.1
(19.6)
Nut C
Nut A
48
98.5
Nut A
36 (across
flats)
7.5
ø45
Home
15
ø50
SE
44
3
ME
38 (across flats)
26
ø37
3
ME
n
m
Incremental ø42
Absolute ø48
9.5
st
M30×1.5
9.5
6 17
50
50.5
Note:
Please don't apply an external force coming from
a direction other than that of the rod's direction of
travel. The detent may break if a force is applied
other than in the direction of travel or a torque is
applied to the rod.
Mini
Standard
Controllers
Integrated
„„Dimensions and Weight by Stroke
22
ø37
47
39.4
ME
P.15
Connect the motor and encoder cables here. See page A-59 for details on cables.
After homing, the slider moves to the ME, therefore, please watch for any interference with surrounding objects.
ME : Mechanical end
SE : Stroke end
Intake/exhaust port is the air exhaust tube in the main body. Insert OD ø10 mm tube and use it extended to a place
that is not prone to water spills or intake.
M40×1.5 (effective screw range 19.5)
st
3
Appendix
39.4
47
CAD drawings can be downloaded
from the website.
Slider
Type
RCAW-RA4C/RA4D/RA4R (without brake)
Stroke
50 100 150 200
Incremental
20W Absolute 345.4 405.4 465.4 525.4
358.4 418.4 478.4 538.4
RA4C
Incremental
30W Absolute 360.4 420.4 480.4 540.4
373.4 433.4 493.4 553.4
Incremental 323.4 383.4 443.4 503.4
20W Absolute
336.4 396.4 456.4 516.4
RA4D
L
Incremental
30W Absolute 338.4 398.4 458.4 518.4
351.4 411.4 471.4 531.4
Incremental 299.9 359.9 419.9 479.9
20W Absolute
299.9 359.9 419.9 479.9
RA4R
Incremental
30W Absolute 299.9 359.9 419.9 479.9
299.9 359.9 419.9 479.9
20W
137 187 237 287
RA4C
30W
137 187 237 287
Incremental
20W Absolute 137 187 237 287
ℓ
RA4D
30W Common 137 187 237 287
20W
125 175 225 275
RA4R
30W
125 175 225 275
Incremental
67.5
20W Absolute
80.5
RA4C
Incremental
82.5
30W Absolute
95.5
Incremental
45.5
20W Absolute
58.5
m
RA4D
Incremental
60.5
30W Absolute
73.5
Incremental
67.5
20W Absolute
80.5
RA4R
Incremental
82.5
30W Absolute
95.5
20W
121.9 131.9 141.9 151.9
RA4C
30W
121.9 131.9 141.9 151.9
20W Incremental
121.9 131.9 141.9 151.9
Absolute
n
RA4D
30W Common 121.9 131.9 141.9 151.9
20W
121.9 131.9 141.9 151.9
RA4R
30W
121.9 131.9 141.9 151.9
RA4C 20W/30W
1.4
1.5 1.7 1.8
Weight
RA4D 20W/30W
1.3
1.5 1.6 1.8
(Kg) RA4R 20W/30W
1.5
1.7 1.8 2.0
250
586.4
599.4
601.4
614.4
564.4
577.4
579.4
592.4
540.9
540.9
540.9
540.9
337
337
337
337
325
325
300
647.4
660.4
662.4
675.4
625.4
638.4
640.4
653.4
601.9
601.9
601.9
601.9
387
387
387
387
375
375
Rod
Type
Mini
Standard
Controllers
Integrated
Table/
Arm/
Flat Type
Mini
Standard
Gripper/
Rotary
Type
162.9
162.9
162.9
162.9
162.9
162.9
2.0
1.9
2.1
173.9
173.9
173.9
173.9
173.9
173.9
2.1
2.1
2.3
* Adding a brake increases the RA4C type's overall length by 43mm. Adding a brake also increases the RA4R
type's motor portion length by 43mm. However, the overall length does not change because the type is a
Side-Mounted type. No brake setting for the RA4D type. Also the weight increases by 0.2kg for all types.
Linear
Servo
Type
Cleanroom
Type
SplashProof
Type
Applicable Controllers
RCAW series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External
view
Model number
AMEC-C-20I
AMEC-C-30I
Solenoid Valve Type
ASEP-C-20I
ASEP-C-30I
-
Features
-2-1
-2-1
Easy-to-use controller, even for
beginners
-
-2-0
-2-0
Simple controller operable with the
same signal as a solenoid valve
Solenoid valve multi-axis type
PIO specification
MSEP-C-
-~-
-2-0
Positioner type based on PIO control,
allowing up to 8 axes to be connected
Solenoid valve multi-axis type
Network specification
MSEP-C-
-~- -0-0
Field network-ready positioner type,
allowing up to 8 axes to be connected
Positioner type
ACON-C-20I
ACON-C-30I
Safety-Compliant
Positioner Type
ACON-CG-20I
ACON-CG-30I
-
-2-0
-2-0
Pulse Train Input Type
(Differential Line Driver)
ACON-PL-20I
ACON-PL-30I
-
-2-0
-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
ACON-PO-20I
ACON-PO-30I
-
-2-0
-2-0
Pulse train input type with open
collector support
Serial Communication Type
ACON-SE-20I
ACON-SE-30I
-N-0-0
-N-0-0
Program
Control Type
ASEL-CS-1-20
ASEL-CS-1-30
-
*This is for the single-axis ASEL. * indicates I/O type (NP/PN). *
*
-
-2-0
-2-0
Maximum number of
positioning points
Positioning is possible for up to 512
points
Dedicated Serial Communication
-2-0 Programmed operation is possible.
-2-0 Can operate up to 2 axes
indicates encoder type (I: incremental, A: absolute)
indicates number of axes (1 to 8).
Input
power
AC100V
Power-supply Standard Reference
capacity
price
page
2.4A rated
3 points
(Standard)
20W
1.3A rated
4.4A max.
30W
1.3A rated
4.4A max.
256 points
512 points
➝ P537
—
➝ P547
—
➝ P563
Pulse
Motor
—
—
DC24V
(—)
—
(Power-saving)
20W
1.3A rated
2.5A max.
30W
1.3A rated
2.2A max.
—
—
1,500 points
—
RCAW-RA4C/RA4D/RA4R
Servo
Motor
(24V)
—
64 points
* Enter the code "LA" in when the power-saving option is specified.
* indicates field network specification symbol.
➝ P631
Servo
Motor
(200V)
➝ P675
520
Linear
Servo
Motor

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