01_RC_General_CJ0159-2A_Pre1

01_RC_General_CJ0159-2A_Pre1
ROBO Cylinder® vs. Single-Axis Robot
R O B O C y l i n d e r s ® a n d s i n g l e - a x i s ro b o t s a re b o t h h i g h - p re c i s i o n
e l e c t r i c a c t u a t o r s e q u i p p e d w i t h a b a l l s c r e w, l i n e a r g u i d e ,
a n d a n A C s e r v o m o t o r. H o w e v e r, R O B O C y l i n d e r ® ' s e m p h a s i s
on miniaturization and handing of light loads has made them
s i g ni f i c a n t l y l o w e r c o s t t h a n t h e s i n g l e - a x i s ro b o t s .
Other Products Listed in the Industrial Robots General Catalog
Single-Axis Robots
Dustproof Single-Axis Robots
Belt Single-Axis Robots
Rotational Single-Axis Robots
Shaft Linear Servo
Large Linear Servo
ISA/ISPA
ISDA/ISPDA
IF
RS
LSA
LSA
Cleanroom Single-Axis Robots
Cleanroom SCARA Robots
Splash-Proof SCARA Robots
Ultra-Compact/Compact SCARA
Cartesian Robots
Tabletop Robots
ISDACR
IX-NNC
IX-NNW
IX-NNN
ICSA3/ICSPA3
TT-A2/A3
1
Pre-
ROBO Cylinder General Catalog
ROBO Cylinder® Product Overview
Environment
Form
Specifications
Stroke
Vertical Load
25 - 1,200mm
20
kg
Horizontal Load
Slider Type
25 - 300mm
Horizontal Load
Standard
Environment
Table Type/
Arm Type/Flat Type
Vertical Load
300
kg
500
kg
Stroke
Vertical Load
25 - 300mm
18
kg
Horizontal Load
● Mini
See Page
type
● Standard
type
● Controller-Integrated
P.1
type
60
kg
Stroke
Rod Type
Main Types
● Mini
type
● Standard
type
type
● Ultra-High Thrust type
● Controller-Integrated
type
● High-Thrust
P.129
● Mini
P.267
type
● Standard
type
10
kg
Stroke (Gripper)
Stroke
(Rotary)
8 - 200mm
● Small
type
type
● Large type
● Medium
P.331
● Slider
P.371
360
Gripper Type/Rotary Type
Stroke
25 - 288mm
Horizontal Load
Linear Servo Type
50 - 1000mm
Horizontal Load
Cleanroom Type
Dustproof/
SplashProof
Vertical Load
20
kg
● Slider
type
type
● Gripper
Stroke
Vertical Load
50 - 600mm
150
kg
● Slider
● Rod
type
type
P.441
300
kg
● Positioner
type
type
● Network type
Controllers
P.397
60
kg
Horizontal Load
Dustproof/Splash-Proof
type
type
3.2
kg
Stroke
Cleanroom
● Rod
● Program
P.461
Controllers
ROBO Cylinder General Catalog
2
Pre-
Product Index
A comprehensive lineup and features
that meet a wide variety of needs.
Developed by IAI, ROBO Cylinders offer high performance, outstanding usability, and economic efficiency,
all in a versatile lineup to meet your needs.
Product
Pre-1
Description of Series ……………… Pre-7
Application Examples
ROBO Cylinder Product Overview …………… Pre-2
Model Selection …………………… Pre-9
Description of Models ……………Pre-35
Product Index …………………………………… Pre-3
Description of Functions …………Pre-29
Cautionary Notes
See Also: Industrial Robots General Catalog
Overview
……………Pre-33
…………………Pre-41
Servo Motor Type (24V)
Slider Type
P.1
Motor unit type
32mm width RCA2-SA3C ..............59
40mm width RCA2-SA4C ..............61
50mm width RCA2-SA5C ..............63
Pulse Motor Type
Mini type
60mm width RCA2-SA6C ..............65
22mm width RCP3-SA2AC ……… 3
NEW
28mm width RCP3-SA2BC ……… 5
Motor unit type
Mini type w/ sidemounted motor
Side-mounted
motor unit type
NEW
32mm width RCP3-SA3C
……… 7
40mm width RCP3-SA4C
……… 9
Improved
50mm width RCP3-SA5C
…… 11
Improved
60mm width RCP3-SA6C
…… 13
Improved
Coupled type
…… 19
40mm width RCP3-SA4R
…… 21
50mm width RCP3-SA5R
…… 23
60mm width RCP3-SA6R
…… 25
52mm width RCP2-SA5C
…… 27
Improved
58mm width RCP2-SA6C
…… 29
Improved
73mm width RCP2-SA7C
…… 31
60mm width RCP2-SS7C
…… 33
80mm width RCP2-SS8C
…… 35
High-speed type
80mm width RCP2-HS8C
…… 37
Side-mounted
motor type
52mm width RCP2-SA5R
…… 39
58mm width RCP2-SA6R
…… 41
73mm width RCP2-SA7R
…… 43
60mm width RCP2-SS7R
…… 45
80mm width RCP2-SS8R
…… 47
High-speed type w/
side-mounted motor
80mm width RCP2-HS8R
…… 49
Belt type
58mm width RCP2-BA6/BA6U …… 51
Coupled type,
steel base
40mm width RCA-SA4C ...............75
52mm width RCA-SA5C ...............77
Built-in type,
aluminum base
32mm width RCP3-SA3R
Coupled
type
50mm width RCA2-SA5R ..............71
58mm width RCA-SA6C ...............79
28mm width RCP3-SA2BR …… 17
Side-mounted
motor unit type
40mm width RCA2-SA4R ..............69
60mm width RCA2-SA6R ..............73
22mm width RCP3-SA2AR …… 15
NEW
32mm width RCA2-SA3R ..............67
40mm width RCA-SA4D ...............81
52mm width RCA-SA5D ...............83
58mm width RCA-SA6D ...............85
Built-in type,
steel base
40mm width RCA-SS4D ...............87
52mm width RCA-SS5D ...............89
58mm width RCA-SS6D ...............91
Side-mounted
motor type
40mm width RCA-SA4R ...............93
52mm width RCA-SA5R ...............95
58mm width RCA-SA6R ...............97
Servo Motor Type (200V)
Coupled
type
40mm width RCS2-SA4C ……… 99
52mm width RCS2-SA5C ……… 101
58mm width RCS2-SA6C ……… 103
68mm width RCP2-BA7/BA7U …… 53
73mm width RCS2-SA7C ……… 105
Coupled type,
steel base
60mm width RCS2-SS7C ……… 107
Built-in type
40mm width RCS2-SA4D ……… 111
80mm width RCS2-SS8C ……… 109
52mm width RCS2-SA5D ……… 113
58mm width RCS2-SA6D ……… 115
Side-mounted
motor type
40mm width RCS2-SA4R ……… 117
52mm width RCS2-SA5R ……… 119
58mm width RCS2-SA6R ……… 121
Controller-Integrated Type
Controllerintegrated
type
Pre-
3
73mm width RCS2-SA7R ……… 123
58mm width ERC2-SA6C
…… 55
68mm width ERC2-SA7C
…… 57
ROBO Cylinder General Catalog
Side-mounted motor
type steel base
60mm width RCS2-SS7R ……… 125
80mm width RCS2-SS8R ……… 127
http://www.intelligentactuator.com/
www.intelligentactuator.com
Coupled type
Rod Type
P.129
Built-in type
Pulse Motor Type
Mini type
ø32mm
RCA-RA3C
…… 197
ø37mm
RCA-RA4C
…… 199
ø32mm
RCA-RA3D
…… 201
ø37mm
RCA-RA4D
…… 203
ø32mm
RCA-RA3R
…… 205
ø37mm
RCA-RA4R
…… 207
22mm width RCP3-RA2AC ……… 131
NEW
28mm width RCP3-RA2BC ……… 133
Mini type w/ sidemounted motor
NEW
Coupled type
22mm width RCP3-RA2AR ……… 135
28mm width RCP3-RA2BR ……… 137
Short-length type
NEW
25mm width RCP2-RA2C
Single guide
type
35mm width RCP2-RA3C
45mm width RCP2-RA4C
64mm width RCP2-RA6C
High-thrust type
Short-length type
NEW
Single guide
type
Short-length type w/ single guide
NEW
Double guide
type
……… 139
……… 141
……… 143
……… 145
100mm width RCP2-RA10C ……… 147
Short-length type w/ single guide
NEW
45mm width RCP2-SRA4R ……… 149
Double guide
type
45mm width RCP2-RGS4C ……… 151
64mm width RCP2-RGS6C ……… 153
45mm width RCP2-SRGS4R ……… 155
35mm width RCP2-RGD3C ……… 157
45mm width RCP2-RGD4C ……… 159
64mm width RCP2-RGD6C ……… 161
Short-length type w/ double guide
NEW
Side-mounted
motor type
45mm width RCP2-SRGD4R ……… 163
Controller-Integrated Type
Short-length type w/
double guide NEW
58mm width ERC2-RA6C
……… 165
68mm width ERC2-RA7C
……… 167
Controller-integrated
type w/ single guide
58mm width ERC2-RGS6C ……… 169
Controller-integrated
type w/ double guide
58mm width ERC2-RGD6C ……… 173
68mm width ERC2-RGS7C ……… 171
…… 209
ø32mm
RCA-RGS3C
…… 211
ø37mm
RCA-RGS4C
…… 213
ø32mm
RCA-RGS3D
…… 215
ø37mm
RCA-RGS4D
…… 217
45mm width RCA-SRGS4R …… 219
ø32mm
RCA-RGD3C …… 221
ø37mm
RCA-RGD4C …… 223
ø32mm
RCA-RGD3D …… 225
ø37mm
RCA-RGD4D …… 227
ø32mm
RCA-RGD3R …… 229
ø37mm
RCA-RGD4R …… 231
45mm width RCA-SRGD4R …… 233
Servo Motor Type (200V)
Coupled type
ø37mm
Built-in type
Controllerintegrated
type
45mm width RCA-SRA4R
Short-length type
NEW
RCS2-RA4C
…… 235
55mm width RCS2-RA5C
…… 237
ø37mm
…… 239
RCS2-RA4D
75mm width RCS2-SRA7BD …… 241
Side-mounted
motor type
ø37mm
RCS2-RA4R
…… 243
55mm width RCS2-RA5R
…… 245
Ultra-high
thrust type
130mm width RCS2-RA13R …… 247
68mm width ERC2-RGD7C ……… 175
ø37mm
Single guide
type
Servo Motor Type (24V)
RCS2-RGS4C …… 249
55mm width RCS2-RGS5C …… 251
ø37mm
RCS2-RGS4D …… 253
Mini type, nut
mounting NEW
28mm width RCA2-RN3N
……… 177
34mm width RCA2-RN4N
……… 179
Short-length type w/ single guide
75mm width RCS2-SRGS7BD …… 255
Mini type, NEW
tapped hole
mounting
28mm width RCA2-RP3N
……… 181
……… 183
Double guide
type
ø37mm
34mm width RCA2-RP4N
Mini type,
single guide
28mm width RCA2-GS3N
……… 185
34mm width RCA2-GS4N
……… 187
Short-length type w/ double guide
75mm width RCS2-SRGD7BD …… 263
NEW
Mini type, double
guide
NEW
28mm width RCA2-GD3N
……… 189
Side-mounted motor
type w/ double guide
34mm width RCA2-GD4N
……… 191
Mini slide unit
type
NEW
60mm width RCA2-SD3N
……… 193
72mm width RCA2-SD4N
……… 195
NEW
RCS2-RGD4C …… 257
55mm width RCS2-RGD5C …… 259
ø37mm
ø37mm
RCS2-RGD4D …… 261
RCS2-RGD4R …… 265
NEW
Continued on next page
ROBO Cylinder General Catalog
Pre-
4
Product Index
Gripper Type (Servo Motor)
Table Type/Arm Type/
Flat Type
P.267
Pulse Motor Type
Long stroke type
(2-finger)
Side-mounted
motor unit type
NEW
36mm width RCP3-TA3C
……… 269
Small vertical type
NEW
40mm width RCP3-TA4C
……… 271
Small flat type
NEW
72mm width RCP2-RTCS/RTCSL …… 355
55mm width RCP3-TA5C
……… 273
65mm width RCP3-TA6C
……… 275
Medium vertical type
50mm width RCP2-RTB/RTBL …… 357
75mm width RCP3-TA7C
……… 277
Medium flat type
88mm width RCP2-RTC/RTCL …… 359
36mm width RCP3-TA3R
………279
40mm width RCP3-TA4R
……… 281
55mm width RCP3-TA5R
………283
65mm width RCP3-TA6R
……… 285
Straight motor type
64mm width RCS2-RT6
…… 365
75mm width RCP3-TA7R
……… 287
Side-mounted motor type
64mm width RCS2-RT6R
…… 367
Side-mounted motor type
68mm width RCS2-RT7R
…… 369
Servo Motor Type (24V)
Mini compact
Type
NEW
32mm width RCA2-TC3N
……… 289
36mm width RCA2-TC4N
……… 291
Mini wide
type
NEW
50mm width RCA2-TW3N
……… 293
58mm width RCA2-TW4N
……… 295
Mini flat type
61mm width RCA2-TF3N
……… 297
71mm width RCA2-TF4N
……… 299
40mm width RCA2-TA4C
……… 301
55mm width RCA2-TA5C
……… 303
65mm width RCA2-TA6C
……… 305
75mm width RCA2-TA7C
……… 307
NEW
Motor unit
type
Side-mounted
motor unit type
NEW
Arm type
40mm width RCA2-TA4R
……… 309
55mm width RCA2-TA5R
……… 311
65mm width RCA2-TA6R
……… 313
75mm width RCA2-TA7R
……… 315
40mm width RCA-A4R
……… 317
52mm width RCA-A5R
……… 319
58mm width RCA-A6R
……… 321
NEW
76mm width RCP2-RTBB/RTBBL …… 361
Large flat type
NEW
124mm width RCP2-RTCB/RTCBL …… 363
Rotary Type (Servo Motor)
Linear Servo Type
Mini slim type
NEW
Mini long
stroke type
Mini multislider type
NEW
Flat type
……… 323
52mm width RCS2-A5R
……… 325
58mm width RCS2-A6R
……… 327
55mm width RCS2-F5D
……… 329
Mini slim type
NEW
42mm width RCP2-GRSS
……… 333
Mini lever type (2-finger)
NEW
42mm width RCP2-GRLS
……… 335
(2-finger)
Medium slide type (2-finger)
NEW
(3-finger)
69mm width RCP2-GRS
……… 337
74mm width RCP2-GRM
……… 339
130 to 190mm width RCP2-GRST
……… 341
62mm width RCP2-GR3LS ……… 343
…… 373
24mm width RCL-SA2L
…… 375
28mm width RCL-SA3L
…… 377
40mm width RCL-SA4L
…… 379
48mm width RCL-SA5L
…… 383
58mm width RCL-SA6L
…… 387
40mm width RCL-SM4L
…… 381
48mm width RCL-SM5L
…… 385
58mm width RCL-SM6L
…… 389
ø16mm
RCL-RA1L
…… 391
ø20mm
RCL-RA2L
…… 393
ø25mm
RCL-RA3L
…… 395
Pulse Motor Type
Slider Coupled Type
(Steel Base)
Mini slide type (2-finger)
20mm width RCL-SA1L
P.397
P.331
Gripper Type (Pulse Motor)
Small lever type
Cleanroom
Type
Slider Coupled Type
(Aluminum Base)
Gripper Type/
Rotary Type
P.371
Rod Type
Servo Motor Type (200V)
40mm width RCS2-A4R
NEW
Slider Type
NEW
Arm type
45mm width RCP2-RTBS/RTBSL …… 353
Large vertical type
NEW
Long stroke type (2-finger)
…… 351
Rotary Type (Pulse Motor)
Motor unit
type
Small slide type
104 to 284mm width RCS2-GR8
52mm width RCP2CR-SA5C
…… 399
58mm width RCP2CR-SA6C
…… 401
73mm width RCP2CR-SA7C
…… 403
60mm width RCP2CR-SS7C
…… 405
80mm width RCP2CR-SS8C
…… 407
Slider coupled high-speed type 80mm width RCP2CR-HS8C …… 409
Mini gripper slide type
NEW
42mm width RCP2CR-GRSS …… 411
Mini gripper lever type
NEW
42mm width RCP2CR-GRLS …… 413
Servo Motor Type (24V)
Medium lever type (3-finger)
80mm width RCP2-GR3LM ……… 345
40mm width RCACR-SA4C
…… 415
Small slide type
62mm width RCP2-GR3SS ……… 347
52mm width RCACR-SA5C
…… 417
80mm width RCP2-GR3SM ……… 349
58mm width RCACR-SA6C
…… 419
(3-finger)
Medium slide type
(3-finger)
5
Pre-
ROBO Cylinder General Catalog
Slider coupled type
www.intelligentactuator.com
Slider built-in type
52mm width RCACR-SA5D
…… 421
58mm width RCACR-SA6D
…… 423
40mm width RCS2CR-SA4C
…… 425
52mm width RCS2CR-SA5C
…… 427
58mm width RCS2CR-SA6C
…… 429
73mm width RCS2CR-SA7C
…… 431
60mm width RCS2CR-SS7C
…… 433
Servo Motor Type (200V)
Slider coupled type
P.461
Peripheral Equipment
…… 435
PS-24□
…… 471
RCM-PM-01
…… 473
NOT FOR SALE IN NORTH
AMERICA
Touch panel display
Position Controllers
3-position AC100/200V
NEW
controller
246$546$5.
%
RCP2-TA-RTS
C
(W
S
¥4,900
PMEC/AMEC
…… 477
PSEP/ASEP
…… 487
Field network dedicated
controller
ROBONET
…… 503
Controller-integrated
actuator controller
ERC2
…… 515
DC24V controller for
pulse motor
PCON-□
…… 525
DC24V controller for
servo motor
ACON-□
…… 535
Simple absolute unit
□CON-ABU
…… 545
AC100/200V controller for
servo motor
SCON-C
…… 547
CON-PT
…… 497
DC24V controller for pulse motor
PSEL-C
…… 557
DC24V controller for servo motor
ASEL-C
…… 567
AC100/200V controller for
servo motor
SSEL-C
…… 577
AC100/200V multiaxial
controller
XSEL-□
…… 587
4
26
22 21.8
72
+0.05
depth
4
0
6—M3 depth 7
Ø36 h7
Ø35
Ø20 H7 depth 0.5
61
80mm width RCS2CR-SS8C
24V power supply
Ø30
Slider Coupled Type
(Steel Base)
Controllers
Slider built-in type
52mm width RCS2CR-SA5D
…… 437
58mm width RCS2CR-SA6D
…… 439
Dustproof/
Splash-Proof
P.441
Pulse Motor Type
Water-proof slider type
158mm width RCP2W-SA16C
…… 443
Splash-proof rod type
45mm width RCP2W-RA4C
…… 445
64mm width RCP2W-RA6C
…… 447
Splash-proof high thrust type
100mm width RCP2W-RA10C
…… 449
Mini gripper type
(Slide)
NEW
42mm width RCP2W-GRSS
…… 451
Mini gripper type
(Lever) NEW
42mm width RCP2W-GRLS
…… 453
3-position DC24V controller
NEW
Servo Motor Type (24V)
Rod coupled type
ø32mm
RCAW-RA3C
…… 455
ø37mm
RCAW-RA4C
…… 457
ø32mm
RCAW-RA3D
…… 455
ø37mm
RCAW-RA4D
…… 457
Rod type w/ side-mounted motor ø32mm
RCAW-RA3R
…… 455
ø37mm
RCAW-RA4R
…… 457
Rod coupled type
ø37mm
RCS2W-RA4C
…… 459
Rod built-in type
ø37mm
RCS2W-RA4D
…… 459
Rod type w/ side-mounted motor ø37mm
RCS2W-RA4R
…… 459
Rod built-in type
Servo Motor Type (200V)
Teaching Pendant for Position Controllers
Touch panel teaching pendant
Program Controllers
Technical References/Information
Considerations when Switching from Air Cylinders …………………………………
Technical Reference (Service Life and Moment) ………………………………………
Technical Reference (Calculating the Positioning Time) ……………………………
Technical Reference (Non-standard products) …………………………………………
Technical Reference (CE/UL/RoHS) ……………………………………………………
Information on Programming ……………………………………………………………
Explanation of Terms ………………………………………………………………………
Explanation of Actuator Options …………………………………………………………
Table of Replacement Parts by Type ……………………………………………………
Linear Servo Rod Type Mounting Methods ……………………………………………
Model Selection Reference (Speed vs. Load Capacity) ………………………………
Model Selection Reference (Push Force vs. Current Limit) …………………………
Model Selection Reference (RCP2 High-thrust Type) …………………………………
A-3
A-5
A-7
A-9
A-12
A-16
A-18
A-23
A-39
A-45
A-47
A-63
A-70
Model Selection Reference (RCS2 Ultra-High Thrust Type) ………………………
Model Selection Reference (RCP2 Gripper) …………………………………………
Model Selection Reference (RCP2 Rotary) …………………………………………
Model Selection Reference (Allowable Load Moment of the Guide) ……………
Model Selection Reference (Allowable Load at Guide Tip) ………………………
Model Selection Reference (Radial Load of the Guide) ……………………………
Model Selection Reference (Flat Type) ………………………………………………
Comparison Table of Old and New Models …………………………………………
Overseas Network ………………………………………………………………………
Index ………………………………………………………………………………………
ROBO Cylinder General Catalog
A-71
A-74
A-79
A-80
A-81
A-84
A-88
A-89
A-93
A-99
6
Pre-
Description of Series
ROBO Cylinders® are available in seven
series and can be categorized by three
types of motors.
RCP3
High maintainability, low price
RCP2
Standard models with
pulse motor
Series
Affordably priced, excellent
for push operation and
complete stops.
Delivers high output at low
speeds.
Pulse
Motor
Series
Controller-Integrated Type
RCA2
High maintainability, low price
Series
RCA
Excellent for high-speed
operations, with low noise.
Series
RCS2
Series
High-speed operation with
outstanding acceleration/
deceleration.
Linear
Motor
7
Pre-
ROBO Cylinder General Catalog
High-speed/high-rigidity/high-thrust
ERC2
Series
Servo
Motor
Isolated motor for easy replacement
RCL
Series
Low price.
Isolated motor for easy replacement
Installs the same way as an
air cylinder
A wide variety of 24V models
For high speeds and heavy loads
Operates at 100V/200V for high output
For high speed, high
acceleration/deceleration
Accelerates/decelerates at up to 2G
www.intelligentactuator.com
Positioner Type
Controller
Categories
Program Type
Network Type
Operated by specifying the target position
Operated by inputting programs.
Supports operation on a field network or by se-
number from an external I/O interface.
Advanced controlling is possible, such as synchro-
rial communication. Operate a large system or
No programming is necessary.
nous operation of two axes, and communication
multiple axes with less wiring.
with external devices.
PMEC
PSEP
PCON
ERC2
AMEC
AMEC
ASEP
ACON
SCON
PSEL
ASEL
SSEL
XSEL
RPCON
RACON
Compatible Controllers
Power/Voltage
Positioning Points
Operating Method
PMEC
PSEP
PCON
RPCON
PSEL
P477
P487
P525
P503
P557
Single-phase AC100/200V
3 points
Positioner
DC24V
3 points
Positioner
DC24V
512 points
Positioner
DC24V
768 points
Network
DC24V
1500 points
Programs
Built-in controller
P515
Power/Voltage
Positioning Points
Operating Method
Power/Voltage
Positioning Points
Operating Method
Power/Voltage
Positioning Points
Operating Method
Power/Voltage
Positioning Points
Operating Method
DC24V
64 points
Positioner
AMEC
ASEP
ACON
RACON
ASEL
P477
P487
P535
P503
P567
Single-phase AC100V
3 points
Positioner
DC24V
3 points
Positioner
DC24V
512 points
Positioner
SCON
SSEL
XSEL
P547
P577
P587
Single-phase AC100/200V
512 points
Positioner
Single-phase AC100/200V
20000 points
Programs
DC24V
768 points
Network
DC24V
1500 points
Programs
Three-phase AC200V
20000 points
Programs
AMEC
ASEP
ACON
RACON
ASEL
P477
P487
P535
P503
P567
Single-phase AC100V
3 points
Positioner
DC24V
3 points
Positioner
DC24V
512 points
Positioner
DC24V
768 points
Network
DC24V
1500 points
Programs
ROBO Cylinder General Catalog
8
Pre-
Model Selection
Stroke vs. Pricing
The chart below shows the correlation between the stroke and pricing for each ROBO Cylinder series.
Please use it as a reference to make a selection from the desired stroke.
12,000
4,000
3,000
RCS2 Series
2,200
RCS3/RCP2
Series
Price (Dollars)
2,000
RCL Series
1,800
1,600
1,400
1,200
1,000
800
RCA2/RCA
Series
600
400
ERC2 Series
200
Stroke (mm)
9
Pre-
ROBO Cylinder General Catalog
www.intelligentactuator.com
Steps for Selecting the Right Model
Select the right model of ROBO Cylinder using the steps below:
1
Select the environment in
Check environment
2
the ROBO Cylinder.
Select the shape (model) from the
Check motion
3
desired motion.
From the table of specifications,
Check performance
(specs)
4
select a model that meets your
requirements.
Stroke
Load Capacity
Speed
Push Force
Look up the selected model in the main section of this catalog to see if the size
Review details
Reference
which you will be using
(dimensions), load capacity, stroke, and speed meet your requirements.
Recommended Models
by Usage
See page Pre-13.
We have listed our typical models for each requirement.
Please use it as a reference for making a selection.
ROBO Cylinder General Catalog
Pre-
10
Model Selection
1 Check Environment
ROBO Cylinders can operate in any of the following three types of environments:
Select the ROBO Cylinder series based on your environment.
Environment
Model Group Description
D
Series Name
RCP2
RCP3
1 Normal
Environment
ERC2
Standard
Used for general
applications.
RCA
See page Pre-12
RCA2
RCS2
RCL
RCP2CR
2 Cleanroom
Cleanroom
Type
Can be used in a
cleanroom, e.g.,
in a production
line for LCDs or
semi-conductors.
RCACR
See page Pre-25
RCS2CR
RCP2W
3 Poor Environment
(Water, dust, etc.)
Dustproof/
Splash-Proof
11
Pre-
ROBO Cylinder General Catalog
Can be used in
areas prone to
dust and water,
such as automotive and food
manufacturing
machines.
RCAW
RCS2W
See page Pre-27
www.intelligentactuator.com
2 Check Motion
ROBO Cylinders are used for one of the following four motions:
Select the shape type for the desired motion.
Motion
Example Usage
Requirements
�
�
�
�
1 Position
�
�
Move a workpiece
horizontally
Move a long distance
Move a workpiece
vertically
Transport a workpiece with a chuck
Move a workpiece
vertically
Moment load is applied
Shape Type
Slider Type
Pre-15
Rod Type
2 Push
�
Table Type
�
3 Grip
�
�
4 Rotate
�
�
Grip and pick up a
workpiece
Center a workpiece
Reorient a workpiece
Set fine positions for
indexing
See page
Pre-20
Transport light loads
at a high speed
Push and hold a
workpiece
Press-fit a workpiece
See page
Pre-17
Linear Servo Type
�
See page
See page
Pre-22
Rod Type
See page
Pre-17
Gripper Type
See page
Pre-23
Rotary Type
See page
Pre-24
ROBO Cylinder General Catalog
Pre-
12
Selecting
Model
Selection
the Right Model
Recommended Models by Usage
We have listed our typical models for each requirement.
Please use it as a reference for making a selection.
For fast operation
Model
RCL-SA6L
RCP2-BA7
RCP2-HS8C
1600mm/s
1500mm/s
1200mm/s
2.0G
0.5G
0.5G (*4)
48 - 288mm (48mm increments)
600 - 1200mm (50mm increments)
50 - 800mm (*3) (50mm increments)
H
Horizontal
0.5kg (*1)
2kg (*2)
1kg
V
ti l
Vertical
(N/A)
(N/A)
2kg (*4)
P387
P53
P37
Appearance
Maximum Speed
Maximum Acceleration/
Deceleration
Stroke
Load Capacity
See Page
(*1) Load capacity when operated at 2.0G.
(*2) Load capacity when operated at 1500mm/s.
(*3) Stroke range when operated at 1200mm/s.
(*4) Maximum acceleration for vertical motion is 0.2G.
For transporting heavy loads
Model
RCS2-RA13R
RCP2-RA10C
RCS2-SS8C
500kg (*4)
300kg
300kg (*4)
150kg
150
kg
60kg
12kg
125mm/s
63mm/s
500mm/s(*5)
0.02G
0.01G
0.3G
50 - 200mm (50mm increments)
50 - 300mm (50mm increments)
50 - 1000mm (*5) (50mm increments)
Appearance
Horizontal
H
i t l
Load Capacity
Vertical
V
ti l
Maximum Speed
Maximum Acceleration/
Deceleration
Stroke
See Page
P247
(*4) Load capacity when external guide is attached.
P147
(*4) Load capacity when external guide is attached.
P109
(*5) Maximum speed decreases with strokes over 650mm.
For press-fitting
Model
RCS2-RA13R
RCP2-RA10C
RCP2-RA6C
19600N
6000N
800N
50 - 200mm (50mm increments)
50 - 300mm (50mm increments)
50 - 300mm (50mm increments)
P247
P147
P145
Appearance
Maximum Push Force
Stroke
See Page
13
Pre-
ROBO Cylinder General Catalog
www.intelligentactuator.com
For moving over a long distance
Model
RCP2-SS8C
RCP2-BA7
RCS2-SS8C
50 - 1000mm (50mm increments)
600 - 1200mm (50mm increments)
50 - 1000mm (50mm increments)
515mm/s(*6)
1500mm/s
515mm/s(*8)
0.3G
0.5G
0.3G
Horizontal
H
10kg
2kg (*7)
20kg
Vertical
V ti l
0.5kg
0 5kg
(N/A)
4kg
Appearance
Stroke
Maximum Speed
Maximum Acceleration/
Deceleration
Load Capacity
See Page
P35
(*6) Maximum speed for 1000mm stroke.
P109
P53
(*7) Load capacity when operated at 1500mm/s.
(*8) Maximum speed for 1000mm stroke.
For small sizes
Model
RCP3-SA2AC
RCA2-RP3N
RCL-SA1L
22mm×27mm
28mm×28mm
20mm×30mm
25 - 100mm (25mm increments)
30mm
40mm
50mm/s
50mm/s
420mm/s
0.2G
0.2G
2.0G
Horizontal
H
1kg (*9)
1kg (*10)
0.15kg (*11)
Vertical
V
ti l
(N/A)
0.5kg
0
5kg
(N/A)
Appearance
Exterior Dimensions (W×H)
Stroke
Maximum Speed
Maximum Acceleration/
Deceleration
Load Capacity
See Page
P3
50mm/s.
(*9) Load capacity when operated at 50mm/s
P181
P373
attached.
(*10) Load capacity when external guide is attached
(*11) Load capacity when operated at 2.0G.
2 0G
For best prices
Model
ERC2-SA6C
ERC2-RA6C
RCP3-SA3C
–
–
–
50 - 600mm (50mm increments)
50 - 300mm (50mm increments)
50 - 300mm (50mm increments)
600mm/s
600mm/s
300mm/s
0.3G
0.3G
0.3G
Appearance
Standard Price
Stroke
Maximum Speed
Maximum Acceleration/
Deceleration
Load Capacity
See Page
Horizontal
H
6kg
25kg
1kg
Vertical
V ti l
1.5kg
1 5kg
4.5kg
4 5kg
0.5kg
0
5kg
P55
P165
P7
ROBO Cylinder General Catalog
Pre-
14
Model Selection
3 Check Specifications
Slider Type
The slider type is used for transporting and positioning workpieces. When selecting a slider-type
model, note that the specifications are different when used horizontally versus vertically.
[Positioning]
For positioning motions, the criteria for selection are: (1) stroke; (2) load capacity; and (3) speed.
From the table below, select a model that meets your requirements for the stroke, load capacity, and speed.
For RCP3 and RCP2, which use a pulse motor, the load capacity changes with speed. See the "Speed vs. Load
Capacity" chart on each respective page to check if your desired speed and load capacity are supported.
[How to Read the Table]
Slider Type
Stroke (mm) and Maximum Speed
Load
Capacity
(kg)
(mm/sec)
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
Type
H
V
200
0.25
−
100
0.5
−
50
1
−
300
0.25
−
200
0.5
−
RCP3-SA2B□-I-20P-4S-***
100
1
−
RCP3-SA2B□-I-20P-2S-***
25
50 100 150 200 250 300 350 400 450 500 550 600 700 800 900 1000 1100 1200
mm
SA2
Maximum Speed
Note:
Model
Encoder Controller
* □ denotes motor shape
Type Input Power ○ denotes encoder type
***
See
Page
RCP3-SA2A□-I-20P-4S-***
RCP3-SA2A□-I-20P-2S-***
24V
I
Horizontal
Load Capacity
Stroke Range
denotes stroke.
P.3
RCP3-SA2A□-I-20P-1S-***
RCP3-SA2B□-I-20P-6S-***
P.5
Vertical
Load Capacity
If the workpiece being transported is significantly overhanging from the actuator, the service life of the guide needs to be
considered separately from the actuator's specifications. See "About Service Life and Moment" on page A-5 for details.
Slider Type
Stroke (mm) and Maximum Speed
Load
Capacity
(kg)
(mm/sec)
* Length of bar = stroke *Number inside bar = max. speed by stroke, < > denotes vertical use
Type
25
50 100 150 200 250 300 350 400 450 500 550 600 700 800 900 1000 1100 1200
mm
SA2
SA3
15
Pre-
V
Model
Controller * □ denotes motor shape
Input Power ○ denotes encoder type
*** denotes stroke.
200
0.25
−
RCP3-SA2A□-I-20P-4S-***
100
0.5
−
RCP3-SA2A□-I-20P-2S-***
50
1
−
RCP3-SA2A□-I-20P-1S-***
300
0.25
−
200
0.5
−
RCP3-SA2B□-I-20P-4S-***
100
1
−
RCP3-SA2B□-I-20P-2S-***
300
1
0.5
RCP3-SA3□-I-28P-6-***
200
2
1
RCP3-SA3□-I-28P-4-***
100
3
1.5
RCP3-SA3□-I-28P-2-***
300
1
0.5
200
2
1
RCA2-SA3□-I-10-4-***
100
3
1.5
RCA2-SA3□-I-10-2-***
I
I
24V
24V
RCP3-SA4□-I-35P-5-***
~4
125
~11
~8
500
2
1
250
4
1.5
RCA2-SA4□-I-20-5-***
125
6
3
RCA2-SA4□-I-20-2.5-***
I
4
1
330
6
2.5
165
8
4.5
I
665
4
1
A
330
6
2.5
165
8
4.5
ROBO Cylinder General Catalog
= Absolute
P.7
P.59
24V
P.9
RCP3-SA4□-I-35P-2.5-***
RCA2-SA4□-I-20-10-***
P.61
RCA-SA4□-I-20-10-***
665
A
P.5
RCA2-SA3□-I-10-6-***
~9
= Incremental
P.3
RCP3-SA2B□-I-20P-6S-***
250
I
See Page
RCP3-SA4□-I-35P-10-***
~7.5 ~1.5
500
SA4
H
Encoder
Type
24V
RCA-SA4□-I-20-5-***
P.75
RCA-SA4□-I-20-2.5-***
RCS2-SA4□-I-20-10-***
100V RCS2-SA4□-I-20-5-***
200V
RCS2-SA4□-I-20-2.5-***
= DC
= AC
P.99
www.intelligentactuator.com
Slider Type
Stroke
Type
(mm)
and Maximum Speed
Load
Capacity
(kg)
(mm/sec)
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
25
50 100 150 200 250 300 350 400 450 500 550 600 700 800 900 1000 1100 1200
mm
SA5
Model
Controller * □ denotes motor shape
Input Power ○ denotes encoder type
*** denotes stroke.
600
570 425 330
~6
~2
RCP3-SA5□-I-42P-12-***
300
285 210 165
~10
~5
RCP3-SA5□-I-42P-6-***
150
140 105 80
19
~10
RCP3-SA5□-I-42P-3-***
600
540 400 300
~6
1
300
270 200 150
~13
~4
150
135 100 75
16
~8
600
570 425 330
3
1
300
285 210 165
6
1.5
RCA2-SA5□-I-20-6-***
150
140 105 80
9
3
RCA2-SA5□-I-20-3-***
RCA-SA5□-○-20-12-***
RCP2-SA5□-I-42P-6-***
24V
760
4
1
380
8
2
200
190
12
4
I
800
760
4
1
A
400
380
8
2
200
190
12
4
RCA-SA5□-○-20-6-***
~6
~2
RCP3-SA6□-I-42P-12-***
~5
RCP3-SA6□-I-42P-6-***
150
140 105 80
~19 ~10
RCP3-SA6□-I-42P-3-***
600
540 400 300
~8.5 ~1.5
RCP2-SA6□-I-42P-12-***
300
270 200 150
~15
~4
RCP2-SA6□-I-42P-6-***
150
135 100 75
~19
~6
RCP2-SA6□-I-42P-3-***
600
515
~6 ~1.5
300
255
12
~3
150
125
12
~6
ERC2-SA6C-I-PM-3-***
RCA2-SA6□-I-30-12-***
I
ERC2-SA6C-I-PM-6-***
570 425 330
4
1.5
300
285 210 165
7
2
RCA2-SA6□-I-30-6-***
150
140 105 80
10
4
RCA2-SA6□-I-30-3-***
RCA-SA6□-○-30-12-***
800
760 640 540
6
1.5
400
380 320 270
12
3
200
190 160 135
18
6
I
A
1.5
3
200
190 160 135
18
6
SA7
RCA-SA6□-○-30-6-***
480
~35
~5
RCP2-SA7□-I-56P-16-***
~40 ~10
RCP2-SA7□-I-56P-8-***
133
120
I
24V
~5
ERC2-SA7C-I-PM-8-***
125
20
~10
ERC2-SA7C-I-PM-4-***
640 480
12
3
320 240
25
6
200
160 120
40
12
600
470
~30
~4
300
230
~30
~8
150
115
~30 ~12
I
A
24V
RCP2-SS7□-I-42P-6-***
100V RCS2-SS7□-○-60-12-***
200V RCS2-SS7□-○-60-6-***
15
4
I
30
8
A
1000 800
<750> <750>
~20
~3
RCP2-HS8□-I-86P-30-***
666<600>
625
<600>
515
~40
~5
RCP2-SS8□-I-56P-20-***
333<300>
310
<300>
255
~50 ~12
165<150>
155
<150>
125
~55 ~20
I
20
4
480 380 310 255
40
8
I
1000
960 765 625 515
30
6
A
500
480 380 310 255
1500
−
~8
−
RCP2-SS8□-I-56P-10-***
P.37
P.35
RCS2-SS8□-○-100-20-***
960 765 625 515
500
12
24V
P.107
RCP2-SS8□-I-56P-5-***
1000
60
P.33
RCP2-SS7□-I-42P-3-***
470
~4
P.105
RCP2-SS7□-I-42P-12-***
I
230
1000
P.57
RCS2-SA7□-○-60-4-***
300
BA6/
BA7
P.31
RCS2-SA7□-○-60-16-***
100V RCS2-SA7□-○-60-8-***
200V
600
1200<750>
P.103
ERC2-SA7C-I-PM-16-***
~20
400
P.79
RCP2-SA7□-I-56P-4-***
250
800
P.65
RCS2-SA6□-○-30-3-***
240
~10 ~2.5
P.55
RCS2-SA6□-○-30-12-***
100V RCS2-SA6□-○-30-6-***
200V
533
~15
P.29
RCA-SA6□-○-30-3-***
266
40
P.13
ERC2-SA6C-I-PM-12-***
24V
600
6
P.101
RCS2-SA5□-○-20-3-***
~10
12
P.77
RCS2-SA5□-○-20-12-***
100V RCS2-SA5□-○-20-6-***
200V
570 425 330
760 640 540
P.63
RCA-SA5□-○-20-3-***
285 210 165
380 320 270
P.27
RCA2-SA5□-I-20-12-***
300
400
P.11
RCP2-SA5□-I-42P-3-***
600
800
See Page
RCP2-SA5□-I-42P-12-***
I
400
450<400>
SS8
V
800
SA6
SS7
H
Encoder
Type
100V RCS2-SS8□-○-100-10-***
200V RCS2-SS8□-○-150-20-***
P.109
RCS2-SS8□-○-150-10-***
I
24V
RCP2-BA6-I-42P-54-***
RCP2-BA7-I-42P-54-***
P.51
P.53
* < > is for vertical use
I
= Incremental
A
= Absolute
= DC
ROBO Cylinder General Catalog
= AC
Pre-
16
Model Selection
Rod Type
3 Check Specifications
For the rod type, the criteria for selection are different, depending on whether it will be used for
positioning or for pushing.
[Positioning]
For positioning motions, the criteria for selection are: (1) stroke; (2) load capacity; and (3) speed.
From the table below, select a model that meets your requirements for the stroke, load capacity, and
speed.
For RCP3 and RCP2, which use a pulse motor, the load capacity changes with speed. See the "Speed vs. Load
Capacity" chart on each respective page to check if your desired speed and load capacity are supported.
[Pushing]
For pushing motions, the criteria for selection are: (1) stroke and (2) maximum pushing force.
From the table below, select a model that meets your requirements for the stroke and pushing force.
We recommend our pulse motor models (RCP3 and RCP2) for push operation, because of the motor's
characteristics. Moreover, the pushing force is adjustable between 20% to 70% (max. pushing force at 70%).
[How to Read the Table ]
Rod Type
Stroke
(mm)
and Maximum Speed
(mm/sec)
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
Type
25mm
30
75
100
150
200
250
300
Model
Load
Maximum
Capacity (kg)
Push Force
(N)
H
(N)
V
Encoder
Type
Controller
Input Power
*
□ denotes motor shape
○ denotes encoder type
*** denotes stroke.
−
6.6 ~16.1 0.25 0.125
RCP3-RA2A□-I-20P-4S-***
100
−
13.2~28.3 0.5 0.25
RCP3-RA2A□-I-20P-2S-***
50
−
26.4 ~ 39.5
RCP3-RA2A□-I-20P-1S-***
180
RA2
50
Rated
Thrust
200
180
280
180
300
200
100
25
Maximum Speed
1
0.5
4.4 ~11.9 0.25 0.125
−
6.6 ~16.1
−
13.2~28.3
1
0.5
RCP3-RA2B□-I-20P-2S-***
−
100
7
2.5
RCP2-RA2C-I-20P-1-***
RCP3-RA2B□-I-20P-4S-***
P.133
P.139
Vertical Load
Capacity
Horizontal
Load Capacity
Maximum
Push Force
Stroke Range
24V
I
P.131
RCP3-RA2B□-I-20P-6S-***
−
0.5 0.25
See Page
Rod Type
Stroke (mm) and Maximum Speed
Type
(mm/sec)
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
25mm
30
75
100
150
200
250
300
V
Type
Model
Controller
* □ denotes motor shape See Page
Input
○ denotes encoder type
Power
*** denotes stroke
RCP3-RA2A□-I-20P-4S-***
100
−
13.2~28.3 0.5 0.25
RCP3-RA2A□-I-20P-2S-***
50
−
26.4 ~ 39.5
RCP3-RA2A□-I-20P-1S-***
280
180
300
200
100
25
I
17
H
(N)
Encoder
6.6 ~16.1 0.25 0.125
200
180
Pre-
(N)
Load
Maximum Capacity
(kg)
Push Force
−
180
RA2
50
Rated
Thrust
ROBO Cylinder General Catalog
1
0.5
4.4 ~11.9 0.25 0.125
−
6.6 ~16.1
−
13.2~28.3
1
0.5
RCP3-RA2B□-I-20P-2S-***
−
100
7
2.5
RCP2-RA2C-I-20P-1-***
= Incremental
A
= Absolute
I
24V
RCP3-RA2B□-I-20P-6S-***
−
0.5 0.25
P.131
RCP3-RA2B□-I-20P-4S-***
= DC
= AC
P.133
P.139
www.intelligentactuator.com
Rod Type
Stroke(mm) and Maximum Speed
Type
25mm
RN3
RN4
RP3
RP4
GS3
GS4
GD3
GD4
SD3
SD4
(mm/sec)
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
30
50
75
100
150
200
250
300
Rated
Thrust
Load
Maximum Capacity
(kg)
Push Force
H
V
Encoder
Type
Model
Controller
* □ denotes motor shape See Page
Input
○ denotes encoder type
Power
*** denotes stroke
(N)
(N)
200
25.1
−
0.25 0.125
RCA2-RN3N-I-10-4S-30
100
50.3
−
0.5 0.25
RCA2-RN3N-I-10-2S-30
50
100.5
−
1
0.5
270 <220>
33.8
−
2
0.5
200
50.7
−
3
0.75
100
101.5
−
6
1.5
220
19.9
−
0.25 0.125
RCA2-RN4N-I-20-6S-30
200
29.8
−
0.5 0.25
RCA2-RN4N-I-20-4S-30
100
59.7
−
200
25.1
−
0.25 0.125
RCA2-RP3N-I-10-4S-30
100
50.3
−
0.5 0.25
RCA2-RP3N-I-10-2S-30
50
100.5
−
1
1
RCA2-RN4N-I-20-6-30
I
24V
RCA2-RN4N-I-20-4-30
RCA2-RN4N-I-20-2-30
0.5
0.5
33.8
−
2
0.5
50.7
−
3
0.75
100
101.5
−
6
1.5
220
19.9
−
0.25 0.125
RCA2-RP4N-I-20-6S-30
200
29.8
−
0.5 0.25
RCA2-RP4N-I-20-4S-30
100
59.7
−
200
25.1
−
0.25 0.125
RCA2-GS3N-I-10-4S-30
100
50.3
−
0.5 0.25
RCA2-GS3N-I-10-2S-30
50
100.5
−
1
RCA2-RP4N-I-20-6-30
I
24V
RCA2-RP4N-I-20-4-30
RCA2-RP4N-I-20-2-30
0.5
P.183
RCA2-RP4N-I-20-2S-30
0.5
P.185
RCA2-GS3N-I-10-1S-30
270 <220>
33.8
−
2
0.5
200
50.7
−
3
0.75
100
101.5
−
6
1.5
220
19.9
−
0.25 0.125
RCA2-GS4N-I-20-6S-30
200
29.8
−
0.5 0.25
RCA2-GS4N-I-20-4S-30
100
59.7
−
200
25.1
−
0.25 0.125
RCA2-GD3N-I-10-4S-30
100
50.3
−
0.5 0.25
RCA2-GD3N-I-10-2S-30
50
100.5
−
1
RCA2-GS4N-I-20-6-30
I
24V
RCA2-GS4N-I-20-4-30
RCA2-GS4N-I-20-2-30
0.5
P.187
RCA2-GS4N-I-20-2S-30
0.5
P.189
RCA2-GD3N-I-10-1S-30
270 <220>
33.8
−
2
0.5
200
50.7
−
3
0.75
100
101.5
−
6
1.5
220
19.9
−
0.25 0.125
RCA2-GD4N-I-20-6S-30
200
29.8
−
0.5 0.25
RCA2-GD4N-I-20-4S-30
100
59.7
−
1
P.181
RCA2-RP3N-I-10-1S-30
270 <220>
1
P.179
RCA2-RN4N-I-20-2S-30
200
1
P.177
RCA2-RN3N-I-10-1S-30
RCA2-GD4N-I-20-6-30
I
24V
RCA2-GD4N-I-20-4-30
RCA2-GD4N-I-20-2-30
0.5
P.191
RCA2-GD4N-I-20-2S-30
200
200
25.1
−
0.25 0.125
RCA2-SD3N-I-10-4S-***
100
100
50.3
−
0.5 0.25
RCA2-SD3N-I-10-2S-***
50
50
100.5
−
1
RCA2-SD4N-I-20-6-***
240 <200>
300
33.8
−
2
0.5
200
200
50.7
−
3
0.75
100
100
101.5
−
6
1.5
200
300
19.9
−
0.25 0.125
RCA2-SD4N-I-20-6S-***
200
200
29.8
−
0.5 0.25
RCA2-SD4N-I-20-4S-***
100
100
59.7
−
1
0.5
P.193
RCA2-SD3N-I-10-1S-***
0.5
I
24V
RCA2-SD4N-I-20-4-***
RCA2-SD4N-I-20-2-***
P.195
RCA2-SD4N-I-20-2S-***
* < > is for vertical use
I
= Incremental
A
= Absolute
= DC
ROBO Cylinder General Catalog
= AC
18
Pre-
Model Selection
Rod Type
Stroke (mm) and Maximum Speed
Type
(mm/sec)
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
25mm
30
50
75
RA3
100
250
300
(N)
(N)
H
V
Encoder
Type
Model
Controller * □ denotes motor shape
Input Power ○ denotes encoder type
*** denotes stroke.
−
73.5
~15
~6
RCP2-RA3C-I-28P-5-***
114
−
156.8
~30
~10
RCP2-RA3C-I-28P-2.5-***
500
36.2
−
4
1.5
250
72.4
−
9
3
125
144.8
−
18
6.5
458
458
350
−
150
~25 ~ 4.5
250
237
175
−
284
~ 40
~12
125<114>
118<114>
87
−
358
40
~19
600
18.9
−
3
1
300
37.7
−
6
2
150
75.4
−
12
4
600
28.3
−
4
1.5
I
24V
RCA-RA3C-I-20-5-***
24V
RCP2-RA4C-I-42P-5-***
RCA-RA4C-○-20-12-***
RCA-RA4C-○-20-6-***
24V
RCA-RA4C-○-20-3-***
RCA-RA4C-○-30-12-***
−
9
3
−
18
6.5
I
RCA-RA4C-○-30-3-***
600
18.9
−
3
1
A
RCS2-RA4C-○-20-12-***
300
37.7
−
6
2
RCS2-RA4C-○-20-6-***
150
75.4
−
12
4
100V RCS2-RA4C-○-20-3-***
600
28.3
−
4
1.5
200V RCS2-RA4C-○-30-12-***
56.6
−
9
3
RCS2-RA4C-○-30-6-***
−
18
6.5
RCS2-RA4C-○-30-3-***
250
−
90
~25
~9
125
−
170
~35
~15
250
41
−
9
3
125
81
−
18
6.5
800
755
63.8
−
12
2
400
377
127.5
−
25
5
200
188
255.1
−
50
11.5
I
100V RCS2-RA5C-○-60-4-***
800
755
105.8
−
15
3.5
A
200V RCS2-RA5C-○-100-16-***
24V
I
24V
RCP2-SRA4R-I-35P-5-***
RCP2-SRA4R-I-35P-2.5-***
RCA-SRA4R-I-20-5-***
RCA-SRA4R-I-20-2.5-***
377
212.7
−
30
9
RCS2-RA5C-○-100-8-***
424.3
−
60
18
RCS2-RA5C-○-100-4-***
450<400>
−
240
~ 40
~5
RCP2-RA6C-I-56P-16-***
210
−
470
~50 ~17.5
RCP2-RA6C-I-56P-8-***
130
−
800
~55
RCP2-RA6C-I-56P-4-***
I
24V
500
−
78
300
250
−
157
~ 40
~12
ERC2-RA6C-I-PM-6-***
150
125
−
304
40
~18
ERC2-RA6C-I-PM-3-***
~5
220
~ 40
−
441
~50 ~17.5
125
−
873
~55
24V
ERC2-RA7C-I-PM-8-***
63
−
5
2
RCS2-SRA7BD-I-60-16-***
127
−
10
5
RCS2-SRA7BD-I-60-8-***
200
254
−
20
10
RCS2-SRA7BD-I-60-4-***
800
103
−
10
3.5
400
207
−
22
9
200
414
−
40 19.5
800
157
−
15
400
314
−
35 14.5
RCS2-SRA7BD-I-150-8-***
200
628
−
55 22.5
RCS2-SRA7BD-I-150-4-***
250<167>
−
1500
~ 80
125
−
3000
150 ~100
63
−
6000
300 ~150
125
62
I
100V
200V
RCS2-SRA7BD-I-100-8-***
RCP2-RA10C-I-86P-10-***
~ 80
I
24V
RCP2-RA10C-I-86P-5-***
19
Pre-
ROBO Cylinder General Catalog
P.147
RCP2-RA10C-I-86P-2.5-***
9800
400 200
I
100V RCS2-RA13R-○-750-2.5-***
19600
500 300
A
200V RCS2-RA13R-○-750-1.25-***
= Absolute
P.241
RCS2-SRA7BD-I-150-16-***
6.5
5106
A
P.167
RCS2-SRA7BD-I-100-4-***
10211
= Incremental
P.165
RCS2-SRA7BD-I-100-16-***
* < > is for vertical use
I
P.145
ERC2-RA7C-I-PM-4-***
~25
400
120
P.237
ERC2-RA7C-I-PM-16-***
I
800
RA10
P.209
ERC2-RA6C-I-PM-12-***
600
−
P.149
RCS2-RA5C-○-60-8-***
188
450<400>
P.235
RCS2-RA5C-○-60-16-***
400
SRA7
85
I
200
250<200>
P.199
RCA-RA4C-○-30-6-***
56.6
113.1
113.1
RA7
P.143
RCP2-RA4C-I-42P-2.5-***
150
~25 ~ 4.5
P.197
RCP2-RA4C-I-42P-10-***
I
150
RA6
P.141
RCA-RA3C-I-20-2.5-***
300
~26
See Page
RCA-RA3C-I-20-10-***
300
RA5
RA13
200
Maximum
Push Force
187
RA4
SRA4
150
Load
Capacity
(kg)
Rated
Thrust
= DC
= AC
P.247
www.intelligentactuator.com
Table Type
3 Check Specifications
Similar to the rod type, the table type can be used for positioning and pushing. The rod type is
recommended for pushing motions, as it exerts stronger force and has more variety.
[Positioning]
For positioning motions, the criteria for selection are: (1) stroke; (2) load capacity; and (3) speed.
From the table below, select a model that meets your requirements for the stroke and pushing force.
For RCP3 and RCP2, which use a pulse motor, the load capacity changes with speed. See the "Speed vs.
Load Capacity" chart on each respective page to check if your desired speed and load capacity are supported.
[How to Read the Table]
Table Type
Stoke
(mm) and
Maximum Speed
(mm/sec)
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
Type
25mm
TC3
TC4
Maximum Speed
30
50
75
100
150
200
250
300
Rated
Thrust
Load
Maximum
Capacity (kg) Encoder
Push Force
H
Type
V
Controller
Input Power
Model
* □ denotes motor shape
○ denotes encoder type
*** denotes stroke
(N)
(N)
200
25.1
−
0.25 0.125
RCA2-TC3N-I-10-4S-30
100
50.3
−
0.5 0.25
RCA2-TC3N-I-10-2S-30
50
100.5
−
1
0.5
270 <220>
33.8
−
2
0.5
200
50.7
−
3
0.75
100
101.5
−
6
1.5
220
19.9
−
Stroke Range
200
29.8
−
Horizontal
Load59.7
Capacity
−
100
P.289
RCA2-TC3N-I-10-1S-30
RCA2-TC4N-I-20-6-30
24V
I
RCA2-TC4N-I-20-4-30
RCA2-TC4N-I-20-2-30
0.25 0.125
RCA2-TC4N-I-20-6S-30
0.5 0.25
RCA2-TC4N-I-20-4S-30
Vertical
Load Capacity
RCA2-TC4N-I-20-2S-30
1
See
Page
0.5
P.291
Table Type
Stroke (mm) and Maximum Speed
Type
25mm
TC3
TC4
TW3
TW4
TF3
TF4
(mm/sec)
Load
Capacity
(kg)
Model
Controller * □ denotes motor shape
Input Power ○ denotes encoder type
*** denotes stroke.
Rated
Thrust
Maximum
Push Force
(N)
(N)
200
25.1
−
0.25 0.125
RCA2-TC3N-I-10-4S-30
100
50.3
−
0.5 0.25
RCA2-TC3N-I-10-2S-30
50
100.5
−
1
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
30
50
75
100
150
200
250
300
H
V
Encoder
Type
0.5
270 <220>
33.8
−
2
0.5
50.7
−
3
0.75
100
101.5
−
6
1.5
220
19.9
−
0.25 0.125
RCA2-TC4N-I-20-6S-30
200
29.8
−
0.5 0.25
RCA2-TC4N-I-20-4S-30
RCA2-TC4N-I-20-6-30
I
24V
RCA2-TC4N-I-20-4-30
RCA2-TC4N-I-20-2-30
100
59.7
−
200
25.1
−
0.25 0.125
RCA2-TW3N-I-10-4S-30
100
50.3
−
0.5 0.25
RCA2-TW3N-I-10-2S-30
50
100.5
−
1
0.5
0.5
33.8
−
2
0.5
50.7
−
3
0.75
100
101.5
−
6
1.5
220
19.9
−
0.25 0.125
RCA2-TW4N-I-20-6S-30
200
29.8
−
0.5 0.25
RCA2-TW4N-I-20-4S-30
100
59.7
−
200
25.1
−
0.25 0.125
RCA2-TF3N-I-10-4S-30
100
50.3
−
0.5 0.25
RCA2-TF3N-I-10-2S-30
50
100.5
−
1
RCA2-TW4N-I-20-6-30
I
24V
RCA2-TW4N-I-20-4-30
RCA2-TW4N-I-20-2-30
0.5
P.295
RCA2-TW4N-I-20-2S-30
0.5
P.297
RCA2-TF3N-I-10-1S-30
270 <220>
33.8
−
2
0.5
200
50.7
−
3
0.75
100
101.5
−
6
1.5
220
19.9
−
0.25 0.125
RCA2-TF4N-I-20-6S-30
200
29.8
−
0.5 0.25
RCA2-TF4N-I-20-4S-30
100
59.7
−
0.5
P.293
RCA2-TW3N-I-10-1S-30
270 <220>
1
P.291
RCA2-TC4N-I-20-2S-30
200
1
P.289
RCA2-TC3N-I-10-1S-30
200
1
See Page
RCA2-TF4N-I-20-6-30
I
24V
RCA2-TF4N-I-20-4-30
RCA2-TF4N-I-20-2-30
P.299
RCA2-TF4N-I-20-2S-30
* < > is for vertical use
I
= Incremental
A
= Absolute
= DC
ROBO Cylinder General Catalog
= AC
Pre-
20
Model Selection
Table Type
Stroke (mm) and Maximum Speed
Type
(mm/sec)
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
25mm
30
TA3
TA4
TA5
TA6
50
75
100
150
200
250
300
Rated
Thrust
Maximum
Push Force
(N)
(N)
Load Capacity
(kg)
Encoder
Type
H
V
Model
Controller Input * □ denotes motor shape
Power
○ denotes encoder type
300<200>
−
9
~ 0.7 ~ 0.3
RCP3-TA3□-I-20P-6-***
200<133>
−
14
~1.4 ~ 0.6
RCP3-TA3□-I-20P-4-***
100<67>
−
28
300
−
200
−
100
−
300
200
100
P.269
RCP3-TA3□-I-20P-2-***
~2
~1
15
~1
~ 0.5
22
~2
~1
44
~3
~1.5
RCP3-TA4□-I-28P-2-***
28
−
1
0.5
RCA2-TA4□-I-10-6-***
43
−
2
1
RCA2-TA4□-I-10-4-***
85
−
3
1.5
RCA2-TA4□-I-10-2-***
465<400>
−
34
~2
~1
RCP3-TA5□-I-35P-10-***
250
−
68
~4
~1.5
RCP3-TA5□-I-35P-5-***
125
−
136
~6
~3
465<400>
34
−
2
1
250
68
−
3.5
2
RCA2-TA5□-I-20-5-***
125
137
−
5
3
RCA2-TA5□-I-20-2.5-***
RCP3-TA4□-I-28P-6-***
I
I
24V
24V
RCP3-TA4□-I-28P-4-***
−
47
~4
~1
RCP3-TA6□-I-42P-12-***
−
95
~6
~2
RCP3-TA6□-I-42P-6-***
150
−
189
~8
~4
RCP3-TA6□-I-42P-3-***
560<500>
17
−
2
0.5
300
34
−
4
1.5
RCA2-TA6□-I-20-6-***
150
68
−
6
3
RCA2-TA6□-I-20-3-***
24V
−
47
~6
~1
RCP3-TA7□-I-42P-12-***
300
−
95
~8
~2
RCP3-TA7□-I-42P-6-***
150
−
189
~10
~4
RCP3-TA7□-I-42P-3-***
600<580>
26
−
4
1
300
53
−
6
2.5
RCA2-TA7□-I-30-6-***
150
105
−
8
4
RCA2-TA7□-I-30-3-***
24V
P.273
P.303
P.275
RCA2-TA6□-I-20-12-***
600<580>
I
P.301
RCA2-TA5□-I-20-10-***
300
I
P.271
RCP3-TA5□-I-35P-2.5-***
560<500>
TA7
See Page
*** denotes stroke
P.305
P.277
RCA2-TA7□-I-30-12-***
P.307
* < > is for vertical use
I
= Incremental
A
= DC
= Absolute
= AC
Arm Type / Flat Type
Stroke (mm) and Maximum Speed
Type
(mm/sec)
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
25mm
A4R
A5R
A6R
F5D
30
50
75
21
Model
Encoder Controller * □ denotes motor shape
Type
Input Power ○ denotes encoder type
(N)
H
V
330
39.2
−
2.5
165
78.4
−
4.5
I
330
39.2
−
2.5
A
165
78.4
−
4.5
100
150
200
250
300
400
33.3
−
2
65.7
−
4
I
A
24V
RCA-A4R-○-20-10-***
RCA-A4R-○-20-5-***
RCS2-A4R-○-20-10-***
100V
200V RCS2-A4R-○-20-5-***
24V
RCA-A5R-○-20-12-***
RCA-A5R-○-20-6-***
100V RCS2-A5R-○-20-12-***
200V RCS2-A5R-○-20-6-***
400
33.3
−
2
200
65.7
−
4
400
48.4
−
3
200
96.8
−
6
I
400
48.4
−
3
A
200
96.8
−
6
100V RCS2-A6R-○-30-12-***
200V RCS2-A6R-○-30-6-***
800
63.8
−
2
RCS2-F5D-○-60-16-***
400
127.5
−
5
200
255.1
−
11.5
I
800
105.8
−
3.5
A
400
212.7
−
9
RCS2-F5D-○-100-8-***
200
424.3
−
18
RCS2-F5D-○-100-4-***
ROBO Cylinder General Catalog
= Incremental
A
= Absolute
See Page
*** denotes stroke
200
I
Pre-
Load
Capacity (kg)
Thrust
24V
RCA-A6R-○-30-12-***
RCA-A6R-○-30-6-***
P.317
P.323
P.319
P.325
P.321
P.327
RCS2-F5D-○-60-8-***
100V RCS2-F5D-○-60-4-***
200V RCS2-F5D-○-100-16-***
= DC
= AC
P.329
www.intelligentactuator.com
Linear Servo Type
3 Check Specifications
The linear servo type is available as a slider type for positioning, or as a rod type for pushing.
See below for the selection criteria.
[Positioning] (Slider Type)
For positioning motions, the criteria for selection are: (1) stroke; (2) load capacity; and (3) speed.
From the table below, select a model that meets your requirements for the stroke, load capacity, and
speed. For linear servo type, the maximum possible acceleration decreases as the load capacity
increases. Check the specifications for the load capacity and acceleration on each page.
[Pushing] (Rod Type)
For pushing motions, the criteria for selection are: (1) stroke and (2) maximum pushing force.
From the table below, select a model that meets your requirements for the stroke and pushing force.
Moreover, the pushing force is adjustable between 30% to 80% (max. pushing force at 80%).
[How to Read the Table]
Linear Servo Type
Stroke
Type
and Maximum Speed
(mm)
(mm/sec)
Rated
Thrust
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
25mm
30
SA1L
SA2L
SA3L
SA4L
SA5L
SA6L
40
48
64
100
200
300
420
460
600
1200
1400
1600
Maximum Speed
Load
Maximum
Capacity (kg)
Push Force
Model
Encoder Controller Input
* □ denotes motor shape
Type
Power
○ denotes encoder type
V
−
0.5
−
RCL-SA1L-I-2-N-40
P.373
−
1
−
RCL-SA2L-I-5-N-48
P.375
8
−
2
−
RCL-SA3L-I-10-N-64
P.377
2.5
−
0.8
−
RCL-SA4L-I-2-N-***
P.379
5
−
1.6
−
RCL-SA5L-I-5-N-***
P.383
10
−
3.2
−
RCL-SA6L-I-10-N-***
P.387
(N)
2
4
*** denotes stroke
24V
I
Vertical
Load Capacity
Horizontal
Load Capacity
Stroke Range
See Page
H
(N)
Linear Servo Type
Stroke (mm) and Maximum Speed
Type
25mm
SA1L
SA2L
SA3L
SA4L
SA5L
SA6L
SM4L
SM5L
SM6L
RA1L
RA2L
RA3L
(mm/sec)
Rated
Thrust
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
30
40
48
64
100
200
300
420
460
600
1200
1400
1600
1200
1400
1600
300
340
450
I
Load
Maximum
Capacity (kg)
Push Force
H
V
Encoder Controller Input
Type
Power
Model
See Page
* □ denotes motor shape
○ denotes encoder type
*** denotes stroke
(N)
(N)
2
−
0.5
−
RCL-SA1L-I-2-N-40
P.373
4
−
1
−
RCL-SA2L-I-5-N-48
P.375
8
−
2
−
RCL-SA3L-I-10-N-64
P.377
2.5
−
0.8
−
RCL-SA4L-I-2-N-***
P.379
5
−
1.6
−
RCL-SA5L-I-5-N-***
P.383
10
−
3.2
−
RCL-SA6L-I-10-N-***
P.387
2.5
−
0.8
−
RCL-SM4L-I-2-N-***
P.381
I
24V
5
−
1.6
−
RCL-SM5L-I-5-N-***
P.385
10
−
3.2
−
RCL-SM6L-I-10-N-***
P.389
2.5
2
0.5
0.1
RCL-RA1L-I-2-N-25
P.391
5
4
1
0.2
RCL-RA2L-I-5-N-30
P.393
10
8
2
0.4
RCL-RA3L-I-10-N-40
P.395
= Incremental
A
= Absolute
= DC
ROBO Cylinder General Catalog
= AC
Pre-
22
Model Selection
Gripper Type
3 Check Specifications
The gripper type is used for gripping and centering workpieces. Gripping is done by a pushing
motion, and centering is done by a positioning motion.
[Pushing]
For pushing motions, the criteria for selection are: (1) stroke and (2) maximum pushing force.
From the table below, select a model that meets your requirements for the stroke and gripping force.
Moreover, the gripping force can be adjusted between 20% to 70% (max. pushing force at 70%).
[Positioning]
For positioning motions, the criteria for selection are: (1) stroke and (2) speed.
Based on the stroke requirements, look for a balance between the load capacity and the speed, and
select a model that meets your requirements.
[How to Read the Table]
Gripper Type
Stroke
Type
8 mm
GRSS
10 mm
14 mm
(mm)
20 mm
and Maximum Speed
40 mm
60 mm
(mm/sec)
100 mm 120 mm 200 mm
19˚
180˚
Maximum
Model
Grip
Encoder Controller Input * □ denotes motor shape
See Page
Force
Type
Power
○ denotes encoder type
*** denotes stroke
(N)
78
GRLS
600
GRS
RCP2-GRSS-I-20P-30-8
P.333
RCP2-GRLS-I-20P-30-180
P.335
RCP2-GRS-I-20P-1-10
P.337
RCP2-GRM-I-28P-1-14
P.339
21
33.3
GRM
14
6.4
80
36.7
Maximum Speed
24V
Maximum
Gripping Force
Stroke Range
Gripper Type
Stroke (mm) and Maximum Speed
Type
8 mm
GRSS
10 mm
14 mm
20 mm
40 mm
60 mm
(mm/sec)
100 mm 120 mm 200 mm
Maximum
Model
Grip
Encoder Controller Input * □ denotes motor shape
Force
Type
Power
○ denotes encoder type
*** denotes stroke
19 deg . 180 deg .
(N)
78
GRLS
600
GRS
33.3
GRM
GRST
RCP2-GRSS-I-20P-30-8
P.333
RCP2-GRLS-I-20P-30-180
P.335
21
RCP2-GRS-I-20P-1-10
P.337
RCP2-GRM-I-28P-1-14
P.339
75
20
34
40
45.1
(60cpm)
GR8
14
6.4
GR3LS
200
18
GR3LM
200
51
GR3SS
22
40
GR3SM
102
50
I
23
Pre-
24V
80
36.7
ROBO Cylinder General Catalog
= Incremental
A
See Page
= Absolute
RCP2-GRST-I-20P-1-***
RCP2-GRST-I-20P-2-***
I
100V RCS2-GR8-I-60-5-***
200V
24V
P.341
P.351
RCP2-GR3LS-I-28P-30-19
P.343
RCP2-GR3LM-I-42P-30-19
P.345
RCP2-GR3SS-I-28P-30-10
P.347
RCP2-GR3SM-I-42P-30-14
P.349
= DC
= AC
www.intelligentactuator.com
Rotary Type
3 Check Specifications
For the rotary type, a model is selected for its positioning motion generated by the rotating part.
[Positioning]
For positioning motions, the criteria for selection are: (1) oscillating angle; (2) maximum torque; and (3) speed.
Based on the oscillating angle requirements, look for a balance between the maximum torque and
speed, and select a model that meets your requirements.
Check that the inertial moment, created when an object is mounted and moved on the rotating part, is
within the allowable inertial moment for each model.
[How to Read the Table]
Rotary Type
Oscillating Angle
Type
(mm)
and Maximum Speed
300 degrees
(mm/sec)
Allowable
Inertial
Moment
Model
Encoder
Type
Controller
* □ denotes motor shape
Input
○ denotes encoder type
Power
*** denotes stroke
(N)
kg•m
400
0.24
0.0023
RCP2-RTBS-I-20P-30-330
266
0.36
0.0035
RCP2-RTBS-I-20P-45-330
400
0.24
0.0023
RCP2-RTBSL-I-20P-30-360
266
0.36
0.0035
RCP2-RTBSL-I-20P-45-360
330
RTBS
Maximum
Torque
360
RTBSL
See
Page
P.353
Maximum
Torque
Oscillating
Angle Range
Maximum Speed
2
Rotary Type
Type
Oscillating Angle
300 degrees
RTBS
(mm)
and Maximum Speed
(mm/sec)
330
360
0.0023
RCP2-RTBS-I-20P-30-330
0.0035
RCP2-RTBS-I-20P-45-330
400
0.24
0.0023
RCP2-RTBSL-I-20P-30-360
266
0.36
0.0035
RCP2-RTBSL-I-20P-45-360
400
0.24
0.0023
RCP2-RTCS-I-20P-30-330
266
0.36
0.0035
RCP2-RTCS-I-20P-45-330
400
0.24
0.0023
RCP2-RTCSL-I-20P-30-360
266
0.36
0.0035
RCP2-RTCSL-I-20P-45-360
600
1.1
0.01
RCP2-RTB-I-28P-20-330
400
1.7
0.015
RCP2-RTB-I-28P-30-330
600
1.1
0.01
RCP2-RTBL-I-28P-20-360
400
1.7
0.015
600
1.1
0.01
400
1.7
0.015
600
1.1
0.01
RCP2-RTCL-I-28P-20-360
400
24V
I
RCP2-RTC-I-28P-30-330
0.015
RCP2-RTCL-I-28P-30-360
3
0.02
RCP2-RTBB-I-35P-20-330
400
4.6
0.03
RCP2-RTBB-I-35P-30-330
600
3
0.02
RCP2-RTBBL-I-35P-20-360
400
4.6
0.03
RCP2-RTBBL-I-35P-30-360
600
3
0.02
RCP2-RTCB-I-35P-20-330
400
4.6
0.03
RCP2-RTCB-I-35P-30-330
3
0.02
RCP2-RTCBL-I-35P-20-360
RCP2-RTCBL-I-35P-30-360
RTCBL
4.6
0.03
RT6
500
2.4
0.025
RT6R
500
2.4
0.025
RT7R
500
0.764
0.00125
400
I
= Incremental
A
= Absolute
P.355
P.357
RCP2-RTC-I-28P-20-330
1.7
600
P.353
RCP2-RTBL-I-28P-30-360
600
RTBBL
RTCB
See Page
0.24
RTCL
RTBB
kg•m2
Model
Controller
* □ denotes motor shape
Input
○ denotes encoder type
Power
*** denotes stroke
0.36
RTBL
RTC
(N)
Encoder
Type
266
RTCSL
RTB
Allowable
Inertial
Moment
400
RTBSL
RTCS
Maximum
Torque
RCS2-RT6-I-60-18-300
100V
RCS2-RT6R-I-60-18-300
200V
RCS2-RT7R-I-60-4-300
= DC
ROBO Cylinder General Catalog
P.359
P.361
P.363
P.365
P.367
P.369
= AC
24
Pre-
Model Selection
3 Check Specifications
Cleanroom Type
The cleanroom type is used for transporting and positioning workpieces. When selecting a cleanroomtype model, note that the specifications are different when used horizontally versus vertically.
[Positioning]
For positioning motions, the criteria for selection are: (1) stroke; (2) load capacity; and (3) speed.
From the table below, select a model that meets your requirements for the stroke, load capacity, and speed.
For RCP3 and RCP2, which use a pulse motor, the load capacity changes with speed. See the "Speed vs. Load
Capacity" chart on each respective page to check if your desired speed and load capacity are supported.
[How to Read the Table]
Cleanroom Type
Stroke (mm) and Maximum Speed
Type
(mm/sec)
* Length of bar = stroke *Number inside bar = max. speed by stroke, < > denotes vertical use
H
V
665
4
1
330
6
2.5
165
8
4.5
50mm 100 150 200 250 300 350 400 450 500 550 600 700 800 900 1000
SA4
Load
Capacity (kg)
665
4
1
330
6
2.5
165
8
4.5
Maximum Speed
Horizontal
Load Capacity
Encoder
Type
Model
Controller * □ denotes motor shape
See Page
Input Power ○ denotes encoder type
*** denotes stroke
RCACR-SA4C-○-20-10-***
I
A
24V
RCACR-SA4C-○-20-5-***
P.415
RCACR-SA4C-○-20-2.5-***
RCS2CR-SA4C-○-20-10-***
I
A
100V
RCS2CR-SA4C-○-20-5-***
200V
P.425
RCS2CR-SA4C-○-20-2.5-***
Vertical
Load Capacity
Stroke Range
Note:
If the workpiece being transported is significantly overhanging the actuator, the service life of the guide needs to be
considered separately from the actuator's specifications. See "About Service Life and Moment" on page A-5 for details.
25
Pre-
ROBO Cylinder General Catalog
www.intelligentactuator.com
Cleanroom Type
Stroke
Type
(mm)
Load
Capacity (kg)
and Maximum Speed (mm/sec)
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
50mm 100 150 200 250 300 350 400 450 500 550 600 700 800 900 1000
SA4
SA5
SA6
H
V
665
4
1
330
6
2.5
165
8
4.5
665
4
1
330
6
2.5
165
8
4.5
600
540
400 300
4
1
300
270
200 150
8
2.5
150
135
100
8
4.5
75
Encoder
Type
I
A
I
A
1
400
380
8
2
200
190
12
4
I
800
760
4
1
A
400
380
8
2
200
190
12
4
400 300
6
~1.5
270
200 150
12
~3
150
135
100
12
~6
75
380
320 270
12
3
200
190
160
18
6
I
800
760
640 540
6
1.5
A
400
380
320 270
12
3
200
190
160
18
6
~25
~5
133
120
800
640 480
12
3
400
320 240
25
6
200
160
40
12
SA7
SS7
SS8
~ 30 ~10
30
120
RCP2CR-SA6C-I-42P-6-***
470
~ 30
~4
300
230
~ 30
~8
150
115
~ 30 ~12
P.427
P.401
RCP2CR-SA6C-I-42P-3-***
RCACR-SA6C-○-30-12-***
RCACR-SA6C-○-30-6-***
P.419
RCACR-SA6C-○-30-3-***
RCS2CR-SA6C-○-30-12-***
100V
RCS2CR-SA6C-○-30-6-***
200V
P.429
RCS2CR-SA6C-○-30-3***
RCP2CR-SA7C-I-56P-16-***
I
24V
RCP2CR-SA7C-I-56P-8-***
P.403
RCP2CR-SA7C-I-56P-4-***
~15
600
P.417
RCS2CR-SA5C-○-20-12-***
24V
400
240
RCACR-SA5C-○-20-12-***
RCP2CR-SA6C-I-42P-12-***
1.5
480
<400>
P.399
RCP2CR-SA5C-I-42P-3-***
RCACR-SA5C-○-20-3-***
I
6
266
RCP2CR-SA5C-I-42P-6-***
RCS2CR-SA5C-○-20-3-***
640 540
533<400>
P.425
RCS2CR-SA4C-○-20-2.5-***
100V
RCS2CR-SA5C-○-20-6-***
200V
760
135
RCS2CR-SA4C-○-20-10-***
100V
RCS2CR-SA4C-○-20-5-***
200V
RCACR-SA5C-○-20-6-***
800
135
P.415
RCACR-SA4C-○-20-2.5-***
24V
4
540
RCACR-SA4C-○-20-5-***
RCP2CR-SA5C-I-42P-12-***
760
300
See Page
RCACR-SA4C-○-20-10-***
24V
I
800
600
Model
Controller
* □ denotes motor shape
Input
○ denotes encoder type
Power
*** denotes stroke
I
A
RCS2CR-SA7C-○-60-16-***
100V
RCS2CR-SA7C-○-60-8-***
200V
P.431
RCS2CR-SA7C-○-60-4-***
RCP2CR-SS7C-I-42P-12-***
I
24V
RCP2CR-SS7C-I-42P-6-***
P.405
RCP2CR-SS7C-I-42P-3-***
100V RCS2CR-SS7C-○-60-12-***
200V RCS2CR-SS7C-○-60-6-***
P.433
~3
RCP2CR-HS8C-I-86P-30-***
P.409
~5
RCP2CR-SS8C-I-56P-20-***
600
470
15
4
I
400
230
30
8
A
1200<750>
1000 800
<750> <750>
~20
666<500>
625 515
<500> <500>
~ 40
333<300>
310
<300>
255
~ 50 ~12
165<150>
155
<150>
125
~ 55 ~20
I
24V
RCP2CR-SS8C-I-56P-10-***
P.407
RCP2CR-SS8C-I-56P-5-***
RCS2CR-SS8C-○-100-20-***
1000
960
765
625
515
20
4
500
480
380
310
255
40
8
I
1000
960
765
625
515
30
6
A
500
480
380
310
255
60
12
100V RCS2CR-SS8C-○-100-10-***
200V RCS2CR-SS8C-○-150-20-***
P.435
RCS2CR-SS8C-○-150-10-***
* < > is for vertical use
I
= Incremental
A
= Absolute
= DC
ROBO Cylinder General Catalog
= AC
Pre-
26
Model Selection
3 Check Specifications
Dustproof/Splash-Proof Type
The criteria for selecing the dustproof/splash-proof type are different depending on whether it
will be used for positioning or pushing.
[Positioning]
For positioning motions, the criteria for selection are: (1) stroke; (2) load capacity; and (3) speed.
From the table below, select a model that meets your requirements for the stroke, load capacity, and speed.
For RCP2W, which uses a pulse motor, the load capacity changes with speed. See the "Speed vs. Load
Capacity" chart on each respective page to check if the desired speed and load capacity are supported.
[Pushing]
For pushing motions, the criteria for selection are: (1) stroke and (2) maximum pushing force.
From the table below, select a model that meets your requirements for the stroke and pushing force.
We recommend the pulse motor model (RCP2W) for the pushing motion, because of the motor's
characteristics. Moreover, the pushing force is adjustable between 20% to 70% (max. pushing force at 70%).
[How to Read the Table]
Dustproof/Splash-Proof
Max.
Load
Model
Rated
Push Capacity (kg) Encoder Controller
Thrust
* □ denotes motor shape
Force
Type
Input Power ○ denotes encoder type
H
V
*** denotes stroke
100 150 200 250 300 350 400 450 500 550 600 650 700 (N)
(N)
Stroke
Type
(mm)
and Maximum Speed
50mm
180
−
N/A
~25
−
133
−
N/A
~ 35
−
450<250>
450 350
<250> <250>
−
150
~25 ~ 4.5
190
190 175
−
284
~ 40 ~12
115
−
358
SA16
RA4
125<115>
85
Maximum Speed
Stroke Range
27
Pre-
(mm/sec)
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
ROBO Cylinder General Catalog
Maximum
Push Force
40
I
~19
24V
RCP2W-SA16C-I-86P-8-***
RCP2W-SA16C-I-86P-4-***
See Page
P.443
RCP2W-RA4C-I-42P-10-***
24V
I
RCP2W-RA4C-I-42P-5-***
RCP2W-RA4C-I-42P-2.5-***
Vertical
Load Capacity
Horizontal
Load Capacity
P.445
www.intelligentactuator.com
Dustproof/Splash-Proof
Max.
Load
Rated
Push Capacity (kg) Encoder Controller
Thrust
Force
Type
Input Power
H
V
100 150 200 250 300 350 400 450 500 550 600 650 700 (N)
(N)
Stroke(mm) and Maximum Speed(mm/sec)
Type
* Length of bar = stroke * Number inside bar = max. speed by stroke, < > denotes vertical use
50mm
SA16
RA4
N/A
~25
−
−
N/A
~ 35
−
450<250>
350
<250> <250>
−
150
~25 ~ 4.5
190
190 175
−
284
~ 40 ~12
115
−
358
40
~19
320<265>
−
240
~ 40
~5
200
−
470
50 ~17.5
100
−
800
55
250<167>
−
1500 ~ 80 ~ 80
125
−
3000 150 ~100
63
−
6000 300 ~150
RA6
RA10
RA4
−
133
450
125<115>
RA3
180
85
I
24V
Model
See Page
* □ denotes motor shape
○ denotes encoder type
*** denotes stroke
RCP2W-SA16C-I-86P-8-***
RCP2W-SA16C-I-86P-4-***
P.443
RCP2W-RA4C-I-42P-10-***
24V
RCP2W-RA4C-I-42P-5-***
P.445
RCP2W-RA4C-I-42P-2.5-***
I
RCP2W-RA6C-I-56P-16-***
24V
RCP2W-RA6C-I-56P-8-***
P.447
RCP2W-RA6C-I-56P-4-***
~26
RCP2W-RA10C-I-86P-10-***
I
24V
RCP2W-RA10C-I-86P-5-***
P.449
RCP2W-RA10C-I-86P-2.5-***
RCAW-RA3□-I-20-10-***
500
36.2
−
4
1.5
250
72.4
−
9
3
125
144.8
−
18
6.5
RCAW-RA3□-I-20-2.5-***
I
24V
RCAW-RA3□-I-20-5-***
600
18.9
−
3
1
RCAW-RA4□-○-20-12-***
300
37.7
−
6
2
RCAW-RA4□-○-20-6-***
150
75.4
−
12
4
600
28.3
−
4
1.5
24V
RCAW-RA4□-○-20-3-***
RCAW-RA4□-○-30-12-***
P.455
P.457
RCAW-RA4□-○-30-6-***
300
56.6
−
9
3
150
113.1
−
18
6.5
I
RCAW-RA4□-○-30-3-***
600
18.9
−
3
1
A
RCS2W-RA4□-○-20-12-***
300
37.7
−
6
2
RCS2W-RA4□-○-20-6-***
150
75.4
−
12
4
600
28.3
−
4
1.5
100V RCS2W-RA4□-○-20-3-***
200V RCS2W-RA4□-○-30-12-***
300
56.6
−
9
3
RCS2W-RA4□-○-30-6-***
150
113.1
−
18
6.5
RCS2W-RA4□-○-30-3-***
P.459
* < > is for vertical use
I
= Incremental
A
= Absolute
= DC
ROBO Cylinder General Catalog
= AC
Pre-
28
Description of Functions
Perform Various Functions Through Easy Operations
3 Types of Motion Patterns
Switch between three motion patterns depending on the equipment.
[Positioning Motion]
[Pitch Feed Motion]
Objects attached to the axis slider and
rod can be moved to be positioned with
a positioning repeatability of ±0.02mm.
Instead of positioning by specifying
coordinates from the home position, the
object is moved over a specified distance
from the current position.
<Application> Transporting workpiece,
positioning camera
<Application> Raising/lowering stacker,
moving pallet
Used in a pick-and-place unit
[Pushing Motion]
Similar to an air cylinder, a rod can be
used to push on a workpiece
continuously.
<Application> Press-fitting workpiece,
clamping
Used for sending workpieces
in a marking process
Used for pushing workpieces
3 Methods of Positioning
Select from 3 types of I/O between the upper-level machine and the controller.
[Position Movement]
[Pulse Train Input]
As with the solenoid valve, movement to
preset positions is possible with just an
ON/OFF signal.
The destination, speed and acceleration
can be freely controlled without
inputting the destination beforehand.
Operated by I/O control with the PLC
Operated by pulse trains from the
PLC and I/O control
PLC
Input signals
such as for
specifying
position,
pausing, etc.
I/O
[Field Network]
Movement can be instructed via a network,
such as DeviceNet and CC-Link. Workpieces
can be moved by specifying the position, or
by directly specifying the coordinates.
Operated from the PLC via network
PLC
Output signals
such as current
position and
alarm signals
(Pulse train)
Signals such
as destination,
speed and
acceleration
Pulse train
I/O
PLC
Output signals
such as in-position
and alarm signals
(Field network)
Specify position
Specify destination
directly
Gateway
unit
Various
status signals
Current position
Position Data
No Sensor Necessary with Zone Signal
You can set any zone within the stroke, and when the slider
Zone signal
enters the zone, the signal is output. This is effective for
outputting signals at a specific position, such as in painting,
for example, (Up to 2 zones can be specified). In addition, as
a new feature, P-Zone signals can be set per position.
Although the output signal is the same, a zone range of up
to 256 points can be set.
29
Pre-
ROBO Cylinder General Catalog
Signal is output
on entering zone
www.intelligentactuator.com
Positioning Motion
Objects attached to the axis slider and rod can be moved to be positioned with a positioning repeatability of ±0.02mm.
Used for opening/closing a door
Used in a pick-and-place unit
Motion
Example
200mm/sec
100mm/sec
Acceleration
Stopped
1
Deceleration
34
2
Acceleration
5
Deceleration
6
78
Speed
Time
Position 1
Start signal input
(movement starts)
Position 1 input
5
Application: Transporting/moving workpiece, etc.
4
Movement
complete
In-position
signal output
7
6
Start signal input
(movement starts)
Position 2 input
Position 2
3
2
1
8
Movement
complete
In-position
signaloutput
[Features]
Capable of positioning up to 512 points.
Position Data Table
Set speed and acceleration/deceleration per position.
(set by the teaching pendant or PC software)
The in-position signal can be output at any position ahead of
the specified position, depending on the positioning band
setting.
Acceleration and deceleration can be set separately.
Position
Speed
(mm)
(mm/sec)
(G)
(G)
(%)
Positioning
band
(mm)
1
100
100
0.3
0.3
0
10
2
200
200
0.3
0.3
0
20
No.
Acceleration Deceleration
Push
Speed can be changed in transit without stopping.
<PMEC, AMEC, PSEP, and ASEP can be operated with the same signals as the solenoid valve>
Operating Method
PMEC, AMEC, PSEP, and ASEP can be operated with the same signals as the solenoid valve in air cylinders.
There are two types of solenoid valves, the single solenoid and the double solenoid; and both are supported.
For Air Cylinder Solenoid Valve
For PMEC, AMEC, PSEP and ASEP
<Single Solenoid>
<Replacing Single Solenoid>
Forward end position
Forward end position
* Forward and backward positions
can be freely set.
Backward end position
(ROBO Cylinder)
(Air Cylinder)
Backward end position
Signal to
solenoid 1
Solenoid 1
ON
(Solenoid valve)
OFF
Rod
movement
Forward end
position
Backward end
position
<Double Solenoid>
Signal to
controller input 0
ON
(
PMEC/AMEC/
PSEP/ASEP
)
OFF
Rod
movement
Forward end
position
Backward end
position
<Replacing Double Solenoid>
Forward end position
(Air Cylinder)
Forward end position
(ROBO Cylinder)
Backward end position
Backward end position
Solenoid 1
Solenoid 2
(Solenoid valve)
Signal to Signal to
controller controller
input 0
input 1
Rod
Signal to Signal to
solenoid 1 solenoid 2 movement
ON
OFF
OFF
ON
Forward end
position
Backward end
position
ON
OFF
( PMEC/AMEC/
PSEP/ASEP )
OFF
ON
Rod
movement
Forward end position
Backward end position
* Although it is set to 2-point movement by default, 3-point
movement is also possible by switching the parameter.
ROBO Cylinder General Catalog
30
Pre-
Description of Functions
Pitch feed function (incremental function)
In addition to positioning by specifying coordinates from the home position, the workpiece can be moved over a
specified distance from the current position.
Raising/lowering stacker
Used for sending workpieces
in a marking process
Motion
Example
300mm/sec
Stopped
1
23
100
Speed
25
25
25
25
Time
Position No.
Position 0
Coordinate 0
1
Application: • Raising/lowering stacker, moving pallet, etc.
2
Position 1 input
Start signal input
(positioning mode)
Position 2 4
Coordinate 25
Position 1
Coordinate 100
3
4
Position 2 input
25mm with
start signal input
(pitch feed mode)
Position 1
Movement to 100mm
position complete
Position 2
For every start
command
signal, it moves in
25mm
increments
[Features]
Repeated movements with even spacing can be
Position Data Table
performed using one position data, instead of setting
(set by the teaching pendant or PC software)
multiple positions.
The pitch can be easily set in the position data table.
(Teaching Box)
"=" is displayed in pitch feed mode.
No.
Position
(mm)
1
100
300
0.3
2
25
300
0.3
Push
(%)
Positioning
band
(mm)
0.3
0
0.1
0.3
0
0.1
Speed
Acceleration Deceleration
(mm/sec)
(G)
(G)
Pushing Motion
Similar to an air cylinder, a rod can be used to push on a workpiece continuously.
Pushing workpieces
Holding workpiece in place
300mm/sec
Motion
Example
Acceleration
Deceleration
3
Workpiece
Stopped
1
2
45
Positioning band 50
Speed
Time
1
2
Position 1 input
Application: • Detecting workpiece, press-fitting, clamping, etc.
Since the in-position signal is output
workpiece, you can use it with the zone
signal to sort workpieces.
The force against the workpiece (pushing
force) can be adjusted by changing the
setting in the position data table.
Lead 4
800
Pushing force when stationary (N)
when the actuator pushes against the
700
4
Advance at
slow speed
without
stopping
5
(
Push against the
workpiece and stop
Push and hold at the
set pushing force
)
In-position
signal output
(set by the teaching pendant or PC software)
500
Lead 8
Push
(%)
Positioning
band
(mm)
50
50
No.
Position
(mm)
Speed
(mm/sec)
1
100
300
Note:
The accuracy of the stationary pushing force is not guaranteed. Please use it only
as a rough estimate. Please note that if the pushing force is too small, the pushing
motion may not be completed properly due to sliding resistance.
600
Acceleration Deceleration
(G)
(G)
0.3
0.3
400
300
Lead 16
200
100
0
10% 20% 30% 40%
50% 60% 70%
Electric Current Limit (RA6C type)
31
3
Start signal
input
(movement starts)
Position Data Table
[Features]
Pre-
* If the workpiece does
* not reach the positioning
* band, the in-position
* signal is not output.
Position 1
Coordinate 100
ROBO Cylinder General Catalog
www.intelligentactuator.com
Changing Speed During Movement
Since the speed can be changed from any position during the movement,
the tact time can be effectively reduced through multi-tasking.
Pause Input
ON
Pause
Input SignalsOFF
2
By setting an interlock (to prevent interference) with the
Acceleration
peripherals, the slider slows down to a stop when the
pause input is cut.
Stopped
Deceleration
1
Deceleration
3
45
Pause input OFF
Speed
Once the pause input turns ON again, the remaining motion
Acceleration
Time
is resumed.
Zone Output
Zone Output ON
Signal
OFF
2
During movement, you can output a signal at an
arbitrary position (whose range is set by a parameter).
This can be used to set a danger zone or to reduce tact time.
3
Acceleration
Stopped
Deceleration
1
Speed
45
Zone Signal output zone
Time
Capable of Controlling Speed and
Acceleration/Deceleration
200mm/sec
100mm/sec
Acceleration
Stopped
1
Speed and acceleration/deceleration can be set for
each position.
2
Deceleration Acceleration
34
5 6
Deceleration
78
Speed
Position 1
Time
Position 2
By starting and stopping slowly and moving at a high-speed
in between, the tact time can be effectively reduced.
Complete-Stop and Full-Servo Control Methods
In a pulse motor, you can use the complete-stop method to eliminate
vibrations by increasing the current when stationary, or the full-servo method,
in which the current is dropped to 1/2 to 1/4 of the complete-stop method to reduce power consumption.
Auto Servo OFF Method
After the positioning is complete, servo can be turned OFF automatically after a fixed time has passed.
Since no retention current is output, power consumption can be reduced.
When the move command is received from the PLC, the servo turns ON and the movement starts.
Simple Absolute Unit
A simple absolute unit retains the data from the encoder while the power is OFF.
When attaching to PCON, ACON, PSEL, and ROBONET, these controllers
can be used as simple absolute units to eliminate the need for homing.
ROBO Cylinder General Catalog
32
Pre-
Application Examples
Marking Machine
Pitch feed
Use ROBO Cylinder in "pitch feed" mode to feed the workpieces in a
laser marking process.
Actuator
Controller
ERC2-SA6 (P55)
Built-in (P515)
Redirecting a Belt Conveyor
Positioning
RCS2-SS8C (P109)
Positioning
In this equipment, a nozzle is inserted into a shampoo container, and is raised
as the shampoo is injected. Speed adjustments are controlled by pulse trains.
Actuator
RCA-RA3C (P197)
Controller
Parts Transfer Machine
ACON-PL(P535)
Positioning
Use ROBO Cylinders for vertical positioning in transfer machines (for moving
workpieces to a different process line) to make production lines more compact.
Workpieces can be sorted at high speeds.
Actuator
Liquid Injector
Controller
SCON-C (P547)
Parts Inspection Machine
Pitch feed
Actuator
RCA-RA4C (P199)
Controller
Aligning Workpieces
ACON-CY (P535)
Pushing
4
3
2
1
All horizontal/vertical movements, gripping, and rotating motions are
driven by ROBO Cylinders. Moreover, controllers can be connected to a
field network to reduce wiring.
(1) RCS2-RT6
(2) RCP2-GRM
(3) RCP2-RA6C
(4) RCP2-SS8C
Actuator
33
Pre-
(P365)
(P339)
(P145)
(P35)
Controller
PCON-SE
SCON-C
ROBO Cylinder General Catalog
(P525)
(P547)
Workpieces are aligned by using the push motion to push them against
the wall.
Actuator
RCP2-RA4C (P143)
Controller
PCON-CY (P525)
www.intelligentactuator.com
Pick-and-Place Machine
Pitch feed
Positioning
This low-cost pick-and-place machine uses ROBO Cylinders for the X
and the Y axes.
Actuator
RCA-SA5C (P77)
RCA2-GD4N (P191)
Controller
Filling Machine
ACON-C (P535)
ASEP-C (P487)
Positioning
ROBO Cylinder is used to fill containers that are different in height.
With the ability to control multiple positions, multi-product production
can be supported.
Actuator
RCP3-TA5C (P273)
Controller
Spacer Insertion Machine
PCON-C (P525)
Pushing
Use ROBO Cylinder's push motion to insert spacers for printed circuit
boards.
Actuator
RCP2-RA6C
RCP2-GRSS
(P145)
(P333)
Controller
PCON-C (P525)
PSEP-C (P487)
Disc Stacker
Pitch feed
Positioning
The raising and lowering of the stacker is done by ROBO Cylinder's "pitch
feed" function, and the inserting of the discs into the stacker is done by the
"acceleration/deceleration" function.
Actuator
RCP2-RA6C
RCP2-SA6C
(P145)
(P29)
Controller
PCON-CY (P525)
Automotive Parts
Inspection Machine
Positioning
Use ROBO Cylinders in a part inspection line. Drive multiple axes to
position and inspect the workpieces, and to sort out defects. All axes are
controlled by a five-axis XSEL controller.
Actuator
RCS2-RA5C (P237)
Controller
Press-Fitting Machine
XSEL-P (P587)
Positioning
Pushing
Use ROBO Cylinders for press-fitting and assembling plastic parts.
Assembling is done by the positioning moves of the ROBO Cylinders,
while press-fitting is done by the pushing moves.
Actuator
RCP2-RA4C
RCP2-RA10C
(P143)
(P147)
Controller
ROBO Cylinder General Catalog
PCON-C (P525)
PCON-CF (P525)
34
Pre-
Description of Models
Each model of ROBO Cylinder is defined by the items (codes) below.
See descriptions below for the meaning of each item. The range of selectable values for each item (e.g. lead, stroke, etc.) is
different for each product type. See each type for details.
Description of Items
Series
Type
Encoder
Motor
Lead
Stroke
Compatible
Controllers
1
2
3
4
5
6
7
Cable Length
Option
8
9
1 Series
Indicates the name of the series.
2 Model
Indicates the product type (slider, rod, etc.), material (aluminum, steel, etc.), actuator size (52mm width, etc.), and
motor connection method, using the convention below:
Type
S (Slider)
B (Belt)
R (Rod)
H (High-speed)
T (Table)
A (Arm)
F (Flat)
3 Encoder
Material / Form
Actuator width
A (Aluminum)
S (Steel)
GS (Single guide)
GD (Double guide)
SD (Slide unit)
N (Nut mounting type)
P (Tapped hole mounting type)
C (Compact)
W (Wide)
F (Flat)
2 (22/25/28 width)
3 (30 width)
4 (40/42/45 width)
5 (52/54/55 width)
6 (58/64 width)
7 (60/68 width)
7A (width 75, rod 30)
7B (width 75, rod 35)
8 (80 width)
10 (100 width)
16 (158 width)
Motor connection method
e.g. SA5C
C (Coupled)
Type: Slider
D (Built-in)
Material: Aluminum
R (Side-mounted)
Actuator width: 52mm
U (Bottom-mounted)
Motor: Coupled
N (Hollow motor)
L (Linear motor)
* Gripper and rotary type ROBO Cylinders
have their own naming convention.
Indicates whether the actuator is equipped with an absolute or incremental encoder.
A :
Absolute
Since the current slider position is retained even after the power is turned off,
homing is not required.
I
Incremental
Since the position data for the slider becomes lost when the power is turned off,
homing is required each time the power is turned on.
:
Indicates the power output (W) of the motor used in the actuator.
All ERC2 series products are labeled as "PM".
4 Motor
For the RCP3/RCP2 series, which use a pulse motor, this code indicates the motor size instead of the power output
(e.g. "20P" = 20mm frame size motor).
5 Lead
Indicates the ball screw lead (the distance the slider travels as the ball screw completes one revolution).
6 Stroke
Indicates the stroke (range of motion) of the actuator (in mm or degrees).
7 Compatible
Indicates the type of controllers that can be connected. For the ERC2 series, which has a built-in controller, this code
indicates the type of I/O (input/output signals).
controllers
(I/O type)
8 Cable length
Indicates the length of the motor-encoder cables, which connects the actuator and the controller.
9 Options
Indicates the options added to the actuator. (See Technical Reference on page A-23 for details.)
* To select multiple options, specify them in alphabetical order (e.g. A3-B-FT)
* When specifying a side-mounted motor type, make sure to include the code (ML or MR) to indicate on which side the
motor is to be mounted.
35
Pre-
ROBO Cylinder General Catalog
RCP3 Series/RCP2 Series
RCP3 series
RCP3
Series
I
Type
Encoder
Motor
SA2AC
Actuator width 32mm
42 motor
20
800
800mm
4mm
5
6
5mm
6mm
TA4C
Motor unit type
Actuator width 40mm
8
8mm
TA5C
Motor unit type
Actuator width 55mm
10
12
10mm
12mm
Actuator width 40mm
SA5C
SA6C
Actuator width 50mm
SA2AR
Side-mounted motor
Actuator width 22mm
TA6C
Motor unit type
Actuator width 65mm
SA2BR
Side-mounted motor
Actuator width 28mm
TA7C
Motor unit type
Actuator width 75mm
SA3R
Side-mounted motor
Actuator width 32mm
TA3R
Side-mounted motor unit
Actuator width 36mm
SA4R
Side-mounted motor
Actuator width 40mm
TA4R
Side-mounted motor unit
Actuator width 40mm
SA5R
Side-mounted motor
Actuator width 50mm
TA5R
Side-mounted motor unit
Actuator width 55mm
SA6R
Side-mounted motor
Actuator width 60mm
TA6R
Side-mounted motor unit
Actuator width 65mm
TA7R
Side-mounted motor unit
Actuator width 75mm
TA4R
2mm
2.5mm
3mm
4
SA4C
Actuator width 60mm
2
2.5
3
Motor unit type
Actuator width 36mm
TA3C
Table
Slider
SA2BC
SA3C
Actuator width 22mm
Actuator width 28mm
20 motor
28 motor
∼
28P
42P
Compatible
Controllers
Stroke
∼
20P
Lead
20mm
2S Lead Screw
2mm
4S Lead Screw
4mm
Option
PCON
P1
* The range
varies with type.
1S Lead Screw
1mm
Cable Length
P3
RPCON
PSEL
PMEC
PSEP
N
No cable
P
S
1m
3m
M
5m
X
Custom length
B Brake
CJT Cable exit direction
(Top)
CJR Cable exit direction
(Right)
CJL Cable exit direction
(Left)
CJO Cable exit direction
(Out)
CJB Cable exit direction
(Bottom)
ML Left-mounted motor
MR Right-mounted motor
NCO No cover
NM Reversed home
TA5R
RCP2 series
I
Actuator width 52mm
Actuator width 58mm
Actuator width 73mm
Actuator width 60mm
Actuator width 80mm
HS8C
Slider high-speed type
Width 80mm
SA5R
Slider side-mounted motor
Width 52mm
SA6R
Slider side-mounted motor
Width 58mm
SA7R
Slider side-mounted motor
Width 73mm
SS7R
Slider side-mounted motor
Width 60mm
SS8R
HS8R
BA6
BA7
Motor
20P
28P
42P
56P
86P
Slider side-mounted motor
Width 80mm
Slider high-speed type
Slider, side-mounted motor,
width 80mm
Belt, width 58mm
Belt, width 68mm
20 motor
28 motor
42 motor
56 motor
86 motor
RA2C
RA3C
RA4C
RA6C
RA10C
SRA4R
Rod, width 25mm
Rod, width 35mm
Rod, width 45mm
Rod, width 64mm
Rod, width 100mm
Short-length, width 45mm
2.5
3
5
4
6
8
10
12
2.5mm
3mm
5mm
4mm
6mm
8mm
10mm
12mm
16
16mm
54
54mm
or
equivalent
Compatible
Controllers
Stroke
50
50mm
P1
1200 1200mm
8
in 50mm
increments
P2
P3
N
P
S
M
X□□
R□□
Small slide type, width 42mm
Small lever type, width 42mm
GRS
GRM
GRST
Gripper, width 69mm
Gripper, width 74mm
Long stroke type
Option
PCON
RPCON
PSEL
PCON-CF
PMEC
PSEP
No cable
1m
3m
5m
Custom length
Robot Cable
GRSS
GRLS
Cable Length
A1
A2
Cable exiting from left
Cable exiting from front
A3
B
Cable exiting from right
Brake
Brake wire exiting from front
BE
BL
BR
FB
Brake wire exiting from left
Brake wire exiting from right
Flange bracket
for gripper
FL Flange bracket
FT Foot bracket
ML Left-mounted motor
GR3LS
3-finger gripper
Lever type, width 62mm
MR Right-mounted motor
NM Reversed-home
GR3LM
3-finger gripper
Lever type, width 80mm
SA
Shaft adapter
for rotary
Short-length type w/
Single guide, width 45mm
GR3SS
3-finger gripper
Slide type, width 62mm
SB
Shaft bracket
for gripper
RGD3C
Double guide type
Width 35mm
GR3SM
3-finger gripper
Slide type, width 80mm
SR
Rolling
slider
RGD4C
Double guide type
Width 45mm
TA
Table adapter
for rotary
RTBS□
RTCS□
Small vertical type
Small flat type
RTB□
RTC□
Medium vertical type
Medium flat type
RTBB□
Large vertical type
RTCB□
Large flat type
BA6U
Belt, bottom-mounted motor
Width 58mm
RGS4C
Single guide type
Width 45mm
BA7U
Belt, bottom-mounted motor
Width 68mm
RGS6C
Single guide type
Width 64mm
SRGS4R
Rod
Lead
∼
SA5C
SA6C
SA7C
SS7C
SS8C
Encoder
RGD6C
Double guide type
Width 64mm
SRGD4R
Short-length type w/
Double guide, width 45mm
Gripper
Type
∼
Slider
Series
Rotary
RCP2
ROBO Cylinder General Catalog
36
Pre-
ERC2 series / RCA2 series
ERC2 series
ERC2
Slider width 58mm
Slider width 68mm
I
PM
Encoder
Motor
RA6C
Slider width 58mm
RA7C
Slider width 68mm
Rod
Rod with single guide
RGS6C 58mm width
RGS7C Rod with single guide
68mm width
Lead
3
4
6
8
12
16
Stroke
3mm
4mm
6mm
8mm
12mm
16mm
RGD6C Rod with double guide
58mm width
50
50mm
∼
SA6C
SA7C
Type
∼
Slider
Series
I/O Type
600 600mm
in8
50mm increments
NP NPN
PN PNP
Rod with double guide
RGD7C 68mm width
SE
Cable Length
N
P
S
M
X
R
No cable
1m
3m
5m
Custom length
Robot Cable
W
Connectors at
both ends
RW
Robot cable with
connectors at
both ends
SIO Specifications
Option
B Brake
FT Foot
NM Reversed-home
RCA2 series
RCA2
Series
I
Type
Encoder
Motor
Lead
2.5
30
30W
3
2
4
5
6
8
10
SA3C
Actuator width 32mm
SA4C
Actuator width 40mm
Actuator width 50mm
Actuator width 60mm
SA5C
SA6C
Rod
Side-mounted motor
Actuator width 32mm
20mm
800
800mm
A1
* The range
varies with type.
A3
10mm
12mm
N
No cable
P
1m
TA4C
Motor unit type
Actuator width 40mm
Lead Screw
1mm
S
3m
2S
M
5m
TA5C
Motor unit type
Actuator width 55mm
Lead Screw
2mm
X□□
Custom length
4S
Lead Screw
4mm
Side-mounted motor
Actuator width 40mm
TA6C
Side-mounted motor
Actuator width 50mm
TA7C
Motor unit type
Actuator width 75mm
SA6R
Side-mounted motor
Actuator width 60mm
TA3R
Side-mounted motor unit
Actuator width 36mm
RN3N
Nut-mounting type
Actuator width 28mm
TA4R
Side-mounted motor unit
Actuator width 40mm
RN4N
Nut-mounting type
Actuator width 34mm
TA5R
Side-mounted motor unit
Actuator width 55mm
RP3N
Tapped hole-mounting type
Actuator width 28mm
TA6R
Side-mounted motor unit
Actuator width 65mm
RP4N
Tapped hole-mounting type
Actuator width 34mm
TA7R
Side-mounted motor unit
Actuator width 75mm
GS3N
Single guide type
Actuator width 28mm
TC3N
Compact type
Actuator width 32mm
GS4N
Single guide type
Actuator width 34mm
TC4N
Compact type
Actuator width 36mm
GD3N
Double guide type
Actuator width 28mm
TW3N
Wide type
Actuator width 50mm
GD4N
Double guide type
Actuator width 34mm
TW4N
Wide type
Actuator width 58mm
SD3N
Slide unit
Actuator width 60mm
TF3N
Flat type
Actuator width 61mm
SD4N
Slide unit
Actuator width 72mm
TF4N
Flat type
Actuator width 71mm
ROBO Cylinder General Catalog
Option
6mm
8mm
1S
SA5R
Cable Length
ACON
RACON
ASEL
AMEC
ASEP
Motor unit type
Actuator width 36mm
SA4R
37
Pre-
20
TA3C
Motor unit type
Actuator width 65mm
Table
Slider
SA3R
12
2mm
2.5mm
3mm
4mm
5mm
∼
10W
20W
∼
10
20
Compatible
Controllers
Stroke
B Brake
CJT Cable exit direction
(Top)
CJR Cable exit direction
(Right)
CJL Cable exit direction
(Left)
CJO Cable exit direction
(Out)
CJB Cable exit direction
(Bottom)
LA
Power-saving
Left-mounted motor
MR Right-mounted motor
NCO No cover
NM Reversed-home
ML
RCA series/RCS2 series
RCA series
RCA
SA4C
SA5C
SA6C
SA4D
SA5D
SA6D
SS4D
SS5D
SS6D
SA4R
SA5R
SA6R
Coupling type, width 40mm
A4R
A5R
A6R
Side-mounted motor, width 40mm
Encoder
I
A
Coupling type, width 52mm
Motor
Incremental
Absolute
20
30
Lead
Compatible
Controllers
Stroke
20W
30W
2.5
3
5
6
10
12
Coupling type, width 58mm
Built-in type, width 40mm
Built-in type, width 52mm
Built-in type, width 58mm
2.5mm
3mm
5mm
6mm
10mm
12mm
50
50mm
A1
∼
600 600mm
in850mm increments
A3
Cable Length
Option
ACON
RACON
ASEL
AMEC
ASEP
Steel built-in type, width 40mm
Steel built-in type, width 58mm
Side-mounted motor, width 40mm
Side-mounted motor, width 52mm
Side-mounted motor, width 58mm
Side-mounted motor, width 52mm
Side-mounted motor, width 56mm
RA3C
RA4C
RA3D
RA4D
RA3R
RA4R
SRA4R
Coupling ø32mm
Coupling ø37mm
Built-In ø32mm
Built-In ø37mm
Side-mounted motor, ø32mm
Side-mounted motor, ø37mm
Short-length, width 45mm
RGS3C
Coupling ø32mm
with single guide
RGS4C
Rod
Steel built-in type, width 52mm
Rod
Arm
Type
∼
Slider
Series
Coupling ø37mm
with single guide
SRGS4R
Short-length type w/
Single guide, width 45mm
RGS3D
Built-in ø32mm
with single guide
RGS4D
Built-in ø37mm
with single guide
SRGD4R
Short-length type w/
Double guide, width 45mm
RGD3C
Coupling ø32mm
with double guide
RGD3R
Side-mounted motor ø32mm
with double guide
RGD4C
Coupling ø37mm
with double guide
RGD3D
Built-in ø32mm
with double guide
RGD4D
Built-in ø37mm
with double guide
RGD4R
Side-mounted motor ø37mm
with double guide
N
P
S
M
X□□
R□□
No cable
1m
3m
5m
Custom length
Robot Cable
B
FL
FT
FTR
HA
HS
LA
NJ
NM
ML
MR
RP
QR
SS
SR
TRF
Brake
Flange bracket (front)
Foot bracket
Flange bracket (back)
For High Acceleration/Deceleration
Home sensor
Power-saving
Knuckle joint
Reversed-home
Left-mounted motor
Right-mounted motor
Back-mounting plate
Clevis
Slider spacer
Slider roller
Front trunnion
TRR Rear trunnion
RCS2 series
RCS2
Coupling type, width 40mm
Coupling type, width 52mm
Coupling type, width 58mm
Coupling type, width 73mm
Coupling type, width 60mm
Coupling type, width 80mm
Built-in type, width 40mm
Built-in type, width 52mm
Built-in type, width 58mm
Side-mounted motor, width 40mm
SA7R
SS7R
SS8R
Side-mounted motor, width 73mm
Side-mounted motor, width 60mm
A4R
A5R
A6R
F5D
Side-mounted motor, width 40mm
Side-mounted motor, width 52mm
Side-mounted motor, width 56mm
GR8
RT6
RT6R
RT7R
Gripper, width 58mm
Rotary, width 64mm
Side-mounted rotary, width 64mm
Side-mounted rotary, width 68mm
I
A
Motor
Incremental
Absolute
20
30
60
100
150
Lead
20W
30W
60W
100W
150W
Side-mounted motor, width 52mm
Side-mounted motor, width 58mm
RA4C
RA5C
RA4D
SRA7BD
RA4R
Flat type, width 116mm
RA5R
Coupling ø37mm
Coupling type, width 55mm
Built-In ø37mm
Short-length, width 75mm
Side-mounted motor, ø37mm
Side-mounted motor, width 55mm
Rod
Side-mounted motor, width 80mm
Rod
Arm
SA4C
SA5C
SA6C
SA7C
SS7C
SS8C
SA4D
SA5D
SA6D
SA4R
SA5R
SA6R
Encoder
Stroke
2.5
3
5
6
10
12
2.5mm
3mm
5mm
6mm
10mm
12mm
5
Deceleration
ratio 5:1
18
Deceleration
ratio18:1
4
Deceleration
ratio 4:1
Compatible Controllers Cable Length
50
50mm
∼
Rotary
Type
∼
Slider
Series
Option
1000 1000mm
in 850mm increments
T1
XSEL-J/K
SCON
T2
SSEL
XSEL-P/Q
RGD4C
Coupling ø37mm
with double guide
RGD5C
Coupling, width 55mm
with double guide
RGD4D
Built-in ø37mm
with double guide
RGS4C
Coupling ø37mm
with single guide
SRGD7BD
Short-length type w/
Double guide, width 75mm
RGS5C
Coupling, width 55mm
with single guide
RGD4R
Side-mounted motor ø37mm
with double guide
RGS4D
Built-in ø37mm
with single guide
SRGS7BD
Short-length type w/
Single guide, width 75mm
N
P
S
M
X□□
R□□
No cable
1m
3m
5m
Custom length
Robot Cable
A1
A2
A3
B
FL
FLR
FT
Cable exiting from left
Cable exiting from front
Cable exiting from right
Brake
Flange bracket (front)
Flange bracket (back)
Foot bracket
GS2 Guide mounted on the right
GS3 Guide mounted on the bottom
GS4 Guide mounted on the left
HA For High Acceleration/Deceleration
HS
NJ
NM
ML
Home sensor
Knuckle joint
Reversed-home
Left-mounted motor
MR Right-mounted motor
RP Back-mounting plate
QR Clevis
SS Slider spacer
TRF Front trunnion
TRR Rear trunnion
ROBO Cylinder General Catalog
38
Pre-
RCL series/Cleanroom-compatible series
RCL series
RCL
I
Series
SA4L
SA5L
SA6L
SM4L
SM5L
SM6L
Slim type, width 20mm
2
5
10
Single slider
Slim type, width 24mm
Single slider
Lead
(none)
Stroke
2W
5W
10W
Compatible Controllers Cable Length
25
25mm
288 288mm
* The range
varies with type.
Slim type, width 28mm
Single slider
Long-stroke type, width 40mm
Single slider
Long-stroke type, width 48mm
Single slider
Long-stroke type, width 58mm
Single slider
Long-stroke type, width 40mm
Multi-slider
Long-stroke type, width 48mm
Multi-slider
Long-stroke type, width 58mm
Multi-slider
Micro cylinder
Micro slider
SA3L
Compatible
driver output
∼
SA2L
N
Encoder
∼
SA1L
Type
N
P
S
M
X
Slim type
ø16mm
RA1L
Slim type
ø20mm
Slim type
ø25mm
RA2L
RA3L
Option
ACON
A1 RACON
ASEL
AMEC
A3
ASEP
No cable
1m
3m
5m
Custom length
B
Brake
* Limited to micro cylinder
RCP2CR series
RCP2CR
Slider
Series
SA5C
SA6C
SA7C
SS7C
SS8C
HS8C
I
Type
Coupling type, width 52mm
Coupling type, width 58mm
Coupling type, width 73mm
Coupling type, width 60mm
Coupling type, width 80mm
High-speed type, width 80mm
Encoder
42P
56P
86P
42 frame motor
56 frame motor
86 frame motor
Motor
3
4
5
6
8
3mm
4mm
5mm
6mm
8mm
Lead
10
12
16
20
30
Stroke
PCON
10mm
12mm
16mm
20mm
30mm
P1
RPCON
PSEL
PCON-CF
PMEC
PSEP
P2
P3
50
Compatible Controllers
N
P
S
M
X
R
Cable Length
No cable
1m
3m
5m
Custom length
Robot Cable
B
BE
BL
BR
NM
VR
Option
Brake
Brake wire exiting
from end
Brake wire exiting
from left
Brake wire exiting
from right
Reversed-home
Intake port on
opposite side
50mm
∼
∼
1000
1000mm
in 850mm increments
RCACR series
RCACR
Coupling type, width 40mm
Coupling type, width 52mm
Coupling type, width 58mm
Built-in type, width 40mm
Built-in type, width 52mm
SA6D Built-in type, width 58mm
Encoder
I
A
Motor
Incremental
Absolute
20
30
2.5
3
5
6
10
12
20W
30W
2.5mm
3mm
5mm
6mm
10mm
12mm
Lead
50
Stroke
50mm
∼
SA4C
SA5C
SA6C
SA4D
SA5D
Type
∼
Slider
Series
600 600mm
in 50mm
increments
8
A1
A3
ACON
RACON
N
P
S
M
ASEL
AMEC
ASEP
X□□
R□□
Compatible Controllers Cable Length
No cable
1m
3m
5m
Custom length
Robot Cable
B
BE
BL
BR
FT
Brake
Brake wire exiting
from front
Brake wire exiting
from left
Brake wire exiting
from right
Foot bracket
HS
LA
NM
SS
VR
Option
Home sensor
Power-saving
Reversed-home
Slider spacer
Intake port on
opposite side
RCS2CR series
RCS2CR
Series
Type
SA4C Coupling type, width 40mm
Incremental
Absolute
20
20W
100
100W
30
30W
150
150W
60
60W
SS8C Coupling type, width 80mm
39
Slider
SA7C Coupling type, width 73mm
SA5D
Built-in type, width 52mm
SA6D
Built-in type, width 58mm
Lead
6
6mm
8
8mm
Stroke
T1
50
XSEL-J/K
50mm
2.5
2.5mm
10
10mm
3
3mm
12
12mm
∼
SA6C Coupling type, width 58mm
SS7C Coupling type, width 60mm
Pre-
I
A
Motor
∼
Slider
SA5C Coupling type, width 52mm
Encoder
4
4mm
16
16mm
1000
1000mm
5
5mm
20
20mm
in850mm increments
ROBO Cylinder General Catalog
T2
Compatible Controllers
SCON
N
No cable
SSEL
P
1m
S
3m
XSEL-P/Q
M
5mm
X
Custom length
R
Robot Cable
Cable Length
B
Option
Brake
HS Home sensor
NM Reversed-home
BR
Brake wire exiting
from front
Brake wire exiting
from left
Brake wire exiting
from right
FT
Foot bracket
BE
BL
SS Slider spacer
Intake port on
VR opposite side
Dustproof/splash-proof series
RCP2W series
RCP2W
Series
Rod
RA4C
RA6C
RA10C
Coupling type,
width 52mm
Coupling type,
width 58mm
Coupling type,
width 73mm
Coupling type,
width 60mm
42P 42 frame motor
56P 56 frame motor
86P 86 frame motor
Motor
2.5
3
5
8
10
16
2.5mm
4mm
5mm
8mm
10mm
16mm
Lead
50
50mm
∼
SA16C
Encoder
∼
Slider
I
Type
Stroke
600 600mm
in850mm
increments
* Max 300mm
for rod type
PCON
P1 RPCON
PSEL
P2 PCON-CF
PMEC
P3
PSEP
Compatible Controllers Cable Length
N
P
S
M
X
R
No cable
1m
3m
5m
Custom length
Robot Cable
Option
B
FL
FT
NM
Brake
Flange bracket
Foot bracket
Cable Length
Option
Reversed-home
RCAW series
RCAW
Coupling ø32mm
Coupling ø32mm
Coupling ø32mm
Coupling ø32mm
Coupling ø32mm
Coupling ø32mm
I
A
20
30
Encoder
Incremental
Absolute
20W
30W
2.5
3
5
6
10
12
Motor
2.5mm
3mm
5mm
6mm
10mm
12mm
Lead
50
50mm
∼
RA3C
RA4C
RA3D
RA4D
RA3R
RA4R
Type
∼
Rod
Series
300 300mm
in850mm
increments
Stroke
ACON
A1 RACON
ASEL
AMEC
A3
ASEP
N
P
S
M
X
R
Compatible Controllers
No cable
1m
3m
5m
Custom length
Robot Cable
B
FL
Brake
Flange bracket
(front)
bracket
FLR Flange
(back)
FT Foot bracket
HS Home sensor
LA
QR
RP
TRF
TRR
Power-saving
Clevis
Back-mounting
plate
Front trunnion
Rear trunnion
NJ Knuckle joint
NM Reversed-home
RCS2W series
RCS2W
Coupling ø32mm
Coupling ø32mm
Coupling ø32mm
Coupling ø32mm
Coupling ø32mm
Coupling ø32mm
I
A
20
30
Encoder
Incremental
Absolute
20W
30W
2.5
3
5
6
10
12
Motor
2.5mm
3mm
5mm
6mm
10mm
12mm
50
Lead
50mm
T1
∼
RA3C
RA4C
RA3D
RA4D
RA3R
RA4R
Type
∼
Rod
Series
300 300mm
in
8 50mm
increments
T2
Stroke Compatible Controllers Cable Length
XSEL-J/K
SCON
SSEL
XSEL-P/Q
N
P
S
M
X
R
No cable
1m
3m
5m
Custom length
Robot Cable
B
FL
FLR
FT
HS
NJ
NM
Brake
Flange bracket
(front)
Flange bracket
(back)
Foot bracket
Home sensor
Option
QR
RP
TRF
TRR
Clevis
Back-mounting
plate
Front trunnion
Rear trunnion
Knuckle joint
Reversed-home
ROBO Cylinder General Catalog
40
Pre-
ROBO Cylinder Series
Cautionary Notes
„ Notes on Specifications in this Catalog (All Models)
1. Speed
This refers to the set speed when moving the slider (or rod, arm, output axis) of the actuator.
The slider accelerates from rest to the specified speed, and continues to move at that speed until it
decelerates to a stop at the specified target position.
<Note>
n For models equipped with a pulse motor (ERC2, RCP3, and RCP2), the maximum speed changes with the weight of the load
being transported.
When selecting an actuator, refer to the "Speed vs. Load Capacity" (on each product page).
o If the axis has a short stroke, or if it has a long stroke but the travel distance is short, the specified speed may not be reached.
p As the stroke becomes longer, the maximum speed decreases, due to hazardous RPMs.
For details, see "„ Stroke vs. Maximum Speed" on each product page.
q For the RCP2 high-speed slider type (HS8C/HS8R) and belt type, vibration and/or resonance may occur when operated at low
speeds. Therefore, use these models at 100mm/s or faster.
r For PMEC/AMEC controllers, a minimum speed is set for each actuator.
See the instructions manual for the PMEC/AMEC controllers.
s When calculating the time travelled, take into account the time taken to accelerate, decelerate, and converge, as opposed to
only the time travelled at the specific speed.
2. Acceleration/Deceleration
Acceleration is the rate of change in speed from rest until a specified speed is reached.
Deceleration is the rate of change in speed from the specified speed to a state of rest.
Both are specified in "G" in programs (0.3G = 2940mm/sec2).
* For rotary type, 0.3G = 2940 degrees/sec2
<Note>
n Increasing the acceleration (deceleration) speeds up acceleration (deceleration), shortening the travel time.
However, caution should be exercised, as excessively high acceleration/deceleration may cause an error or a malfunction.
o The rated acceleration (deceleration) is 0.3G (2.0G, if the lead is 2.5, 3, or 4, or if used vertically)
With the exception of the high-acceleration/deceleration model, use the actuators at or below the rated acceleration.
p For models such as RCS2-SRA7 and RCS2-RA13R, use the actuator at or below the acceleration (deceleration) mentioned in
"Notes on Selection" on the respective product page.
3. Duty
IAI’s actuators should be used at a duty of 50% or below.
If used at over 50% duty, an excessive load error may occur depending on the load, speed, or acceleration.
4. Positioning Repeatability
A JIS B6192-compliant method for evaluating performance.
In this method, a positioning operation (stopping of the actuator at target point) is repeated seven times from
the same direction, each time measuring the end position. Then the difference between the maximum and
minimum values is calculated.
By using this measuring method for both end-points and the mid-point of the maximum stroke, the largest
calculated value is multiplied by 1/2 and expressed with a ±.
41
Pre-
ROBO Cylinder General Catalog
www.intelligentactuator.com
5. Lead Screw
When using a lead screw type actuator, note the following:
<Note>
n This type is suited for applications with low frequency of use. (As a point of reference, one motion per 10 seconds, 24 hours per day, 240
days per year = approximately 5 years)
o This is suited for applications in which the load capacity and load requirements are low. (1kg or less)
p Use for applications that do not require a positioning repeatability smaller than ±0.05mm.
q Set up in a place that allows for easy maintenance.
6. Home Position
The home position is the reference point from which the actuator determines the target position.
Note that if the home position becomes misaligned, the target position also shifts by the same amount.
<Note>
n Actuators with an incremental encoder must be homed upon power-on.
o During homing operation, the slider (rod, table) moves to actuator's mechanical end, and then reverses. Therefore, watch for any
interference with its surroundings.
p By default, the home position is on the motor-side (i.e. the open side on the gripper type, or the left side on the rotary type (looking down
at the output shaft.)) Optionally, the home position can be moved to the opposite side (i.e. away from the motor). To change the home
position after the actuator has been delivered, it must be sent back to IAI for adjustment.
q Models without the option code "NM" do not support reversed home position.
7. Encoder Type (Incremental/Absolute/Simple Absolute)
There are two types of encoders that can be used in an actuator, "incremental" and "absolute" encoders.
Incremental encoder ......................When an incremental encoder is powered off, its coordinate data is erased. Therefore, homing is
necessary each time it is powered back on.
Absolute encoder ...........................When an absolute encoder is powered off, it uses a battery to store its coordinate data.
Therefore, homing is not necessary when it is powered back on. However, note that it cannot be
operated once the battery for storing data runs out.
<Note>
In addition to the above two types of encoders, there is the "simple absolute" type, which is an incremental encoder with a dedicated
simple absolute unit connected to the actuator's controller, for storing its coordinate data. This eliminates the need for homing upon poweron. Note that the simple absolute actuators (encoders) fall under the incremental type and not the absolute type.
8. Encoder Pulse Number
The pulse number of the encoder varies depending on the actuator. See the table below for the pulse
number of each actuator.
Type
Series
RCP3
RCP2
RCA2
Encoder Pulse Number
All models
All models
RN…N/RP…N/GS…N/
GD…N/SD…N/TC…N/
TW…N/TF…N
All other models
800
800
Series
RCA
RCL
1048
800
RCS2
Type
All models
SA1L/RA1L
SA2L/RA2L
SA3L/RA3L
SRA7BD
All other models
Encoder Pulse Number
800
715
855
1145
3072
16384
9. Motor
Different motors are used depending on the series.
• ERC2/RCP2 (CR)/RCP3: Pulse motor
• RCA (CR)/RCA2: Servo motor (24V)
• RCS2 (CR): Servo motor (200V)
Pulse motors and 24V servo motors may exhibit slight vibration when the motor is excited while the servo is on.
ROBO Cylinder General Catalog
42
Pre-
ROBO Cylinder Series
Cautionary Notes
„ Notes on Specifications in this Catalog (All Models)
10. Allowable Load Moment (Ma, Mb, Mc)
Models with a built-in linear guide have static and dynamic allowable
moments. Please note that using the guide with a load moment that exceeds
specification will result in shorter service life of the guide.
(See page A-5 for details on load moment and its calculation method)
Direction of Load Moment on the Slider Type
Ma
Mb
Mc
11. Overhang Load Length (L)
When mounting a workpiece or a bracket at an offset distance from the center of
actuator/slider, the overhang load length indicates the maximum offset at which the
actuator can operate smoothly.
Please make sure to keep the overhang load length within the allowable value, as
exceeding the allowable value for for each model may cause vibration or shorten
the service life .
L
L
12. Actuator Body Precision
Parallelism: Base Underside & Load Surface (Top Side)
ERC2: within ±0.1mm/m
RCP2/RCA/RCS2: within ±0.05mm/m
C
Below are the measures of precision for the body of the slidertype ROBO Cylinder. Moreover, the side and bottom surfaces of
the actuator's base provide references for the run of the slider,
and hence can be used as a guide to ensure parallel mounting
of the actuator.
Slider
Parallelism When Mounted onto a Frame (Fixed onto a Smooth Surface*1)
ERC2: within ±0.1mm/m
RCP2/RCA/RCS2: within ±0.05mm/m
Guide rail
Reference
surface
Guide rail
Reference
surface
Base
* Parallelism does not apply to RCP2WSA16C, due to its sliding guide.
Condition: The above values were measured at 20°C. *1: 0.05mm or less
deviation from flatness.
13. Rod Type (Rod End vibration)
The standard rod-type actuators do not take into account any vibration or load resistance (The non-rotational
accuracy values documented in the actuator specifications are initial values, and the backlash will increase
with operation). If the rod vibrates or if the non-rotational accuracy fluctuates, or if a there is a force being
applied from any direction other than the actuator's linear movement, use the guide-equipped actuator type,
or use an external guide.
14. Vertical Setup and Use
When using the actuator in a vertical setup, add the optional brake to prevent the slider (or rod) from falling
and breaking the machine when the power is turned off or an emergency stop is activated.
However, when mounting a brake-equipped ROBO Cylinder, be aware that the slider (or rod) will not move
unless it is connected to the controller and the brake is released.
15. Moving the Slider Manually
For ball screws with a low (1, 2.5, 3, 4) lead, the actuator's slider cannot be moved by hand, even if the power
and/or servo is off, due to high sliding resistance.
To move the slider on a low-lead actuator, use the teaching box or the JOG function of the computer software.
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16. Actuator Cable
The actuator cable is the cable that extends from the rear of the actuator's motor.
Secure the actuator cable in place so that it does not move, as any force exerted on the actuator cable may
cause a malfunction. If the cable must support bending motion, use a motor-encoder cable, designed for robots.
17. Motor-Encoder Cable
The motor-encoder cable is the cable that connects the actuator and the controller.
Depending on the actuator type, some models use a motor-encoder cable that is split into a separate motor
cable and an encoder cable, and other models use an integrated motor-encoder cable.
Moreover, there are two different specifications of this cable: The standard cable specification and the robot
cable specification, which has an outstanding flex resistance.
To use in a cable track, be sure to use the robot cable, using caution not to bend beyond the minimum bend
radius R for the cable. (The minimum bend radius R is specified for each cable on the respective pages.)
To check the cable type for each model, see "Table of Actuator-Controller Connection Cable Types" on page A-39.
18. About the Splash-Proof Actuator Cable
Although the scope of protective construction of the splash-proof type includes the cable, the connector at
the end of the actuator cable is not splash proof. Therefore, secure the end of the actuator cable in a place
that is not prone to water spills. (For this reason, the actuator cable for a splash-proof model is 2m long)
19. Service Life
The service life of the actuator is directly related to the service life of the components that make up the actuator
(guide, ball screw, motor, etc.).
Moreover, the service life for these components changes significantly depending on the usage requirements.
For example, each guide has an allowable load moment (see page A-5). If the guide is hypothetically used at
half the moment of the allowable moment, its service life is eight times more than the specified service life.
If used conservatively, it can be used for 10 years or more.
Therefore, when selecting a model, it is recommended that you select a model with more head room.
20. Warranty
The warranty period expires upon elapse of one of the following periods, whichever occurs first.
z 18 months after shipment from IAI factory in Japan
z 12 months after delivery to the location specified
z 2,500 hours after start of operation
IAI will repair free of charge any actuator defects due to craftsmanship or material that may occur during the
above warranty period despite use under appropriate conditions. Note, however, that defects resulting from
handling or use in any condition or environment not specified in the catalog, operation manual are excluded
from the scope of warranty. The warranty covers only the actuator delivered by IAI, and any secondary losses
arising from a failure of the delivered product is excluded from the scope of warranty.
The defective actuator must be sent in for repair.
ROBO Cylinder General Catalog
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