IAI RCS4-TA7C, RCS4-TA4R, RCS4-TA6R, RCS4-TA6C, RCS4-TA7R Instruction Manual

Specifications

Installation

Maintenance and
Inspection

External Dimensions

Life

Warranty

Appendix

ROBO Cylinder

®

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1

ch.

2

ch.

3

ch.

4

ch.

5

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8

Instruction Manual

Connecting with
the Controller

Table Type

First Edition ME3774-1B

RCS4- TA4C/TA6C/TA7C

TA4R/TA6R/TA7R

Please Read Before Use

Thank you for purchasing our product.

This instruction manual explains the handling methods, structure and maintenance of this product,

providing the information you need in order to use the product safely.

Before using the product, be sure to read this manual and fully understand the contents explained

herein to ensure safe use of the product.

The DVD enclosed with the product contains instruction manuals for IAI products.

When using the product, refer to the necessary sections of the applicable instruction manual by

printing them out or displaying them on a PC.

After reading the instruction manual, keep it in a convenient place so that whoever is handling the

product can refer to it quickly when necessary.

[Important]

● This instruction manual is an original document dedicated for this product.

● This product cannot be used in ways not shown in this instruction manual. IAI shall not be

liable for any result whatsoever arising from the use of the product in any other way than what

is noted in the manual.

● The information contained in this instruction manual is subject to change without notice for the

purpose of product improvement.

● If any issues arise regarding the information contained in this instruction manual, contact our

customer center or the nearest sales office.

● Use or reproduction of this instruction manual in full or in part without permission is prohibited.

● The company names, names of products and trademarks of each company shown in the text

are registered trademarks.

RCS4 Table Type Instruction Manual Configuration

Product name Instruction manual name

Control
number

RCS4 First Step Guide ME3775

RCS4 Table Type

Instruction Manual

(this document)

ME3774

SCON-CB/CFB Controller

SCON-CB/CFB Controller

Instruction Manual

ME0340

SCON-CAL/CGAL Controller

SCON-CAL/CGAL Controller

Instruction Manual

ME0243

MSCON-C Controller

MSCON-C Controller

Instruction Manual

ME0306

SSEL-CS Controller

SSEL-CS Controller

Instruction Manual

ME0157

XSEL-P/Q Controller

XSEL-P/Q Controller

Instruction Manual

ME0148

XSEL-R/S Controller

XSEL-R/S Controller

Instruction Manual

ME0313

XSEL-RA/SA Controller

XSEL-RA/SA Controller

Instruction Manual

ME0359

PC Compatible Software for RC/EC

RCM-101-MW/RCM-101-USB

Instruction Manual

ME0155

PC Compatible Software for XSEL

IA-101-X-MW/IA-101-X-USBMW

Instruction Manual

ME0154

Touch Panel Teaching Pendant

TB-01/01D/01DR

Applicable for Position Controller

Instruction Manual

ME0324

Touch Panel Teaching Pendant

TB-02/02D

Applicable for Position Controller

Instruction Manual

ME0355

Data Setter

TB-03

Applicable for Position Controller

ME0376

Touch Panel Teaching Pendant

TB-01/01D/01DR

Applicable for Program Controller

Instruction Manual

ME0325

Touch Panel Teaching Pendant

TB-02/02D

Applicable for Program Controller

Instruction Manual

ME0356

Data Setter

TB-03

Applicable for Program Controller

ME0377

Contents

Safety Guide ···················································································· Intro-1
Precautions for Handling ···································································· Intro-9

International Standard Compliance ······················································· Intro-10
Names of the Parts ··········································································· Intro-11

Chapter 1 Specifications

1.1 Checking the product ································································ 1-1

Parts ··············································································································· 1-1
How to Read the Model Nameplate ········································································· 1-2
How to Read the Model Number ············································································ 1-2
Product list ········································································································ 1-3

1.2 Specifications ·········································································· 1-4

Specifications ····································································································· 1-4
Moment Load Displacement Amount ······································································· 1-40
Duty ratio ·········································································································· 1-43

1.3 Options ·················································································· 1-45

With brake (Model Code: B) ··················································································· 1-45
Cable Exit Direction Changed

(Model Code: CJT, CJR, CJL, CJB and CJO) ·················································· 1-45
Motor Reversed Direction (Model Code: ML, MR) ······················································· 1-45
Reversed-home Specification (Model Code: NM) ······················································· 1-45
High Rigidity Specification (Double Guide Block) (Model Code: DB) ······························· 1-46
Rear Attachment Plate (Model Code: RP) ································································· 1-46

1.4 Accessories ············································································ 1-47

Motor Cable ······································································································· 1-47
Encoder Cable ···································································································· 1-48

Chapter 2 Installation

2.1 Precautions for transportation ····················································· 2-1

2.2 Installation and storage/preservation environment ··························· 2-3

Installation Environment ······················································································· 2-3
Storage/preservation environment ·········································································· 2-4

2.3 How to Install ·········································································· 2-5

Installation Orientation ························································································· 2-5
Installation surface ······························································································ 2-6
Installation of the Main Unit ··················································································· 2-7
Mounting transported objects ················································································· 2-20

Chapter 3 Connecting with the Controller

3.1 Connecting with the Controller ···················································· 3-1

Chapter 4 Maintenance and Inspection

4.1 Precautions for maintenance and inspection work ··························· 4-1

4.2 Inspection Items and Schedule ··················································· 4-3

Table type ·········································································································· 4-4
Grease supply timing (Guideline) ············································································ 4-5

4.3 Visual inspection items ······························································ 4-4

External visual inspection ······················································································ 4-4
Internal visual inspection ······················································································· 4-5

4.4 Cleaning ················································································ 4-7

External cleaning ································································································ 4-7
Internal Cleaning ································································································· 4-7

4.5 Greasing method ····································································· 4-8

Grease used ······································································································ 4-8
Greasing method ································································································ 4-9

4.6 How to replace components ······················································· 4-11

Belt replacement/adjustment ·················································································· 4-11
Motor Replacement ····························································································· 4-16

Chapter 5 External Dimensions

5.1 External Dimensions ································································· 5-1

RCS4-TA4C ······································································································· 5-1
RCS4-TA6C ······································································································· 5-3
RCS4-TA7C ······································································································· 5-5
RCS4-TA4R ······································································································· 5-7
RCS4-TA6R ······································································································· 5-9
RCS4-TA7R ······································································································· 5-11

Chapter 6 Life

6.1 Concept of life ········································································· 6-1

Chapter 7 Warranty

7.1 Warranty period ······································································· 7-1

7.2 Scope of the warranty ······························································· 7-1

7.3 Honoring the warranty ······························································· 7-1

7.4 Limited liability ········································································· 7-2

7.5 Conformance with applicable standards/regulations,etc.,
and application conditions ·························································· 7-2

7.6 Other Items excluded from warranty ············································· 7-2

Chapter 8 Appendix

8.1 Index ····················································································· 8-1

8.2 Revision history ······································································· 8-3

Safety Guide

Intro-1

Safety Guide

The Safety Guide is intended to permit safe use of the product and thus to prevent risks and property

damage. Be sure to read it before handling the product.

Safety Guide

Intro-2

Safety Precautions for Our Products

Common safety precautions for the use of robots in various operations are indicated here.

No. Operation Precautions

1 Model

Selection

● This product is not intended or designed for applications where high levels of
safety are required, and so cannot guarantee that human lives will be
protected. Accordingly, do not use it in any of the following applications.
(1) Medical equipment used to maintain, control or otherwise affect human life

or physical health

(2) Mechanisms or machinery designed for the purpose of moving or

transporting people (vehicles, railway facilities, aviation facilities etc.)

(3) Machinery components essential for safety (safety devices etc.)

● Do not use the product outside the range of the specifications. Otherwise,
the product life may be drastically shortened, and product damage or facilities
stoppage may occur.

● Do not use it in any of the following environments.
(1) Locations with flammable gases, ignitable objects or explosives
(2) Locations with potential exposure to radiation
(3) Locations with ambient temperature or relative humidity exceeding the

specifications range

(4) Locations where radiant heat is applied by direct sunlight or other large

heat source
(5) Locations where condensation occurs due to abrupt temperature changes
(6) Locations with corrosive gases (sulfuric acid, hydrochloric acid, etc.)
(7) Locations exposed to significant amounts of dust, salt or iron powder
(8) Locations subject to direct vibration or impact

● For an actuator used in vertical orientation, select a model which is equipped
with a brake. If a model without brake is selected, the moving parts may fall
when the power is turned OFF, causing accidents such as injury or workpiece
damage.

Safety Guide

Intro-3

No. Operation Precautions

2 Transportation ● When transporting heavy objects, do the work with two or more persons or

utilize equipment such as a crane.

● When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.

● During transportation, carefully consider the carrying positions, weight, and
weight balance, and be careful to avoid collisions or dropping.

● Use appropriate transportation measures for transport.
The actuators available for transportation with a crane have eyebolts attached
or tapped holes to attach bolts. Follow the instructions in the instruction manual
for each model.

● Do not climb onto the package.

● Do not put anything heavy that could deform the package on it.

● When using a crane with capacity of 1t or more, have an operator qualified for
crane operation and sling work.

● When using a crane or equivalent equipment, make sure not to suspend loads
exceeding the equipment's rated load.

● Use a hook that is suitable for the load. Consider the safety factor of the hook in
such factors as shear strength. Also, check to make sure that the hook is free of
damage.

● Do not climb on loads suspended from cranes.

● Do not leave loads suspended from cranes for long periods.

● Do not stand under loads suspended from cranes.

3 Storage

and
Preservation

● For the storage and preservation environment, see the installation
environment. However, give especial consideration to the prevention of
condensation.

● Store the products so as to prevent them from falling over or down in the case
of natural disasters such as earthquakes.

Safety Guide

Intro-4

No. Operation Precautions

4 Installation

and
Startup

(1) Installation of robot body and controller, etc.

● Be sure to securely hold and fix the product (including the workpiece).

If the product falls over, is dropped, or operates abnormally, it may lead to
damage and injury.
Also, be equipped for falls over or down due to natural disasters such as
earthquakes.

● Do not climb on or put anything on the product. Otherwise, this may lead to

accidental falling, injury or damage to the product due to falling objects, product
loss of function or performance degradation, or shortening of product life.

● When using the product in any of the places specified below, provide sufficient

shielding.
(1) Locations where electrical noise is generated
(2) Locations with strong electrical or magnetic fields
(3) Locations with mains or power lines passing nearby
(4) Locations where the product may come in contact with water, oil or

chemical spray

(2) Cable wiring

● Use IAI genuine cables for connecting the actuator and controller, and for the

teaching tools.

● Do not scratch cables, bend them forcibly, pull them, coil them, snag them,

or place heavy objects on them. Otherwise, this may lead to fire, electric shock,
or abnormal operation due to leakage or conduction malfunction.

● Perform the wiring for the product after turning OFF the power to the unit, and

avoid miswiring.

● When wiring DC power (+24V), be careful with the positive/negative polarity.

Incorrect connections may lead to fire, product breakdown or abnormal
operation.

● Connect the cable connector securely so that there is no disconnection or

looseness. Otherwise, this may lead to fire, electric shock, or abnormal
operation of the product.

● Never cut or reconnect the cables supplied with the product for the purpose of

extending or shortening the cable length. Otherwise, this may lead to fire or
abnormal operation of the product.

(3) Grounding

● Grounding must be performed, in order to prevent electric shocks or

electrostatic charge, enhance noise-resistant performance and control
unnecessary electromagnetic radiation.

● For the ground terminal on the AC power cable of the controller and the

grounding plate in the control panel, be sure to use a twisted pair cable with
wire thickness 0.5mm

2

(AWG20 or equivalent) or more for grounding work.
For safeguard grounding, it is necessary to select an appropriate wire diameter
for the load. Perform wiring that satisfies the specifications (electrical
equipment technical standards).

● Perform Class D grounding (former Class 3 grounding, with ground resistance

100Ω or below).

Safety Guide

Intro-5

No. Operation Precautions

4 Installation

and
Startup

(4) Safety measures

● When working with two or more persons, make it clear who is to be in charge

and communicate well with each other to ensure safety.

● When the product is operating or in the ready mode, take safety measures

(such as the installation of safety/protection fences) so that nobody can enter
the area within the robot's movable range. Contact with an operating robot may
lead to death or serious injury.

● Be sure to install an emergency stop circuit so that the unit can be stopped

immediately in an emergency during operation.

● Take safety measures such that turning the power ON alone will not start up the

unit. Otherwise, this may cause the product to start unexpectedly, leading to
injury or product damage.

● Take safety measures such that emergency stop cancel or recovery after

power failure alone will not start up the unit. Otherwise, this may lead to injury
or equipment damage.

● When installation or adjustment operation is to be performed, display signs

such as "Operating: No Power ON!" etc. Sudden power input may cause
electric shock or injury.

● Take measures to prevent workpieces, etc. from falling during power failures or

emergency stop.

● Wear protection gloves, goggles and safety shoes, as necessary, to secure

safety.

● Do not insert fingers or objects into the openings in the product. Otherwise,

this may lead to injury, electric shock, product damage, or fire.

● When releasing the brake on a vertically oriented actuator, be careful that it

does not fall under its own weight, catching the operator's hand or damaging
workpieces.

5 Teaching ● When working with two or more persons, make it clear who is to be in charge

and communicate well with each other to ensure safety.

● Perform teaching operation from outside the safety/protection fence,
if possible. If operation must be performed within the safety/protection fence,
prepare "Work Regulations" and make sure that all the workers acknowledge
and understand them well.

● When operation is to be performed inside the safety/protection fence,
operators should have emergency stop switches available at hand so that the
unit can be stopped at any time if abnormalities occur.

● When operation is to be performed inside the safety/protection fence,
have a monitor standing by in addition to the operator(s) so that the unit can be
stopped at any time if abnormalities occur. Also, keep watch on the operation
so that a third party cannot operate the switches carelessly.

● Place a sign indicating "Operating" where it can be seen easily.

● When releasing the brake on a vertically oriented actuator, be careful that it
does not fall under its own weight, catching the operator's hand or damaging
workpieces.

* Safety/protection fence: If there is no safety/protection fence, the movable

range should be indicated.

Safety Guide

Intro-6

No. Operation Precautions

6 Trial

Operation

● When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.

● After teaching or programming, carry out trial operation step by step before
switching to automatic operation.

● When trial operation is to be performed inside the safety/protection fence,
use the same work procedure, determined in advance, as teaching operation.

● Be sure to confirm program operation at safe speeds. Otherwise, this may lead
to accidents due to unexpected motion caused by program error, etc.

● Do not touch the terminal block or any of the various setting switches while the
equipment is live. Otherwise, this may lead to electric shock or abnormal
operation.

7 Automatic

Operation

● Check before starting automatic operation or restarting after operation stop that

there is nobody within the safety/protection fence.

● Before starting automatic operation, make sure that all peripheral equipment is

ready for automatic operation and that there is no alarm indication.

● Be sure to start automatic operation from outside the safety/protection fence.

● If the product produces abnormal heat, smoke, odor, or noise, immediately stop

it and turn OFF the power switch. Otherwise, this may lead to fire or damage to
the product.

● When a power failure occurs, turn OFF the power switch. Otherwise, this may

lead to injury or product damage due to unexpected product motion during
recovery from the power failure.

8 Maintenance

and
Inspection

● When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.

● Perform the work outside the safety/protection fence, if possible.
If operation must be performed within the safety/protection fence, prepare
"Work Regulations" and make sure that all the workers acknowledge and
understand them well.

● When work is to be performed inside the safety/protection fence, turn OFF the
power switch as a rule.

● When operation is to be performed inside the safety/protection fence,
operators should have emergency stop switches available at hand so that the
unit can be stopped at any time if abnormalities occur.

● When operation is to be performed inside the safety/protection fence,
have a monitor standing by in addition to the operator(s) so that the unit can be
stopped at any time if abnormalities occur. Also, keep watch on the operation
so that a third party cannot operate the switches carelessly.

● Place a sign indicating "Operating" where it can be seen easily.

● For the grease for the guide or ball screw, use appropriate grease according to
the Instruction Manual for each model.

● Do not perform dielectric strength testing. Otherwise, this may lead to damage
to the product.

Safety Guide

Intro-7

No. Operation Precautions

8 Maintenance

and
Inspection

● When releasing the brake on a vertically oriented actuator, be careful that it
does not fall under its own weight, catching the operator's hand or damaging
workpieces.

● The slider or rod may be misaligned from the stop position if the servo is turned
OFF. Avoid injury or damage due to unnecessary operation.

● Be careful not to lose the cover or any removed screws, and be sure to return
the product to the original condition after maintenance and inspection work.
Otherwise, this may lead to product damage or injury due to incomplete
mounting.

* Safety/protection fence: If there is no safety/protection fence, the movable

range should be indicated.

9 Modification

and
Disassembly

● Do not modify, disassemble/assemble, or use maintenance parts not specified

on your own discretion.

10 Disposal ● When the product exceeds its useful life or is no longer needed, dispose of it

properly as industrial waste.

● When removing the actuator for disposal, avoid dropping components when

detaching screws.

● Do not put the product in a fire when disposing of it. The product may rupture or

generate toxic gases.

11 Other ● If you are equipped with a medical device such as a pacemaker, do not

approach the product or its wiring, as the device may be affected.

● See the Overseas Specifications Compliance Manual to check compliance with

overseas standards if necessary.

● For the handling of actuators and controllers, follow the dedicated instruction

manual of each unit to ensure safety.

Safety Guide

Intro-8

Precaution Indications

The safety precautions are divided into "Danger", "Warning", "Caution" and "Notice" according to

the warning level, as follows, and described in the Instruction Manual for each model.

Level Degree of risk to persons and property Symbol

Danger

This indicates an imminently hazardous situation which, if the product
is not handled correctly, will result in death or serious injury.

Danger

Warning

This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury.

Warning

Caution

This indicates a potentially hazardous situation which, if the product
is not handled correctly, may result in minor injury or property
damage.

Caution

Notice

This indicates a situation in which, while injury is not a likely result,
the precautions should be observed in order to use the product
appropriately.

Notice

Precautions for Handling

Intro-9

Precautions for Handling

1. The Safety Guide attached with the product is intended to permit safe use of

the product and thus to prevent risks and property damage. Be sure to read it

before handling the product.

2. Do not attempt any handling or operation that is not indicated in this instruction

manual.

3. Make sure to secure the actuator properly in accordance with this instruction

manual.

If the actuator is not securely fixed, this may lead to abnormal noise, vibration, breakdown or

shortened product life.

4. Make sure to observe the usage conditions and environment of the product.

Operation outside the warranty could cause decreased performance or product breakdown.

Use within the allowable range for each item.

Item

Cautions

for use

Problems or breakdowns which may

occur if the allowable

range is exceeded

Speed and

acceleration/deceleration

Use within the

allowable

range

May lead to abnormal noise, vibration,
breakdown, or shortened product life.

Allowable load moment

Use within the

allowable

range

May lead to abnormal noise, vibration,
breakdown, or shortened product life.
In extreme cases, flaking may occur on the
guide or ball screw.

Overhang load length

Mounting a load with an overhang length
greater than the allowable values may lead
to vibration or abnormal noise.

Precautions for Handling
International Standard Compliance

Intro-10

5. If return operations are continued over a short distance, they may rapidly

degrade the film of grease.

Continuous return operation within a distance less than 30mm may cause the grease film to

degrade rapidly.

As a guideline, in every 5,000 to 10,000 cycles, have approximately 5 cycles of return operation

over a 50mm distance or more to regenerate the oil film. Continued use of the actuator in that

state may lead to breakdown.

In extreme cases, flaking may occur on the guide or ball screw.

6. Do not attempt to have tables collide with an obstacle at high speed.

This may damage the coupling or other mechanical parts.

7. In some conditions of environment of use, postures of installation and
conditions of operation, the base oil separated from the grease may come out
of ROBO Cylinder.
It is recommended to have a protection in case the peripheral devices could
get influence of the base oil.

International Standard Compliance

The ROBO Cylinder complies with the following overseas standards.

Refer to the Overseas Standard Compliance Manual (ME0287) for more detailed information.

CE Marking RoHS Directive

{ {

Names of the Parts

Intro-11

Names of the Parts

In this manual, the actuator left/right sides and motor/opposite sides are shown as in the figure

below.

Motor Straight Type

Motor Reversing Type

Rear Bracket

Right Side

Reverse Bracket

Opposite Side
of the Motor

Left Side

Motor Side

Hole Cap

(

Oil Supply Inlet

)

MotorCove

r

Actuato

r

Cable Ass

y

Tapped hole fo

r

Ground Line Attachment

End Cove

r

Front Cove

r

Table

Coupling Cove

r

Motor Bracket

Pulley Cove

r

Front Plate

Oil Pad

Base Frame

MotorUnit

Names of the Parts

Intro-12

Specifications

1.1 Checking the product ··············································· 1-1

Parts ······················································································ 1-1
How to Read the Model Nameplate ·············································· 1-2
How to Read the Model Number ·················································· 1-2
Product list ·············································································· 1-3

1.2 Specifications ························································· 1-4

Specifications ·········································································· 1-4
Moment Load Displacement Amount ············································ 1-40
Duty ratio ················································································ 1-43

1.3 Options ································································· 1-45

With brake (Model Code: B) ························································ 1-45
Cable Exit Direction Changed
(Model Code: CJT, CJR, CJL, CJB and CJO) ······························· 1-45
Motor Reversed Direction (Model Code: ML, MR) ··························· 1-45
Reversed-home Specification (Model Code: NM) ···························· 1-45
High Rigidity Specification (Double Guide Block) (Model Code: DB) ···· 1-46
Rear Attachment Plate (Model Code: RP) ······································ 1-46

1.4 Accessories ··························································· 1-47

Motor Cable ············································································· 1-47
Encoder Cable ········································································· 1-48

ROBO Cylinder

Chapter

1.1 Checking the Product

1-1

1. Specifications

1.1 Checking the Product

Parts

The following table shows the product configuration for the standard specification.

See the component list for the details of the enclosed components. If you find any fault or missing

parts, contact your local IAI distributor.

Body Accessories

Actuator Quantity 1 Motor Cable Quantity 1

Encoder Cable Quantity 1

Accessories

In-house Made Seals

Quantity 1

Cross Recessed Pan Head Screw

with Captive Washer M3×6

Quantity 2

For affixing ground cable

Cable Band Quantity 2

For clamping connector cover

* Refer to International

Application Manual (ME0287)

for how to use it.

Accessories (Documents/DVD)

First Step Guide

Quantity 1

Safety Guide Quantity 1

Instruction Manual (DVD)

Quantity 1

1.1 Checking the Product

1-2

1. Specifications

How to Read the Model Nameplate

How to Read the Model Number

Model→

Serial number→

[Nameplate Position]

N

P

S

M

X□□

R□□

2.5

3

4

5

6

8

10

12

16

20

24

25 25mm

390mm

WARCS4

B

CJT

CJR

CJL

CJO

CJB

DB

ML

MR

NM

RP

TA4C

TA6C

TA7C

TA4R

TA6R

TA7R

WA

60

100

200

400

60W

100W

200W

400W

T2

SCON
MSCON
SSEL
XSEL-P/Q
XSEL-RA/SA

Applicable

Controller

Ball Screw

Lead

Encoder

Type

Motor

Wattage

Type Series

Stroke

Options

Cable Length

Body Width 40mm
Coupling Type

Body Width 60mm
Coupling Type

Body Width 70mm
Coupling Type

Body Width 40mm
Motor-Reversed Type

Body Width 60mm
Motor-Reversed Type

Body Width 70mm
Motor-Reversed Type

Battery-less Absolute

Lead 2.5mm

Lead 3mm

Lead 4mm

Lead 5mm

Lead 6mm

Lead 8mm

Lead 10mm

Lead 12mm

Lead 16mm

Lead 20mm

Lead 24mm

390

to to

None

1m

3m

5m

Length Specification

Robot Cable

With brake

Cable Exit Direction Changed (Top)

Cable Exit Direction Changed (Right)

Cable Exit Direction Changed (Left)

Cable Exit Direction Changed (Outward)

Cable Exit Direction Changed (Bottom)

High Rigidity Specification (Double Guide Block)

Motor Left Reversed Direction

Motor Right Reversed Direction

Reversed-home Specification

Rear Attachment Plate

* Please note that the available range of ball screw lead, stroke and options will differ depending on the actuator type.

1.1 Checking the Product

1-3

1. Specifications

Product list

1.5[−]

3

6

9

4[−]

6

10

12

5[−]

10[8]

18

20[24]

1.5[−]

3

6

9

4[−]

6

10

10[12]

5[−]

10[8]

18

20[24]

4[−]

5[8]

5[10]

5[10]

8[−]

8[14]

8[20]

10[20]

12[−]

15[25]

15[30]

15[30]

4[−]

5[8]

5[10]

5[10]

8[−]

8[14]

8[20]

10[20]

12[−]

15[25]

15[30]

15[30]

53[−]

85

170

340

85[−]

142

283

566

142[−]

214

427

855

53[−]

85

170

340

85[−]

142

283

566

142[−]

214

427

855

900[−]

600

300

150

1100[−]

720

360

180

1300[−]

960

480

240

800[−]

600

300

150

1000[−]

720

360

180

1200[−]

960

480

240

±0.01

±0.01

±0.01

±0.01

±0.01

±0.01

* The specifications should be applicable only to single block (SB) type. Values in brackets [ ] show specifications for double block type

40mm

60mm

70mm

40mm

60mm

70mm

TA4 C

TA6 C

TA7 C

TA4 R

TA6 R

TA7 R

16*

10

5

2.5

20*

12

6

3

24*

16

8

4

16*

10

5

2.5

20*

12

6

3

24*

16

8

4

60

100

200

60

100

200

Max. Speed

(mm/s)

Category Type Appearance

Body Width

(mm)

Lead
(mm)

Motor Wattage

(W) (mm)

Stroke

(mm)

Horizontal

Max. Payload (kg)

Vertical

Rated Thrust

(N)

Positioning Repeatability

Motor
Straight
Type

Motor
Reversing
Type

SB type: 25 to 150 (Every 25 st)

DB type: 40 to 90 (Every 25 st)

140, 190, 240

SB type: 25 to 200 (Every 25 st)

DB type: 45 to 120 (Every 25 st)

170 to 320 (Every 50 st)

SB type:

25 to 200 (Every 25 mm)

DB type: 40 to 90 (Every 25 mm)

140 to 390 (Every 50 mm)

SB type: 25 to 150 (Every 25 st)

DB type: 40 to 90 (Every 25 st)

140, 190, 240

SB type: 25 to 200 (Every 25 st)

DB type: 45 to 120 (Every 25 st)

170 to 320 (Every 50 st)

SB type:

25 to 200 (Every 25 mm)

DB type: 40 to 90 (Every 25 mm)

140 to 390 (Every 50 mm)

250, 300

250, 300

1.2 Specifications

1-4

1. Specifications

1.2 Specifications

Specifications

[1] RCS4-TA4C

~ Single Guide Block

[Lead and Payload]

Lead

(mm)

Max. Payload

Rated Thrust

(N)

Horizontal(kg) Vertical(kg)

16 4 1.5 53

10 5 3 85

5 5 6 170

2.5 5 9 340

[Stroke and Max Speed]

Unit: mm/s

Lead
(mm)

25 to 150

(Every 25mm)

16 900
10 600

5 300

2.5 150

Caution

The maximum speed may not be achieved when the stroke or movement distance is
short or when acceleration/deceleration is set low.
Setting at or below the minimum speed may lead to abnormal noise or unstable speeds.
Do not attempt to set below the minimum speed.
The minimum speed can be calculated with the equation below.
Minimum speed [mm/s] = ball screw lead [mm/r] ÷ 16384 [p/r] x 1000 [1/s]
(mm/r: movement per 1 motor revolution, p/r: pulse per 1 motor revolution)

1.2 Specifications

1-5

1. Specifications

~ Single Guide Block

[Payload by Acceleration]

At low load capacity, the acceleration/deceleration can be increased.

Lead 16 Lead 10

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

4 4 4 4 3 1.5 1.5 1.5 1.5 1.5 5 5 5 5 5 3 3 3 3 3

Lead 5 Lead 2.5

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

5 5 5 5 ‒ 6 6 6 6 ‒ 5 5 5 ‒ ‒ 9 9 9 ‒ ‒

Caution

Do not attempt to configure settings for acceleration/deceleration above the specifications.
This may lead to vibration, breakdown, or shortened product life.

1.2 Specifications

1-6

1. Specifications

~ Double Guide Block (Option Model: DB)

[Lead and Payload]

Lead
(mm)

Max. Payload

Rated Thrust

(N)

Horizontal(kg) Vertical(kg)

10 8 3 85

5 10 6 170

2.5 10 9 340

[Stroke and Max Speed]

Unit: mm/s

Lead
(mm)

40, 65, 90, 140, 190 and 240

10 600

5 300

2.5 150

Caution

The maximum speed may not be achieved when the stroke or movement distance is
short or when acceleration/deceleration is set low.
Setting at or below the minimum speed may lead to abnormal noise or unstable speeds.
Do not attempt to set below the minimum speed.
The minimum speed can be calculated with the equation below.
Minimum speed [mm/s] = ball screw lead [mm/r] ÷ 16384 [p/r] x 1000 [1/s]
(mm/r: movement per 1 motor revolution, p/r: pulse per 1 motor revolution)

1.2 Specifications

1-7

1. Specifications

~ Double Guide Block (Option Model: DB)

[Payload by Acceleration]

At low load capacity, the acceleration/deceleration can be increased.

Lead 10 Lead 5

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

8 8 8 6 4 3 3 3 3 3 10 10 10 8 ‒ 6 6 6 6 ‒

Lead 2.5

Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

10 10 10 ‒ ‒ 9 9 9 ‒ ‒

Caution

Do not attempt to configure settings for acceleration/deceleration above the specifications.
This may lead to vibration, breakdown, or shortened product life.

If the stroke is long, lighten the transportable mass according to the following graph.

Horizontal

installation

Vertical installation

Sideway

installation

Stroke [mm]

Mass [kg]

Stroke [mm]

Mass [kg]

Stroke [mm]

Mass [kg]

Single Block Double Block Single Block Double Block Single Bloc k Double Block

1.2 Specifications

1-8

1. Specifications

[Actuator Specifications]

Item Content

Drive System Ball Screw φ8mm, Rolled C10

Positioning Repeatability (*1) ±0.01mm

Lost Motion 0.1 mm or less

Base Material: Aluminum, White Anodized

Single Guide Block

Allowable static moment Ma direction: 13.0 N•m, Mb direction: 18.6 N•m, Mc direction: 25.3 N•m

Allowable dynamic moment (*1) Ma direction: 5.0 N•m, Mb direction: 7.11 N•m, Mc direction: 9.68 N•m

Double Guide Block

Allowable static moment Ma direction: 76.8 N•m, Mb direction: 110 N•m, Mc direction: 50.5 N•m

Allowable dynamic moment (*1) Ma direction: 23.9 N•m, Mb direction: 34.1 N•m, Mc direction: 15.7 N•m

No. of Encoder Pulses 16384

Ambient operating temperature/humidity 0 to 40°C, 85%RH or less (Non-condensing)

• Overhang load length guideline: Within the range of dynamic load moment

(*1) For reference rated life of 5000km. The running life differs according to operation conditions and mounting

status.

1.2 Specifications

1-9

1. Specifications

Table type moment direction

Table type overhang load length (L = Within the range of dynamic load moment)

Ma direction Mb•Mc direction

* For calculation of Ma and Mc moments, take the position pointed with an arrow as the datum.

Caution

If the actuator is used with excessive allowable moment and overhang load, it may not
only lead to abnormal noise and vibration but also significantly reduce the life of the
actuator.

Ma

(Pitching)

Mb

(Yawing)

Mc

(Rolling)

L

L

Guide Block Center Position

44 (Single Block)
74 (Double Block)

1.2 Specifications

1-10

1. Specifications

[2] RCS4-TA6C

~ Single Guide Block

[Lead and Payload]

Lead
(mm)

Max. Payload

Rated Thrust

(N)

Horizontal(kg) Vertical(kg)

20 8 4 85
12 8 6 142

6 8 10 283
3 10 12 566

[Stroke and Max Speed]

Unit: mm/s

Lead
(mm)

25 to 200

（Every 25mm）

20 1100
12 720

6 360
3 180

Caution

The maximum speed may not be achieved when the stroke or movement
distance is short or when acceleration/deceleration is set low.
Setting at or below the minimum speed may lead to abnormal noise or unstable
speeds.
Do not attempt to set below the minimum speed.
The minimum speed can be calculated with the equation below.
Minimum speed [mm/s] = ball screw lead [mm/r] ÷ 16384 [p/r] x 1000 [1/s]
(mm/r: movement per 1 motor revolution, p/r: pulse per 1 motor revolution)

1.2 Specifications

1-11

1. Specifications

~ Single Guide Block

[Payload by Acceleration]

At low load capacity, the acceleration/deceleration can be increased.

Lead 20 Lead 12

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

8 8 8 6 4 4 4 3 3 2 8 8 8 8 8 6 6 6 6 6

Lead 6 Lead 3

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

8 8 8 8 ‒ 10 10 10 10 ‒ 10 10 10 ‒ ‒ 12 12 12 ‒ ‒

Caution

Do not attempt to configure settings for acceleration/deceleration above the specifications.
This may lead to vibration, breakdown, or shortened product life.

1.2 Specifications

1-12

1. Specifications

~ Double Guide Block (Option Model: DB)

[Lead and Payload]

Lead
(mm)

Max. Payload

Rated Thrust

(N)

Horizontal(kg) Vertical(kg)

12 14 6 142

6 20 10 283
3 20 12 566

[Stroke and Max Speed] Unit: mm/s

Lead
(mm)

40, 70, 95, 120, 170, 220, 270 320

12 720 575

6 360 285
3 180 140

Caution

The maximum speed may not be achieved when the stroke or movement
distance is short or when acceleration/deceleration is set low.
Setting at or below the minimum speed may lead to abnormal noise or unstable
speeds.
Do not attempt to set below the minimum speed.
The minimum speed can be calculated with the equation below.
Minimum speed [mm/s] = ball screw lead [mm/r] ÷ 16384 [p/r] x 1000 [1/s]
(mm/r: movement per 1 motor revolution, p/r: pulse per 1 motor revolution)

1.2 Specifications

1-13

1. Specifications

~ Double Guide Block (Option Model: DB)

[Payload by Acceleration]

At low load capacity, the acceleration/deceleration can be increased.

Lead 12 Lead 6

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

14 14 14 14 12 6 6 6 6 6 20 20 20 20 ‒ 10 10 10 10 ‒

Lead 3

Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

20 20 20 ‒ ‒ 12 12 12 ‒ ‒

Caution

Do not attempt to configure settings for acceleration/deceleration above the specifications.
This may lead to vibration, breakdown, or shortened product life.

If the stroke is long, lighten the transportable mass according to the following graph.

Horizontal

installation

Vertical installation

Sideway

installation

Stroke [mm]

Mass [kg]

Stroke [mm]

Mass [kg]

Stroke [mm]

Mass [kg]

Single Block Double Block Single Block Double Block Single Block Double Block

1.2 Specifications

1-14

1. Specifications

[Actuator Specifications]

Item Content

Drive System Ball Screw φ 10mm, Rolled C10

Positioning Repeatability (*1) ±0.01mm

Lost Motion 0.1mm or less

Base Material: Aluminum White Anodized

Single Guide Block

Allowable static moment Ma direction: 32.3 N•m, Mb direction: 46.2 N•m, Mc direction: 68.3 N•m

Allowable dynamic moment (*1) Ma direction: 11.6 N•m, Mb direction: 16.6 N•m, Mc direction: 24.6 N•m

Double Guide Block

Allowable static moment Ma direction: 169 N•m, Mb direction: 242 N•m, Mc direction: 137 N•m

Allowable dynamic moment (*1) Ma direction: 49.5 N•m, Mb direction: 70.7 N•m, Mc direction: 40 N•m

No. of Encoder Pulses 16384

Ambient operating temperature/humidity 0 to 40°C, 85%RH or less (Non-condensing)

• Overhang load length guideline: Within the range of dynamic load moment

(*1) For reference rated life of 5000km. The running life differs according to operation conditions and mounting

status.

1.2 Specifications

1-15

1. Specifications

Table type moment direction

Table type overhang load length (L = Within the range of dynamic load moment)

Ma direction Mb•Mc direction

* For calculation of Ma and Mc moments, take the position pointed with an arrow as the datum.

Caution

If the actuator is used with excessive allowable moment and overhang load, it may not
only lead to abnormal noise and vibration but also significantly reduce the life of the
actuator.

Ma

(Pitching)

Mb

(Yawing)

Mc

(Rolling)

L

L

Guide Block Center Position

58 (Single Block)
98 (Double Block)

1.2 Specifications

1-16

1. Specifications

[3] RCS4-TA7C

~ Single Guide Block

[Lead and Payload]

Lead
(mm)

Max. Payload

Rated Thrust

(N)

Horizontal(kg) Vertical(kg)

24 12 5 142
16 15 10 214

8 15 18 427
4 15 20 855

[Stroke and Max Speed]

Unit: mm/s

Lead
(mm)

25 to 200 (Every 25mm), 250 and 300

24 1300
16 960

8 480
4 240

Caution

The maximum speed may not be achieved when the stroke or movement
distance is short or when acceleration/deceleration is set low.
Setting at or below the minimum speed may lead to abnormal noise or unstable speeds.
Do not attempt to set below the minimum speed.
The minimum speed can be calculated with the equation below.
Minimum speed [mm/s] = ball screw lead [mm/r] ÷ 16384 [p/r] x 1000 [1/s]
(mm/r: movement per 1 motor revolution, p/r: pulse per 1 motor revolution)

1.2 Specifications

1-17

1. Specifications

~ Single Guide Block

[Payload by Acceleration]

At low load capacity, the acceleration/deceleration can be increased.

Lead 24 Lead 16

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

12 12 12 10 8 5 5 4 4 3 15 15 15 15 15 10 10 8 8 6

Lead 8 Lead 4

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

15 15 15 15 ‒ 18 18 18 18 ‒ 15 15 15 ‒ ‒ 20 20 20 ‒ ‒

Caution

Do not attempt to configure settings for acceleration/deceleration above the specifications.
This may lead to vibration, breakdown, or shortened product life.

1.2 Specifications

1-18

1. Specifications

~ Double Guide Block (Option Model: DB)

[Lead and Payload]

Lead
(mm)

Max. Payload

Rated Thrust

(N)

Horizontal(kg) Vertical(kg)

16 25 8 214

8 30 18 427
4 30 24 855

[Stroke and Max Speed]

Unit: mm/s

Lead
(mm)

40, 65, 90, 140, 190,

240 and 290

340 390

16 960 730 600

8 480 365 300
4 240 180 150

Caution

The maximum speed may not be achieved when the stroke or movement
distance is short or when acceleration/deceleration is set low.
Setting at or below the minimum speed may lead to abnormal noise or unstable speeds.
Do not attempt to set below the minimum speed.
The minimum speed can be calculated with the equation below.
Minimum speed [mm/s] = ball screw lead [mm/r] ÷ 16384 [p/r] x 1000 [1/s]
(mm/r: movement per 1 motor revolution, p/r: pulse per 1 motor revolution)

1.2 Specifications

1-19

1. Specifications

~ Double Guide Block (Option Model: DB)

[Payload by Acceleration]

At low load capacity, the acceleration/deceleration can be increased.

Lead 16 Lead 8

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

25 25 20 20 15 8 8 8 8 6 30 30 25 25 ‒ 18 18 18 18 ‒

Lead 4

Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

30 30 30 ‒ ‒ 24 24 24 ‒ ‒

Caution

Do not attempt to configure settings for acceleration/deceleration above the specifications.
This may lead to vibration, breakdown, or shortened product life.

If the stroke is long, lighten the transportable mass according to the following graph.

Horizontal

installation

Vertical installation

Sideway

installation

Stroke [mm]

Mass [kg]

Stroke [mm

]

Mass [kg]

Single Block Doub le Block

Stroke [mm]

Mass [kg]

Single Block Doub le Block

Single Block Doub le Block

Horizontal allowable Payload Vertical allowable Payl

oad

Sideway allowable Payload

1.2 Specifications

1-20

1. Specifications

[Actuator Specifications]

Item Content

Drive System Ball Screw φ12mm, Rolled C10

Positioning Repeatability (*1) ±0.01mm

Lost Motion 0.1 mm or less

Base Material: Aluminum, White Anodized

Single Guide Block

Allowable static moment Ma direction:115 N•m,Mb direction:115 N•m,Mc direction:229 N•m

Allowable dynamic moment (*1) Ma direction:44.7 N•m,Mb direction:44.7 N•m,Mc direction:89.1 N•m

Double Guide Block

Allowable static moment Ma direction:620 N•m, Mb direction:620 N•m, Mc direction:458 N•m

Allowable dynamic moment (*1) Ma direction:196 N•m, Mb direction:196 N•m, Mc direction:145 N•m

No. of Encoder Pulses 16384

Ambient operating temperature/humidity 0 to 40°C, 85%RH or less (Non-condensing)

• Overhang load length guideline: Within the range of dynamic load moment

(*1) For reference rated life of 5000km. The running life differs according to operation conditions and mounting

status.

1.2 Specifications

1-21

1. Specifications

Table type moment direction

Table type overhang load length (L = Within the range of dynamic load moment)

Ma direction Mb•Mc direction

* For calculation of Ma and Mc moments, take the position pointed with an arrow as the datum.

Caution

If the actuator is used with excessive allowable moment and overhang load, it may not
only lead to abnormal noise and vibration but also significantly reduce the life of the
actuator.

Ma

(Pitching)

Mb

(Yawing)

Mc

(Rolling)

L

L

Guide Block Center Position

72 (Single Block)
127 (Double Block)

1.2 Specifications

1-22

1. Specifications

[4] RCS4-TA4R

~ Single Guide Block

[Lead and Payload]

Lead

(mm)

Max. Payload

Rated Thrust

(N)

Horizontal(kg) Vertical(kg)
16 4 1.5 53
10 5 3 85

5 5 6 170

2.5 5 9 340

[Stroke and Max Speed]

Unit: mm/s

Lead

(mm)

25 to 150

（Every 25mm）

16 800
10 600

5 300

2.5 150

Caution

The maximum speed may not be achieved when the stroke or movement
distance is short or when acceleration/deceleration is set low.
Setting at or below the minimum speed may lead to abnormal noise or unstable speeds.
Do not attempt to set below the minimum speed.
The minimum speed can be calculated with the equation below.
Minimum speed [mm/s] = ball screw lead [mm/r] ÷ 16384 [p/r] x 1000 [1/s]
(mm/r: movement per 1 motor revolution, p/r: pulse per 1 motor revolution)

1.2 Specifications

1-23

1. Specifications

~ Single Guide Block

[Payload by Acceleration]

At low load capacity, the acceleration/deceleration can be increased.

Lead 16 Lead 10

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

4 4 4 4 ‒ 1.5 1.5 1.5 1.5 ‒ 5 5 5 5 ‒ 3 3 3 3 ‒

Lead 5 Lead 2.5

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

5 5 5 5 ‒ 6 6 6 6 ‒ 5 5 5 ‒ ‒ 9 9 9 ‒ ‒

Caution

Do not attempt to configure settings for acceleration/deceleration above the specifications.
This may lead to vibration, breakdown, or shortened product life.

1.2 Specifications

1-24

1. Specifications

~ Double Guide Block (Option Model: DB)

[Lead and Payload]

Lead
(mm)

Max. Payload

Rated Thrust

(N)

Horizontal(kg) Vertical(kg)

10 8 3 85

5 10 6 170

2.5 10 9 340

[Stroke and Max Speed]

Unit: mm/s

Lead
(mm)

40, 65, 90, 140, 190 and 240

10 600

5 300

2.5 150

Caution

The maximum speed may not be achieved when the stroke or movement distance is
short or when acceleration/deceleration is set low.
Setting at or below the minimum speed may lead to abnormal noise or unstable speeds.
Do not attempt to set below the minimum speed.
The minimum speed can be calculated with the equation below.
Minimum speed [mm/s] = ball screw lead [mm/r] ÷ 16384 [p/r] x 1000 [1/s]
(mm/r: movement per 1 motor revolution, p/r: pulse per 1 motor revolution)

1.2 Specifications

1-25

1. Specifications

~ Double Guide Block (Option Model: DB)

[Payload by Acceleration]

At low load capacity, the acceleration/deceleration can be increased.

Lead 10 Lead 5

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

8 8 8 6 ‒ 3 3 3 3 ‒ 10 10 10 8 ‒ 6 6 6 6 ‒

Lead 2.5

Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

10 10 10 ‒ ‒ 9 9 9 ‒ ‒

Caution

Do not attempt to configure settings for acceleration/deceleration above the specifications.
This may lead to vibration, breakdown, or shortened product life.

If the stroke is long, lighten the transportable mass according to the following graph.

Horizontal

installation

Vertical installation

Sideway

installation

Stroke [mm]

Mass [kg]

Stroke [mm]

Mass [kg]

Stroke [mm]

Mass [kg]

Single Block Double Block Single Block Doub le Block Single Block Double Block

1.2 Specifications

1-26

1. Specifications

[Actuator Specifications]

Item Content

Drive System Ball Screw φ8mm, Rolled C10

Positioning Repeatability (*1) ±0.01mm

Lost Motion 0.1mm or less

Base Material: Aluminum, White Anodized

Single Guide Block

Allowable static moment Ma direction: 13.0 N•m, Mb direction: 18.6 N•m, Mc direction: 25.3 N•m

Allowable dynamic moment (*1) Ma direction: 5.0 N•m, Mb direction: 7.11 N•m, Mc direction: 9.68 N•m

Double Guide Block

Allowable static moment Ma direction: 76.8 N•m, Mb direction: 110 N•m, Mc direction: 50.5 N•m

Allowable dynamic moment (*1) Ma direction: 23.9 N•m, Mb direction: 34.1 N•m, Mc direction: 15.7 N•m

No. of Encoder Pulses 16384

Ambient operating temperature/humidity 0 to 40°C, 85%RH or less (Non-condensing)

• Overhang load length guideline: Within the range of dynamic load moment

(*1) For reference rated life of 5000km. The running life differs according to operation conditions and mounting

status.

1.2 Specifications

1-27

1. Specifications

Table type moment direction

Table type overhang load length (L = Within the range of dynamic load moment)

Ma direction Mb•Mc direction

* For calculation of Ma and Mc moments, take the position pointed with an arrow as the datum.

Caution

If the actuator is used with excessive allowable moment and overhang load, it may not
only lead to abnormal noise and vibration but also significantly reduce the life of the
actuator.

Ma

(Pitching)

Mb

(Yawing)

Mc

(Rolling)

L

L

Guide Block Center Position

44 (Single Block)
74 (Double Block)

54

42

12

1.2 Specifications

1-28

1. Specifications

[5] RCS4-TA6R

~ Single Guide Block

[Lead and Payload]

Lead
(mm)

Max. Payload

Rated Thrust

(N)

Horizontal(kg) Vertical(kg)

20 8 4 85
12 8 6 142

6 8 10 283
3 10 10 566

[Stroke and Max Speed]

Unit: mm/s

Lead
(mm)

25 to 200

(Every 25mm)

20 1000
12 720

6 360
3 180

Caution

The maximum speed may not be achieved when the stroke or movement distance is
short or when acceleration/deceleration is set low.
Setting at or below the minimum speed may lead to abnormal noise or unstable speeds.
Do not attempt to set below the minimum speed.
The minimum speed can be calculated with the equation below.
Minimum speed [mm/s] = ball screw lead [mm/r] ÷ 16384 [p/r] x 1000 [1/s]
(mm/r: movement per 1 motor revolution, p/r: pulse per 1 motor revolution)

1.2 Specifications

1-29

1. Specifications

~ Single Guide Block

[Payload by Acceleration]

At low load capacity, the acceleration/deceleration can be increased.

Lead 20 Lead 12

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

8 8 8 6 ‒ 4 4 3 3 ‒ 8 8 8 8 ‒ 6 6 6 6 ‒

Lead 6 Lead 3

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

8 8 8 8 ‒ 10 10 8 8 ‒ 10 10 8 ‒ ‒ 10 10 8 ‒ ‒

Caution

Do not attempt to configure settings for acceleration/deceleration above the specifications.
This may lead to vibration, breakdown, or shortened product life.

1.2 Specifications

1-30

1. Specifications

~ Double Guide Block (Option Model: DB)

[Lead and Payload]

Lead
(mm)

Max. Payload

Rated Thrust

(N)

Horizontal(kg) Vertical(kg)

12 14 6 142

6 20 10 283
3 20 12 566

[Stroke and Max Speed] Unit: mm/s

Lead
(mm)

40, 70, 95, 120, 170, 220 and 270 320

12 720 575

6 360 285
3 180 140

Caution

The maximum speed may not be achieved when the stroke or movement distance is
short or when acceleration/deceleration is set low.
Setting at or below the minimum speed may lead to abnormal noise or unstable speeds.
Do not attempt to set below the minimum speed.
The minimum speed can be calculated with the equation below.
Minimum speed [mm/s] = ball screw lead [mm/r] ÷ 16384 [p/r] x 1000 [1/s]
(mm/r: movement per 1 motor revolution, p/r: pulse per 1 motor revolution)

1.2 Specifications

1-31

1. Specifications

~ Double Guide Block (Option Model: DB)

[Payload by Acceleration]

At low load capacity, the acceleration/deceleration can be increased.

Lead 12 Lead 6

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

14 14 14 14 ‒ 6 6 6 6 ‒ 20 20 20 20 ‒ 10 10 10 10 ‒

Lead 3

Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

20 20 20 ‒ ‒ 12 12 12 ‒ ‒

Caution

Do not attempt to configure settings for acceleration/deceleration above the specifications.
This may lead to vibration, breakdown, or shortened product life.

If the stroke is long, lighten the transportable mass according to the following graph.

Horizontal

installation

Vertical installation

Sideway

installation

Stroke [mm]

Mass [kg]

Stroke [mm]

Mass [kg]

Stroke [mm]

Mass [kg]

Single Block Double Block

Single Block Double Block

Single Block Double Block

1.2 Specifications

1-32

1. Specifications

[Actuator Specifications]

Item Content

Drive System Ball Screw φ10mm, Rolled C10

Positioning Repeatability (*1) ±0.01mm

Lost Motion 0.1mm or less

Base Material: Aluminum, White Anodized

Single Guide Block

Allowable static moment Ma direction: 32.3 N•m, Mb direction: 46.2 N•m, Mc direction: 68.3 N•m

Allowable dynamic moment (*1) Ma direction: 11.6 N•m, Mb direction: 16.6 N•m, Mc direction: 24.6 N•m

Double Guide Block

Allowable static moment Ma direction: 169 N•m, Mb direction: 242 N•m, Mc direction: 137 N•m

Allowable dynamic moment (*1) Ma direction: 49.5 N•m, Mb direction: 70.7 N•m, Mc direction: 40 N•m

No. of Encoder Pulses 16384

Ambient operating temperature/humidity 0 to 40°C, 85%RH or less (Non-condensing)

• Overhang load length guideline: Within the range of dynamic load moment

(*1) For reference rated life of 5000km. The running life differs according to operation conditions and mounting

status.

1.2 Specifications

1-33

1. Specifications

Table type moment direction

Table type overhang load length (L = Within the range of dynamic load moment)

Ma direction Mb•Mc direction

* For calculation of Ma and Mc moments, take the position pointed with an arrow as the datum.

Caution

If the actuator is used with excessive allowable moment and overhang load, it may not
only lead to abnormal noise and vibration but also significantly reduce the life of the
actuator.

Ma

(Pitching)

Mb

(Yawing)

Mc

(Rolling)

L

L

Guide Block Center Position

58 (Single Block)
98 (Double Block)

65

48.5

16.5

1.2 Specifications

1-34

1. Specifications

[6] RCS4-TA7R

~ Single Guide Block

[Lead and Payload]

Lead
(mm)

Max. Payload

Rated Thrust

(N)

Horizontal(kg) Vertical(kg)

24 12 5 142
16 15 10 214

8 15 18 427
4 15 20 855

[Stroke and Max Speed]

Unit: mm/s

Lead
(mm)

25 to 200 (Every 25mm), 250 and 300

24 1200
16 960

8 480
4 240

Caution

The maximum speed may not be achieved when the stroke or movement distance is
short or when acceleration/deceleration is set low.
Setting at or below the minimum speed may lead to abnormal noise or unstable speeds.
Do not attempt to set below the minimum speed.
The minimum speed can be calculated with the equation below.
Minimum speed [mm/s] = ball screw lead [mm/r] ÷ 16384 [p/r] x 1000 [1/s]
(mm/r: movement per 1 motor revolution, p/r: pulse per 1 motor revolution)

1.2 Specifications

1-35

1. Specifications

~ Single Guide Block

[Payload by Acceleration]

At low load capacity, the acceleration/deceleration can be increased.

Lead 24 Lead 16

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

12 12 12 10 ‒ 5 5 4 4 ‒ 15 15 15 15 ‒ 10 10 8 8 ‒

Lead 8 Lead 4

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

15 15 15 15 ‒ 18 18 18 18 ‒ 15 15 15 ‒ ‒ 20 20 20 ‒ ‒

Caution

Do not attempt to configure settings for acceleration/deceleration above the specifications.
This may lead to vibration, breakdown, or shortened product life.

1.2 Specifications

1-36

1. Specifications

~ Double Guide Block (Option Model: DB)

[Lead and Payload]

Lead
(mm)

Max. Payload

Rated Thrust

(N)

Horizontal(kg) Vertical(kg)

16 25 8 214

8 30 18 427
4 30 24 855

[Stroke and Max Speed

Unit: mm/s

Lead
(mm)

40, 65, 90, 140, 190,

240 and 290

340 390

16 960 730 600

8 480 365 300
4 240 180 150

Caution

The maximum speed may not be achieved when the stroke or movement distance is
short or when acceleration/deceleration is set low.
Setting at or below the minimum speed may lead to abnormal noise or unstable speeds.
Do not attempt to set below the minimum speed.
The minimum speed can be calculated with the equation below.
Minimum speed [mm/s] = ball screw lead [mm/r] ÷ 16384 [p/r] x 1000 [1/s]
(mm/r: movement per 1 motor revolution, p/r: pulse per 1 motor revolution)

1.2 Specifications

1-37

1. Specifications

~ Double Guide Block (Option Model: DB)

[Payload by Acceleration]

At low load capacity, the acceleration/deceleration can be increased.

Lead 16 Lead 8

Horizontal Vertical Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

25 25 20 20 ‒ 8 8 8 8 ‒ 30 30 25 25 ‒ 18 18 18 18 ‒

Lead 4

Horizontal Vertical

0.3 0.5 0.7 1.0 1.2 0.3 0.5 0.7 1.0 1.2

30 30 30 ‒ ‒ 24 24 24 ‒ ‒

Caution

Do not attempt to configure settings for acceleration/deceleration above the specifications.
This may lead to vibration, breakdown, or shortened product life.

If the stroke is long, lighten the transportable mass according to the following graph.

Horizontal

installation

Vertical installation

Sideway

installation

Stroke [mm]

Mass [kg]

Stroke [mm

]

Mass [kg]

Single Block Doub le Block

Stroke [mm]

Mass [kg]

Single Block Doub le Block

Single Block Doub le Block

Horizontal allowable Payload Vertical allowable Payload Sideway allowable Payload

1.2 Specifications

1-38

1. Specifications

[Actuator Specifications]

Item Content

Drive System Ball Screw φ12mm, Rolled C10

Positioning Repeatability (*1) ±0.01mm

Lost Motion 0.1mm or less

Base Material: Aluminum, White Anodized

Single Guide Block

Allowable static moment Ma direction: 115 N•m, Mb direction: 115 N•m, Mc direction: 229 N•m

Allowable dynamic moment (*1) Ma direction: 44.7 N•m, Mb direction: 44.7 N•m, Mc direction: 89.1 N•m

Double Guide Block

Allowable static moment Ma direction: 620 N•m, Mb direction: 620 N•m, Mc direction: 458 N•m

Allowable dynamic moment (*1) Ma direction: 196 N•m, Mb direction: 196 N•m, Mc direction: 145 N•m

No. of Encoder Pulses 16384

Ambient operating temperature/humidity 0 to 40°C, 85%RH or less (Non-condensing)

• Overhang load length guideline: Within the range of dynamic load moment
(*1) For reference rated life of 5000km. The running life differs according to operation conditions and mounting

status.

1.2 Specifications

1-39

1. Specifications

Table type moment direction

Table type overhang load length (L = Within the range of dynamic load moment)

Ma direction Mb•Mc direction

* For calculation of Ma and Mc moments, take the position pointed with an arrow as the datum.

Caution

If the actuator is used with excessive allowable moment and overhang load, it may not
only lead to abnormal noise and vibration but also significantly reduce the life of the
actuator.

Ma

(Pitching)

Mb

(Yawing)

Mc

(Rolling)

Guide Block Center Position

72 (Single Block)
127 (Double Block)

75

55.5

19.5

L

L

1.2 Specifications

1-40

1. Specifications

Moment Load Displacement Amount

[1] RCS4-TA4C and TA4R

Single Guide Block Double Guide Block
[Ma direction moment load ­Displacement amount]

Amount of table displacement
when Ma direction moment load
F is applied to the table tip with
the table moved to the distance
Z

[Mb direction moment load ­Displacement amount]

Amount of table displacement
when Mb direction moment load
F is applied to the table tip with
the table moved to the distance
Z

[Mc direction moment ­Displacement angle]

Displacement angle when Mc
direction moment is applied on
the guide center section to the
table

Mc

θ

Guide Center Section

Distance Z [mm]

Amount of table displacement

Displacement amount [mm]

Distance Z [mm]

Amount of table displacement

Displacement amount [mm]

Moment [N･m]

Table displacement angle

Displacement angle [deg]

Moment [N･m]

Table displacement angle

Displacement angle [deg]

Distance Z [mm]

Amount of table displacement

Displacement amount [mm]

Distance Z [mm]

Amount of table displacement

Displacement amount [mm]

1.2 Specifications

1-41

1. Specifications

[2] RCS4-TA6C and TA6R

Single Guide Block Double Guide Block
[Ma direction moment load ­Displacement amount]

Amount of table displacement
when Ma direction moment load F
is applied to the table tip with the
table moved to the distance Z

[Mb direction moment load ­Displacement amount]

Amount of table displacement
when Mb direction moment load F
is applied to the table tip with the
table moved to the distance Z

[Mc direction moment ­Displacement angle]

Displacement angle when Mc
direction moment is applied on the
guide center section to the table

Mc

θ

Guide Center Section

Distance Z [mm]

Amount of table displacement

Displacement amount [mm]

Distance Z [mm]

Amount of table displacement

Displacement amount [mm]

Distance Z [mm]

Amount of table displacement

Displacement amount [mm]

Distance Z [mm]

Amount of table displacement

Displacement amount [mm]

Moment [N･m]

Table displacement angle

Displacement angle [deg]

Moment [N･m]

Table displacement angle

Displacement angle [deg]

1.2 Specifications

1-42

1. Specifications

[3] RCS4-TA7C and TA7R

Single Guide Block Double Guide Block
[Ma direction moment load ­Displacement amount]

Amount of table displacement
when Ma direction moment load F
is applied to the table tip with the
table moved to the distance Z

[Mb direction moment load ­Displacement amount]

Amount of table displacement
when Mb direction moment load F
is applied to the table tip with the
table moved to the distance Z

[Mc direction moment ­Displacement angle]

Displacement angle when Mc
direction moment is applied on the
guide center section to the table

Mc

θ

Guide Center Section

Distance Z [mm]

Amount of table displacement

Displacement amount [mm]

Distance Z [mm]

Amount of table displacement

Displacement amount [mm]

Distance Z [mm]

Amount of table displacement

Displacement amount [mm]

Moment [N･m]

Table displacement angle

Displacement angle [deg]

Distance Z [mm]

Amount of table displacement

Displacement amount [mm]

Moment [N･m]

Table displacement angle

Displacement angle [deg]

1.2 Specifications

1-43

1. Specifications

Duty ratio

The duty ratio is the operating rate,

shown in %, of the actuator operating

time within one cycle.

As the reference for duty available to use may differ depending on the operation conditions

(payload, acceleration / deceleration, etc.), it is necessary to figure out the load factor LF and

acceleration / deceleration time ratio t

od

using the calculation formulae below and find it out from

the graph.

1) Figure out the load factor LF using the calculation formulae below.

Maximum payload at the acceleration 0.3G is described in 1.2 Specifications.

2) Figure out the acceleration / deceleration time ratio tod using the calculation formulae

below.

Acceleration / Deceleration Time Ratio tod =

Acceleration Time during Operation + Deceleration Time during Operation

Duration of Operation

[%]

Acceleration Time =

Velocity during Operation [mm/s]

Acceleration during Operation [mm/s

2

] [sec]

Acceleration [mm/s2] = Acceleration [G] × 9,800mm/s2

Deceleration Time =

Velocity during Operation [mm/s]

Deceleration during Operation [mm/s

2

] [sec]

Deceleration [mm/s

2

] = Deceleration [G] × 9,800mm/s

2

[When indicated acceleration / deceleration is at

acceleration / deceleration 0.3G or below]

Load Factor: LF =

M×α

M

r

×0.3

[%]

Max. Payload at Acceleration 0.3G

: Mr [kg]
Acceleration / Deceleration 0.3G : 0.3 [G]
Payload during Operation : M [kg]
Acceleration during Operation : α [G]

[When indicated acceleration / deceleration is at

acceleration / deceleration 0.3G or above]

Load Factor: LF =

M×α

M

d

×α

=

M

M

d

[%]

Payload at Indicated Acceleration : M

d

[kg]
Payload during Operation : M [kg]
Acceleration during Operation : α [G]

1.2 Specifications

1-44

1. Specifications

3) Read a reference for duty with the figured out “Load Factor” and “Acceleration /

Deceleration Time Ratio”.

e.g.) The reference for duty when the load factor LF is 80% and the acceleration / deceleration time

ratio t

od

is 80% should be approximately 75%.

0

20

40

60

80

100

0 20406080100

加減速度時間比率 tod〔%〕

デュ

ーティー

の目安〔%〕

LF

=60%

LF

= 50%

未満

約75%

LF

LF

LF
LF

= 70%

= 80%

= 90%

=100%

負荷率〔%〕

Reference for Duty [%]

Acceleration / Deceleration Time Ratio tod [%]

LF = Below 50%

Load Factor [%]

Approximately 75%

1.3 Options

1-45

1. Specifications

1.3 Options

With brake (Model Code: B)

This is used to prevent the table from moving during power outages or when the servo is OFF.

It can also be used to prevent the table from falling when mounted vertically.

Cable Exit Direction Changed (Model Code: CJT, CJR, CJL, CJB and CJO)

The orientation of the motor / encoder cable to be installed on the actuator unit can be changed to

top/bottom/right/left.

Motor Reversed Direction (Model Code: ML, MR)

It is the code to indicate the direction of motor reversed when selecting the motor reversed type.

ML shows reversed to left and MR to right.

Reversed-home Specification (Model Code: NM)

The standard home position is on the motor side.

However, the opposite side specification is selected if the home position direction is reversed in

accordance with equipment layout or assembly direction.

CJT

Top Side

Figure viewed
from motor side

CJB

Bottom Side

CJL

Left Side

CJR

Right Side

Motor Straight Type

Motor Reversing Type

CJT

Top Side

CJB

Bottom Side

CJO

Out Side

R

(RIGHT)

L

(LEFT)

Actuator

1.3 Options

1-46

1. Specifications

High Rigidity Specification (Double Guide Block) (

Model Code

: DB)

By making the guide block double, dynamic allowable moment and transportable mass at the time

of horizontal flat installation will improve.

Rear Attachment Plate (Model Code:

RP）

It is a bracket (plate) to affix the motor reversed type (TA4R) at the back to a device.

Double Guide Block

1.4 Accessories

1-47

1. Specifications

1.4 Accessories

Motor Cable

● The cable length should be 1m at minimum and 20m at maximum.

Order can be make in unit of 1m long.

● An example for model codes is as shown below.
Cable length 1

m → CB-RCC-MA010 (-RB)

Cable length 3

m → CB-RCC-MA030 (-RB)

Cable length 10m → CB-RCC-MA100 (-RB)

Model code:

CB-RCC-MA□□□/ CB-RCC-MA□□□-RB

Controller Side

Actuator Side

Wire Size Color Signal No. Wire SizeColorSignalNo.

Green

Red

White

Black

Red

White

Black

Green

(Crimped)

(16)

(20)

(10)

(

φ

9)

(21)

(18)

(41)

1

1

4

4

(Front View)

(Front View)

Minimum bending radius r = 51mm or more (for movable use)
* It is only robot cable available to use inside the cable track

1.4 Accessories

1-48

1. Specifications

Encoder Cable

● The cable length should be 1m at minimum and 20m at maximum.

Order can be make in unit of 1m long.

● An example for model codes is as shown below.
Cable length 1

m → CB-X1-PA010

Cable length 3m → CB-X1-PA030
Cable length 10

m → CB-X1-PA100

Model code:

CB-X1-PA□□□

Controller Side

Actuator Side

Color

Signal

No.

(

φ

8)

(Front View)

(Front View)

Clamp the shield to the hood.

Ground wire or braided shield wire

L

(41)

(13)

(37)

(14)

(8)

(25)

1

1

13

14

26

Wire Size

AWG26

(Soldered)

AWG26

(Crimped)

Color

SignalNo.

Wire Size

Orange

Orange

Green

Green

Purple

Purple

Gray

Gray

Red

Red

Black

Black

Blue

BlueYellow

Yellow

Drain

Minimum bending radius r = 44mm or more (for movable use)
*Robot cable is standard for this model.

1-49

1. Specifications

Installation

2.1 Precautions for transportation ···································· 2-1

2.2 Installation and storage/preservation environment ·········· 2-3

Installation Environment ····························································· 2-3

Storage/preservation environment ················································ 2-4

2.3 How to Install ························································· 2-5

Installation Orientation ······························································· 2-5

Installation surface ···································································· 2-6

Installation of the Main Unit ························································· 2-7

Mounting transported objects ······················································ 2-20

ROBO Cylinder

Chapter

2.1 Precautions for transportation

2-1

2. Installation

2.1 Precautions for transportation

[Handling the package]

● Do not damage or drop the package.
The package is not specially designed to withstand dropping or shock due to collision.

● Keep the unit in horizontal orientation for stationary positioning or transportation.

● Do not climb onto the package.

● Do not put anything that could deform the package on it.

2.1 Precautions for transportation

2-2

2. Installation

[Handling after unpacking]

● Hold the base part when you carry the unit.

● Do not carry the unit by its motor cover or stainless steel sheet.

● Do not damage or drop the package during transportation.

● Do not apply excessive force to any part of the actuator.

→For the names of each part, refer to "Names of the Parts" on page Intro-11.

[Handling when assembled into machinery (system)]

● Fix the table so they would not accidently move during transportation.

● If the actuator or any moving part is overhanging, fix it appropriately to avoid large wobbles due to

external vibration.
When transporting without fixing the tip, do not apply impact of 0.3G or more.

● When suspending machinery (system) with ropes, be careful not to catch the rope on the actuator
or cable.

2.2 Installation and storage/preservation environment

2-3

2. Installation

2.2 Installation and storage/preservation environment

Usage is possible in environments of pollution degree 2 or equivalent.

Pollution degree 2: Environment in which generally only nonconductive pollution occurs,

but temporary conductive pollution may occur due to condensation

(IEC 60664-1)

Installation Environment

The actuator should be installed in a location other than those specified below.

In general, the installation environment should be one in which an operator can work without

protective gear.

● Where the actuator receives radiant heat from strong heat sources such as heat treatment

furnaces

● Where the ambient temperature exceeds the range of 0 to 40°C

● Where the temperature changes rapidly and condensation occurs

● Where the relative humidity exceeds 85% RH

● Where the actuator receives direct sunlight

● Where the actuator is exposed to corrosive or combustible gases

● Where the ambient air contains a large amount of powder dust, salt or iron (at level exceeding

what is normally expected in an assembly plant)

● Where the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or

chemical solutions

● Where the actuator receives impact or vibration

● Where the altitude is more than 2,000m

Also, provide sufficient work space for the following maintenance and inspection:

● Space to replenish grease

● Space to replace the motor

If the actuator is used in any of the following locations, provide sufficient shielding measures:

● Where noise generates due to static electricity, etc.

● Where the actuator is subject to a strong electric or magnetic field

● Where the actuator is subject to ultraviolet ray or radiation

2.2 Installation and storage/preservation environment

2-4

2. Installation

Storage/preservation environment

● For the storage and preservation environment, see the installation environment.
However, give especial consideration to the prevention of condensation during long-term

storage/preservation.

● Unless especially specified, desiccant is not included in the package at shipping.
If the product is to be stored/preserved in an environment where condensation is anticipated,

take condensation preventive measures.

● For short-term storage, it can be stored at 60°C or below.
For storage of one month or more, make sure that the temperature does not exceed 50°C.

● The product should be placed horizontally for storage and preservation.
If storing in the packaged condition, observe the conditions, if any, regarding storage

orientation.

2.3 How to Install

2-5

2. Installation

2.3 How to Install

Installation Orientation

Type: RCS4 –TA4/TA6/TA7

Horizontal installation Vertical installation

Sideway installation Ceiling mount installation

Caution

When installing the unit vertically, keep the motor on top to the greatest extent
possible.
If the motor is installed on the bottom, the grease may separate due to long-term disuse,
causing the base oil to flow into the motor part. The controller and motor/encoder may
break down due to the entry of the base oil.

2.3 How to Install

2-6

2. Installation

Installation surface

● The body mounting surface should be a machined surface or a plane with similar accuracy,
with flatness within 0.02mm/m.

● The mounting frame should have a structure rigid enough to prevent the generation
of vibration, etc.

● Also consider enough space necessary for maintenance work such as actuator replacement
and inspection.

2.3 How to Install

2-7

2. Installation

Installation of the Main Unit

[When using the tapped holes on the base bottom]

The unit has a tapped holes at the bottom of the base for mounting.

It can be affixed at the back using the tapped holes.

→For details regarding the position and dimensions,
Refer to "Chapter 5 External Dimensions".

Dimensions for Tapped Hole Positions

Model
Name

Tap ped

Hole
Size

Tapped Holes Depth Reamed Hole (mm) Oblong Hole

TA4C
TA4R

M4

Through

(screwing depth should be

7.5mm or less)

φ4H7 Depth 4

A:4H7 B:5 Depth 4.5mm or less

TA6C
TA6R

M5 10mm

φ5H7 Depth 5.5

A:5H7 B:6 Depth 5.5mm or less

TA7C
TA7R

M6 12mm

φ6H7 Depth 6

A:6H7 B:7 Depth 6mm or less

Oblong

Hole

Through

Hole

Tapped

Hole

Oblong

Hole

Reamed
Hole

B

A

2.3 How to Install

2-8

2. Installation

[Tightening Torque]

Model Name Tapped Hole

Tightening Torque Reamed Hole (mm)

In the case that steel is used for

the bolt seating surface:

In the case that aluminum is used

for the bolt seating surface:

TA4C
TA4R

M4

3.59N•m

(0.37kgf•m)

1.76N•m

(0.18kgf•m)

TA6C
TA6R

M5

7.27N•m

(0.74kgf•m)

3.42N•m

(0.35kgf•m)

TA7C
TA7R

M6

12.34 N•m

(1.26 kgf•m)

5.36 N•m

(0.55 kgf•m)

Notice

● The use of high-strength bolts of ISO-10.9 or higher is recommended.

● Make sure the internal thread and bolt effective engagement length is
approximately 1.8 times the nominal diameter or more.

2.3 How to Install

2-9

2. Installation

[Using the Through Holes on the Top of the Base]

As TA4, TA6 and TA7 are equipped with through holes on the base for purpose of

installation from the top, it is available to screw in from the top side.

(Note) When the stroke is short, the through hole on the front side of

TA4R, TA6R, and TA7R cannot be used, since it interferes with the motor.

[Refer to 5. “External Dimensions”]

Detach the ball screw covers when installing.

For mounting bolts, use hexagonal socket head bolts indicated in the following

table depending on the platform material.

Notice

● The use of high-strength bolts of ISO-10.9 or higher is recommended.

● Make sure the internal thread and bolt effective engagement length is
approximately 1.8 times the nominal diameter or more.

Model

Name

Through Hole Mounting Bolt

Tightening

Tor que

TA4C

TA4R

φ5 through hole, φ8 counter

boring depth 4

M4

1.76N•m

(0.18kgf•m)

TA6C

TA6R

φ6 through hole, φ9.5 counter

boring depth 5

M5

3.42N•m

(0.35kgf•m)

TA7C

TA7R

φ7 through hole, φ11 counter

boring depth 6

M6

5.36N•m

(0.55kgf•m )

Through hole

2.3 How to Install

2-10

2. Installation

Detaching Ball Screw Cover

1) Pull the table forward as shown in the figure..

The table cannot be driven only with ROBO Cylinder itself if it is equipped with a brake.

Connect a controller and have JOG operation to move the table to perform installation.

Or, for Motor Straight Type, detach the motor unit once to move the table for

installation, and put the motor unit back on.

[Refer to Motor Replacement in “4.6 How to replace components”]

2) Remove the front cover and the ball screw cover (made of resin).

Remove the two bolts and pull forward the front cover.

Deform the ball screw cover toward inside to remove it.

When the installation is completed, affix the ball screw cover by the reverse order.

When affixing the front cover, tighten the screws with the tightening torque described

below.

Tightening Torque

64.8 N•cm

取付⽤

ボルト

六⾓棒レンチ

フロントカバー

フロントカバー取付ボルト

取付⽤ボルト

ボールネジカバー

Ball Screw Cover

Front Cover

Front Cover

Attachment Bolts

Attachment Bolts

Hexagonal Bar Wrench

2.3 How to Install

2-11

2. Installation

[When mounting with the through holes at the tip of the side opposite the motor]

Perform the following procedure when mounting with the through holes at the tip of the

side opposite the motor.

Figure viewed from bottom

Through holes at the tip of the side
opposite the motor

2.3 How to Install

2-12

2. Installation

1) Pull out the table forward, remove the left and right bolts using an Allen wrench

of 2.5 mm across flats and remove the front cover (pull out).The through holes at the

tip will be seen once the front cover is removed.

(Note) For models with brakes, please connect the controller, release the brake

and move the table.

Table

Front Cover

Front Cover

2.3 How to Install

2-13

2. Installation

2) Retract the table to the motor side and insert the mounting bolts to the through holes.

While the table is pulled out, the bolt head will hit the rod under the table, preventing

the bolt from being inserted into the holes.

Mounting bolt

Table

Rod under the table

2.3 How to Install

2-14

2. Installation

3) Use an Allen wrench with a short tip or the like to tighten the mounting bolt.

4) Pull the table forward after installation.

While the front cover is opened, insert it into the rod under the table.

Attach the front cover and tighten the left and right bolts using an Allen wrench of

2.5 mm across flats.

Rod under the table

Table

Allen wrench with a short ti

p

2.3 How to Install

2-15

2. Installation

Front cover attachment bolt tightening

torque

64.8N･cm (6.61kgf•cm)

Front cover

Table

Front cover

2.3 How to Install

2-16

2. Installation

[When Using Attachment Holes on Bracket in Motor Reversing Type]

As there are tapped holes on the reversing bracket, it is available to screw in from the back.

It should be an option (Model Code: RP) for TA4R.

● For TA4R (Option)

● For TA6R

Model Name

A B

Attachment

Hole

Diameter

Attachment Hole

Depth

Tightening Torque

TA4R

32 7.5 M4 8mm

1.76N•m

(0.18kgf•m)

TA6R

47 5.5 M5 10mm

3.42N•m

(0.35kgf•m)

４M

A

A

B

４M A

A

B

2.3 How to Install

2-17

2. Installation

● For TA7R

Notice

● The use of high-strength bolts of ISO-10.9 or higher is recommended.

● Make sure the internal thread and bolt effective engagement length is
approximately 1.8 times the nominal diameter or more.

Model Name

A B

Attachment

Hole

Diameter

Attachment Hole

Depth

Tightening Torque

TA7R

58 6 M6 12mm

5.4N•m

(0.55kgf•m)

４M A

A B

2.3 How to Install

2-18

2. Installation

[Precautions when using brackets]

● Availability of installation for each installation posture is as shown below:

Caution

Do not attempt to affix the unit only with the tapped holes on the side-mounted bracket.

Do not apply external force to the actuator body after installation.

External force may cause malfunctions or damage to parts.

Horizontal

Vertic al

Ceiling

Mount

Installation Posture

Support

Horizontal Vertical

Ceiling

Mount

× × × No
○ ○ × Yes

2.3 How to Install

2-19

2. Installation

[Precautions for horizontal mounting using reversing brackets]

● Prepare a support block for the body, as shown in the figure below.

Support block

2.3 How to Install

2-20

2. Installation

Mounting transported objects

● Use the tapped mounting holes on the top surface of the table to fix transported objects.

● The way to affix follows the installation of the main unit. Flatness of the mounting

surface of transported object should be within 0.020mm as well.

● There is reamed hole and oblong hole on the top surface of the table.

Use these reamed holes and oblong holes if repeated attaching and detaching is required.

● If fine-tuning of perpendicularity, etc. is required, use one of the reamed holes for this

adjustment.

● Do not fix the perpendicular biplanes of the front plate and the table at the same time.

The perpendicularity of the mounted parts may affect the center of the actuator axis,

which can lead to operational failures of the table.

● Refer to the figure below for the screw-in depth and reamed hole depth.

Model

Name

A B C D E F G H J K

TA4C,
TA4R

30 29 15 M4 8 or less 20 50 M4 6 or less

φ4H7 Depth 4.5

TA6C,
TA6R

40 30 20 M5 10 or less 30 50 M5 10 or less

φ5H7 Depth 5.5

TA7C,
TA7R

50 35 25 M6 13 or less 36 50 M6 11 or less

φ6H7 Depth 6

* The depth of the positioning pin holes is the distance from the mounting surface

2.3 How to Install

2-21

2. Installation

Caution

Be careful with regard to the length of the mounting bolt and positioning pin.
The use of screw-in depth greater than that of the tapped or reamed mounting
holes may damage the tapped hole or reduce the mounting strength of the
transported object, leading to decreased accuracy or unexpected accidents.

Notice

● The mounting bolts are to be prepared by the customer.

● The use of high-strength bolts of ISO-10.9 or higher is recommended.

Connecting with

the Controller

3.1 Connecting with the Controller ··································· 3-1

ROBO Cylinder

Chapter

3.1 Connecting with the Controller

3-1

3. Connecting with the Controlle

r

3.1 Connecting with the Controller

As the connection cable for the controller and the actuator, use the IAI-dedicated connection

cable.

Please consult with IAI if you require a different kind of cable than the one supplied.

● If the dedicated connection cable cannot be secured, reduce the load on the cable by allowing

it to deflect only by the weight of the cable or wire it in a self-standing cable hose, etc., having a

large radius.

● Do not cut and reconnect the dedicated connection cable for extension or shorten the cable.

● Do not pull on the dedicated connection cable or bend it forcibly.

● The actuator cable coming out of the motor unit is not meant to be bent. Fix the cable so it

would not be bent repeatedly.

Robot Cable
: r=51mm or more (movable use)
: r=46mm or more (fixed use)

Dedicated Controller

Dedicated Cable

● Motor Cables: CB-RCC-MA□□□

● Motor Robot Cables: CB-RCC-MA□□□-RB

● Encoder Robot Cables: CB-X1 -PA□□□
* □□□ represents the cable length. The longest corresponds to 20m.
e.g.) 080 = 8m

● SCON-CB/CGB

● SCON-CAL/CGAL

● SCON-LC/LCG

● MSCON-C

● SSEL-CS

● XSL-P/Q/R/S/RA/SA

RCS4-××

Dedicated Connection Cable

3.1 Connecting with the Controller

3-2

3. Connecting with the Controller

Caution

For wiring, please follow the warnings stated below. When constructing a system as the machinery
equipment, pay attention to the wiring and connection of each cable so they are conducted properly.
Not following them may cause not only a malfunction such as cable breakage or connection failure,
or an operation error, but also electric shock or electric leakage, or may even cause a fire.

Use dedicated cables of IAI indicated in this instruction manual. Contact us if you wish to have a

change to the specifications of the dedicated cables.

Make sure to turn the power off in the process of power line or cable connection or disconnection.

Do not attempt to cut a dedicated cable with connectors on both ends to extend, shorten or re-joint it.

Hold the dedicated cable to avoid mechanical force being applied to the terminals and connectors.

Use a cable pipe or duct to have an appropriate protection when there is a possibility of mechanical
damage on a dedicated cable.

In case a dedicated cable is to be used at a moving part, make sure to lay out the cable without
applying any force to pull the connector or extreme bend on the cable. Do not attempt to use the
cable with a bending radius below the allowable value.

Make certain that the connectors are plugged properly. Insufficient connection may cause an
operation error, thus it is extremely risky.

Do not lay out the cables to where the machine runs over them.

Pay attention to the cable layout so it would not hit peripherals during an operation. In case it does,
have an appropriate protection such as a cable track.

When a cable is used hanging on the ceiling, prevent an environment that the cable swings with
acceleration or wind velocity.

Make sure there is not too much friction inside the cable storage equipment.

Do not apply radiated heat to power line or cables.

3.1 Connecting with the Controller

3-3

3. Connecting with the Controlle

r

Caution

Have a sufficient radius for bending, and avoid a bend concentrating on one point.

Do not let the cable bend, kink or twist.

Do not pull the cable with a strong force.

Pay attention not to concentrate the twisting force to one point on a cable.

Tie them up softly.

Steel Strap

3.1 Connecting with the Controller

3-4

3. Connecting with the Controller

Caution

Do not pinch, drop a heavy object onto or cut the cable.

When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too

much.

PIO line, communication line, power and driving lines are to be put separately from each other and

do not tie them together. Arrange so that such lines are independently routed in the duct.

Do not use spiral tube in any position

where cables are bent frequently.

Duct

I/O Lines

Power Line

3.1 Connecting with the Controller

3-5

3. Connecting with the Controlle

r

Caution

Follow the instructions below when using a cable track.

If there is an indication to the cable for the space factor in a cable track, refer to the wiring instruction

given by the supplier when storing the cable in the cable track.

Avoid the cables to get twined or twisted in the cable track, and also to have the cables move freely

and do not tie them up. (Avoid tension being applied when the cables are bent.)

Do not pile up cables. It may cause faster abrasion of the sheaths or cable breakage.

Maintenance and Inspection

4.1 Precautions for maintenance and inspection work ·········· 4-1

4.2 Inspection Items and Schedule ·································· 4-3

Table type ··············································································· 4-3

Grease supply timing (Guideline) ················································· 4-3

4.3 Visual inspection items ············································· 4-4

External visual inspection ··························································· 4-4

Internal visual inspection ···························································· 4-5

4.4 Cleaning ······························································· 4-7

External cleaning ······································································ 4-7

Internal Cleaning ······································································ 4-7

4.5 Greasing method ···················································· 4-8

Grease used ············································································ 4-8

Greasing method ······································································ 4-9

4.6 How to replace components ······································ 4-11

Belt replacement/adjustment ······················································· 4-11

Motor Replacement ··································································· 4-16

ROBO Cylinder

Chapter

4.1 Precautions for maintenance and inspection work

4-1

4. Maintenance and Inspection

4.1 Precautions for maintenance and inspection work

Make sure to read the following precautions before conducting any maintenance or inspection

work.

Caution

Do not climb on or put anything on the actuator.
Otherwise, this may lead to accidental falling, injury or damage to the product due to
falling objects, product loss of function or performance degradation, or shortening of
product life.
Before releasing the brake, make sure to check there is nothing that will interfere with
moving parts within the operation range.
The table may fall, possibly injuring the operator or people nearby and damaging the
actuator, workpiece or equipment.

Caution

Check that the power to the actuator is OFF before conducting any maintenance or
inspections.
Be careful not to lose the cover or any removed screws.
Be sure to return the product to the original condition after maintenance and inspection
work.
Mounting in an incomplete state may cause injuries or damage to the product.
Do not modify, disassemble/assemble, or use maintenance parts not specified on your
own discretion under any circumstances.

4.1 Precautions for maintenance and inspection work

4-2

4. Maintenance and Inspection

Caution

The grease film may run out if the actuator performs return operation continuously over a

distance of 30mm or less. As a guideline, every 5,000 to 10,000 cycles, have

approximately 5 cycles of return operation over a 50mm distance or more to regenerate

the oil film.

The ball screw or guide may be damaged if the oil film runs out.

Notice

● First, be sure to wipe off the old grease, and then supply new grease.

● The degradation speed of grease may differ depending on the operating environment

(temperature, humidity and ambient atmosphere).

It is recommended to shorten the grease supply period if the actuator is used under poor

environmental conditions such as high temperatures, high humidity or dusty

atmospheres.

● Also, it is recommended to improve the environmental conditions in case the grease

changes color notably due to poor operating conditions.

● Base oil may separate from the grease due to the mounting orientation or operating

conditions.

Base oil may also leak from the inside of the actuator to the exterior through gaps.

Check visually for oil drips when supplying grease.

● An actuator stored for 6 months or more may suffer from grease degradation.

Supply grease before the start of use.

→For details, refer to "4.5 Greasing method".

4.1 Precautions for maintenance and inspection work

4-3

4. Maintenance and Inspection

4.2 Inspection Items and Schedule

Follow the maintenance inspection schedule below.

It is assumed that the equipment is operating 8 hours per day.

If the equipment is running continuously night and day or otherwise running at a high operating

rate, inspect more often as needed.

Table typ e

*Stainless steel sheet life guideline: 5,000km

Inspection period

External

inspection

Internal

inspection

Greasing

Start of work inspection

○

－ －

1-month inspection

○

－ －

3-month inspection

－ －

○

3-month inspection on

－ －

Grease supply timing

(Guideline) dependent

6-month inspection

○ ○

Every 6 months thereafter

○ ○

Grease supply timing (Guideline)

Maximum operating speed [mm/s]

Grease supply timing (Guideline)

Operation distance Months

0 to 750 or less

1,250km

12 months

750 to 1300 5,000km