ROBO Cylinder
RCA2 Actuator
Rod Type
Instruction Manual
Tenth Edition
[Slim Small ROBO Cylinders] RC2AC, RA2AR
[Slim Small ROBO Cylinders] SD3NA, SD4NA
[Slim Small ROBO Cylinders] GD3NA, GD4NA
[Slim Small ROBO Cylinders] GS3NA, GS4NA
[Slim Small ROBO Cylinders] RP3NA, RP4NA
[Slim Small ROBO Cylinders] RN3NA, RN4NA
Slim types
Short types
(nut affixing types)
Short types
(tapped-hole mounting types)
Single guide types
Double guide types
Slide unit types
IAI America, Inc.
RN3N, RN4N
RP3N, RP4N
GS3N, GS4N
GD3N, GD4N
SD3N, SD4N
[Important]
x This Instruction Manual is original.
x The product cannot be operated in any way unless expressly specified in this Instruction Manual.
IAI shall assume no responsibility for the outcome of any operation not specified herein.
x Information contained in this Instruction Manual is subject to change without notice for the
purpose of product improvement.
x If you have any question or comment regarding the content of this manual, please contact the
IAI sales office near you.
x Using or copying all or part of this Instruction Manual without permission is prohibited.
x The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.
Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual describes all necessary information items to operate this product safely
such as the operation procedure, structure and maintenance procedure.
Before the operation, read this manual carefully and fully understand it to operate this product
safely. The enclosed CD or DVD in this product package includes the Instruction Manual for this
product.
For the operation of this product, print out the necessary sections in the Instruction Manual or
display them using the personal computer.
After reading through this manual, keep this Instruction Manual at hand so that the operator of this
product can read it whenever necessary.
CE Marking
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance
Manual (ME0287) that is provided separately.
Table of Contents
Safety Guide ······················································································································· 1
Handling Precautions·········································································································· 8
1. Part Names ················································································································· 11
1.1 Slim Types
RA2AC (Motor coupling types), RA2AR (Motor reversing types) ····································11
1.2 Short Types (Nut Affixing Types)
RN3NA, RN3N (Lead screw, Ball screw), RN4NA, RN4N (Lead screw, Ball screw)······ 12
1.3 Short Types (Tapped-hole Mounting Types)
RP3NA, RP3N (Lead screw, Ball screw), RP4NA, RP4N (Lead screw, Ball screw) ······ 12
1.4 Single Guide Types
GS3NA, GS3N (Lead screw, Ball screw), GS4NA, GS4N (Lead screw, Ball screw)······ 13
1.5 Double Guide Types
GD3NA, GD3N (Lead screw, Ball screw), GD4NA, GD4N (Lead screw, Ball screw)····· 13
1.6 Slide Unit Types
SD3NA, SD3N (Lead screw, Ball screw), SD4NA, SD4N (Lead screw, Ball screw) ······ 14
2. External Diagrams······································································································· 15
2.1 Slim Type (Motor coupling type) RA2AC········································································· 15
2.2 Slim Type (Motor reversing type) RA2AR ······································································· 15
2.3 Short Types (Nut rotating types) RN3NA, RN3N (Lead screw, Ball screw) ···················· 16
2.4 Short Types (Nut rotating types) RN4NA, RN4N (Lead screw, Ball screw) ···················· 16
2.5 Short Types (Tapped-hole mounting types) RP3NA, RP3N (Lead screw, Ball screw) ··· 17
2.6 Short Types (Tapped-hole mounting types) RP4NA, RP4N (Lead screw, Ball screw) ··· 17
2.7 Single Guide Types GS3NA, GS3N (Lead screw, Ball screw)········································ 18
2.8 Single Guide Types GS4NA, GS4N (Lead screw, Ball screw)········································ 18
2.9 Double Guide Types GD3NA, GD3N (Lead screw, Ball screw)······································ 19
2.10 Double Guide Types GD4NA, GD4N (Lead screw, Ball screw)······································ 19
2.11 Slide Unit Types SD3NA, SD3N (Lead screw, Ball screw) ············································· 20
2.12 Slide Unit Types SD4NA, SD4N (Lead screw, Ball screw) ············································· 20
3. Cable Drawings··········································································································· 21
3.1 ASEP Controller Cables·································································································· 21
3.2 ACON, ASEL Controller Cables ······················································································ 22
4. Options························································································································ 24
4.1 Connector Cable Exit Direction Changed ······································································· 24
4.2 Low Power Consumption Type ······················································································· 24
5. Checking after Unpacking ··························································································· 25
5.1 Included Items················································································································· 25
5.2 Instruction Manuals Relating to This Product·································································· 25
5.3 How to Read Model Nameplate······················································································ 26
5.4 How to Read Model········································································································· 26
6. Specifications ·············································································································· 27
7. Installation and Storage/Preservation Environment ···················································· 36
7.1 Installation Environment·································································································· 36
7.2 Storage/Preservation Environment ················································································· 37
8. Installation ··················································································································· 38
8.1 Slim Types
RA2AC (Motor coupling types), RA2AR (Motor reversing types) ··································· 38
8.1.1 Installation of Actuator ························································································· 38
8.2 Short Types (Nut affixing types)
RN3NA, RN3N (Lead screw, ball screw), RN4NA, RN4N (Lead screw, ball screw) ······ 39
8.2.1 Installation of Actuator ························································································· 39
8.2.2 Installation of Detent···························································································· 40
8.2.3 Installation of Flange ··························································································· 49
8.2.4 Installation from Rear Side ·················································································· 50
8.3 Short Types (Tapped-hole mounting types)
RP3NA, RP3N (Lead screw, ball screw), RP4NA, RP4N (Lead screw, ball screw) ······· 51
8.3.1 Installation of Actuator ························································································· 51
8.3.2 Installation of Detent···························································································· 53
8.3.3 Installation of Flange ··························································································· 62
8.3.4 Installation from Rear Side ·················································································· 63
8.4 Single Guide Types
GS3NA, GS3N (Lead screw, ball screw), GS4NA, GS4N (Lead screw, ball screw) ······ 64
8.5 Double Guide Types
GD3NA, GD3N (Lead screw, ball screw), GD4NA, GD4N (Lead screw, ball screw)······ 66
8.6 Slide Unit Types
SD3NA, SD3N (Lead screw, ball screw), SD4NA, SD4N (Lead screw, ball screw) ······· 68
9. Connecting with Controller ·························································································· 71
10. Notes on Operation ····································································································· 75
10.1 Placing a Load on the Actuator ······················································································· 75
10.2 How to Move Rod by Hand ····························································································· 75
10.3 Home Return ··················································································································· 76
10.3.1 Home Return Operation ······················································································ 76
11. Life ······························································································································ 78
11.1 Life of Actuator Using Ball Screws ·················································································· 78
11.2 Life of Actuator Using Lead Screws ················································································ 78
11.2.1 Relationship of Cycle Time and Product Life······················································· 78
12. Maintenance and Inspection ······················································································· 81
12.1 Inspection Items and Timings·························································································· 81
12.2 Visual Inspection of Exterior···························································································· 81
12.3 Cleaning ·························································································································· 81
12.4 Inspection of Interior········································································································ 82
12.5 Internal Cleaning ············································································································· 83
12.6 Greasing·························································································································· 83
12.6.1 Applicable Grease ······························································································· 83
12.6.2 Greasing Method································································································· 84
12.7 How to Replace Spiral Cover ·························································································· 85
13. Warranty······················································································································ 88
13.1 Warranty Period··············································································································· 88
13.2 Scope of Warranty··········································································································· 88
13.3 Honoring the Warranty ···································································································· 88
13.4 Limited Liability················································································································ 88
13.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications ·············································································································· 89
13.6 Other Items Excluded from Warranty·············································································· 89
Change History ················································································································· 90
1
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
Operation
Description
Description
1 Model
Selection
Ɣ This product has not been planned and designed for the application
where high level of safety is required, so the guarantee of the protection
of human life is impossible. 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 and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Ɣ Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an
accident such as an injury or damage on the work piece.
2
No.
Operation
Description
Description
2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
Ɣ When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
Ɣ When in transportation, consider well about the positions to hold,
weight and weight balance and pay special attention to the carried
object so it would not get hit or dropped.
Ɣ Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the
instructions in the instruction manual for each model.
Ɣ Do not step or sit on the package.
Ɣ Do not put any heavy thing that can deform the package, on it.
Ɣ When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane.
Ɣ Do not leave a load hung up with a crane.
Ɣ Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
Ɣ The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention
of condensation.
Ɣ Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
Ɣ Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
Ɣ Do not get on or put anything on the product. Failure to do so may
cause an accidental fall, injury or damage to the product due to a drop
of anything, malfunction of the product, performance degradation, or
shortening of its life.
Ɣ When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
3
No.
Operation
Description
Description
(2) Cable Wiring
Ɣ Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do
not coil it around. Do not insert it. Do not put any heavy thing on it.
Failure to do so may cause a fire, electric shock or malfunction due to
leakage or continuity error.
Ɣ Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
Ɣ When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
Ɣ Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
Ɣ Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
4 Installation
and Start
(3) Grounding
Ɣ The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
Ɣ For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair
cable with wire thickness 0.5mm
2
(AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100: or below).
4
No.
Operation
Description
Description
4 Installation
and Start
(4) Safety Measures
Ɣ When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
Ɣ When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection
fence) so that nobody can enter the area within the robot’s movable
range. When the robot under operation is touched, it may result in
death or serious injury.
Ɣ Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Ɣ Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
Ɣ Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
Ɣ When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
Ɣ Take the measure so that the work part is not dropped in power failure
or emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to
secure safety.
Ɣ Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or
fire.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
Ɣ Perform the teaching operation from outside the safety protection
fence, if possible. In the case that the operation is to be performed
unavoidably inside the safety protection fence, prepare the “Stipulations
for the Operation” and make sure that all the workers acknowledge and
understand them well.
Ɣ When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch
on the operation so that any third person can not operate the switches
carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
5
No.
Operation
Description
Description
6 Trial
Operation
Ɣ When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
Ɣ After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
Ɣ When the check operation is to be performed inside the safety
protection fence, perform the check operation using the previously
specified work procedure like the teaching operation.
Ɣ Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Ɣ Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Ɣ Check before starting the automatic operation or rebooting after
operation stop that there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
Ɣ Make sure to operate automatic operation start from outside of the
safety protection fence.
Ɣ In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and
turn OFF the power switch. Failure to do so may result in a fire or
damage to the product.
Ɣ When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.
6
No.
Operation
Description
Description
8 Maintenance
and
Inspection
Ɣ When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
Ɣ Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
Ɣ When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
Ɣ When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch
on the operation so that any third person can not operate the switches
carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
Ɣ Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
Ɣ The slider or rod may get misaligned OFF the stop position if the servo
is turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
Ɣ Pay attention not to lose the cover or untightened screws, and make
sure to put the product back to the original condition after maintenance
and inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
Ɣ Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
Ɣ When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Ɣ Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Ɣ Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing
so may affect the performance of your medical device.
Ɣ See Overseas Specifications Compliance Manual to check whether
complies if necessary.
Ɣ For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.
7
Alert Indication
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 Degre
e of Danger and Damage 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 lower possibility for the injury, but should be kept to
use this product properly.
Notice
8
Handling Precautions
1. Do not set a speed or acceleration/deceleration exceeding the applicable
rating.
Do not set a speed or acceleration/deceleration exceeding the applicable rating. Doing so may
result in vibration, failure or shorter life. Setting the acceleration/deceleration exceeding the
applicable rating may also cause creep.
2. Grease film may run out after back-and-forth operations over a short distance.
Grease film may run out if the actuator is moved back and forth continuously over a distance of 20
mm or less. For reference, have 5 cycles of back and forth operation in full-stroke range after 5,000
to 10,000 cycles of short-distanced back and forth operation.
3. Do not apply impact to the spiral cover with tools or push it hard with fingers.
Spiral cover is a thin plate rolled in spiral form. Hitting it with tools or pushing it with fingers may
deform the cover. Do not attempt to do so.
Spiral cover
4. Do not apply any external force to the rod from the directions other than the rod
operating directions.
Please do not apply any external force from other than rod moving direction (radial load) to the rod.
Any perpendicular or radial force to the rod may cause damage to the actuator or operation
problem. Equip an actuator with a guide or an external guide if any external force from other
direction than the rod moving direction is applied.
5. Make sure to attach the actuator properly by following this instruction manual.
Using the product with the actuator not being certainly retained or affixed may cause abnormal
noise, vibration, malfunction or shorten the product life.
9
6. For Short Type (RP*N/RN*N), do not attempt to operate the rod back and forth
without the guide.
Operating back and forth from the rod side without the guide would apply unbalanced load to the
feed screw shaft, which may result in a bend of the screw shaft or damage to the internal
mechanism.
Warning : Do not attempt to move the rod back and forth only with the actuator itself.
Unbalanced load onto the feed screw may damage the actuator.
7. Even after attaching the guide, do not move back and forth from the load side
for the low lead types (Lead 1 and 2mm).
The low lead type actuator has a high resistance to the operation from the rod side. Moving it
forcefully would apply too much load to the feed screw and may result in the cause of operational
failure or destruction of the product. Twist the rotation shaft with a screwdriver from the back side to
move the actuator.
Caution : Do not move back and forth from the load side for the low lead types (Lead 1 and 2).
Moving it forcefully would apply too much load to the feed screw and may result in
the cause of operational failure or destruction of the product.
10
8. Transportation
8.1 Handling a Single Actuator
Please adhere to the following when handling a single actuator.
8.1.1 Handling the Packed Unit
Unless otherwise specified, the actuator is shipped with each axis packaged separately.
• Do not damage or drop. The package is not applied with any special treatment that enables it to
resist an impact caused by a drop or crash.
• Transport a heavy package with at least more than two operators. Consider an appropriate
method for transportation.
• Keep the unit in horizontal orientation when placing it on the ground or transporting. Follow the
instruction if there is any for the packaging condition.
• Do not step or sit on the package.
• Do not put any load that may cause a deformation or breakage of the package.
8.1.2 Handling the Actuator After Unpacking
• Do not carry an actuator by a cable or attempt to move it by pulling the cable.
• Hold the body base when transporting the actuator.
• Be careful not to bump the actuator into anything when moving it.
• Do not apply an excessive force to each part of the actuator. In particular, prevent the motor unit
and rear bracket from receiving an unnecessary force.
Supplement) For the names of each part of the actuator, refer to 1, "Part Names".
8.2 Handling the Actuator Assembly
• When carrying the actuator, exercise caution not to bump it against nearby objects or structures.
• Secure the sliders to prevent sudden movement during transport.
• If any end of the actuator is overhanging, secure it properly to avoid significant movement due to
external vibration.
• When transporting the assembly without the ends of the actuators fastened, do not subject the
assembly to an impact of 0.3 G or more.
• When suspending the mechanical equipment (system) with ropes, avoid applying force to
actuator, connector box, etc. Also, avoid the cables being pinched or caused an excessive
deformation.
11
1. Part Names
The names of the actuator parts are indicated below.
In this manual, the right and left are determined by viewing the actuator from the top and from the
motor side.
1.1 Slim Types
RA2AC (Motor coupling types), RA2AR (Motor reversing types)
Ɣ RA2AC
Opposite side
of the motor
Motor side
Right side
Left side
Motor
Actuator cable
Motor bracket
Rod
Rod tip bracket
Bare housing
Body
Front bracket
* Refer to 2, “External Dimensions” for details.
Ɣ RA2AR
Opposite side
of the motor
Motor side
Right side
Left side
Motor
Actuator cable
Reversing bracket
Rod
Rod tip bracket
Bare housing
Body
Front bracket
Pulley cover
* Refer to 2, “External Dimensions” for details.
1. Part Names
1. Part Names
12
1.2 Short Types (Nut Affixing Types)
RN3NA, RN3N (Lead screw, Ball screw), RN4NA, RN4N (Lead screw, Ball
screw)
Opposite side
of the motor
Motor side
Right side
Left side
Connector cover
Cable
Actuator (aluminum frame)
Rod tip bracket
* Refer to 2, “External Dimensions” for details.
1.3 Short Types (Tapped-hole Mounting Types)
RP3NA, RP3N (Lead screw, Ball screw), RP4NA, RP4N (Lead screw, Ball
screw)
Opposite side
of the motor
Motor side
Right side
Left side
Connector cover
Cable
Actuator (aluminum frame)
Rod tip bracket
* Refer to 2, “External Dimensions” for details.
13
1.4 Single Guide Types
GS3NA, GS3N (Lead screw, Ball screw), GS4NA, GS4N (Lead screw, Ball
screw)
Opposite side
of the motor
Motor side
Right side
Left side
Connector cover
Cable
Actuator (aluminum frame)
Guide bracket
* Refer to 2, “External Dimensions” for details.
1.5 Double Guide Types
GD3NA, GD3N (Lead screw, Ball screw), GD4NA, GD4N (Lead screw, Ball
screw)
Opposite side
of the motor
Motor side
Right side
Left side
Connector cover
Cable
Actuator (aluminum frame)
Guide bracket
* Refer to 2, “External Dimensions” for details.
1. Part Names
14
1.6 Slide Unit Types
SD3NA, SD3N (Lead screw, Ball screw), SD4NA, SD4N (Lead screw, Ball
screw)
Right side
Left side
Connector cover
Cable
Guide bracketGuide bracket
Front side Rear side
* Refer to 2, “External Dimensions” for details.
1. Part Names
15
2. External Diagrams
2.1 Slim Type (Motor coupling type) RA2AC
st2
2
L2
5.5 2018.5
82
L1
Secure at least 100
ME
ORG
ME SE
10
φ12φ
16
1.5
2
3
12
M6×1.0
(25)
A×25
14
B-M 2, depth 4
21.5 15
14
14
2-M2, depth 4
10 (between 2 flat faces)
9
18
18
19.8
2.2 Slim Type (Motor reversing type) RA2AR
2
2 st 5.518.5
MEORGSEME
φ16φ
12
10
1.5
2
3
12
Secure at least 100
L1
L2 32.5
89
M6×1.0
18
14
10 (between 2 flat faces)
14
18
9
41
1
2.9
16.2 2.9
19.8
2-M2, depth 4
21.5
25
A×25 15
B-M2, depth 4
14
1
MT type
14
2-M2, depth 4
14
9
Seating surface
Watch for the surface
exceeding from
seating surface
ST Weight [kg]
25 0.17
50 0.19
75 0.2
100 0.22
ST Weight [kg]
25 0.21
50 0.22
75 0.24
100 0.25
2. External Diagrams
2. External Diagrams
16
2.3 Short Types (Nut rotating types)
RN3NA, RN3N (Lead screw, Ball screw)
2
ST
L2
L1
M5
12
15
6
9
0
- 0.1
1
ME
10.5
22.6
28
28
22
3
22 3
28.5
M20×1.0
8
(9.2)
M5×0.8
29
φ
30.8
M20×1.0
3.2
6
Nut A
Nut B
Position adjustment
sticker
2-M4, depth 4
Home
29 (Width across flats)
12 (Width
across flats)
9 (Effective
thread length)
Nut A Nut B
2.4 Short Types (Nut rotating types)
RN4NA, RN4N (Lead screw, Ball screw)
2
ST
L217
L1
15 7
M6
Ø 9
0
- 0.1
1
ME
10.5
34
34
22.6
26 4
26 4
28.5
M24×1.0
10
(11.5)
M6×1.0
32
φ
34
M24×1.0
3.6
7
Home
32 (Width across flats)
12 (Width
across flats)
Nut A
Nut B
Position adjustment
sticker
2-M4, depth 8
12 (Effective
thread length)
Nut
A
Nut
B
Weight [kg]
ST L1 L2
Lead screw Ball screw
30 112 73.5 0.25 0.25
50 132 93.5 0.27 0.27
(Note) Only 30mm is available for the stroke of Lead Screw
RN3N Type.
Weight [kg]
ST L1 L2
Lead screw Ball screw
30 123.5 80 0.4 0.4
50 143.5 100 0.44 0.44
(Note) Only 30mm is available for the stroke of Lead Screw
RN4N Type.
17
2.5 Short Types (Tapped-hole mounting types)
RP3NA, RP3N (Lead screw, Ball screw)
2
ST
L2
φ
23 h8
0
- 0.033
M5
1.5
L1
12
φ
9
0
- 0.1
1
ME
28.5
28
28
21
21
10.5
22.6
22
22
3
3
8
(9.2)
M5×0.8
3.2
Nut A
Position adjustment
sticker
2-M4, depth 4
Home
9 (Effective
thread length)
4-M4, depth 8
12 (Width across flats)
Nut A
2.6 Short Types (Tapped-hole mounting types)
RP4NA, RP4N (Lead screw, Ball screw)
2
ST
L2
φ
23 h8
0
- 0.033
M5
1.5
L1
12
φ
9
0
- 0.1
1
ME
28.5
28
28
21
21
10.5
22.6
22
22
3
3
8
(9.2)
M5×0.8
3.2
Nut A
Position adjustment
sticker
2-M4, depth 4
Home
9 (Effective
thread length)
4-M4, depth 8
12 (Width across flats)
Nut A
Weight [kg]
ST L1 L2
Lead screw Ball screw
30 98.5 73.5 0.2 0.2
50 118.5 93.5 0.22 0.22
(Note) Only 30mm is available for the stroke of Lead Screw
RP3N Type.
Weight [kg]
ST L1 L2
Lead screw Ball screw
30 108 80 0.32 0.32
50 128 100 0.36 0.36
(Note) Only 30mm is available for the stroke of Lead Screw
RP4N Type.
2. External Diagrams
2. External Diagrams
18
2.7 Single Guide Types
GS3NA, GS3N (Lead screw, Ball screw)
2
4
ST
30
3015
L1
L2
8
2-φ3 depth 3 (same on opposite side)
31 5.5
2-3 depth 3
(same on opposite side)
+0.05
0
ME
10.5
22
34
22.6
3
3
4
40
24
16
16 5
4
28
42
φ
3 depth 3
+0.03
0
3 depth 3
+0.05
0
28
4
30
25
10
17 5.5
28.5
φ
3 depth 3
+0.03
0
3 depth 3
+0.05
0
4
30
25
175.5
10
φ
3 depth 3
+0.03
0
3 depth 3
+0.05
0
4-M4 through
8-M4, depth 4 (*)
(same on opposite side)
3-M4, depth 4
Home
4-M4, depth 4 (*)
+0.03
0
4-M4, depth 6
* Screw-in depths shall not exceed the dimensions shown above.
2.8 Single Guide Types
GS4NA, GS4N (Lead screw, Ball screw)
4
2
ST L1
10 L2
3015
30
2-3 depth 3
(same on opposite side)
+0.05
0
2-φ3 depth 3 (same on opposite side)
+0.03
0
737
ME
10.5
22.6
26
43
4
4
4
30
34
49
51
205
20 6
φ
3 depth 3
+0.03
0
3 depth 3
+0.05
0
34
4
20 7
25
10 30
28.5
φ
3 depth 3
+0.03
0
3 depth 3
+0.05
0
4
3010
25
207
φ
3 depth 3
+0.03
0
3 depth 3
+0.05
0
4-M4, depth 8
4-M4 through
8-M4, depth 5
(same on opposite side)
Home
4-M4, depth 5
3-M4, depth 8
Weight [kg]
ST L1 L2
Lead screw Ball screw
30 89.5 73.5 0.32 0.32
50 109.5 93.5 0.36 0.36
(Note) Only 30mm is available for the stroke of Lead Screw
GS3N Type.
Weight [kg]
ST L1 L2
Lead screw Ball screw
30 98 80 0.55 0.57
50 118 100 0.62 0.63
(Note) Only 30mm is available for the stroke of Lead
Screw GS4N Type.
19
2.9 Double Guide Types
GD3NA, GD3N (Lead screw, Ball screw)
4
2
ST
30
15 30
44 6
L1
8
L2
2-φ3 depth 3 (same on opposite side)
2-3 depth 3
(same on opposite side)
22.6
44 6
20 4
10.5
4
20
1
164
40 7
28
24
56
54
17
3 depth 3
+0.05
0
φ
3 depth 3
+0.03
0
4
25
3010
175.5
3 depth3
φ
3 depth 3
ME
4
3010
25
17 5.5
28.5
φ
3 depth 3
+0.03
0
3 depth 3
+0.05
0
4-M4 through
8-M4, depth6
(same on opposite side)
Home
4-M4, depth 6
4-M4, depth 4
+0.03
0
+0.05
0
+0.05
0
4-M4, depth 6
+0.03
0
2.10 Double Guide Types
GD4NA, GD4N (Lead screw, Ball screw)
Weight [kg]
ST L1 L2
Lead screw Ball screw
30 89.5 73.5 0.41 0.41
50 109.5 93.5 0.48 0.48
(Note) Only 30mm is available for the stroke of Lead Screw
GD3N Type.
4
2
ST
30
54 7
L1
10 L2
30
15
2-3 depth 3
(same on opposite side)
+0.05
0
2-φ3 depth 3 (same on opposite side)
ME
10.5
56 6
22.6
26 4
28
4
1
205
48 9
66
68
30
34
19
φ
3 depth 3
+0.03
0
3 depth 3
4
30
25
207
φ
3 depth 3
+0.03
0
3 depth 3
+0.05
0
10
4
25
3010
20 7
28.5
φ
3 depth 3
+0.03
0
3 depth 3
+0.05
0
4-M4 through
8-M4, depth 8
(same on opposite side)
Home
4-M4, depth 8
4-M4, depth 8
4-M4, depth 8
+0.05
0
+0.03
0
Weight [kg]
ST L1 L2
Lead screw Ball screw
30 98 80 0.64 0.65
50 118 100 0.76 0.76
(Note) Only 30mm is available for the stroke of Lead Screw
GD4N Type.
2. External Diagrams
20
2.11 Slide Unit Types
SD3NA, SD3N (Lead screw, Ball screw)
2.12 Slide Unit Types
SD4NA, SD4N (Lead screw, Ball screw)
-
2
ST
L1 ST
4
L1
8 8 73.5
30
10
25
17
1
3 depth 3
+0.05
0
φ
3 depth 3
+0.03
0
28
8
5.5
ME
4
3015
30
44 6
38
52
L2 4
2-3 depth 3 (same on opposite si de)
+0.05
0
2-φ3 depth 3 (same on opposite si de)
+0.03
0
56
2
2×2-φ3.3
60
29
23.5
1
44
2×2-M4, depth 8
2×4-M4 depth 6
(same on opposite side)
2×2-φ4, H7 depth 5
4-M4, depth 6
Home
D
2
4
ST
ST
20
25
3010
34
10
80810
3 depth 3
+0.05
0
φ
3 depth 3
+0.03
0
7
L1
1
ME
4
L2
5
45
62
54 7
30
3015
2-3 depth 3 (same on opposite side)
+0.05
0
2-φ3 depth 3
(same on opposite side)
+0.03
0
68 2
72
52
29
35
1
2×4-M4, depth 8
(same on opposite side)
4-M4, depth 8
Home
2×2-M5, depth 10
2×2-φ4, H7 depth 5
2×2-φ4.2
Weight [kg]
ST L1 L2
Lead screw Ball screw
25 131 123 0.48 0.48
50 156 146 0.5 0.5
Weight [kg]
ST L1 L2
Lead screw Ball screw
25 141 131 0.71 0.73
50 166 156 0.73 0.75
75 191 181 0.75 0.77
2. External Diagrams
21
3. Cable Drawings
3.1 ASEP Controller Cables
RCA2 Integrated motor/encoder cable
(CB-APSEP-MPA***)
*** indicates the cable length (L). Up to 10 m can be specified.
Example) 080 = 8 m
Model Nameplate
Lot number
(25)
(15)
(30)
[1][2]
[3][4]
[5] [6]
L
No. Item Model number Manufacturer
1 Housing
D-1100D 1-1827863-1
(black, 2.0-mm pitch, 22 poles)
2 Contact
D-1 1827570-2 (AWG 22 to 18, 1.08 to 1.6 I)
AMP
3 Housing PADP-24V-1-S (white, 2.0-mm pitch, 24 poles)
4 Contact
SPND-001T-C0.5 (AWG 26 to 22, 1.0 to 1.5 I)
JST
5 Coupler cover TMS-4ZB008
TATSUTA ELECTRIC
WIRE & CABLE
6 ZUL2854-OHFRPCVVSW
25AWG x 6P + 25AWG x 2C + 22AWG x 6C,
TS08V0350
TATSUTA ELECTRIC
WIRE & CABLE
3. Cable Drawings
3. Cable Drawings
22
Terminal number
on actuator side
Terminal number
on controller side
Wiring diagram
[PCON] (ACON)
Black
White
Brown
Green
Yellow
Red
Orange
Gray
White
Yellow
Red
Green
Black
Brown
Black
(identification tape)
Shield [FG] (FG)
]3[]1[
Brown
(identification tape)
Green
(identification tape)
Red
(identification tape)
White
(identification tape)
Yellow (ID tape)
3.2 ACON, ASEL Controller Cables
RCA2 Integrated motor/encoder cable
(CB-ACS-MPA***)
*** indicates the cable length (L). Up to 10 m can be specified.
Example) 080 = 8 m
[7]
[1][2]
[7]
[3][4]
[5][6]
Model Nameplate
No. Item Model number Manufacturer
[1] Receptacle housing D-1100D 1-1827863-1 AMP
[2] Receptacle contact D-1 1827570-2 AMP
[3] Socket DF1E-3S-2.5C Hirose
[4] Socket contact DF1E-2022SCF Hirose
[5] Housing PHDR-18VR JST
[6] Contact SPHD-001T-P0.5 JST
[7] UL2854-VVSWKA TS06V1200 (25AWG x 7P + 22AWG x 6C)
TATSUTA ELECTRIC
WIRE & CABLE
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