IAI America RCA2-TW4N User Manual

ROBO Cylinder

RCA2 Actuator

Table Type

Operating Manual

Ninth Edition

Motor unit types

[Slim Small ROBO Cylinders]
Short types

Motor coupling types

Motor reversing types

Compact types

Wide types

Flat types

[Slim Small ROBO Cylinder] TA4C

TA5C, TA6C, TA7C

[Slim Small ROBO Cylinder] TA4R

TA5R, TA6R, TA7R

TCA3NA, TCA4NA, TCA3N, TCA4N

TWA3NA, TWA4NA, TWA3N, TWA4N

TFA3NA, TFA4NA, TFA3N, TFA4N

IAI America, Inc.

Please Read Before Use

Thank you for purchasing our product.

This Operating Manual describes all necessary information to operate this product safely such as the

operation procedure, structure and maintenance procedure.

Before operation, read this manual carefully and fully understand it to operate this product safely. The

enclosed CD/DVD in this product package includes the Operating Manual for this product.

For the operation of this product, print out the necessary sections in the Operating Manual or display them

using the personal computer.

After reading through this manual, keep this Operating Manual at hand so that the operator of this

product can read it whenever necessary.

[Important]

This Operating Manual is original.

The product cannot be operated in any way unless expressly specified in this Operating Manual.

IAI shall assume no responsibility for the outcome of any operation not specified herein.

Information contained in this Operating Manual is subject to change without notice for the

purpose of product improvement.

If you have any question or comment regarding the content of this manual, please contact the

IAI sales office near you.

Using or copying all or part of this Operating Manual without permission is prohibited.

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

sentences are registered trademarks.

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 Motor Unit Types .........................................................................................................................11

1.1.1 Motor coupling types

RCA2-TA4C, TA5C, TA6C, TA7C .................................................................................11

1.1.2 Motor reversing types

RCA2-TA4R, TA5R, TA6R, TA7R (AC Servo Motor) ...................................................11

1.2 Short Types ..................................................................................................................................12

1.2.1 Compact types

RCA2-TCA3N (Slide screw, Ball screw), TCA4N (Slide screw, Ball screw) ............... 12

1.2.2 Wide types

RCA2-TWA3N (Slide screw, Ball screw), TWA4N (Slide screw, Ball screw) ..............12

1.2.3 Flat types

RCA2-TFA3N (Slide screw, Ball screw), TFA4N (Slide screw, Ball screw) ................13

2. External Dimensions ...................................................................................................14

2.1 RCA2-TA4C .................................................................................................................................14

2.2 RCA2-TA5C .................................................................................................................................15

2.3 RCA2-TA6C .................................................................................................................................16

2.4 RCA2-TA7C .................................................................................................................................17

2.5 RCA2-TA4R .................................................................................................................................18

2.6 RCA2-TA5R, Reversing to Left (Right) ......................................................................................19

2.7 RCA2-TA6R, Reversing to Left (Right) ......................................................................................20

2.8 RCA2-TA7R, Reversing to Left (Right) ......................................................................................21

2.9 RCA2-TCA3N (Slide screw, Ball screw) ....................................................................................22

2.10 RCA2-TCA4N (Slide screw, Ball screw) ....................................................................................23

2.11 RCA2-TWA3N (Slide screw, Ball screw) ....................................................................................24

2.12 RCA2-TWA4N (Slide screw, Ball screw) ....................................................................................25

2.13 RCA2-TFA3N (Slide screw, Ball screw) .....................................................................................26

2.14 RCA2-TFA4N (Slide screw, Ball screw) .....................................................................................27

2.15 RCA2-TC3N (Slide screw)

Ball Guide Type (Option: Model Code BG) ................................................................................28

2.16 RCA2-TC4N (Slide screw), TC4N (Ball screw)

Ball Guide Type (Option: Model Code BG) ................................................................................29

2.17 RCA2-TW3N (Slide screw)

Ball Guide Type (Option: Model Code BG) ................................................................................30

2.18 RCA2-TW4N (Slide screw), TW4N (Ball screw)

Ball Guide Type (Option: Model Code BG) ................................................................................31

2.19 RCA2-TF3N (Slide screw)

Ball Guide Type (Option: Model Code BG) ................................................................................32

2.20 RCA2-TF4N (Slide screw), TF4N (Ball screw)

Ball Guide Type (Option: Model Code BG) ................................................................................33

3. Cable Drawings ...........................................................................................................34

3.1 ASEP Controller Cables ..............................................................................................................34

3.2 ACON, ASEL Controller Cables .................................................................................................35

4. Options.........................................................................................................................36

4.1 Optional Connector Cable Exit Direction ....................................................................................36

4.2 Power-saving Function ...............................................................................................................36

4.3 Brake Type ...................................................................................................................................36

4.4 Reversed-home Specification .....................................................................................................36

4.5 Cable Exit Direction Changed.....................................................................................................37

5. Checking after Unpacking ...........................................................................................38

5.1 Included Items .............................................................................................................................38

5.2 Operation Manuals Relating to This Product .............................................................................38

5.3 How to Read Model Nameplate .................................................................................................38

5.4 How to Read Model .....................................................................................................................39

6. Specifications ..............................................................................................................40

7. Operation .....................................................................................................................52

7.1 Operational Conditions for Positioning Operation......................................................................52

8. Installation Environment and Storage Environment ..................................................62

8.1 Installation Environment ..............................................................................................................62

8.2 Storage Environment ..................................................................................................................62

9. Installation ....................................................................................................................63

9.1 Installation of Actuator .................................................................................................................63

9.1.1 Motor unit types TA4*, TA5*, TA6*, TA7* ......................................................................63

9.1.2 Short types .....................................................................................................................65

9.2 Installation Surface ......................................................................................................................74

9.3 Installation of the Load ................................................................................................................75

9.3.1 Motor unit types TA4*, TA5*, TA6*, TA7* ......................................................................75

9.3.2 Short types .....................................................................................................................76

9.4 T Grooves ....................................................................................................................................82

10. Connection with Controller ..........................................................................................83

11. Notes on Operation .....................................................................................................87

11.1 Placing a Load on the Actuator ...................................................................................................87

11.1.1 Positioning the guide to calculate the load moment .....................................................90

11.1.2 Thrust direction external force .......................................................................................91

11.2 Adjusting the Home Position .......................................................................................................92

11.3 Changing the Home Position Direction ......................................................................................92

11.4 How to Move Table by Hand .......................................................................................................93

12. Life ...............................................................................................................................94

12.1 Life of Actuator Using Ball Screws ..............................................................................................94

12.2 Life of Actuator Using Slide-screws ............................................................................................94

12.2.1 Relationship of Cycle Time and Product Life ................................................................95

13. Maintenance and Inspection .......................................................................................96

13.1 Inspection Items and Schedule ..................................................................................................96

13.2 Visual Inspection of Exterior ........................................................................................................96

13.3 Cleaning .......................................................................................................................................97

13.4 Internal Inspections .....................................................................................................................97

13.4.1 Motor unit types ..............................................................................................................97

13.4.2 Short types .....................................................................................................................98

13.5 Internal Cleaning .......................................................................................................................100

13.6 Greasing ....................................................................................................................................100

13.6.1 Applicable greases for guide .......................................................................................100

13.6.2 Applicable grease for ball screw..................................................................................101

13.6.3 How to apply grease ....................................................................................................102

13.7 Belt .............................................................................................................................................107

13.7.1 Inspection of Belt ..........................................................................................................107

13.7.2 Applicable Belt .............................................................................................................107

13.7.3 Adjustment of Belt Tension ..........................................................................................107

13.8 Motor Replacement (AC Servo Motor: RCA2) ........................................................................108

13.9 Replacement of Belt and Motor for Reversing Type (AC Servo Motor: RCA2) .....................112

13.10 How to Replace Spiral Cover....................................................................................................116

14. Warranty ....................................................................................................................119

14.1 Warranty Period .........................................................................................................................119

14.2 Scope of Warranty ..................................................................................................................... 119

14.3 Honoring the Warranty ............................................................................................................. 119

14.4 Limited Liability ..........................................................................................................................120

14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,

and Applications ........................................................................................................................120

14.6 Other Items Excluded from Warranty .......................................................................................120

Appendix: Using the home position marks ....................................................................121

Change History ................................................................................................................122

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.

1 Model

Operation

Description

Selection

Description

 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.)

 Do not use the product outside the specifications. Failure to do so may

considerably shorten the life of the product.

 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

 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.

1

No.

Operation

Description

Description

2 Transportation  When carrying a heavy object, do the work with two or more persons or

utilize equipment such as crane.

 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.

 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.

 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 operation manual for each model.
 Do not step or sit on the package.
 Do not put any heavy thing that can deform the package, on it.
 When using a crane capable of 1t or more of weight, have an operator

who has qualifications for crane operation and sling work.
 When using a crane or equivalent equipments, make sure not to hang a

load that weighs more than the equipment’s capability limit.
 Use a hook that is suitable for the load. Consider the safety factor of the

hook in such factors as shear strength.
 Do not get on the load that is hung on a crane.
 Do not leave a load hung up with a crane.
 Do not stand under the load that is hung up with a crane.

3 Storage and

Preservation

 The storage and preservation environment conforms to the installation

environment. However, especially give consideration to the prevention

of condensation.
 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.
 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.
 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.
 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

2

No.

Operation

Description

4 Installation

and Start

Description

(2) Cable Wiring
 Use our company’s genuine cables for connecting between the actuator

and controller, and for the teaching tool.

 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.

 Perform the wiring for the product, after turning OFF the power to the

unit, so that there is no wiring error.

 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.

 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.

 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.
(3) Grounding
 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.
 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).

 Perform Class D Grounding (former Class 3 Grounding with ground

resistance 100 or below).

3

No.

4 Installation

Operation

Description

and Start

Description

(4) Safety Measures
 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.

 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.

 Make sure to install the emergency stop circuit so that the unit can be

stopped immediately in an emergency during the unit operation.

 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.

 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.

 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.

 Take the measure so that the work part is not dropped in power failure

or emergency stop.

 Wear protection gloves, goggle or safety shoes, as necessary, to

secure safety.

 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.

 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  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.

 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.

 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.

 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.

 Place a sign “Under Operation” at the position easy to see.
 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.

4

No.

Operation

Description

6 Trial

Operation

7 Automatic

Operation

Description

 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.

 After the teaching or programming operation, perform the check

operation one step by one step and then shift to the automatic
operation.

 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.

 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.

 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.

 Check before starting the automatic operation or rebooting after

operation stop that there is nobody in the safety protection fence.

 Before starting automatic operation, make sure that all peripheral

equipment is in an automatic-operation-ready state and there is no
alarm indication.

 Make sure to operate automatic operation start from outside of the

safety protection fence.

 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.

 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.

5

No.

8 Maintenance

Operation

Description

and
Inspection

Description

 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.

 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.

 When the work is to be performed inside the safety protection fence,

basically turn OFF the power switch.

 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.

 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.

 Place a sign “Under Operation” at the position easy to see.
 For the grease for the guide or ball screw, use appropriate grease

according to the Operation Manual for each model.

 Do not perform the dielectric strength test. Failure to do so may result in

a damage to the product.

 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.

 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.

 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

 Do not modify, disassemble, assemble or use of maintenance parts not

specified based at your own discretion.

10 Disposal  When the product becomes no longer usable or necessary, dispose of it

properly as an industrial waste.

 When removing the actuator for disposal, pay attention to drop of

components when detaching screws.

 Do not put the product in a fire when disposing of it.

The product may burst or generate toxic gases.

11 Other  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.

 See Overseas Specifications Compliance Manual to check whether

complies if necessary.

 For the handling of actuators and controllers, follow the dedicated

operation manual of each unit to ensure the safety.

6

Alert Indication

The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to
the warning level, as follows, and described in the Operation Manual for each model.

Level Degree of Danger and Damage Symbol

This indicates an imminently hazardous situation which, if the

Danger

Warning

Caution

product is not handled correctly, will result in death or serious
injury.

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

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

Danger

Warning

Caution

Notice

This indicates lower possibility for the injury, but should be kept to
use this product properly.

Notice

7

Handling Precautions

1. Do Not Set Speed and Acceleration/Deceleration Higher
Than the Rated Values.

Do not set speed and acceleration/deceleration higher than the rated values. It causes vibration, failure, or
shortening of life. If acceleration/deceleration higher than the rated value is set, creeping phenomenon or
coupling slide may occur.

2. The Allowable Load Moment Must be Within the Tolerance.

The allowable load moment must be within the tolerance value. If a load exceeding the allowable load
moment is applied, the life may be shortened. If an extreme load is applied, flaking may occur.

3. Oil Film of Grease May Run Out If Short-distance
Reciprocating Operation is Performed.

When performing continuous reciprocating operation of a distance of 30 mm or shorter, oil film of grease
may run out. To recover oil film, perform approximately five cycles of a distance of 50 mm or longer, every
5,000 to 10,000 cycles, as a guideline

4. Handling of Spiral Cover

The spiral covers used on short types (TC3N, TC4N, TW3N, TW4N, TF3N, TF4N) are each made of a thin
sheet rolled into a spiral form. Exercise caution not to bump the spiral sheet or press it strongly with fingers,
because the spiral sheet may deform.

Spiral cover

5. Make sure to attach the actuator properly by following this
operation manual.

Using the product with the actuator not being certainly retained or affixed may cause abnormal noise, vibration,
malfunction or shorten the product life.

8

6. Transportation

6.1 Handling a Single Actuator

Please adhere to the following when handling a single actuator.

6.1.1 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.

6.1.2 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”.

9

6.2 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.

10

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.
Also, the front side means the side opposite from the motor.

1.1 Motor Unit Types

1.1.1 Motor coupling types

RCA2-TA4C, TA5 C, TA 6C, TA7C

Right

Other side

Front plate

Left

Motor unit Connector

* Refer to 2, “External Dimensions” for details.
* The connector position shown above is for when cable exit direction is not changed.

Ball screw cover

Motor side

Table

1. Part Names

1.1.2 Motor reversing types

RCA2-TA4R, TA5R, TA6R, TA7R (AC Servo Motor)

Ball screw cover

Reversing bracket

Motor side

Other side

Front plate

Right

Left

Connector

Table

Motor unit

* Refer to 2, “External Dimensions” for details.

Caution: When the table has moved away from its home position, there is a gap between the table and

the motor unit. Keep hands clear of gap.

11

1.2 Short Types

1.2.1 Compact types

1. Part Names

RCA2-TCA3NA, TCA3N (Slide screw, Ball screw),
TCA4NA,TCA4N (Slide screw, Ball screw)

Connector Cover

Table

Right Side

Left Side

RearFront

Front Plate

* Refer to 2, “External Dimensions” for details.

1.2.2 Wide types

RCA2-TWA3NA, TWA3N (Slide screw, Ball screw),
TWA4NA,TWA4N (Slide screw, Ball screw)

Table

Right Side

Left Side

Cable

Main Body (Aluminum Frame)

Connector Cover

RearFront

Front Plate

* Refer to 2, “External Dimensions” for details.

12

Cable

Main Body (Aluminum Frame)

1.2.3 Flat types

RCA2-TFA3NA, TFA3N (Slide screw, Ball screw),
TFA4NA, TFA4N (Slide screw, Ball screw)

1. Part Names

Connector Cover

Table

Front Plate

Right Side

Left Side

* Refer to 2, “External Dimensions” for details.

RearFront

Cable

Main Body (Aluminum Frame)

13

2. External Dimensions

2.1 RCA2-TA4C

44.5

2. External Dimensions

H-M4, depth 6

16 G× 40

20

Brake type

5

40

(Reamed hole/

long hole pitch)

4H7, depth 4.5

(from top face of table)

37

40

ME

3

L

Home

(from top face of table)

C 92

4H7, deapth 4.5

A 2

B 25.5

8

ST

SEME

3

9.537.51

13

5

With brake

brake

Without

6.7 18

5

50

(Reamed hole/

long hole pitch)

(from bottom face of table)

4H7, deapth 4.5

5

F

E× 50

ABCDEFGHJ

L Weight [kg]

ST

With brake

Without

brake

20 214.5 259 89 97 122.5 90.5 1 30.5 1 4 6 0.8 1.0

30 224.5 269 99 107 132.5 100.5 1 40.5 1 4 6 0.8 1.0

40 234.5 279 109 117 142.5 110.5 1 50.5 1 4 6 0.8 1.0

50 244.5 289 119 127 152.5 120.5 1 60.5 1 4 6 0.9 1.1

60 254.5 299 129 137 162.5 130.5 2 20.5 2 6 8 0.9 1.1

70 264.5 309 139 147 172.5 140.5 2 30.5 2 6 8 0.9 1.1

80 274.5 319 149 157 182.5 150.5 2 40.5 2 6 8 1.0 1.2

90 284.5 329 159 167 192.5 160.5 2 50.5 2 6 8 1.0 1.2

100 294.5 339 169 177 202.5 170.5 2 60.5 2 6 8 1.0 1.2

5

12 D 20

J-M4,

depth 7.5

31

4H7, depth 4.5

(from bottom face of base)

37.5

32

18

14

37

29

40

115

90 25

5

29

Depth 6

3-M5, depth 7

48

(Side view of motor unit when cable exit direction is changed (option))

2.2 RCA2-TA5C

50

32

2. External Dimensions

18

117.5

92.5 25

H-M5, depth 6

5H7, depth 5

5H7, depth 5

(Side view of motor unit when cable exit direction is changed (option))

5H7, depth 5

φ

5H7, depth 5

φ

J-M5, depth 10

With brake

Without

brake

Brake type

Detail view of T-groove (2:1)

3-M6, depth 10

ABCDEFGHJ

With brake

L Weight [kg]

brake

Without

25 244 284.5 103 113 135.5 103 1 43 1 4 6 1.2 1.5

50 269 309.5 128 138 160.5 128 1 68 1 4 6 1.4 1.7

75 294 334.5 153 163 185.5 153 2 43 2 6 8 1.5 1.8

ST

100 319 359.5 178 188 210.5 178 2 68 2 6 8 1.7 2.0

15

2.3 RCA2-TA6C

57

32

18

2. External Dimensions

H-M5, depth 8

3-M6, depth 13

121

5H7, depth 5

5H7, depth 5

96 25

(Side view of motor unit when cable exit direction is changed (option))

5H7, depth 5

φ

5H7, depth 5

φ

J-M5, depth 10

With brake

Without

brake

Brake type

Detail view of T-groove (2:1)

16

L Weight [kg]

ABCDEFGHJ

With brake

brake

Without

ST

25 244.5 284 108 121 147.5 110.5 1 50.5 1 4 6 1.8 2.2

50 269.5 3.9 133 146 172.5 135. 5 1 75.5 1 4 6 2.0 2.4

75 194.5 334 158 171 197.5 160.5 2 50.5 2 6 8 2.2 2.6

100 319.5 359 183 196 222.5 185.5 2 75.5 2 6 8 2.4 2.8

125 344.5 384 208 221 247.5 210.5 3 50.5 3 8 10 2.6 3.0

150 369.5 409 233 246 272.5 235.5 3 75.5 3 8 10 2.8 3.2

2.4 RCA2-TA7C

H-M6, depth 10

depth 6
6H7,

depth 6
6H7,

121

57

32

2. External Dimensions

18

96 25

(Side view of motor unit when cable exit direction is changed (option))

6H7, depth 6

φ

6H7, depth 6

φ

Brake type

3-M8, depth 15

J-M6, depth 12

Detail view of T-groove (2:1)

L Weight [kg]

With brake

brake

Without

ABCDEFGHJ

With brake

brake

Without

25 261.5 301 118 133 149.5 110.5 1 50.5 1 4 6 2.1 2.5

50 286.5 328 143 158 174.5 135.5 1 75.5 1 4 6 2.3 2.7

75 311.5 351 168 183 199.5 160.5 2 50.5 2 6 8 2.5 2.9

ST

100 336.5 376 193 208 224.5 185.5 2 75.5 2 6 8 2.8 3.2

125 361.5 401 218 233 249.5 210. 5 3 50.5 3 8 10 3.0 3.4

150 386.5 426 243 258 274.5 235. 5 3 75.5 3 8 10 3.2 3.6

175 411.5 451 268 283 299.5 260.5 4 50.5 4 10 12 3.4 3.8

200 436.5 476 293 308 324.5 285.5 4 75.5 4 10 12 3.6 4.0

17

2.5 RCA2-TA4R

2. External Dimensions

(from top face of table)

4H7, depth 4.5

5

5

With brake

37

40

Weight [kg]

brake

Without

ME

Home

bottom face of base)

126.2 (standard)

L

158.2 (Brake type)

A 2

B 32

4H7, depth 4.5(from

5

40

G×40

50

(Reamed hole/

long hole pitch)

20 129 89 97 90.5 1 30.5 1 4 6 0.8 1.0

30 139 99 107 100.5 1 40.5 1 4 6 0.9 1.1

40 149 109 117 110.5 1 50.5 1 4 6 0.9 1.1

50 159 119 127 120.5 1 60.5 1 4 6 0.9 1.1

60 169 129 137 130.5 2 20.5 2 6 8 1.0 1.2

70 179 139 147 140.5 2 30.5 2 6 8 1.0 1.2

80 189 149 157 150.5 2 40.5 2 6 8 1.0 1.2

ST L A B D E F G H J

90 199 159 167 160.5 2 50.5 2 6 8 1.1 1.3

100 209 169 177 170.5 2 60.5 2 6 8 1.1 1.3

5 E× 50 F 5

16

20

4H7, depth 4.5

φ

(from top face of table)

H-M4, depth 6

Ensure 100 or more

8

ST

SEME

3 3

12 D 7 19.5

J-M4,

depth 7.5

37 11

37.9

31

4H7, depth 4.5

φ

(from bottom face of base)

37.5

32

18

3.1

81

Brake type

115

90 25

(Side view of motor unit when cable exit direction is changed (option))

3-M5,

29

5

13

depth 6

48

37

40

5

29

18

2.6 RCA2-TA5R, Reversing to Left (Right)

2. External Dimensions

Scale 2:1

Detail view of A

117.5

92.5 25

50

32

(Without brake)

5H7, depth 5

5H7, depth 5

H-M5, depth 5

φ

J-M5, depth 10

5H7, depth 5

φ

With brake

Weight [kg]

brake

Without

5H7, depth 5

18

(With brake)

3-M6, depth 10

Brake type

(Side view of motor unit when cable exit direction is changed (option))

25 151 103 113 103 1 43 1 4 6 1.4 1.7

50 176 128 138 128 1 68 1 4 6 1.6 1.9

ST L A B D E F G H J

table (at the home position).

75 201 153 163 153 2 43 2 6 8 1.7 2.0

100 226 178 188 178 2 68 2 6 8 1.9 2.2

(*) On ST-25 models brake types, the motor unit projects from the tip of the

19

2.7 RCA2-TA6R, Reversing to Left (Right)

2. External Dimensions

Scale 2:1

Detail view of A

121

5H7, depth 5

5H7, depth 5

H-M5, depth 8

57

φ

32

(Without brake)

5H7, depth 5

5H7, depth 5

φ

H-M5, depth 10

With brake

Weight [kg]

brake

Without

18

(With brake)

Brake type

3-M6, depth 13

96 25

20

(Side view of motor unit when cable exit direction is changed (option))

25 161.5 108 121 110.5 1 50.5 1 4 6 2.1 2.5

50 186.5 133 146 135.5 1 75.5 1 4 6 2.3 2.7

75 211.5 158 171 160.5 2 50.5 2 6 8 2.5 2.9

ST L A B D E F G H J

100 236.5 183 196 185.5 2 75.5 2 6 8 2.7 3.1

table (at the home position).

125 261.5 208 221 210.5 3 50.5 3 8 10 2.9 3.3

150 286.5 233 246 235.5 3 75.5 3 8 10 3.1 3.5

(*) On ST-25 models brake types, the motor unit projects from the tip of the

2.8 RCA2-TA7R, Reversing to Left (Right)

5

74

71

(138.5)

126 12.5

5.5

1.82.7

5.8

3.3

2. External Dimensions

Scale 1:1

Detail view of A

6H7, depth 6

G× 5 0

30

3

MEORG

30.5

L

A15

B

7

154.7 (Without brake)

50

27

D19.5

6.5

6H7, depth 6

7

50

5 E× 50 F 5

36

64

ST

6H7, depth 6

F

H-M6, depth 10

SEME

3

J-M6, depth 12

With brake

6H7, depth 6

F

Weight [kg]

brake

Without

53 13

58.5

(5)

A

Brake type

179.2 (With brake)

138.5

44

6.5

3-M8, depth 15

21.5

29.5

39.5

73

75

5

66

25 163.5 118 133 110.5 1 50.5 1 4 6 2.4 2.8

50 188.5 143 158 135.5 1 75.5 1 4 6 2.6 3.0

75 213.5 168 183 160.5 2 50.5 2 6 8 2.8 3.2

ST L A B D E F G H J

100 238.5 193 208 185.5 2 75.5 2 6 8 3.1 3.5

125 263.5 218 233 210.5 3 50.5 3 8 10 3.3 3.7

150 288.5 243 258 235.5 3 75.5 3 8 10 3.5 3.9

(at the home position).

175 313.5 268 283 260.5 4 50.5 4 10 12 3.7 4.1

200 338.5 293 308 285.5 4 75.5 4 10 12 3.9 4.3

(*) On ST-25 models brake type, the m otor unit projects from the tipof the table

21

2.9 RCA2-TCA3NA, RCA2-TCA3N (Slide screw, Ball screw)

3 22

2-M4, depth 6

10.5

22 4

30

0.37

0.44

Weight [kg]

B

73.5

93.5

A

86.5

106.5

L

89.5

109.5

30

50

ST

Equipped with Gauge Slippage

Protection Function

2. External Dimensions

+0.030

0

3 depth 3

F

46

26 40

(Note) Only 30mm is available for the

stroke of Slide Screw TCA3N Type.

Ensure

2-M3, depth 3

100 or more

4-M4, depth 5.5

7

+0.050

0

3 depth 3

F

89.5

86.5

4

26 40

ME

2

20 6

30

Home

8 73.5

8

+0.050

0

3 depth 3

F

4

195.5

+0.030

0

3 depth 3

F

3010

25

4-M4, depth 4

22

45

43

0

3 depth 3

+0.050

16

4

167

23

32

31

22.6
Connector Cable exit direction: K2

4-M4, through

+0.030

0

3 depth 3

F

2.10 RCA2-TCA4NA, RCA2-TCA4N (Slide screw, Ball screw)

2-M4, depth 8

[Option] Cable Exit Direction: K2

426

34

4 26

0.48

0.60

Weight [kg]

B

80

100

A

95

115

L

98

118

30

50

ST

Equipped with Gauge Slippage

Protection Function

(Note) Only 30mm is available for the

stroke of Slide Screw TCA4N Type.

2. External Dimensions

+0.030

0

3 depth 3

F

4-M4, depth 5.5

722

+0.050

0

3 depth 3

4

48

7

2-M3, depth 4

Ensure

100 or more

+0.050

0

3 depth 3

80810

95

98

4

25

10 30

28 40

28 40

+0.030

0

3 depth 3

F

2

ME

30

Home

4-M4, depth 5

6.5 21

51

49

2420
34

0

3 depth 3

+0.050

4

+0.030

0

3 depth 3

F

4-M4, through

36

7 20

10.5

23

23

2.11 RCA2-TWA3NA, RCA2-TWA3N (Slide screw, Ball screw)

3 22

10.5
540

9

0.52

0.58

Weight [kg]

B

73.5

93.5

A

86.5

106.5

L

89.5

109.5

30

50

ST

Equipped with Gauge Slippage

Protection Function

2. External Dimensions

26 40

(Note) Only 30mm is available for the

stroke of Slide Screw TWA3N Type.

3-M4, depth 6

+0.030

0

3 depth 3

4-M4, depth 6.5

F

+0.050

0

3 depth 3

89.5

86.5

4

46

2

ME

37 6.5

Home

30

Ensure

100 or more

+0.050

3 depth 3

8 73.5

8

0

4

25

10 30

+0.030

0

3 depth 3

F

376.5

4-M4, depth 6

43

41

16

21

0

3 depth 3

+0.050

4

24

50

4-M4, through

12 26

Connector Cable exit direction: K2

29

+0.030

0

3 depth 3

F

2.12 RCA2-TWA4NA, RCA2-TWA4N (Slide screw, Ball screw)

3-M4, depth 8

[Option] Cable Exit Direction: K2

+0.050

0

3 depth 3

450

4 26

Ensure

100 or more

+0.050

0

3 depth 3

0.65

0.77

Weight [kg]

B

80

100

A

95

115

L

98

118

30

50

ST

Equipped with Gauge Slippage

Protection Function

(Note) Only 30mm is available for the

stroke of Slide Screw TWA4N Type.

2. External Dimensions

+0.030

0

3 depth 3

F

4-M4, depth 7

6.545

98

95

4

48

28 40

8 80

4

25

10 30

10

+0.030

ME

2

30

0

3 depth 3

F

4-M4, depth 8

6.5 45

Home

48

46

2120
31

0

3 depth 3

+0.050

4

58

14 30

+0.030

0

3 depth 3

F

4-M4, through

23

10.5

25

2.13 RCA2-TFA3NA, RCA2-TFA3N (Slide screw, Ball screw)

4 24

3-M4, depth 6

10.532 23 3

0.40

0.48

Weight [kg]

B

73.5

93.5

A

86.5

106.5

L

89.5

109.5

30

50

ST

Equipped with Gauge Slippage

Protection Function

2. External Dimensions

46

26 40

+0.030

0

3 depth 3

F

(Note) Only 30mm is available for the

stroke of Slide Screw TFA3N Type.

Ensure

2-M3, depth 3

100 or more

4-M4, depth 5.5

4-M4, depth 4

7

+0.050

0

+0.050

0

3 depth 3

4

89.5

86.5

3 depth 3

4

25

10 30

26 40

ME

20 35

Home

2

30

8 73.5

8

+0.030

0

3 depth 3

F

5.5 50

26

15.5

24

2-M4, through

29.5

25.5

28 1.5

57

61

Connector Cable exit direction: K2

2.14 RCA2-TFA4NA, RCA2-TFA4N (Slide screw, Ball screw)

3-M4, depth 8

[Option] Cable Exit Direction: K2

7

2-M3, depth 4

+0.050

0

3 depth 3

98

95

4

48

28 40

28 40

4 26

37 26 4

Ensure

100 or more

80810

10 30

+0.050

0

3 depth 3

25

0.60

0.72

Weight [kg]

B

80

100

A

95

115

L

98

118

30

50

ST

Equipped with Gauge Slippage

Protection Function

2. External Dimensions

(Note) Only 30mm is available for the

stroke of Slide Screw TFA4N Type.

4

+0.030

0

3 depth 3

F

4-M4, depth 5.5

4222

4-M4, depth 5

+0.030

2

ME

30

6.5 58

0

3 depth 3

F

Home

35.5

30.5
2-M4, through

18.5

71

39 28

17

23

34 1.5

10.5

27

2.15 RCA2-TC3N (Slide screw) Ball Guide Type (Option: Model Code BG)

2-M4, depth 6

ST Weight [kg]

30 0.37

2. External Dimensions

depth 3

0+0.030

3

4-M4, depth 5.5

[Option] Cable Exit Direction Changed

depth 3

0+0.050

3

2-M3, depth 3

ME

Home

Ensure

100mm or more

73.5

depth 3

0+0.050

3

depth 3

0+0.030

3

4-M4, depth 4

28

0

3

depth 3

0.050

+

depth 3

0+0.030

4-M4, through

3

2.16 RCA2-TC4N (Slide screw), TC4N (Ball screw) Ball Guide Type (Option: Model Code BG)

depth 3

0+0.030

3

4-M4, depth 6

2-M4, depth 8

[Option] Cable Exit Direction Changed

depth 3

0+0.050

3

2-M3, depth 4

33

ME

Home

Ensure

100 or more

depth 3

0+0.050

3

ST Weight [kg]

30 0.48

depth 3

0+0.030

3

4-M4, depth 5

2. External Dimensions

0

3

depth 3

0.050

+

depth 3

0+0.030

3

4-M4, through

29

2.17 RCA2-TW3N (Slide screw) Ball Guide Type (Option: Model Code BG)

3-M4, depth 6

ST Weight [kg]

30 0.52

2. External Dimensions

depth 3

0+0.030

3

4-M4, depth 8

[Option] Cable Exit Direction Changed

depth 3

0+0.050

3

ME

Home

Ensure

100 or more

depth 3

0+0.050

3

depth 3

4-M4, depth 6

0+0.030

3

30

0

3

depth 3

0.050

+

depth 3

0+0.030

3

4-M4, through

2.18 RCA2-TW4N (Slide screw), TW4N (Ball screw) Ball Guide Type (Option: Model Code BG)

depth 3

0+0.030

3

4-M4, depth 8

4-M4, depth 8

[Option] Cable Exit Direction Changed

depth 3

0+0.050

3

ME

Home

Ensure

100 or more

depth 3

0+0.050

3

ST Weight [kg]

30 0.65

depth 3

4-M4, depth 8

0+0.030

3

2. External Dimensions

0

3

depth 3

0.050

+

depth 3

0+0.030

3

4-M4, through

31

2.19 RCA2-TF3N (Slide screw) Ball Guide Type (Option: Model Code BG)

3-M4, depth 6

ST Weight [kg]

30 0.4

2. External Dimensions

depth 3

0+0.030

3

4-M4, depth 5.5

[Option] Cable Exit Direction Changed

depth 3

0+0.050

3

2-M3, depth 3

ME

Home

Ensure

100 or more

depth 3

0+0.050

3

depth 3

4-M4, depth 4

0+0.030

3

32

2-M4, through

2.20 RCA2-TF4N (Slide screw), TF4N (Ball screw) Ball Guide Type (Option: Model Code BG)

3-M4, depth 8

[Option] Cable Exit Direction Changed

Ensure

100 or more

depth 3

0+0.050

3

depth 3

0+0.050

3

ST Weight [kg]

30 0.6

2. External Dimensions

depth 3

0+0.030

3

4-M4, depth 6

ME

Home

2-M3, depth 4

2-M4, through

depth 3

4-M4, depth 5

0+0.030

3

33

3. Cable Drawings

3.1 ASEP Controller Cables

Motor/encoder cable
(CB-APSEP-MPA***)

[1][2]

*** indicates the cable length (L). Up to 10 m can be specified.

Example) 080 = 8 m

L

(25) (15) (30)

Model Nameplate

3. Cable Drawings

No. Item Model number Manufacturer

1 Housing D-1100D 1-1827863-1 (black, 2.0-mm pitch, 22 poles)
2 Contact
3 Housing PADP-24V-1-S (white, 2.0-mm pitch, 24 poles)
4 Contact

5 Coupler cover TMS-4ZB008

ZUL2854-

6

OHFRPCVVSW

[5]

[6]

D-1 1827570-2 (AWG 22 to 18, 1.08 to 1.6 )

SPND-001T-C0.5 (AWG 26 to 22, 1.0 to 1.5 )

25AWG x 6P + 25AWG x 2C + 22AWG x 6C,
TS08V0350

Terminal number
on actuator side

[1] [3]

Wiring diagram
[PCON] (ACON)

φ

Black

White

φ

Brown

Green

φ

Yellow

Red

φ

Orange

Gray

White

Yellow

Red

Green

Black

Brown

Black

(identification tape)

Brown

(identification tape)

Green

(identification tape)

(identification tape)

White

(identification tape)

Yellow

(ID tape)

Red

Lot number

φ

φ

Terminal number
on controller side

[3][4]

AMP

JST

TATSUTA ELECTRIC
WIRE & CABLE
TATSUTA ELECTRIC
WIRE & CABLE

34

Shield [FG] (FG)

3.2 ACON, ASEL Controller Cables

]

)

[

]

y

(

RCA2 Integrated motor/encoder cable
(CB-ACS-MPA***)

*** indicates the cable length (L). Up to 10 m can be specified.

Example) 080 = 8 m

[1][2]

[3][4]

[7]

Model Nameplate

[7]

[5][6]

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)

Terminal number
on actuator side

Wiring diagram
[ABZ][Serial]

Red [U] [U]

Yellow [V] [V]

Black [W] [W]

Terminal number
on controller side

TATSUTA ELECTRIC

WIRE & CABLE

[3]

3. Cable Drawings

[1]

Yellow (Red)[BK+] [BK+]

Yellow (Blue)[BK-] [BK-]

Pink(Red)[LS+][LS+

Pink(Blue

White (Red)[A+] [-]

White (Blue)[A-] [-]

Orange (Red)[B+] [-]

Orange (Blue)[B-] [-]

Gray (Red)[Z+] [SD+]

Gray (Blue) [Z-] [SD-]

Orange (Red/continuous)[-] [BAT+]

Orange (Blue/continuous)[/PS] [BAT-]

Gray (Red/continuous)[VCC] [VCC]

Gra

Blue/continuous)[GND] [GND]

(Shield)[FG] [FG]

LS-][LS-

[5]

35

4. Options

4.1 Optional Connector Cable Exit Direction

In the standard specification, the cable exit direction is opposite to the rod and guide bracket.
If it is desired to pull out the cable on the front plate side according to the device layout, etc., the cable can
be pulled out from the opposite direction by using the option (model number: K2).

4.2 Power-saving Function

This option reduces the maximum current of the controller compared to actuator of the standard specification.
The maximum current varies depending on the model.

4. Options

Please refer to the power supply capacity in the catalog or each operation manual of ACON, ASEL, ASEP,
or AMEC controller. The model number is indicated as HS.

4.3 Brake Type

The brake is a mechanism designed to prevent the table from dropping when the power or servo is turned
off on an actuator of motor unit (TA**) type used vertically.
Use the brake to prevent the installed load, etc., from being damaged due to the falling table.

4.4 Reversed-home Specification

On motor unit types (TA**), the standard home position is on the motor side. However, you can specify an
option to reverse the home direction if it is desirable due to the layout of the system, etc.
(Note) Since the home position is adjusted at the factory before shipment, you must return your actuator to

IAI for adjustment if you wish to change the home direction after the delivery of your actuator.

36

4.5 Cable Exit Direction Changed

In case of the motor unit type (TA**), the cable exit direction is changed when a change to the cable exit
direction is made.
There are 5 ways to change the direction, which are top side (model code: CJT), right side (model code:
CJR), left side (model code: CJL), bottom side (model code: CJB) and outer side (model code: CJO).

Left Side

: CJL

Top Side: CJT

Right Side

Bottom Side
: CJB

Straight Type

: CJR

Top Side: CJT Top Side: CJT

Outer Side
: CJO

Bottom Side
: CJB

Motor Reversing Type
Reversing Direction: Left Side (ML)

Outer Side

: CJO

Bottom Side
: CJB

Motor Reversing Type
Reversing Direction: Left Side (MR)

4. Options

37

5. Checking after Unpacking

After unpacking, check the condition of the product and also check the included items.

5.1 Included Items

No. Item Model number Remarks

Refer to “How to Read Model

1 Actuator

Accessories

RCA integrated

2

motor/encoder cable

3 Home mark sticker

4 First Step Guide

Operating Manual

5

(CD/DVD)

6 Safety Guide

Nameplate” and “How to Read Model
Number.”

CB-APSEP-MPA- : ASEP type

CB-ACS-MPA-

: ACON, ASEL type

Supplied with TA4C, TA5C,
TA6C, TA7C, TA4R, TA5R,
TA6R, and TA7R

5. Checking after Unpacking

5.2 Operation Manuals Relating to This Product

1 Operation Manual for ASEL Controller ME0165

2 Operation Manual for ACON-C/CG/CF Controller ME0176

3 Operation Manual for ACON-CY Controller ME0167

4 Operation Manual for ACON-SE Controller ME0171

5 Operation Manual for ACON-PL/PO Controller ME0166

6 Operation Manual for MEC Controller ME0245

7 Operation Manual for 6120EMrellortnoCPESP/PESA

8 Operation Manual for PC Software IA-101-X-MX/IA-101-X-USBMW ME0154

9 Operation Manual for PC Software RCM-101MW/RCM-101-USB ME0155

10 Operation Manual for MEC PC Software ME0248

11 Operation Manual for Teaching Pendant SEL-T/TD ME0184

12 Operation Manual for Teaching Pendant CON-T/TG ME0178

13 Operation Manual for Touch Panel Teaching Pendant CON-PT/PD/PG ME0227

14 Operation Manual for Touch Panel Teaching Pendant SEP-PT ME0217

15 Operation Manual for Simple Teaching Pendant RCM-E ME0174

16 Operation Manual for Data Setter RCM-P ME0175

17 Operation Manual for Touch Panel Display RCM-PM-01 ME0182

lortnoCemaN.oN No.

5.3 How to Read Model Nameplate

Serial number

Model

38

MODEL RCA2-TA5C-I-20-10-25-A1-P-B

SERIAL No. 600090254

MADE IN JAPAN

5.4 How to Read Model

RCA2 - TA5C - I - 20 - 10 - 25 - A1 - P - B - **

<Series name>

<Type>

Motor unit types

Motor coupling types

TA4C
TA5C
TA6C
TA7C

Motor reversing types

TA4R
TA5R
TA6R
TA7R

Short types

Compact types

TCA3NA
TCA4NA
TCA3N
TCA4N

Wide types

TWA3NA
TWA4NA
TWA3N
TWA4N

Flat types

TFA3NA
TFA4NA
TFA3N
TFA4N

<Encoder type>

I: Incremental

<Motor type>

10 (10 W) : TA4C, TA4R,

TCA3NA, TWA3NA,
TFA3NA
TCA3N, TWA3N,
TFA3N

20 (20 W) : TCA4NA, TWA4NA

TFA4NA
TC4AN,TWA4N,
TFA4N
TA5C, TA5R,
TA6C, TA6R

30 (30 W) : TA7C, TA7R

*1 This may be displayed for the manufacturing reason.

(This is not to indicate the manufacturing model code.)

Identification for IAI use only

<Option>

B: Brake type
CJT: Optional cable exit direction (upper side)
CJR: Optional cable exit direction (right side)
CLJ: Optional cable exit direction (left side)
CJB: Optional cable exit direction (lower side)
CJO:Optional cable exit direction (outer side)
K2: Optional connector cable exit direction
LA: Power-saving function
NM: Reversed-home specification

<Cable length>

N: None
P: 1 m
S: 3 m
M: 5 m
X

: Specified length

<Applicable controller>

A1: ASEL

ACON-C/CG
ACON-CY
ACON-SE
ACON-PL/PO

A3: AMEC

ASEP

<Stroke>

<Lead>

TA3C, TA3R

2/4/6

TA4C, TA4R

2/4/6

TA5C, TA5R

2.5/5/10

TA6C, TA6R

3/6/12

TA7C, TA7R

3/6/12
TCA3NA, TWA3NA, TFA3NA,
TCA3N, TWA3N, TFA3N (Slide screw)

1S/2S/4S
TCA3NA, TWA3NA, TFA3NA,
TCA3N, TWA3N, TFA3N (Ball screw)

1/2/4
TCA4NA, TWA4NA, TFA4NA,
TCA4N, TWA4N, TFA4N (Slide screw)

2S/4S/6S
TCA4NA, TWA4NA, TFA4NA,
TCA4N, TWA4N ,TFA4N (Ball screw)

2/4/6

*1

5. Checking after Unpacking

39

6. Specifications

(1) Max. speed
The maximum speed for this ROBO Cylinder is limited due to the sympathetic vibration of the ball screw shaft
and the limitation of motor rotation speed.
Do not exceed the maximum speed shown in the table below.

Model name Motor type Lead [mm]

TA4 10W

(Note) The maximum speed may not be reached depending on the acceleration/deceleration setting.

6. Specifications

Model name Motor type Lead [mm]

TA5 20W

(Note) The maximum speed may not be reached depending on the acceleration/deceleration setting.

Values in < > are for when mounted vertically.

Strokes and maximum speed limits (Unit: mm/s)

Stroke [mm]

20 30 40 50 60 70 80 90 100

2 100

4 200

6 300

Strokes and maximum speed limits (Unit: mm/s)

Stroke [mm]

25 50 75 100

2.5 125

5 250

10 465 <400>

Strokes and maximum speed limits (Unit: mm/s)

Model name Motor type Lead [mm]

3 150

TA6 20W

(Note) The maximum speed may not be reached depending on the acceleration/deceleration setting.

Values in < > are for when mounted vertically.

Model name Motor type Lead [mm]

TA7 30W

(Note) The maximum speed may not be reached depending on the acceleration/deceleration setting.

Values in < > are for when mounted vertically.

6 300

12 560 <500>

Strokes and maximum speed limits (Unit: mm/s)

3 150

6 300

12 600 <580>

25 50 75 100 125 150

25 50 75 100 125 150 175 200

Stroke [mm]

Stroke [mm]

40

Strokes and maximum speed limits (Unit: mm/s)

Model name Motor type Lead [mm]

TCA3NA

(Lead screw)

TCA3NA

(Ball screw)

TCA4NA

(Lead screw)

TCA4NA

(Ball screw)

TWA3NA

(Lead screw)

TWA3NA

(Ball screw)

TWA4NA

(Lead screw)

TWA4NA

(Ball screw)

TFA3NA

(Lead screw)

TFA3NA

(Ball screw)

10W

10W

20W

20W

10W

10W

20W

20W

10W

10W

150 -

2 100 -

4 200 -

150 50

2 100 100

4 200 200

2 100 -

4 200 -

6 220 -

2 100 100

4 200 200

6 270 <220> 300

150 -

2 100 -

4 200 -

150 50

2 100 100

4 200 200

2 100 -

4 200 -

6 220 -

2 100 100

4 200 200

6 270 <220> 300

150 -

2 100 -

4 200 -

150 50

2 100 100

4 200 200

Stroke [mm]

30 50

6. Specifications

41

Model name Motor type Lead [mm]

TFA4NA

(Lead screw)

TFA4NA

(Ball screw)

(Note) Values in < > are for when mounted vertically.

Note : Do not set a speed or acceleration/deceleration exceeding the applicable rating. Doing so may

6. Specifications

Strokes and maximum speed limits (Unit: mm/s)

Stroke [mm]

30 50

2 100 -

20W

20W

result in vibration, failure or shorter life.
Setting the acceleration/deceleration exceeding the applicable rating may also cause creep.

4 200 -

6 220 -

2 100 100

4 200 200

6 270 <220> 300

42

Strokes and maximum speed limits (Unit: mm/s)

Model name Motor type Lead [mm]

TCA3N

TC3N (Option BG)

(Lead screw)

TCA3N

(Ball screw)

TCA4N

TC4N (Option BG)

(Lead screw)

TCA4N

TC4N (Option BG)

(Ball screw)

TWA3N

TW3N (Option BG)

(Lead screw)

TWA3N

(Ball screw)

TWA4N

(Option BG)

TW4N

(Lead screw)

TWA4N

TW4N (Option BG)

(Ball screw)

10W

10W

20W

20W

10W

10W

20W

20W

Stroke [mm]

30

150

2 100

4 200

150

2 100

4 200

2 100

4 200

6 220

2 100

4 200

6 270 <220>

150

2 100

4 200

150

2 100

4 200

2 100

4 200

6 220

2 100

4 200

6 270 <220>

6. Specifications

43

Strokes and maximum speed limits (Unit: mm/s)

Model name Motor type Lead [mm]

TFA3N

TF3N (Option BG)

(Lead screw)

TFA3N

(Ball screw)

TFA4N

TF4N (Option BG)

(Lead screw)

TFA4N

TF4N (Option BG)

(Ball screw)

10W

10W

20W

20W

Stroke [mm]

30

150

2 100

4 200

150

2 100

4 200

2 100

4 200

6 220

2 100

4 200

6 270 <220>

6. Specifications

(Note) Values in < > are for when mounted vertically.

Note : 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.

44

(2) Acceleration and load capacity

Model name Motor type Lead [mm] Rated acceleration [G]

2

TA4 10W

TA5 20W

TA6 20W

TA7 30W

(Note) Maximum speed may not be reached on all strokes.

The maximum speed for the long stroke type actuator is less than what is shown in the table.
[Refer to (1) Max. speed]

4

6

2.5

5

10

3

6

12

3

6

12

Horizontal 0.2 3

Vertical 0.2 1.5

Horizontal 0.3 2

Vertical 0.2 1

Horizontal 0.3 1

Vertical 0.2 0.5

Horizontal 0.2 5

Vertical 0.2 3

Horizontal 0.3 3.5

Vertical 0.2 2

Horizontal 0.3 2

Vertical 0.2 1

Horizontal 0.2 6

Vertical 0.2 3

Horizontal 0.3 4

Vertical 0.2 1.5

Horizontal 0.3 2

Vertical 0.2 0.5

Horizontal 0.2 8

Vertical 0.2 4

Horizontal 0.3 6

Vertical 0.2 2.5

Horizontal 0.3 4

Vertical 0.2 1

Load capacity [kg]

6. Specifications

45

Model name Motor type Lead [mm] Rated acceleration [G]

TCA3NA

TCA3N

TC3N (Option BG)

(Lead screw)

TCA3NA

TCA3N

(Ball screw)

TCA4NA

6. Specifications

TCA4N

TC4N (Option BG)

(Lead screw)

TCA4NA

TCA4N

TC4N (Option BG)

(Ball screw)

TWA3NA

TWA3N

TW3N (Option BG)

(Lead screw)

TWA3NA

TWA3N

(Ball screw)

(Note) Maximum speed may not be reached on all strokes.

The maximum speed for the long stroke type actuator is less than what is shown in the table.
[Refer to (1) Max. speed]

10W

10W

20W

20W

10W

10W

Load capacity [kg]

1

2

4

1

2

4

2

4

6

2

4

6

1

2

4

1

2

4

Horizontal 0.2 1

Vertical 0.2 0.5

Horizontal 0.2 0.5

Vertical 0.2 0.25

Horizontal 0.2 0.25

Vertical 0.2 0.125

Horizontal 0.2 3

Vertical 0.2 1

Horizontal 0.3 1.5

Vertical 0.2 0.5

Horizontal 0.3 0.75

Vertical 0.2 0.25

Horizontal 0.2 1

Vertical 0.2 0.5

Horizontal 0.2 0.5

Vertical 0.2 0.25

Horizontal 0.2 0.25

Vertical 0.2 0.125

Horizontal 0.2 6

Vertical 0.2 1.5

Horizontal 0.3 3

Vertical 0.2 0.75

Horizontal 0.3 2

Vertical 0.2 0.5

Horizontal 0.2 1

Vertical 0.2 0.5

Horizontal 0.2 0.5

Vertical 0.2 0.25

Horizontal 0.2 0.25

Vertical 0.2 0.125

Horizontal 0.2 3

Vertical 0.2 1

Horizontal 0.3 1.5

Vertical 0.2 0.5

Horizontal 0.3 0.75

Vertical 0.2 0.25

46

Model name Motor type Lead [mm] Rated acceleration [G]

2

TWA4NA

TWA4N

TW4N (Option BG)

(Lead screw)

TWA4NA

TWA4N

TW4N (Option BG)

(Ball screw)

TFA3NA

TFA3N

TF3N (Option BG)

(Lead screw)

TFA3NA

TFA3N

(Ball screw)

TFA4NA

TFA4N

TF4N (Option BG)

(Lead screw)

TFA4NA

TFA4N

TF4N (Option BG)

(Ball screw)

(Note) Maximum speed may not be reached on all strokes.

The maximum speed for the long stroke type actuator is less than what is shown in the table.
[Refer to (1) Max. speed]

20W

20W

10W

10W

20W

20W

4

6

2

4

6

1

2

4

1

2

4

2

4

6

2

4

6

Horizontal 0.2 1

Vertical 0.2 0.5

Horizontal 0.2 0.5

Vertical 0.2 0.25

Horizontal 0.2 0.25

Vertical 0.2 0.125

Horizontal 0.2 6

Vertical 0.2 1.5

Horizontal 0.3 3

Vertical 0.2 0.75

Horizontal 0.3 2

Vertical 0.2 0.5

Horizontal 0.2 1

Vertical 0.2 0.5

Horizontal 0.2 0.5

Vertical 0.2 0.25

Horizontal 0.2 0.25

Vertical 0.2 0.125

Horizontal 0.2 3

Vertical 0.2 1

Horizontal 0.3 1.5

Vertical 0.2 0.5

Horizontal 0.3 0.75

Vertical 0.2 0.25

Horizontal 0.2 1

Vertical 0.2 0.5

Horizontal 0.2 0.5

Vertical 0.2 0.25

Horizontal 0.2 0.25

Vertical 0.2 0.125

Horizontal 0.2 6

Vertical 0.2 1.5

Horizontal 0.3 3

Vertical 0.2 0.75

Horizontal 0.3 2

Vertical 0.2 0.5

Load capacity [kg]

6. Specifications

47

(3) Rated thrust

Model name Motor type Lead [mm] Rated thrust [N]

TA4 10W

TA5 20W

TA6 20W

TA7 30W

TCA3NA

TCA3N

6. Specifications

TC3N (Option BG)

(Lead screw)

TCA3NA

TCA3N

(Ball screw)

TCA4NA

TCA4N

TC4N (Option BG)

(Lead screw)

TCA4NA

TCA4N

TC4N (Option BG)

(Ball screw)

TWA3NA

TWA3N

TW3N (Option BG)

(Lead screw)

TWA3NA

TWA3N

(Ball screw)

10W

10W

20W

20W

10W

10W

285

443

628

2.5 137

568

10 34

368

634

12 17

3 105

653

12 26

1 100.5

2 50.3

4 25.1

1 170.9

2 85.5

4 42.7

2 59.7

4 29.8

6 19.9

2 101.5

4 50.7

6 33.8

1 100.5

2 50.3

4 25.1

1 170.9

2 85.5

4 42.7

48

Model name Motor type Lead [mm] Rated thrust [N]

TWA4NA

TWA4N

TW4N (Option BG)

(Lead screw)

TWA4NA

TWA4N

TW4N (Option BG)

(Ball screw)

TFA3NA

TFA3N

TF3N (Option BG)

(Lead screw)

TFA3NA

TFA3N

(Ball screw)

TFA4NA

TFA4N

TF4N (Option BG)

(Lead screw)

TFA4NA

TFA4N

TF4N (Option BG)

(Ball screw)

20W

20W

10W

10W

20W

20W

2 59.7

4 29.8

6 19.9

2 101.5

4 50.7

6 33.8

1 100.5

2 50.3

4 25.1

1 170.9

2 85.5

4 42.7

2 59.7

4 29.8

6 19.9

2 101.5

4 50.7

6 33.8

6. Specifications

49

(4) Drive system

Model name Motor type Lead [mm]

TA4 10W

TA5 20W

TA6 20W

TA7 20W

TCA3NA

6. Specifications

TCA3N

TC3N (Option BG)

(Lead screw)

TCA3NA

TCA3N

(Ball screw)

TCA4NA

TCA4N

TC4N (Option BG)

(Lead screw)

TCA4NA

TCA4N

TC4N (Option BG)

(Ball screw)

TWA3NA

TWA3N

TW3N (Option BG)

(Lead screw)

TWA3NA

TWA3N

(Ball screw)

*1 Number of pulses input to the controller.

10W

10W

20W

20W

10W

10W

2

6

2.5

10

3

12

3

12

1

2

4

1

4

2

4

6

2

4

6

1

2

4

1

4

No. of encoder

*1

pulses

800

1048

Drive system

Ball screw

6mm

φ

Ball screw

8mm

φ

Ball screw

10mm

φ

Ball screw

10mm

φ

Lead screw

4mm

φ

Ball screw

4mm

φ

Lead screw

6mm

φ

Ball screw

6mm

φ

Lead screw

4mm

φ

Ball screw

4mm

φ

Rolled C104

Rolled C105

Rolled C106

Rolled C106

Rolled C10

Rolled C102

Rolled C10

Rolled C10

Rolled C10

Rolled C102

50

Model name Motor type Lead [mm]

TWA4NA

TWA4N

TW4N (Option BG)

20W

(Lead screw)

TWA4NA

TWA4N

TW4N (Option BG)

20W

(Ball screw)

TFA3NA

TFA3N

TF3N (Option BG)

10W

(Lead screw)

TFA3NA

TFA3N

10W

(Ball screw)

TFA4NA

TFA4N

TF4N (Option BG)

20W

(Lead screw)

TFA4NA

TFA4N

TF4N (Option BG)

20W

(Ball screw)

No. of encoder

*1

pulses

Drive system

2

4

Lead screw

6mm

φ

Rolled C10

6

2

4

Ball screw

6mm

φ

Rolled C10

6

1

2

4

1

1048

Lead screw

4mm

φ

Ball screw

4mm

φ

Rolled C10

6. Specifications

Rolled C102

4

2

4

Lead screw

6mm

φ

Rolled C10

6

2

4

Ball screw

6mm

φ

Rolled C10

6

*1 Number of pulses input to the controller.

(5) Common

Item

Positioning repeatability

Lost motion

*1

*1

Lead screw Ball screw

±

0.1mm or less 0.3mm or less

Base Material : Aluminum with special anodizing treatment

*1 Initial Value

0.05mm

Specifications

0.02mm

±

51

7. Operation

7.1 Operational Conditions for Positioning Operation

By following the procedures below, check whether the operation is available.

[1] Usage conditions

Check the operational conditions [1] to [6].
[1] Load installation orientation (horizontal, upright, vertical)
[2] Stroke L (mm)
[3] Maximum speed V (mm/s)
[4] Acceleration a (G)
[5] Loading capacity W (kg)
[6] Overhang T (mm): Distance from the end face of the table to the center of gravity of the load

Installation orientation Fig. 1

7. Operation

lacitreVthgirpUlatnoziroH

52

[2] Stroke, maximum speed, acceleration
Check whether the operation is available by [2] stroke, [3] maximum speed and [4] acceleration.

Table 1 * The maximum speed assumes an acceleration of 0.2G or 0.3G.

Installation
orientation

Horizontal

Model Lead [mm] Acceleration [G]

2 0.2 100

TA4

6 0.3 300

2.5 0.2 125

TA5

10 0.3 465

3 0.2 150

TA6

12 0.3 600

3 0.2 150

TA7

12 0.3 600

TCA3NA
TWA3NA

TFA3NA

TCA3N
TWA3N

TFA3N
TC3N (Option BG)
TW3N (Option BG)

TF3N (Option BG)

(Slide screw)

TCA3NA

TWA3NA

TFA3NA

TCA3N
TWA3N

TFA3N

(Ball screw)

TCA4NA

TWA4NA

TFA4NA

TCA4N
TWA4N

TFA4N
TC4N (Option BG)
TW4N (Option BG)

TF4N (Option BG)

(Slide screw)

1 0.2 50

2 0.2 100

4 0.2 200

1 0.2 50

2 0.3 100

4 0.3 200

2 0.2 100

4 0.2 200

6 0.2 220

Max speed

[mm/s]

Max stroke [mm]

1004 0.3 200

1005 0.3 250

1506 0.3 300

7. Operation

2006 0.3 300

30

30

30

53

7. Operation

Installation
orientation

Horizontal

Vertical

Model Lead [mm] Acceleration [G]

TCA4NA

TWA4NA

TFA4NA

TCA4N

TWA4N

TFA4N
TC4N (Option BG)
TW4N (Option BG)

TF4N (Option BG)

(Ball screw)

TA4

TA5

TA6

TA7

TCA3NA

TWA3NA

TFA3NA

TCA3N

TWA3N

TFA3N
TC3N (Option BG)
TW3N (Option BG)

TF3N (Option BG)

(Slide screw)

TCA3NA

TWA3NA

TFA3NA

TCA3N

TWA3N

TFA3N

(Ball screw)

2 0.2 100

4 0.3 200

6 0.3 270

2 0.2 100

6 0.3 300

2.5 0.2 125

10 0.2 400

3 0.2 150

12 0.2 500

3 0.2 150

12 0.2 580

1 0.2 50

2 0.2 100

4 0.2 200

1 0.2 50

2 0.2 100

4 0.2 200

Max speed

[mm/s]

Max stroke [mm]

30

1004 0.3 200

1005 0.2 250

1506 0.2 300

2006 0.2 300

30

30

54

Installation
orientation

Vertical

Horizontal

Vertical

Model Lead [mm] Acceleration [G]

TCA4NA

TWA4NA

TFA4NA

TCA4N

TWA4N

TFA4N
TC4N (Option BG)
TW4N (Option BG)

TF4N (Option BG)

(Slide screw)

TCA4NA

TWA4NA

TFA4NA

TCA4N

TWA4N

TFA4N
TC4N (Option BG)
TW4N (Option BG)

TF4N (Option BG)

(Ball screw)

TCA3NA

TWA3NA

TFA3NA

(Ball screw)

TCA4NA

TWA4NA

TFA4NA

(Ball screw)

TCA3NA

TWA3NA

TFA3NA

(Ball screw)

TCA4NA

TWA4NA

TFA4NA

(Ball screw)

2 0.2 100

4 0.2 200

6 0.2 220

2 0.2 100

4 0.2 200

6 0.2 220

1 0.2 50

2 0.2 100

4 0.2 200

2 0.2 100

4 0.2 200

6 0.2 300

1 0.2 50

2 0.3 100

4 0.3 200

2 0.2 100

4 0.3 200

6 0.3 300

Max speed

[mm/s]

Max stroke [mm]

30

30

50

50

50

50

7. Operation

How to decide: [2] Desired stroke ≤ model stroke

[3] Desired maximum speed ≤ maximum speed for selected stroke
[4] Desired acceleration ≤ 0.2G or 0.3G (Refer to Table 1)

55

[3] Maximum speed, loading capacity

Check whether the operation is available by [3] maximum speed and [5] loading capacity.
AC Servo motor (RCA2) (Graph 1)
How to decide: You can use any model that has a [3] maximum speed and [4] loading capacity that is within

[4] Moment

Table 2: Hn measurement (distance from the operation point to end of table)

H1 (mm) 30 49 54.5 61.5

7. Operation

H2 (mm) 20 25 30 37

H3 (mm) 11.5 13.5 15.5 17.5

usage range in the graph.

Check whether the operation is available by [2] moment, [4] acceleration, [5] loading capacity,
and [6] overhang.
Static moment (M1) calculation
Static moment equation
M1 = W x L x 9.8/1000 (Nm); L (mm): Distance from the operation point to load center of gravity
Stroke consideration: L = T + Hn + stroke (Patterns A and B)
No stroke consideration: L = T + Hn (Patterns C, D, and E)
Use Figure 2 and Table 2 to select an Hn measurement based on the installation orientation of the
load.

TA4 TA5 TA6 TA7

TCA3NA, TFA3NA

TCA3N, TFA3N

(Slide screw)
(Ball screw)

TWA3NA

TWA3N

(Slide screw)
(Ball screw)

TCA4NA, TFA4NA

TCA4N, TFA4N

(Slide screw)
(Ball screw)

TWA4NA

TWA4N

(Slide screw)
(Ball screw)

H1 (mm) 64 64 66 66

H2 (mm) 16 25 18 29

H3 (mm) 11

9.5 10.5 9.5

Ball Guide Type (Option: Model Code BG)

H1 (mm)

H2 (mm)

H3 (mm)

TC3N, TF3N
(Slide screw)

71.5

17

16

TW3N

(Slide screw)

68

25

12.5

TC4N, TF4N

(Slide screw)

73.5

19

16

TW4N

(Slide screw)

74.5

29

15.5

TC4N, TF4N

(Ball screw)

73.5

19

16

TW4N

(Ball screw)

74.5

29

15.5

56

Static Moment Figure 2

Vertical HorizontalVertical Horizontal

Pattern A

Pattern D

Load W

Load W

Load W

Pattern B

Load W

Pattern E

Load W

Load W

Pattern C

Dynamic moment (M2) calculation
Dynamic moment equation
M2 = W x L x a x 9.8/1000 (Nm)
L=T+Hn
From Figure 3 and Table 2, select the Hn measurement based on the installation orientation of the load.

7. Operation

Dynamic moment Figure 3

Pattern A

Pattern D

Load W

Load W

Load W

Pattern B

Load W

Pattern E

Load W

Load W

Pattern C

Load W

Load W

Generated moment (M) calculation
Generated moment equation
M = M1 + M2 (Nm)
* Pattern C has different directions for the static moment and the dynamic moment, so set whichever

is larger as M.

From Table 3, select an allowable moment based on the generated moment calculated above.

57

Table 3: Allowable moments

Allowable moment: Ma (Nm)

Allowable moment: Mb (Nm)

Allowable moment: Mc (Nm)

TA4

4.2

6.0

8.2

TA5

6.57

9.32

14.32

TA6

7.26

10.30

18.25

TA7

9.91

14.13

28.65

Allowable moment: Ma (Nm) 9.9 9.9 9.9 9.9

Allowable moment: Mb (Nm) 9.9 9.9 9.9 9.9

Allowable moment: Mc (Nm) 3.3 9.4 3.3 12.2

Allowable moment: Ma (Nm)

Allowable moment: Mb (Nm)

Allowable moment: Mc (Nm)

7. Operation

Allowable moment: Ma (Nm)

Allowable moment: Mb (Nm)

Allowable moment: Mc (Nm)

How to decide: You can use any model for which the generated moment (M) < allowable moment for all

TCA3NA, TFA3NA

TCA3N, TFA3N

(Slide screw)
(Ball screw)

TWA3NA

TWA3N
(Slide screw)
(Ball screw)

TCA4NA, TFA4NA

TCA4N, TFA4N

(Slide screw)
(Ball screw)

TWA4NA

TWA4N
(Slide screw)
(Ball screw)

Ball Guide Type (Option: Model Code BG)

TC3N TF3N TW3N TC4N TF4N TW4N

(Slide screw) (Slide screw) (Slide screw) (Slide screw) (Slide screw) (Slide screw)

0.86

0.68

0.92

0.75

0.55

0.88

1.74

1.50

2.85

1.65

1.28

1.77

1.42

1.07

1.69

Ball Guide Type (Option: Model Code BG)

TC4N

(Ball screw)

1.65

1.28

1.77

TF4N

(Ball screw)

1.42

1.07

1.69

TW4N

(Ball screw)

3.46

2.93

5.63

three of Ma, Mb, Mc.
Operation is available when all the items are below the specified values.

3.46

2.93

5.63

58

Graph 1 AC Servo Motor: RCA2

Horizontal

Lead 2

Lead 4

Vertical

Lead 2

Lead 6 Lead 4

Lead 6

Loading capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Correlation of speed and loading capacity (Horizontal)

Lead 2.5

Lead 5

Lead 10

Loading capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Correlation of speed and loading capacity (Horizontal) Correlation of speed and loading capacity (Vertical)

Lead 3

Lead 6

Lead 12

Loading capacity (kg)

Loading capacity (kg)

Correlation of speed and loading capacity (Vertical)

Lead 2.5

Lead 5

Lead 10

Loading capacity (kg)

Lead 3

Lead 6

Loading capacity (kg)

Lead 12

7. Operation

Speed (mm/sec) Speed (mm/sec)

Correlation of speed and loading capacity (Horizontal) Correlation of speed and loading capacity (Vertical)

Lead 3

Lead 6

Loading capacity (kg)

Speed (mm/sec) Speed (mm/sec)

Lead 12

Loading capacity (kg)

Lead 3

Lead 6

Lead 12

59

Graph 2 AC Servo Motor: RCA2

Short types (TCA***, TWA***, TFA***)

TCA3NA, TWA3NA, TFA3NA,
TCA3N, TWA3N, TFA3N (Slide screw)

Correlation of speed and loading capacity (Horizontal)

Lead 1

Loading capacity (kg)

Lead 2

Lead 4

Horizontal

TCA3NA, TWA3NA, TFA3NA,
TCA3N, TWA3N, TFA3N (Ball screw)

Correlation of speed and loading capacity (Horizontal)

Lead 1

Lead 2

Loading capacity (kg)

Lead 4

7. Operation

Speed (mm/sec)

TCA4NA, TWA4NA, TFA4NA,
TCA4N, TWA4N, TFA4N (Slide screw)

Correlation of speed and loading capacity (Horizontal)

Lead 2

Loading capacity (kg)

Lead 4

Lead 6

Speed (mm/sec)

Speed (mm/sec)

TCA4NA, TWA4NA, TFA4NA
TCA4N, TWA4N, TFA4N (Ball screw)

Correlation of speed and loading capacity (Horizontal)

Lead 2

Lead 4

Lead 6

Loading capacity (kg)

Speed (mm/sec)

60

Graph 2 AC Servo Motor: RCA2

Short types (TCA***, TWA***, TFA***)

TCA3NS, TWA3NA, TFA3NA,
TCA3N, TWA3N, TFA3N (Slide screw)

Correlation of speed and loading capacity (Vertical)

Vertical

TCA3NA, TWA3NA, TFA3NA,
TCA3N, TWA3N, TFA3N (Ball screw)

Correlation of speed and loading capacity (Vertical)

Lead 1

Lead 1

Loading capacity (kg)

Lead 2

Lead 4

Speed (mm/sec)

TCA4NA, TWA4NA, TFA4NA,
TCA4N, TWA4N, TFA4N (Slide screw)

Correlation of speed and loading capacity (Vertical)

Lead 2

Loading capacity (kg)

Lead 4

Lead 6

Lead 2

Loading capacity (kg)

Speed (mm/sec)

Lead 4

TCA4NA, TWA4NA, TFA4NA,
TCA4N, TWA4N, TFA4N (Ball screw)

Correlation of speed and loading capacity (Vertical)

Lead 2

Lead 4

Lead 6

Loading capacity (kg)

7. Operation

Speed (mm/sec)

Speed (mm/sec)

61

8. Installation Environment and Storage Environment

8.1 Installation Environment

Install the actuator in an environment meeting the following conditions:

Not exposed to direct sunlight
The machine does not receive radiated heat from large heat sources such as heat treatment furnaces.
Surrounding air temperature of 0 to 40°C
Humidity of 85% or below, non-condensing
Not subject to corrosive or flammable gases
Is a normal environment for assembly work where there is not much dust.
Not subject to oil mist or cutting fluid
Not subject to impact or vibration
Not subject to significant electromagnetic waves, ultraviolet light or radiation
This product is not designed to provide chemical resistance.

In general, the environment shall be one where the operator can work without wearing protective gears.

Open space required for maintenance inspection

8.2 Storage Environment

The storage environment should conform to the installation environment. Particularly when the actuator is
stored for a long period of time, give consideration to prevent bedewing.
Unless specified, the actuator is shipped without any drying agent placed in the package. If the actuator is
stored in an environment subject to bedewing, implement anti-bedewing measures over the entire
package or directly on the actuator after unpacking.
The maximum storage temperature is 60°C for a short period. If the storage period exceeds 1 month,
make sure the storage temperature dose not exceed 50°C.

8. Installation Environment and Storage Environment

250mm

62

9. Installation

Install the main unit only on a machined surface, or other a surface that is highly flat. Also, the platform
should have a structure stiff enough to install the unit so it would not generate vibration or other abnormality.

9.1 Installation of Actuator

9.1.1 Motor unit types TA4*, TA5*, TA6*, TA7*

This actuator contains installation tapped holes which allow it to be secured from the rear.
(Note that tapped hole size depends on model. Please see diagrams below and external dimensions.)
The actuator also contains reamed holes for use with positioning pins.

9. Installation

A

Table type

Tap size and

Model

TA4* M4, depth 7.5 M4 3.59 N-m (0.37 kgf-m) 1.76 N-m (0.18 kgf-m) 31

TA5* M5, depth 10 M5 7.27 N-m (0.74 kgf-m) 3.42 N-m (0.35 kgf-m) 45

TA6* M5, depth 10 M5 7.27 N-m (0.74 kgf-m) 3.42 N-m (0.35 kgf-m) 55

TA7* M6, depth 12 M6 12.34 N-m (1.26 kgf-m) 5.36 N-m (0.55 kgf-m) 64

maximum screw-

in depth

Applicable

bolt

Bolt bearing surface is

Tightening torque

steel

Bolt bearing surface is

aluminum

(mm)

A

Reamed hole (mm)

F

4H7, depth 4.5

F

5H7, depth 5

F

5H7, depth 5

F

6H7, depth 6

63

Tightening screws

For the male threads for installing the base, use hexagonal socket head bolts.
Use of high-tension bolts meeting at least ISO 10.9 is recommended.
The length of thread engagement should be 1.8 times more than the nominal diameter, and pay
attention not to stick the screw out inside the actuator.

Caution: Exercise caution when selecting the bolt length. Use of bolts of inappropriate lengths may

cause damage to tapped holes, insufficient mounting strength of the actuator and/or
interference with driving parts, resulting in lower precision or unexpected accidents.

9. Installation

64

9.1.2 Short types

[1] TCA3NA, TCA3N (Slide screw, Ball screw), TCA4NA, TCA4N (Slide screw, Ball screw)

This actuator contains installation tapped holes which allow it to be secured from the rear.
The actuator also contains long holes and reamed holes for use with positioning pins.

(TCA3NA, TCA3N (Slide screw, Ball screw))

Long hole

depth 3

2-M4, depth 6

Tapped hole

4-M4, depth 3

(TCA4NA, TCA4N (Slide screw, Ball screw))

Long hole

depth 3

depth 3

Reamed hole

2-M4, depth 6

9. Installation

Tapped hole

4-M4, depth 4

Model

TCA3NA

TCA3N

(Slide screw)

(Ball screw)

TCA4NA

TCA4N

(Slide screw)

(Ball screw)

depth 3

Reamed hole

Long hole

steel

Tightening torque

Bolt bearing surface is

aluminum

Tap size and

maximum

screw-in depth

M4, depth 3 M4 3.59 N-m (0.37 kgf-m) 1.76 N-m (0.18 kgf-m)

M4, depth 4 M4 3.59 N-m (0.74 kgf-m) 1.76 N-m (0.35 kgf-m)

Applicable

bolt

Bolt bearing surface is

Long hole

A: 3, B: 4,
depth 3

A: 3, B: 4,
depth 3

Reamed hole

(mm)

F

3, depth 3

F

3, depth 3

65

(TC3N (Slide screw) Ball Guide Type (Option: Model Code BG))

+

Tapped hole
4-M4, depth 4

5.5

+

0.030

F

3

0

Reamed hole

depth 3

0.050

depth 3

3

0

Long hole

2-M4, depth 6

(TC4N (Slide screw), TC4N (Ball screw) Ball Guide Type (Option: Model Code BG))

15 30

30

4

+

0.050

depth 3

3

0

Long hole

2-M4, depth 8

9. Installation

(Slide screw)

(Slide screw)

(Ball screw)

Model

TC3N

TC4N

TC4N

21

Tapped hole
4-M4, depth 5

6.5

+

0.030

depth 3

F

3

0

Reamed hole

Tap size and

maximum

screw-in depth

M4, depth 3

M4, depth 4

Applicable

bolt

M4

M4

Tightening torque

Bolt bearing surface is

steel

3.59 N-m (0.37 kgf-m)

3.59 N-m (0.74 kgf-m)

Long hole

Bolt bearing surface is

aluminum

1.76 N-m (0.18 kgf-m)

1.76 N-m (0.35 kgf-m)

26

4

26 4

34

Long hole

A: 3, B: 4,

depth 3

A: 3, B: 4,

depth 3

Reamed hole

(mm)

F

3, depth 3

F

3, depth 3

66

Tightening screws

For the male threads for installing the base, use hexagonal socket head bolts.
Use of high-tension bolts meeting at least ISO 10.9 is recommended.

Caution: The tap hole of the mounting part is a through hole. Never use a screw longer than the

effective screw length. Internal mechanisms and electric components may be damaged.

9. Installation

67

[2] TWA3NA, TWA3N (Slide screw, Ball screw), TWA4NA, TWA4N (Slide screw, Ball screw)

This actuator contains installation tapped holes which allow it to be secured from the rear.
The actuator also contains long holes and reamed holes for use with positioning pins.

(TWA3NA, TWA3N (Slide screw, Ball screw))

Long hole

depth 3

3-M4,

4-M4, depth 6

Tapped hole

Reamed hole

depth 3

depth 6

(TWA4NA, TWA4N (Slide screw, Ball screw))

Long hole

depth 3

9. Installation

(Slide screw)

(Ball screw)

(Slide screw)

(Ball screw)

Model

TWA3NA

TWA3N

TWA4NA

TWA4N

4-M4, depth 6

Tapped hole

Tap size and

maximum

screw-in depth

M4, depth 6 M4 3.59 N-m (0.37 kgf-m) 1.76 N-m (0.18 kgf-m)

M4, depth 6 M4 3.59 N-m (0.74 kgf-m) 1.76 N-m (0.35 kgf-m)

Applicable

bolt

depth 3

Reamed hole

Long hole

Bolt bearing surface is

Tightening torque

Bolt bearing surface is

steel

aluminum

Long hole

A: 3, B: 4,
depth 3

A: 3, B: 4,
depth 3

3-M4, depth 6

Reamed hole

(mm)

F

3, depth 3

F

3, depth 3

68

(TW3N (Slide screw) Ball Guide Type (Option: Model Code BG))

+

3

0.050
0

depth 3

Long hole

3-M4, depth 6

Tapped hole

4-M4, depth 6

+

0.030

depth 3

F

3

0

Reamed hole

(TW4N (Slide screw), TW4N (Ball screw) Ball Guide Type (Option: Model Code BG))

15 30

30

4

+

0.050

depth 3

3

0

Long hole

4-M4, depth 8

9. Installation

F

3

Reamed hole

Model

TW3N

(Slide screw)

TW4N

(Slide screw)

TW4N

(Ball screw)

24.5

4

Tapped hole

4-M4, depth 8

6.5 45

+

0.030

depth 3

0

Long hole

steel

Tightening torque

Bolt bearing surface is

aluminum

Tap size and

maximum

screw-in depth

Applicable

bolt

Bolt bearing surface is

M4, depth 6 M4 3.59 N-m (0.37 kgf-m) 1.76 N-m (0.18 kgf-m)

M4, depth 6 M4 3.59 N-m (0.74 kgf-m) 1.76 N-m (0.35 kgf-m)

Long hole

A: 3, B: 4,

depth 3

A: 3, B: 4,

depth 3

450

Reamed hole

(mm)

F

3, depth 3

F

3, depth 3

69

Tightening screws

For the male threads for installing the base, use hexagonal socket head bolts.
Use of high-tension bolts meeting at least ISO 10.9 is recommended.

Caution: The tap hole of the mounting part is a through hole. Never use a screw longer than the

effective screw length. Internal mechanisms and electric components may be damaged.

9. Installation

70

[3] TFA3NA, TFA3N (Slide screw, Ball screw), TFA4NA, TFA4N (Slide screw, Ball screw)

This actuator contains installation tapped holes which allow it to be secured from the rear.
The actuator also contains long holes and reamed holes for use with positioning pins.

(TFA3NA, TFA3N (Slide screw, Ball screw))

Long hole

Tapped hole

depth 3

4-M4, depth 3

depth 3

Reamed hole

3-M4, depth 6

(TFA4NA, TFA4N (Slide screw, Ball screw))

Long hole

3-M4, depth 6

depth 3

9. Installation

4-M4, depth 4

Tapped hole

Model

TFA3NA

TFA3N

(Slide screw)

(Ball screw)

TFA4NA

TFA4N

(Slide screw)

(Ball screw)

depth

Reamed hole

3

Long hole

steel

Tightening torque

Bolt bearing surface is

aluminum

Tap size and

maximum

screw-in depth

Applicable

bolt

Bolt bearing surface is

M4, depth 3 M4 3.59 N-m (0.37 kgf-m) 1.76 N-m (0.18 kgf-m)

M4, depth 4 M4 3.59 N-m (0.74 kgf-m) 1.76 N-m (0.35 kgf-m)

Long hole

A: 3, B: 4,
depth 3

A: 3, B: 4,
depth 3

Reamed hole

(mm)

F

3, depth 3

F

3, depth 3

71

(TF3N (Slide screw) Ball Guide Type (Option: Model Code BG))

10 30

25

4

+

0.050

depth 3

3

0

Long hole

3-M4, depth 6

9. Installation

50

32 23 3

Tapped hole
4-M4, depth 4

5.5

+

0.030

depth 3

F

3

0

Reamed hole

(TF4N (Slide screw), TF4N (Ball screw) Ball Guide Type (Option: Model Code BG))

15 30

30

4

586.5

+

0.050

depth 3

3

0

Long hole

37 26 4

21

4

3-M4, depth 8

264

Model

TF3N

(Slide screw)

TF4N

(Slide screw)

TF4N

(Ball screw)

72

Tapped hole
4-M4, depth 5

+

0.030

depth 3

F

3

0

Reamed hole

Tap size and

maximum

screw-in depth

M4, depth 3

M4, depth 4

Long hole

steel

Tightening torque

Bolt bearing surface is

aluminum

Applicable

bolt

M4

Bolt bearing surface is

3.59 N-m (0.37 kgf-m) 1.76 N-m (0.18 kgf-m)

M4 3.59 N-m (0.74 kgf-m) 1.76 N-m (0.35 kgf-m)

Long hole

A: 3, B: 4,

depth 3

A: 3, B: 4,

depth 3

Reamed hole

(mm)

F

3, depth 3

F

3, depth 3

Tightening screws

For the male threads for installing the base, use hexagonal socket head bolts.
Use of high-tension bolts meeting at least ISO 10.9 is recommended.

Caution: The tap hole of the mounting part is a through hole. Never use a screw longer than the

effective screw length. Internal mechanisms and electric components may be damaged.

9. Installation

73

9.2 Installation Surface

Motor unit types TA4*, TA5*, TA6*, TA7*

 Mount on a strong, rigid structure to prevent vibration.
 Install the main unit only on a machined surface, or other surface that is highly flat, within ±0.05 mm/m.
 Provide adequate space around the device to allow for future maintenance.
 On the motor unit type (TA***) actuator, the side and bottom faces of the base provide reference

surfaces for table's travel.

When it is necessary that the slider or table move in a highly precise fashion, please ensure that the
device is installed at an orientation that is based on the position of these surfaces.

9. Installation

Caution: Because the side and bottom faces of the base provide reference surfaces for table travel as

Follow the diagram below when installing the device using the reference surface.

Reference

surface

Motor unit type

Reference

surface

shown in the above diagram, conduct installation based on the position of this side when
precision is required.

R0.3 or less

Model Length of A (mm)

Motor unit type 2 to 4 or less

74

9.3 Installation of the Load

9.3.1 Motor unit types TA4*, TA5*, TA6*, TA7*

Please attach the load to the device using the tapped holes in the front plate of the table type.
There are also tapped holes and reamed holes in the top surface of the table. Please use these to
attach the load.
There are two reamed holes on the slider in the top surface of the table, so if you need to be able to
secure and detach the load multiple times, please use these holes. Also, if you require precision in
your attachment, such as a right angle, use one of the reamed holes to make fine adjustments.
The process for attaching these to the main unit is similar to the installation process of the main unit.
The mounting screws and tightening torque required are also similar to the installation process of the
main unit. (Refer to 9.1.1.)
For exact screw-in depth, please see the table below.
Do not screw in screws deeper than indicated in the table below, as this can interfere with internal
parts and damage the actuator.

A

3-D

B

C

Model A B C D

TA4* 29 5 13 M6, depth 10

TA5* 29 6.5 14 M6, depth 10

TA6* 35 7 18 M6, depth 13

TA7* 44 6.5 21.5 M8, depth 15

9. Installation

75

9.3.2 Short types

[1] TCA3NA, TCA3N (Slide screw, Ball screw), TCA4NA, TCA4N (Slide screw, Ball screw)

Please attach the load to the device using the tapped holes in the front plate of the table type.
There are also tapped holes and reamed holes in the top surface of the table. Please use these to attach
the load.
There is one reamed hole on the slider in the top surface of the table, so if you need to be able to secure
and detach the load multiple times, please use this hole. Also, if you require precision in your attachment,
such as a right angle, use one reamed hole to make fine adjustments.
The process for attaching these to the main unit is similar to the installation process of the main unit. The
mounting screws and tightening torque required are also similar to the installation process of the main unit.
(Refer to 9.1.2.)
Mount a work part by holding the table as shown in the figure. If you hold only the main body and tighten
the work part, excessive moment is applied to the guide area and play may be generated.

9. Installation

Main body

Pay attention to the thread length, because the threaded holes on the front table are through holes.

(TCA3NA, TCA3N (Slide screw, Ball screw)) (TCA4NA, TCA4N (Slide screw, Ball screw))

F

4-M4, through

depth 3

depth 3

depth 3

F

depth 3

4-M4, through

etalptnorFetalptnorF

76

(TCA3NA, TCA3N (Slide screw, Ball screw)) (TCA4NA, TCA4N (Slide screw, Ball screw))

F

depth 3

F

4-M4 depth 5.5

depth 3

depth 3

Table upper surface

4-M4 depth 5.5

Home

depth 3

Table upper surface

Caution: A work part shall be mounted on a machined plane or a plane with equivalent precision,

and the flatness shall be 0.01 mm/m or less. If sufficient flatness is not secured, the table
is deformed when mounting and fixing a work part, causing malfunction.
Flatness refers to the height difference between the maximum value (peak) and
minimum value (trough) of surface distortion.
The length of screws used to mount a work part must the effective screw depth
described here or less.

If a screw is screwed in more than the effective screw depth, the end may get into
contact with the guide rail and the table may be deformed, causing malfunction.

9. Installation

77

[2] TWA3NA, TWA3N (Slide screw, Ball screw), TWA4NA, TWA4N (Slide screw, Ball screw)

Please attach the load to the device using the tapped holes in the front plate of the table type.
There are also tapped holes and reamed holes in the top surface of the table. Please use these to attach
the load.
There is one reamed hole on the slider in the top surface of the table, so if you need to be able to secure
and detach the load multiple times, please use this hole. Also, if you require precision in your attachment,
such as a right angle, use one reamed hole to make fine adjustments.
The process for attaching these to the main unit is similar to the installation process of the main unit. The
mounting screws and tightening torque required are also similar to the installation process of the main unit.
(Refer to 9.1.2.)
Mount a work part by holding the table as shown in the figure. If you hold only the main body and tighten
the work part, excessive moment is applied to the guide area and play may be generated.

9. Installation

Main body

Pay attention to the thread length, because the threaded holes on the front table are through holes.

(TWA3NA, TWA3N (Slide screw, Ball screw)) (TWA4NA, TWA4N (Slide screw, Ball screw))

4-M4, through

depth 3

depth 3

depth 3

depth 3

4-M4, through

etalptnorFetalptnorF

78

(TWA3NA, TWA3N (Slide screw, Ball screw)) (TWA4NA, TWA4N (Slide screw, Ball screw))

F

depth 3

4-M4 depth 6.5

4-M4 depth 7

F

depth 3

depth 3

Table upper surface

Table upper surface

depth 3

Caution: A work part shall be mounted on a machined plane or a plane with equivalent precision,

and the flatness shall be 0.01 mm/m or less. If sufficient flatness is not secured, the table
is deformed when mounting and fixing a work part, causing malfunction.
Flatness refers to the height difference between the maximum value (peak) and
minimum value (trough) of surface distortion.
The length of screws used to mount a work part must the effective screw depth
described here or less.

If a screw is screwed in more than the effective screw depth, the end may get into
contact with the guide rail and the table may be deformed, causing malfunction.

9. Installation

79

[3] TFA3NA, TFA3N (Slide screw, Ball screw), TFA4NA, TFA4N (Slide screw, Ball screw),

Please attach the load to the device using the tapped holes in the front plate of the table type.
There are also tapped holes and reamed holes in the top surface of the table. Please use these to attach
the load.
There is one reamed hole on the slider in the top surface of the table, so if you need to be able to secure
and detach the load multiple times, please use this hole. Also, if you require precision in your attachment,
such as a right angle, use one reamed hole to make fine adjustments.
The process for attaching these to the main unit is similar to the installation process of the main unit. The
mounting screws and tightening torque required are also similar to the installation process of the main unit.
(Refer to 9.1.2.)
Mount a work part by holding the table as shown in the figure. If you hold only the main body and tighten
the work part, excessive moment is applied to the guide area and play may be generated.

9. Installation

Main body

Pay attention to the thread length, because the threaded holes on the front table are through holes.

(TFA3NA, TFA3N (Slide screw, Ball screw))) (TFA4NA, TFA4N (Slide screw, Ball screw))

2-M4, through

2-M4, through

etalptnorFetalptnorF

80

(TFA3NA, TFA3N (Slide screw, Ball screw))) (TFA4NA, TFA4N (Slide screw, Ball screw))

depth 3

F

depth 3

4-M4 depth 6.5

depth 3

F

depth 3

4-M4 depth 5.5

Table upper surface

Table upper surface

Caution: A work part shall be mounted on a machined plane or a plane with equivalent precision,

and the flatness shall be 0.01 mm/m or less. If sufficient flatness is not secured, the table
is deformed when mounting and fixing a work part, causing malfunction.
Flatness refers to the height difference between the maximum value (peak) and
minimum value (trough) of surface distortion.
The length of screws used to mount a work part must the effective screw depth
described here or less.

If a screw is screwed in more than the effective screw depth, the end may get into
contact with the guide rail and the table may be deformed, causing malfunction.

9. Installation

81

9.4 T Grooves

The main unit surface side of TA5C, 6C, 7C and TR type contains T grooves (M3 size) for attaching
external devices.
These grooves are to be used for whatever needs may arise, such as installing sensors, fastening wiring,
etc.
T groove measurements are shown below.

A use of square nut is recommended for the T grooves, but a hex nut can also be used.
Pay careful attention to the length so that the edge of the bolt won't contact the base of T grooves
during installation.

5.5

2.7

5.8

1.8

3.3

9. Installation

82

10. Connection with Controller

For the controller and the connection cable between the controller and RCA2 (this actuator), use IAI’s
dedicated controller and dedicated connection cable.
The following explains the wiring method based on single-axis use.

In applications where the dedicated connection cable cannot be secured, make sure the cable does
not deflect more than it would due to the dead weight, or use a self-supporting cable hose or increase
the cable radius to minimize the load applied to the dedicated connection cable.
Do not cut and extend, shorten or reconnect the dedicated connection cable.
Do not pull or forcibly bend the dedicated connection cable.

If you wish to change the specification of the dedicated connection cable, consult IAI.

IAI’s dedicated connection cable
(Connects the RCA2 and dedicated controller)

10. Connection with Controller

Dedicated controller

ASEP

r = 68 mm or more (movable)
r = 34 mm or more (fixed)

Dedicated connection cable

Servo motor cable : CB-APSEP-MPA***

*) *** indicates the cable length. Up to 10 m can be specified.

Example) 080 = 8 m

83

Dedicated controller

ASEL
ACON

IAI’s dedicated connection cable
(Connects the RCA2 and dedicated controller)

r = 84 mm or more (movable)
r = 42 mm or more (fixed)

Dedicated connection cable

Servo motor cable : CB-ACS-MPA***
*) *** indicates the cable length. Up to 10 m can be specified.

Example) 080 = 8 m

10. Connection with Controller

84

When building an application system using the actuator and controller, incorrect wiring or connection of
each cable may cause broken wire, poor contact or other unexpected problem. The prohibited items
relating to cable wiring are explained below.

Do not cut and reconnect the cable to extend or shorten the cable.
If the 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.
Prevent the cable from bending at the same point.

Steel band
(piano wire)

Bundle loosly.

Do not let the cable bend, kink or twist.

10. Connection with Controller

Do not pull the cable with a strong force.

Do not let the cable receive a turning force at a single point.

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

85

 When fixing the cable, provide a moderate slack and do not tension it too tight.

Do not use a spiral
tube where the cable
flexes frequently.

 Separate the I/O and communication lines from the power and drive lines.

Do not wire them in the same duct.

Power line

Duct

I/O lines
(flat cable)

 Pay attention to the following points when using a cable track.
 Do not let the cable get tangled or kinked in a cable track or flexible tube. When bundling the cable,

keep a certain degree of flexibility (so that the cable will not become too taut when bent).

 Do not cause the cables to occupy more than 60% of the space in the cable track.

10. Connection with Controller

Warning

z When connecting and disconnecting cables, be sure to turn off the controller power.

Connecting/disconnecting cables with power on may cause malfunctions of the actuator, critical
accidents resulting in injury or death, or damage to the mechanical equipment.

z Insufficient connector connection is dangerous, as it may cause the actuator to malfunction. Be sure

to confirm that the connector is connected properly.

86

Cable track

Cable

11. Notes on Operation

11.1 Placing a Load on the Actuator

Do not exceed the load ratings given in the specification table below.
Be careful not to exceed the load moment, extension load length and maximum loading capacity for
the table.
(Refer to the figures below and on the next page.)

Allowable load moment Unit: N-m (kgf-m)

Motor unit type Ma Mb Mc

TA4 4.2 (0.43) 6.0 (0.61) 8.2 (0.84)

TA5 6.57 (0.67) 9.32 (0.95) 14.32 (1.46)

TA6 7.26 (0.74) 10.3 (1.05) 18.25 (1.86)

TA7 9.91 (1.01) 14.13 (1.44) 28.65 (2.92)

Short type Ma Mb Mc

TCA3NA, TCA3N (Slide screw)
TFA3NA, TFA3N (Slide screw)
TCA3NA, TCA3N (Ball screw)
TFA3NA, TFA3N (Ball screw)
TCA4NA, TCA4N (Slide screw)
TFA4NA, TFA4N (Slide screw)
TCA4NA, TCA4N (Ball screw)
TFA4NA, TFA4N (Ball screw)

TWA3NA, TWA3N (Slide screw)
TWA3NA, TWA3NA (Ball screw)

TWA4NA, TWA4N (Slide screw)

TWA4NA, TWA4N (Ball screw)

9.9 9.9 3.3

9.9 9.9 9.4

9.9 9.9 12.2

11. Notes on Operation

Short type Ma Mb Mc

TC3N (Slide screw)

TF3N (Slide screw)

TW3N (Slide screw)

TC4N (Slide screw)

TC4N (Ball screw)

TF4N (Slide screw)

TF4N (Ball screw)

Ball Guide Type

TW4N (Slide screw)

TW4N (Ball screw)

(Option: Model Code BG)

0.86

0.75

1.74

1.65

1.42

3.46

0.68

0.55

1.50

1.28

1.07

2.93

0.92

0.88

2.85

1.77

1.69

5.63

87

Motor unit type Ma Mb Mc

TA5

TA6

TA7

On table types, be careful not to let the load applied to the front plate exceed the Ma moment.
When calculating the load moments, refer to 11.1.1, “Positioning the guide to calculate the load moment”
shown below.

25.5 (2.60)

29.4 (3.00)

42.6 (4.35)

36.5 (3.72)

42.0 (4.29)

60.8 (6.20)

56.1 (5.72)

74.1 (7.56)

123.2 (12.57)

[Motor unit types]

[Short compact types]

Mc

Mc

Mb

Ma

Mb

Ma

11. Notes on Operation

[Short wide types]

88

Mc

Mb

Ma

[Short flat types]

Mb

Mc

On motor unit types (TA**), keep the extension length to within the ranges of load moments. On short type
(TC(A)***, TF(A)***, TW(A)***), keep the overhangs within the ranges shown in the table below.

Short type Ma Mb Mc

TCA***
TFA***

TWA***

Ma

Allowable extension length

100 mm or less 100 mm or less 100 mm or less

11. Notes on Operation

Mb, Mc direction

Ma direction

L

L

89

11.1.1 Positioning the guide to calculate the load moment

When calculating the load moment, please take the following operating positions into account.
Please note that extension length may vary depending on the stroke of a particular table type.

[Motor unit types]

A

Ma moment operating position

Model TA4 TA5 TA6 TA7

A (mm) 30.0 34.5 37 42

Caution: Excessive load moments may reduce the service life of the guide. Also, exceeding the

11. Notes on Operation

extension load length may cause vibration as well as reduce the service life of the
guide.

90

11.1.2 Thrust direction external force

Do not to subject the actuator to external force or mechanical shock in the thrust direction in excess of
allowable capacity.
Subjecting the actuator to levels of external force or mechanical shock above the allowable capacity may
damage or destroy internal components.

Thrust direction external force capacity Unit: N (kgf)

TA5 160 (16.3)

TA6 220 (22.4)

TA7 220 (22.4)

[Motor unit types]

Thrust direction

Please make sure to follow the following notes when thrusting the slider.

[Low-lead type slide screw]

The slider would not move with external force. Use the PC software or teaching pendant to move the
slider with JOG operation.
Or, for those with a slit on the end of the shaft, twist the shaft with putting in a screwdriver to the slit to
move the slider.

[Mid-lead and high-lead type slide screws]

Try to utilize JOG operation to move the slider with using the PC software or teaching pendant as
much as possible. Or, for those with a slit on the end of the shaft, twist the shaft with putting in
a screwdriver to the slit to move the slider.

[Low-lead type ball screw]

There are some models that the slider would not move with external force. Do not try to move it
forcefully. Utilize JOG operation to move the slider with using the PC software or teaching pendant.

Caution:

Do not try to move the slider forcefully when it is difficult.
For mid-lead and high-lead type slide screw models, avoid moving the slider directly
with hand as much as possible.
Applying too much force to the slider may cause a malfunction of the actuator such as
a broken nut.

11. Notes on Operation

91

11.2 Adjusting the Home Position

The actuator home position can be adjusted by changing parameter *1. In order to make adjustments,
please do the following.

[1] Verify the home position by performing a home return operation.
[2] Move the actuator to the desired position, verify the distance between the old and new positions, and

adjust the parameter accordingly. The parameter can be set to a positive value in the direction of
movement. (It cannot be set to a negative value.)

[3] Increasing the offset amount restricts the movement range by the amount of the increase. If you set

an offset greater than 1 mm, please reset the stroke soft limit.
*1 ACON controller: No. 22, home return offset distance

ASEL controller: Parameter No. 12 for each axis, home preset value
ASEP controller: Parameter No. 16, home return offset distance

11.3 Changing the Home Position Direction

To change the home position direction after delivery, it is necessary to change the movement direction
parameter. Please contact with IAI if you need to do this.

Warning:
The encoder serves not only to detect the actuator’s position and the home position signal, it also plays
a crucial role in phase switching for the AC servo power line, and is calibrated at a high level of
precision for that purpose. Never touch the encoder in order to change the home position.

11. Notes on Operation

92