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
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