ROBO Cylinder RCP6, RCP6S Instruction Manual

ROBO Cylinder

RCP6/RCP6S Actuator

Rod Type

Instruction Manual

Second edition

Motor Straight Type:

RA4C, RA6C, RA7C, RA8C

Side-Mounted Motor Type:

RA4R, RA6R, RA7R, RA8R

IAI America, Inc.

Please Read Before Use

Thank you for purchasing our product.

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

product, among others, providing the information you need to know to use the product

safely.

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

explained herein to ensure safe use of the product.

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

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

by printing them out or displaying them on a PC.

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

handling this product can reference it quickly when necessary.

[Important]

• This instruction manual is original.

• This product is not to be used for any other purpose from what is noted in this instruction

manual. IAI shall not be liable whatsoever for any loss or damage arising from the result of

using the product for any other purpose from what is noted in the manual.

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

the purpose of production improvement.

• If you have any question or finding regarding the information contained in this instruction

manual, contact our customer center or our sales office near you.

• Using or copying all or a part of this instruction manual without permission is prohibited.

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

sentences are registered trademarks.

Description of RCP6S controller unit is not included in this instruction manual.

With regard to RCP6S controller unit, refer to the separate instruction manual.

Table of Contents

Safety Guide...................................................................................................................................2

Caution in Handling ........................................................................................................................9

International Standards Compliances ...........................................................................................10

Names of the Parts ....................................................................................................................... 11

1.

Specifications Check...................................................................................................................... 17

1.1 Checking the Product................................................................................................................. 17

1.1.1 Parts ............................................................................................................................... 17

1.1.2 Related Instruction Manuals for the Each Controller Supported by This Product.......... 18

1.1.3 How to Read the Model Nameplate ............................................................................... 18

1.2 Specifications ............................................................................................................................. 20

1.2.1 Speed.............................................................................................................................. 20

1.2.3 Driving System • Position Detector................................................................................. 47

1.2.4 Positioning Precision ...................................................................................................... 47

1.2.5 Rod Tip Load .................................................................................................................. 47

1.2.6 Current Limit Value and Pressing Force......................................................................... 48

1.2.7 Rod Tip Inclination Amount (reference).......................................................................... 52

1.2.8 Duty Ratio for Continuous Operation ............................................................................. 54

1.3 Options....................................................................................................................................... 55

1.3.1 Brake Type (Model: B).................................................................................................... 55

1.3.2 Reversed-home Specification (Model: NM).................................................................... 55

1.3.3 Flange Bracket (Front) (Model: FL) ................................................................................ 55

1.3.4 Foot Bracket (Model: FT)................................................................................................ 56

1.3.5 T-slot Nut Bar (Model: NTB) ........................................................................................... 56

1.3.6 Tip Adapter (Internal Thread) (Model: NFA) ................................................................... 57

1.3.7 Motor Left Side-Mounted, Motor Top Side-Mounted, Motor Right Side-Mounted

(Model: ML, MT, MR) ..................................................................................................................... 59

1.3.8 Cable Exit Direction Changed (Model: CJT, CJR, CJL, CJB, CJO) ............................... 59

1.4 Motor • Encoder Cables ............................................................................................................. 60

1.4.1 Motor • Encoder Integrated Cables (RA4, RA6 and RA7).............................................. 60

1.4.2 Motor • Encoder Integrated Cables Robot Type (RA4, RA6 and RA7) .......................... 61

1.4.3 Motor • Encoder Integrated Cables (RA8)...................................................................... 62

1.4.4 Motor • Encoder Integrated Cables (RA8)...................................................................... 63

2. Installation ...................................................................................................................................... 64

2.1 Transportation ............................................................................................................................ 64

2.2 Installation and Storage • Preservation Environment ................................................................ 66

2.3 How to Install.............................................................................................................................. 67

2.3.1 Installation....................................................................................................................... 67

2.3.2 Installation of the Main Unit ............................................................................................ 68

3. Connecting with the Controller....................................................................................................... 86

4. Caution for Operation..................................................................................................................... 90

5. Maintenance and Inspection .......................................................................................................... 91

5.1 Inspection Items and Schedule.................................................................................................. 91

5.2 External Visual Inspection.......................................................................................................... 92

5.3 Cleaning ..................................................................................................................................... 92

5.4 Grease Supply ........................................................................................................................... 92

5.4.1 What Grease to Use ....................................................................................................... 92

5.4.2 How to Apply Grease...................................................................................................... 93

5.5 Procedure for Belt Replacement and Tuning............................................................................. 94

5.5.1 Inspection of the Belt ...................................................................................................... 94

5.5.2 Belt to Use ...................................................................................................................... 94

5.5.3 Belt Replacement ........................................................................................................... 95

5.6 Motor Replacement Process...................................................................................................... 99

5.6.1 RA4C, RA6C, RA7C....................................................................................................... 99

5.6.2 RA8C ............................................................................................................................ 101

5.6.3 RA4R, RA6R, RA7R, RA8R ......................................................................................... 104

6. External Dimensions .....................................................................................................................111

6.1 Standard Specification RCP6-RA4C......................................................................................... 111

6.2 Built-in Controller Specification RCP6S-RA4C .........................................................................112

6.3 Standard Specification RCP6-RA6C.........................................................................................113

6.4 Built-in Controller Specification RCP6S-RA6C .........................................................................114

6.5 Standard Specification RCP6-RA7C.........................................................................................115

6.6 Built-in Controller Specification RCP6S-RA7C .........................................................................116

6.7 Standard Specification RCP6-RA8C.........................................................................................117

6.8 Built-in Controller Specification RCP6S-RA8C .........................................................................118

6.9 Standard Specification RCP6-RA4R Top Side-Mounted (Model: MT) ......................................119

6.10 Standard Specification RCP6-RA4R Left Side-Mounted (Model: ML) ................................... 120

6.11 Built-in Controller Specification RCP6S-RA4R Top Side-Mounted (Model: MT) ................... 121

6.12 Built-in Controller Specification RCP6S-RA4R Left Side-Mounted (Model: ML) ................... 122

6.13 Standard Specification RCP6-RA6R Top Side-Mounted (Model: MT) ................................... 123

6.14 Standard Specification RCP6-RA6R Left Side-Mounted (Model: ML) ................................... 124

6.15 Built-in Controller Specification RCP6S-RA6R Top Side-Mounted (Model: MT) ................... 125

6.16 Built-in Controller Specification RCP6S-RA6R Left Side-Mounted (Model: ML) ................... 126

6.17 Standard Specification RCP6-RA7R Top Side-Mounted (Model: MT) ................................... 127

6.18 Standard Specification RCP6-RA7R Left Side-Mounted (Model: ML) ................................... 128

6.19 Built-in Controller Specification RCP6S-RA7R Top Side-Mounted (Model: MT) ................... 129

6.20 Built-in Controller Specification RCP6S-RA7R Left Side-Mounted (Model: ML) ................... 130

6.21 Standard Specification RCP6-RA8R Top Side-Mounted (Model: MT) ................................... 131

6.22 Standard Specification RCP6-RA8R Left Side-Mounted (Model: ML) ................................... 132

6.23 Built-in Controller Specification RCP6S-RA8R Top Side-Mounted (Model: MT) ................... 133

6.24 Standard Specification RCP6S-RA8R Left Side-Mounted (Model: ML)................................. 134

7. Life................................................................................................................................................ 135

7.1 RA4C, RA4R, RA6C, RA6R, RA7C, RA7R ............................................................................. 135

7.2 RA8C, RA8R ............................................................................................................................ 135

8. Warranty....................................................................................................................................... 136

8.1 Warranty Period ....................................................................................................................... 136

8.2 Scope of the Warranty ............................................................................................................. 136

8.3 Honoring the Warranty............................................................................................................. 136

8.4 Limited Liability ........................................................................................................................ 137

8.5

Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications

.... 137

8.6 Other Items Excluded from Warranty....................................................................................... 137

Change History.................................................................................................................................... 138

1

2

Safety Guide

“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.

No.

Operation

Description

1 Model

Selection

● 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.

3

No.

Operation

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 instruction 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

4

No.

Operation

Description

4 Installation

and Start

(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 100Ω or below).

5

No.

Operation

Description

4 Installation

and Start

(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.

6

No.

Operation

Description

6 Trial

Operation

● 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.

7 Automatic

Operation

● 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.

7

No.

Operation

Description

8 Maintenance

and Inspection

● 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 instruction 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 instruction manual of each unit to ensure the safety.

8

Alert Indication

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

Level Degree of Danger and Damage Symbol

Danger

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

Danger

Warning

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

Warning

Caution

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

Caution

Notice

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

Notice

9

Caution in Handling

1. Make sure to follow the usage condition, environment and specification range of the product.

In case it is not secured, it may cause a drop in performance or malfunction of the product.

2. Do not attempt to have any handling or operation that is not stated in this Instruction manual.

3. It is recommended to apply our products for the wiring between the actuator and the controller.

4. Do not attempt to establish the settings for the speed and acceleration/deceleration above the allowable range.

An operation with speed and acceleration/deceleration beyond the allowable range may cause an abnormal noise, vibration, malfunction or shortened life.

5. Do not apply radial load and load moment to the rod.

Loads can only be applied in the axial direction matching with the rod axis.

6. If back and forth operations are performed repeatedly in short distance, it may wear out the film of grease.

Continuous back and forth operation within a distance less than 30mm may cause wear of grease. As a reference, have approximately 5 cycles of back and forth operation in a distance more than 50mm in every 5,000 to 10,000 cycles to regenerate the oil film. Keep using the actuator with the grease worn out may cause malfunction. If it is extreme, flaking may occur on the guide, ball screw.

7. Do not attempt to hit the rod against an abstacle with high speed.

It may destroy the coupling.

8. Make sure to attach the actuator properly by following this instruction manual.

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

9. Grease has been applied to the outer periphery of the rod. Protect the peripheral equipments if grease adhesion affects them.

10

10. For PCON-CB and MCON Controllers (with option: T), it is available to switch over the setting between effective and ineffective of the high-output setting in the parameter setting.

(In the setting at delivery, the high output setting is set to effective.) For MSEL Controller, the high output setting is effective and cannot switch it over to ineffective. [Refer to an instruction manual for each controller for details]

The performance of weight capacity at each velocity and acceleration/deceleration setting differs between the high output setting being effective and ineffective. Refer to the applicable performance specification when the high-output setting is effective or ineffective in 1.2 Specifications.

Controller Parameter Remarks

PCON-CB No.152 High Output Setting

[0: Ineffective, 1: Effective]

MCON No.152 High Output Setting

[0: Ineffective, 1: Effective]

Option T: In high output setting, available to

have high output setting effective.

International Standards Compliances

This actuator complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.

RoHS Directive CE Marking

○ ○

11

Names of the Parts

In this Instruction Manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actuator placed horizontally, as shown in the figure below.

1. Straight Type

1.1 Standard Specification RCP6-RA4C

1.2 Built-in Controller Specification RCP6S-RA4C

Rod

Rod Tip Adaptor

Motor Unit

Screw for Motor Unit Attachment

Grease Supply (Φ2.5 hole) (Hexagonal Socket Head Bolt)

Grease Supply (Φ2.5 hole) (Hexagonal Socket Head Bolt) (The same applies to the other side)

Body Frame

Bearing

Tapped Hole for Ground Cable Connection

Connector

Rod Tip Adaptor

Rod

Motor Side

Right Side

Opposite Side

Left Side

Opposite Side Motor Side

Left Side

Right Side

Teaching Port

Status LED

Screw for Motor Unit Attachment

Motor Unit

Grease Supply (Φ2.5 hole) (Hexagonal Socket Head Bolt)

Grease Supply (Φ2.5 hole) (Hexagonal Socket Head Bolt) (The same applies to the other side)

Body Frame

Bearing

Tapped Hole for Ground Cable Connection

Power · I/O Cable Connector

12

1.3 Standard Specification RCP6-RA6C, RA7C

1.4 Built-in Controller Specification RCP6S-RA6C, RA7C

Rod

Rod Tip Adapto

r

Body Frame

Bearing

Grease Supply (Φ5 hole) (Rubber Cap) (The same applies to the other side)

Grease Supply (Φ5 hole) (Rubber Cap)

Motor Unit

Screw for Motor Unit Attachment

Tapped Hole for Ground Cable Connection

Connector

Rod

Rod Tip Adapto

r

Grease Supply (Φ5 hole) (Rubber Cap) (The same applies to the other side)

Grease Supply (Φ5 hole) (Rubber Cap)

Body Frame

Screw for Motor Unit Attachment

Motor Unit

Tapped Hole for Ground Cable Connection

Teaching Port

Bearing

Status LED

Power · I/O Cable Connector

Motor Side

Right Side

Opposite Side

Left Side

Motor Side

Right Side

Opposite Side

Left Side

13

1.5 Standard Specification RCP6-RA8C

1.6 Built-in Controller Specification RCP6S-RA8C

Rod

Rod Tip Adaptor

Grease Supply (Φ5 hole) (Rubber Cap) (The same applies to the other side)

Grease Supply (Φ5 hole) (Rubber Cap)

Body Frame

Motor Cover

End Cover

Tapped Hole for Ground Cable Connection

Teaching Port

Bearing

Status LED

Power · I/O Cable Connector

Rod

Rod Tip Adaptor

Grease Supply (Φ5 hole) (Rubber Cap) (The same applies to the other side)

Grease Supply (Φ5 hole) (Rubber Cap)

Body Frame

Motor Cover

End Cove

r

Tapped Hole for Ground Cable Connection

Bearing

Connector

Motor Side

Right Side

Opposite Side

Left Side

Motor Side

Right Side

Opposite Side

Left Side

14

2. Side-Mounted Motor Type

2.1 Standard Specification RCP6-RA4R

2.2 Built-in Controller Specification RCP6S-RA4R

Rod

Rod Tip Adaptor

Grease Supply (Φ2.5 hole)

(Hexagonal Socket Head Bolt) (The same applies to the other side)

Body Frame

Motor Cover

End Cover

Pulley Cover

Bearing

Tapped Hole for Ground Cable Connection

Rear Bracket

Connector

Rod

Rod Tip Adaptor

Grease Supply (Φ2.5 hole) (Hexagonal Socket Head Bolt) (The same applies to the other side)

Body Frame

Motor Cover

End Cover

Pulley Cover

Bearing

Tapped Hole for Ground Cable Connection

Rear Bracket

Status LED

Teaching Port

Power · I/O Cable Connector

Motor Side

Right Side

Opposite Side

Left Side

Motor Side

Right Side

Opposite Side

Left Side

15

2.3 Standard Specification RCP6-RA6R, RA7R

2.4 Built-in Controller Specification RCP6S-RA6R, RA7R

Rod

Rod Tip Adaptor

Grease Supply (Φ5 hole) (Hexagonal Socket Head Bolt) (The same applies to the other side)

Body Frame

Motor Cover

End Cover

Pulley Cover

Bearing

Tapped Hole for Ground Cable Connection

Rear Bracket

Connector

Rod

Rod Tip Adaptor

Grease Supply (Φ5 hole)

(Hexagonal Socket Head Bolt) (The same applies to the other side)

Body Frame

Motor Cover

End Cover

Pulley Cover

Bearing

Tapped Hole for Ground Cable Connection

Rear Bracket

Teaching Port

Status LED

Power · I/O Cable Connector

Motor Side

Right Side

Opposite Side

Left Side

Motor Side

Right Side

Opposite Side

Left Side

16

2.5 Standard Specification RCP6-RA8R

2.6 Built-in Controller Specification RCP6S-RA8R

Rod

Rod Tip Adaptor

Grease Supply (Φ5 hole) (Hexagonal Socket Head Bolt) (The same applies to the other side)

Body Frame

Motor Cover

End Cover

Pulley Cover

Bearing

Tapped Hole for Ground Cable Connection

Rear Bracket

Connector

Rod

Rod Tip Adaptor

Grease Supply (Φ5 hole) (Hexagonal Socket Head Bolt) (The same applies to the other side)

Body Frame

Motor Cover

End Cover

Pulley Cover

Bearing

Tapped Hole for Ground Cable Connection

Rear Bracket

Power · I/O Cable Connector

Teaching Port

Status LED

Motor Side

Right Side

Opposite Side

Left Side

Motor Side

Right Side

Opposite Side

Left Side

17

1. Specifications Check

1.1 Checking the Product

The standard configuration of this product is comprised of the following parts. See the component list for the details of the enclosed components. If you find any fault or missing parts, contact your local IAI distributor.

1.1.1 Parts

No. Name Model number Quantity Remarks

1 Actuator

Refer to “How to Read the Model Nameplate” and “How to Read the Model Number.”

1

Accessories

2 Motor • Encoder Cables

(Note1)

1

3 Nut 1 Refer to list below 4 Square T-nut 1 set Refer to list below 5 First Step Guide 1 6 Instruction Manual (DVD) 1 7 Safety Guide 1

Note 1 The motor • encoder cables supplied vary depending on the controller used. [Refer to 1.4,

“Motor • Encoder Cables.”]

[List of Included Nut Type]

Nut (M10×1.25) Nut (M14×1.5) Nut (M20×1.5) RA4C, RA4R RA6C, RA6R

1

RA7C, RA7R 1 RA8C, RA8R 1

[Refer to 6. “External Dimensions” for the dimensions of nuts.]

[List of Included Square T-nut Type]

Square T-nut Quantity

RA4C, RA4R M4 □7×3.2 4

RA6C, RA6R M6 □10×5 4 RA7C, RA7R M6 □10×5 8

RA8C, RA8R M8 □13×6.5 8

18

1. Specifications Check

1.1.2 Related Instruction Manuals for the Each Controller Supported by This Product

Shown below is a list of the instruction manuals for the controllers related to this product which is recorded in Instruction Manual (DVD).

No. Name Control No.

1 Instruction Manual for PCON-CB/CFB Controller ME0342 2 Instruction Manual for MCON-C/CG Controller ME0341 3 Instruction Manual for MSEL Controller ME0336

4

Instruction Manual for RC PC Software RCM-101-MW/RCM-101-USB

ME0155

5

Instruction Manual for Touch Panel Teaching Pendant CON-PTA/PDA/PGA

ME0295

6

Instruction Manual for Touch Panel Teaching Pendant TB-01/01D/01DR Applicable for Position Controller

ME0324

1.1.3 How to Read the Model Nameplate

Model

MODEL RCP6-RA4C-WA-35P-2.5-50-P3-P-B SERIAL No.100090267 MADE IN JAPAN

Serial number

19

1. Specifications Check

1.1.4 How to Read the Model Number

RCP6－RA4C－WA－35P－2.5－50－P3－P－B－**

Note 1 Identification for IAI use only: It may be displayed for IAI use. It is not a code to show the model

type.

Standard Specification RCP6 Built-in Controller Specification RCP6S

<Type>

Motor straight type RA4C RA6C RA7C RA8C Side-Mounted Motor

Type

RA4R RA6R RA7R RA8R

WA : Battery-less absolute

35P: 35□size 42P: 42□size 56P: 56□size 60P: 60□size

<Lead>

RA4C, RA4R

2.5/5/10/16

RA6C, RA6R

3/6/12/20

RA7C, RA7R

4/8/16/24

RA8C, RA8R

5/10/20

B : Brake NM : Reversed-home

specification FL : Flange bracket FT : Foot bracket NTB : T-slot nut bar specification NFA : Tip adapter (Internal

Thread) ML : Motor left side-mounted MR : Motor right side-mounted MT : Motor top side-mounted CJT : Cable exit direction

changed (Top) CJR : Cable exit direction

changed (Right) CJL : Cable exit direction

changed (Left) CJB : Cable exit direction

changed (Bottom) CJO : Cable exit direction

changed (Outward)

N : None P : 1m S : 3m M : 5m X : Length specification R : Robot cable

Standard Specification <Controller>

P3: PCON-CB MCON MSEL P4: PCON-CFB

Built-in Controller Specification <I/O Type> SE: SIO type

<Stroke> [Refer to 1.2 “Specifications”]

Identification for IAI use only

(Note1)

20

1. Specifications Check

1.2 Specifications

1.2.1 Speed

[1] Motor Straight Type

[When high-output setting is effective]

Speed limits [Unit: mm/s]

Stroke [mm]

Size

Motor

Type

Lead [mm]

Horizontal/

Vertical

50 100 150 200 - -

Horizontal 175 - -

2.5

Vertical 175 - -

Horizontal 350 - -

5

Vertical 350 - -

Horizontal 700 - -

10

Vertical 700 - -

Horizontal 840 - -

RA4C 35P

16

Vertical 840 - -

50 100 150 200 250 300

Horizontal 225

3

Vertical 225

Horizontal 450

6

Vertical 450

Horizontal 700

12

Vertical 700

Horizontal 800

RA6C 42P

20

Vertical 800

50 100 150 200 250 300

Horizontal 210

4

Vertical 175

Horizontal 420

8

Vertical 350

Horizontal 700

16

Vertical 560

Horizontal 860

RA7C 56P

24

Vertical 640

50 100 150 200 250 300

Horizontal 150

5

Vertical 150

Horizontal 300

10

Vertical 250

Horizontal 600

RA8C 60P

20

Vertical 450

21

1. Specifications Check

[2] Side-Mounted Motor Type

[When high-output setting is effective]

Speed limits [Unit: mm/s]

Stroke [mm]

Size

Motor

Type

Lead [mm]

Horizontal/

Vertical

50 100 150 200 - -

Horizontal 175 - -

2.5

Vertical 175 - -

Horizontal 350 - -

5

Vertical 350 - -

Horizontal 610 - -

10

Vertical 610 - -

Horizontal 840 - -

RA4R 35P

16

Vertical 840 - -

50 100 150 200 250 300

Horizontal 225

3

Vertical 225

Horizontal 450

6

Vertical 450

Horizontal 700

12

Vertical 700

Horizontal 800

RA6R 42P

20

Vertical 800

50 100 150 200 250 300

Horizontal 175

4

Vertical 175

Horizontal 420

8

Vertical 350

Horizontal 560

16

Vertical 560

Horizontal 800

RA7R 56P

24

Vertical 640

50 100 150 200 250 300

Horizontal 100

5

Vertical 100

Horizontal 200

10

Vertical 200

Horizontal 400

RA8R 60P

20

Vertical 400

Caution: When a speed less than the minimum speed, operation will not made in the set

speed. Do not attempt to set a speed less than the minimum speed. Figure out the minimum speed using the following formula. Min. Velocity [mm/s] = Lead Length [mm] / 800 / 0.001 [sec]

22

1. Specifications Check

[3] Motor straight type

(Note) High-output settings are not available in RA8C or RA8R that operate with the PCON-CFB

controller.

[When high-output setting is ineffective]

Speed limits [Unit: mm/s]

Stroke [mm]

Type

Motor

Type

Lead [mm]

Horizontal/

Vertical

50 100 150 200 －－

Horizontal 130 －－

2.5 Vertical 130

－－

Horizontal 260

－－

5

Vertical 260

－－

Horizontal 525

－－

10

Vertical 525

－－

Horizontal 560 －－

RA4C 35P

16

Vertical 560 －－

50 100 150 200 250 300

Horizontal 125

3

Vertical 125

Horizontal 250

6

Vertical 250

Horizontal 500

12

Vertical 500

Horizontal 640

RA6C 42P

20

Vertical 640

50 100 150 200 250 300

Horizontal 105

4

Vertical 105

Horizontal 210

8

Vertical 210

Horizontal 420

16

Vertical 280

Horizontal 600

RA7C 56P

24

Vertical 400

23

1. Specifications Check

[4] Side-Mounted Motor Type

(Note) High-output settings are not available in RA8C or RA8R that operate with the PCON-CFB

controller.

[When high-output setting is ineffective]

Speed limits [Unit: mm/s]

Type

Motor

Type

Lead [mm]

Horizontal/

Vertical

Stroke [mm]

50 100 150

20

0

－－

RA4R 35P 2.5 Horizontal 130 －－

Vertical 130

－－

Horizontal 260

－－

5

Vertical 260

－－

Horizontal 525

－－

10

Vertical 525

－－

Horizontal 560 －－

16

Vertical 560 －－

50 100 150 200 250 300

RA6R 42P 3 Horizontal 125

Vertical 125

Horizontal 250

6

Vertical 250

Horizontal 500

12

Vertical 500

Horizontal 640

20

Vertical 640

50 100 150 200 250 300

RA7R 56P 4 Horizontal 105

Vertical 105

Horizontal 210

8

Vertical 210

Horizontal 420

16

Vertical 280

Horizontal 600

24

Vertical 400

Caution: When a speed less than the minimum speed, operation will not be made in the set

speed. Do not attempt to set a speed less than the minimum speed. Figure out the minimum speed using the following formula. Min. Speed [mm/s] = Lead Len

g

th [mm] / 800 / 0.001 [sec]

24

1. Specifications Check

1.2.2 Maximum Acceleration and Transportable Mass

If the transportable mass is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level.

[1] Motor Straight Type

[When high-output setting for motor straight type is effective]

Transportable Mass by Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 40 40 40 35 30 20 40 40 40 35 30 40 40 40 40 35 30 65 40 40 40 30 30 85 40 40 40 30 30

105 40 40 35 30 30 130 40 40 35 30 30 150 40 35 35 30 25

Horizontal

175 40 30 30 25 20

0 10 10 10 - 20 10 10 10 - 40 10 10 10 - 65 10 10 10 - 85 10 10 10 - -

105 10 10 10 - 130 8 7.5 7 - 150 6 5.5 5 - -

2.5

Verti cal

175 5 4.5 4 - -

0 28 25 22 20 20 40 28 25 22 20 20 85 28 25 22 20 20

130 28 25 22 20 20 175 28 25 22 20 20 215 28 25 22 20 20 260 28 25 22 20 18 305 28 22 20 18 15

Horizontal

350 28 20 15 13 11

0 5 5 5 - 40 5 5 5 - 85 5 5 5 - -

130 5 5 5 - 175 5 5 5 - 215 5 5 5 - 260 5 5 5 - 305 5 5 4.5 - -

RA4C 35P

5

Verti cal

350 5 4 3.5 - -

25

1. Specifications Check

[When high-output setting for motor straight type is effective]

Transportable Mass by Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 15 15 13 13 12 85 15 15 13 13 12

175 15 15 13 13 12 260 15 15 13 13 12 350 15 15 13 13 10 435 15 15 13 11 8 525 - 14 10 8 6 610 - 9 7 5 4

Horizontal

700 - 6 4 3 2

0 2.5 2.5 2.5 - 85 2.5 2.5 2.5 - -

175 2.5 2.5 2.5 - 260 2.5 2.5 2.5 - 350 2.5 2.5 2.5 - 435 2.5 2.5 2.5 - 525 - 2.5 2.5 - 610 - 2 2 - -

10

Verti cal

700 - 1.5 1.5 - -

0 6 6 6 4 3.5

140 6 6 6 4 3.5 280 6 6 6 4 3.5 420 6 6 6 4 3 560 - 6 6 3 3 700 - 5.5 5 2 1.5

Horizontal

840 - - 3 1 0.5

0 1.5 1.5 1.5 - -

140 1.5 1.5 1.5 - 280 1.5 1.5 1.5 - 420 1 1 1 - 560 - 1 1 - 700 - 1 1 - -

RA4C 35P

16

Verti cal

840 - - 1 - -

26

1. Specifications Check

[When high-output setting for motor straight type is effective]

Transportable Mass by Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 60 60 50 45 40 50 60 60 50 45 40 75 60 60 50 45 40

100 60 60 50 45 40 125 60 60 50 40 30 150 60 50 40 30 25 175 60 40 35 25 20 200 60 35 30 20 14

Horizontal

225 40 16 16 10 6

0 20 20 20 - 50 20 20 20 - 75 20 20 20 - -

100 20 20 20 - 125 18 14 10 - 150 14 10 6 - 175 12 6 5 - 200 8 5 4.5 - -

3

Verti cal

225 5 5 4 - -

0 40 40 35 30 25 50 40 40 35 30 25

100 40 40 35 30 25 150 40 40 35 25 25 200 40 40 30 25 20 250 40 40 27.5 22.5 18 300 40 35 25 20 14 350 40 30 14 12 10 400 30 18 10 6 5

Horizontal

450 25 8 3 - -

0 10 10 10 - 50 10 10 10 - -

100 10 10 10 - 150 10 10 10 - 200 10 10 10 - 250 10 9 8 - 300 6 6 6 - 350 5 5 5 - 400 4 3 3 - -

RA6C 42P

6

Verti cal

450 2 2 1 - -

27

1. Specifications Check

[When high-output setting for motor straight type is effective]

Transportable Mass by Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 25 25 18 16 12 100 25 25 18 16 12 200 25 25 18 16 10 300 25 25 18 12 8 400 20 20 14 10 6 500 15 15 8 6 4 600 - 10 6 3 2

Horizontal

700 - 6 2 - -

0 4 4 4 - 100 4 4 4 - 200 4 4 4 - 300 4 4 4 - 400 4 4 4 - 500 4 3.5 3 - 600 - 3 2 - -

12

Verti cal

700 - 2 1 - -

0 6 6 6 5 5 160 6 6 6 5 5 320 6 6 6 5 3 480 6 6 6 5 3 640 - 6 4 3 2

Horizontal

800 - 4 3 - -

0 1.5 1.5 1.5 - 160 1.5 1.5 1.5 - 320 1.5 1.5 1.5 - 480 1.5 1.5 1.5 - 640 - 1.5 1.5 - -

RA6C 42P

20

Verti cal

800 - 1 1 - -

28

1. Specifications Check

[When high-output setting for motor straight type is effective]

Transportable Mass by Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 80 80 70 65 60

35 80 80 70 65 60

70 80 80 70 65 60 105 80 80 60 50 40 140 80 50 30 20 15 175 50 15 - - -

Horizontal

210 20 - - - -

0 28 28 28 - 35 28 28 28 - 70 28 28 28 - -

105 22 22 18 - 140 14 12 10 - 175 5 2 - - -

4

Verti cal

210 - - - - -

0 60 60 50 45 40 70 60 60 50 45 40

140 60 60 50 45 40 210 60 60 40 31 26 280 60 34 20 15 11 350 50 12 4 1 -

Horizontal

420 10 - - - -

0 18 18 18 - 70 18 18 18 - -

140 16 16 12 - 210 10 10 9 - 280 7 5 4 - 350 3 2 1 - -

8

Verti cal

420 - - - - -

0 50 50 40 35 30

140 50 50 40 35 30 280 50 50 35 25 20 420 50 25 18 14 10 560 - 10 5 3 2

Horizontal

700 -

2 - - -

0 8 8 8 - -

140 8 8 8 - 280 8 7 7 - 420 6 4.5 4 - 560 - 2 1 - -

RA7C 56P

16

Verti cal

700 - - - - -

29

1. Specifications Check

[When high-output setting for motor straight type is effective]

Transportable Mass by Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 20 20 18 15 12

200 20 20 18 15 12 400 20 20 14 12 8 420 20 17 12 10 6 600 - 14 6 5 4 640 - 5 3 2 1.5 800 - 5 1 1 -

Horizontal

860 2 0.5 - -

0 3 3 3 - -

200 3 3 3 - 400 3 3 3 - 420 3 3 3 600 - 3 2 - 640 - 2 1 - 800 - - - - -

RA7C 56P 24

Verti cal

860 - - - - -

30

1. Specifications Check

[Motor straight type] In RA8C there is nothing related to high-thrust setting. There is no parameter setting.

Transportable Mass by

Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.2G

0 100 -

90 100 120 100 130 90 140 75 -

Horizontal

150 60 -

0 70 48 70 60 50 70 35 80 25 90 20 -

100 15 120 10 -

5

Verti cal

150 2 -

0 - 60

150 - 60 200 - 45 240 - 40

Horizontal

300 - 10

0 - 40 88 - 40

100 - 33

110 - 28 120 - 23 130 - 18 140 - 15 150 - 11 160 - 10 170 - 8 180 - 7 190 - 5 200 - 4 220 - 3

RA8C 60P

10

Verti cal

250 - 2

31

1. Specifications Check

[Motor straight type] In RA8C there is nothing related to high-thrust setting. There is no parameter setting.

Transportable Mass by

Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.2G

0 - 30 240 - 30 270 - 30 300 - 30 360 - 24 420 - 16 450 - 12 480 - 10 510 - 8 540 - 6

Horizontal

600 - 5

0 - 5

50 - 5 100 - 5 150 - 5 180 - 5 200 - 5 240 - 5 300 - 5 360 - 5 400 - 3 420 - 2.5

RA8C 60P 20

Verti cal

450 - 2

Caution: Do not attempt to establish the settings for the acceleration/deceleration above

the allowable range. It may cause a vibration, malfunction or shorten the product life. If any acceleration/deceleration equal to or greater than the rated acceleration/deceleration is set, a creep phenomenon or slipped coupling may occur.

32

1. Specifications Check

[2] Side-Mounted Motor Type

[When high-output setting for side-mounted motor type is effective]

Transportable Mass by Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 40 40 40 35 30 20 40 40 40 35 30 40 40 40 40 35 30 65 40 40 40 30 30 85 40 40 35 30 30

105 40 40 35 30 30 130 40 40 35 30 30 150 40 35 35 30 25

Horizontal

175 40 30 30 25 20

0 10 10 10 - 20 10 10 10 - 40 10 10 10 - 65 10 10 10 - 85 10 10 10 - -

105 10 8 8 - 130 8 8 8 - 150 6 6 6 - -

2.5

Verti cal

175 4 4 4 - -

0 25 25 22 20 18 40 25 25 22 20 18 85 25 25 22 20 18

130 25 25 22 18 18 175 25 25 22 18 16 215 25 25 22 16 14 260 25 22 20 14 12 305 22 20 14 12 8

Horizontal

350 20 14 10 8 6

0 5 5 5 - 40 5 5 5 - 85 5 5 5 - -

130 5 5 5 - 175 5 5 5 - 215 5 5 5 - 260 5 5 5 - 305 4 4 4 - -

RA4R 35P

5

Verti cal

350 3 2.5 2.5 - -

33

1. Specifications Check

[When high-output setting for side-mounted motor type is effective]

Transportable Mass by Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 12 12 10 10 8 85 12 12 10 10 8

175 12 12 10 10 6 260 12 12 10 10 5 350 12 12 10 8 5 435 12 10 8 6 4 525 - 8 6 3 2

Horizontal

610 - 5 2 - -

0 2.5 2.5 2.5 - 85 2.5 2.5 2.5 - -

175 2.5 2.5 2.5 - 260 2.5 2.5 2.5 - 350 2.5 2.5 2.5 - 435 2.5 2.5 2.5 - 525 - 2.5 2 - -

10

Verti cal

610 - 2 1.5 - -

0 5 5 4.5 3 2.5

140 5 5 4.5 3 2.5 280 5 5 4.5 3 2 420 5 5 4.5 3 2 560 - 5 4.5 2.5 2 700 - 4.5 3.5 2 1.5

Horizontal

840 - - 2.5 1 0.5

0 1 1 1 - -

140 1 1 1 - 280 1 1 1 - 420 1 1 1 - 560 - 1 1 - 700 - 1 1 - -

RA4R 35P

16

Verti cal

840 - - 0.5 - -

34

1. Specifications Check

[When high-output setting for side-mounted motor type is effective]

Transportable Mass by Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 60 60 50 45 40 25 60 60 50 45 40 50 60 60 50 45 40 75 60 60 50 45 40

100 60 60 50 45 40 125 60 60 50 40 30 150 60 50 40 30 25 175 60 40 35 25 20 200 60 35 30 20 14

Horizontal

225 40 16 16 10 6

0 20 20 20 - 25 20 20 20 50 20 20 20 - 75 20 20 20 - -

100 20 20 20 - 125 18 14 10 - 150 14 10 6 - 175 12 6 5 - 200 8 5 4.5 - -

3

Verti cal

225 5 5 4 - -

0 40 40 35 30 25 50 40 40 35 30

25

100 40 40 35 30

25

150 40 40 35 25

25

200 40 40 30 25 20 250 40 40 27.5 22.5 18 300 40 35 25 20 14 350 40 25 14 12 10 400 30 16 10 6 5

Horizontal

450 25 8 3 - -

0 10 10 10 - 50 10 10 10 - -

100 10 10 10 - 150 10 10 10 - 200 10 10 10 - 250 10 9 8 - 300 6 6 6 - 350 5 5 5 - 400 4 3 3 - -

RA6R 42P

6

Verti cal

450 2 2 1 - -

35

1. Specifications Check

[When high-output setting for side-mounted motor type is effective]

Transportable Mass by Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 25 25 18 16 12 100 25 25 18 16 12 200 25 25 18 16 10 300 25 25 18 12 8 400 20 20 14 10 6 500 15 15 8 6 4 600 - 10 6 3 2

Horizontal

700 - 6 2 - -

0 4 4 4 - 100 4 4 4 - 200 4 4 4 - 300 4 4 4 - 400 4 4 4 - 500 4 3.5 3 - 600 - 3 2 - -

12

Verti cal

700 - 2 1 - -

0 6 6 5 5 5 160 6 6 5 5 5 320 6 6 5 4 3 480 6 6 5 4 3 640 - 4 3 3 2

Horizontal

800 - 3 2 2 1

0 1.5 1.5 1.5 - 160 1.5 1.5 1.5 - 320 1.5 1.5 1.5 - 480 1.5 1.5 1.5 - 640 - 1.5 1.5 - -

RA6R 42P

20

Verti cal

800 - 1 1 - -

36

1. Specifications Check

[When high-output setting for side-mounted motor type is effective]

Transportable Mass by Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 80 80 70 65 60

35 80 80 70 65 60

70 80 80 70 65 60 105 80 80 60 50 40 140 80 50 10 6 6

Horizontal

175 40 5 - - -

0 28 28 28 - 35 28 28 28 - 70 28 28 28 - -

105 22 20 18 - 140 12 8 3 - -

4

Verti cal

175 4 - - - -

0 60 60 50 45 40 70 60 60 50 45 40

140 60 60 50 45 40 210 60 60 40 31 26 280 60 26 16 10 8 350 30 3 - - -

Horizontal

420 2 - - - -

0 18 18 18 - 70 18 18 18 - -

140 16 16 12 - 210 10 10 9 - 280 8 4 3 - 350 2 0.5 - - -

8

Verti cal

420 - - - - -

0 50 50 40 35 30

140 50 50 40 35 30 280 50 50 35 23 20 420 50 25 18 13 10

Horizontal

560 - 10 5 3 2

0 8 8 8 - -

140 8 8 8 - 280 8 7 7 - 420 4.5 4.5 4 - -

RA7R 56P

16

Verti cal

560 - 1 1 - -

37

1. Specifications Check

[When high-output setting for side-mounted motor type is effective]

Transportable Mass by Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 20 20 18 15 12

200 20 20 18 15 12 400 20 20 16 12 8 420 20 20 15 10 6 600 - 12 8 5 3 640 - 10 6 4 2

Horizontal

800 - - 2 - -

0 3 3 3 - -

200 3 3 3 - 400 3 3 3 - 420 3 3 3 600 - 2 2 - 640 - 1 1 - -

RA7R 56P 24

Verti cal

800 - - - - -

38

1. Specifications Check

[When high-output setting for side-mounted motor type is effective] In RA8R there is nothing related to high-thrust setting. There is no parameter setting.

Transportable Mass by

Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.1G 0.2G

0 100 -

90 100 -

Horizontal

100 75 -

0 70 45 70 60 45 70 35 80 25 90 16 -

5

Verti cal

100 10 -

0 - 60

160 - 60 170 - 40 180 - 25 190 - 15

Horizontal

200 - 12

0 - 40 80 - 40 90 - 34

100 - 28

110 - 23 120 - 18 130 - 15 140 - 12 150 - 10 160 - 8 170 - 6 180 - 4 190 - 3

10

Verti cal

200 - 2

0 - 30 300 - 30 350 - 14

Horizontal

400 - 6

0 - 5 300 - 5 330 - 3.5 360 - 2

RA8R 60P

20

Verti cal

400 - 0.5

Caution: Do not attempt to establish the settings for the acceleration/deceleration above

the allowable range. It may cause a vibration, malfunction or shorten the product life. If any acceleration/deceleration equal to or greater than the rated acceleration/deceleration is set, a creep phenomenon or slipped coupling may occur.

39

1. Specifications Check

[3] Motor Straight Type

(Note) High-output settings are not available in RA8C or RA8R that operate with the PCON-CFB

controller.

[When high-output setting for motor straight type is ineffective]

Payload by

Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.3G 0.7G

0 35 30 20 35 30 40 35 30 65 35 25 85 30 20

105 25 15

Horizontal

130 20 10

0 10 － 20

10

－

40

10

－

65

10

－

85

7

－

105

5

－

2.5

Verti cal

130

4

－

0 22 20 40 22 20 85 22 20

130 22 18 175 20 14 215 15 10

Horizontal

260 12 6

0 5 － 40

5

－

85

5

－

130

5

－

175

4

－

215

3

－

RA4C 35P

5

Verti cal

260

2

－

40

1. Specifications Check

[When high-output setting for motor straight type is ineffective]

Payload by

Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.3G 0.7G

0 10 8 85 10 8

175 10 8 260 9 7 350 7 5 435 6 3

Horizontal

525 1 －

0 2 － 85 2 －

175 2 － 260 2 － 350 1.5 － 435 1 －

10

Verti cal

525 0.5 －

0 5 3

140 5 3 280 5 3 420 4 2.5

Horizontal

560 3 1.5

0 1 －

140 1 － 280 1 － 420 0.5 －

RA4C 35P

16

Verti cal

560 0.5 －

41

1. Specifications Check

[When high-output setting for motor straight type is ineffective]

Payload by

Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.3G 0.7G

0 40 25 50 40 25 75 40 25

100 40 25

Horizontal

125 40 25

0 20 － 50 20 － 75 12 －

100 9 －

3

Verti cal

125 5 －

0 40 20 50 40 20

100 40 20 150 40 20 200 35 18

Horizontal

250 10 6

0 10 － 50 10 －

100 10 － 150 8 － 200 5 －

6

Verti cal

250 3 －

0 25 10

100 25 10 200 25 10 300 20 8 400 10 5

Horizontal

500 5 2

0 4 －

100

4

－

200

4

－

300

3

－

400

2

－

12

Verti cal

500

1

－

0 6 5

160 6 5 320 6 4 480 4 3

Horizontal

640 3 1

0

1

－

160

1

－

320

1

－

480

1

－

RA6C 42P

20

Verti cal

640

0.5

－

42

1. Specifications Check

[When high-output setting for motor straight type is ineffective]

Payload by

Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.3G 0.7G

0 55 50 35 55 50 70 55 50

Horizontal

105 30 15

0 26 － 35 26 － 70 13 －

4

Verti cal

105 2 －

0 50 30 70 50 30

140 50 30

Horizontal

210 14 7

0 17.5 － 70 17.5 －

140 7 －

8

Verti cal

210 2 －

0 40 25

140 40 25 280 40 12

Horizontal

420 1.5 1

0 5 －

140 5 － 280 2 －

16

Verti cal

420 －－

0 18 9.5

200 18 9.5 400 11 6 420 10 5

Horizontal

600 1 －

0 3 －

200 3 － 400 1.5 － 420 －－

RA7C 56P

24

Verti cal

600 －－

Caution: Do not attempt to establish the settings for the acceleration/deceleration above

the allowable range. It may cause a vibration, malfunction or shorten the product life. If any acceleration/deceleration equal to or greater than the rated acceleration/deceleration is set, a creep phenomenon or slipped coupling may occur.

43

1. Specifications Check

[4] Side-Mounted Motor Type

(Note) High-output settings are not available in RA8C or RA8R that operate with the PCON-CFB

controller.

[When high-output setting for side-mounted motor type is ineffective]

Payload by

Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.3G 0.7G

0 35 30 20 35 30 40 35 30 65 35 25 85 30 20

105 25 15

Horizontal

130 20 10

0 10 － 20

10

－

40

10

－

65

10

－

85

7

－

105

5

－

2.5

Verti cal

130

4

－

0 22 20 40 22 20 85 22 20

130 22 18 175 20 14 215 15 10

Horizontal

260 12 6

0 5 － 40

5

－

85

5

－

130

5

－

175

4

－

215

3

－

RA4R 35P

5

Verti cal

260

2

－

44

1. Specifications Check

[When high-output setting for side-mounted motor type is ineffective]

Payload by

Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.3G 0.7G

0 10 8 85 10 8

175 10 8 260 9 7 350 7 5 435 6 3

Horizontal

525 1 －

0 2 － 85 2 －

175 2 － 260 2 － 350 1.5 － 435 1 －

10

Verti cal

525 0.5 －

0 5 3

140 5 3 280 5 3 420 4 2.5

Horizontal

560 3 1.5

0 1 －

140 1 － 280 1 － 420 0.5 －

RA4R 35P

16

Verti cal

560 0.5 －

45

1. Specifications Check

[When high-output setting for side-mounted motor type is ineffective]

Payload by

Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.3G 0.7G

0 40 25 25 40 25 50 40 25 75 40 25

100 40 25

Horizontal

125 40 25

0 20 － 25 20 50 20 － 75 12 －

100 9 －

3

Verti cal

125 5 －

0 40 20 50 40 20

100 40 20 150 40 20 200 35 18

Horizontal

250 10 6

0 10 － 50 10 －

100 10 － 150 8 － 200 5 －

6

Verti cal

250 3 －

0 25 10

100 25 10 200 25 10 300 20 8 400 10 5

Horizontal

500 5 2

0 4 －

100

4

－

200

4

－

300

3

－

400

2

－

12

Verti cal

500

1

－

0 6 5

160 6 5 320 6 4 480 4 3

Horizontal

640 3 1

0

1

－

160

1

－

320

1

－

480

1

－

RA6R 42P

20

Verti cal

640

0.5

－

46

1. Specifications Check

[When high-output setting for side-mounted motor type is ineffective]

Payload by

Acceleration/Deceleration [kg]

Type

Motor

Type

Lead [mm]

Horizontal/

Verti cal

Velocity

[mm/s]

0.3G 0.7G

0 55 50 35 55 50 70 55 50

Horizontal

105 30 15

0 26 － 35 26 － 70 13 －

4

Verti cal

105 2 －

0 50 30 70 50 30

140 50 30

Horizontal

210 14 7

0 17.5 － 70 17.5 －

140 7 －

8

Verti cal

210 2 －

0 40 25

140 40 25 280 18 12

Horizontal

420 1.5 1

0 5 －

140 5 － 280 2 －

16

Verti cal

420 －－

0 18 9.5

200 18 9.5 400 11 6 420 10 5

Horizontal

600 1 －

0 3 －

200 3 － 400 1.5 － 420 －－

RA7R 56P

24

Verti cal

600 －－

Caution: Do not attempt to establish the settings for the acceleration/deceleration above

the allowable range. It may cause a vibration, malfunction or shorten the product life. If any acceleration/deceleration equal to or greater than the rated acceleration/deceleration is set, a creep phenomenon or slipped coupling may occur.

47

1. Specifications Check

1.2.3 Driving System • Position Detector

Ball Screw Type

Type Motor Type Lead

No. of

Encoder

Pulses

Type Diameter Accuracy

2.5 5

10

RA4C RA4R

35P

16

Rolled

φ8mm

C10

3 6

12

RA6C RA6R

42P

20

Rolled

φ10mm

C10

4 8

16

RA7C RA7R

56P

24

Rolled

φ12mm

C10

5

10

RA8C RA8R

60P

20

8192

Rolled

φ16mm

C10

1.2.4 Positioning Precision

Item Tolerance

Positioning repeatability

±0.01mm

Lost motion 0.1mm or less This is an option already attached when it is shipped out from the factory. It does not include the consideration of time-dependent change as it is used.

1.2.5 Rod Tip Load

Type lead Item Tolerance

Rod Tip Static Allowable Torque

(Note 1)

1.0N･m

RA4C RA4R

2.5, 5, 10, 16

Rod Tip Maximum Displacement Angle

(Note 2)

±1.0°

Rod Tip Static Allowable Torque

(Note 1)

1.5N･m

RA6C RA6R

3, 6,

12, 20

Rod Tip Maximum Displacement Angle

(Note 2)

±1.0°

Rod Tip Static Allowable Torque

(Note 1)

2.5N･m

RA7C RA7R

4, 8,

16, 24

Rod Tip Maximum Displacement Angle

(Note 2)

±0.8°

Rod Tip Static Allowable Torque

(Note 1)

5.0N･m

RA8C RA8R

5, 10,

20

Rod Tip Maximum Displacement Angle

(Note 2)

±0.8° Note 1 Static allowable torque around the rod center Note 2 These are rod tip displacement angles when they are subjected to rod tip allowable torque at

the position where the rod is retracted the most.

48

1. Specifications Check

1.2.6 Current Limit Value and Pressing Force

[1] RA4C and RA4R Motor Type 35P

Current Limit

Value

Lead2.5 [N] Lead 5 [N] Lead 10 [N] Lead 16 [N]

20% 88 44 22 30% 133 66 33 21 40% 177 88 44 28 50% 221 111 55 35 60% 265 133 66 41 70% 310 155 77 48

Caution: (1) The relation of the current limit and the pressing force is a reference when

assuming the speed is 20mm/s.

(2) There is a little variance in the actual pressing force. The variance of the

pressing force becomes large when the current limit value is low.

(3) Use the product within the range in the graph for the current limit value.

Pressing force will not be stable if used below 20% (below 30% for Lead

16). There is even a case that it would not operate. An operation cannot be made also when it is beyond 70%. Doing so may cause degradation in the motor coil insulation by heat radiation, which results in shortening the product life.

(4) For CON-system controllers such as PCON, when the approach speed to

the pressing start position (setting in the position table) is 20mm/s or less, pressing will be performed with the approach speed In such a case also the pressing force will be unstable. In such cases, check in advance that the actuator can be used with no problem before omit using.

For SEL-system controllers, such as MSEL, press at the speed set by

PAPR instruction, regardless of the approach speed up to the pressing start position.

Current Limit Value [%]

Lead 2.5

Lead 5

Lead 10

Lead 16

Pressing Force [N]

RA4C/R Current Limit Value and Pressing Force

49

1. Specifications Check

[2] RA6C and RA6R Motor Type 42P

Current Limit

Value

Lead 3 [N] Lead 6 [N] Lead 12 [N] Lead 20 [N]

20% 106 53 26 16 30% 159 79 40 24 40% 211 106 53 32 50% 264 132 66 40 60% 317 159 79 48 70% 370 185 93 56

Caution: (1) The relation of the current limit and the pressing force is a reference when

assuming the speed is 20mm/s.

(2) There is a little variance in the actual pressing force. The variance of the

pressing force becomes large when the current limit value is low.

(3) Use the product within the range in the graph for the current limit value.

Pressing force will not be stable if used below 20%. There is even a case that it would not operate. An operation cannot be made also when it is beyond 70%. Doing so may cause degradation in the motor coil insulation by heat radiation, which results in shortening the product life.

(4) For CON-system controllers such as PCON, when the approach speed to

the pressing start position (setting in the position table) is 20mm/s or less, pressing will be performed with the approach speed In such a case also the pressing force will be unstable. In such cases, check in advance that the actuator can be used with no problem before omit using.

For SEL-system controllers, such as MSEL, press at the speed set by

PAPR instruction, regardless of the approach speed up to the pressing start position.

Current Limit Value [%]

Lead 12

Lead 20

Lead 6

Lead 3

Pressing Force [N]

RA6C/R Current Limit Value and Pressing Force

50

1. Specifications Check

[3] RA7C and RA7R Motor Type 56P

Current Limit

Value

Lead 4 [N] Lead 8 [N] Lead 16 [N] Lead 24 [N]

20% 312 156 78 52 30% 469 234 117 78 40% 625 312 156 104 50% 781 391 195 130 60% 937 469 234 156 70% 1094 547 273 182