IAI RCP2 First Step Manual

RCP2/RCA/RCS2/RCS3 Actuator
Slider Type/Rod Type/
Arm Type/Flat Type
First Step Guide
Tenth Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the DVD Manual included in the box this device was packaged in. It should be retained
with this device at all times.
A hardcopy of the Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cover of the Instruction Manual or on the First Step Guide.
• Using or copying all or 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.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts (The option is excluded.)
No. Part Name Model
1 Actuator Main Body Refer to "2. How to read the model plate",
"3. How to read the model No."
Accessories
2 Motor • Encoder Cable *1
3 Home Position Marking Sticker
4 Nut
5 First Step Guide
6 Instruction Manual (DVD)
7 Safety Guide
*1 Please refer to the wiring layout for the enclosed motor cable and encoder cable.
(List of Included Nut Type)
Nut Nut Nut Nut Nut
Model No.
M10×1.25 M12×1.25 M14×1.5 M20×1.5 M22×1.5
RCP2-RA3C 1
RCP2-RA4C 1
RCP2-RA6C 1
RCP2-RA8C 1
RCP2-RA10C 1
RCP2-RA3R 1
RCP2-RA4R 1
RCP2-RA6R 1
RCP2-RA8R 1
RCP2-RGS4C
RCP2-RGS6C
RCP2-RGD4C
RCP2-RGD6C
RCP2-SRA4R 1
RCA-SRA4R 1
RCS2-RA7AD 1
RCS2-RA7BD 1
RCS2-SRA7BD 1
RCS2-RA5C
RCS2-RA5R 1
RCS2-RGD5C
*1 Stroke 100mm or less : 4 Units, stroke 100mm or more : 8 Units
Nut A Nut B Nut C Nut A
Model No.
M26×1.5 M35×1.5 M8×1.5 M30×1.5
RCA-RA3C 1 1 1
RCA-RA4C 1
RCA-RA3D 1 1 1
RCA-RA4D 1
RCA-RA3R 2 1
RCA-RA4R 2
RCA-RGS3C 1 1
RCA-RGS4C 1
RCA-RGS3D 1 1
RCA-RGS4D 1
RCA-RGD3C 1 1
RCA-RGD4C 1
RCA-RGD3D 1 1
RCA-RGD4D 1
RCA-RGD3R 2
RCA-RGD4R 2
RCS2-RA4C 1
RCS2-RA4D 1
RCS2-RA4R 2
RCS2-RGS4C 1
RCS2-RGS4D 1
2. How to read the model plate
Model
MODEL RCP2-SA5C-I-42P-12-50-P1-P-BE
Serial number
SERIAL No.600090266 MADE IN JAPAN
3. How to read the Model No.
3.1 Slider Type
3.1.1 RCP2 Actuator
<Series Name>
Standard Type Clean-Room Type
RCP2 RCP2CR
<Type>
Aluminum-Based Type
SA5C, SA6C
SA7C
Steel-Based Type
SS7C, SS8C
Steel-Based, High-Speed Type
HS8C
Aluminum-Based, Motor-Reversing Type
SA5R, SA6R
SA7R
Steel-Based, Motor-Reversing Type
SS7R, SS8R
Steel-Based, High-Speed, Motor-Reversing Type
HS8R
<Encoder Type>
I : Incremental
<Motor Type>
42P : 42 □Size 56P : 56 □Size
<Lead>
3 : 3mm 10 : 10mm, 4 : 4mm
5 : 5mm 16 : 16mm, 6 : 6mm
8 : 8mm 30 : 30mm
3.1.2 RCA Actuator
<Series Name>
Standard Type Clean-Room Type
RCA RCACR
<Type>
Coupling Type
Aluminum-Based Type
SA4C, SA5C
SA6C
Quantity Remarks
<Encoder Type>
I : Incremental A : Absolute
1
<Motor Type>
20 : 20W 30 : 30W
<Lead>
1 set
2.5 : 2.5mm 6 : 6mm
1 Packaged in slider type
3 : 3mm 10 : 10mm
Refer to list below 5 : 5mm 12 : 12mm
20 : 20mm
1
1
Note : Models applicable for the battery-less absolute type are RCA-SA4C/R, SA5C/R, SA6C/R,
1
RCACR-SA4C, SA5C and SA6C.
3.1.3 RCS2 Actuator
Square Nut Square Nut Square Nut
6×6 M4 7×7 M4 10×10 M6 <Series Name>
Standard Type Clean-Room Type
RCS2 RCS2CR
4
<Type>
4
Coupling Type
Aluminum-Based Type
SA4C, SA5C
SA6C, SA7C
4
Built-in Type
Aluminum-Based Type
4
SA4D, SA5D
SA6D
4
Aluminum-Based, Motor-Reversing Type
4
SA4R, SA5R
4
SA6R, SA7R
4
Steel-Based, Motor-Reversing Type
SS7R, SS8R
<Encoder Type>
I : Incremental A : Absolute
WA : Battery-less Absolute
<Motor Type>
20 : 20W 60 : 60W
4 or 8 *1
30 : 30W 100 : 100W
4 or 8 *1
<Lead>
4 or 8 *1
2.5 : 2.5mm 6 : 6mm
3 : 3mm 8 : 8mm
4 : 4mm 10 : 10mm
Nut B Nut C
5 : 5mm
M40×1.5 M10×1.5
3.1.4 RCS3 Actuator
1 1
<Series Name>
1 1
Standard Type Clean-Room Type
RCS3 RCS3CR
1 <Type>
Aluminum-Based Type
SA8C
1
Aluminum-Based Reversing Type
SA8R
1
<Encoder Type>
I : Incremental A : Absolute
1 WA : Battery-less Absolute
<Motor Type>
100 : 100W 150 : 150W
1
<Lead>
5 : 5mm 20 : 20mm
10 : 10mm 30 : 30mm
1 1
<Stroke>
1 1
<Controller>
1
T1: XSEL-J/K
1 T2: SCON, SSEL, XSEL-P/Q
1
Note : Models applicable for the battery-less absolute type are RCS2-SA4C/R, SA5C/R,
SA6C/R, SA7C/R, RCS2CR-SA4C, SA5C, SA6C, SA7C, RCS3-SA8C/R, SS8C/R,
RCS3CR-SA8C, SS8C.
R C P 2 - S A 5 C - I - 4 2 P - 1 2 - 5 0 - P 1 - P - B E - * *
Identification for IAI use only
<Option>
B : Brake
BE : Brake (Cable on end)
BL : Brake (Cable on left)
BR : Brake (Cable on right)
NM : Reversed-Home Type
ML : Motor Reversing from Left Side
MR : Motor Reversing from Right Side
SR : Slider Roller Specification Type
VR : Suction Joint Reversed Type
<Cable Length>
N : None, P
S : 3m,
X□□ : Specified Length
R□□ : Robot Cable
<Controller>
P1: PSEL,
PCON-CF, PCON-CY
PCON-SE, PCON-PL/PO
P3: PCON-CA, PMEC
86P : 86 □Size
PSEP, MSEL, MCON
12 : 12mm
<Stroke>
20 : 20mm
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
R C A - S A 4 C - I - 2 0 - 1 0 - 5 0 - A 1 - P - B - * *
Identification for IAI use only
<Option>
B : Brake
BE : Brake (Cable on end)
Built-in Type BL : Brake (Cable on left)
BR : Brake (Cable on right)
Aluminum-Based Type
FT : Foot Bracket
SA4D, SA5D
HA : High Accel/Decel Type
SA6D
LA : Power Saving Type
Steel-Based Type
HS : Home-Check Sensor
SS4D, SS5D
NM : Reversed-Home Type
SS6D
SR : Slider Roller Specification Type
Aluminum-Based,
SS : Slider Spacer
Motor-Reversing Type
ML : Motor Reversing from Left Side
SA4R, SA5R MR : Motor Reversing from Right Side
SA6R VR : Suction Joint Reversed Type
<Cable Length>
WA : Battery-less Absolute
N : None
M : 5m
R□□ : Robot Cable
<Controller>
<Stroke>
A1: ASEL
ACON-C/CG
ACON-CY
ACON-SE
ACON-PL/PO
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
R C S 2 - S A 4 C - I - 2 0 - 1 0 - 5 0 - A 1 - P - B - * *
Identification for IAI use only
<Option>
B : Brake
BE : Brake (Cable on end)
BL : Brake (Cable on left)
BR : Brake
Steel-Based Type
FT : Foot Bracket
SS7C, SS8C
HA : High Accel/Decel Type
HS : Home-Check Sensor
NM : Reversed-Home Type
SR : Slider Roller Specification Type
SS : Slider Spacer
ML : Motor Reversing from Left Side
MR : Motor Reversing from Right Side
VR : Suction Joint Reversed Type
CE : CE Marking
<Cable Length>
N : None
P : 1m
S : 3m
TA : Absolute
M : 5m
X□□ : Specified Length
R□□ : Robot Cable
150 : 150W
<Controller>
T1: XSEL-J/K
T2: SCON
12 : 12mm
SSEL
<Stroke>
16 : 16mm
XSEL-P/Q/R/S
20 : 20mm
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
R C S 3 - S A 8 C - I - 1 0 0 - 5 - 5 0 - T 1 - P - B - * *
Identification for IAI use only
<Option>
B : Brake
NM : Reversed-Home Type
A1S : Cable Exit on Left Side
Steel-Based Type
A1E : Cable Exit on Left of Rear Side
SS8C
A3S : Cable Exit on Right Side
Steel-Based Reversing Type
A3E : Cable Exit on Right of Rear Side
SS8R
MLE : Motor Reversed on Left Side,
Cable Exit on Rear Side
TA : Absolute
MLS : Motor Reversed on Left Side,
Cable Exit on a Side
MRE : Motor Reversed on Right Side,
Cable Exit on Rear Side
MRS : Motor Reversed on Right Side,
Cable Exit on a Side
SR : Slider Roller Specification Type
VL : L-shaped Vacuum Joint Type
VN : No Vacuum Joint
CE : CE Marking
<Cable Length>
N : None
M : 5m
R□□ : Robot Cable
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
3.2 Rod Type
3.2.1 RCP2 Actuator
R C P 2 - R A 2 C - I - 2 0 P - 1 - 5 0 - P 1 - P - F L - * *
<Series Name>
Standard Type
*1
RCP2
Dust and Splash-Proof Type
RCP2W
<Type>
Standard Type Reversing Type
RA2C, RA3C RA3R, RA4R
RA4C, RA6C RA6R, RA8R
RA8C, RA10C
Single-Guide Type
RGS4C, RGS6C
Double-Guide Type
RGD3C, RGD4C
RGD6C
: 1m
Short Length Type
M : 5m
SRA4R
Short Length Type
With Single Guide
SRGS4R
PCON-C/CG
Short Length Type
With Double Guide
SRGD4R
<Encoder Type>
I : Incremental
<Motor Type>
20P : 20 □Size
<Lead>
28P :28 □Size
1 : 1mm 8 : 8mm
35P : 35 □Size
2.5 : 2.5mm 10 : 10mm
42P : 42 □Size
4 : 4mm 16 : 16mm
56P : 56 □Size
*1
5 : 5mm
86P : 86 □Size
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
3.2.2 RCA Actuator
R C A - R A 3 C - I - 2 0 - 1 0 - 5 0 - A 1 - P - B - * *
<Series Name>
Standard Type
RCA
Dust and Splash-Proof Type
RCAW
<Type>
Standard Type
Coupling Type
RA3C, RA4C
Built-in Type
RA3D, RA4D
Motor-Reversing Type
P : 1m S : 3m
X□□: Specified Length RA3R, RA4R
Single-Guide Type
Coupling Type
A3: AMEC A5: ACON-CA RGS3C, RGS4C
ASEP ACON-CB Built-in Type
MSEP MCON RGS3D, RGS4D
Double-Guide Type
<Encoder Type>
Coupling Type
I : Incremental
RGD3C, RGD4C
A : Absolute
Built-in Type
RGD3D, RGD4D
<Motor Type>
Motor-Reversing Type
20 :20W
RGD3R, RGD4R
30 :30W
Short Length Type
*1 SRA4R
<Lead>
Short Length Type
2.5 : 2.5mm
With Single Guide
3 : 3mm
SRGS4R
5 : 5mm
Short Length Type
6 : 6mm
With Double Guide 10 : 10mm
SRGD4R 12 : 12mm
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
3.2.3 RCS2 Actuator
R C S 2 - R A 4 C - I - 2 0 - 1 2 - 5 0 - T 1 - P - B - * *
<Series Name>
Standard Type
RCS2
Dust and Splash-Proof Type
RCS2W
<Type>
Standard Type <Encoder Type>
Coupling Type I : Incremental A : Absolute
RA4C, RA5C
TA : Absolute
Built-in Type
WA : Battery-less Absolute
RA4D, SRA7BD
<Motor Type>
RA7AD, RA7BD
20 : 20W
Motor-Reversing Type
30 : 30W
RA4R, RA5R
60 : 60W
RA13R
100 : 100W
Single-Guide Type
150 : 150W
Coupling Type
750 : 750W
RGS4C, RGS5C
<Lead>
Built-in Type
*1
1.25 : 1.25mm
RGS4D, SRGS7BD
2.5 : 2.5mm
RGS7AD, RGS7BD
3 : 3mm
Double-Guide Type
4 : 4mm
Coupling Type
6 : 6mm
RGD4C, RGD5C
8 : 8mm
Built-in Type
RGD4D, SRGD7BD 12 : 12mm
RGD7AD, RGD7BD 16 : 16mm
Motor-Reversing Type <Stroke>
RGD4R
<Controller>
Short Length Type
T1: XSEL-J/K
SRA7BD
T2: SCON
With Single Guide
SSEL
SRGS7BD XSEL-P/Q/R/S
With Double Guide
SRGD7BD
Note : Models applicable for the battery-less absolute type are RCS2-RA5C/R, RGS5C and RGD5C.
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
*1 This may be displayed for the manufacturing reason.(This is not to indicate the manufacturing model code.)
P : 1m S : 3m
Note : For Absolute Type, there are encoder types A and TA.
X□□ : Specified Length
Check the model types of the actuator and the controller when the controller is one of those listed below. In the
case the encoder type differs from what is indicated on the label, it may be necessary to make some changes to
the parameters. Please contact your nearest IAI sales office. Using the controller that requires parameter
changes will cause D67 (Motor/Encoder Structure Information) Error. However, it would not cause malfunction of
the product.
[Applicable Controllers] XSEL-J/K, XSEL-P/Q/R/S, SSEL
Identification for IAI use only *1
<Option>
B : Brake
FL : Flange Bracket (front)
FLR : Flange Bracket (rear)
FT : Foot Bracket
FT2 : Foot Bracket (right attached)
FT4 : Foot Bracket (left attached)
GS2 : Single Guide, right attached
GS3 : Single Guide, bottom attached
GS4 : Single Guide, left attached
NM : Reversed-Home Type
A1 : Connector cable oriented on left
A2 : Connector cable oriented toward rod
A3 : Connector cable oriented on right
<Cable Length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Specified Length
R□□ : Robot Cable
<Controller>
P1: PSEL P3: PCON-CA
PCON-C/CG PMEC
PCON-CF PSEP
<Stroke> PCON-CY MSEL
PCON-SE MCON
PCON-PL/PO
Identification for IAI use only *1
<Option>
B : Brake
FT : Foot Bracket
FT2 : Foot Bracket (right attached)
FT4 : Foot Bracket (left attached)
GS2 : Single Guide, right attached
FL : Flange Bracket (front)
FLR : Flange Bracket (rear)
HA : High Accel/Decel Type
HS : Home-Check Sensor
LA : Power Saving Type
NJ : Knuckle Joint
NM : Reversed-Home Type
TRF : Trunnion Bracket (front)
TRR : Trunnion Bracket (rear)
QR : Clevis Bracket
RP : Rear Attachment Plate
<Cable Length>
N : None
P : 1m
S : 3m
M : 5m
X□□ : Specified Length
R□□ : Robot Cable
<Controller>
A1: ASEL, ACON-C/CG
ACON-CY, ACON-SE
<Stroke>
ACON-PL/PO
A3: AMEC, ASEP, MSEP
A5: ACON-CA, ACON-CB, MCON
Identification for IAI use only *1
<Option>
B : Brake
B : Brake (RA13R brake box equipped)
BN : Brake (RA13R brake box excluded)
FT : Foot Bracket
FL : Flange Bracket (front)
FLR : Flange Bracket (rear)
HA : High Accel/Decel Type
HS : Home-Check Sensor
NJ : Knuckle Joint
NM : Reversed-Home Type
TRF : Trunnion Bracket (front)
TRR : Trunnion Bracket (rear)
QR : Clevis Bracket
RP : Rear Attachment Plate
A1 to A3 :
Varied in connector cable orientation
ML : Motor-Reversing Type (Standard)
MR : Motor-Reversing Type
MT1, MT2, MT3 :
Motor Reversing from Upper Side
MR1, MR2 :
Motor Reversing from Right Side
ML1, ML2 :
Motor Reversing from Left Side
GS2 to GS4 :
Varied in guide attachment orientation
LCT : With loadcell and cable track
LCN : Without loadcell and cable track
CE : CE Marking
<Cable Length>
N : None P : 1m S : 3m
M : 5m X□□: Specified Length
R□□ : Robot Cable