IAI RCS3-RA4R Manual

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Low/Medium/High/Ultra-high Thrust Rod Type

Servo Press Models with Load Cell

High/Ultra-high Payload Rod Type

Conveyor Position Models without Load Cell

All Models Equipped

with a Battery-less Absolute Encoder as Standard

High-payload Rod Type Also Now Available

RCS3/2

www.iai-automation.com

RAR-LCT

RA13/15/20R

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Summary of Contents for IAI RCS3-RA4R

Page 1 RA13/15/20R Conveyor Position Models without Load Cell All Models Equipped All Models Equipped with a Battery-less Absolute Encoder as Standard with a Battery-less Absolute Encoder as Standard High-payload Rod Type Also Now Available High-payload Rod Type Also Now Available www.iai-automation.com...
Page 2 Rod type actuator that can be used in simple pressing. As it is capable of high precision position control, it can easily set the hard push force adjustment and position control that have been difficult with the hydraulic pressure. Servo Press Specifications Also Available The servo press specification actuator is equipped with a load cell to allow for the force control.
Page 3 Extensive Lineup The servo press specification can be selected from 8 types with the max. push force of 200N~50,000N. [Servo press specification] RCS3-RA4R RCS3-RA6R RCS3-RA7R RCS3-RA8R Stroke (mm) 110~410 115~415 120~520 100~500 Motor (W) Lead (mm) Max. push force (N)*...
Page 4: Explanation Of Operation
Dedicated Software: Press Program With this Press Program, one of two control methods, "Speed Control" or "Force Control", can be selected. In addition, one of four stop conditions, "Position", "Distance", "Load", or "Incremental Load", can be selected as the method for stopping. By utilizing a total of eight types of press methods, it is possible to handle a variety of press motion.
Page 5 Mode Internal control Stop state Applications Position stop Speed control Distance stop Positioning Press fitting, riveting, squeezing, etc. After arriving at the target position, Positioning stop (primarily metalworking) stops while maintaining the position Load stop at the time of arrival. Incremental load stop Position stop Force control...
Page 6 : 5m the mount direction 50mm (Every * Please contact IAI for more information about the model specification items. X££ : Specified length (ML/MR). * Body width does not include the width of the side-mounted motor. R££ : Robot cable ¢...
Page 7 CAD drawings can be downloaded from our website. www.iai-automation.com *1 Connect the motor-encoder cables. Please contact IAI for more details on the cable. *2 While the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the mechanical end.
Page 8 : 5m For side-mounted motor 50mm (Every * Please contact IAI for more information about the model specification items. X££ : Specified length type, specify the mount * Body width does not include the width of the side-mounted motor. R££ : Robot cable direction (ML/MR).
Page 9 CAD drawings can be downloaded from our website. www.iai-automation.com *1 Connect the motor-encoder cables. Please contact IAI for more details on the cable. *2 While the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the mechanical end.
Page 10 : 5m For side-mounted motor 50mm (Every * Please contact IAI for more information about the model specification items. X££ : Specified length type, specify the mount * Body width does not include the width of the side-mounted motor. R££ : Robot cable direction (ML/MR).
Page 11 CAD drawings can be downloaded from our website. www.iai-automation.com *1 Connect the motor-encoder cables. Please contact IAI for more details on the cable. *2 While the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the mechanical end.
Page 12 : 5m For side-mounted motor 50mm (Every * Please contact IAI for more information about the model specification items. X££ : Specified length type, specify the mount * Body width does not include the width of the side-mounted motor. R££ : Robot cable direction (ML/MR).
Page 13 CAD drawings can be downloaded from our website. www.iai-automation.com *1 Connect the motor-encoder cables. Please contact IAI for more details on the cable. *2 While the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the mechanical end.
Page 14: Main Specifications
RCS3-RA10R Battery- Body width (Servo press specification) less AC servo Side-mounted absolute motor motor ■ Model Specification ItemsItems RCS3 RA10R －－－－－－－－－－－－－－－－ Series Type Encoder Type Motor Type Lead Stroke...
Page 15 (Note) When the slider is returning to its home position, be careful of interference with surrounding objects, as it will travel until it reaches the ME. *2 This angle is not controlled (Rod center <-> M5 hole). Contact IAI for details. ST: Stroke M.E.: Mechanical end...
Page 16 RCS2-RA13R Battery- Body width (Servo press specification) less AC servo Side-mounted absolute motor motor ■ Model Specification ItemsItems RCS2 RA13R －－－－－－－－－－－－－－－－ Series Type Encoder Type Motor Type Lead Stroke...
Page 17 *1 This angle is not controlled (Rod center <-> M5 hole). Contact www.iai-automation.com S.E.: Stroke end IAI for details. *2 Angle between the jig mounting holes. Ground line connecting screw M4 (Note) A motor-encoder cable is connected to the cable joint φ9...
Page 18 : 5m 100mm (Every mounted motor * Please contact IAI for more information about the model specification items. X££ : Specified length on top). * Body width does not include the width of the side-mounted motor. ¢ Correlation Diagram of Push Force and Current Limit Value...
Page 19 Dimensions CAD drawings can be downloaded from our website. *1 Connect the motor-encoder cables. Please contact IAI for more details on the cable. www.iai-automation.com *2 While the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the mechanical end.
Page 20 : 5m 100mm (Every mounted motor * Please contact IAI for more information about the model specification items. X££ : Specified length on top). * Body width does not include the width of the side-mounted motor. ¢ Correlation Diagram of Push Force and Current Limit Value...
Page 21 CAD drawings can be downloaded from our website. *1 Connect the motor-encoder cables. Please contact IAI for more details on the cable. *2 While the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the www.iai-automation.com...
Page 22 XSEL-RA/SA 50mm) X££ : Specified length to be selected from * Please contact IAI for more information about the model specification items. R££ : Robot cable MT1/MT2/MT3/MR1/ * Body width does not include the width of the side-mounted motor. MR2/ML1/ML3.
Page 23 ROBO Cylinder® Dimensions *1. Connect the motor-encoder cables. Please contact IAI for more details on the cable. CAD drawings can be downloaded from our website. *2. While the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches www.iai-automation.com...
Page 24 100mm (Every direction on top) * Please contact IAI for more information about the model specification items. X££ : Specified length * Body width does not include the width of the side-mounted motor. ¢ Correlation Diagram of Push Force and Current Limit Value...
Page 25 CAD drawings can be downloaded from our website. www.iai-automation.com *1 Connect the motor-encoder cables. Please contact IAI for more details on the cable. *2 While the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the mechanical end.
Page 26 : 5m 100mm (Every mounted motor * Please contact IAI for more information about the model specification items. X££ : Specified length on top). * Body width does not include the width of the side-mounted motor. ¢ Correlation Diagram of Push Force and Current Limit Value...
Page 27 CAD drawings can be downloaded from our website. www.iai-automation.com *1 Connect the motor-encoder cables. Please contact IAI for more details on the cable. *2 While the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the mechanical end.
Page 28: Operating Conditions
Reference Data Operating Conditions RCS3/RCS2 Series Servo press specification (with load cell) When using the actuator, the following three conditions must be satisÿed. Condition 1. The push time must be the determined time or less Condition 2. The continuous operational thrust force of a single cycle must be the allowable continuous operational thrust force or less Condition 3.
Page 29 Reference Data RA10R Push Force (N) Push Command Value (%) Maximum Push Time (s) 70 or less Continuous pushing available 2100 2880 3660 4440 5220 6000 71~90 Push Command Value (%) RCS2 Push Force (N) RA13R Push Command Value (%) Maximum Push Time (s) 70 or less (Continuous pushing is possible)
Page 30 Reference Data Operating Conditions RCS3/RCS2 Series Servo press specification (with load cell) Condition 2. Continuous operational thrust force Please consider that the load and duty cycle of a single continuous operational thrust force F must be smaller than the allowable continuous operational thrust force of the actuator.
Page 31 Reference Data is the acceleration time, but the calculation methods of a trapezoid pattern and a triangle pattern are different. The difference between a trapezoid pattern and a triangle pattern can be determined by whether the arrival speed of operation of the traverse distance at the set speed is larger or smaller than the set speed.
Page 32 Reference Data Operating Conditions RCS3/RCS2 Series Rod type (without load cell) RCS2 Servo press compatible‥ The same conditions as the rod type with load cell. RA13R Please refer to P.27~30. RCS3 When using the actuator, the following two conditions must be satisfied. Condition 1.
Page 33 Reference Data Condition 2. Duty Duty cycle is the percentage of the actuator's active operation time in each cycle. The duty cycle varies depending on the operation conditions (payload and speed). According to the combination of the maximum speed and payload within one cycle, check the guidelines for the allowable duty cycle with [Duty Cycle] the graph below and operate at or below the allowable value.
Page 34 Reference Data Moment Selection Guide RCS3/RCS2 Series Rod type (without load cell) RCS2 RA13R Loads can be applied to the rod within the range of the conditions determined by the following formula. Loads can be applied to the rod of RCS2-RA13R (without load cell) within the range of the conditions determined by the following formula.
Page 35 Reference Data Mounting Orientation of the Actuator Some mounting orientations cannot be used or require caution depending on the actuator model. Check the mounting orientation for each model in the table below. ™: Can be mounted ×: Cannot be mounted Classification Series Type...
Page 36 CE Compliant Model Description If CE is required and the selected model is not CE complied, please specify this option. For detail, please contact IAI. Cable Exit Direction CJT / CJR / CJL / CJB / CJO Model Description This option allows you to change the exit direction of the motor-encoder cable to top, bottom, left, or right.
Page 37 The actuator body may be twisted or deformed if insufficient number of mounting foot brackets are used. Actuator life could also be shortened. * Refer to the installation dimensions in the actuator drawing for the installation pitch between the foot brackets. RCS3-RA4R RCS3-RA6R Model name: Short type: RCS3-FT-RA4-1 (Note 1)
Page 38 Long type: RCS3-FT-RA10-2 (Note 1) Stroke Number of Bolts Quantities Model Foot Bracket 64.5 (mm) Enclosed Enclosed J-φ11 through Long type Short type RCS3-RA4R Long type Short type 210~410 Long type 237.5 115~165 Long type RCS3-RA6R Short type 215~415 Long type Short type...
Page 39 Rod type Side-mounted Motor Direction / Cable Exit Position MT £ / MR £ / ML £ Model Description The combination of side-mounted motor direction and cable exit direction can be specified. Notes Be sure to select a symbol in the model number for the side-mounted motor direction and cable exit position.
Page 40 Please see the catalogs below for more details on the applicable controllers. Model name Controller Reference catalog RA4R RA6R RA7R Servo press SCON-CB/CGB RCS3 RA8R specification <Servo press Please contact IAI America for details. RA10R (with load cell) specification> RA15R RA20R RCS2 RA13R RA15R RCS3 SCON-CGB This catalog P. 40...
Page 41 SCON-CB/CGB <Servo press specification> Controller <Sero press specification> Servo Press dedicated controller (SCON-CB F) (*1) (*2) (*1) MECHATROLINK-I/II connection specification is not compliant with CE Marking. (*2) 3000 and 3300W types are not compliant with UL standard. Features Equipped Dedicated Press Program There are 9 types of press-operation modes to choose from Position stop Speed control...
Page 42: List Of Models
SCON-CB/CGB <Servo press specification> Controller Supports the Safety Function STO/SS1-t <Optional function> Supports the STO (Safe Torque O° ) / SS1-t (Safe Stop 1 - time controlled) function. The STO / SS1-t function is to shut o° the energy supply to the motor by an elec tric circuit in the controller.
Page 43 CC-Link IE Field connection speciÿcation <30 D · 750 S Applicable actuator> ●Controller Motor type "30D" ●Controller Motor type "750S" MECHATROLINK-I/II (Note 1) RCS3-RA4R RCS 2 - RA 13 R When option LCT is selected PROFIBUS-DP EtherCAT EtherNet/IP PROFINET IO (Note 1) Please be sure to check P8-18 for the cau- tion when selecting.
Page 44: System Configuration
Software only <Model: TB-02(D)-□> specified in its model in its model number at the <Model: RCM-101-MW> Please contact IAI for the current supported number at the time of time of purchase. Refer to Option Supplied with the dedicated versions.
Page 45 SCON-CB/CGB <Servo press specification> Controller Multi-function connector (interface) ①When the host controller inputs feedback pulses with a line ②A pulse converter (JM - 08: option) is required when the host di˛erential r eceiver. controller inputs feedback pulses with an open collector. Load measuring tool, etc.
Page 46 SCON-CB/CGB <Servo press specification> Controller ■ Pulse Converter: JM-08 Converts di˜ erential pulses to the open-collector speciÿcation (NPN only). Please use this converter if the host controller uses open-collector input. ■ Speciÿcation Item Speciÿcations Opencollector Di˜erential Output Input Input power JM−08 24VDC±10% (Max.50mA) PP 1...
Page 47: I/O Wiring Diagram
SCON-CB/CGB <Servo press specification> Controller I/O Wiring diagram PIO connector (NPN speciÿcation) Pin number Classiÿcation Signal name Power supply ─ Unused ─ Unused Input IN10 IN11 IN12 IN13 IN14 IN15 OUT0 OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 Output OUT8 OUT9 OUT10 OUT11...
Page 48 SCON-CB/CGB <Servo press specification> Controller Field network specification operation mode description If the PCON-CB is controlled via a field network, you can select one of the following two modes to operate the actuator. Please note that the data areas required on the PLC side will vary depending on the mode. ■Mode Description Mode Description...
Page 49: External Dimensions
SCON-CB/CGB <Servo press specification> Controller External Dimensions CAD drawings can be downloaded from our website. www.iai-automation.com Less than 400W 400W~750W For 3000W, 3300W (80) (80) (80) When an absolute battery is installed (15.7) 92.7 When an absolute battery is installed...
Page 50: Names Of The Parts
SCON-CB/CGB <Servo press specification> Controller Names of the parts [For 3000W~3300W] FG connection terminal Multi-function connector (MF I/F) A terminal for connecting the ground line to prevent electric shock and noise. It is A connector to output the feedback pulses and analog load data of the load cell, and connected to the PE power supply connector inside the controller.
Page 51 (Software only, for customers who already own a dedicated connection cable) * Please purchase through your distributor and a download link will be sent to your valid email address. Conÿguration  Please contact IAI for the current supported versions. (Your dedicated connection cable) PC software (Download Only)
Page 52 These parts are normally included in each unit. Please order individual parts if lost or need replacing. Refer to P1-89 for the details of cables. Cable model search system is recommended! ■Table of Applicable Cables URL: https://www.iai-automation.com/iai-cables-search-tool/ Model Number Motor Cable Motor Robot Cable...
Page 53 SCON-CB/CGB Controller ( Not for Servo Press with Load Cell Position Controller for RCS2-RA13R and RCS3-RA15R/RA20R without Load Cell *This model is also for Single-axis robot / Cartesian robot / Linear servo / ROBO Cylinder RCS2/RCS3/RCS4 (*1) (*2) (*1) MECHATROLINK-I/II connection specification is not compliant with CE Marking. (*2) 3000 and 3300W types are not compliant with UL standard.
Page 54 SCON-CB/CGB Controller ( Not for Servo Press with Load Cell Supports the Safety Function STO/SS1-t <Optional function> Supports the STO (Safe Torque O° ) / SS1-t (Safe Stop 1 - time controlled) function. The STO / SS1-t function is to shut o° the ener gy supply to the motor by electric circuit in the controller.
Page 55 SCON-CB/CGB Controller ( Not for Servo Press with Load Cell Model S C O N Series Type Motor Type Encoder Type Option I/O Type I/O Cable Length Power Supply Safety type Voltage High-function type Standard type speciÿed Standard type speciÿed Safety category compliant type Hi-accel./decel.
Page 56 <Model number: TB-02(D)-□> Option Software only Dummy plug <Model number: TB-03-□> Regenerative resistance unit <Model: IA-OS> (See P8-266) Please contact IAI for the current (See P8-265) Supplied with the dedicated <Model: DP-6> supported versions. <Model number: RESU-2/RESUD-2> connection cable <Model: IA-OS-C>...
Page 57: Specification Table
SCON-CB/CGB Controller ( Not for Servo Press with Load Cell I/O connector for safety function Model Manufacturer Controller side 2294417-1 Tyco Electronics Cable side 2013595-1 (*1) (*1) Customer's supply. Cable with connector (CB-SC-ST0030) is sold separately. ■Signals of I/O connector for safety function Pin No.
Page 58: Operation Modes
SCON-CB/CGB Controller ( Not for Servo Press with Load Cell Operation modes With this controller, you can select a desired control method from the two modes of positioner mode and pulse-train control mode. In the positioner mode, you can enter position data (target position, speed, acceleration, etc.) in the controller under the desired numbers and then specify each number externally via a I/O (input/output signal) to operate the actuator.
Page 59: I/O Wiring Diagrams
SCON-CB/CGB Controller ( Not for Servo Press with Load Cell I/O Wiring diagrams ■ Positioning Mode/Teaching Mode/Solenoid Valve Mode ■ Pulse-train Mode (Di°erential Output) PIO connector (NPN speciÿcation) Pulse connector Twist track Pin No. Category Signal name Pin No. Category Signal name Shield Not used...
Page 60 SCON-CB/CGB Controller ( Not for Servo Press with Load Cell Pulse-train control mode I/O signals The signal assignments of the ˜a t cable in the pulse-train control mode is as shown in the table below. Connect external equipment (such as PLC) according to this table. Pin ...
Page 61 SCON-CB/CGB Controller ( Not for Servo Press with Load Cell Pulse-train type I/O speciÿcation (di°erential line driver speciÿcation) * Except for the ÿeld network speciÿcation. ■ Input Part ■ Output Part Maximum number of input pulses : Line driver interface 2.5Mppss Maximum number of output pulses : Line driver interface 2.5Mpps Isolation method...
Page 62: Mode Description
SCON-CB/CGB Controller ( Not for Servo Press with Load Cell Field network specification Operation mode Description (Except for MECHATROLINK-Ⅲ and EtherCAT Motion) If the SCON-CB is controlled via a field network, you can select one of the following nine modes to operate the actuator. Please note that the data areas required on the PLC side will vary depending on the mode.
Page 63: External Dimensions
SCON-CB/CGB Controller ( Not for Servo Press with Load Cell External Dimensions CAD drawings can be downloaded from our website. www.iai-automation.com Less than 400W 400~750W (80) (80) When the absolute battery is installed When the absolute battery is installed Name of each part...
Page 64: Name Of Each Part
SCON-CB/CGB Controller ( Not for Servo Press with Load Cell External dimensions CAD drawings can be downloaded from our website. www.iai-automation.com For 3000W, 3300W (80) (15.7) 92.7 Name of each part [For 3000W ・ 3300W] Internal regenerative resistance effective connector A short-circuit cable is connected at shipping.
Page 65 (Software only, for customers who already own a dedicated connection cable) * Please purchase through your distributor and a download link will be sent to your valid email address. Conÿguration  Please contact IAI for the current supported versions. (Your dedicated connection cable) PC software (Download Only)
Page 66 These parts are normally included in each unit. Please order individual parts if lost or need replacing. Refer to P1-89 for the details of cables. Cable model search system is recommended! ■Table of Applicable Cables URL:https://www.intelligentactuator.com/iai-cables-search-tool/ Model Number Motor Cable Motor Robot Cable...
Page 67 Shanghai Jiahua Business Center A8-303, 808, www.iai-automation.com Hongqiao Rd., Shanghai 200030, China IAI Robot (Thailand) Co., Ltd. JAPAN Headquarters: 577-1 Obane, Shimizu-ku, Shizuoka-shi, Shizuoka, 424-0103, JAPAN 825 Phairojkijja Tower 7th Floor, Debaratana Rd., The information contained in this product brochure may change without prior notice due to product improvements.

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