RCP4series

Cleanroom TypeCleanroom TypeSeries Added

w w w . r o b o c y l i n d e r . d e

Small Standard Slider & Rod Type

Small Cleanroom Slider Type

RCP4-SA3/RA3RCP4CR-SA3

GB

1

1440900450225

1440900450225

1200980490245

1120700350175800700450225800700420210

1440900450225

1280900450225

1000840490210800700450225800560420175

1440900450225

1440900450225

1200980490245

6.59

182010152525204045456

1224366

254060205060806.59

182010152525204045456

25406020506080

6.59

18201015252520404545

12.56

121

2.56

1238

16251.52.55

101.54

102038

18281

2.56

121

2.56

1238

16251.54

102038

1828

12.56

121

2.56

1238

1625

Small SA3/RA3 Standard Types and SA3 Cleanroom Typewith 32mm body width added to RCP4 Series

The horizontal payload of the Rod Type described above is that when an external guide is used. Refer to the individual catalog for the RCP4 Series.

201263

201263

241684

16105

2.5201263

241684

201263

201263

241684

201263

241684

201263

201263

241684

32mm

52mm

58mm

73mm

32mm

52mm

61mm

52mm

58mm

73mm

52mm

61mm

32mm

52mm

58mm

73mm

Series Feature Type Externalview

Actuatorwidth

Stroke(mm)

Ballscrewlead (mm)

Maximumspeed (mm/s)

Maximum payload (kg)Horizontal Vertical

RCP4

SliderType

MotorStraight

Side-mountedMotor

Cleanroom

SliderType

RCP4CR SliderType

SA3C

SA5C

SA6C

SA7C

RA3C

RA5C

RA6C

SA5R

SA6R

SA7R

RA5R

RA6R

SA3C

SA5C

SA6C

SA7C

50~800

25~300

25~300

25~300

50~400

50~500

6

4

2

420

280

140

3

5

8

3

5

8

1.5

2.5

3.5

50~800

50~400

50~500

50~800

RCP4 Series

NEW

NEW

NEW

RodType

( )RadialCylinder

RodType

( )RadialCylinder

6

4

2

420

280

140

1.5

2.5

3.5

2Refer to the individual catalog for the RCP5 Series. Refer to the RCP5 catalog supplement for the RCP5CR Cleanroom Series.

Series Feature Type Externalview

Actuatorwidth

Stroke(mm)

Ballscrewlead (mm)

Maximumspeed (mm/s)

Maximum payload (kg)Horizontal Vertical

Cleanroom SliderType

16

10

5

2.5

20

12

6

3

24

16

8

4

16

10

5

2.5

20

12

6

3

24

16

8

4

20

10

5

10

5

2.5

20

10

5

10

5

2.5

600<450>

300<250>

150

250<167>

125

63

400

200

100

200<140>

100

50

30

60

100

80

150

300

30

60

100

80

150

300

5

40

70

80

100

150

5

40

70

80

100

150

1260

785

390

195

1440<1280>

900

450

225

1200

980<840>

490

245<210>

1120<840>

700

350

175

800

700

450

225

800<600>

700<560>

420

210

4

10

12

12

10

15

25

25

20

40

45

45

6

15

28

40

6

25

40

60

20

50

60

80

1

2.25

4.5

9

1

2.5

6

16

3

8

16

25

1.5

2.5

5

10

1.5

4

10

20

3

8

18

28

16

10

5

2.5

20

12

6

3

24

16

8

4

1260

785

390

195

1440<1280>

900

450

225

1200

980<840>

490

245<210>

4

10

12

12

10

15

25

25

20

40

45

45

1

2.25

4.5

9

1

2.5

6

16

3

8

16

25

40mm

58mm

73mm

40mm

58mm

73mm

88mm

108mm

88mm

108mm

40mm

58mm

73mm

50~500

50~800

50~800

60~410

65~415

70~520

50~700

50~800

50~700

50~800

50~500

50~800

50~800

RCP5

RCP5CR

SliderType

MotorStraight

Side-mountedMotor

SA4C

SA6C

SA7C

RA4C

RA6C

RA7C

RA8C

RA10C

RA8R

RA10R

SA4C

SA6C

SA7C

RCP5 Series

RodType

( )RadialCylinder

RodType

( )RadialCylinder

NEW

NEW

NEW

With Battery-less Absolute Encoder Installed as a Standard

RCP4/RCP5series

3

R C P 4 - S A 3 C RoboCylinder, Slider Type, Motor Unit Coupled, Actuator Width 32mm, 24-V Pulse Motor

RCP4-SA3C Vertical

0150 200100 30025050 350 400 4500

0150 200100 30025050 350 400 4500

0150 200100 30025050 350 400 4500

0150 200100 30025050 350 400 4500

RCP4-SA3C HorizontalHigh output enabled (PowerCon) - PCON-CA•MSEP-C/LC•MSEL connected

RCP4-SA3C Horizontal

21

9876543

RCP4-SA3C Vertical

Speed (mm/s)

This graph assumes that the actuator is operated at 0.3G.

10.5

43.5

32.5

21.5

Speed (mm/s)

21

3.53.5

9876543

10.5

43.5

32.5

21.5

0.750.75

1.251.25

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6Payl

oad

(kg)

Payl

oad

(kg)

Speed (mm/s) Speed (mm/s)

Payl

oad

(kg)

Payl

oad

(kg)

1

High output disabled (standard) - PCON-CA•MSEP-C/LC connected2

This graph assumes that the actuator is operated at 0.3G.

This graph assumes that the actuator is operated at 0.3G.

This graph assumes that the actuator is operated at 0.3G.

28P : Pulse motor, size 28

I : Incremental speci�cation

P3 : PCON-CAMSEP-C/LC

MSEL

Refer to the optionlist below.

25 : 25mm

~

300 : 300mm(every 25 mm)

RCP4 SA3C I 28P P3 Series Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options

P

O I N T

Note onselection

(1) Even though the payload described in the actuator speci�cations is the maximum value, it may vary depending on the acceleration. Refer to “Tables for Payload by Acceleration and Speed” on pg. 4 for details.

(2) Refer to “Relative Graph for Pressing Force and Current Limit” on pg. 10 for the pressing operation.

N : NoneP : 1mS : 3mM : 5mX : Speci�ed lengthR : Robot cable

6 : 6mm 4 : 4mm 2 : 2mm

Correlation Diagrams of Speed and Payload

Cable Length

Options

Actuator Speci�cations

Legend 1 Stroke 2 Cable length 3 Options

Actuator Speci�cationsLeads and Payloads Stroke and Max. Speed

Lead(mm)

High-Output Setting

25 ~ 300(every 25mm)

6Enabled

420Disabled

4Enabled

280Disabled

2Enabled

140Disabled

Item DescriptionDrive system Ball screw Ø6mm rolled C10Positioning repeatability ±0.02mmLost motion 0.1mm or lessBase Material: Aluminum with white alumite treatmentGuide Linear guideDynamic allowable moment (*1) Ma: 2.4 N•m, Mb: 3.5 N•m, Mc: 3.8 N•mAllowable overhang Ma direction: 100mm or less Mb•Mc direction: 100mm or lessAmbient operating temperature, humidity 0 to 40°C, 85% RH or less (Non-condensing)

Type Cable symbol

Standard typeP (1m)S (3m)M (5m)

Special lengthX06 (6m) ~ X10 (10m)X11 (11m) ~ X15 (15m)X16 (16m) ~ X20 (20m)

Robot cable

R01 (1m) ~ R03 (3m)R04 (4m) ~ R05 (5m)R06 (6m) ~ R10 (10m)R11 (11m) ~ R15 (15m)R16 (16m) ~ R20 (20m)

Name Option code Reference pageBrake B

Refer toRoboCylinder

General Catalog

Home-position check sensor (on right) HSRHome-position check sensor (on left) HSLNon-motor end speci�cation NMSlider roller speci�cation SR

* In the home-position check sensor “HS”, there are variations of “HSR” (attached on the right) and “HSL” (attached on the left) depending on the orientation of the sensor that is attached. Refer to the RoboCylinder General Catalog for the contents of “HS” and the following page for the orientation of the attachment.

(*1) Based on 5000km of traveling life.

Model number Lead(mm)

Maximum payload Stroke(mm)Horizontal (kg) Vertical (kg)

RCP4-SA3C-I-28P-6- 1 -P3- 2 - 3 6 3 1.5

25 ~ 300(every 25mm)RCP4-SA3C-I-28P-4- 1 -P3- 2 - 3 4 5 2.5

RCP4-SA3C-I-28P-2- 1 -P3- 2 - 3 2 8 3.5

Model

Items

(unit: mm/s)

L

L

Ma MaMb Mc Mc

Allowable load moment directionsOverhang load lengths

4

CAD drawings can be downloaded from the website. www.robocylinder.de

Dimensions

Sensor Attachment (options)

Orientation of SensorAttachment: Left (HSL)

Orientation of Sensor Attachment: Right (HSR)

1921

23.8 (0.5)

Sensor Rail 328.3

1410

16

7.8

0.5

32

1410

16

7.8

1

7.2

10

6.3

Dimensions for Sensor Rail

4.5

+0.0

100

(R1.5)

(16.

4)

T-shaped Slot forM3 (1pc) Insertion

Stroke

X

ME SE Home ME (*2)

10.5

29.5

40

32

17.531

Guide Datum Point for Center of Mass

2

2.5

L

A

2.5606 25

Must be 100 or more.11±0.0218 (Ø2 H7 interval ±0.02)

24

18

23

4-M3, depth 6

2-Ø2 H7, depth 3

(17.

6)

Removable CableConnector

32.5 (Slider Center (Home))

25

F

D (Ø3 hole - Ø3 hole)(40)

C (Ø3 hole - oblong hole)

E×50

JH×503025 15

B

1012

310.

5

Base DatumSurface

39

32

3

4

Detail view of X31(0.5) (0.5)

4

10

Ø3.4

Ø6

23

4.8

Detail of Base Attachment Holes

80.5 (without brake)105.5 (with brake)

M3, depth 5 (For ground line)

K-Ø3.4, throughØ6 counterbored, depth 3 (from opposite side) (*1)

G-M4, through(Bolt screw-in depth: 5mm or less)

2

2-Ø3 H7, depth 4(from base bottom)

4.5

*1 On the 25mm stroke type, there are six counterbored mounting holes on the bottom of the base.

The two counterbored mounting holes in the middle are not available to use.*2 During home return, be sure to avoid interference

from peripheral objects because the slider travels until reaching the mechanical end.

ME : Mechanical end SE : Stroke end*3 Refer to pg. 8 for the slider roller

speci�cation (SR).

Dimensions and Mass by StrokeStroke 25 50 75 100 125 150 175 200 225 250 275 300

Lwithout brake 201.5 226.5 251.5 276.5 301.5 326.5 351.5 376.5 401.5 426.5 451.5 476.5with brake 226.5 251.5 276.5 301.5 326.5 351.5 376.5 401.5 426.5 451.5 476.5 501.5A 121 146 171 196 221 246 271 296 321 346 371 396B 90 115 140 165 190 215 240 265 290 315 340 365C 10 35 60 85 110 135 160 185 210 235 260 285D 25 50 75 100 125 150 175 200 225 250 275 300E 0 0 0 1 1 2 2 3 3 4 4 5F 25 50 75 50 75 50 75 50 75 50 75 50G 4 4 4 6 6 8 8 10 10 12 12 14H 0 0 0 1 1 2 2 3 3 4 4 5J (20) 45 70 45 70 45 70 45 70 45 70 45K (6) 6 6 8 8 10 10 12 12 14 14 16

Mass (kg)

without brake 0.51 0.55 0.58 0.61 0.65 0.68 0.71 0.75 0.78 0.81 0.85 0.88with brake 0.6 0.64 0.67 0.7 0.74 0.77 0.8 0.84 0.87 0.9 0.94 0.97

Tables for Payload by Acceleration and Speed

High output enabled (PowerCon spec.) Lead 6Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 3 3 3 3 3 1.5 1.5 1.550 3 3 3 3 3 1.5 1.5 1.5

105 3 3 3 3 3 1.5 1.5 1.5155 3 3 3 3 3 1.5 1.5 1.5210 3 3 3 3 3 1.5 1.5 1.5260 3 3 3 3 3 1.5 1.5 1.5315 3 3 3 3 3 1.5 1.5 1.5365 3 3 3 3 3 1.5 1.5 1.25420 3 3 3 3 3 1.5 1.25 1

High output disabled (standard spec.) Lead 6Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 3 3 3 3 3 1.5 1.5 1.550 3 3 3 3 3 1.5 1.5 1.5

105 3 3 3 3 3 1.5 1.5 1.5155 3 3 3 3 3 1.5 1.5 1.5210 3 3 3 3 3 1.25 1.25 1.25260 3 3 3 3 3 1 1 1315 3 3 3 3 3 1 1 1365 2.5 2.5 2.5 2.5 2.5 1 1 0.75420 2 2 2 2 2 1 0.75 0.5

High output enabled (PowerCon spec.) Lead 4Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 5 5 5 5 4.5 2.5 2.5 2.535 5 5 5 5 4.5 2.5 2.5 2.570 5 5 5 5 4.5 2.5 2.5 2.5

105 5 5 5 5 4.5 2.5 2.5 2.5140 5 5 5 5 4.5 2.5 2.5 2.5175 5 5 5 5 4.5 2.5 2.5 2.5210 5 5 5 5 4.5 2.5 2.5 2.5245 5 5 5 5 4.5 2.5 2.5 2280 5 5 5 5 4.5 2 2 1.75

High output disabled (standard spec.) Lead 4Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 5 5 5 5 4.5 2.5 2.5 2.535 5 5 5 5 4.5 2.5 2.5 2.570 5 5 5 5 4.5 2.5 2.5 2.5

105 5 5 5 5 4.5 2.5 2.5 2.5140 4.5 4.5 4.5 4.5 4 2.25 2.25 2.25175 4.5 4.5 4.5 4.5 4 2 2 2210 4 4 4 4 3.5 2 2 2245 4 4 4 3.5 3 2 2 1.5280 3.5 3.5 3.5 3 2.5 1 1 0.75

High output enabled (PowerCon spec.) Lead 2Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 8 8 7 6 5 3.5 3.5 3.515 8 8 7 6 5 3.5 3.5 3.535 8 8 7 6 5 3.5 3.5 3.550 8 8 7 6 5 3.5 3.5 3.570 8 8 7 6 5 3.5 3.5 3.585 8 8 7 6 5 3.5 3.5 3.5

105 8 8 7 6 5 3.5 3.5 3.5120 7 7 6 6 5 3 3 2.5140 6 6 6 5 5 2.5 2.5 2

High output disabled (standard spec.) Lead 2Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 8 8 7 6 5 3.5 3.5 3.515 8 8 7 6 5 3.5 3.5 3.535 8 8 7 6 5 3.5 3.5 3.550 8 8 7 6 5 3.5 3.5 3.570 7.5 7 6 5 4.5 3.25 3.25 3.2585 7.5 7 6 5 4.5 3 3 3

105 7 6.5 6 5 4.5 2.5 2.5 2120 6.5 6 5 4.5 4 2 2 1.5140 5.5 5 4.5 4 3.5 1.5 1.5 1

(Note) MSEP-C/LC is available for high output only if “High-Output Speci�cation” (PowerCon) is selected in the options.

2DCAD2D

CAD

(*3)

RadialLoadOK

5

Options

Name Option code Reference pageBrake B Refer to

RoboCylinder General Catalog

Home-position check sensor (top) HSNon-motor end speci�cation NM

Correlation Diagrams of Speed and Payload

Cable Length

Actuator Speci�cationsLeads and Payloads

Type Cable symbol

Standard typeP (1m)S (3m)M (5m)

Special lengthX06 (6m) ~ X10 (10m)X11 (11m) ~ X15 (15m)X16 (16m) ~ X20 (20m)

Robot cable

R01 (1m) ~ R03 (3m)R04 (4m) ~ R05 (5m)R06 (6m) ~ R10 (10m)R11 (11m) ~ R15 (15m)R16 (16m) ~ R20 (20m)

Model number Lead(mm)

Maximum payload Maximum push force (N)

Stroke(mm)Horizontal (kg) Vertical (kg)

RCP4-RA3C-I-28P-16- 1 -P3- 2 - 3 16 6 1.5 36

25 ~ 300(every 25mm)

RCP4-RA3C-I-28P-10- 1 -P3- 2 - 3 10 12 2.5 57

RCP4-RA3C-I-28P-5- 1 -P3- 2 - 3 5 24 5 114

RCP4-RA3C-I-28P-2.5- 1 -P3- 2 - 3 2.5 36 10 229

Actuator Speci�cations

Item DescriptionDrive system Ball screw Ø8mm rolled C10Positioning repeatability ±0.02mmLost motion 0.1mm or lessRod Ø16mm AluminumRod non-rotation precision(*1) ±0 degAllowable rod load mass Refer to reference at the backRod tip overhang distance 100mm or lessAmbient operating temperature, humidity 0 to 40°C, 85% RH or less (Non-condensing)

(*1) Accuracy of rod displacement in rotating direction when no load is received.

(unit: mm/s)Stroke and Max. SpeedLead(mm)

High-Output Setting

25 ~ 300(every 25mm)

16Enabled 1120

Disabled 840

10Enabled

700Disabled

5Enabled

350Disabled

2.5Enabled

175Disabled

RCP4-RA3C Vertical

0400 600200 800 1000 12000

0400 600200 800 1000 12000

0400 600200 800 1000 12000

0400 600200 800 1000 12000

RCP4-RA3C Horizontal

RCP4-RA3C Horizontal

5

40

3536

24

5

2.5

1.5

12

6

3025

2015

10

Lead 2.5

Lead 5

Lead 10

Lead 16 (Operated at 0.5G)

Lead 2.5

Lead 5

Lead 10

Lead 16 (Operated at 0.5G)

RCP4-RA3C Vertical

2

12

10

8

6

4

26

18

2

5

40

3536

24

5

2.5

1.5

12

6

3025

2015

102

12

10

8

6

4

18

1111

3 0.750.50.5

0.750.75

Speed (mm/s) Speed (mm/s)

Payl

oad

(kg)

Payl

oad

(kg)

Speed (mm/s) Speed (mm/s)

Payl

oad

(kg)

Payl

oad

(kg)

The graph shows the condition when operation is conducted at 0.3G for Lead 2.5/5/10 and 0.5G for Lead 16.

The graph shows the condition when operation is conducted at 0.3G for Lead 2.5/5/10 and 0.5G for Lead 16.

The graph shows the condition when operation is conducted at 0.3G for Lead 2.5/5/10 and 0.5G for Lead 16.

Lead 2.5Lead 2.5

Lead 5Lead 10

Lead 16(Operated at 0.5G)

Lead 5Lead 10

Lead 16(Operated at 0.5G)Lead 16 (Operated at 0.5G)Lead 16 (Operated at 0.5G)

Lead 2.5

Lead 5

Lead 10

Lead 2.5

Lead 5

Lead 10

High output enabled (PowerCon) - PCON-CA•MSEP-C/LC•MSEL connected1

High output disabled (standard) - PCON-CA•MSEP-C/LC connected2

Lead 10 Lead 16(Operated at 0.5G)

Lead 5

Lead 2.5

Lead 10 Lead 16(Operated at 0.5G)

Lead 5

Lead 2.5

The graph shows the condition when operation is conducted at 0.3G for Lead 2.5/5/10 and 0.5G for Lead 16.

P

O I N T

Note onselection

(1) Even though the payload described in the actuator speci�cations is the maximum value, it may vary depending on the acceleration. Refer to “Tables for Payload by Acceleration and Speed” on pg. 6 for details.

(2) Refer to “Relative Graph for Pressing Force and Current Limit” on pg. 10 for the pressing operation.

Legend 1 Stroke 2 Cable length 3 Options

R C P 4 - R A 3 C RoboCylinder, Rod Type, Motor Unit Coupled, Actuator Width 32mm, 24-V Pulse Motor

28P : Pulse motor, size 28

I : Incremental speci�cation

P3 : PCON-CAMSEP-C/LC

MSEL

Refer to the optionlist below.

25 : 25mm

~

300 : 300mm(every 25 mm)

RCP4 RA3C I 28P P3 Series Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options

N : NoneP : 1mS : 3mM : 5mX : Speci�ed lengthR : Robot cable

16 : 16mm 10 : 10mm 5 : 5mm2.5 :2.5mm

Model

Items

Load at end of rod

6

32

38.5

46.8

8.3

910

Sensor Rail

7.8

1

7.24.5

10

6.3

Dimensions for Sensor Rail

Sensor Attachment (option)

Orientation of SensorAttachment: top (HS)

X

17.531

32

20

16

24 1210

12 (W

idth a

cross

Flats)

12 (Width across Flats)

4-M4, depth 8

not constant *3

L

100 (without brake)130 (with brake)14

32

M3, depth 5 (For ground line)

Ø16

M8×1.25

Ø20

h7

1.5

(16.

4)

14 25

T-shaped Slot for M3 (1pc) Insertion

Diretion ofHome Position

Must be 100 or more.

(17.

6)

5

Removable CableConnector

Enclosed Hex NutM8×1.25 (Class 3)

25

F

D (Ø3 hole - Ø3 hole)

C (Ø3 hole - oblong hole)

E×50

JH×50 15

B

1012K-Ø3.4, throughØ6 counterbored, depth 3 (from opposite side)

G-M4, through(Bolt screw-in depth: 5mm or less)

2-Ø3 H7, depth 4(from base bottom)

31

55

25

Base DatumSurface

*1Not for Use

42

32

3

4(R1.5)

Detailview of X

13

15

31

423

4.8

10

Ø3.4Ø6

Detail of Base Attachment Holes

(0.5) (0.5)

(0.5

)

(40)

4.5

+0.0

100

Stroke

+0.0

100

2

2

Front Housing (*4)

SEME

ME (*2)Home

A

Dimensions

Dimensions and Mass by StrokeRCP4-RA3C Rod De�ection (reference)Stroke 25 50 75 100 125 150 175 200 225 250 275 300

Lwithout brake 229 254 279 304 329 354 379 404 429 454 479 504

with brake 259 284 309 334 359 384 409 434 459 484 509 534A 129 154 179 204 229 254 279 304 329 354 379 404B 90 115 140 165 190 215 240 265 290 315 340 365C 10 35 60 85 110 135 160 185 210 235 260 285D 25 50 75 100 125 150 175 200 225 250 275 300E 0 0 0 1 1 2 2 3 3 4 4 5F 25 50 75 50 75 50 75 50 75 50 75 50G 4 4 4 6 6 8 8 10 10 12 12 14H 0 0 0 1 1 2 2 3 3 4 4 5J 20 45 70 45 70 45 70 45 70 45 70 45K 4 4 4 6 6 8 8 10 10 12 12 14

Allowable static load at end of rod(N) 38.8 33.5 29.5 26.3 23.7 21.6 19.8 18.2 16.9 15.7 14.7 13.8Allowable dynamic

load at end of rod (N)Load o�set 0mm 19.4 16.6 14.2 12.2 10.7 9.5 8.5 7.7 7.0 6.4 5.8 5.4Load o�set 100mm 9.1 9.4 8.9 8.3 7.7 7.1 6.6 6.1 5.6 5.2 4.9 4.5

Allowable static torque at end of rod (N•m) 3.9 3.4 3.0 2.7 2.4 2.2 2.0 1.9 1.7 1.6 1.5 1.4Allowable dynamic torque at end of rod (N•m) 0.9 0.9 0.9 0.8 0.8 0.7 0.7 0.6 0.6 0.5 0.5 0.5

Mass (kg)

without brake 0.59 0.64 0.69 0.73 0.78 0.83 0.88 0.93 0.98 1.02 1.07 1.12with brake 0.68 0.73 0.78 0.82 0.87 0.92 0.97 1.02 1.07 1.11 1.16 1.21

Tables for Payload by Acceleration and Speed

5.0

4.0

3.0

2.0

1.0

0.0

0 10 20 30 40 50Load at end of rod (N)

Home25st50st75st125st150st175st200st225st250st275st300st

High output enabled (PowerCon spec.) Lead 16Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 6 6 6 5 3.5 1.5 1.5 1.5140 6 6 6 5 3.5 1.5 1.5 1.5280 6 6 6 5 3.5 1.5 1.5 1.5420 6 6 6 5 3.5 1 1 1560 6 6 5 3.5 1 1700 5.5 5 4 2.5 1 1840 4.5 3.5 3 2 1 1980 2.5 2 1.5 1

1120 2 1.5 1 0.75

High output disabled (standard spec.) Lead 16Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 6 6 6 5 3.5 1.5 1.5 1.5140 6 6 6 5 3.5 1.5 1.5 1.5280 6 6 6 5 3.5 1.5 1.5 1.5420 6 6 6 5 3.5 1 1 1560 6 5.5 4.5 3 1 1700 5 4.5 3.5 2 1 1840 4 3 2.5 1.5 1 0.75980

1120

High output enabled (PowerCon spec.) Lead 2.5Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 36 36 36 30 20 10 10 1020 36 36 36 30 20 10 10 1040 36 36 36 30 20 10 10 1065 36 36 36 30 20 10 10 1085 36 36 36 30 20 10 10 10

105 36 36 33 26 20 10 10 10130 36 33 28 22 16 10 10 9150 33 30 24 18 14 10 9 8175 30 26 20 14 10 9 8 7

High output disabled (standard spec.) Lead 2.5Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 36 36 36 30 20 10 10 1020 36 36 36 30 20 10 10 1040 36 36 36 30 20 10 10 1065 36 36 36 30 20 10 10 1085 36 36 36 30 20 10 10 10

105 36 36 30 22 18 10 10 10130 36 30 24 18 14 9 9 8150 32 26 20 14 12 5 5 5175 28 18 16 12 8 2 2 2

High output enabled (PowerCon spec.) Lead 10Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 12 12 11 9 6 2.5 2.5 2.585 12 12 11 9 6 2.5 2.5 2.5

175 12 12 11 9 6 2.5 2.5 2.5260 12 12 11 9 6 2.5 2.5 2.5350 12 12 11 9 6 2.5 2.5 2.5435 12 11 9 7 6 2.5 2.5 2.5525 12 9 7 5.5 4 2.5 2.5 2.5610 7 5 4 3 2.5 2700 5 3.5 2.5 2 2 1.5

High output disabled (standard spec.) Lead 10Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 12 12 11 9 6 2.5 2.5 2.585 12 12 11 9 6 2.5 2.5 2.5

175 12 12 11 9 6 2.5 2.5 2.5260 12 12 11 9 6 2.5 2.5 2.5350 12 12 10 8 5.5 2.5 2.5 2.5435 12 11 8 6 5 2.25 2.25 2.25525 11 8 6 4 3 2 2 2610 6 4 3 2 1 1700 3 2.5 1.5 1 0.5 0.5

High output enabled (PowerCon spec.) Lead 5Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 24 24 22 18 12 5 5 540 24 24 22 18 12 5 5 585 24 24 22 18 12 5 5 5

130 24 24 22 18 12 5 5 5175 24 24 22 18 12 5 5 5215 24 24 22 18 12 5 5 5260 24 22 20 16 10 5 5 5305 22 20 18 14 7 5 5 4.5350 20 18 16 12 5 5 4 3.5

High output disabled (standard spec.) Lead 5Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 24 24 22 18 12 5 5 540 24 24 22 18 12 5 5 585 24 24 22 18 12 5 5 5

130 24 24 22 18 12 5 5 5175 24 24 22 18 12 5 5 5215 24 24 20 16 10 5 5 5260 24 20 16 12 7.5 4.5 4.5 4305 20 16 12 10 5 3 3 3350 16 11 7 6 3 2 2 2

*1 The two counterbored mounting holes on the bottom of the base near the rod end are not available to use.

*2 During home return, be sure to avoid interference from peripheral objects because the slider travels until reaching the mechanical end.

ME : Mechanical end SE : Stroke end*3 The orientation of the bolt varies depending on the product.*4 Do not attempt to apply external force on the main body when installing the body

using the front housing. Refer to the instruction manual for details.

(Note) MSEP-C/LC is available for high output only if “High-Output Speci�cation” (PowerCon) is selected in the options.

2DCAD2D

CAD

CAD drawings can be downloaded from the website. www.robocylinder.de

7

RCP4CR-SA3C Cleanroom RoboCylinder, Slider Type, Motor Unit Coupled, Actuator Width 32mm, 24-V Pulse Motor

RCP4CR-SA3C Vertical

0150 200100 30025050 350 400 4500

0150 200100 30025050 350 400 4500

0150 200100 30025050 350 400 4500

0150 200100 30025050 350 400 4500

RCP4CR-SA3C HorizontalHigh output enabled (PowerCon) - PCON-CA•MSEP-C/LC•MSEL connected

RCP4CR-SA3C Horizontal

21

9876543

RCP4CR-SA3C Vertical

Speed (mm/s)

This graph assumes that the actuator is operated at 0.3G.

10.5

43.5

32.5

21.5

Speed (mm/s)

21

3.53.5

9876543

10.5

43.5

32.5

21.5

0.750.75

1.251.25

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6

Lead 2

Lead 4

Lead 6Payl

oad

(kg)

Payl

oad

(kg)

Speed (mm/s) Speed (mm/s)

Payl

oad

(kg)

Payl

oad

(kg)

1

High output disabled (standard) - PCON-CA•MSEP-C/LC connected2

This graph assumes that the actuator is operated at 0.3G.

This graph assumes that the actuator is operated at 0.3G.

This graph assumes that the actuator is operated at 0.3G.

28P : Pulse motor, size 28

I : Incremental speci�cation

P3 : PCON-CAMSEP-C/LC

MSEL

Refer to the optionlist below.

25 : 25mm

~

300 : 300mm(every 25 mm)

RCP4CR SA3C I 28P P3 Series Type Encoder type Motor type Lead Stroke Applicable controller Cable length Options

P

O I N T

Note onselection

(1) Even though the payload described in the actuator speci�cations is the maximum value, it may vary depending on the acceleration. Refer to “Tables for Payload by Acceleration and Speed” on pg. 8 for details.

(2) Refer to “Relative Graph for Pressing Force and Current Limit” on pg. 10 for the pressing operation.

N : NoneP : 1mS : 3mM : 5mX : Speci�ed lengthR : Robot cable

6 : 6mm 4 : 4mm 2 : 2mm

Correlation Diagrams of Speed and Payload

Cable Length

Options

Actuator Speci�cations

Legend 1 Stroke 2 Cable length 3 Options

Actuator Speci�cationsLeads and Payloads Stroke, Max. Speed and Suction amount

Lead(mm)

High-Output Setting

25 ~ 300(every 25mm)

Suction Amount (Nl/mm)

6Enabled

420 10Disabled

4Enabled

280 15Disabled

2Enabled

140 20Disabled

Item DescriptionDrive system Ball screw Ø6mm rolled C10Positioning repeatability ±0.02mmLost motion 0.1mm or lessBase Material: Aluminum with white alumite treatmentGuide Linear guideDynamic allowable moment (*1) Ma: 2.4 N•m, Mb: 3.5 N•m, Mc: 3.8 N•mAllowable overhang Ma direction: 100mm or less Mb•Mc direction: 100mm or lessGrease Low particle-emission (urea based) grease used (on both ball screw and guide)Cleanliness Class ISO Class 4 (US FED STD class 10) Ambient operating temperature, humidity 0 to 40°C, 85% RH or less (Non-condensing)

Type Cable symbol

Standard typeP (1m)S (3m)M (5m)

Special lengthX06 (6m) ~ X10 (10m)X11 (11m) ~ X15 (15m)X16 (16m) ~ X20 (20m)

Robot cable

R01 (1m) ~ R03 (3m)R04 (4m) ~ R05 (5m)R06 (6m) ~ R10 (10m)R11 (11m) ~ R15 (15m)R16 (16m) ~ R20 (20m)

Name Option code Reference pageBrake B

Refer toRoboCylinder

General Catalog

Home-position check sensor (on right) HSRHome-position check sensor (on left) HSLNon-motor end speci�cation NMOrientation di�erence of vacuum joint outlet VR

* In the home-position check sensor “HS”, there are variations of “HSR” (attached on the right) and “HSL” (attached on the left) depending on the orientation of the sensor that is attached. Refer to the RoboCylinder General Catalog for the contents of “HS” and the following page for the orientation of the attachment.

(*1) Based on 5000km of traveling life.

Model number Lead(mm)

Maximum payload Stroke(mm)Horizontal (kg) Vertical (kg)

RCP4CR-SA3C-I-28P-6- 1 -P3- 2 - 3 6 3 1.5

25 ~ 300(every 25mm)RCP4CR-SA3C-I-28P-4- 1 -P3- 2 - 3 4 5 2.5

RCP4CR-SA3C-I-28P-2- 1 -P3- 2 - 3 2 8 3.5

Model

Items

(unit: mm/s)

L

L

Ma MaMb Mc Mc

Allowable load moment directionsOverhang load lengths

8

CAD drawings can be downloaded from the website. www.robocylinder.de

Dimensions

10.5

29.5

40

32

4.5

17.5

31

(18.2)

20.5

Guide Datum Point for Center of Mass

22

2.5

(Ø32)

L

A80.5 (without brake)105.5 (with brake)

2.5

606 25

M3, depth 5 (For ground line)Same on the opposite side

(16.

4)

10 10 5

19

T-shaped Slot forM3 (1pc) Insertion

ME (*2)M.E. HomeS.E.

Rotation Area of Joint

Applicable Tube O.D.:Ø6

Must be 100 or more.11±0.02

18 (Ø2 H7 interval ±0.02)

24

18

234-M3, depth 6

2-Ø2 H7, depth 3

(17.

6)

25

F

D (Ø3 hole - Ø3 hole)(40)C (Ø3 hole - oblong hole)

E×50

JH×503025 15

B

1012G-M4, through(Bolt screw-in depth: 5mm or less)2-Ø3 H7, depth 4

(from base bottom)

310.

5

39

32

3+

0.01

00

4(R1.5)

Detail view of X

31(0.5 () 0.5)

4

10

Ø3.4

Ø6

234.

8

Detail of Base Attachment Holes

Base DatumSurface

X

Stroke

Sensor Attachment (options)

Orientation of SensorAttachment: Left (HSL)

Orientation of Sensor Attachment: Right (HSR)

1921

23.8 (0.5)

Sensor Rail 328.3

1410

16

7.8

0.5

32

1410

16

7.8

1

7.2 10

6.3

Dimensions for Sensor Rail

4.5

(*3)

K-Ø3.4, throughØ6 counterbored, depth 3 (from opposite side) (*1)

*1 On the 25mm stroke type, there are six counterbored mounting holes on the bottom of the base.

The two counterbored mounting holes in the middle are not available to use.

*2 During home return, be sure to avoid interference from peripheral objects because the slider travels until reaching the mechanical end.

ME : Mechanical end SE : Stroke end*3 For RCP4-SA3C Slider Roller Type (SR),

there is no pipe joint.

Dimensions and Mass by StrokeStroke 25 50 75 100 125 150 175 200 225 250 275 300

Lwithout brake 201.5 226.5 251.5 276.5 301.5 326.5 351.5 376.5 401.5 426.5 451.5 476.5with brake 226.5 251.5 276.5 301.5 326.5 351.5 376.5 401.5 426.5 451.5 476.5 501.5A 121 146 171 196 221 246 271 296 321 346 371 396B 90 115 140 165 190 215 240 265 290 315 340 365C 10 35 60 85 110 135 160 185 210 235 260 285D 25 50 75 100 125 150 175 200 225 250 275 300E 0 0 0 1 1 2 2 3 3 4 4 5F 25 50 75 50 75 50 75 50 75 50 75 50G 4 4 4 6 6 8 8 10 10 12 12 14H 0 0 0 1 1 2 2 3 3 4 4 5J (20) 45 70 45 70 45 70 45 70 45 70 45K (6) 6 6 8 8 10 10 12 12 14 14 16

Mass (kg)

without brake 0.51 0.55 0.58 0.61 0.65 0.68 0.71 0.75 0.78 0.81 0.85 0.88with brake 0.6 0.64 0.67 0.7 0.74 0.77 0.8 0.84 0.87 0.9 0.94 0.97

Tables for Payload by Acceleration and Speed

High output enabled (PowerCon spec.) Lead 6Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 3 3 3 3 3 1.5 1.5 1.550 3 3 3 3 3 1.5 1.5 1.5

105 3 3 3 3 3 1.5 1.5 1.5155 3 3 3 3 3 1.5 1.5 1.5210 3 3 3 3 3 1.5 1.5 1.5260 3 3 3 3 3 1.5 1.5 1.5315 3 3 3 3 3 1.5 1.5 1.5365 3 3 3 3 3 1.5 1.5 1.25420 3 3 3 3 3 1.5 1.25 1

High output disabled (standard spec.) Lead 6Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 3 3 3 3 3 1.5 1.5 1.550 3 3 3 3 3 1.5 1.5 1.5

105 3 3 3 3 3 1.5 1.5 1.5155 3 3 3 3 3 1.5 1.5 1.5210 3 3 3 3 3 1.25 1.25 1.25260 3 3 3 3 3 1 1 1315 3 3 3 3 3 1 1 1365 2.5 2.5 2.5 2.5 2.5 1 1 0.75420 2 2 2 2 2 1 0.75 0.5

High output enabled (PowerCon spec.) Lead 4Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 5 5 5 5 4.5 2.5 2.5 2.535 5 5 5 5 4.5 2.5 2.5 2.570 5 5 5 5 4.5 2.5 2.5 2.5

105 5 5 5 5 4.5 2.5 2.5 2.5140 5 5 5 5 4.5 2.5 2.5 2.5175 5 5 5 5 4.5 2.5 2.5 2.5210 5 5 5 5 4.5 2.5 2.5 2.5245 5 5 5 5 4.5 2.5 2.5 2280 5 5 5 5 4.5 2 2 1.75

High output disabled (standard spec.) Lead 4Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 5 5 5 5 4.5 2.5 2.5 2.535 5 5 5 5 4.5 2.5 2.5 2.570 5 5 5 5 4.5 2.5 2.5 2.5

105 5 5 5 5 4.5 2.5 2.5 2.5140 4.5 4.5 4.5 4.5 4 2.25 2.25 2.25175 4.5 4.5 4.5 4.5 4 2 2 2210 4 4 4 4 3.5 2 2 2245 4 4 4 3.5 3 2 2 1.5280 3.5 3.5 3.5 3 2.5 1 1 0.75

High output enabled (PowerCon spec.) Lead 2Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 8 8 7 6 5 3.5 3.5 3.515 8 8 7 6 5 3.5 3.5 3.535 8 8 7 6 5 3.5 3.5 3.550 8 8 7 6 5 3.5 3.5 3.570 8 8 7 6 5 3.5 3.5 3.585 8 8 7 6 5 3.5 3.5 3.5

105 8 8 7 6 5 3.5 3.5 3.5120 7 7 6 6 5 3 3 2.5140 6 6 6 5 5 2.5 2.5 2

High output disabled (standard spec.) Lead 2Orientation Horizontal VerticalSpeed(mm/s)

Acceleration0.1 0.3 0.5 0.7 1 0.1 0.3 0.5

0 8 8 7 6 5 3.5 3.5 3.515 8 8 7 6 5 3.5 3.5 3.535 8 8 7 6 5 3.5 3.5 3.550 8 8 7 6 5 3.5 3.5 3.570 7.5 7 6 5 4.5 3.25 3.25 3.2585 7.5 7 6 5 4.5 3 3 3

105 7 6.5 6 5 4.5 2.5 2.5 2120 6.5 6 5 4.5 4 2 2 1.5140 5.5 5 4.5 4 3.5 1.5 1.5 1

(Note) MSEP-C/LC is available for high output only if “High-Output Speci�cation” (PowerCon) is selected in the options.

2DCAD2D

CAD

9

PCON-CA

MSEL-PC/PG

MSEP-CMSEP-LC

Position Controller for RCP5/RCP4 (Supporting PowerCon)/RCP3/RCP2

4-axis Program Controller for RoboCylinder

Position Controller for RoboCylinder, 8-axis Type

Position Controller with PLC Function for RoboCylinder, 6-axis Type

RCP4-SA3/RA3 RCP4CR-SA3 Applicable Controllers

Equipped with a high-output driver for RCP5/RCP4

Supporting battery-less absolute encoder

Upgraded maintainability with commonized PC board

Equipped with smart tuning feature, maintenance information and calendar feature

Max. number of positioning points: 768 points

* Refer to the catalog of “RCP4 Series / PCON-CA Controller” for details.

Equipped with a high-output driver for RCP5/RCP4

Supporting battery-less absolute encoder

Applicable for pulse motor / 24VAC servo motor / brushless DC servo motor

Available to have combined patterns

With PLC function (MSEP-LC)

Dedicated ladder program creating software "LC-LADDER" available

Max. number of positioning points: 256 points

* Refer to the catalog of "MSEP-C/LC Controller" for details.

Available to control 4 axes at maximum with pulse motor mounted RoboCylinder

Equipped with a high-output driver for RCP5/RCP4

Supporting battery-less absolute encoder

Number of programs: 255 points, Number of positions: 30000 points

Safety Category compliant (MSEL-PG)

Equipped with extension I/O slot

Small size with 130mm (W) x 195mm (H)

* Switchover of high-output setting between activate and inactivate is not available.

* Refer to the catalog of "MSEL-PC/PG Controller" for details.

10

[Horizontal Mount] [Horizontally Oriented Wall Mount]

dz dx dz dxOverhang Distance O Overhang Distance O

Allowable Load Mass in Vertical Mount

Document for Selection of Radial Cylinder RCP4-RA3C Allowable Load

Allowable Load Mass in Horizontal Mount

Because the Radial Cylinder is equipped with a built-in guide structure, a certain amount of load can be applied to the rod even without an external guide.Refer to the graphs below for the allowable load mass.Please note that it is necessary to apply an external guide feature when the operational condition exceeds the allowable load.

Relative Graph for Pressing Force and Current LimitThe pressing force in the pressing operation can be changed with

the current limit (20% to 70%) on the controller.

It is necessary to control the pressing force so the reaction moment

generated by the pressing force in the pressing operation would

not exceed 80% of the rated moment (M

catalog when pressing operation is conducted with the Slider Type.

Refer to the instruction manual for the details of how to select.

2.0

1.5

1.0

0.5

0.00 50 100 150 200 250 300

Stroke (mm)

2.0

1.5

1.0

0.5

0.00 50 100 150 200 250 300

Stroke (mm)

RCP4-RA3 Allowable Load Mass in Vertical Mount

12

10

8

6

4

2

0

Distance of Eccentricity (mm)

0 10 20 30 40 50 60 70 80 90 100

dxDistance of Eccentricity Distance of Eccentricity

dy

* 30% to 70% for Lead 16 of RCP4-RA3

Allo

wab

le L

oad

Mas

s (k

g) Overhang Distance 0mm

Overhang Distance 50mm

Overhang Distance 100mm

Overhang Distance 0mm

Overhang Distance 50mm

Overhang Distance 100mm

Allo

wab

le L

oad

Mas

s (k

g)A

llow

able

Loa

d M

ass

(kg)

RCP4-RA3 Lead 2.5

RCP4-RA3 Lead 5

RCP4-RA3 Lead 10

RCP4-RA3 Lead 16

RCP4(CR)-SA3 Type

0

50

250

200

150

100

8020 40 600Current Limit (%)

RCP4-RA3 Type

0

50

250

200

150

100

8020 40 600Current Limit (%)

Pres

sing

For

ce (N

)

Pres

sing

For

ce (N

)

Lead 2

Lead 4

Lead 6

Lead 2.5

Lead 5

Lead 10

Lead 16

Criteria for Selection

Modelnumber

CB-CAN-MPA Integrated Motor-Encoder Cable for RCP4-SA3/RA3/RCP4CR-SA3CB-CAN-MPA-RB Integrated Motor-Encoder Robot Cable

* Please indicate cable length (L) in , maximum 20m. e.g.) 080 = 8m *Refer to the RCP5 individual catalog for details.

Maintenance Parts

IAI Industrie r oboter GmbH Ober der Röth 4

D-658 2 4 Schwalb a ch / Frankfurt Germany

T el.:+49- 6 1 96-8895-0 Fax:+49- 6 1 96-8895- 2 4

E-Mail: info@IAI-GmbH.de Inte r net: http://ww w .eu.IAI-GmbH.de

The information contained in this catalog is subject to change without notice for the purp ose

of product inprovement

IAI, the IAI-logo, RoboCylinder™, the RoboCylinder™-logo, Intel ligentActuator™ and the IntelligentActuator™-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA, China,Thailand or Germany

IAI America, Inc. 2690 W. 237th Street, Torrance, CA 90505, U.S.APhone: +1-310-891-6015, Fax: +1-310-891-0815

IAI (Shanghai) Co., LtdShanghai Jiahua Business Centee A8-303.808,Hongqiao Rd., Shanghai 200030, China Phone: +86-21-6448-4753, Fax: +86-21-6448-3992

IAI CORPORATION645-1 Shimizu Hirose, Shizuoka 424-0102, JapanPhone: +81-543-64-5105, Fax: +81-543-64-5182

IAI Robot (Thailand) Co., Ltd825 PhairojKijja Tower 12th Floor, Bangna-Trad RD.,Bangna, Bangna, Bangkok 10260, ThailandPhone: +66-2-361-4457, Fax: +66-2-361-4456

RCP4/RCP4CR SeriesSmall Slider / Rod TypeCatalogue No. 0215-E