Motor-driven Multi-point Positioning System NEW! … · Motor-driven Multi-point Positioning System...

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Motor-driven Multi-point Positioning System

Multi-point positioning by a single unit

MADE IN JAPAN

Motorized Actuator + controller + cable is available from

50mm stroke & configurable pitch in a short lead time

1

2

3

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1

3

Simple Configuration 4 Control system

Circular Arc Groove Guide with four-row two point contact

Optical Encoder

Resolver

Controller (incremental type)

Slider

Slider

Ball Screws

Stepping Motor (Position Detector: Resolver)


3

Guide Rail

High Durability Stainless Steel Sheet

2 Controller (Absolute Type / Incremental Type)

Circular arc groove guide

Load Capacity: ~12kg (horizontal) ~4kg (vertical) Load Capacity: ~80kg (horizontal) ~16kg (vertical)

Coupling

Ball Screws

1 AC Servo Motor (position detector: resolver)Built-in Structure

Guide Rail

Guide Rail

Large-sized, Heavy Load Capacity Robot SeriesSmall, Low Cost Robot RSH1/2/3RS1/2/3 Series

Four features of RS Series

* No need to execute return to origin command for absolute type.

• Simple to program• Speed and acceleration can be configured.• Max. number of storable positions: 255* Above conditions are also applicable to RSH1/2/3 controllers.

Simple operation

$547.80~

Ship in 8 days

Resolver *

RS series are manufactured by major Japanese manufactures

Guide Rail

Cross-Section Diagram




Resolver is highly reliable sensing devices used to detect motor shaft rotation angle position. Superior compared to general optical encoders.

Optimal maximum acceleration, to deserve the long life span of the actuator, is automatically calculated and selected. Users only have to set up the weight of materials to be conveyed, as initial settings. Through this function, optimal operation will be performed, preventing actuator breakdown due to incorrect setting.

NEW! MISUMI Motorized Single Axis Actuator RS SeriesNEW! MISUMI Motorized Single Axis Actuator RS Series

Rigid guide structure is achieved with 4 circular-arc grooves that enables balls to run smoothly under preload, even under large momentum load performance remains stable.

Unique vector system is adopted for RS1/2/3 series.This stepping motor has the same level of performance as that of AC servo motor. Load capacity remains the same for high and low speed range.

* Resolver…Encoder with simple structure with no electronic components used inside. Being resistant to high/low temperature, shock, electric noise, dust and oil, it is widely used in automobiles, railcars and aircrafts.

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■ Features

◦ Driven actuator series is integrated structure of ball screw actuator and motor. Controller for motor is included in the set.

◦ No need for robot language programming.◦ Executes positioning operation to registered target locations

(transaction of I/O signals with upper controller).

■ Specification

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11

$547.80~

ItemSmall Size-Light Load Capacity Robo Large Size-Heavy Load Capacity Robo

RS1/2/3 Series RSH1/2/3 Series

Load Capacity Horizontal: ~ 12kg Vertical: ~ 4kg Horizontal: ~ 80kg Vertical: ~ 16kg

Stroke 50 ~ 800mm (50mm increment) 150 ~ 1050mm (50mm increment)

Max. Velocity ~ 1000mm/sec ~ 1800mm/sec

Repeat positioning accuracy ±0.02mm ±0.02mm/±0.01mm

■ Features

◦ Profiled, low temperature chrome plated steel with preload provides high rigidity.

◦Precision ground ball screws offers quiet and high precision performance◦Repeat positioning accuracy of ±5μ (3μ for precision class)◦High lead type and low dust raise grease models available◦Precision warranty is enclosed with precision class products.

■ Specification

6 $463.20~

Type Lead (mm) Thread Diameter Max. Effective Stroke (mm)

LX20 1/5 ø6 136

LX26 2/5 ø8 217

LX30 5/10 ø10 529

LX45 10/20 ø15 497

$380.60~

■ Features

◦Integrating structure with air cylinder as drive for horizontal/vertical motion.◦Pre-assembled MISUMI products enables you to reduce time and cost for design.◦Available with/without Cylinder.

Mounting orientation Horizontal Type: Vertical, Horizontal and Wall mounting is possible.

Parts can be mounted on top of slider. Vertical Type: Vertical mounting

Slider components can be mounted on either of three surfaces.

■ Specification

Unit Form Cylinder Dia.

Cylinder Stroke (mm)

Reference Thrust (kN)

0.4MPa 0.5MPa

Pull Push Pull Push

Horizontal Type MAH

ø25 100〜300 0.17 0.2 0.21 0.25

ø32 150〜350 0.28 0.32 0.35 0.4

ø40 200〜400 0.44 0.5 0.55 0.63

Vertical TypeMAT

ø25 25・50 0.15 0.2 0.19 0.25

ø32 25・50 0.24 0.32 0.3 0.4* L dimension fixed type only

http://www.misumiusa.com/rs.aspx

http://www.misumiusa.com/lx.aspx

■ Features

• In-house manufactured unit is now offered as standard catalog product.• Aluminum extruded base and slide guide provide rigidity under heavy load.• Can handle large-sized work piece with table width of, 150 and 200mm• Rolled or ground (precision) ball screw type selection available for single

axis units.• In addition to the manually operated units composed of trapezoidal screws, AC

motor driven electrically operated units are added to the lineup.

■ Specification

$514.80~

Type KUA • KUBKUH • KUT

KUAJ • KUBJKUAC • KUBC

KUEKUED

Applications Heavy load conveyance, Multi-point Positioning Jig for simplified positioning

Type Standard Covered Manual

Symbol Single Axis Units Single Axis UnitsBellows / Cover

Hand Operated Linear Motion Units

Driving Source AC Servo / Stepper Motor Handwheel

Driving Part Precision / Rolled Ball Screw Rolled Ball Screw Trapezoidal Screw

(Left-right Screw Type has been added)

http://www.misumiusa.com/ku.aspx

RS Series Page P.5~P.42Single Axis Robots: Simple to operate, Low Cost, Shortened lead timeClean room type (Class 10) available

LX SeriesHigh Rigidity, High Precision and Compact DesignCompatible with a wide range of motors and available to ship just in 6 days

MA SeriesIntegrating structure with air cylinder as drive for horizontal/vertical motion.Pre-assembled MISUMI products enables you to reduce time and cost for design.

KU Series Page P.97~P.106 • P.111~114Best for conveying heavy objects.Compatible with manually operated and simply electrically operated jigs

Addition

Addition

Page P.107~P.110Page P.43~P.96

CECompliant

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Motor-driven Multi-point Positioning System

Misumi Single Axis Robot RS Series

Clean Room Class 10 achieved thru sealed structure & high durability stainless steel sheet coverBest suited for conveyance and positioning system for semiconductors, FPD, electric components etc.

* Clean room class is per 1cf for 0.1µm base when suction blower is used.* It is possible to conduct different patterns alternately. Clean Room Class 10

Executes positioning operation to registered locations (transactions of I/O signals with upper controller).

Easy operation by specifying position data (P.7) and start command

Operation pattern can be configured in accordance with applications.

Positioning

Pitch Feed

Positioning Operation

Push Operation

High durability stainless steel sheet

Vacuum Suction Joint

Sealed structure w/ cover made of aluminum

Parts AssemblyDisplacement and positioning

Pick & PlaceDisplacement and positioning of parts (feeder/palette)

Parts InspectionPitch feed of inspection camera / palette

Stacker

Upper Controller (PLC etc.)

Single Axis Robot RS Series

Pitch feed of stacking rack

Press-FtControl of force needed to insert pins to workpiece

Alignment / TestingDisplacement to the specified position and push alignment

Output (Response)

Input (Command)

BUSY (Operating) END (Command Completed)NEAR (Position Approaching) ZONE (Zone Output) etc.

START (Start) ORG (Return to Origin)PIN (Selection of Point No.)

I/O

■ Clean Specification■ Operation Patterns

■ Operation Method

RS1/2/3 Clean room Type

RSH1/2/3 Clean room Type

High durability stainless steel sheet

Sealed structure w/ cover made of aluminum



Introduction of New ProductsConvenient selection software and instruction manuals are available for download from the following URL: http://www.misumiusa.com/rs.aspx

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Option Select alteration code on each page to add alteration. 指Refer to P.11~34Options can be purchased w/o actuators. 指Refer to P37

Operation Example Example of entering data and input/output of upper controller.

Data Structures Misumi’s controller for single axis robots can store up to 255 locations.

The data consists of “position data (RUN type/ point position/ velocity etc.)” and “parameter (load I/O contents etc)”.Items in the table below can be specified.

50

100

P1Point N

o.P2P3

50②③

①

How to enter data Data can be entered from PC support software or handy terminal.

■Support Software

■Handy Terminal

Numerical operating data (coordinates, speed...) can be set up using PC.While actuator is activated, read current actuator position and various signals using PC.

Numerical operating data can be set up using Handy Terminal.Read current actuator position, when actuator is activated.

Input Examples

Input Examples

External Input / Output Selectable from 3 options according to the specification of upper controller.

Operation 1.travel 100mm from the origin 2.pitch feed of 50mmx2 3.go back to the origin

Controller Functions Convenient selection software and instruction manuals are available for download from the following URL: http://www.misumiusa.com/rs.aspx

Type Description

NPN 16 Input, DC24V±10%, 4mA/1point, +Common16 Output, DC24V±10%, 50mA/1point, +Common 0.4A or less in total/8 point, Sink Type

PNP 16 Input, DC24V±10%, 4mA/1point, -Common16 Output, DC24V±10%, 50mA/1point, +Common 0.4A or less in total/8 point, Source Type

CC−Link CC-Link applicable to Ver1.10, Remote device Station (1)

Data Point Data P1〜P255Item Description

1 RUN type Configures target position / pitch and driving pattern for positioning/pushing/connection etc.2 Position Configures target position and pitch of movement.3 Speed Sets maximum operating velocity.4 Acceleration Sets operating acceleration.5 Deceleration Sets operating deceleration (ratio to acceleration).6 Push Movement Sets current limits for push operation.7 Zone -

Sets output range of individual zone signals.8 Zone +9 Near width Sets output range of vicinity signal.10 Jump Jump setting when positioning completed or connection setting for joint operation11 Flag Setting of other bit information (binary digit) for operation.

Parameter Operation Parameter Operation-related parameters such as return to origin.

I/O Parameter Selection of terminal assignment and input/output function.

Option Parameter Option-related parameters such as CC-Link.

Control Parameter Parameter which is inherent in connecting actuator. (Can be set on initialization.)

■Data Input ExamplesPoint No. RUN type Position Speed Acceleration Deceleration Push Movement Zone - Zone + Near width Jump Flag

P1 ABS 0.00 100 100 100 100 0.00 0.00 1.00 0 0

P2 ABS 100.00 100 100 100 100 0.00 0.00 1.00 0 0

P3 INC 50.00 80 40 100 100 0.00 0.00 1.00 0 0

・・・

・・・

・・・

・・・

・・・

・・・

・・・

・・・

・・・

・・・

・・・

・・・

Speed and acceleration can be entered by SI Units.■Example of Input / Output Signals

Operation Upper Controller Signal Single Axis Robot RS Series

①Positioning (P2) Point No. Set

Start Signal Robot OperatingRefer to operation complete Operation Complete Signal (END)　

②

Positioning (P3) Point No. SetStart Signal Robot Operating

Refer to operation complete Operation Complete Signal (END)　Positioning (P3) Point No. Set


③Positioning (P1) Point No. Set


Input

Input

Input

Input

Input

Input

Input

Input

Output

Output

Output

Output

Point No. Drive Position Speed Acceleration Deceleration Push Movement Zone - Zone + Vicinity Output Range Branch FlagP1 ABS 200.00 100 80 100 100 0.00 0.00 1.00 0 0P2 ABS 400.00 80 100 100 100 0.00 0.00 1.00 0 0P3 INC 50.00 100 40 100 100 0.00 0.00 1.00 0 0・・・

・・・

・・・

・・・

・・・

・・・

・・・

・・・

・・・

・・・

・・・

・・・

Point DataP 11. RUN type ABS −2. Position 100.00 mm3. Speed 100 %4. Acceleration 100 %・・・・・・

・・・

■ Handy Terminal User-friendly terminal with large LCD display and easy-operable design.Standard or w/ Enable Switch(Deadman Switch) model is available. [Functions] Data arrangement, Teaching, Test Operation, Display Specifications 指P.37

Actuator setting can be achieved on PC.USB Cable is included.(USB driver is included in the package.)[Functions] Data arrangement and management, Teaching, Test Operation, Display, Operation Simulation

■ I/O Cable Flat cable for use when parallel I/O and upper controller are connected.Cable length: 2m, one end of cable that connects to outer units is without connector.Specifications 指P.37

Manual for controller and actuator.Available in English and Japanese.(CD-ROM containing manual data is included in standard products.)

System Configuration

Main Power

！ Input voltage differs by model.

！�Included when absolute encoder type of RSH1/2/3(c) Series is selected.

Handy Terminal(Optional)

Support Software (Optional)

！PC is not included

Upper Controller (PLC etc.)

！Arranged by customer

！ Arranged by customer Nesessary for RSH1/2/3© Series w/ brake.

Robot Body

Battery for data back-up

！ Arranged by customer Emergency stop circuits necessary to

interrupt main power by emergency stop command.Installation is nesessary. Example of Circuit指P.37

Emergency stop circuit

DC24V Power (For Brake)

Controller！ Arranged by customer

For RSH1/2/3(c) Series, install on primary side of noise filters. Part Recommended: LT-C12G801WS from SOSHIN Electronic Co., Ltd.

Surge absorber

( )Noise Filter

！ N o i s e f i l t e r m u s t b e installed for RSH1/2/3(C) Series. Included when “w/ Noise Filter” is selected.Specification Model指P.38

■ Support Software / Cable

■ Instruction Manuals

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st 0 100 200 300 400 500 600 700 80012kg 0 0.48 0.57 0.70 0.80 0.90 0.99 1.17 1.4810kg 0 0.43 0.53 0.65 0.75 0.83 0.93 1.13 1.445kg 0 0.33 0.46 0.56 0.65 0.73 0.83 1.05 1.39

sec

Selection Steps

Specifications List

Selection Example of Models for Positioning Operation

Selection Example of Models for Push Operation

(1) Load Capacity (2) Stroke (3) Cycle Time or Max. Velocity

(4) Confirmation of Details

Specifications ListSelect from “Max. Load Capacity”

Specifications ListSelect from “Stroke”

Select from “Cycle Time Diagram” or “Max. Speed”

Specifications ListCheck details on product description page

Note 1) Choose among RSH1(C)/2(C)/3(C) for absolute encoder type.Note 2) Select from RS□C for clean specification models.(Alteration to low dust raise grease is possible with standard model)

Type Lead EnvironmentMax. Load

Capacity (kg)Maximum

Push Force (N)

Maximum Speed (mm/sec) * Figures in the table are velocity valuesPosition Detector

Controller Input Power

Supply

Compliance Status PageStroke (mm)

Horizontal Vertical 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050

RS12

Standard Model

6 4 150 100

Resolver Incremental

Encoder

DC24V(±10%)

RoHS,CE

P.116 4 2 90 30012 2 1 45 600

RS26 10 2 90 300 280 250 220 190

P.1312 6 1 45 600 560 500 440 380

20 4 − 27 1000 933 833 733 633

RS36 12 4 120 300 280 250 220 190

P.1512 8 2 60 600 560 500 440 380

20 6 − 36 1000 933 833 733 633

RSH16

Standard Model

40 8 283

−

360 324 270 234 216 180

Resolver Absolute Encoder

Incremental Encoder

Single-phase AC

100〜115V200〜230V(±10%)

P.1712 20 4 141 720 648 540 468 432 360

20 12 − 84 1200 1080 900 780 720 600

RSH2

5 50 16 339 300 255 225 195 180 165 150 135 120

P.1910 40 8 169 600 510 450 390 360 330 300 270 240

20 20 4 84 1200 1020 900 780 720 660 600 540 480

30 7 − 56 1800 1530 1350 1170 1080 990 900 810 720

RSH35 80 − 339 300 255 225 195 180 165 150 135 120 105

P.2110 60 − 169 600 510 450 390 360 330 300 270 240 210

20 30 − 84 1200 1020 900 780 720 660 600 540 480 420

RS1C2

Clean Room Model

6 4 150 100


Encoder

DC24V(±10%)

P.236 4 2 90 30012 2 1 45 600

RS2C6 10 2 90 300 280 250 220 190

P.2512 6 1 45 600 560 500 440 380

20 4 − 27 1000 933 833 733 633

RS3C6 12 4 120 300 280 250 220 190

P.2712 8 2 60 600 560 500 440 380

20 6 − 36 1000 933 833 733 633

RSH1C6

Clean Room Model

40 8 283

−

360 324 270 234 216 180


Incremental Encoder

Single-phase AC

100〜115V200〜230V(±10%)

P.2912 20 4 141 720 648 540 468 432 360

20 12 − 84 1000 950 800 700 650

RSH2C5 50 16 339 300 255 225 195 180 165 150 135 120

P.3110 40 8 169 600 510 450 390 360 330 300 270 240

20 20 4 84 1000 900 800 700 650 600 550 500

RSH3C5 80 − 339 300 264 225 195 180 165 150 135 120 105

P.3310 60 − 169 600 528 450 390 360 330 300 270 240 210

20 30 − 84 1000 900 800 700 650 600 550 500 420

[Selection Criteria] Horizontal Load Capacity 10kg, Stroke 500mm, Positioning Time less than 1.0sec, overhang dimension is 90mm to A direction as in the picture. (Standard Environment)

(1) (2) Select a model with 500mm stroke and a maximum load capacity (horizontal) of around 10kg from “Specifications List” on the left page.

(3) From "Cycle Time Diagram" on P.39-42, select a model that has required positioning time less than 0.9 seconds.

(4) Select a model that can accommodate expected overhung.

(1) Check maximum Push force

Confirm Maximum Push Force and allowable static moment.

(2) Check Allowable Static Moment

Selection Example• RS2 Lead 6• RS3 Lead 6• RSH1 Lead 20



Push Force (N)



Supply

Certifi cation Status

PageStroke (mm)Horizontal Vertical 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050

RS12

Standard Model

6 4 150 100


Encoder

DC24V（±10％）

Applicable to RoHSCE

P.116 4 2 90 30012 2 1 45 600

RS26 10 2 90 300 280 250 220 190

P.1312 6 1 45 600 560 500 440 380

20 4 − 27 1000 933 833 733 633

RS36 12 4 120 300 280 250 220 190

P.1512 8 2 60 600 560 500 440 380

20 6 − 36 1000 933 833 733 633

RSH16

Standard Model

40 8 283

−

360 324 270 234 216 180


Incremental Encoder

Single-phase AC

100〜115V200〜230V（±10%）

P.1712 20 4 141 720 648 540 468 432 360

20 12 − 84 1200 1080 900 780 720 600

RSH2

5 50 16 339 300 255 225 195 180 165 150 135 120

P.1910 40 8 169 600 510 450 390 360 330 300 270 240

20 20 4 84 1200 1020 900 780 720 660 600 540 480

30 7 − 56 1800 1530 1350 1170 1080 990 900 810 720

RSH35 80 − 339 300 255 225 195 180 165 150 135 120 105

P.2110 60 − 169 600 510 450 390 360 330 300 270 240 210

20 30 − 84 1200 1020 900 780 720 660 600 540 480 420

RS1C2

Clean Specifi cation

6 4 150 100


Encoder

DC24V（±10％）

P.236 4 2 90 30012 2 1 45 600

RS2C6 10 2 90 300 280 250 220 190

P.2512 6 1 45 600 560 500 440 380

20 4 − 27 1000 933 833 733 633

RS3C6 12 4 120 300 280 250 220 190

P.2712 8 2 60 600 560 500 440 380

20 6 − 36 1000 933 833 733 633

RSH1C6


40 8 283

−

360 324 270 234 216 180


Incremental Encoder

Single-phase AC

100〜115V200〜230V（±10%）

P.2912 20 4 141 720 648 540 468 432 360

20 12 − 84 1000 950 800 700 650

RSH2C5 50 16 339 300 255 225 195 180 165 150 135 120

P.3110 40 8 169 600 510 450 390 360 330 300 270 240

20 20 4 84 1000 900 800 700 650 600 550 500

RSH3C5 80 − 339 300 264 225 195 180 165 150 135 120 105

P.3310 60 − 169 600 528 450 390 360 330 300 270 240 210

20 30 − 84 1000 900 800 700 650 600 550 500 420

<Ex.> Find required positioning time for RSH1 Lead 20.

• Select 10kg for load capacity.

Find required positioning time for RS2 Lead 6 and RS3 Lead 6 by the same procedure.

• The graph indicates positioning time is less than 1 second.

• The table indicates positioning time is 0.83 seconds.Note) Values in the graph and table are calculated and may vary depending

on operating conditions.

Selection Example• RS2 Lead 6 1.78sec• RS3 Lead 6 1.83sec• RSH1 Lead 20 0.83sec

• RSH1 Lead 20

Selection Example• RSH1 Lead 20 100mm • RSH1 Lead 20

<Ex.> Find permissive overhung for RSH1 Lead 20.

• Check the direction.

• The table indicates the overhung is 100mm.

Note) Values are calculated and may vary depending on operating conditions.

Note) When more than two models are suggested select one with larger load capacity. When overhung is 0, use linear guides with selected actuator to support workload.



Push Force (N)



Supply

Certifi cation Status

PageStroke (mm)Horizontal Vertical 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050

RS12

Standard Model

6 4 150 100


Encoder

DC24V（±10％）

Applicable to RoHSCE

P.116 4 2 90 30012 2 1 45 600

RS26 10 2 90 300 280 250 220 190

P.1312 6 1 45 600 560 500 440 380

20 4 − 27 1000 933 833 733 633

RS36 12 4 120 300 280 250 220 190

P.1512 8 2 60 600 560 500 440 380

20 6 − 36 1000 933 833 733 633

RSH16

Standard Model

40 8 283

−

360 324 270 234 216 180


Incremental Encoder

Single-phase AC

100〜115V200〜230V（±10%）

P.1712 20 4 141 720 648 540 468 432 360

20 12 − 84 1200 1080 900 780 720 600

RSH2

5 50 16 339 300 255 225 195 180 165 150 135 120

P.1910 40 8 169 600 510 450 390 360 330 300 270 240

20 20 4 84 1200 1020 900 780 720 660 600 540 480

30 7 − 56 1800 1530 1350 1170 1080 990 900 810 720

RSH35 80 − 339 300 255 225 195 180 165 150 135 120 105

P.2110 60 − 169 600 510 450 390 360 330 300 270 240 210

20 30 − 84 1200 1020 900 780 720 660 600 540 480 420

RS1C2


6 4 150 100


Encoder

DC24V（±10％）

P.236 4 2 90 30012 2 1 45 600

RS2C6 10 2 90 300 280 250 220 190

P.2512 6 1 45 600 560 500 440 380

20 4 − 27 1000 933 833 733 633

RS3C6 12 4 120 300 280 250 220 190

P.2712 8 2 60 600 560 500 440 380

20 6 − 36 1000 933 833 733 633

RSH1C6


40 8 283

−

360 324 270 234 216 180


Incremental Encoder

Single-phase AC

100〜115V200〜230V（±10%）

P.2912 20 4 141 720 648 540 468 432 360

20 12 − 84 1000 950 800 700 650

RSH2C5 50 16 339 300 255 225 195 180 165 150 135 120

P.3110 40 8 169 600 510 450 390 360 330 300 270 240

20 20 4 84 1000 900 800 700 650 600 550 500

RSH3C5 80 − 339 300 264 225 195 180 165 150 135 120 105

P.3310 60 − 169 600 528 450 390 360 330 300 270 240 210

20 30 − 84 1000 900 800 700 650 600 550 500 420

• Select a model that can provide required push force.

• Check if the allowable static moment is larger than the moment generated by the push force.

Ex: RSH1

MY 70MP 95MR 110

(Unit [N · m])

Ex: RSH1 Lead 20

■ Permissive Overhung

Horizontal Use Wallmount Use Vertical Use

0 100 200 300 400 500 600 700 800Stroke (mm)

0

0.5

1

1.5

Cycl

e Ti

me

(sec

)

12kg

10kg

5kg

Load Capacity

Horizontal Use (Unit: mm)

Lead Mass A B C

2012kg 85 25 4310kg 100 32 545kg 197 76 120

Ａ

ＢＣ

ＡＢ

ＣＡ

Ｃ

ＭＹ

ＭＲＭＰ

●10ｋg

90

Notes on CE Marking

MISUMI actuator robot series are in conformity with EC Directive. Therefore, if you incorporate a motorized actuator, please make sure that final assembly unit is in conformity with EC Directive. See the instruction manual for details.

Lineup and Specifications List Selection ExampleConvenient selection software and instruction manuals are available for download from the following URL: http://www.misumiusa.com/rs.aspx

11 12

Controller Specification 指 P.35 Cycle Time Diagram 指 P.39 Clean Room Model 指 P.23

■ComponentsRobot Body / Controller / CableAccessories: Instruction Manual (CD-ROM) / Power

Connector / Dummy Connector / CC-Link Connector (For CC-Link models only)

■Robot Material / Surface TreatmentComponents Guide Rail Slider Side Cover

MMaterial Steel Aluminum Alloy Aluminum AlloySSurface Treatment − − Clear Anodize■General Specifications

Ball Screws Motor Position Detector

Operating Environment Temperature · Humidity

φ8 (C10 Rolled) Stepper Resolver

(Incremental)0~40°C · 35~85%RH

(w/o dew condensation)

■ Basic Specifications

Type Lead (mm)

Repetitive Positioning Precision (mm)

Max. Load Capacity (kg) Maximum Push Force (N) Stroke (mm) Maximum Speed

(mm/sec) Rated Service

LifeController Input Power Supply

Maximum Number of Positioning PointsHorizontal Vertical

RS102

±0.026 4 150 50 ~ 400

(50 increment)

100 10000km or More

DC24V±10% 255 pc.06 4 2 90 300

12 2 1 45 600

■ Dimensions ・WeightType Stroke (mm) 50 100 150 200 250 300 350 400

RS1

L 266 316 366 416 466 516 566 616A 2 3 4 5 6 7 8 9B 3 4 5 6 7 8 9 10C 50 100 150 200 250 300 350 400

Mass (kg) 1.5 1.6 1.7 1.8 2.0 2.1 2.2 2.3！ Robot "with break" weighs 0.2kg more than standard type.

Part Number SelectionType Lead (mm) Brake( ！1) Controller Type I/O Module Cable Length (m) Stroke (mm)

RS1

02No: Blank

Yes: BC1

DC24V ±10%

NPN：NPNP：P

CC−Link：C

135

(Flexible Cable)

50〜400(50mm Increment)06

12

Part Number − Controller − I/O Module − Cable Length − Stroke

RS102B − C1 − N − 3 − 400

( ！1) Choose "with brake" type when using actuator in vertical position.

■Controller PriceType I/O Module $ Standard Unit Price Qty. 1 ~ 5

C1N 148.50P 268.40C 288.20

■Cable PriceCable Length (m) $ Standard Unit Price Qty. 1 ~ 5

1 60.503 60.505 80.30

■Robot Body Price

Part Number$ Standard Unit Price Qty. 1 ~ 5

Stroke (mm)50 100 150 200 250 300 350 400

RS1□□ 338.80 357.50 367.40 377.30 387.20 396.00 407.00 416.90RS1□□B 495.00 506.00 515.90 525.80 535.70 544.50 555.50 565.40

！For larger quantity orders "Days to Ship" may differ from published catalog term.

！Non-Returnable

The price includes actuator, controller and cables.<Ex.> For RS102 - C1 - N - 3 - 400(Robot Body Price) + (Controller Price) + (Cable Price) = Total Price $416.90 + $148.50 + $60.50 = $625.90


• Horizontal Use

Allowable offset of the gravity center of work load from center of the slider.

• Wallmount Use • Vertical Use

■ Allowable Static Moment

• Moment Diagram

N・m

MY MP MR16 19 17

AlterationPart Number − Controller − I/O Module − Cable Length − Stroke − (G・E…etc.)

RS102B − C1 − N − 3 − 400 − G−E

8

(Note 1) Distance from both ends to the mechanical stopper.(Note 2) Minimum bending radius of cable is R30.(Note 3) Clamp the cable within the distance of 100mm from

edge of the body so not to overload the cable.(Note 4) When mounting a body using φ4 dowel holes do not

insert pins more than 6 mm deep inside the body.

2 - φ3 H7 Depth 64-M4 x 0.7 Depth 8

B - M5x0.8 Depth 8

φ4H7 Depth 6

32

58

50

49

41

15

59 51(S

lider

Upp

er S

urfac

e)

33(To

lerance

betwe

en Do

wels ±

0.02)

45.3

137.5

182.5 (w/brake)

162.5207.5 C

2

129±1 (Note 1)

L

23±1 (Note 1)

161±2: At motor side origin(161: At reversed motor side origin)

Approx. 200 (Cable Length) Stroke

21

(55: At motor side origin)55±2: At reversed motor side origin

α�

β�

Arrow View α Arrow View β

4 D

epth 6

+0.02

＋0

Note (4)

174±1 (w/ brake) (Note 1)

L + 45 (w/ brake)

206±2 (w/ brake): At motor side origin(206 with brake: at reverse motor side origin)

A x 50

ＭＹ

ＭＲＭＰ

mm mm mm

Ａ

ＢＣ

ＡＢ

Ｃ

Ａ

Ｃ

Controller

Alterations Grease Type Alteration

Handy Terminal Standard Model

Handy Terminal with Deadman Switch

Support Software w/ USB Cable

I/O Cable Robot Instruction Manual Controller Instruction Manual

Code G E H D S T MJ/ME KJ/KE

Spec.

Changes grease type to low dust raise grease.(NSK Ltd. LG2)

Changes origin position to the opposite side to motor.

Enclose a standard model handy terminal.Specification 指P.7・37

Handy Terminal with Deadman SwitchSpecification 指P.7・37

Including Support Software w/ USB CableSpecification 指P.7・37

Encloses an I/O cable.Required for NPN/PNP type.Specification 指P.8・37

Encloses a robot instruction manual.MJ: JapaneseME: English

Encloses a controller instruction manual.KJ: JapaneseKE: English

$/1Code 50.00 Free of Charge 377.00 625.00 248.00 25.00 13.00 13.00

！See p.37 for option purchase.

Motor

Power interruption circuit is not installed in this controller.Please make sure to build an external power interruption circuit and form an emergency stop circuit. Example of Circuit 指P.37

CAUTION

Terminology 指P.38

Robot Body

Cable Instruction Manual (CD-ROM)

<Example of Price Calculation> Price for the product with the part number shown to the left(Robot Body Price) + (Controller Price) + (Cable Price) +

$565.40 + $148.50 + $60.50 +(Grease Type Alteration Charge) + (Grease Type Alteration Charge) = Total Price

$50.00 + $0.00 = $824.40

！Notes on CE Marking 指P.38Single Axis Robots RS1 -Straight Type- CE

Compliant

Convenient selection software and instruction manuals are available for download from the following URL: http://www.misumiusa.com/rs.aspx

Lead Mass A B C

026kg 863 40 60 4kg 869 61 92

064kg 567 56 84 3kg 556 76 112 2kg 687 116 169

12 2kg 667 107 152 1kg 807 218 292

Lead Mass A B C

026kg 39 26 789 4kg 72 48 829

064kg 63 43 507 3kg 92 62 516 2kg 149 102 656

12 2kg 133 93 611 1kg 274 204 776

Lead Mass A C

024kg 53 53 2kg 118 118

062kg 107 107 1kg 223 223

12 1kg 204 204 0.5kg 407 408

Change of Origin Position

13 14







Spec.











mm mm mm ■Maximum Speed (mm/sec)

Type Lead(mm)

Stroke (mm)50〜600 650 700 750 800

RS206 300 280 250 220 19012 600 560 500 440 38020 1000 933 833 733 633

Controller Specification 指 P.35 Cycle Time Diagram 指 P.39


Type Lead (mm) Repetitive Positioning Precisio n (mm)

Max. Load Capacity (kg) Maximum Push Force (N) Stroke (mm) Max. Velocity

(Note) (mm/s) Rated Service



RS206

±0.0210 2 90 50 ~ 800

(50 increment)

300〜190 10000 km or More

DC24V±10% 255 pc.12 6 1 45 600〜380

20 4 − 27 1000〜633(Note) Maximum speed differs depending on the strokes.See the maximum speed chart on next page.

■ Dimensions ・WeightType Stroke (mm) 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

RS2

L 280 330 380 430 480 530 580 630 680 730 780 830 880 930 980 1030A 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18B 4 5 6 7 8 9a 10 11 12 13 14 15 16 17 18 19C 100 150 200 250 300 350 400 450 500 500 500 500 500 500 500 500

Mass (kg) 2.1 2.3 2.5 2.7 2.8 3.0 3.2 3.4 3.6 3.8 4.0 4.2 4.4 4.6 4.8 5.0！ Robot "with break" type weighs 0.2kg more than standard type.

Part Number SelectionType Lead (mm) Brake ( ！1) Controller Type I/O Module Cable Length (m) Stroke (mm)

RS2

06No: Blank

Yes: BC1

DC24V ±10%

NPN：NPNP：P

CC−Link：C

135

(Flexible Cable)


20


RS206B − C1 − N − 3 − 400

( ！1) Select "with break" type when using actuator in vertical position. ("With brake" type is not available for Lead 20)

■Controller PriceType I/O Module $ Standard Unit Price Qty. 1 ~ 5

C1N 148.00P 268.40C 288.20

■Cable PriceCable Length (m) $ Standard Unit Price Qty. 1 ~ 5

1 60.503 60.505 80.30

■Robot Body Price

Part Number

$ Standard Unit Price Qty. 1 ~ 5Stroke (mm)

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800RS2□□ 338.80 357.50 367.40 377.30 387.20 396.00 407.00 416.90 426.80 436.70 456.50 476.30 495.00 515.90 535.70 555.50RS2□□B 495.00 506.00 515.90 525.80 535.70 544.50 555.50 565.40 575.30 585.20 605.00 624.80 643.50 664.40 684.20 704.00


The price includes actuator, controller and cables.<Ex.> For 206 - C1 - N - 3 - 400(Robot Body Price) + (Controller Price) + (Cable Price) = Total Price $416.90 + $148.50 + $60.50 = $625.90

8



■Robot Material / Surface TreatmentComponents Guide Rail Slider Side Cover

MMaterial Steel Aluminum Alloy Aluminum AlloySSurface Treatment − − Clear Anodize■General Specifications


Operating enviroment Temperature · Humidity

φ12 (C10 Rolled) Stepper Resolver

(Incremental)0 ~ 40°C · 35~85%RH (w/o dew condensation)


edge of the body so not to overload the cable.(Note 4) When mounting a body using ø4 dowel holes do not

insert pins more than 6mm deep inside the base.

(Note 4)

2 - φ4 H7 Depth 64-M4 x 0.7 Depth 8 14±1 (Note 1)

Approx. 200 (Cable Length) 178±2: At motor side origin(178: At reversed motor side origin)

Stroke

α�

Arrow View α

34

42

50

50

55

57

24

A x 50

101.5

141.5 (w/ brake)

70

56

140±1 (Note 1)

180±1 (w/ brake) (Note 1)

218±2 (w/ brake): At motor side origin(218 with brake: at reverse motor side origin) 42

(Tolera

nce be

tween

Dowe

ls ±0.0

2)

LL + 40 (w/ brake)

(52: At motor side origin)52±2: At reversed motor side origin

B - M6x1 Depth 8

(Slid

er U

pper

Sur

face)

ø4H7 Depth 6126.5166.5 C

2

4 D

epth 6

+0.02

＋0

■Permissive Overhung

• Horizontal Use • Wallmount Use • Vertical Use


• Moment Diagram

N・m

MY MP MR25 33 30

ＭＹ

ＭＲＭＰ

Ａ

ＢＣ

ＡＢ

Ｃ

Ａ

Ｃ


RS206B − C1 − N − 3 − 400 − G−E

Change of Origin PositionMotor


CAUTION

Terminology 指P.38

<Example of Price Calculation> Price for the product with the part number shown to the left.(Robot Body Price) + (Controller Price) + (Cable Price) +


$50.00 + $0.00 = $824.40

！Notes on CE Marking 指P.38Single Axis Robots RS2 -Straight Type-

Controller

Robot Body

Cables Instruction Manual (CD-ROM)

CECompliant


！Non-Returnable

Allowable offset of the gravity center of work load from center of the slider

Lead Mass A B C

0610kg 344 29 62 8kg 332 37 79 4kg 503 78 165

126kg 335 47 95 4kg 347 72 139

20 4kg 334 67 120 2kg 413 139 218

Lead Mass A B C

068kg 47 22 355 6kg 76 35 377 4kg 134 63 496

126kg 63 31 263 4kg 109 57 300

20 4kg 92 51 265 2kg 192 123 372

Lead Mass A C

062kg 148 148 1kg 312 312

12 1kg 286 286 0.5kg 578 579

15 16







Spec.













Type Lead (mm)


Max. Load Capacity (kg) Maximum Push Force (N) Stroke (mm) Maximum Speed

(mm/sec) Rated Service



RS306

±0.0212 4 120 50 ~ 800

(50 increment)

300~190 10000 km or More

DC24V±10% 255 pc.12 8 2 60 600~380

20 6 − 36 1000~633(Note) Maximum speed differs depending on the strokes.See the maximum speed chart on next page.

■ Dimensions ・WeightType Stroke (mm) 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

RS3

L 336 386 436 486 536 586 636 686 736 786 836 886 936 986 1036 1086A 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18B 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19C 100 150 200 250 300 350 400 450 500 500 500 500 500 500 500 500

Mass (kg) 2.4 2.6 2.8 3.0 3.2 3.4 3.6 3.8 4.0 4.2 4.4 4.5 4.7 4.9 5.1 5.3！ Robot "with break" type weighs 0.2kg more than standard type.

Part Number SelectionType Lead (mm) Brake( ！1) Controller Type I/O Module Cable Length (m) Stroke (mm)

RS3

06No: Blank

Yes: BC1

DC24V ±10%

NPN：NPNP：P

CC−Link：C

135

(Flexible Cable)


20


RS306B − C1 − N − 3 − 400

( ！1) Select "With Break" type when using actuator in vertical position. ("With Break" type is not available for Lead 20)

■ Controller PriceType I/O Module $ Standard Unit Price Qty. 1 ~ 5

C1N 148.50P 268.40C 288.20

■ Cable PriceCable Length (m) $ Standard Unit Price Qty. 1 ~ 5

1 60.503 60.505 80.30

■Robot Body Price

Part Number


50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800RS3□□ 396.00 407.00 416.90 426.80 436.70 445.50 456.50 466.40 476.30 486.20 495.00 506.00 525.80 544.50 565.40 585.20RS3□□B 544.50 555.50 565.40 575.30 585.20 594.00 605.00 614.90 624.80 634.70 643.50 654.50 674.30 693.00 713.90 733.70


8



■Robot Material / Surface TreatmentComponents Guide Rail Slider Side CoverMMaterial Steel Aluminum Alloy Aluminum AlloySSurface Treatment − − Clear Anodize■General Specifications


Operating enviroment Temperature · Humidity

ø12 (C10 Rolled) Stepper Resolver

(Incremental)0~40°C · 35~85%RH (w/o dew condensation)

The price includes actuator, controller and cables<Ex.> For 306 - C1 - N - 3 - 400(Robot Body Price) + (Controller Price) + (Cable Price) = Total Price $466.40 + $148.50 + $60.50 = $675.40


• Horizontal UseAllowable offset of the gravity center of work load from center of the slider



• Moment Diagram

N・m

MY MP MR32 38 34

ＭＹ

ＭＲＭＰ

mm mm mm


edge of the body so not to overload the cable.(Note 4) When mounting a body using ø4 dowel holes do not

insert pins more than 6mm deep inside the base.

Note (4)

Arrow View α

52

55

24

60

Approx. 200 (Cable Length) 223.5±2: At motor side origin(223.5: At reversed motor side origin)

Stroke

43

53

50

A x 50

141.5

161.5 (w/ brake)

90

195.5±1 (w/ brake) (Note 1)

175.5±1 (Note 1)

243.5±2 (w/ brake): At motor side origin(243.5 with brake: at reverse motor side origin) 43

(Tolera

nce be

tween

Dowe

ls ±0.0

2)

LL + 20(w/ brake)

α� 56

(62.5: At motor side origin)62.5±2 w/ brake:At reversed motor side origin

14.5±1 (Note 1)2 - ø4 H7 Depth 64-M5 x 0.8 Depth 10

B - M6x1 Depth 8

ø4H7 Depth 6166.5186.5 C

2

4De

pth 6

+0.02 0

Ａ

ＢＣ

ＡＢ

Ｃ

Ａ

Ｃ

■ Maximum Speed (mm/sec)

Type Lead(mm)

Stroke(mm)50〜600 650 700 750 800

RS306 300(250) 280(250) 250 220 19012 600(500) 560(500) 500 440 38020 1000 933 833 733 633

！Value in ( ) is calculated when using unit in vertical position.


RS306B − C1 − N − 3 − 400 − G−E


Power interruption circuit is not installed in this controller to be available for various safety levels.Please make sure to build an external power interruption circuit and form an emergency stop circuit. Example of Circuit 指P.37

CAUTION

Terminology 指P.38

<Example of Price Calculation> Price for the product with the part number shown to the left(Robot Body Price) + (Controller Price) + (Cable Price) +


$50.00 + $0.00 = $824.40

！Notes on CE Marking 指P.38Single Axis Robots RS3 -Straight Type-

Controller

Robot Body

Cables Instruction Manual (CD-ROM)

CECompliant


！Non-Returnable

Lead Mass A B C

06

12kg 465 39 64 10kg 442 47 78 8kg 480 61 100 6kg 573 83 136

128kg 403 56 88 6kg 399 76 118 4kg 500 118 179

206kg 352 71 104 4kg 366 109 148 2kg 599 225 291

Lead Mass A B C

06

12kg 28 17 338 10kg 43 26 355 8kg 64 39 413 6kg 101 62 519

128kg 55 34 305 6kg 85 55 334 4kg 146 96 449

206kg 71 49 262 4kg 118 88 309 2kg 262 203 554

Lead Mass A C

064kg 113 113 2kg 244 245

12 2kg 224 224 1kg 458 459

17 18







Spec.



Enclose a standard model handy terminal.Specifications 指P.7・37

Handy Terminal with Deadman SwitchSpecifications 指P.7・37

Including Support Software w/ USB CableSpecifications 指P.7・37

Encloses an I/O cable.Required for NPN/PNP type.Specifications 指P.8・37





Controller Specification 指 P.35 Cycle Time Diagram 指 P.40 Clean Room Type 指 P.29


Type Lead (mm)

Precision of Repetitive Positioning (mm)

Max. Load Capacity (kg) Rated Force (N) Max. Velocity (Note) (mm/s) Stroke (mm) Rated Service



RSH106

±0.0240 8 283 360〜180 150 ~ 800

(50 Pitch)10000km or

More

Single Phase AC100~115V

200~230V ±10%

255 pc.12 20 4 141 720〜36020 12 − 84 1200〜600

(Note) Maximum speed differs depending on the strokes.See the maximum speed chart on next page.

■ Dimensions ・Weight

Type Stroke (mm) 150 200 250 300 350 400 450 500 550 600 650 700 750 800

RSH1

L 436 486 536 586 636 686 736 786 836 886 936 986 1036 1086A 0 0 1 1 2 2 3 3 4 4 5 5 6 6B 100 150 100 150 100 150 100 150 100 150 100 150 100 150C 8 8 10 10 12 12 14 14 16 16 18 18 20 20D 240 290 340 390 440 490 540 590 640 690 740 790 840 890

Mass (kg) 3.6 3.9 4.2 4.4 4.7 5.0 5.3 5.6 5.9 6.2 6.4 6.7 7.0 7.3！ Robot "with break" type weighs 0.3kg more than standard type.

Part Number SelectionType Lead (mm) Brake( ！1) Controller ( ！2) I/O Module Noise Filter ( ！3) Cable Stroke (mm)

RSH106

No: BlankYes: B

SpecificationPower Supply

Absolute Type (w/ battery for data back-up)

Incremental Type

AC100〜115V C21A C21BAC200〜230V C22A C22B

NPN：NPNP：P

CC−Link：C

No：F0Yes：F1

Specifications 指P.38

Standard Flexible3.5m：3 3.5m：R3　5m：5 　5m：R5 10m：10 10m：R10


20( ！1) Select "with break" type for when using actuator in vertical position. ("With Break" type is not available for Lead 20)( ！2)Controller parameters (P.7) are set before shipping. Battery for data back-up is not covered by the RoHS. ( ！3)Noise filter is necessary for this product. Customer needs to arrange for noise filter, when choosing "no" for noise filter. Be sure to install surge absorber on the primary side of noise filter. See the instruction manual for details.

■Controller PriceType

I/O

$ Standard Unit Price Qty. 1 ~ 5C21A/C22A

Absolute Type(W/ battery for data back-up)

C21B/C22BIncremental

TypeN 575.30 544.50P 695.20 664.40C 715.00 684.20

■Cable PriceCable

(Standard)$ Standard Unit Price Qty. 1 ~ 5

Cable (Flexible)

$ Unit Price Qty. 1 ~ 5

3 90.20 R3 121.005 119.90 R5 159.5010 200.20 R10 259.60

■Robot Body Price

Part Number$ Standard Unit Price Qty. 1 ~ 5

Stroke (mm)150/200 250/300 350/400 450/500 550/600 650/700 750/800

RSH1□□ 1,089.00 1,125.30 1,159.40 1,193.50 1,228.70 1,262.80 1,298.00RSH1□□B 1,386.00 1,422.30 1,456.40 1,490.50 1,525.70 1,559.80 1,595.00


■Maximum Speed (mm/sec)

Type Lead(mm)

Stroke(mm)150〜550 600 650 700 750 800

RSH106 360 324 270 234 216 18012 720 648 540 468 432 36020 1200 1080 900 780 720 600

8

■ComponentsRobot Body / ControllerCable / (Battery) / (Noise Filter)Accessories: Instruction Manual (CD-ROM) / Power Connector / Dummy Connector / CC-Link Connector (For CC-Link models only)■Robot Material / Surface Treatment

Components Base Frame Guide Rail Slider Side CoverM Material Aluminum Alloy Steel Aluminum Alloy Aluminum Alloy

S Surface Treatment Clear Anodize − Clear Anodize Clear Anodize■General Specifications

Ball Screw Motor Position Detector

Operating Enviroment Temperature · Humidity

φ12 (C10 Rolled)

AC Servo100W Resolver 0~40°C · 35~85%RH


Part F: Details of T-Groove

* Recommended flat nut size: M3 (6 x 6 x t1.6)

193±3: At motor side origin

148±1 (Note 1)

Approx. 240 (Cable Length)

Approx. 210 (length of brake with cable)178±1 (w/ brake) (Note 1)

223±3 (w/ brake): At motor side origin(223 (w/ brake)： At reversed motor side origin)

α

4−M6 x 1.0 Depth122−ø5H7 Depth10

L+30 (w/ brake)

78

198 (w/ brake)

C-ø5.5 See section E-E

ø10H7 Depth10 (Note 4)145

805

1.55

2

Ground Terminal (M4)

Arrow View α Section E-E

60

175 (w/ brake)

168 50 A x 100100

B

D 2

50 (68)

R

E

E

F

Relubrication HoleL

93±3: At reversed motor side origin48±1

(Note 1)

(93: At motor side origin)

(93±3: At reversed motor side origin) 50

70(Tol

erance b

etween

Dowel

s ±0.0

2)

8063

.540

34

65

ø9.

5

6.4 3.5

ø5.

5

30±0.02

10H7

(Not

e 4)

Use M5 x 0.8 hexagon socket head cap screws with a under neck length of 16mm or longer.

Stroke

(Note 1) Distance from both ends to the mechanical stopper.

(Note 2) When installing, remove a slide cover to tighten the mounting bolts. Do not use washers or similar parts to modify/support existing structure of mounting bolts.

(Note 3) Minimum bending radius of cable is R50.(Note 4) When mounting a body using ø10 dowel

holes, do not insert pins more than 10mm deep inside the base.

■Noise Filter PriceNoise Filter $ Standard Unit Price Qty. 1 ~ 5

No：F0 0Yes：F1 36.30

The price includes actuator, controller, cables and noise filter.<Ex.> For RSH106 - C22A - N - F1 - 3 - 400(Actuator Price) + (Controller Price) + (Cable Price) + (Noise Filter Price) = Total Price $1,159.40 + $575.30 + $90.20 + $36.30 = $1,861.20




■Allowable Static Moment

• Moment Diagram

N・m

MY MP MR70 95 110

ＭＹ

ＭＲＭＰ

mm mm mm

Ａ

ＢＣ

ＡＢ

Ｃ

Ａ

Ｃ

Part Number − Controller − I/O Module − Noise Filter − Cables − Stroke

RSH106B − C22A − N − F1 − 3 − 400

Controller

Instruction Manual (CD-ROM)

Power Cable

Robot Body

Signal Cable

AlterationPart

Number − Controller − I/O Module − Noise Filter − Cables − Stroke − (G・E…etc.)

RSH106B − C22A − N − F1 − 3 − 400 G−E


！When overhung equals zero, use linear guides with selected unit to support workload.

Terminology 指P.38


CAUTION

<Example of Price Calculation> Price for the product with the part number shown to the left(Robot Body Price) + (Controller Price) + (Noise Filter Price) +

$1,456.40 + $575.30 + $36.30 +(Cable Price) + (Grease Type Alteration Charge) + (Origin Position Alteration Charge) = Total Price

$90.20 + $50.00 + $0.00 = $2,208.20

！Notes on CE Marking 指P.38Single Axis Robots RSH1 -Straight Type- CE

Compliant


！Non-Returnable

Lead Mass A B C

06

40kg 113 0 8 30kg 140 6 20 20kg 214 16 43 10kg 403 43 113

12

20kg 103 14 33 15kg 139 22 51 10kg 203 39 87 5kg 364 89 188

2012kg 85 25 43 10kg 100 32 54 5kg 197 76 120

Lead Mass A B C

06

40kg 0 0 0 30kg 0 0 14 20kg 25 9 157 10kg 94 36 369

12

20kg 15 6 55 15kg 33 15 100 10kg 69 32 172 5kg 171 81 340

2012kg 27 15 55 10kg 37 23 72 5kg 104 67 174

Lead Mass A C

06

8kg 46 46 6kg 69 69 4kg 113 113 2kg 244 245

12

4kg 98 99 3kg 137 138 2kg 214 216 1kg 447 448

19 20







Spec.












■Basic Specifications

Type Lead (mm)


Max. Load Capacity (kg) Rated Force (N) Max. Velocity (Note) (mm/s) Stroke (mm) Rated Service



RSH2

05

±0.01

50 16 339 300~120150 ~ 1050

(50 increment) 10000 km or

More

Single-phase AC100~115V

200~230V ±10%

255 pc.10 40 8 169 600~24020 20 4 84 1200~48030 7 − 56 1800~720

(Note) Maximum speed differs depending on the strokes. See the maximum speed chart on next page.

■ Dimensions ・Weight

Type Stroke (mm) 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050

RSH2

L (Lead5/10/20) 442 492 542 592 642 692 742 792 842 892 942 992 1042 1092 1142 1192 1242 1292 1342L (Lead30) 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350

A 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9B 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100 150 100C 8 8 10 10 12 12 14 14 16 16 18 18 20 20 22 22 24 24 26D 240 290 340 390 440 490 540 590 640 690 740 790 840 890 940 990 1040 1090 1140

Mass (kg) 3.9 4.2 4.5 4.8 5.1 5.4 5.7 6.1 6.4 6.7 7.0 7.3 7.6 7.9 8.2 8.5 8.8 9.2 9.5！ Robot "with brake" type weighs 0.3kg more than standard type.

Part Number − Controller − I/O Module − Noise Filter − Cables − Stroke

RSH205B − C22A − N − F1 − 3 − 400

( ！1) Choose "with brake" type when using actuator in vertical position.("with brake" type is not available for Lead 30)( ！2)Controller parameters ( P.7) are set before shipping. Battery for data back-up is not covered by the RoHS.( ！3)Noise filter is necessary for this product. Customer needs to arrange for noise filter, when choosing "no" for noise filter.Be sure to install surge absorber on the primary side of noise filter.

■Robot Body Price

Part Number


150/200 250/300 350/400 450/500 550/600 650/700 750/800 850/900 950/1000 1050RSH2□□ 1,386.00 1,435.50 1,485.00 1,534.50 1,584.00 1,633.50 1,683.00 1,732.50 1,782.00 1,831.50RSH2□□B 1,683.00 1,732.50 1,782.00 1,831.50 1,881.00 1,930.50 1,980.00 2,029.50 2,079.00 2,128.50


■Maximum Speed (mm/sec)

Type Lead (mm)

Stroke (mm)150〜650 700 750 800 850 900 950 1000 1050

RSH2

05 300 255 225 195 180 165 150 135 12010 600 510 450 390 360 330 300 270 24020 1200 1020 900 780 720 660 600 540 48030 1800 1530 1350 1170 1080 990 900 810 720

8

Part Number SelectionType Lead (mm) Brake( ！1) Controller ( ！2) I/O Module Noise Filter ( ！3) Cable Stroke (mm)

RSH2

05No: Blank

Yes: B

SpecificationPower Supply

Absolute Type (w/ battery for data back-up)

Incremental Type

AC100〜115V C21A C21BAC200〜230V C22A C22B

NPN：NPNP：P

CC−Link：C

No：F0Yes：F1

Specifications 指P.38

Standard Flexible3.5m：3 3.5m：R3　5m：5 　5m：R5 10m：10 10m：R10

150〜1050(50mm Increment)

102030

■ComponentsRobot Body / Controller / Cable / (Battery)/(Noise Filter) Accessories: Instruction Manual (CD-ROM) / Power Connector /

Dummy Connector / CC-Link Connector (For CC-Link models only)

■Robot Material / Surface TreatmentComponents Base Frame Guide Rail Slider Side Cover

MMaterial Aluminum Alloy Steel Aluminum Alloy Aluminum AlloySSurface Treatment Clear Anodize − Clear Anodize Clear Anodize■General Specifications


Operating Enviroment Temperature · Humidity

ø15 (C7 Rolled)

AC Servo 100W Resolver 0 ~ 40°C · 35~85%RH


α→

44±1 (Note 1)

2 - ø5 H7 Depth 10

4-M6 x 1 Depth 12

30±0.0250

78 Relubrication Hole

100A x 100 B 5050

Lead 5/10/20　179Lead 30　　　187

Lead 5/10/20　156Lead 30　　　164186(w/ brake)

D 2

209(w/ brake)

C-ø5.5　See section E-E E(63)

LL+30(w/ brake)

Lead 5/10/20　204±3: At reversed motor side originLead 30　　　212±4: At motor side originLead 5/10/20　(204: At reversed motor side origin)Lead 30　　　(209.5: At reversed motor side originLead 5/10/20 160±1 (Note 1)Lead 30　　 165.5±1

StrokeApprox. 240 (Cable Length)

190±1 (w/ brake) (Note 1)Approx. 210 (length of brake with cable) 234±3 (w/ brake): At motor side origin

(234 w/ brake: at reverse motor side origin)

63.5

40

80

ø10

H7 (N

ote 4)

R

Lead 5/10/20/30　(88: At motor side origin)Lead 5/10/20　　 88±3: At reversed motor side originLead 30　　　　 90.5±4: At reversed motor side origin

70(T

olera

nce b

etwee

n Do

wels

±0.0

2)

E ø10 H7 Depth 10 (Note 4)

The price includes actuator, controller, cables and noise filter.<Ex.> For RSH205 - C22A - N - F1 - 3 - 400(Actuator Price)+(Controller Price)+(Cable Price) +(Noise Filter Price) = Total Price $1,485.00 + $575.30 + $90.20 + $36.30 = $2,186.80





• Moment Diagram

N・m

MY MP MR70 95 110

ＭＹ

ＭＲＭＰ

mm mm mm

Ａ

ＢＣ

ＡＢ

Ｃ

Ａ

Ｃ

190±1（ブレーキ付）（注1）234±3：ブレーキ付：モータ側原点時（234：ブレーキ付：反モータ側原点時）

α

4−M6×1.0 深サ122−φ5H7 深サ6

L＋30（ブレーキ付）

78

209（ブレーキ付）

C−φ5.5　E−E断面参照

φ10H7 深サ10（注4）

80 5

Ground Terminal (M4)

Arrow View α Section E-E Part F: Details of T-Groove

60

186（ブレーキ付）

50 A×100100

B

D 2

50 （63）

R

E

E

F

給油穴L

44±1（注1）

50

70（ノック間公差±

0.02）

8063

.540

34

65

φ9.

5

φ5.

5

30±0.02

　＋ 0.0150

10H7

（注

4）　＋

0.0

150

1.55

2

6.4 3.5

約240（ケーブル長さ）

約210（ブレーキ付ケーブル長さ）

リード5/10/20 204±3：モータ側原点時リード30 212±4：モータ側原点時リード5/10/20 （204：反モータ側原点時）リード30　　（209.5：反モータ側原点時）リード5/10/20/ 160±1（注１）リード30 165.5±1

リード5/10/20/30 （88:モータ側原点時）リード5/10/20　 88±3:反モータ側原点時

ストロ－ク

リード5/10/20 179リード30　　　 187

リード5/10/20 156リード30　　　 164

リード30　　 90.5±4:反モータ側原点時

Use M5 x 0.8 hexagon socket head cap screws with a under neck length of 16mm or longer.

* Recommended flat nut size: M3 (6 x 6 x t1.6)

(Note 1) Distance from both ends to the mechanical stopper.

(Note 2) When installing, remove a slide cover to tighten the mounting bolts. Do not use washers or similar parts to modify/support existing structure of mounting bolts.

(Note 3) Minimum bending radius of cable is R50.(Note 4) When mounting a body using φ10 dowel

holes, do not insert pins more then 10mm deep inside the base.

■Controller PriceType

I/O

$ Standard Unit Price Qty. 1 ~ 5C21A/C22A

Absolute Type(With battery for data back-up)

C21B/C22BIncremental

TypeN 575.30 544.50P 695.20 664.40C 715.00 684.20

■Cable PriceCable

(Standard)$ Unit Price Qty. 1 ~ 5

Cable (Flexible)

$ Standard Unit Price Qty. 1 ~ 5

3 90.20 R3 121.005 119.90 R5 159.5010 200.20 R10 259.60

■Noise Filter PriceNoise Filter $ Standard Unit Price Qty. 1 ~ 5

No：F0 0Yes：F1 36.30

AlterationPart

Number − Controller − I/O Module − Noise Filter − Cables − Stroke − (G・E…etc.)

RSH205B − C22A − N − F1 − 3 − 400 − G−E



CAUTION

Terminology 指P.38

Controller

Instruction Manual (CD-ROM)

Power Cable

Robot Body

Signal Cable

<Example of Price Calculation> Price for the product with the part number shown to the left(Robot Body Price) + (Controller Price) + (Noise Filter Price) +

$1,782.20 + $575.30 + $36.30 +(Cable Price) + (Grease Type Alteration Charge) + (Origin Position Alteration Charge) = Total Price

$90.20 + $50.00 + $0.00 = $2,533.80

！Notes on CE Marking 指P.38Single Axis Robots RSH2 -Straight Type- CE

Compliant


！Non-Returnable

！When overhung equals zero, use linear guides with selected unit to support the workload.

Lead Mass A B C

05

50kg 51 0 040kg 138 4 1230kg 170 10 2920kg 249 23 62

10

40kg 35 0 630kg 74 8 2020kg 121 20 4610kg 251 56 122

20

20kg 58 14 2615kg 76 24 3910kg 116 45 695kg 211 108 147

30 7kg 78 43 495kg 112 80 80

Lead Mass A B C

05

50kg 0 0 040kg 0 0 030kg 0 0 020kg 19 7 140

10

40kg 0 0 030kg 0 0 020kg 7 0 3010kg 85 39 202

20

20kg 0 0 015kg 7 0 1610kg 38 26 695kg 119 89 176

30 7kg 21 19 345kg 55 57 77

Lead Mass A C

05

16kg 19 1915kg 22 2210kg 47 485kg 123 124

10

8kg 57 586kg 85 864kg 141 1432kg 310 311

20 4kg 106 1102kg 236 240

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