RCP4CR RoboCylinder

P29 RCP4CR-SA5CExtract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

GBCatalogue Extract RCP4 Cleanroom Type with Pulse Motor

Code explanation ➀ Stroke ➁ Cable length ➂ Options (unit mms)The values in lt gt apply when the actuator is used vertically

Leads and Payloads

Model number Lead (mm)

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

RCP4CR-SA5C-I-42P-20- ➀ -P3- ➁ - ➂ 20 65 1

50~800(every 50mm)

RCP4CR-SA5C-I-42P-12- ➀ -P3- ➁ - ➂ 12 9 25

RCP4CR-SA5C-I-42P-6- ➀ -P3- ➁ - ➂ 6 18 6

RCP4CR-SA5C-I-42P-3- ➀ -P3- ➁ - ➂ 3 20 12

9

0

565

255

1

66

910

151820

25

0

2

4

6

8

10

12

14

Lead 3

Lead 6

Lead 6

Lead 12 Lead 20 (when operated at 03G)

The values for leads 3612 are based on PCON-CA operation at 03G

The values for leads 3612 are based on PCON-CA operation at 03G

16001400120010008006004002000

1400120010008006004002000

Lead 3

Lead 20 (when operated at 05G)Lead 12

Horizontal

Vertical

Speed (mms)

Speed (mms)

Payl

oad

(kg)

Payl

oad

(kg)

05 05

Lead 20 (when operated at 05 G)

1

Stroke and Maximum Speed50~450(50mm)

500(mm)

550(mm)

600(mm)

650(mm)

700(mm)

750(mm)

800(mm)

20 1440lt1280gt

1440lt1280gt 1225 1045 900 785 690 610

12 900 795 665 570 490 425 375 330

6 450 395 335 285 245 215 185 165

3 225 195 165 140 120 105 90 80

Stroke

Lead

RCP4CR-SA5C Cleanroom RoboCylinder Slider Type Motor Unit CoupledActuator Width 52mm 24-V Pulse Motor

42P Pulse motor size 42

I Incremental P3 PCON-CA MSEP-C

N None P 1m S 3m M 5mXR Robot cable

Refer to the options table below

20 20mm 12 12mm 6 6mm 3 3mm

Lead Stroke Cable length OptionsTypeSA5C

Encoder typeI

Motor type42P

Applicable controllerP3

SeriesRCP4CRModel

SpecicItems

50 50mm

800 800mm(every 50mm)

Correlation Diagrams of Speed and Payload With the RCP4 series due to the characteristics of the pulse motor payload decreases as the speed increases Use the chart below to conrm that the desired speed and payload requirements are met

(1) The payload is the value when operated at 03 G acceleration The upper limit of acceleration is 1 G (or 05 G in a vertical

installation) Note that raising the acceleration causes the payload to drop 02 G for the 20mm-lead model

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)

Cable Length

Actuator Specications (based on operation with PCON-CA controller)

Actuator SpecicationsItem Description

Drive system Ball screw 10mm rolled C10

Cleanliness ISO class 4 (US FED STD class 10)Ambient operating temperature humidity

Options

Lost motion 01mm or lessPositioning repeatability (1) plusmn002mm [plusmn003mm]

Dynamic allowable moment (2) Ma 49 Nm Mb 68 Nm Mc 117 NmAllowable overhang 150mm or less in Ma Mb and Mc directions

L

L

Ma MaMb Mc Mc

Allowable load moment directions Overhang load lengths

(1) The values enclosed in [ ] apply for 20mm lead(2) Based on 5000km of traveling life

Suction volume(Nlmin)

80

50

30

15

B 8 CJT 8CJR 8CJL 8CJB 8NM 8

VR 8

Name Option code See pageBrakeCable exit direction (Top)Cable exit direction (Right)Cable exit direction (Left)Cable exit direction (Bottom)Non-motor end specicationIntake port (vacuum joint) onopposite side

RCP4 RoboCylinder

RCP4CR-SA5C P30Extract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

Dimensional Drawings

2D CAD23D CAD

CAD drawings can be downloaded from the website wwweurobocylinderde

1 Connect the motor and encoder cables2 During home return be careful to avoid interference from peripheral objects because the slider travels until the mechanical end

512 points

DC24V

Refer toP48

Refer to theMSEP seriescatalogue

Refer to theMSEP seriescatalogue

Refer toP41mdash

768 points

3 points

256 points

is a placeholder for the eld network type (ldquoDVldquo ldquoCCldquo ldquoPRldquo ldquoCNldquo ldquoMLldquo ldquoECldquo ldquoEP ldquoPTldquo)

RCP4CR series actuators can be operated with the controller indicated below Select the type according to your intended applicationApplicable Controller

Positioner type(NPNPNP specic)

Pulse-train type

Field network type

Field network1~8 axes type

Solenoid valve1~8 axes type

(NPNPNP specic)

PCON-CA-42PI-NP--0-PCON-CA-42PI-PN--0-

PCON-CA-42PI-PLN--0-PCON-CA-42PI-PLP--0-

MSEP-C--~-NP--0-MSEP-C--~-PN--0-

MSEP-C--~--0-0-

PCON-CA-42PI--0-0-

Register positions to move the actuator into thecontroller beforehand and specify the numbercorresponding to each desired position

Field networks are supported by key features includewire-saving direct numerical specication positionnumber specication and current position read

Field networks are supported by either serialcommunication with PIO control or transmittingtravelling position velocity and acceleration by data

The actuator can be operated freely via pulse-train controller from an external output device

The actuator can be operated via digital signalsfrom the PLC

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

Ｌ279 329 379 429 479 529 579 629 679 729 779 829 879 929 979 1029319 369 419 469 519 569 619 669 719 769 819 869 919 969 1019 1069

Ａ 73 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800Ｂ 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7Ｃ 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7Ｄ 4 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 166 216 266 316 366 416 466 516 566 616 666 716 766 816 866 916H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 181 231 281 331 381 431 481 531 581 631 681 731 781 831 881 931

15 16 18 19 21 22 24 25 26 28 29 31 32 34 35 37

17 19 20 21 23 24 26 27 29 30 32 33 35 36 37 39

Y

X(φ40)

3

Stroke

Joint slewing range

3

20

98（138）K

L

225

26

90 21

3332

ME MESE SE

13

28

9 155155

19 plusmn 002

30

20 300

62

2050

A

G 106（146）7

26 24

47 2525

39

50

52

40

575

50

20 66

32

189

5

φ 45

φ8

34

5

5

40

+00

12

Name External view Model number Features Maximum number of positioning points

Input power

Power supply capacity

Reference page

Refefor MaMc moments

Detail view of X(Mounting hole and

reference plane)

Referenceplane

Detail Y

The dimensions in ( ) apply when brake is equipped

Cx100P

Bx100P

F-oslash45 through oslash8 counterboreddepth 45(from opposite side)

2-oslash4H7 depth 55(from bottom base)D-M4 depth 7

H-oblong hole depth 55(from bottom base)

J (reamed hole and oblong hole pitch)

Allowable bendingradius of securingcable R50

StandardSymetric (optional)

Applicable tube OD oslash6

Ground tap M3 depth 6 (Same on opposite side)

26(R

eam

ed h

ole

pitc

h plusmn0

02)

4-M4 depth 92-oslash4H7 depth 6

Dimensions and Mass by StrokeStroke

Mass(kg)

wo brakew brake

wo brakew brake

RCP4CR RoboCylinder

P31 RCP4CR-SA6CExtract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

0

5

10

15

20

30

25

0

2

4

6

8

10

12

14

16001400120010008006004002000

1400120010008006004002000

Lead 3

Lead 6

Lead 3

65

1

Lead 12

Speed (mms)

Speed (mms)

Payl

oad

(kg)

Payl

oad

(kg)

Lead 6

Lead 12

18

12

05

525

105

9

Horizontal

The values for leads 3612 are based on operation at 03 G

The values for leads 3612 are based on PCON-CA operation at 03 G

The values for leads 3612 are based on operation at 03 G

The values for leads 3612 are based on PCON-CA operation at 03 G

Lead 20 (when operated at 05 G)

Lead 20 (when operated at 03 G)

Lead 20 (when operated at 03 G)

Lead 20 (when operated at 05 G)

Lead 20 (when operated at 05 G)

Vertical

Leads and Payloads Stroke and Maximum Speed

L

L

Ma MaMb Mc Mc

Allowable load moment directions Overhang load lengths

RCP4CR-SA6C Cleanroom RoboCylinder Slider Type Motor Unit CoupledActuator Width 58 mm 24-V Pulse Motor

42P Pulse motor size 42

I Incremental P3 PCON-CA MSEP-C

N None P 1 m S 3 m M 5 mXR Robot cable

Refer to the options table below

20 20mm 12 12mm 6 6mm 3 3mm

Lead Stroke Cable length OptionsTypeSA6C

Encoder typeI

Motor type42P

Applicable controllerP3

SeriesRCP4CRModel

SpecicItems

50 50mm

800 800mm(every 50mm)

(unit mms)Code explanation ➀ Stroke ➁ Cable length ➂ Options

Actuator Specications

Item DescriptionDrive system Ball screw 10mm rolled C10

Lost motion 01mm or lessPositioning repeatability (1) plusmn002mm [plusmn003mm]

Dynamic allowable moment (2) Ma 89 Nm Mb 127 Nm Mc 186 NmAllowable overhang 220mm or less in Ma Mb and Mc directions

Ambient operating temperature humidity 0 to 40degC 85 RH or less (Non-condensing)(1) The values enclosed in [ ] apply for 20mm lead(2) Based on 5000km of traveling life

(1) The payload is the value when operated at 03 G acceleration The upper limit of acceleration is 1 G (or 05 G in a vertical

installation) Note that raising the acceleration causes the

Correlation Diagrams of Speed and Payload With the RCP4 series due to the characteristics of the pulse motor payload decreases as the speed increases Use the chart below to conrm that the desired speed and payload requirements are met

The values in lt gt apply when the actuator is used vertically

Model number Lead (mm)

Maximum payload Suction volume(Nlmin)

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

RCP4CR-SA6C-I-42P-20- ➀ -P3- ➁ - ➂ 20 10 1 80

50 50~800(every 50mm)

RCP4CR-SA6C-I-42P-12- ➀ -P3- ➁ - ➂ 12 15 25

30

15

RCP4CR-SA6C-I-42P-6- ➀ -P3- ➁ - ➂ 6 25 6

RCP4CR-SA6C-I-42P-3- ➀ -P3- ➁ - ➂ 3 25 12

50~450(50mm)

500(mm)

550(mm)

600(mm)

650(mm)

700(mm)

750(mm)

800(mm)

20 1440lt1280gt

1440lt1280gt 1230 1045 905 785 690 615

12 900 795 670 570 490 430 375 335

6 450 395 335 285 245 215 185 165

3 225 195 165 140 120 105 90 80

Stroke

Lead

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)

Cable Length

Options

Cleanliness ISO class 4 (US FED STD class 10)

payload to drop 02 G for the 20mm-lead model

Actuator Specications (based on operation with PCON-CA controller)

B 8 CJT 8CJR 8CJL 8CJB 8NM 8

VR 8

Name Option code See pageBrakeCable exit direction (Top)Cable exit direction (Right)Cable exit direction (Left)Cable exit direction (Bottom)Non-motor end specicationIntake port (vacuum joint) onopposite side

RCP4 RoboCylinder

RCP4CR-SA6C P32Extract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

Dimensional Drawings

2D CAD23D CAD

CAD drawings can be downloaded from the website wwweurobocylinderde

1 Connect the motor and encoder cables2 During home return be careful to avoid interference from peripheral objects because the slider travels until the mechanical end

512 points

DC24V

Refer toP48

Refer to theMSEP seriescatalogue

Refer to theMSEP seriescatalogue

Refer toP41mdash

768 points

3 points

256 points

is a placeholder for the eld network type (ldquoDVldquo ldquoCCldquo ldquoPRldquo ldquoCNldquo ldquoMLldquo ldquoECldquo ldquoEP ldquoPTldquo)

RCP4CR series actuators can be operated with the controller indicated below Select the type according to your intended applicationApplicable Controller

Positioner type(NPNPNP specic)

Pulse-train type

Field network type

Field network1~8 axes type

Solenoid valve1~8 axes type

(NPNPNP specic)

PCON-CA-42PI-NP--0-PCON-CA-42PI-PN--0-

PCON-CA-42PI-PLN--0-PCON-CA-42PI-PLP--0-

MSEP-C--~-NP--0-MSEP-C--~-PN--0-

MSEP-C--~--0-0-

PCON-CA-42PI--0-0-

Register positions to move the actuator into thecontroller beforehand and specify the numbercorresponding to each desired position

Field networks are supported by key features includewire-saving direct numerical specication positionnumber specication and current position read

Field networks are supported by either serialcommunication with PIO control or transmittingtravelling position velocity and acceleration by data

The actuator can be operated freely via pulse-train controller from an external output device

The actuator can be operated via digital signalsfrom the PLC

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

Ｌ2995 3495 3995 4495 4995 5495 5995 6495 6995 7495 7995 8495 8995 9495 9995 104953395 3895 4395 4895 5395 5895 6395 6895 7395 7895 8395 8895 9395 9895 10395 10895

Ａ 0 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800Ｂ 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7Ｃ 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8Ｄ 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20E 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 1865 2365 2865 3365 3865 4365 4865 5365 5865 6365 6865 7365 7865 8365 8865 9365H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 2015 2515 3015 3515 4015 4515 5015 5515 6015 6515 7015 7515 8015 8515 9015 9515

20 21 23 24 26 27 29 30 32 34 35 37 38 40 41 43

22 23 25 26 28 30 31 33 34 36 37 39 41 42 44 45

Y

X

318

3

φ40

98（138）K

L

225

28

185115

3332

ME MESE SE

28

1321 195195

32 plusmn 002

50

20 300

25

20

75A

31

G 106（146）7

47 5555

40

56

58

4353595

23 88

39

189

φ 45

φ8

54

5

5

40+0

012

5

Name External view Model number Features Maximum number of positioning points

Input power

Power supply capacity

Reference page

Refefor MaMc moments

Detail view of X(Mounting hole and

reference plane)

Referenceplane

Detail Y

The dimensions in ( ) apply when brake is equipped

Cx100P

Bx100P

F-oslash45 through oslash8 counterboreddepth 45(from opposite side) E-oslash4H7 depth 55

(from bottom base)D-M5 depth 7

H-oblong hole depth 55(from bottom base)

J (reamed hole and oblong hole pitch)

Allowable bendingradius of securingcable R50

Standard

Symetric (optional)

Applicable tube OD oslash6Ground tap M3 depth 6 (Same on opposite side)

31(R

eam

ed h

ole

pitc

h plusmn0

02)

4-M5 depth 92-oslash5H7 depth 6

Dimensions and Mass by StrokeStroke

Mass(kg)

wo brakew brake

wo brakew brake

Stroke

Joint slewing range

RCP4CR RoboCylinder

P33 RCP4CR-SA7CExtract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

005

101520

504540353025

0

5

10

15

20

25

30

140012001000800600400200

1400120010008006004002000

Vertical

Horizontal

Speed (mms)

Speed (mms)

Payl

oad

(kg)

Payl

oad

(kg)

lead 4

lead 4

Lead 8

Lead 16

Lead 8

Lead 16

Lead 24

554

98

Lead 24

The values below are based on operation at 03 G

The values below are based onPCON-CA operation at 03 G

The values below are based on operation at 03 G

The values below are based on PCON-CA operation at 03 G

8

16

2 1 13

7

RCP4CR-SA7C Cleanroom RoboCylinder Slider Type Motor Unit CoupledActuator Width 73mm 24-V Pulse Motor

56P Pulse motor size 56

I Incremental P3 PCON-CA MSEP-C

N None P 1m S 3m M 5mXR Robot cable

Refer to the optionstable below

24 24mm 16 16mm 8 8mm 4 4mm

Lead Stroke Cable length OptionsTypeSA7C

Encoder typeI

Motor type56P

Applicable controllerP3

SeriesRCP4CRModel

SpecicItems

50 50mm

800 800mm(every 50mm)

Correlation Diagrams of Speed and Payload With the RCP4 series due to the characteristics of the pulse motor payload decreases as the speed increases Use the chart below to conrm that the desired speed and payload requirements are met

(1) The payload is the value when operated at 03 G acceleration The upper limit of acceleration is 1 G (or 05 G in a vertical

installation) Note that raising the acceleration causes the

Code explanation ➀ Stroke ➁ Cable length ➂ Options

Leads and Payloads

Model number Lead (mm)

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

RCP4CR-SA7C-I-56P-24- ➀ -P3- ➁ - ➂ 24 20 3

50~800(every 50mm)

RCP4CR-SA7C-I-56P-16- ➀ -P3- ➁ - ➂ 16 40 8

RCP4CR-SA7C-I-56P-8- ➀ -P3- ➁ - ➂ 8 45 16

RCP4CR-SA7C-I-56P-4- ➀ -P3- ➁ - ➂ 4 45 25

Actuator Specications

Item DescriptionDrive system Ball screw 12mm rolled C10

Ambient operating temperature humidity

(Unit mms)The values in lt gt apply when the actuator is used vertically

50~550(50mm)

600(mm)

650(mm)

700(mm)

750(mm)

800(mm)

24 1200 1200 1155 1010 890 790

16 980lt840gt

865lt840gt 750 655 580 515

8 490 430 375 325 290 255

4 245lt210gt

215lt210gt 185 160 145 125

Stroke

Lead

Stroke and Maximum

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)

Cable Length

Options

B 8 CJT 8CJR 8CJL 8CJB 8NM 8

VR 8

Name Option code See pageBrakeCable exit direction (Top)Cable exit direction (Right)Cable exit direction (Left)Cable exit direction (Bottom)Non-motor end specicationIntake port (vacuum joint) onopposite side

Actuator Specications (based on operation with PCON-CA controller)

Suction volume(Nlmin)

90

70

40

30

L

L

Ma MaMb Mc Mc

Allowable load moment directions Overhang load lengths

Lost motion 01mm or lessPositioning repeatability (1) plusmn002mm [plusmn003mm]

Dynamic allowable moment (2) Ma 139 Nm Mb 199 Nm Mc 383 NmAllowable overhang 230mm or less in Ma Mb and Mc directions

(1) The values enclosed in [ ] apply for 24mm lead(2) Based on 5000km of traveling life

Cleanliness ISO class 4 (US FED STD class 10)

payload to drop 02 G for the 24mm-lead model

RCP4 RoboCylinder

RCP4CR-SA7C P34Extract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

Dimensional Drawings

2D CAD23D CAD

CAD drawings can be downloaded from the website wwweurobocylinderde

1 Connect the motor and encoder cables2 During home return be careful to avoid interference from peripheral objects because the slider travels until the mechanical end

512 points

DC24V

Refer toP48

Refer to theMSEP seriescatalogue

Refer to theMSEP seriescatalogue

Refer toP41mdash

768 points

3 points

256 points

is a placeholder for the eld network type (ldquoDVldquo ldquoCCldquo ldquoPRldquo ldquoCNldquo ldquoMLldquo ldquoECldquo ldquoEP ldquoPTldquo)

RCP4CR series actuators can be operated with the controller indicated below Select the type according to your intended applicationApplicable Controller

Positioner type(NPNPNP specic)

Pulse-train type

Field network type

Field network1~8 axes type

Solenoid valve1~8 axes type

(NPNPNP specic)

PCON-CA-56PI-NP--0-PCON-CA-56PI-PN--0-

PCON-CA-56PI-PLN--0-PCON-CA-56PI-PLP--0-

MSEP-C--~-NP--0-MSEP-C--~-PN--0-

MSEP-C--~--0-0-

PCON-CA-56PI--0-0-

Register positions to move the actuator into thecontroller beforehand and specify the numbercorresponding to each desired position

Field networks are supported by key features includewire-saving direct numerical specication positionnumber specication and current position read

Field networks are supported by either serialcommunication with PIO control or transmittingtravelling position velocity and acceleration by data

The actuator can be operated freely via pulse-train controller from an external output device

The actuator can be operated via digital signalsfrom the PLC

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

Ｌ3525 1025 4525 5025 5525 6025 6525 7025 7525 8025 8525 9025 9525 10025 10525 110254025 4525 5025 5525 6025 6525 7025 7525 8025 8525 9025 9525 10025 10525 11025 11525

Ａ 0 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800Ｂ 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7Ｃ 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8Ｄ 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20E 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 199 249 299 349 399 449 499 549 599 649 699 749 799 849 899 949H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 2195 2695 3195 3695 4195 4695 5195 5695 6195 6695 7195 7695 8195 8695 9195 9695

34 36 38 41 43 46 48 51 53 56 58 60 63 65 68 70

39 41 43 46 48 51 53 56 58 61 63 65 68 70 73 75

Y

X

3 3

205

φ4 6 32

21

133（183）K

L

21128

40540

ME MESE SE

13

28

20 20 20

32 plusmn 002

50

20 300

255

30

G

80A

10 1435（1935）

40

61 66

43

71

73

48

506476

8 32 8

255

40+0

012 5

55

55

φ6

φ 95

6

Name External view Model number Features Maximum number of positioning points

Input power

Power supply capacity

Reference page

Refefor MaMc moments

Detail view of X(Mounting hole and

reference plane)

Referenceplane

Detail Y

The dimensions in ( ) apply when brake is equipped

Cx100P

Bx100P

F-oslash6 through oslash95 counterboreddepth 55 (from opposite side)

E-oslash4H7 depth 6(from bottom base)

D-M5 depth 9 H-oblong hole depth 55(from bottom base)

J (reamed hole and oblong hole pitch)

Allowable bendingradius of securingcable R50

Standard

Symetric (optional)

Applicable tube OD oslash8

Ground tap M3 depth 6 (Same on opposite side)

39(R

eam

ed h

ole

pitc

h plusmn0

02)

4-M5 depth 102-oslash5H7 depth 10

Dimensions and Mass by StrokeStroke

Mass(kg)

wo brakew brake

wo brakew brake

Stroke

Joint slewing range

RCP4 RoboCylinder

RCP4CR-SA5C P30Extract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

Dimensional Drawings

2D CAD23D CAD

CAD drawings can be downloaded from the website wwweurobocylinderde

1 Connect the motor and encoder cables2 During home return be careful to avoid interference from peripheral objects because the slider travels until the mechanical end

512 points

DC24V

Refer toP48

Refer to theMSEP seriescatalogue

Refer to theMSEP seriescatalogue

Refer toP41mdash

768 points

3 points

256 points

is a placeholder for the eld network type (ldquoDVldquo ldquoCCldquo ldquoPRldquo ldquoCNldquo ldquoMLldquo ldquoECldquo ldquoEP ldquoPTldquo)

RCP4CR series actuators can be operated with the controller indicated below Select the type according to your intended applicationApplicable Controller

Positioner type(NPNPNP specic)

Pulse-train type

Field network type

Field network1~8 axes type

Solenoid valve1~8 axes type

(NPNPNP specic)

PCON-CA-42PI-NP--0-PCON-CA-42PI-PN--0-

PCON-CA-42PI-PLN--0-PCON-CA-42PI-PLP--0-

MSEP-C--~-NP--0-MSEP-C--~-PN--0-

MSEP-C--~--0-0-

PCON-CA-42PI--0-0-

Register positions to move the actuator into thecontroller beforehand and specify the numbercorresponding to each desired position

Field networks are supported by key features includewire-saving direct numerical specication positionnumber specication and current position read

Field networks are supported by either serialcommunication with PIO control or transmittingtravelling position velocity and acceleration by data

The actuator can be operated freely via pulse-train controller from an external output device

The actuator can be operated via digital signalsfrom the PLC

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

Ｌ279 329 379 429 479 529 579 629 679 729 779 829 879 929 979 1029319 369 419 469 519 569 619 669 719 769 819 869 919 969 1019 1069

Ａ 73 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800Ｂ 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7Ｃ 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7Ｄ 4 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 166 216 266 316 366 416 466 516 566 616 666 716 766 816 866 916H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 181 231 281 331 381 431 481 531 581 631 681 731 781 831 881 931

15 16 18 19 21 22 24 25 26 28 29 31 32 34 35 37

17 19 20 21 23 24 26 27 29 30 32 33 35 36 37 39

Y

X(φ40)

3

Stroke

Joint slewing range

3

20

98（138）K

L

225

26

90 21

3332

ME MESE SE

13

28

9 155155

19 plusmn 002

30

20 300

62

2050

A

G 106（146）7

26 24

47 2525

39

50

52

40

575

50

20 66

32

189

5

φ 45

φ8

34

5

5

40

+00

12

Name External view Model number Features Maximum number of positioning points

Input power

Power supply capacity

Reference page

Refefor MaMc moments

Detail view of X(Mounting hole and

reference plane)

Referenceplane

Detail Y

The dimensions in ( ) apply when brake is equipped

Cx100P

Bx100P

F-oslash45 through oslash8 counterboreddepth 45(from opposite side)

2-oslash4H7 depth 55(from bottom base)D-M4 depth 7

H-oblong hole depth 55(from bottom base)

J (reamed hole and oblong hole pitch)

Allowable bendingradius of securingcable R50

StandardSymetric (optional)

Applicable tube OD oslash6

Ground tap M3 depth 6 (Same on opposite side)

26(R

eam

ed h

ole

pitc

h plusmn0

02)

4-M4 depth 92-oslash4H7 depth 6

Dimensions and Mass by StrokeStroke

Mass(kg)

wo brakew brake

wo brakew brake

RCP4CR RoboCylinder

P31 RCP4CR-SA6CExtract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

0

5

10

15

20

30

25

0

2

4

6

8

10

12

14

16001400120010008006004002000

1400120010008006004002000

Lead 3

Lead 6

Lead 3

65

1

Lead 12

Speed (mms)

Speed (mms)

Payl

oad

(kg)

Payl

oad

(kg)

Lead 6

Lead 12

18

12

05

525

105

9

Horizontal

The values for leads 3612 are based on operation at 03 G

The values for leads 3612 are based on PCON-CA operation at 03 G

The values for leads 3612 are based on operation at 03 G

The values for leads 3612 are based on PCON-CA operation at 03 G

Lead 20 (when operated at 05 G)

Lead 20 (when operated at 03 G)

Lead 20 (when operated at 03 G)

Lead 20 (when operated at 05 G)

Lead 20 (when operated at 05 G)

Vertical

Leads and Payloads Stroke and Maximum Speed

L

L

Ma MaMb Mc Mc

Allowable load moment directions Overhang load lengths

RCP4CR-SA6C Cleanroom RoboCylinder Slider Type Motor Unit CoupledActuator Width 58 mm 24-V Pulse Motor

42P Pulse motor size 42

I Incremental P3 PCON-CA MSEP-C

N None P 1 m S 3 m M 5 mXR Robot cable

Refer to the options table below

20 20mm 12 12mm 6 6mm 3 3mm

Lead Stroke Cable length OptionsTypeSA6C

Encoder typeI

Motor type42P

Applicable controllerP3

SeriesRCP4CRModel

SpecicItems

50 50mm

800 800mm(every 50mm)

(unit mms)Code explanation ➀ Stroke ➁ Cable length ➂ Options

Actuator Specications

Item DescriptionDrive system Ball screw 10mm rolled C10

Lost motion 01mm or lessPositioning repeatability (1) plusmn002mm [plusmn003mm]

Dynamic allowable moment (2) Ma 89 Nm Mb 127 Nm Mc 186 NmAllowable overhang 220mm or less in Ma Mb and Mc directions

Ambient operating temperature humidity 0 to 40degC 85 RH or less (Non-condensing)(1) The values enclosed in [ ] apply for 20mm lead(2) Based on 5000km of traveling life

(1) The payload is the value when operated at 03 G acceleration The upper limit of acceleration is 1 G (or 05 G in a vertical

installation) Note that raising the acceleration causes the

Correlation Diagrams of Speed and Payload With the RCP4 series due to the characteristics of the pulse motor payload decreases as the speed increases Use the chart below to conrm that the desired speed and payload requirements are met

The values in lt gt apply when the actuator is used vertically

Model number Lead (mm)

Maximum payload Suction volume(Nlmin)

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

RCP4CR-SA6C-I-42P-20- ➀ -P3- ➁ - ➂ 20 10 1 80

50 50~800(every 50mm)

RCP4CR-SA6C-I-42P-12- ➀ -P3- ➁ - ➂ 12 15 25

30

15

RCP4CR-SA6C-I-42P-6- ➀ -P3- ➁ - ➂ 6 25 6

RCP4CR-SA6C-I-42P-3- ➀ -P3- ➁ - ➂ 3 25 12

50~450(50mm)

500(mm)

550(mm)

600(mm)

650(mm)

700(mm)

750(mm)

800(mm)

20 1440lt1280gt

1440lt1280gt 1230 1045 905 785 690 615

12 900 795 670 570 490 430 375 335

6 450 395 335 285 245 215 185 165

3 225 195 165 140 120 105 90 80

Stroke

Lead

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)

Cable Length

Options

Cleanliness ISO class 4 (US FED STD class 10)

payload to drop 02 G for the 20mm-lead model

Actuator Specications (based on operation with PCON-CA controller)

B 8 CJT 8CJR 8CJL 8CJB 8NM 8

VR 8

Name Option code See pageBrakeCable exit direction (Top)Cable exit direction (Right)Cable exit direction (Left)Cable exit direction (Bottom)Non-motor end specicationIntake port (vacuum joint) onopposite side

RCP4 RoboCylinder

RCP4CR-SA6C P32Extract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

Dimensional Drawings

2D CAD23D CAD

CAD drawings can be downloaded from the website wwweurobocylinderde

1 Connect the motor and encoder cables2 During home return be careful to avoid interference from peripheral objects because the slider travels until the mechanical end

512 points

DC24V

Refer toP48

Refer to theMSEP seriescatalogue

Refer to theMSEP seriescatalogue

Refer toP41mdash

768 points

3 points

256 points

is a placeholder for the eld network type (ldquoDVldquo ldquoCCldquo ldquoPRldquo ldquoCNldquo ldquoMLldquo ldquoECldquo ldquoEP ldquoPTldquo)

RCP4CR series actuators can be operated with the controller indicated below Select the type according to your intended applicationApplicable Controller

Positioner type(NPNPNP specic)

Pulse-train type

Field network type

Field network1~8 axes type

Solenoid valve1~8 axes type

(NPNPNP specic)

PCON-CA-42PI-NP--0-PCON-CA-42PI-PN--0-

PCON-CA-42PI-PLN--0-PCON-CA-42PI-PLP--0-

MSEP-C--~-NP--0-MSEP-C--~-PN--0-

MSEP-C--~--0-0-

PCON-CA-42PI--0-0-

Register positions to move the actuator into thecontroller beforehand and specify the numbercorresponding to each desired position

Field networks are supported by key features includewire-saving direct numerical specication positionnumber specication and current position read

Field networks are supported by either serialcommunication with PIO control or transmittingtravelling position velocity and acceleration by data

The actuator can be operated freely via pulse-train controller from an external output device

The actuator can be operated via digital signalsfrom the PLC

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

Ｌ2995 3495 3995 4495 4995 5495 5995 6495 6995 7495 7995 8495 8995 9495 9995 104953395 3895 4395 4895 5395 5895 6395 6895 7395 7895 8395 8895 9395 9895 10395 10895

Ａ 0 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800Ｂ 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7Ｃ 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8Ｄ 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20E 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 1865 2365 2865 3365 3865 4365 4865 5365 5865 6365 6865 7365 7865 8365 8865 9365H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 2015 2515 3015 3515 4015 4515 5015 5515 6015 6515 7015 7515 8015 8515 9015 9515

20 21 23 24 26 27 29 30 32 34 35 37 38 40 41 43

22 23 25 26 28 30 31 33 34 36 37 39 41 42 44 45

Y

X

318

3

φ40

98（138）K

L

225

28

185115

3332

ME MESE SE

28

1321 195195

32 plusmn 002

50

20 300

25

20

75A

31

G 106（146）7

47 5555

40

56

58

4353595

23 88

39

189

φ 45

φ8

54

5

5

40+0

012

5

Name External view Model number Features Maximum number of positioning points

Input power

Power supply capacity

Reference page

Refefor MaMc moments

Detail view of X(Mounting hole and

reference plane)

Referenceplane

Detail Y

The dimensions in ( ) apply when brake is equipped

Cx100P

Bx100P

F-oslash45 through oslash8 counterboreddepth 45(from opposite side) E-oslash4H7 depth 55

(from bottom base)D-M5 depth 7

H-oblong hole depth 55(from bottom base)

J (reamed hole and oblong hole pitch)

Allowable bendingradius of securingcable R50

Standard

Symetric (optional)

Applicable tube OD oslash6Ground tap M3 depth 6 (Same on opposite side)

31(R

eam

ed h

ole

pitc

h plusmn0

02)

4-M5 depth 92-oslash5H7 depth 6

Dimensions and Mass by StrokeStroke

Mass(kg)

wo brakew brake

wo brakew brake

Stroke

Joint slewing range

RCP4CR RoboCylinder

P33 RCP4CR-SA7CExtract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

005

101520

504540353025

0

5

10

15

20

25

30

140012001000800600400200

1400120010008006004002000

Vertical

Horizontal

Speed (mms)

Speed (mms)

Payl

oad

(kg)

Payl

oad

(kg)

lead 4

lead 4

Lead 8

Lead 16

Lead 8

Lead 16

Lead 24

554

98

Lead 24

The values below are based on operation at 03 G

The values below are based onPCON-CA operation at 03 G

The values below are based on operation at 03 G

The values below are based on PCON-CA operation at 03 G

8

16

2 1 13

7

RCP4CR-SA7C Cleanroom RoboCylinder Slider Type Motor Unit CoupledActuator Width 73mm 24-V Pulse Motor

56P Pulse motor size 56

I Incremental P3 PCON-CA MSEP-C

N None P 1m S 3m M 5mXR Robot cable

Refer to the optionstable below

24 24mm 16 16mm 8 8mm 4 4mm

Lead Stroke Cable length OptionsTypeSA7C

Encoder typeI

Motor type56P

Applicable controllerP3

SeriesRCP4CRModel

SpecicItems

50 50mm

800 800mm(every 50mm)

Correlation Diagrams of Speed and Payload With the RCP4 series due to the characteristics of the pulse motor payload decreases as the speed increases Use the chart below to conrm that the desired speed and payload requirements are met

(1) The payload is the value when operated at 03 G acceleration The upper limit of acceleration is 1 G (or 05 G in a vertical

installation) Note that raising the acceleration causes the

Code explanation ➀ Stroke ➁ Cable length ➂ Options

Leads and Payloads

Model number Lead (mm)

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

RCP4CR-SA7C-I-56P-24- ➀ -P3- ➁ - ➂ 24 20 3

50~800(every 50mm)

RCP4CR-SA7C-I-56P-16- ➀ -P3- ➁ - ➂ 16 40 8

RCP4CR-SA7C-I-56P-8- ➀ -P3- ➁ - ➂ 8 45 16

RCP4CR-SA7C-I-56P-4- ➀ -P3- ➁ - ➂ 4 45 25

Actuator Specications

Item DescriptionDrive system Ball screw 12mm rolled C10

Ambient operating temperature humidity

(Unit mms)The values in lt gt apply when the actuator is used vertically

50~550(50mm)

600(mm)

650(mm)

700(mm)

750(mm)

800(mm)

24 1200 1200 1155 1010 890 790

16 980lt840gt

865lt840gt 750 655 580 515

8 490 430 375 325 290 255

4 245lt210gt

215lt210gt 185 160 145 125

Stroke

Lead

Stroke and Maximum

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)

Cable Length

Options

B 8 CJT 8CJR 8CJL 8CJB 8NM 8

VR 8

Name Option code See pageBrakeCable exit direction (Top)Cable exit direction (Right)Cable exit direction (Left)Cable exit direction (Bottom)Non-motor end specicationIntake port (vacuum joint) onopposite side

Actuator Specications (based on operation with PCON-CA controller)

Suction volume(Nlmin)

90

70

40

30

L

L

Ma MaMb Mc Mc

Allowable load moment directions Overhang load lengths

Lost motion 01mm or lessPositioning repeatability (1) plusmn002mm [plusmn003mm]

Dynamic allowable moment (2) Ma 139 Nm Mb 199 Nm Mc 383 NmAllowable overhang 230mm or less in Ma Mb and Mc directions

(1) The values enclosed in [ ] apply for 24mm lead(2) Based on 5000km of traveling life

Cleanliness ISO class 4 (US FED STD class 10)

payload to drop 02 G for the 24mm-lead model

RCP4 RoboCylinder

RCP4CR-SA7C P34Extract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

Dimensional Drawings

2D CAD23D CAD

CAD drawings can be downloaded from the website wwweurobocylinderde

1 Connect the motor and encoder cables2 During home return be careful to avoid interference from peripheral objects because the slider travels until the mechanical end

512 points

DC24V

Refer toP48

Refer to theMSEP seriescatalogue

Refer to theMSEP seriescatalogue

Refer toP41mdash

768 points

3 points

256 points

is a placeholder for the eld network type (ldquoDVldquo ldquoCCldquo ldquoPRldquo ldquoCNldquo ldquoMLldquo ldquoECldquo ldquoEP ldquoPTldquo)

RCP4CR series actuators can be operated with the controller indicated below Select the type according to your intended applicationApplicable Controller

Positioner type(NPNPNP specic)

Pulse-train type

Field network type

Field network1~8 axes type

Solenoid valve1~8 axes type

(NPNPNP specic)

PCON-CA-56PI-NP--0-PCON-CA-56PI-PN--0-

PCON-CA-56PI-PLN--0-PCON-CA-56PI-PLP--0-

MSEP-C--~-NP--0-MSEP-C--~-PN--0-

MSEP-C--~--0-0-

PCON-CA-56PI--0-0-

Register positions to move the actuator into thecontroller beforehand and specify the numbercorresponding to each desired position

Field networks are supported by key features includewire-saving direct numerical specication positionnumber specication and current position read

Field networks are supported by either serialcommunication with PIO control or transmittingtravelling position velocity and acceleration by data

The actuator can be operated freely via pulse-train controller from an external output device

The actuator can be operated via digital signalsfrom the PLC

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

Ｌ3525 1025 4525 5025 5525 6025 6525 7025 7525 8025 8525 9025 9525 10025 10525 110254025 4525 5025 5525 6025 6525 7025 7525 8025 8525 9025 9525 10025 10525 11025 11525

Ａ 0 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800Ｂ 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7Ｃ 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8Ｄ 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20E 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 199 249 299 349 399 449 499 549 599 649 699 749 799 849 899 949H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 2195 2695 3195 3695 4195 4695 5195 5695 6195 6695 7195 7695 8195 8695 9195 9695

34 36 38 41 43 46 48 51 53 56 58 60 63 65 68 70

39 41 43 46 48 51 53 56 58 61 63 65 68 70 73 75

Y

X

3 3

205

φ4 6 32

21

133（183）K

L

21128

40540

ME MESE SE

13

28

20 20 20

32 plusmn 002

50

20 300

255

30

G

80A

10 1435（1935）

40

61 66

43

71

73

48

506476

8 32 8

255

40+0

012 5

55

55

φ6

φ 95

6

Name External view Model number Features Maximum number of positioning points

Input power

Power supply capacity

Reference page

Refefor MaMc moments

Detail view of X(Mounting hole and

reference plane)

Referenceplane

Detail Y

The dimensions in ( ) apply when brake is equipped

Cx100P

Bx100P

F-oslash6 through oslash95 counterboreddepth 55 (from opposite side)

E-oslash4H7 depth 6(from bottom base)

D-M5 depth 9 H-oblong hole depth 55(from bottom base)

J (reamed hole and oblong hole pitch)

Allowable bendingradius of securingcable R50

Standard

Symetric (optional)

Applicable tube OD oslash8

Ground tap M3 depth 6 (Same on opposite side)

39(R

eam

ed h

ole

pitc

h plusmn0

02)

4-M5 depth 102-oslash5H7 depth 10

Dimensions and Mass by StrokeStroke

Mass(kg)

wo brakew brake

wo brakew brake

Stroke

Joint slewing range

RCP4CR RoboCylinder

P31 RCP4CR-SA6CExtract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

0

5

10

15

20

30

25

0

2

4

6

8

10

12

14

16001400120010008006004002000

1400120010008006004002000

Lead 3

Lead 6

Lead 3

65

1

Lead 12

Speed (mms)

Speed (mms)

Payl

oad

(kg)

Payl

oad

(kg)

Lead 6

Lead 12

18

12

05

525

105

9

Horizontal

The values for leads 3612 are based on operation at 03 G

The values for leads 3612 are based on PCON-CA operation at 03 G

The values for leads 3612 are based on operation at 03 G

The values for leads 3612 are based on PCON-CA operation at 03 G

Lead 20 (when operated at 05 G)

Lead 20 (when operated at 03 G)

Lead 20 (when operated at 03 G)

Lead 20 (when operated at 05 G)

Lead 20 (when operated at 05 G)

Vertical

Leads and Payloads Stroke and Maximum Speed

L

L

Ma MaMb Mc Mc

Allowable load moment directions Overhang load lengths

RCP4CR-SA6C Cleanroom RoboCylinder Slider Type Motor Unit CoupledActuator Width 58 mm 24-V Pulse Motor

42P Pulse motor size 42

I Incremental P3 PCON-CA MSEP-C

N None P 1 m S 3 m M 5 mXR Robot cable

Refer to the options table below

20 20mm 12 12mm 6 6mm 3 3mm

Lead Stroke Cable length OptionsTypeSA6C

Encoder typeI

Motor type42P

Applicable controllerP3

SeriesRCP4CRModel

SpecicItems

50 50mm

800 800mm(every 50mm)

(unit mms)Code explanation ➀ Stroke ➁ Cable length ➂ Options

Actuator Specications

Item DescriptionDrive system Ball screw 10mm rolled C10

Lost motion 01mm or lessPositioning repeatability (1) plusmn002mm [plusmn003mm]

Dynamic allowable moment (2) Ma 89 Nm Mb 127 Nm Mc 186 NmAllowable overhang 220mm or less in Ma Mb and Mc directions

Ambient operating temperature humidity 0 to 40degC 85 RH or less (Non-condensing)(1) The values enclosed in [ ] apply for 20mm lead(2) Based on 5000km of traveling life

(1) The payload is the value when operated at 03 G acceleration The upper limit of acceleration is 1 G (or 05 G in a vertical

installation) Note that raising the acceleration causes the

Correlation Diagrams of Speed and Payload With the RCP4 series due to the characteristics of the pulse motor payload decreases as the speed increases Use the chart below to conrm that the desired speed and payload requirements are met

The values in lt gt apply when the actuator is used vertically

Model number Lead (mm)

Maximum payload Suction volume(Nlmin)

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

RCP4CR-SA6C-I-42P-20- ➀ -P3- ➁ - ➂ 20 10 1 80

50 50~800(every 50mm)

RCP4CR-SA6C-I-42P-12- ➀ -P3- ➁ - ➂ 12 15 25

30

15

RCP4CR-SA6C-I-42P-6- ➀ -P3- ➁ - ➂ 6 25 6

RCP4CR-SA6C-I-42P-3- ➀ -P3- ➁ - ➂ 3 25 12

50~450(50mm)

500(mm)

550(mm)

600(mm)

650(mm)

700(mm)

750(mm)

800(mm)

20 1440lt1280gt

1440lt1280gt 1230 1045 905 785 690 615

12 900 795 670 570 490 430 375 335

6 450 395 335 285 245 215 185 165

3 225 195 165 140 120 105 90 80

Stroke

Lead

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)

Cable Length

Options

Cleanliness ISO class 4 (US FED STD class 10)

payload to drop 02 G for the 20mm-lead model

Actuator Specications (based on operation with PCON-CA controller)

B 8 CJT 8CJR 8CJL 8CJB 8NM 8

VR 8

Name Option code See pageBrakeCable exit direction (Top)Cable exit direction (Right)Cable exit direction (Left)Cable exit direction (Bottom)Non-motor end specicationIntake port (vacuum joint) onopposite side

RCP4 RoboCylinder

RCP4CR-SA6C P32Extract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

Dimensional Drawings

2D CAD23D CAD

CAD drawings can be downloaded from the website wwweurobocylinderde

1 Connect the motor and encoder cables2 During home return be careful to avoid interference from peripheral objects because the slider travels until the mechanical end

512 points

DC24V

Refer toP48

Refer to theMSEP seriescatalogue

Refer to theMSEP seriescatalogue

Refer toP41mdash

768 points

3 points

256 points

is a placeholder for the eld network type (ldquoDVldquo ldquoCCldquo ldquoPRldquo ldquoCNldquo ldquoMLldquo ldquoECldquo ldquoEP ldquoPTldquo)

RCP4CR series actuators can be operated with the controller indicated below Select the type according to your intended applicationApplicable Controller

Positioner type(NPNPNP specic)

Pulse-train type

Field network type

Field network1~8 axes type

Solenoid valve1~8 axes type

(NPNPNP specic)

PCON-CA-42PI-NP--0-PCON-CA-42PI-PN--0-

PCON-CA-42PI-PLN--0-PCON-CA-42PI-PLP--0-

MSEP-C--~-NP--0-MSEP-C--~-PN--0-

MSEP-C--~--0-0-

PCON-CA-42PI--0-0-

Register positions to move the actuator into thecontroller beforehand and specify the numbercorresponding to each desired position

Field networks are supported by key features includewire-saving direct numerical specication positionnumber specication and current position read

Field networks are supported by either serialcommunication with PIO control or transmittingtravelling position velocity and acceleration by data

The actuator can be operated freely via pulse-train controller from an external output device

The actuator can be operated via digital signalsfrom the PLC

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

Ｌ2995 3495 3995 4495 4995 5495 5995 6495 6995 7495 7995 8495 8995 9495 9995 104953395 3895 4395 4895 5395 5895 6395 6895 7395 7895 8395 8895 9395 9895 10395 10895

Ａ 0 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800Ｂ 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7Ｃ 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8Ｄ 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20E 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 1865 2365 2865 3365 3865 4365 4865 5365 5865 6365 6865 7365 7865 8365 8865 9365H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 2015 2515 3015 3515 4015 4515 5015 5515 6015 6515 7015 7515 8015 8515 9015 9515

20 21 23 24 26 27 29 30 32 34 35 37 38 40 41 43

22 23 25 26 28 30 31 33 34 36 37 39 41 42 44 45

Y

X

318

3

φ40

98（138）K

L

225

28

185115

3332

ME MESE SE

28

1321 195195

32 plusmn 002

50

20 300

25

20

75A

31

G 106（146）7

47 5555

40

56

58

4353595

23 88

39

189

φ 45

φ8

54

5

5

40+0

012

5

Name External view Model number Features Maximum number of positioning points

Input power

Power supply capacity

Reference page

Refefor MaMc moments

Detail view of X(Mounting hole and

reference plane)

Referenceplane

Detail Y

The dimensions in ( ) apply when brake is equipped

Cx100P

Bx100P

F-oslash45 through oslash8 counterboreddepth 45(from opposite side) E-oslash4H7 depth 55

(from bottom base)D-M5 depth 7

H-oblong hole depth 55(from bottom base)

J (reamed hole and oblong hole pitch)

Allowable bendingradius of securingcable R50

Standard

Symetric (optional)

Applicable tube OD oslash6Ground tap M3 depth 6 (Same on opposite side)

31(R

eam

ed h

ole

pitc

h plusmn0

02)

4-M5 depth 92-oslash5H7 depth 6

Dimensions and Mass by StrokeStroke

Mass(kg)

wo brakew brake

wo brakew brake

Stroke

Joint slewing range

RCP4CR RoboCylinder

P33 RCP4CR-SA7CExtract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

005

101520

504540353025

0

5

10

15

20

25

30

140012001000800600400200

1400120010008006004002000

Vertical

Horizontal

Speed (mms)

Speed (mms)

Payl

oad

(kg)

Payl

oad

(kg)

lead 4

lead 4

Lead 8

Lead 16

Lead 8

Lead 16

Lead 24

554

98

Lead 24

The values below are based on operation at 03 G

The values below are based onPCON-CA operation at 03 G

The values below are based on operation at 03 G

The values below are based on PCON-CA operation at 03 G

8

16

2 1 13

7

RCP4CR-SA7C Cleanroom RoboCylinder Slider Type Motor Unit CoupledActuator Width 73mm 24-V Pulse Motor

56P Pulse motor size 56

I Incremental P3 PCON-CA MSEP-C

N None P 1m S 3m M 5mXR Robot cable

Refer to the optionstable below

24 24mm 16 16mm 8 8mm 4 4mm

Lead Stroke Cable length OptionsTypeSA7C

Encoder typeI

Motor type56P

Applicable controllerP3

SeriesRCP4CRModel

SpecicItems

50 50mm

800 800mm(every 50mm)

Correlation Diagrams of Speed and Payload With the RCP4 series due to the characteristics of the pulse motor payload decreases as the speed increases Use the chart below to conrm that the desired speed and payload requirements are met

(1) The payload is the value when operated at 03 G acceleration The upper limit of acceleration is 1 G (or 05 G in a vertical

installation) Note that raising the acceleration causes the

Code explanation ➀ Stroke ➁ Cable length ➂ Options

Leads and Payloads

Model number Lead (mm)

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

RCP4CR-SA7C-I-56P-24- ➀ -P3- ➁ - ➂ 24 20 3

50~800(every 50mm)

RCP4CR-SA7C-I-56P-16- ➀ -P3- ➁ - ➂ 16 40 8

RCP4CR-SA7C-I-56P-8- ➀ -P3- ➁ - ➂ 8 45 16

RCP4CR-SA7C-I-56P-4- ➀ -P3- ➁ - ➂ 4 45 25

Actuator Specications

Item DescriptionDrive system Ball screw 12mm rolled C10

Ambient operating temperature humidity

(Unit mms)The values in lt gt apply when the actuator is used vertically

50~550(50mm)

600(mm)

650(mm)

700(mm)

750(mm)

800(mm)

24 1200 1200 1155 1010 890 790

16 980lt840gt

865lt840gt 750 655 580 515

8 490 430 375 325 290 255

4 245lt210gt

215lt210gt 185 160 145 125

Stroke

Lead

Stroke and Maximum

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)

Cable Length

Options

B 8 CJT 8CJR 8CJL 8CJB 8NM 8

VR 8

Name Option code See pageBrakeCable exit direction (Top)Cable exit direction (Right)Cable exit direction (Left)Cable exit direction (Bottom)Non-motor end specicationIntake port (vacuum joint) onopposite side

Actuator Specications (based on operation with PCON-CA controller)

Suction volume(Nlmin)

90

70

40

30

L

L

Ma MaMb Mc Mc

Allowable load moment directions Overhang load lengths

Lost motion 01mm or lessPositioning repeatability (1) plusmn002mm [plusmn003mm]

Dynamic allowable moment (2) Ma 139 Nm Mb 199 Nm Mc 383 NmAllowable overhang 230mm or less in Ma Mb and Mc directions

(1) The values enclosed in [ ] apply for 24mm lead(2) Based on 5000km of traveling life

Cleanliness ISO class 4 (US FED STD class 10)

payload to drop 02 G for the 24mm-lead model

RCP4 RoboCylinder

RCP4CR-SA7C P34Extract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

Dimensional Drawings

2D CAD23D CAD

CAD drawings can be downloaded from the website wwweurobocylinderde

1 Connect the motor and encoder cables2 During home return be careful to avoid interference from peripheral objects because the slider travels until the mechanical end

512 points

DC24V

Refer toP48

Refer to theMSEP seriescatalogue

Refer to theMSEP seriescatalogue

Refer toP41mdash

768 points

3 points

256 points

is a placeholder for the eld network type (ldquoDVldquo ldquoCCldquo ldquoPRldquo ldquoCNldquo ldquoMLldquo ldquoECldquo ldquoEP ldquoPTldquo)

RCP4CR series actuators can be operated with the controller indicated below Select the type according to your intended applicationApplicable Controller

Positioner type(NPNPNP specic)

Pulse-train type

Field network type

Field network1~8 axes type

Solenoid valve1~8 axes type

(NPNPNP specic)

PCON-CA-56PI-NP--0-PCON-CA-56PI-PN--0-

PCON-CA-56PI-PLN--0-PCON-CA-56PI-PLP--0-

MSEP-C--~-NP--0-MSEP-C--~-PN--0-

MSEP-C--~--0-0-

PCON-CA-56PI--0-0-

Register positions to move the actuator into thecontroller beforehand and specify the numbercorresponding to each desired position

Field networks are supported by key features includewire-saving direct numerical specication positionnumber specication and current position read

Field networks are supported by either serialcommunication with PIO control or transmittingtravelling position velocity and acceleration by data

The actuator can be operated freely via pulse-train controller from an external output device

The actuator can be operated via digital signalsfrom the PLC

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

Ｌ3525 1025 4525 5025 5525 6025 6525 7025 7525 8025 8525 9025 9525 10025 10525 110254025 4525 5025 5525 6025 6525 7025 7525 8025 8525 9025 9525 10025 10525 11025 11525

Ａ 0 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800Ｂ 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7Ｃ 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8Ｄ 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20E 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 199 249 299 349 399 449 499 549 599 649 699 749 799 849 899 949H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 2195 2695 3195 3695 4195 4695 5195 5695 6195 6695 7195 7695 8195 8695 9195 9695

34 36 38 41 43 46 48 51 53 56 58 60 63 65 68 70

39 41 43 46 48 51 53 56 58 61 63 65 68 70 73 75

Y

X

3 3

205

φ4 6 32

21

133（183）K

L

21128

40540

ME MESE SE

13

28

20 20 20

32 plusmn 002

50

20 300

255

30

G

80A

10 1435（1935）

40

61 66

43

71

73

48

506476

8 32 8

255

40+0

012 5

55

55

φ6

φ 95

6

Name External view Model number Features Maximum number of positioning points

Input power

Power supply capacity

Reference page

Refefor MaMc moments

Detail view of X(Mounting hole and

reference plane)

Referenceplane

Detail Y

The dimensions in ( ) apply when brake is equipped

Cx100P

Bx100P

F-oslash6 through oslash95 counterboreddepth 55 (from opposite side)

E-oslash4H7 depth 6(from bottom base)

D-M5 depth 9 H-oblong hole depth 55(from bottom base)

J (reamed hole and oblong hole pitch)

Allowable bendingradius of securingcable R50

Standard

Symetric (optional)

Applicable tube OD oslash8

Ground tap M3 depth 6 (Same on opposite side)

39(R

eam

ed h

ole

pitc

h plusmn0

02)

4-M5 depth 102-oslash5H7 depth 10

Dimensions and Mass by StrokeStroke

Mass(kg)

wo brakew brake

wo brakew brake

Stroke

Joint slewing range

RCP4 RoboCylinder

RCP4CR-SA6C P32Extract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

Dimensional Drawings

2D CAD23D CAD

CAD drawings can be downloaded from the website wwweurobocylinderde

1 Connect the motor and encoder cables2 During home return be careful to avoid interference from peripheral objects because the slider travels until the mechanical end

512 points

DC24V

Refer toP48

Refer to theMSEP seriescatalogue

Refer to theMSEP seriescatalogue

Refer toP41mdash

768 points

3 points

256 points

is a placeholder for the eld network type (ldquoDVldquo ldquoCCldquo ldquoPRldquo ldquoCNldquo ldquoMLldquo ldquoECldquo ldquoEP ldquoPTldquo)

RCP4CR series actuators can be operated with the controller indicated below Select the type according to your intended applicationApplicable Controller

Positioner type(NPNPNP specic)

Pulse-train type

Field network type

Field network1~8 axes type

Solenoid valve1~8 axes type

(NPNPNP specic)

PCON-CA-42PI-NP--0-PCON-CA-42PI-PN--0-

PCON-CA-42PI-PLN--0-PCON-CA-42PI-PLP--0-

MSEP-C--~-NP--0-MSEP-C--~-PN--0-

MSEP-C--~--0-0-

PCON-CA-42PI--0-0-

Register positions to move the actuator into thecontroller beforehand and specify the numbercorresponding to each desired position

Field networks are supported by key features includewire-saving direct numerical specication positionnumber specication and current position read

Field networks are supported by either serialcommunication with PIO control or transmittingtravelling position velocity and acceleration by data

The actuator can be operated freely via pulse-train controller from an external output device

The actuator can be operated via digital signalsfrom the PLC

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

Ｌ2995 3495 3995 4495 4995 5495 5995 6495 6995 7495 7995 8495 8995 9495 9995 104953395 3895 4395 4895 5395 5895 6395 6895 7395 7895 8395 8895 9395 9895 10395 10895

Ａ 0 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800Ｂ 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7Ｃ 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8Ｄ 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20E 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 1865 2365 2865 3365 3865 4365 4865 5365 5865 6365 6865 7365 7865 8365 8865 9365H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 2015 2515 3015 3515 4015 4515 5015 5515 6015 6515 7015 7515 8015 8515 9015 9515

20 21 23 24 26 27 29 30 32 34 35 37 38 40 41 43

22 23 25 26 28 30 31 33 34 36 37 39 41 42 44 45

Y

X

318

3

φ40

98（138）K

L

225

28

185115

3332

ME MESE SE

28

1321 195195

32 plusmn 002

50

20 300

25

20

75A

31

G 106（146）7

47 5555

40

56

58

4353595

23 88

39

189

φ 45

φ8

54

5

5

40+0

012

5

Name External view Model number Features Maximum number of positioning points

Input power

Power supply capacity

Reference page

Refefor MaMc moments

Detail view of X(Mounting hole and

reference plane)

Referenceplane

Detail Y

The dimensions in ( ) apply when brake is equipped

Cx100P

Bx100P

F-oslash45 through oslash8 counterboreddepth 45(from opposite side) E-oslash4H7 depth 55

(from bottom base)D-M5 depth 7

H-oblong hole depth 55(from bottom base)

J (reamed hole and oblong hole pitch)

Allowable bendingradius of securingcable R50

Standard

Symetric (optional)

Applicable tube OD oslash6Ground tap M3 depth 6 (Same on opposite side)

31(R

eam

ed h

ole

pitc

h plusmn0

02)

4-M5 depth 92-oslash5H7 depth 6

Dimensions and Mass by StrokeStroke

Mass(kg)

wo brakew brake

wo brakew brake

Stroke

Joint slewing range

RCP4CR RoboCylinder

P33 RCP4CR-SA7CExtract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

005

101520

504540353025

0

5

10

15

20

25

30

140012001000800600400200

1400120010008006004002000

Vertical

Horizontal

Speed (mms)

Speed (mms)

Payl

oad

(kg)

Payl

oad

(kg)

lead 4

lead 4

Lead 8

Lead 16

Lead 8

Lead 16

Lead 24

554

98

Lead 24

The values below are based on operation at 03 G

The values below are based onPCON-CA operation at 03 G

The values below are based on operation at 03 G

The values below are based on PCON-CA operation at 03 G

8

16

2 1 13

7

RCP4CR-SA7C Cleanroom RoboCylinder Slider Type Motor Unit CoupledActuator Width 73mm 24-V Pulse Motor

56P Pulse motor size 56

I Incremental P3 PCON-CA MSEP-C

N None P 1m S 3m M 5mXR Robot cable

Refer to the optionstable below

24 24mm 16 16mm 8 8mm 4 4mm

Lead Stroke Cable length OptionsTypeSA7C

Encoder typeI

Motor type56P

Applicable controllerP3

SeriesRCP4CRModel

SpecicItems

50 50mm

800 800mm(every 50mm)

Correlation Diagrams of Speed and Payload With the RCP4 series due to the characteristics of the pulse motor payload decreases as the speed increases Use the chart below to conrm that the desired speed and payload requirements are met

(1) The payload is the value when operated at 03 G acceleration The upper limit of acceleration is 1 G (or 05 G in a vertical

installation) Note that raising the acceleration causes the

Code explanation ➀ Stroke ➁ Cable length ➂ Options

Leads and Payloads

Model number Lead (mm)

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

RCP4CR-SA7C-I-56P-24- ➀ -P3- ➁ - ➂ 24 20 3

50~800(every 50mm)

RCP4CR-SA7C-I-56P-16- ➀ -P3- ➁ - ➂ 16 40 8

RCP4CR-SA7C-I-56P-8- ➀ -P3- ➁ - ➂ 8 45 16

RCP4CR-SA7C-I-56P-4- ➀ -P3- ➁ - ➂ 4 45 25

Actuator Specications

Item DescriptionDrive system Ball screw 12mm rolled C10

Ambient operating temperature humidity

(Unit mms)The values in lt gt apply when the actuator is used vertically

50~550(50mm)

600(mm)

650(mm)

700(mm)

750(mm)

800(mm)

24 1200 1200 1155 1010 890 790

16 980lt840gt

865lt840gt 750 655 580 515

8 490 430 375 325 290 255

4 245lt210gt

215lt210gt 185 160 145 125

Stroke

Lead

Stroke and Maximum

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)

Cable Length

Options

B 8 CJT 8CJR 8CJL 8CJB 8NM 8

VR 8

Name Option code See pageBrakeCable exit direction (Top)Cable exit direction (Right)Cable exit direction (Left)Cable exit direction (Bottom)Non-motor end specicationIntake port (vacuum joint) onopposite side

Actuator Specications (based on operation with PCON-CA controller)

Suction volume(Nlmin)

90

70

40

30

L

L

Ma MaMb Mc Mc

Allowable load moment directions Overhang load lengths

Lost motion 01mm or lessPositioning repeatability (1) plusmn002mm [plusmn003mm]

Dynamic allowable moment (2) Ma 139 Nm Mb 199 Nm Mc 383 NmAllowable overhang 230mm or less in Ma Mb and Mc directions

(1) The values enclosed in [ ] apply for 24mm lead(2) Based on 5000km of traveling life

Cleanliness ISO class 4 (US FED STD class 10)

payload to drop 02 G for the 24mm-lead model

RCP4 RoboCylinder

RCP4CR-SA7C P34Extract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

Dimensional Drawings

2D CAD23D CAD

CAD drawings can be downloaded from the website wwweurobocylinderde

1 Connect the motor and encoder cables2 During home return be careful to avoid interference from peripheral objects because the slider travels until the mechanical end

512 points

DC24V

Refer toP48

Refer to theMSEP seriescatalogue

Refer to theMSEP seriescatalogue

Refer toP41mdash

768 points

3 points

256 points

is a placeholder for the eld network type (ldquoDVldquo ldquoCCldquo ldquoPRldquo ldquoCNldquo ldquoMLldquo ldquoECldquo ldquoEP ldquoPTldquo)

RCP4CR series actuators can be operated with the controller indicated below Select the type according to your intended applicationApplicable Controller

Positioner type(NPNPNP specic)

Pulse-train type

Field network type

Field network1~8 axes type

Solenoid valve1~8 axes type

(NPNPNP specic)

PCON-CA-56PI-NP--0-PCON-CA-56PI-PN--0-

PCON-CA-56PI-PLN--0-PCON-CA-56PI-PLP--0-

MSEP-C--~-NP--0-MSEP-C--~-PN--0-

MSEP-C--~--0-0-

PCON-CA-56PI--0-0-

Register positions to move the actuator into thecontroller beforehand and specify the numbercorresponding to each desired position

Field networks are supported by key features includewire-saving direct numerical specication positionnumber specication and current position read

Field networks are supported by either serialcommunication with PIO control or transmittingtravelling position velocity and acceleration by data

The actuator can be operated freely via pulse-train controller from an external output device

The actuator can be operated via digital signalsfrom the PLC

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

Ｌ3525 1025 4525 5025 5525 6025 6525 7025 7525 8025 8525 9025 9525 10025 10525 110254025 4525 5025 5525 6025 6525 7025 7525 8025 8525 9025 9525 10025 10525 11025 11525

Ａ 0 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800Ｂ 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7Ｃ 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8Ｄ 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20E 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 199 249 299 349 399 449 499 549 599 649 699 749 799 849 899 949H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 2195 2695 3195 3695 4195 4695 5195 5695 6195 6695 7195 7695 8195 8695 9195 9695

34 36 38 41 43 46 48 51 53 56 58 60 63 65 68 70

39 41 43 46 48 51 53 56 58 61 63 65 68 70 73 75

Y

X

3 3

205

φ4 6 32

21

133（183）K

L

21128

40540

ME MESE SE

13

28

20 20 20

32 plusmn 002

50

20 300

255

30

G

80A

10 1435（1935）

40

61 66

43

71

73

48

506476

8 32 8

255

40+0

012 5

55

55

φ6

φ 95

6

Name External view Model number Features Maximum number of positioning points

Input power

Power supply capacity

Reference page

Refefor MaMc moments

Detail view of X(Mounting hole and

reference plane)

Referenceplane

Detail Y

The dimensions in ( ) apply when brake is equipped

Cx100P

Bx100P

F-oslash6 through oslash95 counterboreddepth 55 (from opposite side)

E-oslash4H7 depth 6(from bottom base)

D-M5 depth 9 H-oblong hole depth 55(from bottom base)

J (reamed hole and oblong hole pitch)

Allowable bendingradius of securingcable R50

Standard

Symetric (optional)

Applicable tube OD oslash8

Ground tap M3 depth 6 (Same on opposite side)

39(R

eam

ed h

ole

pitc

h plusmn0

02)

4-M5 depth 102-oslash5H7 depth 10

Dimensions and Mass by StrokeStroke

Mass(kg)

wo brakew brake

wo brakew brake

Stroke

Joint slewing range

RCP4CR RoboCylinder

P33 RCP4CR-SA7CExtract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

005

101520

504540353025

0

5

10

15

20

25

30

140012001000800600400200

1400120010008006004002000

Vertical

Horizontal

Speed (mms)

Speed (mms)

Payl

oad

(kg)

Payl

oad

(kg)

lead 4

lead 4

Lead 8

Lead 16

Lead 8

Lead 16

Lead 24

554

98

Lead 24

The values below are based on operation at 03 G

The values below are based onPCON-CA operation at 03 G

The values below are based on operation at 03 G

The values below are based on PCON-CA operation at 03 G

8

16

2 1 13

7

RCP4CR-SA7C Cleanroom RoboCylinder Slider Type Motor Unit CoupledActuator Width 73mm 24-V Pulse Motor

56P Pulse motor size 56

I Incremental P3 PCON-CA MSEP-C

N None P 1m S 3m M 5mXR Robot cable

Refer to the optionstable below

24 24mm 16 16mm 8 8mm 4 4mm

Lead Stroke Cable length OptionsTypeSA7C

Encoder typeI

Motor type56P

Applicable controllerP3

SeriesRCP4CRModel

SpecicItems

50 50mm

800 800mm(every 50mm)

Correlation Diagrams of Speed and Payload With the RCP4 series due to the characteristics of the pulse motor payload decreases as the speed increases Use the chart below to conrm that the desired speed and payload requirements are met

(1) The payload is the value when operated at 03 G acceleration The upper limit of acceleration is 1 G (or 05 G in a vertical

installation) Note that raising the acceleration causes the

Code explanation ➀ Stroke ➁ Cable length ➂ Options

Leads and Payloads

Model number Lead (mm)

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

RCP4CR-SA7C-I-56P-24- ➀ -P3- ➁ - ➂ 24 20 3

50~800(every 50mm)

RCP4CR-SA7C-I-56P-16- ➀ -P3- ➁ - ➂ 16 40 8

RCP4CR-SA7C-I-56P-8- ➀ -P3- ➁ - ➂ 8 45 16

RCP4CR-SA7C-I-56P-4- ➀ -P3- ➁ - ➂ 4 45 25

Actuator Specications

Item DescriptionDrive system Ball screw 12mm rolled C10

Ambient operating temperature humidity

(Unit mms)The values in lt gt apply when the actuator is used vertically

50~550(50mm)

600(mm)

650(mm)

700(mm)

750(mm)

800(mm)

24 1200 1200 1155 1010 890 790

16 980lt840gt

865lt840gt 750 655 580 515

8 490 430 375 325 290 255

4 245lt210gt

215lt210gt 185 160 145 125

Stroke

Lead

Stroke and Maximum

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)

Cable Length

Options

B 8 CJT 8CJR 8CJL 8CJB 8NM 8

VR 8

Name Option code See pageBrakeCable exit direction (Top)Cable exit direction (Right)Cable exit direction (Left)Cable exit direction (Bottom)Non-motor end specicationIntake port (vacuum joint) onopposite side

Actuator Specications (based on operation with PCON-CA controller)

Suction volume(Nlmin)

90

70

40

30

L

L

Ma MaMb Mc Mc

Allowable load moment directions Overhang load lengths

Lost motion 01mm or lessPositioning repeatability (1) plusmn002mm [plusmn003mm]

Dynamic allowable moment (2) Ma 139 Nm Mb 199 Nm Mc 383 NmAllowable overhang 230mm or less in Ma Mb and Mc directions

(1) The values enclosed in [ ] apply for 24mm lead(2) Based on 5000km of traveling life

Cleanliness ISO class 4 (US FED STD class 10)

payload to drop 02 G for the 24mm-lead model

RCP4 RoboCylinder

RCP4CR-SA7C P34Extract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

Dimensional Drawings

2D CAD23D CAD

CAD drawings can be downloaded from the website wwweurobocylinderde

1 Connect the motor and encoder cables2 During home return be careful to avoid interference from peripheral objects because the slider travels until the mechanical end

512 points

DC24V

Refer toP48

Refer to theMSEP seriescatalogue

Refer to theMSEP seriescatalogue

Refer toP41mdash

768 points

3 points

256 points

is a placeholder for the eld network type (ldquoDVldquo ldquoCCldquo ldquoPRldquo ldquoCNldquo ldquoMLldquo ldquoECldquo ldquoEP ldquoPTldquo)

RCP4CR series actuators can be operated with the controller indicated below Select the type according to your intended applicationApplicable Controller

Positioner type(NPNPNP specic)

Pulse-train type

Field network type

Field network1~8 axes type

Solenoid valve1~8 axes type

(NPNPNP specic)

PCON-CA-56PI-NP--0-PCON-CA-56PI-PN--0-

PCON-CA-56PI-PLN--0-PCON-CA-56PI-PLP--0-

MSEP-C--~-NP--0-MSEP-C--~-PN--0-

MSEP-C--~--0-0-

PCON-CA-56PI--0-0-

Register positions to move the actuator into thecontroller beforehand and specify the numbercorresponding to each desired position

Field networks are supported by key features includewire-saving direct numerical specication positionnumber specication and current position read

Field networks are supported by either serialcommunication with PIO control or transmittingtravelling position velocity and acceleration by data

The actuator can be operated freely via pulse-train controller from an external output device

The actuator can be operated via digital signalsfrom the PLC

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

Ｌ3525 1025 4525 5025 5525 6025 6525 7025 7525 8025 8525 9025 9525 10025 10525 110254025 4525 5025 5525 6025 6525 7025 7525 8025 8525 9025 9525 10025 10525 11025 11525

Ａ 0 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800Ｂ 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7Ｃ 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8Ｄ 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20E 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 199 249 299 349 399 449 499 549 599 649 699 749 799 849 899 949H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 2195 2695 3195 3695 4195 4695 5195 5695 6195 6695 7195 7695 8195 8695 9195 9695

34 36 38 41 43 46 48 51 53 56 58 60 63 65 68 70

39 41 43 46 48 51 53 56 58 61 63 65 68 70 73 75

Y

X

3 3

205

φ4 6 32

21

133（183）K

L

21128

40540

ME MESE SE

13

28

20 20 20

32 plusmn 002

50

20 300

255

30

G

80A

10 1435（1935）

40

61 66

43

71

73

48

506476

8 32 8

255

40+0

012 5

55

55

φ6

φ 95

6

Name External view Model number Features Maximum number of positioning points

Input power

Power supply capacity

Reference page

Refefor MaMc moments

Detail view of X(Mounting hole and

reference plane)

Referenceplane

Detail Y

The dimensions in ( ) apply when brake is equipped

Cx100P

Bx100P

F-oslash6 through oslash95 counterboreddepth 55 (from opposite side)

E-oslash4H7 depth 6(from bottom base)

D-M5 depth 9 H-oblong hole depth 55(from bottom base)

J (reamed hole and oblong hole pitch)

Allowable bendingradius of securingcable R50

Standard

Symetric (optional)

Applicable tube OD oslash8

Ground tap M3 depth 6 (Same on opposite side)

39(R

eam

ed h

ole

pitc

h plusmn0

02)

4-M5 depth 102-oslash5H7 depth 10

Dimensions and Mass by StrokeStroke

Mass(kg)

wo brakew brake

wo brakew brake

Stroke

Joint slewing range

RCP4 RoboCylinder

RCP4CR-SA7C P34Extract RCP4 RoboCylinder Cat V2No 1012-E Version CJ0182-4B

Dimensional Drawings

2D CAD23D CAD

CAD drawings can be downloaded from the website wwweurobocylinderde

1 Connect the motor and encoder cables2 During home return be careful to avoid interference from peripheral objects because the slider travels until the mechanical end

512 points

DC24V

Refer toP48

Refer to theMSEP seriescatalogue

Refer to theMSEP seriescatalogue

Refer toP41mdash

768 points

3 points

256 points

is a placeholder for the eld network type (ldquoDVldquo ldquoCCldquo ldquoPRldquo ldquoCNldquo ldquoMLldquo ldquoECldquo ldquoEP ldquoPTldquo)

RCP4CR series actuators can be operated with the controller indicated below Select the type according to your intended applicationApplicable Controller

Positioner type(NPNPNP specic)

Pulse-train type

Field network type

Field network1~8 axes type

Solenoid valve1~8 axes type

(NPNPNP specic)

PCON-CA-56PI-NP--0-PCON-CA-56PI-PN--0-

PCON-CA-56PI-PLN--0-PCON-CA-56PI-PLP--0-

MSEP-C--~-NP--0-MSEP-C--~-PN--0-

MSEP-C--~--0-0-

PCON-CA-56PI--0-0-

Register positions to move the actuator into thecontroller beforehand and specify the numbercorresponding to each desired position

Field networks are supported by key features includewire-saving direct numerical specication positionnumber specication and current position read

Field networks are supported by either serialcommunication with PIO control or transmittingtravelling position velocity and acceleration by data

The actuator can be operated freely via pulse-train controller from an external output device

The actuator can be operated via digital signalsfrom the PLC

50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800

Ｌ3525 1025 4525 5025 5525 6025 6525 7025 7525 8025 8525 9025 9525 10025 10525 110254025 4525 5025 5525 6025 6525 7025 7525 8025 8525 9025 9525 10025 10525 11025 11525

Ａ 0 100 100 200 200 300 300 400 400 500 500 600 600 700 700 800Ｂ 0 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7Ｃ 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8Ｄ 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20E 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3F 4 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18G 199 249 299 349 399 449 499 549 599 649 699 749 799 849 899 949H 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1J 0 85 85 185 185 285 285 385 385 485 485 585 585 685 685 785K 2195 2695 3195 3695 4195 4695 5195 5695 6195 6695 7195 7695 8195 8695 9195 9695

34 36 38 41 43 46 48 51 53 56 58 60 63 65 68 70

39 41 43 46 48 51 53 56 58 61 63 65 68 70 73 75

Y

X

3 3

205

φ4 6 32

21

133（183）K

L

21128

40540

ME MESE SE

13

28

20 20 20

32 plusmn 002

50

20 300

255

30

G

80A

10 1435（1935）

40

61 66

43

71

73

48

506476

8 32 8

255

40+0

012 5

55

55

φ6

φ 95

6

Name External view Model number Features Maximum number of positioning points

Input power

Power supply capacity

Reference page

Refefor MaMc moments

Detail view of X(Mounting hole and

reference plane)

Referenceplane

Detail Y

The dimensions in ( ) apply when brake is equipped

Cx100P

Bx100P

F-oslash6 through oslash95 counterboreddepth 55 (from opposite side)

E-oslash4H7 depth 6(from bottom base)

D-M5 depth 9 H-oblong hole depth 55(from bottom base)

J (reamed hole and oblong hole pitch)

Allowable bendingradius of securingcable R50

Standard

Symetric (optional)

Applicable tube OD oslash8

Ground tap M3 depth 6 (Same on opposite side)

39(R

eam

ed h

ole

pitc

h plusmn0

02)

4-M5 depth 102-oslash5H7 depth 10

Dimensions and Mass by StrokeStroke

Mass(kg)

wo brakew brake

wo brakew brake

Stroke

Joint slewing range