RCS3-RAR ServoPress

Servo Press Compatible
ROBO Cylinderwith Load Cell RCS3

Series Added
RA4R RA15R RA20R
www.intelligentactuator.com
Compact and low-thrust rod type actuator that can
even be used for simple pressing.
The high-precision position control enables easy
adjustment of the push force and the position control,
which is typically difcult for oil-hydraulic equipment.
1 The Servo Press Specifcation Available

The servo press speci cation has been expanded. With the load cell equipped as standard feature,
force control is possible.
What Is the Push-motion Operation?

Similar to an air cylinder, push-motion operation is the function of keeping the rod and slider pushed
to the work, etc.
Servo press provides superior stop stability during pressing, which makes them optimal for
push-motion operation.
Also, servo press can be used in a wide variety of applications because they can be used in work
operations that require strong push force, such as press tting and riveting work.
What Is the Force Control?

<Application Examples>
A function that can perform high-precision push
Riveting work
control output using the feedback data from the
dedicated load cell installed in the actuator.
What Is the Servo Press Speci cation?

The speci cation which can perform various
push-motion operations by using the press program.
For details, please refer to P. 3. Accurate push force can be managed
Detailed push force setting can be set for each product
2 High-precision Load Control

By attaching a dedicated load cell to the rod tip, the actual load applied to the press target can be
detected. This allows for high-precision load control with a loading repeatability of 0.5% F.S. (full
scale).
Points
F.S. : Full Scale

Maximum measurable value
B.C. : Rated Capacity
Same as the rated load. The maximum load measured while
the load cell maintains its speci cation.
Dedicated load cell
1
3 Increased Product O erings
RCS3 side-mounted motor rod types have been added, allowing you to select from a 200N to 50000N range.
The development of a large variety of models allows you to pick models that suit your applications.
Product Lineup
RCS3-RA4R RCS3-RA6R RCS3-RA7R RCS3-RA8R
Stroke (mm) 110~410 115~415 120~520 100~500

Motor (W) 30 60 100 200
Lead (mm) 2.5 1.5 2 2.5
Max. Push Force (N) *note 200 600 1200 2000
Max. Payload Horizontal 3 10 10 10
(kg) Vertical 3 10 10 10
Max. Speed (mm/sec) 125 75 100 125
RCS2-RA13R
RCS3-RA10R RCS3-RA15R RCS3-RA20R
1t Type 2t Type
Stroke (mm) 100~500 50~200 100~500 100~500

Motor (W) 400 750 3300 3000
Lead (mm) 2.5 2.5 1.25 3.6 4
Max. Push Force (N) *note 6000 9800 19600 30000 50000
Max. Payload Horizontal 15 15 15 15 15
(kg) Vertical 15 15 15 15 15
Max. Speed (mm/sec) 125 125 62 240 220
*note : Max. Push Force can only be achieved with a push speed between 0.01-10mm/s with Press motion of Press Program
4 Connectivity with External Equipment

Its possible to perform analog output of load
data (4-20mA).
By using a display panel manufactured by a
third party, it is possible to display 2D graphs of
Analog output
the displacement vs. load cell output and judge
feedback pulses
them. Also, connecting a pulse counter allows
you to check the feedback pulses.
2
Dedicated Software: Press Program
With this Press Program, one of two control methods, "Speed Control" or "Force Control", can be selected.
In addition, one of four stop conditions, "Position", "Distance", "Load", or "Incremental Load", can be selected as the method for stopping.
By utilizing a total of eight types of press methods, it is possible to handle a variety of press operations.
Explanation of Operation Program Screen
Time
Program Home
(1) Approach
(6) Return
(2) Search
(3) Press
(5) Depress
Position (4) Stop
(1) Approach (can be omitted) (4) Stop (can be omitted when set to 0)
Performs high-speed transfer Stops at a xed position or
until directly before continues to push
contacting work (5) Depress (can be omitted)
(2) Search (can be omitted) Slowly separates from the work
Detects work contact (6) Return (can be omitted)
(3) Press (necessary)* Returns to the home position at
Accelerates, then performs high speed
pressing work
*( Speed Range : Min =0.01mm/s & Max.10mm/s )
Example of press fitting a machine part into a washer
(1) Approach (2) Search (3) Press

Reaches the set position at the set Decreases the speed, then Once the position has been
speed. This shortens the traverse searches the washer determined, performs pressing
time until it arrives at the work. position. work.
Position of
95mm Position where
Washer work contacted Position of
105mm
5mm
Machine part
Steel plate
3
Mode Internal control Stop state Applications
Position stop
Speed control
Distance stop Positioning press tting, riveting, squeezing, etc.
After arriving at the target position, stops while Positioning
Load stop stop (primarily metalworking)
maintaining the position at the time of arrival.
Incremental load stop
Position stop
Force control Continuing
Distance stop
After arriving at the target position, stops while Pushing push-motion Compressive molding, etc. of powders
maintaining the force at the time of arrival. Load stop
operation
Incremental load stop
Position stop Load stop

Performs pressing work to the speci ed position. Performs pressing work that stops at the position at which the speci ed load
was detected.
Home
110mm
400N
End position The position
110mm at which 400N
Steel plate is measured. Steel plate
Distance stop Incremental load stop

Performs pressing work by moving a speci ed distance and then stopping. Performs pressing work that stops at the position at which the load (sum of
This is optimal in situations in which the press start position changes. the press start load and the speci ed incremental load) has been detected.
*It is possible to perform the operation by linking two programs together.
For details, please refer to the instruction manual.
5mm
5mm
First press: 400N
The position at which 400N

pushing is measured.
a distance of exactly 5mm The position at which 600N Second press: +200N
is measured.
Steel plate
An uneven surface,
such as an engine
Explanation of Operation
From the end of press to the end of the stop state, it is possible to perform position judgment and load judgment.
<Judgment Results>
No. Position Load

Press
end point (2) (1) OK OK
(2) OK NG
Load judgment Press Press (3) NG OK
range end point (1) end point (3) (4) NG NG
Position judgment
range Press
end point (4)
When a result of NG has been detected for either the position or load, the program ends abnormally
It is also possible to set position only, load only, or neither
4
RCS3 RoboCylinder
RCS3-RA4R RoboCylinder, Rod Type with Load Cell, Actuator Width 40mm
200V
Model RCS3 RA4R 30 T2

Series Type Encoder type Motor Lead Stroke Applicable Cable length Options
Type Controller
Items I: Incremental speci tion 30: Servo 2.5: Lead 2.5mm 110: 110mm T2: SCON-CB/CGB N: No cable Please refer to the
motor, (Servo press P: 1m options table below.
~
30 W 410: 410mm S: 3m * Please make sure
to select an option
M: 5m code for both the
(The increment of X : Spec h motor side-mounted
stroke is 50mm) R : Robot cable direction and the
*Controller is not included. cable exit direction.
Correlation Diagram of Push Force and Current Limit

200 Caution:
* CE conformity has to be selected as option. The correlation between push
force and current limit
Vertical
Horizontal
150 value are strictly for reference
purposes. Actual numbers may
Push Force (N)

vary slightly.
Side 100 The current limit value should
be 12% or more because the
Ceiling push force would be unstable
* Depending on 50 when the current limit value
the model, there is lower than 12%.
may be some
0
limitations to 0 20 40 60 80 100 120
using the vertical Electric Current Limit (%)
mount position.
(1) There is no limit in time period of a continuous push-motion for RA4R.

It is available to have continuous push-motion with a current limit value of 100%.
(2) Customers tooling is to be mounted on the load cell itself. In case any radial or
OI NT moment load is applied to the load cell, please consider adding the external
P
(3)
installation of an actuator with 150mm-stroke or longer. However, adding the support
block even for less than 150mm-stroke is recommended since vibration might occur
depending on the operational and installation condition and damage the actuator.
(4) Force control is only for pushing motion, not valid for pulling motion.
Actuat
Lead and Payload Stroke and Maximum Speed
Motor Lead Max. speed Max. acceleration Max. payload Rated thrust Max. push force Stroke
Model number (mm) 110~410
(W) (mm) (mm/s) (G) Horizontal (kg) Vertical (kg) (N) (N) * Lead (mm)
RCS3-RA4R- 1 -30-2.5- 2 -T2- 3 - 4 30 2.5 125 0.5 3 3 126 200 2.5 125
Legend: 1 Encoder type 2 Stroke 3 Cable length 4 Option * With 0.01-10mm/s (Unit: mm/s)
Cable Length Actuat

Type Cable code Item Description
P (1m) Drive system Ball screw 8mm, rolled C10
Standard type S (3m) Positioning repeatability 0.01mm
M (5m) Rod non-rotation precision 0 deg.
X06 (6m) ~X10 (10m) Lost motion 0.1mm or less
Special length X11 (11m) ~X15 (15m) Load cell rated capacity 200N
X16 (16m) ~X20 (20m) Load cell system accuracy 1% R.C (*2)
R01 (1m) ~R03 (3m) Loading repeatability (*1) 0.5% F.S (*3)
R04 (4m) ~R05 (5m) Load cell service life 2 million times
Robot cable R06 (6m) ~R10 (10m) Ambient operating temperature and humidity 0C~40C
R11 (11m) ~R15 (15m) (*1) Ratio (in percentage) of the load variations caused by the repeated operations to the load cell
R16 (16m) ~R20 (20m) rated capacity. The ratio is calculated based on actual data at IAI.
* Refer to P. 37 for maintenance cables. (*2) R.C: Rated Capacity
(*3) F.S: Full Scale
Options
Name Option code Reference page
FL P25
Foot bracket (*1) FT P25
Brake B
Refer to the
Cable exit direction (Outside) CJO
RoboCylinder
Motor side-mounted to the left ML
General Catalog.
Motor side-mounted to the right MR
Equipped with load cell (Standard equipment) (*2) LCT -
Compliance with CE conformity (Standard option) CE -
(*1) Refer to P. 26 for the number of brackets included.
(*2)
load cell.
5 RCS3-RA4R
RCS3 RoboCylinder
Dimensions
CAD drawings can be XXXJOUFMMJHFOUBDUVBUPSDPN
downloaded from our website.
*1 Connects the motor-encoder cable. Refer to P. 37 for the details of the cable.
2/3D *2 While the rod is returning to its home position, please be careful of interference from surrounding objects, as it will travel until it reaches the ME.
CAD ME : Mechanical end
SE : Stroke end
116 29.5 L
4 4 20 (Rod outer 1.5 K 30
M.E.(*2) S.E. Home M.E. diameter)
24 h7
(82.8)
53.7
(1.7) 48 (5) 154 27
(*1)
57.8
Z Y W 4-M4 depth 9
Motor Axis
50
40
32
40
46
51
51
26
26
9 1.5 20
48.4
10
6
(48.4)
(51)
3
8.5 Z W 32
Y A (Reamed hole pitch) 20 97
26.5
0.5 39 Base surface B (Reamed hole and oblong hole pitch)
5 40 3 H7 reamed, depth 4
77 Oblong hole depth 4 X
97
102
Hole for
work piece
installation
17
C
0.
5
15 H8
(3) D-3.4 through

35 (*3) Not available 6.5 counterbored, depth 3.5 (from opposite side)
C
50 E D100P 12
M-M4 through
H G100P (M4 hole) 20 (Bolt screw-in depth: 5mm or less)
A 14 J
(*3) 2 places of counter-bored holes for attachment shown in the figure cannot be used.
0.02 A
T
Ra1.6
25 or more
Ra1.6
(*4) Range of a tapped through

C1
15 h7
+ 0.01
(14)
R0.5 or less 16 8 6.5 hole location on the load cell

0
40
32 3.4 P.C
.D. 40 (*4) M6
3
30
45
Work piece
3.5
6.3
reference dimensions
1
4-M4 depth8
(R
4
1.
*7
0.5
5)
2.5
Reference surface
Cross section of W-W Detailed view of X Cross section of Y-Y Cross section of Z-Z
Dimensions and Mass by Stroke

Stroke 110 160 210 260 310 360 410
L 244 294 344 394 444 494 544
A 100 100 200 200 300 300 400
B 85 85 185 185 285 285 385
C 50 50 50 50 50 50 50
Length of a cable track cover D 0 1 1 2 2 3 3
only up to 310mm-stroke E 100 50 100 50 100 50 100
F 8 10 10 12 12 14 14
G 1 1 2 2 3 3 4
H 50 100 50 100 50 100 50
J 184 234 284 334 384 434 484
K 214 264 314 364 414 464 514
M 6 6 8 8 10 10 12
N 120 100 75 50 25
Mass Without brake 3.1 3.2 3.4 3.6 3.8 3.9 4.1
(kg) With brake 3.4 3.5 3.7 3.9 4.1 4.2 4.4
Compatible Controllers
RCS3-RA4R actuators can be operated with the following controllers. Select an appropriate controller type according to your application.
Max. number Max. number
Power-supply
Name External view Model number (Note 1) of controlled Encoder type of positioning Description
capacity
axes points
Single axis controller Position standard
(Standard type) SCON-CB-30D F-NP-2-2 type controller
Absolute 512 Single-phase
1 axis 230 VAC
Single axis controller Incremental points 100/200 VAC Position global
SCON-CGB-30D F-NP-2-2 type controller
(Global type) (Safety category compliant spec.)
(Note 1) The model numbers are based on a 1-axis speci cation without network support. represents the encoder type (absolute/incremental). For details, refer to page 28.
RCS3-RA4R 6
RCS3 RoboCylinder
200V

Series Type Encoder type Motor Lead Stroke Applicable Cable length Options
Type Controller
Items I: Incremental speci tion 60: Servo 1.5: Lead 1.5mm 115: 115mm T2: SCON-CB/CGB N: No cable Please refer to the
~
to select an option

800 Caution:
The correlation between push
Vertical
Horizontal
Push Force (N)

vary slightly.
* Depending on 200 when the current limit value
may be some
0
limitations to 0 20 40 60 80 100 120
mount position.
(1) For push mode operation, please see P. 21 to check the allowable time period of a
allowable continuous operational thrust force (please see P. 23) for the actual push
cycle is less than the allowable continuous operational thrust force. (Even if there is
OI NT no push motion)
P
moment load is applied to the load cell, please consider adding the external
(3)
Actuat
RCS3-RA6R- 1 -60-1.5- 2 -T2- 3 - 4 60 1.5 75 0.3 10 10 566 600 1.5 75
Cable Length Actuat

Options
FL P25
Brake B
Cable exit direction (Top) CJT
Refer to the
Cable exit direction (Bottom) (*2) CJB RoboCylinder
Cable exit direction (Outside) CJO General Catalog.
(*2) When you select CJB for an actuator whose stroke is 365mm or less, the foot bracket cannot be chosen.
load cell.
7 RCS3-RA6R
RCS3 RoboCylinder
Dimensions
SE : Stroke end
st 123 23.5 L
3 3 2 st+140 36
M.E. S.E. Home M.E.(*2)
30 h7
25(Rod outer
diameter)
(92)
59 (6.8)
(*1)
17 171
Z X W
1.5
(80)
50
40
70
67
52
(40)
33
Z X
27.5
Base surface W
(40)
(1)
M3 depth 6 54 (36)
7
4-M6 depth 14
28.5 (5) (For ground line) 67
Reference surface 73 65
58 (Reamed
94 hole pitch)
(11) G (Reamed hole pitch) 10
136
(149) F (Reamed hole and oblong hole pitch)
H-oblong hole depth 5.5 Y
E-4 H7 reamed, depth 5.5

45 Hole for
P.C 45 C-M5 through
28
.D. work installation

40 (Bolt screw-in depth: 10mm or less)
15 H8
(3)
35 65 D-4.5 through
14.5
4-M6 depth 12, A100P (M5 hole pitch) 10 8 counterbored, depth 4.5(from opposite side)
spaced at 90 apart Reference surface
B100P 30
Cross section of X-X 18 J 15 (36)
*M6
+ 0.012
(8)
0
*Range of a tapped through (4.5)

45
hole location on the load cell

4 H7
(4.5)
*7
(R
2)
5
0.5
(5.5)
5
Cross section of Z-Z Reference surface
Detailed view of Y Cross section of W-W

Stroke 115 165 215 265 315 365 415
L 291 341 391 441 491 541 591
A 1 1 2 2 3 3 4
B 1 2 2 3 3 4 4
C 6 6 8 8 10 10 12
D 4 6 6 8 8 10 10
E 3 3 3 3 3 3 3
F 85 85 185 185 285 285 385
G 100 100 200 200 300 300 400
H 1 1 1 1 1 1 1
J 222 272 322 372 422 472 522
K 93 70 49 27 - - -
Length of a cable track cover only for up to 265mm-stroke Mass Without brake 4.7 4.9 5.2 5.5 5.8 6.1 6.4
(kg) With brake 4.9 5.1 5.4 5.7 6.0 6.3 6.6
Power-supply
capacity
axes points
(Standard type) SCON-CB-60 F-NP-2-2 type controller
1 axis 230 VAC
SCON-CGB-60 F-NP-2-2 type controller
RCS3-RA6R 8
RCS3 RoboCylinder
200V

Series Type Encoder type Motor Lead Stroke Applicable Cable length Option
Type Controller
Items 100: Servo 2: Lead 2mm 120: 120mm T2: SCON-CB/CGB N: No cable Please refer to the
~
to select an option

1250 Caution:
Vertical
Horizontal 1000
value are strictly for reference
Push Force (N)

750 vary slightly.
Side The current limit value should
500 be 24% or more because the
Ceiling
push force would be unstable
* Depending on when the current limit value
250
may be some
0
limitations to 0 20 40 60 80 100 120 140 160
mount position.
P
(3)
Actuat
RCS3-RA7R- 1 -100-2- 2 -T2- 3 - 4 100 2 100 0.3 10 10 849 1200 2 100
Cable Length Actuat

Options
FL P25
Brake B
Refer to the
Cable exit direction (Bottom) CJB RoboCylinder
(*2)
load cell.
9 RCS3-RA7R
RCS3 RoboCylinder
Dimensions
SE : Stroke end
st 123 28 L
3 3 2 st+160 38.5
35 h7
30 (Rod outer
diameter)
(102)
59 (6.8)
(*1)
17 186
Z
X W
2.5
(100)
40
60
70
(78)
82
66
33
(50)
28.5
(1)
Base surface Z W 4-M8 depth 16 (50)

X
17
0.5 M3 depth 6 54 (38.5)

36 (5.5) (For ground line) 82
Reference surface 60
73 75 G (Reamed hole pitch) (Reamed hole pitch)
(13.5) 109 F (Reamed hole and oblong hole pitch)
(168)
H-Oblong hole, depth 6 Y

45 45
P.C
.D.4
6 Hole for
work installation E-4 H7 reamed depth 5.5
40
C-M5 depth 9
15 H8
(3)
35 D-6 through
16
Reference surface A100p 60 30 9.5 counterbored, depth 5.5(from opposite side)

4-M8 depth 16 B100p 45
spaced at 90 apart Cross section of X-X 28 J 34 (38.5)
*M6
+0.012
( 9.5)
0
( 6)
45
*7
4 H7
(5.5)
*Range of a tapped through

(R
5
5
2)
0.5
Detailed view of Y
(5.5)
Cross section of Z-Z Reference surface

Cross section of W-W

Stroke 120 170 220 270 320 370 420 470 520
L 318.5 368.5 418.5 468.5 518.5 568.5 618.5 668.5 718.5
A 1 1 2 2 3 3 4 4 5
B 1 2 2 3 3 4 4 5 5
K
C 6 6 8 8 10 10 12 12 14
D 4 6 6 8 8 10 10 12 12
E 3 3 3 3 3 3 3 3 3
F 85 85 185 185 285 285 385 385 485
G 100 100 200 200 300 300 400 400 500
K H 1 1 1 1 1 1 1 1 1
J 218 268 318 368 418 468 518 568 618
K 83 59 38 17 - - - - -
Length of a cable track cover only for up to 270mm-stroke Mass Without brake 6.1 6.5 6.8 7.2 7.5 7.9 8.2 8.6 8.9
(kg) With brake 6.3 6.7 7.0 7.4 7.7 8.1 8.4 8.8 9.1
Power-supply
capacity
axes points
1 axis 230 VAC
RCS3-RA7R 10
RCS3 RoboCylinder
200V

Type Controller
Items 200: Servo 2.5: Lead 2.5mm 100: 100mm T2: SCON-CB/CGB N : No cable Please refer to the
motor, (Servo press P : 1m options table below.
~
200 W 500: 500mm S : 3m * Please make sure
to select an option
M : 5m code for both the

2500 Caution:
Vertical
Horizontal 2000
Push force (N)

1500 vary slightly.
Ceiling
push force would be unstable
500
may be some
0
limitations to 0 20 40 60 80 100 120 140 160
mount position.
P
(3)
Actuat
RCS3-RA8R- 1 -200-2.5- 2 -T2- 3 - 4 200 2.5 125 0.2 10 10 1367 2000 2.5 125
Cable Length Actuat

Options
FL P25
Brake B
Refer to the
(*2) When you select CJB for an actuator whose stroke is 100mm, the foot bracket cannot be chosen.
load cell.
11 RCS3-RA8R
RCS3 RoboCylinder
Dimensions
SE : Stroke end
st 123 35 L
4 4 5 st+212.5 48
65 h7
40 (Rod outer Grease nipple
diameter)
(100)
61 (6.8)
(*1)
17 227.5
X
4-M8 depth 16 67
2.5
40
60
(110)
(93)
90
67
86
43.5
(55)
Base surface M3 depth 6
(1)
11
(For ground line) 25 (48) (55)
11
2 4-M8 depth 16
42 (5) X 90
Reference surface
88 88
(11) 109
(194)
Hole for
work installation
50
*M6
8H7 reamed, depth 6.5
15 H8
(3)
*7
45
35 C-M8 through
17
B A100P (Bolt screw-in depth: 12mm or less)

Reference
surface Y 50 D (Reamed and oblong hole pitch) 50
*Range of a tapped through 30 E (48)
hole location on the load cell 17.5
+ 0.015
0
Cross section of X-X

8 H7
(R
4)
9
Detailed view of Y

Stroke 100 150 200 250 300 350 400 450 500
L 360.5 410.5 460.5 510.5 560.5 610.5 660.5 710.5 760.5
A 1 1 2 2 3 3 4 4 5
B 65 115 65 115 65 115 65 115 65
C 6 6 8 8 10 10 12 12 14
K D 165 215 265 315 365 415 465 515 565
E 265 315 365 415 465 515 565 615 665
Length of a cable track cover only for up to 250mm-stroke K 98 63 42 21 - - - - -
Mass Without brake 10.2 10.8 11.3 11.9 12.5 13 13.6 14.1 14.7
(kg) With brake 10.7 11.3 11.8 12.4 13.0 13.5 14.1 14.6 15.2
Power-supply
capacity
axes points
1 axis 230 VAC
RCS3-RA8R 12
RCS3 RoboCylinder
200V
Models RCS3 RA10R 400 T2

Type Controller
Items 400: Servo 2.5: Lead 2.5mm 100: 100mm T2: SCON-CB/CGB N: No cable Please refer to the
~
to select an option

7000 Caution:
6000 force and current limit
Vertical
Horizontal
5000
Push Force (N)

4000 vary slightly.
2000
the model, there 1000 is lower than 20%.
may be some
limitations to 0
using the vertical 0 50 100 150 200 250
mount position. Electric Current Limit (%)
P
(3)
Actuat
Motor Lead Max. speed Max. acceleration Max. payload Rated thrust Max.push force Stroke
RCS3-RA10R- 1 -400-2.5- 2 -T2- 3 - 4 400 2.5 125 0.2 15 15 2713 6000 2.5 125
Cable Length Actuat

Options
FL P25
Brake B
Refer to the
(*2) When you select CJB for an actuator whose stroke is 100mm, the foot bracket cannot be chosen.
load cell.
13 RCS3-RA10R
RCS3 RoboCylinder
Dimensions
SE : Stroke end
st 130 35 L
5 5 5 st+253 64.5
70 h7
Grease nipple
40 (Rod outer
diameter)
(121)
61 (6.8)
(*1)
17 237.5
4-M10 depth 20 80 X
2.5
(173)
(115)
70
50
106
80
135
54
(87)
(2)
13
Base surface M3 depth 6 4-M10 depth 20
(For ground line) 55.5 (64.5)
33
1 (87)
Reference surface 53 (10.7) 135
108 108
(33) (129)
(260)
Hole for
65
work installation
(3) 10 H7 reamed, depth 6.5

20 H8
40 C-M10 through
Y
20.5
(bolt screw-in depth: 15mm or less)

Reference
surface B A100P
60 D (Reamed and oblong hole pitch) 60
*M8
30 E 21 (64.5)
*9
45
*Range of a tapped through

+ 0.015

0
10 H7
(R
5)
11
Cross section of X-X
Detailed view of Y

K
Stroke 100 150 200 250 300 350 400 450 500
L 417.5 467.5 517.5 567.5 617.5 667.5 717.5 767.5 817.5
A 1 1 2 2 3 3 4 4 5
B 82 132 82 132 82 132 82 132 82
C 6 6 8 8 10 10 12 12 14
D 182 232 282 332 382 432 482 532 582
E 302 352 402 452 502 552 602 652 702
K 65.5 41.5 11.5 - - - - - -
Length of a cable track cover only for up to 200mm-stroke Mass Without brake 17.1 17.9 18.7 19.5 20.4 21.2 22 22.9 23.7
(kg) With brake 17.6 18.4 19.2 20 20.9 21.7 22.5 23.4 24.2
Power-supply
capacity
axes points
1 axis 230
Single axis controller Incremental points 200 VAC
VAC Position global
RCS3-RA10R 14
RCS2 RoboCylinder
200V

Type Controller
Items 750: Servo 2.5: Lead 2.5mm 50: 50mm T2: SCON-CB/CGB N: No cable Please refer to the
motor, 1.25: Lead 1.25mm (Servo press P: 1m options table below.
~
to select an option

25000 Caution:
Vertical
Horizontal 20000
Push Force (N)

15000 vary slightly.
Lead 1.25
Ceiling 9800
Lead 2.5 push force would be unstable
5000
may be some 1000
limitations to 0
using the vertical 0 20 50 100 150 200 250
P
(2) The value of the payload assumes an acceleration of 0.02 G when the lead is 2.5, or
acceleration of 0.01 G when the lead is 1.25. The above value is at the max. acceleration.
(3) The value of the horizontal payload assumes that no external force is applied to
the rod from any direction other than the moving direction.
(4) If the actuator comes with a brake (optional), the brake box (supplied with the
brake) is required in addition to the actuator and controller.
Actuat
Motor Lead Max. accele- Max. payload Rated thrust Contin. push Max. push Stroke Stroke
Model number (W) (mm) ration (G) Horizontal (kg) Vertical (kg) (N) force (N) force (N) * (mm) (mm) 50 100 150 200
Lead (mm)
RCS2-RA13R- 1 -750-2.5- 2 -T2- 3 - 4 2.5 0.02 15 15 5106 3567 9800 50~200 2.5 85 120 125
750 (every
RCS2-RA13R- 1 -750-1.25- 2 -T2- 3 - 4 1.25 0.01 15 15 10211 7141 19600 50mm) 1.25 62
Cable Length Actuat

Options
FL P25
Brake (with brake box) B
Brake (without brake box) BN Refer to the
Motor side-mounted to the top MT1 /MT2/MT3 RoboCylinder
Motor side-mounted to the right MR1/MR2 General Catalog.
Motor side-mounted to the left ML1/ML2
Equipped with load cell (with cable track for the wiring) (*2) LCT -
Equipped with load cell (without cable track for the wiring) (*2) LCN -
(*2) Please make sure to enter LCT or LCN in the box of Model Specification Items to select the actuator
with load cell.
15 RCS2-RA13R
RCS3 RoboCylinder
Dimensions
2/3D 9
CAD M8
25
20H7
40
(286)
(154.5)
154.5
50
70
124 90 (st+439.5)
(130) L
2-8H7, depth 10 D-M12 depth 18
E
A A B100P (C)
Ra3.2
s
les
0.02 A
T
or
Brake box (included)

.5
R0
Ra3.2
C1
Min 100
(Included in the brake-

equipp ed model )
12
Standalone model:
20 h8
(18)
R CB-110-RA13-0
94
70
32 or more
20 10
38
152
12
65.5
Work piece 4-5 162
reference dimensions
Note: 142
The brake box
require s a Dimensions and Mass by Stroke
DC24V (max1A) Stroke 50 100 150 200
power. Without brake 703.5 753.5 803.5 853.5
L
With brake 760.5 810.5 860.5 910.5
*1 Connects the motor-encoder cable.
A 40 65 40 65
Refer to P. 37 for the details of the cable.
B 2 2 3 3
*2 While the rod is returning to its home position, Note: C 42.5 67.5 42.5 67.5
please be careful of interference from surrounding The brake-equipped model (option code: "-B") always comes D 6 6 8 8
objects, as it will travel until it reaches the ME. with a brake box. If you want to order just the brake-equipped E 90 115 90 115
*3 The orientation of the bolt will vary depending actuator, specify the option code "-BN". Mass Without brake 35.5 36.5 37.5 38.5
on the product. (kg) With brake 37.5 38.5 39.5 40.5
Motor-mounting direction / Cable exit direction (Options)
Note:
Please be sure to specify one
of the codes for the motor
mounting direction and the
cable exit direction.
Option Code MT1 MT2 MT3 MR1 ML1 MR2 ML3

Motor-mounting direction Top (st andard) Top Top Right Left Right Left
Cable exit direction Top (st andard) Right Left Top Top Right Left
Power-supply
capacity
axes points
(Standard type) SCON-CB-750S F-NP-2-2 type controller
1 axis 230
Incremental points 200 VAC
VAC Position global
Single axis controller
SCON-CGB-750S F-NP-2-2 type controller
RCS3-RA13R 16
RCS3 RoboCylinder
200V

Type Controller
Items 3300: Servo 3.6: Lead 3.6mm 100: 100mm T3: SCON-CGB N: No cable Please refer to the
~
to select an option
M: 5m code for the motor
(The increment of X : Spec h side-mounted
stroke is 100mm) direction (MT) .
*Controller is not included.

30000
Caution:
Vertical
Horizontal 25000
20000 purposes. Actual numbers may
Push Force (N)

vary slightly.
Ceiling 10000 push force would be unstable
may be some
limitations to 0
using the vertical 0 20 40 60 80 100 120 140 160 180 200
P
(3) Please install a support block for the horizontal installation. It is recommended
since vibration might occur depending on the operational and installation condition
and damage the actuator.
Actuat
RCS3-RA15R- 1 -3300-3.6- 2 -T3- 3 - 4 3300 3.6 240 0.1 15 15 15577 30000 3.6 240
Cable Length Actuat

(Robot cable)
* Refer to P. 37 for maintenance cables. Loading repeatability (*1) 0.5% F.S (*3)
* The standard cable is the robot cable. Load cell service life 2 million times
Ambient operating temperature and humidity 0C~40C
Options (*1) Ratio (in percentage) of the load variations caused by the repeated operations to the load cell
rated capacity. The ratio is calculated based on actual data at IAI.
Name Option code Reference page (*2) R.C: Rated Capacity
Brake B (*3) F.S: Full Scale
Cable exit direction (Top) CJT Refer to the
Cable exit direction (Right side) CJR RoboCylinder
Cable exit direction (Left side) CJL General Catalog.
Motor side-mounted to the top MT
(*1)
load cell.
17 RCS3-RA15R
RCS3 RoboCylinder
Dimensions
SE : Stroke end
5 22.5 2-M10 depth 20 (for eyebolt) 10

Attachment hole (M8 tapped)
(Rod O.D.)
90h7
60
85
(18) 370
PG connector (*1) M connector (*1)
2-M10 depth 20
(for eyebolt)
158
22.5
22.5 Attachment
hole position
8-M12 depth18 (1.5)
306
236
146.5
95
65
88.5
5 5
16
M.E. S.E. Home M.E. (*2)
65 Grease supply gate (guide) 108 15
1
88.5
124.5
(same on the opposite side) 115
95 182
150 Grease supply gate (ball screw)
116 45 st+289 100
st L (st+550)
(Dimensions with brake)
Cable exit direction on right side (CJR) Cable exit direction on top (CJT) Cable exit direction on left side (CJL)
(370) 80 (370)
65 19 19 65
(370)
39
39
19 65
(306)
80
80
103
37
(st+550) 58 103
(150)
9 A
M8 through
25 Ra3.2
s
les
0.02 A
T
or
.5
R0
Ra3.2
C1
20H7
.5
C0
20 h8
(18)
32 or more
40 20 10
38
Hole for work Work piece

piece installation reference dimensions

Stroke 100 200 300 400 500
L 650 750 850 950 1050
Mass Without brake 61 64.9 68.7 72.6 76.5
(kg) With brake 63 66.9 70.7 74.6 78.5
RCS3-RA15R actuators can be operated with the following controller. Select an appropriate controller type according to your application.
Power-supply
capacity
axes points
Position global
Single axis controller Absolute 512 Three-phase type controller
SCON-CGB-3300 F-NP-2-2 1 axis 230 VAC (Safety category
(Global type) Incremental points 200 VAC
compliant specification)
RCS3-RA15R 18
RCS3 RoboCylinder
200V

Type Controller
Items 3000: Servo 4: Lead 4mm 100: 100mm T3: SCON-CGB N: No cable Please refer to the
~
to select an option
M: 5m code for the motor
(The increment of X : Spec h side-mounted
stroke is 100mm) direction (MT) .
*Controller is not included.

50000
Caution:
45000
Vertical
Horizontal 40000
35000 purposes. Actual numbers may
Push Force (N)

30000 vary slightly.
15000
10000
may be some 5000
limitations to 0
using the vertical 0 20 40 60 80 100 120 140 160 180 200
P
(3) Please install a support block for the horizontal installation. It is recommended
since vibration might occur depending on the operational and installation condition
and damage the actuator.
Actuat
RCS3-RA20R- 1 -3000-4- 2 -T3- 3 - 4 3000 4 220 0.1 15 15 25902 50000 4 220
Cable Length Actuat

(Robot cable)
* Refer to P. 37 for maintenance cables. Loading repeatability (*1) 0.5% F.S (*3)
* The standard cable is the robot cable. Load cell service life 2 million times
Ambient operating temperature and humidity 0C~40C
Options (*1) Ratio (in percentage) of the load variations caused by the repeated operations to the load cell
rated capacity. The ratio is calculated based on actual data at IAI.
Name Option code Reference page (*2) R.C: Rated Capacity
Brake B (*3) F.S: Full Scale
Cable exit direction (Top) CJT Refer to the
Cable exit direction (Right side) CJR RoboCylinder
Cable exit direction (Left side) CJL General Catalog.
Motor side-mounted to the top MT
(*1)
load cell.
19 RCS3-RA20R
RCS3 RoboCylinder
Dimensions
SE : Stroke end
5 22 2-M10 depth 20 (for eyebolt) 12.5
Attachment hole (M8 tapped)
(Rod O.D.)
100h7
80
85
PG connector (*1) M connector (*1) (18) 380

213
22.5
22.5 Attachment
hole position
399
8-M12 depth18 (2.5)
289
183.5
70
110
5 5
102
M.E. S.E. Home M.E. (*2)
24
Grease supply gate (guide) 109.5 2-M10 depth 20 25
1
1
70
102
149.5
110 (same on the opposite side) (for eyebolt)
207
200 Grease supply gate (ball screw) 177
126 45 st+334.5 135
st L (st+640.5)
Cable exit direction on right side (CJR) Cable exit direction on top (CJT) Cable exit direction on left side (CJL) (Dimensions with brake)
(370) 80 (370)
65 19 19 65
(370)
39
39
19 65
80
80
(399)
123
A
40.5
9
Ra3.2 (st+640.5) 65
M8 through 123
s
25
les
T
0.02 A (200)
or
.5
R0
Ra3.2
C1
20H7
20 h8
.5
(18)
C0
20 10
32 or more
40 38
Hole for work Work piece

piece installation reference dimensions

Stroke 100 200 300 400 500
L 740.5 840.5 940.5 1040.5 1140.5
Mass Without brake 93.3 99.6 105.8 112.1 118.4
(kg) With brake 96.3 102.6 108.8 115.1 121.4
RCS3-RA20R actuators can be operated with the following controller. Select an appropriate controller type according to your application.
Power-supply
capacity
axes points
Position global
Single axis controller Absolute 512 Three-phase type controller
SCON-CGB-3000 F-NP-2-2 1 axis 230 (Safety category
(Global type) Incremental points 200VAC
VAC
compliant specification)
RCS3-RA20R 20
Selection Guide
Push Force / Continuous Operation Thrust

RCS3 t RCS2 Series High-thrust Rod Type
When using the actuator, the following three conditions must be satis ed.
Condition 1. The push time must be no greater than the determined time
Condition 2. The continuous operational thrust force of a single cycle must be no greater than the allowable continuous
operational thrust force.
Condition 3. In a single cycle,
Selection method
Condition 1. Push time
The maximum push time of each push command value is determined in the tables below. When using the actuator, please make sure that the push
time is no greater than the time indicated in the tables below. Please be aware that using the actuator beyond the times indicated in the tables below
may cause the actuator to malfunction.
RCS3
RA4R There is no limit in pressing time for RA4R. It is available to have continuous pushing.
Push Force (N)

RA6R Push Command Value (%) Maximum Push Time (s)
70 or less Continuous pushing is available 420 450 480 510 540 570 600
400
85 300
90 38 350
95 27
100 21 300
Push Time (s)
250
200
150
100
50
0
70 75 80 85 90 95 100
Push Command Value (%)
Push Force (N)

70 or less Continuous pushing is available 600 686 771 857 943 1029 1114 1200
400
80 300
85 94 350
90 33
95 24 300
100 18
Push Time (s)
250
105 15
110 12 200
115 11
120 9 150
125 8
100
130 7
135 6 50
140 5
0
70 80 90 100 110 120 130 140
Push Force (N)

70 or less Continuous pushing is available 1000 1143 1286 1429 1571 1714 1857 2000
400
100 300
105 92 350
110 67
115 54 300
120 44
Push Time (s)
250
125 38
130 33 200
135 29
140 25 150
100
50
0
70 80 90 100 110 120 130 140
21
Selection Guide
RA10R Push Command Value (%) Maximum Push Time (s) Push Force (N)
70 or less Continuous pushing is available 2100 2880 3660 4440 5220 6000
400
90 300
95 210 350
100 95
105 70 300
110 56
Push Time (s)

250
115 46
120 39 200
125 34
130 30 150
135 26
100
140 24
145 21 50
150 19
155 17 0
160 16 70 96 122 148 174 200
165 14 Push Command Value (%)
170 13
175 12
180 11
185 10
190 9
195 9
200 8
RCS2
Push Force (kN)
RA13R Push Command Value (%) Maximum Push Time (s) Lead 2.5 4.9 5.39 5.88 6.37 6.86 7.35 7.84 8.33 8.82 9.31 9.8
70 or less Continuous pushing is available Lead 1.25 9.8 10.78 11.76 12.74 13.72 14.7 15.68 16.66 17.64 18.62 19.6
71~100 300 300
110 230 250

120 95
200
130 58
Push Time (s)
140 43 150
150 33
100
160 27
170 21 50
180 18
0
190 15 100 110 120 130 140 150 160 170 180 190 200
200 13 Push Command Value (%)
RCS3
RA15R Push Force (kN)
Push Command Value (%) Maximum Push Time (s)
13.5 15 16.5 18 19.5 21 22.5 24 25.5 27 28.5 30
90 or less Continuous pushing is available 350
91~100 300
110 118 300
120 58 250
130 40
Push Time (s)
140 30 200
150 25 150
160 20
170 16 100
180 13 50
190 10
200 9 0
90 100 110 120 130 140 150 160 170 180 190 200
RA20R Push Command Value (%) Maximum Push Time (s) Push Force (kN)
22.5 25 27.5 30 32.5 35 37.5 40 42.5 45 47.5 50
90 or less Continuous pushing is available
400
91~100 300
350
110 80
120 50 300
Push Time (s)
130 36 250
140 28
200
150 22
160 18 150
170 15 100
180 13
50
190 11
200 10 0
90 100 110 120 130 140 150 160 170 180 190 200
22
Selection Guide
Push Force / Continuous Operation Thrust
Condition 2. Continuous operational thrust force

Please consider that the load and duty cycle of a single continuous operational thrust force must be smaller than the allowable continuous
operational thrust force of the actuator.
Also, during a single cycle.
V
F
t2a t2f t2d tw F1a F1f F0 F2d Fw

If the operation patterns on the F2a F2f
left are rewritten so that thrust
t1a t1f t1d t0 T becomes the vertical axis F1d
t1a t1f t1d t0 t2a t2f t2d tw T
t
t
t : Operation time per cycle (s) t2a : Acceleration time 2

F1a : Thrust necessary for acceleration 1 F2a : Thrust necessary for acceleration 2
t1a : Acceleration time 1 t2f : Constant rate of traverse time 2
F1f : Thrust necessary for constant traverse 1 F2f : Thrust necessary for constant traverse 2
t1f : Constant rate of traverse time 1 t2d : Deceleration time 2
F1d : Thrust necessary for deceleration 1 F2d : Thrust necessary for deceleration 2
t1d : Deceleration time 1 tw : Wait time
F0 Fw : Thrust necessary for waiting
t0
The continuous operational thrust force (Ft) of a single cycle is calculated with the following formula.
Ft = F1a t1a + F1f t1f + F1d t1d + F0 t0 + F2a t2a + F2f t2f + F2d t2d + Fw tw
2 2 2 2 2 2 2 2
*In the case of horizontal use, it is not necessary to calculate the thrust necessary for constant
t traverse or waiting.
F1a/F2a/F1d/F2d vary according to the direction of operation, so please calculate them with the formulas shown below.
For horizontal use: thrust at acceleration/deceleration F1a = F1d =F2a =F2d = (M+m) x d + FS M : Weight of moving part (kg)
For horizontal use: thrust at constant velocity F1f = F2f = f + FS m : Weight of load (kg) Actuator
For horizontal use: retaining force at the wait state FW = 0 d : Directive acceleration/deceleration Mass of moving part :
For vertical use: thrust at acceleration during descent F1a = (M+m) x 9.8 (M+m) x d + FS setting (m/s2) RA6R : 2.5kg
: Thrust taking into account the RA7R : 3.5kg
For vertical use: thrust at constant traverse during descent F1f = (M+m) x 9.8 + + FS (*1) driving resistance of the external guide
For vertical use: thrust at deceleration during descent F1d = (M+m) x 9.8 + (M+m) x d + FS RA8R : 4kg
f : Driving resistance when attaching
For vertical use: thrust at acceleration during ascent F2a = (M+m) x 9.8 + (M+m) x d + F external guide (N) RA10R : 5kg
For vertical use: thrust at constant traverse during ascent F2f = (M+m) x 9.8 + + FS (*1) FS : Find the thrust of RA15R and RA20R RA13R : 9kg
types for each speed from the table RA15R : 10kg
For vertical use: thrust at deceleration during ascent F2d = (M+m) x 9.8 (M+m) x d + FS
below and put it in the formula. RA20R : 18kg
For vertical use: retaining force at the wait state FW = (M+m) x 9.8
*1 When an external guide or similar component is
installed, it is necessary to take into account the
RCS3-RA15R RCS3-RA20R driving resistance.
Speed [mm/s] Fs [N] Speed [mm/s] Fs [N]
0~180 0 0~40 0
181~190 625 41~50 1875
191~200 1250 51~60 3750
201~210 1875 61~70 5625
211~220 2500 71~80 7500
221~230 3125 81~90 9375
231~240 3750 91~100 11250
101~110 13125
111~120 15000
121~130 16875
131~140 18750
141~150 20625
151~160 22500
161~170 24375
171~180 26250
181~220 27500
23
Selection Guide
t a is the acceleration time, but the calculation methods of a trapezoid pattern and a triangle pattern are di erent.
The di erence between a trapezoid pattern and a triangle pattern can be determined by whether the arrival speed of operation of the traverse distance at
the set speed is larger or smaller than the set speed.
Arrival speed (Vmax) = traverse distance (m) set acceleration (m/s2 )
Set speed < arrival speed (1) trapezoid pattern
Set speed > arrival speed (2) triangle pattern
(1) In the case of a trapezoid pattern (2) In the case of a triangle pattern
t a=Vs/a Vs : Set speed (m/s) a : Directive acceleration (m/s2) t a=Vt/a Vt : Arrival speed (m/s) a : Directive acceleration(m/s2)
(1) Trapezoid pattern (2) Triangle pattern
Speed Speed
mm/s mm/s
Positioning Positioning
Convergence time Convergence time
Acceleration Constant speed Deceleration Time Acceleration area Deceleration area Time
area area area s s
Positioning time Positioning time
t f is the constant traverse speed. Please calculate this to calculate the constant traverse distance.
t f= Lc/V Lc : Constant traverse distance (m) V : Directive speed (m/s)
2
/2a
t d is the deceleration time, but if acceleration and deceleration are the same, then it is the same as the acceleration time.
t d=V/a V : The set speed (trapezoid pattern) or arrival speed (triangle pattern) (m/s) a: Directive deceleration (m/s2)
[RCS3-RA15R/RA20R types]
Next, calculate the average velocity. The average velocity can be figured out with following formula.
v1 : Velocity at constant speed in approaching motion

vt =
v2 : Velocity at constant speed in returning motion
Next, calculate the final continuous operation thrust F from the continuous operation thrust Ft and the average velocity vt that have been figured out.
F = Ft + vt t K
The coefficient K should be selected from the table below.

Model name Coefficient K
RA15R 150
RA20R 412.5
Please confirm that the calculated continuous operational thrust force Ft (RA15R20RF )
is smaller than the allowable continuous operational thrust force.
The allowable continuous operational thrust force Ft of this product is as follows.
Model name Allowable continuous operational thrust force (N)
RA6R-LC 481
RA7R-LC 679
RA8R-LC 1367
RA10R-LC 2577
1t: 5100
RA13R-LC
2t: 10200
RA15R-LC 13500
RA20R-LC 22500
If the conditions cannot be satisfied, please adopt measures such as shortening the push time or extending the wait time.
24
Selection Guide
Actuator Options
Front flange
Model FL
Description This is a bracket for fixing the actuator body with the bolts.
RCS3-RA4R 135.5Home position 10 For RCS3-RA6R 134.5

134.5
(Home position)12
19.5 RCS3-RA6R 11.5
(11.5)
12
Model number: RCS3-FL-RA4 Model number: RCS3-FL-RA6
Model number of flange:

R33)
RCS3-FL-RA6
(R
50
50
67 50
88

+ 0.012
6 H7 +0 0.012
R2
+ 0.012 6 H7 0

6+H7
57.8
0.012 0
67
+0.012 6 H7 0 through Detailed view of S
4H7 through S
5
+0.012 0
4- 4- 6.6
6.6through
4H7 0
Detailed view of S
62
100
72
86
100
33
43 86
26
26
31
33
(33)
33
43
Base mounting surface S 12.5 Base mounting surface
4- 4.5 through 25
Base mounting surface 20
20 SS
Oblong hole through 36 Oblong hole
through 40
40
54
54
138
2020
For RCS3-RA7R
RCS3-RA7R 136

136
15
(Home position) 15
For RCS3-RA8R
RCS3-RA8R
138 (Home position)
15
13 (15)
Model
Modelnumber:
numberRCS3-FL-RA7
of flange:
(13) Model
Modelnumber:
number RCS3-FL-RA8
of flange:

4)
(R
10 R4
RCS3-FL-RA7 RCS3-FL-RA8
10 (R
R4
60
60
4)
70 60

60
10
+ 0.015
+0.015 8 H7 0 +0.015
10
Detailed8view
H7 of0 S
+ 0.015
72
+0.015 8H7 0 + 0.015 8H7

H7+ 0.015
0
70
8 H7 + 0.015 8 0 through
72
0
8 H7 0 through
8H7 0
4-9 S
S 4- 9through
4-9 Detailed view of S
4- 9through
105
140
110
43.5
33
89
140
55110
105
89
43.5
44.5
33
(43.5)
(33)
43.5
44.5
33
55
26.5 S
Base mounting surface 26.5 S
53
Base mounting surface 3030S S
6060
Oblong hole through 70 53
70 Oblong hole through 8585
RCS3-RA10R
For RCS3-RA10R 145
145
20
(Home position) 20
RCS2-RA13R
Modelnumber:
numberRCS3-FL-RA10
of flange:
Model 15
(15) Model number: RCS2-FL-RA13

R) 4
RCS3-FL-RA10
R4
(
813.5 notch
70
1010
70
+0.015
+0.015
8 H7+ 0.015
0
8 H7 0
8 H7 0 162-surface
86
+ 0.015
14
8 H7 0 through S
86
4-11
4- 11through
Detailed view of S 80 width section 5
80h7
160
6565 130
190
54
160
130
5454
(54)
80
29

Base mounting surface 35 S
35 70S

Oblong hole through 70 80 80 25
105
105 190 110
Foot Bracket
Model FT
Description This is a bracket to fix the actuator with bolts from the top side. (Bolts are tightened from the top, not from the bottom.)
The actuator body may be twisted or deformed if insufficient number of mounting foot brackets are used. Actuator life could also be shortened.
* Refer to the installation dimensions in the actuator drawing for the installation pitch between the foot brackets.
(Note 1) 2 hexagonal socket head bolts enclosed
For RCS3-RA4R Model number - Short type: RCS3-FT-RA4-1 (Note1) RCS3-RA6R

For RCS3-RA6R Model number - Short type: RCS3-FT-RA6-1 (Note 1)
- Long type: RCS3-FT-RA4-2 (Note1) RCS3-FT-RA6-1 - Long type:1 4,000(Note 1)
RCS3-FT-RA6-2
J-6.6 through G 20 16 30
J- RCS3-FT-RA6-2
6.6through 1 G 7,000
10
15 36
H J-6.6 H 10
10
G 15 36
10
H
10
37
130
110
30
37
180
160
130
110
120
100
140
120
180
160
17 171
181 17 171
82
82
42
35
42
Base mounting surface Base mounting surface

9
For side-mounted motor part

(2)
9
9
For the actuator

Hexagonal socket head bolt

Foot Bracket Standard Mounting Position

Foot Bracket
Standard Mounting Position
Stroke 110 160 210 260 310 360 410
Stroke 115
115 165
165 215
215 265
265 315
315 365
365 415
415
G 150 200 250 300 350 400 450 G
G 165
165 165
165 265
265 265
265 365
365 365
365 465
465
H 0 0 200 200 200 200 200 H
H 0
0 0
0 165
165 165
165 165
165 165
165 265
265
J 4 4 6 6 6 6 6 JJ 4
4 4
4 6
6 6
6 6
6 6
6 6
6
25
Selection Guide
For RCS3-RA7R Model number - Short type: RCS3-FT-RA7-1 (Note 1) For RCS3-RA8R Model number - Short type: RCS3-FT-RA8-1 (Note 1)
RCS3-RA7R RCS3-RA8R
- Long type: RCS3-FT-RA7-2 (Note 1) - Long type: RCS3-FT-RA8-2 (Note 1)
Model number of flange - Short type: RCS3-FT-RA7-1 (Note1) Model number of flange - Short type: RCS3-FT-RA8-1 (Note1)
- Long type: RCS3-FT-RA7-2 (Note1) - Long type: RCS3-FT-RA8-2 17.5
(Note1)
J- 9 through
J- 9through G 30 34 38.5 G 50 48 17.5
J-9 G 30 34 38.5 J-9 H G 50 48
15
H
15
H H
15
15
59
47
170
140
59
47
160
130
170
140
240
210
160
130
210
180
240
210
210
180 17 227.5
17 186
17 186 17 227.5
102
114.4
102
(4.6)
4.6
114.4
52
59.5
19
52
59.5
19
Base mounting surface
2
For side-mounted motor part Base mounting surface
16
For side-mounted motor part
2
For the actuator

16
For the actuator

Foot Bracket
Foot Bracket

Stroke 120
120 170
170 220
220 270
270 320
320 370
370 420
420 470
470 520
520
Stroke 100
100 150
150 200
200 250
250 300
300 350
350 400
400 450
450 500
500
GG 160
160 160
160 260
260 260
260 360
360 360
360 460
460 460
460 560
560 GG 165
165 215
215 265
265 315
315 365
365 415
415 465
465 515
515 565
565
HH 0
0 0
0 160
160 160
160 160
160 160
160 260
260 260
260 260
260 HH 0
0 0
0 200
200 200
200 200
200 200
200 200
200 300
300 300
300
JJ 4
4 4
4 6
6 6
6 6
6 6
6 6
6 6
6 6
6 JJ 4
4 4
4 6
6 6
6 6
6 6
6 6
6 6
6 6
6
For RCS3-RA10R Model number - Short type: RCS3-FT-RA10-1 (Note 1) For RCS2-RA13R Model number: RCS2-FT-RA13
RCS3-RA10R
- Long type: RCS3-FT-RA10-2 (Note 1)
Model number of flange - Short type: RCS3-FT-RA10-1 (Note1)
- Long type: RCS3-FT-RA10-2
J-11 through G 60 21(Note1)
64.5
H
15
J-11 G 60 21 64.5
H 13.5 notch
190 15
70
190 160
70
160
290
290260
160
190
260
35
17 237.5 A 100 C
17 237.5
5.3 179
(5.3)
179
92
38
311
92
Base mounting surface For side-mounted motor part

38
For the actuator

128
Hexagonal socket head

bolt

25
Foot Bracket Standard Mounting Position

Foot Bracket
Standard Mounting Position Stroke 50 100 150 200

Stroke 100
100 150
150 200
200 250
250 300
300 350
350 400
400 450
450 500
500 A 40 65 40 65
GG 182
182 232
232 282
282 332
332 382
382 432
432 482
482 532
532 582
582 B 2 2 3 3
HH 0
0 0
0 200
200 200
200 200
200 200
200 200
200 300
300 300
300 C 42.5 67.5 42.5 67.5
JJ 4
4 4
4 6
6 6
6 6
6 6
6 6
6 6
6 6
6 D 6 6 8 8
Quantities Enclosed
The following number of foot brackets and bolts is enclosed when the foot bracket option (Option code: FT) is selected at the time of the actuator purchase.
Stroke Enclosed Number of Bolts

Model Name Foot Brackets
mm QTY Enclosed
110 Long type 2 4
Short type 1
160 4
RCS3-RA4R Long type 1
Short type 2
210410 6
Long type 1
Short type 2
RCS3-RA6R 415 6
Long type 1
Short type 1
120170 4
Long type 1
RCS3-RA7R
Short type 2
220520 6
Long type 1
Short type 1
150 4
Long type 1
RCS3-RA8R
Short type 2
200500 6
Long type 1
Short type 1
150 4
Long type 1
RCS3-RA10R
Short type 2
200500 6
Long type 1
50100 3 6
RCS2-RA13R
100200 4 8
26
SCON-CB Controller
Servo Press Dedicated Controller
Feature
1 Dedicated Press Program Included

There are 8 types of press-operation modes to choose from
By combining 2 types of control methods and 4 types of stoppage methods,
Speed control Position stop

After arriving at the target position, Distance stop
stops while maintaining the position Load stop
at the time of arrival. Incremental load stop
Position stop
Force control
Distance stop
After arriving at the target position,
stops while maintaining the force at Load stop
the time of arrival. Incremental load stop
Simple program input
Simply operate the program by inputting the values into the screen for each
Also, because the input increment for position is 0.001mm, it is now possible
to input more precise settings.
This allows the user to make more microscopic adjustments in the
positioning process.
A judgment function has also been added
Setting the judgment range with the press program judges whether or not the position and load
fall within the speci ed range.
2 Assignment of I/O Signals Specialized for the Servo Press Functions

The assignment of servo press dedicated I/O signals is completely di erent than the former PIO pattern.
3 Predictive Maintenance Functions

A function that issues a warning when a motor overload is detected has been included.
Monitoring changes in the temperature of the motor makes it possible to detect abnormalities before the occurrence of a breakdown or a
malfunction.
Improvement of monitoring functions:
Similar to the trigger function of an oscilloscope, it is now possible to acquire the waveforms of the current position, current speed, etc. from
the instant the state of the selected signal changes. Also, it is possible to acquire the signal states of positioning completion, alarms, etc.
A function that integrates the number of cycles with the distance covered makes it possible to check maintenance timing.
The calendar function makes it possible to keep a timetable of the alarms that have been generated.
27 SCON-CB
SCON-CB Controller
List of Models
Model number SCON-CB/CGB
External view
Standard speci cation Network connection speci cation (optional) (*2)
PIO
I/O type connection MECHATR
speci cation DeviceNet CompoNet EtherCAT EtherNet/IP PROFINET IO
LINK I,II
(*1) connection connection connection connection connection connection connection
connection
speci cation speci cation speci cation speci cation speci cation speci cation speci cation
speci cation
I/O type model number NP/PN DV CC PR CN ML EC EP PRT
Supported encoder type Incremental/Absolute
Model Number
SCON CB F
Series Type Motor type Encoder type I/O type I/O cable length Power supply voltage
CB Standard type 1 Single phase AC115V

Single-Phase AC100V
CGB Safety category type F Servo press type 2 Single phase AC230V
Single-Phase AC200V
*There is only safety category applicable 3 Three phase AC230V

Three-Phase AC200V
type for the RCS3-RA15R/20R.
30D 30W motor WAI - NP PIO NPN specification 0 No cable

incremental
60 60W motor PN PIO PNP specification 2 2m (standard)
A Absolute
100 100W motor DV DeviceNet connection spec. 3 3m
*The actuator equipped with a
-
200 200W motor will be available soon. CN CompoNet connection spec. 5 5m
400 400W motor CC * When DV, CN, CC, ML, PR,

EC, EP, or PRT has been
750S 750W motor selected as the I/O type,
ML MECHATROLINK I,II connection spec.
please select 0 as the I/O
cable length.
3000 3000W motor PR
3300 3300W motor EC EtherCAT connection spec.
EP EtherNet/IP connection spec.
PRT PROFINET IO connection spec.
SCON-CB 28
SCON-CB Controller
System Con guration
PLC
Field network
DeviceNet
*Please use the optional Included with the controller CC-Link
JM-08 converter if the
I/O at cable PROFIBUS-DP
host controller uses CompoNet
open-collector (Please refer to P. 38)
<Model CB-PAC-PIO020> MECHATROLINK-I/II
speci cation.
(Please refer to P. 30) Standard cable length: 2m EtherCAT
EtherNet/IP
DC24V PROFINET IO
Included with the controller
Power Supply Caution
24V Plug and shell for PIO control and field network cannot be
0V multi-function combined.
FG connector
Motor power circuit breaker
Main power supply Single-Phase
Single phase AC115V
AC100V
(Customer to furnish)
Single-Phase AC200V
Included with the controller when Single phase AC200V
Three-Phase AC230V
*When connecting to a power source, Required only for CGB type
the absolute spec. is selected
please make sure to use a noise lter.
Absolute data backup battery
(Please refer to P. 36) Recommended model NF2010A-UP (manufacturer: Soshin Electric Co., Ltd.)
SCON-CB
(Available for purchase, please contact for the details)
<Model: AB-5>
Option
Regenerative resistance unit Included with the actuator
(Please refer to P. 36) Option Motor cable Encoder cable
<Model: RESU-2/RESUD-2> PC compatible software Motor robot cable Encoder robot cable
(Please refer to P. 36) Comes with the actuator if the cable length is Comes with the actuator if the cable length
speci ed in its model number at the time of is speci ed in its model number at the time
RS232 connection version
purchase. Please refer to P. 37 for more of purchase. Please refer to P. 37 for more
<Model RCM-101-MW>
information about the maintenance cables information about the maintenance cables
USB connection version
<Model RCM-101-USB>
Supported by Ver. 10.00.01.00 or later
*The cable is included with the PC compatible software
Actuator RCS3 Series

*The wiring of the RCS2-RA13R is shown below.
RCS2-RA13R Wiring
With a Brake Without a Brake
Encoder cable with the load cell wiring

Brake power source Model CB-RCS2-PLLA010
(Included in the brake box)
DC24V
Encoder (robot) cable with the load cell wiring
Model CB-RCS2-PLLA (-RB)
Connects to the rear face EU encoder robot cable with the load cell wiring
Model CB-XEU2-PLLA
Brake box
RCB-110-RA13-0
RCS2-RA13R RCS2-RA13R
CB-LDC-CTL -JY (Includes a load cell) (Includes a load cell)
(Included in the brake box)
Motor (robot) cable model CB-RCC-MA (-RB) Motor (robot) cable model CB-RCC-MA (-RB)
EU motor robot cable model CB-XEU-MA Encoder cable model CB-RCS2-PLA EU motor robot cable model CB-XEU-MA
(EU) encoder robot cable model CB-X(EU)2-PLA
Diagram of connection
RCS3-RA15R/20R
RCS3-RA15R/20R (with brake) wiring
Controller

RCS3RA15R/20R Actuator
The brake circuits for the RCS3-RA15R/20R are built into the
DC24V1O%
actuator. Please input a voltage of DC24V10% to the actuator.

(The brake cannot be
released if the input voltage is low.

Please supply power by taking into account the voltage drop
DC24V
of
the wiring.) The
supply of DC24V is necessary for both the DC24V
actuator and the controller. Power Supply
24V
0V
FG

The cable is to be prepared by the customer. The connector is included.

*Please see the instruction manual for details.
29 SCON-CB
SCON-CB Controller
Pulse Converter: JM-08
Converts di erential pulses to the open-collector speci cation (NPN only).
Please use this converter if the host controller uses open-collector input.
Speci cations
Item Speci cations
Input power DC24V10% (Max.50mA)
20
Input pulses Di erential input (Max. 10mA) (RS422 compliant)
Input frequency 500kHz or less
Output pulses DC24V open collector (collector current Max. 25mA) 10
10
Mass 10g or less (not including the cable connectors)
50
37104-3122-000FL (e-CON connector) x 2 by 3M
Accessory
Suitable power line AWG No.24~26
I/O Signals
Pin number Category Signal Symbol Name

1A 24V P24 Power supply (+24V) for I/O
2A 24V P24 Power supply (+24V) for I/O
3A - NC -
4A - NC -
5A IN0 PC1 Command program No. 1
11A IN6 PSTR Program start
12A IN7 PHOM Move to program home position

Input
13A IN8 ENMV Enable axis to move
14A IN9 FPST Forcibly stop program from running
15A IN10 CLBR Load cell calibration command
16A IN11 BKRL Forcibly release brake
17A IN12 RMOD Operation mode switching
18A IN13 HOME Home return
19A IN14 RES Alarm reset
20A IN15 SON Servo ON command
1B OUT0 PCMP Program normally completed
2B OUT1 PRUN Program running
3B OUT2 PORG Program home position
4B OUT3 APRC Approaching
5B OUT4 SERC Searching
6B OUT5 PRSS Pressing
7B OUT6 PSTP Stop pressing
8B OUT7 MPHM Moving to program home position

Output
9B OUT8 JDOK Overall judgment OK
10B OUT9 JDNG Overall judgment NG
11B OUT10 CEND Load cell calibration completed
12B OUT11 RMDS Operation mode status
13B OUT12 HEND Home return completed
14B OUT13 SV Servo ON status
15B OUT14 *ALM Alarm (Negative logic)
16B OUT15 *ALML Minor failure alarm (Negative logic)
17B - - -
18B - - -
19B 0V N Power supply (0V) for I/O
20B 0V N Power supply (0V) for I/O
SCON-CB 30
SCON-CB Controller
Descriptions of I/O Signal Functions
Category Signal abbreviation Signal name Description
PC1 Command program No. 1
PC4 Command program No. 4 Specifies the program No. for Program start command or Move to program home position command.
Also moves to the program home position of the specified program when PHOM signal is set to ON after
PC8 Command program No. 8 specifying the program No.
PSTR Program start Starts the specified program after specifying the program No. in PC1 through PC32 and set this signal to ON.
Moves to the program home position after specifying the program No. in PC1 through PC32 and set this
PHOM Move to program home position
signal to ON.
Input An axis can move only when this signal is set to ON because the axis and program are interlocked.
ENMV Enable axis to move
When this signal is set to OFF, the axis cannot move and the program is stopped.
When this bit is set to ON while the program is running, the program stops running.
FPST Forcibly stop program from running It is possible to select whether to take refuge to the program home position when the program is forcibly
made to stop by changing the parameter.
CLBR Load cell calibration command The load cell calibration is initiated when this signal is set to ON for 20ms or more.
BKRL Forcibly release brake Used to forcibly release the brake.
This signal can change the operation mode when MODE switch on the controller is set to AUTO.
RMOD Operation mode switching
(AUTO mode when this signal is set to OFF and MANU mode when this signal is set to ON)
HOME Home return Performs home return when this signal is set to ON.
RES Reset Resets alarm when this signal is set to ON.
SON Servo ON Servo is turned ON while this signal is set to ON, and OFF while it is set to OFF.
Indicates that the program has been successfully completed. This signal is set to ON when the system has
PCMP Program normally completed transferred to the standby stage.
This signal is not set to ON when the movement to program home position is successfully completed.
Indicates that the program is running. This signal is kept ON from the start of the program to the end of the
PRUN Program running standby stage.
This signal is not set to ON while moving to program home position.
This signal is set to ON when the program is running or when the actuator is on the program home position
PORG Program home position
coordinate of the program that is commanded during the move to the program home position.
APRC Approaching This signal is set to ON when the program is in the approach stage.
SERC Searching This signal is set to ON during the program search stage.
PRSS Pressing This signal is set to ON when the program is in the pressing stage.
PSTP Stop pressing This signal is set to ON when the program is in the stop stage.
MPHM Moving to program home position This signal is set to ON when the program is in the depressing stage.
Output
Indicates that program position (distance) and load judgments have been successfully passed (Overall
JDOK Overall judgment OK
judgment OK status).
Indicates that program position (distance) and load judgments have been failed (Overall judgment NG
JDNG Overall judgment NG
status).
CEND Load cell calibration completed This signal is set to ON when the load cell calibration has been completed.
RMDS Operation mode output Outputs the operation mode status. This signal is set to ON when the controller is in the manual mode.
HEND Home return completed This signal is set to ON when the actuator has successfully returned to the home position.
SV Servo ON This signal is set to ON when the servo is in the ON status.
*ALM Alarm This signal is set to ON when the controller is in the normal condition, and OFF when an alarm is generated.
This signal is set to ON when the controller is in the normal condition, and OFF when the message level alarm
*ALML Minor failure alarm
is issued. (Note that an alarm is generated keeps operating.)
Note: The above "Signal abbreviation" with superscript * is set normally to ON, and OFF when an actuator is in its operation.
31 SCON-CB
SCON-CB Controller
I/O Wiring Diagram
PIO connector (NPN speci cation) PIO connector (PNP specification)

Pin number Classi cation Signal name Pin number Classi cation Signal name
1A 24V 1A 24V
Power supply Power supply
2A 24V 2A 24V
3A Unused 3A Unused
4A Unused 4A Unused
5A IN0 5A IN0
6A IN1 6A IN1
7A IN2 7A IN2
8A IN3 8A IN3
9A IN4 9A IN4
10A IN5 10A IN5
11A IN6 11A IN6
12A IN7 12A IN7
Input Input
13A IN8 13A IN8
14A IN9 14A IN9
15A IN10 15A IN10
16A IN11 16A IN11
17A IN12 17A IN12
18A IN13 18A IN13
19A IN14 19A IN14
20A IN15 20A IN15
1B OUT0 1B OUT0
2B OUT1 2B OUT1
3B OUT2 3B OUT2
4B OUT3 4B OUT3
5B OUT4 5B OUT4
6B OUT5 6B OUT5
7B OUT6 7B OUT6
8B OUT7 8B OUT7
Output Output
9B OUT8 9B OUT8
10B OUT9 10B OUT9
11B OUT10 11B OUT10
12B OUT11 12B OUT11
13B OUT12 13B OUT12
14B OUT13 14B OUT13
15B OUT14 15B OUT14
16B OUT15 16B OUT15
17B Unused 17B Unused
18B Unused 18B Unused
DC24V10% DC24V10%
19B 0V 19B 0V
Power supply Power supply
20B 0V 20B 0V
*Connect pin numbers 1A and 2A to 24V, and connect pin numbers 19B and 20B to 0V. *Connect pin numbers 1A and 2A to 24V, and connect pin numbers 19B and 20B to 0V.
PIO Input/Output Interface

Input section External input speci cation Output section External output speci cation
Item Speci cation Item Speci cation
Input voltage DC24V 10% Load voltage DC24V
Input current 4mA/circuit Maximum load current 50mA/point
ON voltageMin. DC18.0V Leakage current Max. 0.1mA/point

ON/OFF voltage
OFF voltageMax. DC6.0V Isolation method Photo-coupler
Isolation method Photo-coupler
NPN speci cation Controller NPN speci cation Controller

P24
Internal circuit
P24
Internal circuit
External power 10 Load

+
DC24V 680
10% Output terminal External power
+
DC24V
5.6k 10%
N
Input terminal
PNP speci cation Controller PNP speci cation Controller

Input terminal P24
Internal circuit
Internal circuit
External power
+
DC24V 680 10 External power
10% +
DC24V
Output terminal 10%
5.6k
Load
N N
SCON-CB 32
SCON-CB Controller
Multi-function Connector (Interface)
(1) When the host controller inputs feedback pulses with a line (2) When the host controller inputs feedback pulses with an open collector
di erential receiver. Requires a pulse converter (JM-08: optional).
Load measuring tool, etc.
Analog output of SCON

~ the load data Pulse converter JM-08
(Optional)
A-phase feedback pulses

Serial
communication 2
Transceiver B-phase feedback pulses
(SIO2)
Z-phase feedback pulses

A-phase feedback pulses
(Line di erential
B-phase feedback pulses
receiver 26C32 or
equiv.)
Z-phase feedback pulses
Specifications
Item Specification
Supported motor capacity Less than 400W 400W~750W 3000W~3300W
Connected actuator RCS2/RCS3 Series actuator (with load cell)
Number of controlled axes 1 axis
Operation method Press-program type
Backup memory Non-volatile memory (FRAM)
I/O connector 40-pin connector
Number of I/O points Input: 16 points/Output: 16 points
I/O power External supply DC24V 10%
Power Supply for External supply DC24V 10% (max. 0.1A)
External supply DC24V 10% (max. 1A)
Electromagnetic Brake *Supply of 1.5A is necessary separately also for the actuator.
Serial communication RS485 1ch

Position detection methods Incremental encoder/absolute encoder/battery-less absolute encoder
Driving power shut-off function CB: available (relay-internal) CGB: not available
Electromagnetic brake force release Brake release switch ON/OFF
Single phase AC100~115V 10%
Input power Single phase AC200~230V 10% Three phase AC200~230V 10%
Single phase AC200~230V 10%
30W/94VA
60W/186VA 400W/968VA 3000W/5705VA
Power supply capacity
100W/282VA 750W/1569VA 3300W/6062VA
200W/469VA
PIO specification Dedicated DC24V signal inputs/outputs (NPN/PNP selectable) --- Max. of 16 input/16 output points
External
SCON- Field bus DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK-I/II,
interface
CB/CGB specification EtherCAT, EtherNet/IP, PROFINET IO
Data retention memory Position data and parameters are saved in non-volatile memory (No limit to rewrite).
X,Y,and Z directions, 10~57Hz single-side width 0.035mm (continuous), 0.075mm (intermittent)
Vibration control
58~150Hz 0.5G (continuous), 1G (intermittent)
Retention time Approximately 10 days
Calendar/clock function
Charging time Approximately 100 hours
Protection functions Excess current, temperature abnormalities, monitoring of fan speed drops, encoder disconnection, etc.
Internal regenerative resistance 2000 10W 34 160W
Ambient operating temperature 0~40C
Ambient operating humidity 85% or less (non-condensing)
Ambient operating atmosphere Free from corrosive gases
Protection class IP20
Mass ca. 900g (an absolute spec. is 25g heavier) ca. 1.2kg (an absolute spec. is 25g heavier) ca. 2.8kg (an absolute spec. is 25g heavier)
External dimensions 58mm (W) x 194mm (H) x 121mm (D) 72mm (W) x 194mm (H) x 121mm (D) 92.7mm (W) x 300mm (H) x 172mm (D)
33 SCON-CB
SCON-CB Controller
External Dimensions
Less than 400W 400W~750W 3000W, 3300W

58 72
6
80
2-
29 (80) 121 43 (80) 121
.2 .2
4 4
300
284
(200.5)
(200.5)
184
194
184
194
6 6 When an absolute
5
5
70 battery is installed
4.2 4.2 92.7 15.7 172
When an absolute battery is installed When an absolute battery is installed
Names of the Parts
[30W~750W type]
1 9 1 LED display 9 Multi-function connector

2 Indicates the status of the controller. This connector is to output the feedback pulses, analog load
data of the load cell, and to use the SIO communication
10 Name Color function (SIO2).
3
PWR Green Turned ON when the system is ready (after power input and while CPU is normally functioning).
10 PIO connector
4 11 SV Green Turned ON when the servo is ON.
Used to connect communication cable between peripheral
ALM Orange Turned ON when alarm is being issued. equipment such as PLC in parallel communication.
12 EMG Red Turned ON when the system is in the emergency stop status.
5
11 Operation mode selection switch
13
6
2 Rotary switch
Name Description
14 Used to set up the controller address after connecting the
controller in order to identify every controller connected. MANU Does not accept commands from PIO.
7 15 AUTO Ready to accept commands from PIO.
3 Piano switch
8 * The emergency stop switch on the teaching pendant is
16 Switch for the controller system. enabled when the connection is made, regardless of the
states, AUTO or MANU. Turn the power OFF before removing
Name
the teaching pendant and SIO communication cable.
1
Press-operation mode selection switch 12 SIO connector
Always keep this switch OFF to use the servo press. Used to connect the teaching pendant or the communication
cable with PC.
2
Used by the manufacturer for adjustment. Always 13 Brake release switch
17 keep this switch OFF.
Used to forcibly release the electromagnetic brake installed in
the actuator.
* To release the brake, the power supply (DC24V) for driving
4 System I/O connector brake must be connected.
Connector used to connect switches such as emergency stop
switch. 14 Brake power supply connector
Connector used to connect lines to brake power supply (DC24V)
5 Regenerative unit connector (Use only when the actuator with a brake is connected).
Connector used to connect the resistance unit that absorbs
the regenerative current generated when the actuator 15 Encoder and sensor connector
decelerates to stop. Connector used to connect encoder and sensor cables.
6 Motor connector 16 Absolute battery connector

Connector used to connect the actuator cable. Connector used to connect the absolute data backup battery
(only when the actuator with an absolute encoder is selected).
7 Power supply connector
Connector used to connect the AC power supply. Pins of this 17 Absolute battery holder
connector are divided into two groups, one for power to Battery holder used to hold the absolute data backup battery.
controller and the other for power to motor.
8 Grounding terminal
Screw used to connect the protection grounding. Make sure
to secure the grounding.
SCON-CB 34
SCON-CB Controller
Names of the Parts
[3000W/3300W type]
10
8 11
7 12
6 13
14
5
15
4
16
3
17
2 18
1 19
1 Grounding terminal 11 Multi-function connector

Screw used to connect the protection grounding. This connector is to output the feedback pulses, analog load data of the load cell,
Make sure to secure the grounding. and to use the SIO communication function (SIO2).
2 Power supply connector 12 PIO connector

Connector used to connect the AC power supply. Pins of this connector are divided Used to connect communication cable between peripheral
into two groups, one for power to controller and the other for power to motor. equipment such as PLC in parallel communication.
3 System I/O connector 13 Operation mode selection switch

Connector used to connect switches such as emergency stop switch. It is an interlocking switch to prevent duplication of movement commands from
PIO (PLC) and commands from the teaching tools such as PC.
4 Rotary switch
Used to set up the controller address after connecting the 14 SIO connector
controller in order to identify every controller connected. Used to connect the teaching pendant or the communication
cable with PC.
5 Piano switch
Switch for the controller system. 15 Brake power supply connector
For the actuator equipped with a brake, the switch is used to release the brake control.
6 Motor connector Warning : Always set the switch to NOM in normal operation. The brake would not
Connector used to connect the actuator cable. work even with the servo OFF condition if the switch is on the RLS side. In the vertical
oriented mount, the work may drop and cause an injury or the work to be damaged.
7 Regenerative unit connector
Connector used to connect the resistance unit that absorbs the regenerative
16 Brake power supply connector
current generated when the actuator decelerates to stop. Connector used to connect lines to brake power supply (DC24V).
(Use only when the actuator with a brake is connected).
8 Internal Regenerative Resistor Valid Connector
Short-circuit cable is connected at delivery.
17 Encoder and sensor connector
Caution : Make sure to use the unit in the condition that the short-circuit cable Connector used to connect encoder and sensor cables.
is connected. Use the unit without this connected may damage the device.
18 Absolute battery connector
9 Charge Status Display LED Connector used to connect the absolute data backup battery.
It shows the status of electric charge in the controller. (only when the actuator with an absolute encoder is selected).
Caution : While this LED lamp is on, do not attempt to touch controller or
regenerative resistor units to prevent electric shock. 19 Absolute battery holder
Battery holder used to hold the absolute data backup battery.
10 LED display
Indicates the status of the controller.
Name Color
PWR Green Turned ON when the system is ready (after power input and while CPU is normally functioning).
SV Green Turned ON when the servo is ON.
ALM Orange Turned ON when alarm is being issued.
EMG Red Turned ON when the system is in the emergency stop status.
35 SCON-CB
SCON-CB Controller
Options
PC Compatible Software (Windows Only)
Features Start-up support software that allows you to input positions, perform test operations, monitor functions, etc. Supported Windows versions:
This software allows you to shorten the time until start-up by providing functions necessary for making adjustments. XP SP2 or later / Vista / 7 / 8
Model RCM-101-MW (Includes an external device communication cable and an RS232 conversion unit)
Con guration
RS232 conversion adapter
RCB-CV-MW
5m
0.3m External device

PC Compatible Software (CD) communication cable
CB-RCA-SIO050
Model RCM-101-USB (Includes an external device communication cable, USB conversion adapter, and USB cable)
Con guration
USB conversion adapter
RCB-CV-USB
3m 5m
USB cable External device

PC Compatible Software (CD) CB-SEL-USB030 communication cable
CB-RCA-SIO050
Regenerative Resistance Unit Absolute Data Backup Battery

Features This unit converts the regenerative current, which is generated *When two regenerative units Features This is an absolute data backup battery
when the motor decelerates, into heat. are required, please use one for an actuator with absolute
Please refer to the tables below to con rm the total wattage of RESU-2 and one RESU-1 speci cation.
the actuators, and use the regenerative unit as necessary. (Please contact IAI for the Model AB-5 (Battery only)
details).
AB-5-CS (With a case)
[30W~750W type]
Model RESU-2 (Standard speci cation) / RESUD-2 (DIN-installed speci cation)
Speci cations External dimensions 1.5

5
Model number RESU-2 RESUD-2 RESU-2
Mass Approximately 0.4kg
Internal regen. resistance value 235 80W
Mounting method Screw mounting DIN rail mounting
145
154
136
Included cable CB-SC-REU010
Necessary Amount Guideline Necessary Amount Guideline (for RCS2-RA13R)

Horizontal Vertical Lead 2.5 Lead 1.25 5 106.5
30.7
0 unit ~100W ~100W Horizontal 1 unit 0 unit 34
1 unit ~400W ~400W Vertical 1 unit 1 unit 1.5 8.5
5
2 unit ~750W ~750W *Depending on the operating conditions, a RESUD-2
(77 from the center of the DIN rail)
regeneration resistance higher than that

*Depending on the operating conditions, a
mentioned above may be necessary.
regeneration resistance higher than that
145
mentioned above may be necessary.

154
136
115
[3000W/3300W type]
5
30.7
34
Model RESU-35T
6

Quantity of external regenerative
Mass Approx. 1.8kg Cycle time resistance to connect
Internal regen. resistance value 30 450W 12sec or more

External (0 unit)(0 unit)
attachment not necessary
Mounting method Screw mounting 6~12sec 1 unit

1 1:
Note RCS3-RA15R
Not necessary for RCS3-RA15R, since it is processed with 3.5~6sec 2 unit
2
300
284
internal resistance. 3.5sec or less (Note)

Note 2: The cable is to be prepared by the customer.

71.5
*The necessary quantity varies depending on the operating conditions.

(Note) 3.5sec
Please contact us if a cycle time of 3.5sec or less is expected.

2-M
3
6 71.5
45 (25) 172
SCON-CB 36
SCON-CB Controller
Maintenance Parts
When placing an order for the replacement cable, please use the model name shown below.
Actuator-Controller Connection Cable Models

Connection Type Motor Cable Motor Robot Cable Encoder Cable Encoder Robot Cable
RA4R
RA6R
CB-RCC-MA -RB CB-RCS2-PLDA -RB
RA7R CB-RCC-MA CB-RCS2-PLDA CB-XEU2-PLDA (EU version)
CB-XEU-MA (EU version)
RCS3 RA8R
RA10R
RA15R
CB-RCS3-MA -RB CB-RCS3-PLA -RB
RA20R
CB-X2-PLA (w/o load cell)
RA13R CB-RCS2-PLA (w/o load cell) CB-XEU2-PLA (EU version)
(with cable track for the wiring) CB-RCC-MA -RB CB-RCS2-PLLA CB-RCS2-PLLA -RB
RCS2 CB-RCC-MA CB-XEU2-PLLA (EU version)
CB-XEU-MA (EU version)
RA13R CB-RCS2-PLLA -RB
CB-RCS2-PLLA
(without cable track for the wiring) CB-XEU2-PLLA (EU version)
Connection Type I/O Flat Cable

SCON-CB CB-PAC-PIO
Motor Cable / Motor Robot Cable for RCS2-RA13R & RCS3-RA4/6/7/8/10R

Model CB-RCC-MA / CB-RCC-MA -RB * EU robot cable version with metal connector:
CB-XEU-MA (not shown here)
* Please indicate the cable length (L) in
maximum 30m e.g.) 080 = 8m
,
Wiring Color Signal No. No. Signal Color Wiring

Green Red
Red White
(Pressure-
White Black
welded)
(Front view) (Front view) Black Green
Actuator side
Controller side
Minimum bending radius R = 51mm or more (Dynamic bending condition)
*Please use the robot cable if the cable needs to be installed through the cable track.
Encoder Cable / Encoder Robot Cable for RCS3-RA4/6/7/8/10R

CB-RCS2-PLDA / CB-RCS2-PLDA -RB
* EU robot cable version with metal connector: * Please indicate the cable length (L) in ,
Model CB-XEU2-PLDA (not shown here) maximum 30m e.g.) 080 = 8m
Wiring Signal No. No. Signal Wiring
1 SGA
- 2 SGB AWG26
E24V 12 3 VIN (Pressure-
0V 13 4 GND welded)
(41) L LS 26 5 FG
CREEP 25
OT 24
RSV 23
LC SRD+ 9
LC SRD- 10 No. Signal Wiring
LC VCC 18 1 A
LC GND 19 2 A
(13) AWG26 A+ 1 3 B
(Soldered) A- 2 4 B
B+ 3 5 Z
(10)
1 10 B- 4 6 Z
14 1 Z+ 5 7 -
Z- 6 8 - AWG26
(37)
(25)
SRD+ 7 9 FG (Pressure-
26 13
SRD- 8 10 SD welded)
9 18 BAT+ 14 11 SD
BAT- 15 12 BAT+
(14) (15) VCC 16 13 BAT-
GND 17 14 VCC
Minimum bending radius R = 52mm or more (Dynamic bending condition) BKR- 20 15 GND
BKR+ 21 16 -
*Please use the robot cable if the cable needs to be installed through the cable track. - 22 17 BK-
Shield clamps to the hood 18 BK+
Drain wire and shielded braid
Limit Switch Encoder Cable / Limit Switch Encoder Robot Cable for RCS2-RA13R without Load Cell Specification
Model CB-RCS2-PLA / CB-X2-PLA * EU robot cable version with metal connector: * Please indicate the cable length (L) in
CB-XEU2-PLA (not shown here) maximum 30m e.g.) 080 = 8m
,
Wiring Color Signal No.

No. Signal Color Wiring
Brown/white Brown/white
Gray/white Gray/white
Red/white Red/white AWG26
Black/white Black/white (crimped)
Yellow/black Yellow/black
LS side Pink/black Pink/black

No. Signal Color Wiring
Pink Pink
AWG26 Purple Purple
(soldered) White White
Blue/red Blue/red
Orange/white Orange/white
Green/white Green/white
Blue
Orange
Black (Floating ground) AWG26
Yellow Blue (crimped)
Controller side Actuator side Green Orange
(Front view) Brown Black
Gray Yellow
Red Green
Brown
Minimum bending radius R = 58mm or more (Dynamic bending condition) The shield is connected to the hood by a clamp.
*Please use the robot cable if the cable needs to be installed through the cable track. Ground wire and braided shield Gray
("Brown/white" in cable color indicates the colors of line/insulator.) Red
* The wiring diagram shows the cable colors of the standard cable. For the cable
colors of the robot cable please refer to brochures of the SCON controller series.
37 SCON-CB
SCON-CB Controller
Limit Switch Encoder Cable / Limit Switch Encoder Robot Cable for RCS2-RA13R with Load Cell Specification
CB-RCS2-PLLA / CB-RCS2-PLLA -RB
* EU robot cable version with metal connector: * Please indicate the cable length (L) in ,
Model CB-XEU2-PLLA (not shown here) maximum 30m e.g.) 080 = 8m
No. Signal Wiring
1 SGA
2 SGB AWG26
3 VIN (Pressure-
4 GND welded)
Wiring Signal No. 5 FG
- No. Signal Wiring

(41) L E24V 12 1 E24V
0V 13 2 0V AWG26
LS 26 3 LS (Pressure-
CREEP 25 4 CREEP
(8) 5 welded)
OT 24 OT
RSV 23 6 RSV
1 LC SRD+ 9
LC SRD- 10 No. Signal Wiring
(18)
LC VCC 18 1 A
(13) 2
LC GND 19 A
6 A+ 1 3 B
(10)
AWG26
1 10 (Soldered) A- 2 4 B
14 1 B+ 3 5 Z
B- 4 6 Z
(37)
(25)
Z+ 5 7 -
26 13 Z- 6 8 - AWG26
9 18 SRD+ 7 9 FG (Pressure-
SRD- 8 10 SD welded)
BAT+ 14 11 SD
(14) (15) 12
BAT- 15 BAT+
VCC 16 13 BAT-
Minimum bending radius R = 52mm or more (Dynamic bending condition) GND 17 14 VCC
BKR- 20 15 GND
*Please use the robot cable if the cable needs to be installed through the cable track. BKR+ 21 16 -
- 22 17 BK-
Shield clamps to the hood 18 BK+
Drain wire and shielded braid
Motor Robot Cable for RCS3-RA15/20R

Model CB-RCS3-MA -RB * Please indicate the cable length (L) in
,
IPC5/4-STF-7.62 JL10-6A18-10SE-EB
L
210 50.8
Green/ A
100 yellow PE 1 U Black 1
54 Black 1 U 2 B V Black 2 AWG26
(13.9)
AWG12
20 Black 2 V 3 C W Black 3 (soldered)
Black 3 W D Green/
4 4 PE yellow
1 10 40 20
Controller side Actuator side
Minimum bending radius R = 83.4mm or more (Dynamic bending condition)
Limit Switch Encoder Robot Cable for RCS3-RA15/20R

Model CB-RCS3-PLA -RB * Please indicate the cable length (L) in
,
10126-3000PE CA-19S1N1280DNS
11 1 LS Brown/
Blue
White/
orange E24V 12 2 CREEP Brown/
Yellow
White/
Green E24G 13 3 OT Brown/
Red
Brown/ Brown/
Blue LS 26 4 RSV Black
Brown/
Yellow CREEP 25 5 BAT+ Purple
Brown/
Red OT 24 6 VCC Red
Brown/
L Black RSV 23 7 LC_SRD+ White/
Blue
White/
Blue LC_SRD+ 9 8 LC_SRD- White/
Yellow
White/
LC_VCC White/
(10)
Yellow LC_SRD- 10 9 Red

14 1
White/
Red LC_VCC 18 10 BKR+ Yellow AWG26
White/ (crimped)
Black LC_GND 19 11 BKR- Blue
AWG26 1 12 FG Drain
26 13 (soldered) White/
2 13 E24V orange
120 50.8 3 14 BAT- Gray
4 15 SRD+ Orange
Controller side Actuator side 5 16 SRD- Green
6 17 LC_GND White/
Black
Minimum bending radius R = 50mm or more (Dynamic bending condition) Orange SRD+ 7 18 E24G White/
Green
Green SRD- 8 19 GND Black
Purple BAT+ 14
Gray BAT- 15
Red VCC 16
Black GND 17
Blue BKR- 20
Yellow BKR+ 21
22
Shield clamps to the hood
I/O Flat Cable

Model CB-PAC-PIO * Please indicate the cable length (L) in
e.g.) 080 = 8m
, maximum 10m,
HIF640D1.27R
Signal Cable Signal Cable
No. Wiring No. Wiring
name color name color
1A 24V Brown-1 1B OUT0 Brown-3
L
2A 24V Red-1 2B OUT1 Red-3
3A - Orange-1 3B OUT2 Orange-3
4A - Yellow-1 4B OUT3 Yellow-3
5A IN0 Green-1 5B OUT4 Green-3
6A IN1 Blue-1 6B OUT5 Blue-3
7A IN2 Purple-1 7B OUT6 Purple-3
No connector B 20A 20B
8A IN3 Gray-1 8B OUT7 Gray-3
9A IN4 White-1 9B OUT8 White-3
10A IN5 Black-1 Flat cable A 10B OUT9 Black-3 Flat cable B
11A IN6 Brown-2 (pressure-welded) 11B OUT10 Brown-4 (pressure-welded)
12A IN7 Red-2 12B OUT11 Red-4 AWG28
13A IN8 Orange-2 13B OUT12 Orange-4
14A IN9 Yellow-2 14B OUT13 Yellow-4
1A 1B
No connector 15A IN10 Green-2 15B OUT14 Green-4
A 16A IN11 Blue-2 16B OUT15 Blue-4
17A IN12 Purple-2 17B - Purple-4
18A IN13 Gray-2 18B - Gray-4
19A IN14 White-2 19B 0V White-4
Flat cable (20-core) x 2 20A IN15 Black-2 20B 0V Black-4
SCON-CB 38
Catalog No. CE0237-1.9A (May 2016) T-1PF
IAI America, Inc. IAI Industrieroboter GmbH

Headquarters: 2690 W. 237th Street, Torrance, CA 90505 (800) 736-1712 Ober der Rth 4, D-65824 Schwalbach am Taunus, Germany
110 E. State Pkwy, Schaumburg, IL 60173 (800) 944-0333 IAI (Shanghai) Co., Ltd.
1220 Kennestone Circle, Suite 108, Marietta, GA 30066 (888) 354-9470 SHANGHAI JIAHUA BUSINESS CENTER A8-303,808,
www.intelligentactuator.com Hongqiao Rd. Shanghai 200030, China
IAI Robot (Thailand) Co., Ltd.
825 PhairojKijja Tower 12th Floor, Bangna-Trad RD.,
Bangna, Bangna, Bangkok 10260, Thailand
The information contained in this product brochure may change without prior notice due to product improvements.

RCS3-RAR ServoPress

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Servo Press Compatible

ROBO Cylinderwith Load Cell RCS3

RA4R RA15R RA20R

1 The Servo Press Specifcation Available

What Is the Push-motion Operation?

What Is the Force Control?

What Is the Servo Press Speci cation?

2 High-precision Load Control

F.S. : Full Scale

Stroke (mm) 110~410 115~415 120~520 100~500

Stroke (mm) 100~500 50~200 100~500 100~500

4 Connectivity with External Equipment

Explanation of Operation Program Screen

Position (4) Stop

Example of press fitting a machine part into a washer

(1) Approach (2) Search (3) Press

Position stop Load stop

Distance stop Incremental load stop

First press: 400N

The position at which 400N

No. Position Load

Model RCS3 RA4R 30 T2

Correlation Diagram of Push Force and Current Limit

Push Force (N)

(1) There is no limit in time period of a continuous push-motion for RA4R.

Cable Length Actuat

(3) D-3.4 through

(*4) Range of a tapped through

R0.5 or less 16 8 6.5 hole location on the load cell

Dimensions and Mass by Stroke

Model RCS3 RA6R 60 T2

Correlation Diagram of Push Force and Current Limit

Push Force (N)

RCS3-RA6R- 1 -60-1.5- 2 -T2- 3 - 4 60 1.5 75 0.3 10 10 566 600 1.5 75

Cable Length Actuat

H-oblong hole depth 5.5 Y

E-4 H7 reamed, depth 5.5

.D. work installation

*Range of a tapped through (4.5)

hole location on the load cell

Dimensions and Mass by Stroke

Model RCS3 RA7R 100 T2

Correlation Diagram of Push Force and Current Limit

Push Force (N)

RCS3-RA7R- 1 -100-2- 2 -T2- 3 - 4 100 2 100 0.3 10 10 849 1200 2 100

Cable Length Actuat

Base surface Z W 4-M8 depth 16 (50)

0.5 M3 depth 6 54 (38.5)

H-Oblong hole, depth 6 Y

Reference surface A100p 60 30 9.5 counterbored, depth 5.5(from opposite side)

*Range of a tapped through

Cross section of Z-Z Reference surface

Dimensions and Mass by Stroke

Model RCS3 RA8R 200 T2

Correlation Diagram of Push Force and Current Limit

Push force (N)

Cable Length Actuat

B A100P (Bolt screw-in depth: 12mm or less)

Cross section of X-X

Dimensions and Mass by Stroke

Models RCS3 RA10R 400 T2

Correlation Diagram of Push Force and Current Limit

Push Force (N)

PG connector (1) M connector (1) (18) 380