Motorized Gripper / Rotary ActuatorRCP2 GRIPPER R OTA RY. w w w. i n t e l l i g e n t a c t u a t o r. c o m

Transcription

1 Motorized Gripper / Rotary ActuatorRCP GRIPPER R OTA RY w w w. i n t e l l i g e n t a c t u a t o r. c o m

2 Gripping force () RCP Gripper/Rotary RCP Series Robo Gripper Generating high gripping force with a compact, lightweight body The servo-controlled, motorized chuck with a builtin encoder is housed in a compact body equivalent to the size of an air chuck. The maximum gripping force is 8, approximately three times the gripping force generated by a conventional motorized chuck (GRM type). Adjustable gripping force The gripping force is easily adjusted. Simply change the data value (push force) setting in the controller. This easy adjustment function lets you protect a fragile load from damage during transfer by instantly reducing the gripping force. RCP GRS High gripping force of up to 8 6 Current-limiting value (%) 7 Select from two compact, lightweight types offering different output shaft orientations The servo-controlled, motorized rotary actuator, featuring a built-in encoder, comes in a compact body equivalent to the size of an air rotary actuator. Choose either of two types: the vertical type (B) and the flat type (C). The output shaft of the flat type employs a hollow structure, so you can use the space within it to guide the cables of the equipment installed at the tip of the shaft. A maximum of 6 positioning points can be set. Given the remarkably high accuracy with which the stop position is repeated (±. deg), the robot is suitable for applications requiring extremely precise rotary action. Stop position 6 Stop position 6 Positioning to a maximum of 6 points Home Stop position Stop position Stop position Stop position The zone signal, pause signal and other popular functions of the Robo Cylinder are also available on the Robo Rotary. That means you can use the zone signal to check the current actuator position during movement, or use the pause signal as an interlock signal to prevent contact between the robot and surrounding equipment. A zone- signal is output when the reference position of the rotating axis is within zone, while a zone- signal is output when the reference position is within zone. The ranges of zones and can be set freely. Zone signal, pause and other useful functions Vertical type (B) Flat type (C) Range of operation This function is available when the PIO pattern is set to " zone output signals." Zone Zone

3 RCP Gripper/Rotary Zone signal, pause and other useful functions Cross-roller finger guide The zone signal, pause signal and other popular functions of the Robo Cylinder are also available on the Robo Gripper. The zone-signal function, which allows the detection of up to two zones (), lets you identify the gripped load or check the current actuator position in case of an emergency stop. This function is available when the PIO pattern is set to " zone output signals." The finger guide adopts a cross-roller bearing guide of the line-contact type, thus providing higher rigidity and load compared with other point-contact ball-bearing guides. Finger A zone- signal is output when the fingers are within that zone. Zone Zone Stroke Load A Zone Stroke Zone A zone- signal is output when the fingers are within that zone. Zone Zone Stroke Load B Zone Stroke Zone The current actuator position is maintained even after power-off. The current actuator position is maintained by the self-lock function even after the power or servo is turned off. This function prevents the load from dropping in the event of a power failure or emergency stop. Easy setting of speed/ acceleration rate The rotating speed and acceleration rate are easily altered. Simply change the setting to the desired value. By reducing the acceleration rate, you can virtually eliminate the shock upon stopping and prevent the load from overshooting. Hypoid gear for a compact body and longer life The speed-reduction mechanism's hypoid gear design contributes to the compact design and also ensures a longer life. Hypoid gear Starts moving slowly Start Moves at the specified speed Decelerates before the target position and stops without generating shock Stop RCP Series Robo Rotary

4 RCP Gripper/Rotary Use Examples g Gripping test tubes, etc. Fragile loads such as test tubes can be gripped safely. g In combination with a SCARA robot Attach the gripper at the tip of a SCARA robot and eliminate the need for an air supply. g Parts inspection machine Use the Robo Rotary's positioning function to achieve the same effect as a rotating index table, and apply the Robo Gripper's soft-grip function as a load chuck. g In combination with the Robo Rotary Install the Robo Rotary and Gripper together at the tip of a Cartesian robot to construct a rotary chuck.

5 RCP Series Specification Table RCP Gripper/Rotary Explanation by Type Classification Actuator type Actuator dimensions Description Page Gripper Compact Medium RCP-GRS RCP-GRM W69 T H7 W7 T6 H79 A servo-controlled, motorized chuck that makes it easy to adjust the load gripping position/force and change the speed of finger movement. Select a model that suits your application from two types (GRS and GRM) each of which offers a different stroke. P P Gripper Rotary Specification Table Actuator type RCP-GRS RCP-GRM Feed screw lead (mm).. Vertical Flat Stroke (mm).. ( each side) (each side) (7 each side) RCP-RTB RCP-RTC Maximum gripping force () 8. W88 T H8. Maximum speed (mm/sec) 6.7 (each side) W88 T8 H Positioning repeatability (mm) ±. ±. A motorized rotary actuator with a built-in servo-controlled motor. Specific speeds and acceleration rates can be set simply by entering values, so shock-free start/stop action or operation at a specified speed are effortless. Choose from two types (vertical and flat) with the output shaft provided in different orientations. Model RCP-GRS-I-PM---P-Í- RCP-GRM-I-PM---P-Í- P P Page P P In the above model names, indicates the cable length and the applicable option(s). Actuator type Gear ratio Oscillation angle (deg) Maximum torque (-m) Maximum speed (deg/sec) Positioning repeatability (deg) Model Page /. 6 ±. RCP-RTB-I-PM---P-Í- RCP-RTB P /.7 ±. RCP-RTB-I-PM---P-Í- Rotary /. 6 ±. RCP-RTC-I-PM---P-Í- RCP-RTC P /.7 ±. RCP-RTC-I-PM---P-Í- In the above model names, indicates the cable length and the applicable option(s).

6 RCP Gripper/Rotary Explanation of Specification Items RCP GRS I PM P S SB Encoder Gear Applicable Cable Series Type Type Motor ratio Stroke controller length Option RCP Gripper SB FB P S M X R RCP Rotary SA TA Indicate the name of each series. Indicate the classification by shape, size, etc. Indicate the type of the encoder installed in the actuator. I: Incremental type Slider position data will be lost when the power is turned off, so homing is required each time the power is turned on. All models in the RCP series adopt an incremental encoder, so this field always contains "I." Indicate the gear ratio of the speed-reduction mechanism. As the number specified here increases, the output will increase but the speed will decrease. Since the Robo Gripper has no speed-reduction mechanism, this field always contains "" (gear ratio: /). With the Robo Rotary, you can choose either "" (gear ratio: /) or "" (gear ratio: /). Indicate the type of the controller that can be used with the RCP series. P: RCP-C, RCP-CG (Refer to page 6 for the difference between C and CG.) Indicate the type of the motor installed in the actuator. PM: Pulse motor All models in the RCP series adopt a pulse motor, so this field always contains "PM". Indicate the stroke (range of operation) of the actuator. (The stroke is indicated in mm for the Robo Gripper and in degrees for the Robo Rotary.) Indicate the length of motor/encoder cables used for connecting the actuator and controller. (P, S and M indicate standard cable lengths. Use X and R to specify optional specifications.) : o cable P: m S: m M: m X: When specifying a length other than m, m or m (e.g., X8: 8 m) R: Specification for robot cable (e.g., R8: 8 m) Indicate the option to be installed on the actuator (refer to page 6 for details). SB: [Shaft bracket] A shaft-type bracket used for affixing the gripper actuator FB: [Flange bracket] A flange-type bracket used for affixing the gripper actuator SA: [Shaft adapter] A shaft-type adapter attached to the rotating part of the rotary actuator TA: [Table adapter] A table-type adapter attached to the rotating part of the rotary actuator

7 RCP Gripper/Rotary g Gripper ±. (. ) 8 ±. ø H7 reamer, through ø 8 ø 8 øh8 ø h8 Actuator Options Actuator Bracket A bracket for installing the gripper actuator. Select either the shaft type or flange type according to the shape of the part to which the gripper is installed. Shaft Bracket GRS type Bracket model: RCP-SB-GRS ø H7 reamer, through GRM type Bracket model: RCP-SB-GRM (. ) R. or less C. C. C. ø ± ø... ±. C. R. or less ø ø. Flange Bracket GRS type Bracket model: RCP-FB-GRS M GRM type Bracket model: RCP-FB-GRM ø H7 (+./), depth ø H7 (+./), depth ø H8 ( +. ) ø. M ø. øh8 ( +. ) ± ±. g Rotary Jig Adapter These adapters are used to install a jig, etc., to the rotating part of the rotary actuator. Select either the table type or shaft type. ø.6 +. ø G6 (.7 ) ø H7 ( ) Table Adapter C. (7.) 6. ±.. ø 6. () 6. (.) øh7 ( +. ) Shaft Adapter Adapter dimensions C ø H7 (. ) 7 ø øh7 (+./), through Adapter model: RCP-TA-RT Adapter dimensions. ø 7 - ø. ø6 counterbore, depth. ( equally spaced points along a circle) 7 - ø. ø6 counterbore, depth. ( equally spaced points along a circle) 8-M, through ø 7 ±. 8. Adapter model: RCP-SA-RT ±. 8. Combined dimensions (RTB type) 8-M, depth M, depth ø h7 ø (H7, depth ø h7 ø h Combined dimensions (RTB type) -M, depth 7 Combined dimensions (RTC type) 8-M, depth M, depth ø h7 ø (H7, depth. Combined dimensions (RTC type) -M, depth ø h7 ø h ø ø øh7 (+./), through

8 RCP Gripper/Rotary Gripper/Rotary Series System Configuration g Controller System Configuration Diagram Equipment provided by user Host system <PLC> PC PERSOAL COMPUTER I/O flat cable Cable length: m Standard accessory Refer to page for the emergency-stop circuit. Emergency-stop switch and wiring RDY RU ALM PIO m or m External connection unit <Model: RCB--> <Model: RCB--> Used when the controller is to be controlled via SIOs (serial communication) from a PLC or PC. (See the table below.) m (Refer to page.) PC software <Model: RCB--MW> This software facilitates the creation and input of position data, as well as actuator operation (test operation), using a PC. Power-supply voltage V V PORT O BK RIS AD/RS OFF SIO EC OM Teaching pendant <Model: RCA-T/TD> <Model: RCA-E> <Model: RCA-P> This pendant facilitates the input of position data and actuator operation (test operation). FG MOT S Gripper Rotary S V F.G Controller < RCP-C > < RCP-CG > Motor cable <Model: CB-RCP-MAooo> Standard: m/ m/ m (See the table below.) Encoder cable <Model: CB-RCP-PAooo> <Model: CB-RCP-PAooo-RB> Standard: m/ m/ m (See the table below.) m Actuator, controller and standard accessories Options Controller Options Table Controller Options Teaching Pendant (ote ) Item Model Description Page Teaching Pendant (Deadman Switch Specification) (ote ) Simple Teaching Pendant (ote ) Data Setting Unit (ote ) PC Software (ote ) External Connection Unit SIO Converter Controller Link Cable RCA-T RCA-TD RCA-E RCA-P RCB--MW RCB--() RCB-TU-SIO-A(B) CB-RCB-CTL (ote ) A product of an earlier version cannot be used with the RCP. Upgrade the version as necessary. (ote ) If you are currently using PC software for the RCP (RCA--MW), the software can be used continuously after a proper version upgrade. The shape of RCB--MW s RS8 conversion adapter has changed from that of the adapter used with RCA--MW, but functionality remains the same. Controller Spare Parts Position data input, actuator test operation, etc. RCA-T with a deadman switch An economical type offering functions equivalent to those of RCA-T Used exclusively for data input (cannot be used for actuator operation) Position data input, actuator test operation, etc. Serial communication cable unit (external equipment communication cable + RS8 conversion adapter) A unit for linking multiple controllers and rewriting the position data in all connected controllers from a single point A cable for linking multiple controllers (refer to page for details) P - P 7 Motor Cable Encoder Cable Encoder Robot Cable I/O Flat Cable Item Model Description Page Motor power cable (for controller and actuator connection) CB-RCP-MA Enter the cable length in ooo.example : 8 = 8 m (maximum length: m) The standard motor cables are robot types. External Equipment Communication Cable RS8 Conversion Adapter CB-RCP-PA CB-RCP-PA -RB CB-RCA-PIO CB-RCA-SIO() RCB-CV-MW Encoder signal cable (for controller and actuator connection) Enter the cable length in ooo. Example : 8 = 8 m (maximum length: m) Highly flexible encoder cable Parallel communication cable (for PLC and controller connection) o connector on PLC end Serial communication cable Used with an RS8 conversion adapter Adapter for converting RS8 signals to RS signals P

9 Gripper/Rotary Series Points to ote RCP Gripper/Rotary otes on Catalog Specifications <Common to all models> Speed Acceleration/ Deceleration Rate Backlash "Speed" refers to the specified speed at which the fingers of the gripper actuator are opened/closed or the output shaft of the rotary actuator is rotated.the fingers/output shaft accelerate from a stationary state, and once the specified speed is reached they will maintain that speed until immediately before the target position (specified position), where they will begin decelerating to stop at the target position. <Caution> () The maximum speed of the RCP Gripper/Rotary will vary according to the weight of the fingers or output shaft and that of the installed load. () The time needed to reach the specified speed will vary according to the acceleration (deceleration) rate. () Speed can be set in increments of mm/sec (or in increments of deg/sec when setting the speed of the rotating axis) in position data. "Acceleration rate" refers to the rate of change of speed when the speed rises from zero (stationary state) to the specified speed. "Deceleration rate" refers to the rate of change of speed when the specified speed drops to zero (stationary state). In the programs, both are specified in "G" (. G = 9 mm(deg)/sec). The smaller the acceleration/deceleration rate, the smaller the starting/stopping shock becomes. <Caution> () The upper and lower limits of acceleration rate are. G and. G, respectively. () Acceleration rate can be set in increments of. G in position data. "Backlash" refers to a mechanical play. Immediately after the moving direction reverses, the fingers or output shaft will not operate for the motor revolutions corresponding to the specified backlash, so exercise caution. Positioning Repeatability Home "Positioning repeatability" refers to the positioning accuracy of repeated movements to a pre-stored position from the same direction.if the moving direction changes, the achieved position will offset due to the effect of backlash, even when the target position remains the same, so exercise caution. Also note that the absolute positioning accuracy is not guaranteed. Since the RCP Gripper/Rotary adopts an incremental encoder, every time the power is reconnected, homing must be performed. With the gripper type, the home is set on the open side (outer side). With the rotary type, the home is where the output shaft hits the stopper and reverses its direction when the shaft is turned counterclockwise as viewed from above. Duty IAI s actuators should be used at a duty of % or less, as a rule. Duty (%) = [Operating time / (Operating time + Stopped time)] x Allowable Load Moment Allowable Inertial Moment "Allowable load moment" refers to the allowable level of load moment that can be borne by the guide of the gripper actuator or output shaft of the rotary actuator. If the moment of the load installed on the fingers or output shaft exceeds the range of allowable moments, the actuator life may be shortened or malfunction may result, so exercise caution. "Allowable inertial moment" refers to the allowable, controllable level of inertia (inertial moment) generated when the load installed on the output shaft of the rotary actuator is rotated. Use this value as a reference when determining the weight and size of the load that can be operated on the rotary actuator. Refer to the following explanations for the calculation methods of representative inertial moments. Calculation methods of inertial moments for representative shapes J: Inertial moment (kg-m) / M: Mass (kg) / r: Radius (m) / a, b: Lengths of sides (m) r () Column (including thin disc) Rotating axis position: Center axis r J=M a () Thin rectangle (rectangular solid) Rotating axis position: Passing through the center of gravity of the plate in a direction vertical to the plate (The same also applies in the case of a thicker plate, or rectangular solid) b J=M a +b a a () Thin rectangle (rectangular solid) Rotating axis position: Passing through a position on the plate offset from the center in a direction vertical to the plate M: Mass of the a side (kg) M: Mass of the a side (kg) J=M a +b a +b + M b 8

10 Gripping force () Gripping force () RCP Gripper/Rotary otes on Selection g Gripper Adjustment of Gripping Force In a push & hold operation, the gripping force can be adjusted freely within a current-limiting range of to 7% being set on the controller. Since the push force varies from one model to another, confirm the required gripping force from the graph below and select an appropriate type that can produce the required force. The gripping force shown in the graph below represents the sum of gripping forces of both fingers. L RCP GRS RCP GRM Current-limiting value (%) Current-limiting value (%) 7 Guide for Model Selection Based on Load Weight The load weight that can be transferred by the actuator will vary depending on the friction coefficient determined by the finger and load materials, as well as the shape of the load. Generally the load weight should be / to / the gripping force or even less. If the load will receive large acceleration/deceleration force or impact during transfer, an additional allowance must be considered (/ to /). Finger Attachment Shape The distance (L) from the finger attachment surface to the gripping point must not exceed the following dimensions: RCP-GRS RCP-GRM mm 8mm Minimize the size and weight of the fingers attached to the actuator. If the fingers are long, large or heavy, the inertial force and bending moment generated upon opening/closing may affect the actuator performance or guide structure. Caution ote 9 The above graph of push force (gripping force) and current-limiting value is provided for reference purpose only. The values shown are subject to a slight margin of error. If the push force is too small, the push force may fluctuate due to a slide resistance, etc., or malfunction may occur. Therefore, exercise caution when setting the push force. Always keep the current-limiting value at % or above. Minimize the size and weight of the fingers. Long, large or heavy fingers may affect the actuator performance or guide structure.

11 RCP Gripper/Rotary g Rotary Output Torque The output torque decreases as the rotating speed increases. Check on the graph below to see if the speed and torque required in your intended operation can be achieved.. RCP RTB / RTC (Gear ratio: /). RCP RTB / RTC (Gear ratio: /) Output torque ( m)... Rotating speed (deg/sec) 6 Output torque ( m)... Rotating speed (deg/sec) Allowable Load. Allowable inertial moment The allowable inertial moment of the load that can be rotated will vary depending on the rotating speed. Select an appropriate model after confirming the operating condition as well as the inertial moment of the load to be rotated on the actuator (refer to page 8). RCP RTB / RTC (Gear ratio: /) RCP RTB / RTC (Gear ratio: /) Allowable inertial moment ( Kg m ) ( Kg m ) Rotating speed (deg/sec) 6 Rotating speed (deg/sec) When the rotating axis is oriented horizontally, a gravitational load torque will be generated if the center of gravity of the load is positioned away from the center of rotation. In this case, you must reduce either the rotating speed or the load s inertial moment.. Allowable load moment/thrust load Confirm that the load moment and thrust load applied to the rotating axis do not exceed the allowable values specified in the catalog. Load moment Thrust load Caution ote Operating the actuator with a load exceeding the allowable value may result in malfunction, shorter life or damage. The load must be set so the allowable value will not be exceeded. If the rotating axis is oriented horizontally, make sure the load structure is such that the applied load torque will be minimized.

12 RCP Gripper/Rotary RCP-GRS Robo Gripper: Actuator Width 69 mm, Pulse Motor Type Gripper (69 mm wide) Stroke mm ( mm each side) Maximum gripping force. g Model details Series Type Encoder type Motor Gear ratio Stroke Applicable controller Cable length Options (Example) RCP GRS I PM P S SB Refer to page for details on the specification items. Model/Specifications Model Encoder type Motor Gear ratio RCP-GRS-I-PM---P-Í- Incremental Pulse motor / ( each side) In the above model name, Í indicates the cable length and the applicable option(s). Stroke (mm) Maximum opening/ closing speed (ote ) (mm/sec) Maximum gripping force (ote ) () Positioning repeatability (ote ) (mm). ± Options ame Type Page Shaft Bracket SB P6 Flange Bracket FB P6 Remarks Common Specifications Drive system Timing belt + Trapezoid screw (lead.) Backlash Guide Allowable load moment Base Cable length (ote ) Weight. mm or less each side (Always pressured to open condition using spring) Cross roller guide Ma : 6. m Mb : 6. m Mc : 7 m Material: Aluminum with white alumite treatment : o cable, P: m, S: m, M: m, X : Length specification, R : Robot cable.6kg Dimensions M, depth 8 +. ø depth. (Same on opposite side) -M, depth 8 (Same on opposite side) M, depth 6 depth. MAX MI 6 69 ø +. depth depth. (Same on opposite side) 68 7 Weight (kg).6 Specifications Applicable controller RCP-C RCP-CG Maximum number of controlled axes axis axis Compatible encoder type Incremental Incremental Program operation Positioner operation Pulse-train control Power-supply voltage DCV DCV Page P P Caution (ote ) The speed of one finger. The relative speed of two fingers is twice the specified value. (ote ) The sum of gripping forces of both fingers when the gripping point distance and overhung distance are both. The actual feasible gripping force will vary depending on various conditions. Refer to page 9 for details. (ote ) The positioning repeatability when the target position is approached from the same direction. (ote ) The maximum cable length is m. Specify the desired length in meters (e.g., X8 = 8 m). Refer to page 8 for other points to note.

13 RCP-GRM Robo Gripper: Actuator Width 7 mm, Pulse Motor Type Gripper (7 mm wide) Stroke mm (7 mm each side) Maximum gripping force 8. RCP Gripper/Rotary g Model details Series Type Encoder type Motor Gear ratio Stroke Applicable controller Cable length Options (Example) RCP GRM I PM P S SB Refer to page for details on the specification items. Model/Specifications Model Encoder type Motor Gear ratio Stroke (mm) RCP-GRM-I-PM---P-Í- Maximum opening/ closing speed (ote ) (mm/sec) Maximum gripping force (ote ) () Positioning repeatability (ote ) (mm) Incremental Pulse motor / (7 each side) ±. Options ame Type Page Shaft Bracket SB P6 Flange Bracket FB P6 Remarks Common Specifications Drive system Timing belt + Trapezoid screw (lead.) Backlash Guide Allowable load moment Base Cable length (ote ) Weight. mm or less each side (Always pressured to open condition using spring) Cross roller guide Ma : 6. m Mb : 6. m Mc : 8. m Material: Aluminum with white alumite treatment : o cable, P: m, S: m, M: m, X : Length specification, R : Robot cable.kg Dimensions.. ø. (Same on opposite side) MAX MI M, depth 8 -M, depth 8 (Same on opposite side) depth. M, depth 6 ø +. depth. 8 depth depth. (Same on opposite side) Weight (kg). Specifications Applicable controller RCP-C RCP-CG Maximum number of controlled axes axis axis Compatible encoder type Incremental Incremental Program operation Positioner operation Pulse-train control Power-supply voltage DCV DCV Page P P Caution (ote ) The speed of one finger. The relative speed of two fingers is twice the specified value. (ote ) The sum of gripping forces of both fingers when the gripping point distance and overhung distance are both. The actual feasible gripping force will vary depending on various conditions. Refer to page 9 for details. (ote ) The positioning repeatability when the target position is approached from the same direction. (ote ) The maximum cable length is m. Specify the desired length in meters (e.g., X8 = 8 m). Refer to page 8 for other points to note.

14 RCP Gripper/Rotary RCP-RTB Robo Rotary: Vertical Type ( mm wide), Pulse Motor Type Rotary ( mm wide) Oscillation angle deg Maximum torque.7 m g Model details Series Type Encoder type Motor Gear ratio Stroke Applicable controller Cable length Options (Example) RCP RTB I PM P S SA Refer to page for details on the specification items. Model/Specifications Model RCP-RTB-I-PM---P-Í- RCP-RTB-I-PM---P-Í- Encoder type Incremental Motor (W) Pulse motor Gear ratio / / Oscillation angle (deg) Maximum speed (ote ) (deg/sec) 6 Maximum torque (ote ) (-m)..7 Allowable inertial moment (kg-m).. Positioning repeatability (ote ) (mm) ±. In the above model name, Í indicates the cable length and the applicable option(s). Options Shaft Bracket ame Flange Bracket Allowable load moment.9 m.86kg SA TA P6 P6 Common Specifications Refer to page 8 for details on the common specification items. Drive system Hypoid gear Backlash Thrust Force Limit Base Cable length (ote ) Weight ±.deg Type Page Material: Aluminum with white alumite treatment Remarks : o cable, P: m, S: m, M: m, X : Length specification, R : Robot cable Dimensions 6 depth. + ø ø h 7 ø h () -M, depth 6 -M, depth 7 ø -H7, depth ø -H7, depth +. ø depth. -M, depth 8 -M, depth 8. 9 (.) ø +. depth depth. () 6 +. depth. (8) Weight (kg).86 Specifications Applicable controller RCP-C RCP-CG Maximum number of controlled axes axis axis Compatible encoder type Incremental Incremental Program operation Positioner operation Pulse-train control Power-supply voltage DCV DCV Page P P Caution (ote ) The maximum specified speed in no-load state. (ote ) The maximum torque that may generate at low speed (the actual torque will vary depending on the speed). (ote ) The positioning repeatability when the target position is approached from the same direction. (ote ) The maximum cable length is m. Specify the desired length in meters (e.g., X8 = 8 m). Refer to page 8 for other points to note.

15 RCP-RTC Type Rotary ( mm wide) Oscillation angle Robo Rotary: Flat Type (88 mm wide), Pulse Motor, Hollow Shaft Type deg Maximum torque.7m RCP Gripper/Rotary g Model details Series Type Encoder type Motor Gear ratio Stroke Applicable controller Cable length Options (Example) RCP RTC I PM P S SA Refer to page for details on the specification items. Model/Specifications Model RCP-RTB-I-PM---P-Í- RCP-RTB-I-PM---P-Í- Encoder type Incremental Motor (W) Pulse motor Gear ratio / / Oscillation angle (deg) Maximum speed (ote ) (deg/sec) 6 Maximum torque (ote ) (-m)..7 Allowable inertial moment (kg-m).. Positioning repeatability (ote ) (mm) ±. In the above model name, Í indicates the cable length and the applicable option(s). Options Shaft Bracket ame Flange Bracket Common Specifications Drive system Backlash Thrust Force Limit Allowable load moment Base Cable length (ote ) Weight Hypoid gear ±. deg.9 m.9kg Type SA TA Page P6 P6 Material: Aluminum with white alumite treatment Remarks Refer to page 8 for details on the common specification items. : o cable, P: m, S: m, M: m, X : Length specification, R : Robot cable Dimensions +. depth. 8 ø7 6 depth M, depth 6 -M, depth ø h 7 ø h 7 ø H7 depth øh7 depth +. depth. -M, depth ø depth. -M, depth ø +. depth. 6 Hollow hole, ø, through ø. depth. Weight (kg).9 Specifications Applicable controller RCP-C RCP-CG Maximum number of controlled axes axis axis Compatible encoder type Incremental Incremental Program operation Positioner operation Pulse-train control Power-supply voltage DCV DCV Page P P Caution (ote ) The maximum specified speed in no-load state. (ote ) The maximum torque that may generate at low speed (the actual torque will vary depending on the speed). (ote ) The positioning repeatability when the target position is approached from the same direction. (ote ) The maximum cable length is m. Specify the desired length in meters (e.g., X8 = 8 m). Refer to page 8 for other points to note.

16 BK RDY RU PORT O RIS ALM PIO AD/RS OFF SIO EC OM MOT S S V F.G RCP Gripper/Rotary RCP-C/CG Dedicated RCP Controller Operating method Positioner operation umber of positions that can be registered Standard 6 positions / Maximum 6 positions Power-supply voltage VDC Space-saving design with a 9% smaller footprint Features The compact, slim body of mm in width x 68. mm in depth saves space in the installation of the panel. Of course, the driver, control unit and power stages are all housed within the unit, so no cumbersome wiring or adjustment is needed. Simply connect the actuator, and your equipment is ready to go. A footprint reduction of approx. 9% Multi-point positioning covering up to 6 points The increased PIO points and expanded internal memory allow the registration of position data for up to 6 points, so the controller can effortlessly perform complex operations. With this simple, high-function controller you can also perform positioning at an accuracy of (±. mm or ±. deg, simply by specifying PIO positions from a PLC. Host system (PLC) Internal or external relay for cutting off the iiiiiiiiimotor's drive power upon emergency stop The controller, which incorporates its own drive-power cutoff relay, ensures safety by cutting off the motor's drive power when an emergency stop is actuated. To further enhance safety, use the external relay type that cuts off the motor's drive power using a safety relay provided externally to the controller. Useful software functions The controller provides a range of useful functions that take advantage of the AC servo features, thus allowing the setting and execution of complex operations. Convenience is further enhanced with an increase in the number of zone-signal outputs to two. Useful Software Functions Positioning band setting function ormally a movement completion signal (position complete signal) is output when the target position is reached. With the RCP this signal can be output at an arbitrary position before the target position. For example, this function can be used to shorten the tact time. mm/sec Position number mm/sec Accelerating Speed Stationary Time The signal is input mm before. Decelerating Accelerating The signal is input mm before. Decelerating Position Position RCP controller Actuator Incremental move function The controller allows for incremental movement, or movement of an arbitrary distance specified from the current position. You can perform continuous moves at a fixed pitch for as many positioning points as desired, simply by repeating incremental movements with the same distance specification. mm/sec Five pin-assignment patterns for PIO signals You can now choose from a total of five pin-assignment patterns for PIO signals, including the pattern allowing for position specification of up to 6 points, the pattern providing two zone-signal outputs, and the pattern for teaching operation (refer to page 9). The PIO connector is the same as the one used by the conventional RCP controller (RCP-C), and the factory-set pin assignments are also the same. Therefore, the PIO wiring need not be adjusted after replacing your RCP controller with an RCP. (ote) You cannot replace only your RCP controller with an RCP and continue using the RCP actuator. Speed Stationary Time Position number Position Coordinate Pause function O OFF Position Coordinate Position Coordinate The slider operation can be paused in keeping with the O/OFF status of an external signal. Use this function to stop the operation temporarily or provide an interlock with surrounding equipment. Pause-signal input Accelerating Decelerating Accelerating Decelerating Speed Time

17 6 RCP Gripper/Rotary Push & hold operation The slider can be maintained in a condition where it is continually pressed against the load, just like an air cylinder. This function is used for clamp fitting or other applications requiring that the load be pressed. g Example of push & hold operation mm/sec Zone output function This function outputs a signal when the slider enters a specified range during operation. It can be used to set a danger area or provide a pseudo sensor function. Zone-signal output O OFF Accelerating Decelerating Accelerating Decelerating Speed Time Stationary Position Coordinate Load Positioning band: mm If the load is still not contacted at the end of the positioning band, the position complete signal will not be output. Speed Time Specified zone-signal output range Model RCP - C - RXA - I - PM - O - P Series Indicate the name of each series. Controller type Indicate the classification by controller function. C : An emergency-stop circuit is provided, and when an external emergency-stop input is received the actuator will be stopped and the motor drive power will be cut off at the relay inside the controller. (Use this type for general applications.) GC : There is no emergency-stop circuit in the controller, but a terminal to cut off the motor drive power is provided. Therefore, the safety standard corresponding to Safety Category can be met if the user constructs an emergency-stop circuit externally to the controller using a safety relay, etc. Motor Indicate the type of motor in the actuator used. PM: Pulse motor Power-supply voltage Indicate the type of the input power (main power supply) of the controller. : VDC I/O signal pattern Indicate the type (current direction) of input/output signals. This field need not be entered unless you require a PP type. (Blank) : P type P : PP type Actuator type Indicate the type of the actuator used. (SA, SA6, SA7, SS, SM, SSR, SMR, RXA, RSA, RMA, GRS, GRM, RTB, RTC) Encoder type Indicate "absolute type" or "incremental type" as the type of the encoder in the actuator used. I: Incremental type Slider position data will be lost when the power is turned off, so home return is required each time the power is turned on. A: Absolute type This selection is not provided for the RCP.

18 7 RCP Gripper/Rotary System Configuration Diagram g Compatible actuators RCP Series Slider Type Slider Motor-Reversing Type Rod Type Robo Gripper Robo Rotary g Host system (PLC) Teaching pendant < RCA-T/TD > < RCA-E > < RCA-P > PC software < RCB--MW > I/O flat cable, m (Supplied with the controller.) (Refer to page.) (Refer to page.) Motor cable Standard: m/ m/ m (Refer to page.) Encoder cable Standard: m/ m/ m (Refer to page.) (Supplied with the actuator.) m Communication cable, m (Refer to page.) (Supplied with the PC software.) The PC communication cable consists of an external equipment communication cable (CB-RCA-SIO) and an RS8 conversion adapter (RCB-CV-MW). g Main power g I/O power DCV DCV I/O Wiring Diagrams g Input Part External input Item Specification Input voltage VDC ± % Input current 7 ma / point umber of input points points Leak current ma or less / point Insulation Method Photocoupler P Specification g Output Part External output Item Specification Load voltage VDC Maximum load current ma / point umber of output points points Residual voltage V or less Insulation Method Photocoupler P Specification PV P External power supply +V R=6Ω Input terminal Internal circuit Internal circuit Each output OUT ~ 9 Load External power supply +V Each input I ~ 9 R=.kΩ PP Specification External power supply +V Input terminal R=6Ω Internal circuit Internal circuit PV Load External power supply +V Each input I ~ 9 R=.kΩ Each output OUT ~ 9

19 RCP Gripper/Rotary External Connection Diagrams g Internal Drive-Power Cutoff Relay Type (Model: RCP-C) The wiring diagram shown to the right is based on PIO pattern : Standard.( The default PIO pattern set at the factory is : Conventional,) so exercise caution. Input power supply VDC Output side Input side Teaching pendant and PC connection V V FG External EMG switch Controller RCP SIO (SGA) (PORT switch) (SGB) (+V) (EMGA) 6 (+V) 7 (GD) 8 (EMGB) Terminal box S S V MOT EMG A(A) PIO A P A(VMM) Blue Upper stage Brown Black + [V] (Signal abb.) Red White A(B) [V] A Red Orange B(A) Command position A PC Black Yellow B(VMM) Command position A PC Green Green B(B) Command position A PC Command position 8 Blue 6A PC8 Purple 7A EC Pause Gray 8A S TP (FG) Start White 9A CSTR (GD) Home return Black A HOME 6 (V) Servo O Brown A SO 9 (EB) Reset Red A RES Orange (Black ) Orange (Red ) Yellow (Black ) Yellow (Red ) (ot used) Orange A (EB) (ot used) Lower stage Yellow B (EA) White (Black ) (ot used) Green B (EA) White (Red ) Completed position Blue B PM (BK-) Light blue (Black ) Completed position Purple B PM (BK+) Light blue (Red ) Completed position Gray B PM GD Completed position 8 White 6B PM8 Zone output Black Brake release 7B ZOE Moving Brown switch 8B Position complete Red 9B PED Home return completion Orange B HED V Emergency stop Yellow B E MGS Ready Green B SRDY Alarm Blue B A LM Actuator M Motor PG Encoder Holding brake g External Drive-Power Cutoff Relay Type (Model: RCP-CG) The wiring diagram shown to the right is based on PIO pattern : Standard.( The default PIO pattern set at the factory is : Conventional,) so exercise caution. Teaching pendant and PC connection RCP SIO (SGA) (PORT switch) (SGB) (+V) (EMGA) 6 (+V) 7 (GD) 8 (EMGB) Terminal box S S V MOT FG A(A) PIO (Signal abb.) A P A(VMM) Input power V supply V VDC FG Blue User equipment Upper stage Brown Black + [V] White Red A(B) [V] A Red Orange B(A) Command position A PC Black Yellow B(VMM) Command position A PC Green Green B(B) Command position A PC Command position 8 Blue 6A PC8 Purple 7A EC Pause Gray 8A STP (FG) Start White 9A CSTR (GD) Home return Black A HOME 6 (V) Servo O Brown A SO 9 (EB) Reset Red A RES Orange (Black ) Orange (Red ) Yellow (Black ) Yellow (Red ) (ot used) Orange A (EB) Lower stage Yellow (ot used) B (EA) White (Black ) (ot used) Green B (EA) White (Red ) Completed position Blue B PM (BK-) Light blue (Black ) Completed position Purple B PM (BK+) Light blue (Red ) Gray Completed position B PM GD White Completed position 8 6B PM8 Zone output Black 7B ZOE Brake release Moving Brown 8B MOVE switch Position complete Red 9B PED Home return completion Orange B HED V Emergency stop Yellow B Ready Green B SRDY Alarm Blue B A LM Output side Input side Cutoff circuit for motor drive power Controller Actuator M Motor PG Encoder Holding brake 8

20 RCP Gripper/Rotary 6 I/O Signal Table This controller provides five PIO patterns to meet the needs of various applications. Simply change the parameter setting ( to ), and you can use any one of the five patterns specified below. ote: Two or more of the following patterns cannot be used in combination, so exercise caution. (For example, 6-point positioning cannot be implemented while two zone signals are used.) Parameter (PIO pattern selection) PIO pattern Conventional Standard 6-point positioning zone output signals Teaching Features This pattern is compatible with the pin assignments of the RCP-C controller. (Factory setting) All functions of the conventional pattern, plus home-return command input, servo O input, reset input, moving output and ready output. The input ports for positioning command positions are extended to allow for specification of up to 6 points.(the servo O signal and ready output have been removed.) Two zone output signals are set. (The moving output has been removed.) This pattern allows for jogging and teaching (writing of current position coordinates) using I/Os.The mode can be switched between "ormal" and "Teaching". In the ormal mode, the same operations available with the standard pattern can be performed. 9 Pin o. Category Wire color A A A A A 6A 7A 8A 9A A A A A B B B B B 6B 7B 8B 9B B B B B P Input Output Upper stage Brown Red Orange Yellow Green Blue Purple Gray White Black Brown Red Orange Lower stage Yellow Green Blue Purple Gray White Black Brown Red Orange Yellow Green Blue Conventional CSTR PC PC PC PC8 STP PM PM PM PM8 PED HED ZOE ALM Standard PC PC PC PC8 STP CSTR HOME SO RES PM PM PM PM8 ZOE MOVE PED HED SRDY ALM Parameter (PIO pattern selection) 6-point positioning PC PC PC PC8 PC6 PC CSTR HOME STP RES PM PM PM PM8 PM6 PM PED HED MOVE ALM P (ot used) (ot used) (ot used) zone output signals PC PC PC PC8 STP CSTR HOME SO RES PM PM PM PM8 ZOE ZOE PED HED SRDY ALM STP CSTR RES PED Teaching ormal mode Teaching mode PC PC PC PC8 MODE HOME SO PM PM PM PM8 MODES MOVE HED Internal cutoff relay type: EMGS / External cutoff relay type: (ot used) ote: () The signals indicated by (ALM, STP, EMGS) use the negative logic, so they remain O in normal conditions of use. () Pin os. A, B and B cannot be connected. () The P specification and PP specification use the same pin assignments for connection of the power circuit, so there is no need to reverse the power-circuit pins for the PP qqqspecification. () Pin o. B is valid only on the internal cutoff relay type. (It is not connected in the external cutoff relay type.) SRDY ALM JOG + PWRT JOG WED

21 RCP Gripper/Rotary 7 Overview of I/O Signal Functions PIO Pattern Function Table Indicates that the setting is available, while Parameter (PIO pattern selection) PIO pattern Conventional Standard 6-point positioning zone output signals Teaching umber of positioning points Servo O indicates that the setting is not available. The figures indicate the numbers of points. Input signals Home return Pause command Jog Current position write Output signals Reset Ready Zone Moving Explanation of Signal ames Category Signal name Signal abbreviation Function overview Start Servo O CSTR SO A starting trigger that starts movement at the rise edge The servo remains O while this signal is O. The servo remains OFF while this signal is OFF. Alarm reset Home return Operation mode RES HOME MODE The remaining travel amount is reset at the rise edge when an alarm is present or operation is paused. Home return operation starts at the rise edge. O: Teaching mode, OFF: ormal mode Input Current position write Jog PWRT + Jog JOG + The slider moves in the positive direction while this signal is O. JOG When this signal has been O for msec, the current position will be written to the position number selected by PC through PC8. The slider moves in the negative direction while this signal is O. Pause Command position number STP PC PC PC PC8 PC6 PC The motor decelerates to a stop at the O OFF fall edge. The target position number is input (binary input). Ready SRDY This signal is always output once the servo is turned O and the system is ready to operate. The signal is synchronized with the O/OFF status of the "RU" LED on the front panel of the enclosure.it is used by the PLC to determine when it can start operation. Moving MOVE This signal turns O while the slider is moving, and turns OFF while it is stopped. It is used during push & hold operation to determine whether the load is contacted. Position complete PED This signal turns O when positioning is completed with the target position reached and the slider enters the specified in-position range.it is used to determine whether positioning has been completed. Output Home return completion HED This signal turns O when home return has been completed. Zone ZOE ZOE This signal is output when the current actuator position is inside the range set by the applicable parameter.it can be used as a limit switch at an intermediate point or as a simple ruler. Alarm ALM This signal remains O in normal condition and turns OFF when an alarm generates. It is synchronized with the OFF/O status of the corresponding LED on the front panel of the enclosure. Completed position number Current operation mode PM PM PM PM8 PM6 PM MODES The relevant position number is output once positioning is complete. The signal will turn OFF once the next movement starts. It is used by the PLC to check if the commanded position has definitively been reached. O: Teaching mode, OFF: ormal mode Emergency stop EMGS This signal is enabled on a controller equipped with a simple emergency-stop relay. OFF: Emergency stop is actuated Write completion WED This signal is output upon the completion of writing to the nonvolatile memory in response to a position-information write command.

22 RCP Gripper/Rotary 8 Specification Table Item Description Controller series / type RPC-C / CG RPC-SA / SA6 / SA7 / SS / SM / SSR / SMR Compatible actuators RXA / RSA / RMA / GRS / GRM / RTB / RTC 9 External Dimensions Controller RCP-C/CG ø Unit: mm 68. Input power DCV ±% Power capacity umber of controlled axes Control method Positioning command Position number Backup memory PIO LED indicators A max. axis Weak field-magnet vector control (patent pending) Position number specification Standard 6 points, maximum 6 points Position number data and parameters are saved in the nonvolatile memory. The serial EPROM can be rewritten, times. PIO RCP-C (CG) : dedicated inputs ( points) / dedicated outputs ( points), selectable from five patterns RDY (green), RU (green), ALM (red) RDY RU ALM PIO AD/RS PORT O OFF SIO EC 6 (Installation dimension) 78. I/F power Communication External power supply: V ± %,. A, insulated RS8 channel (terminated externally) BK RIS OM MOT Encoder interface Incremental specification conforming to EIA RS-A/A S Forced release of electr omagnetic brake Toggle switch on front panel of enclosure S Cable length Motor/encoder cables: m or less PIO cable: m or less V F.G Insulation strength Vibration resistance Operating temperature DCV MΩ ~ 7 Hz in XYZ directions / Pulsating amplitude:. mm (continuous),.7 mm (intermittent) ~ deg Operating humidity Operating environment Protection class Weight 8%RH or less (non-condensing) ot subject to corrosive gases. IP g Accessory PIO flat cable ( m) ames and Functions of Parts 6 BK RDY RU ALM PORT O RIS PIO AD/RS OFF SIO EC OM MOT S S V F.G LED indicators RDY RU ALM O OFF RLS Indicates that the CPU is operating normally Indicates a normal operating condition (the motor and encoder wiring has been checked and the servo is O Indicates that an alarm is present or an emergency stop has been actuated Port switch (PORT) A signal-output selector switch for the SIO connector (c) Power for the teaching pendant and IAI RS8 conversion adapter is output from the SIO connector (c). This switch is connected to the EMG line (S, S) of (n) of the teaching pendant. Communication with the teaching pendant or PC is disabled. However, since the SIO signal line is active, the controllers can still communicate with each other. ote: Be sure to turn this switch OFF each time the SIO connector has been plugged in or unplugged. Teaching pendant/pc connector (SIO) A connector for the teaching pendant or dedicated communication cable Brake release switch (BK) This switch is enabled only when the actuator is used with a brake option. Brake is forcibly released OM S S V EMG F.G Brake is in use (normal setting) Motor cable connector (MOT) A motor cable connector for the actuator Terminal block An emergency-stop switch contact. When the PORT switch (x) is turned O, the emergencystop switch on the teaching pendant will be connected. When the PORT switch is turned OFF, S and S will be shorted. These terminals are used to cut off the motor's drive power directly and externally using a safety relay, etc. (Refer to page.) Positive side of the -VDC power supply egative side of the -VDC power supply Emergency-stop input (RCP-C) Ground terminal (RCP-CG) PIO connector (PIO) A PIO cable connector Address switch (ADRS) This switch is used to set the address for the controller axis. If two or more controllers are connected via communication cables, prevent duplicate controller addresses. Setting range ~ F Encoder/brake connector (EC) This connector is used to connect the actuator's encoder/brake cables.

23 RCP Gripper/Rotary g Internal Drive-Power Cutoff Relay Type (Model: RCP-C) n n n n Emergency-Stop Circuit The internal drive-power cutoff relay type will stop the actuator operation and cut off the motor's drive power of the actuator using the internal relay when the EMG (emergency stop) input signal is turned OFF at the controller's terminal block. Representative connection examples are given below. The emergency stop will not be cancelled without the following wiring, so exercise caution. Refer to the operating manual for details. () When only one controller is used Connect the and terminals using a jumper cable (factory setting). Connect one end of the EMG button to the -V input power, and connect the other end to the S terminal. Also connect the S and EMG terminals using a jumper cable. S S V EMG Input power DCV () When two to eight controllers are used with a single power supply Connect the and terminals using a jumper cable (factory setting). Connect one end of the EMG button to the -v input power, and connect the other end to the S terminal. Then, provide crossover connections by sequentially connecting the S terminal of controller EMG button Input power [Controller ] S S V EMG EMG button S S V EMG S S V EMG to the S terminal of controller, the S terminal of controller to the S terminal of controller, the S terminal of controller to the S terminal of controller, and so on, and connect the S terminal of the last controller to the EMG terminals of all controllers. Use a relay terminal block for connection to the EMG terminals. (ote) Do not insert more than one wire into a single terminal. [Controller ] [Controller ] [Controller ] S S V EMG () When nine or more controllers are used Please contact IAI. g External Drive-Power Cutoff Relay Type (Model: RCP-CG) The external drive-power cutoff relay type is designed to cut off the motor's drive power using an external safety relay, etc., and therefore no internal emergency-stop circuit is provided. Accordingly, the user must design a circuit such as the one shown below, using a safety relay unit, a contactor, etc. Input power DCV V V Connects to the -V terminal and EMG terminal Connects to the terminal [Controller ] [Controller ] [Controller ] S S V FG S S V FG S S V FG Contactor S S S S Safety relay unit Phoenix Contact PSR-SCP-UC-/ESA/X/X/B A A The above diagram shows only the safety-relay output circuit. Determine the appropriate emergency-stop input circuit in accordance with your equipment.

24 BK RDY RU ALM PORT O RIS PIO AD/RS OFF SIO EC OM MOT S S V F.G BK RDY RU ALM PORT O RIS PIO AD/RS OFF SIO EC OM MOT S S V F.G BK RDY RU ALM PORT O RIS PIO AD/RS OFF SIO EC OM MOT S S V F.G RCP Gripper/Rotary Connection of Multiple Controllers via Serial Communication The following explains how to connect multiple controllers using a PC or PLC communication module as the host: Basic Specifications Item Maximum number of units that can be connected Maximum cable length Terminal resistor Specification 6 units m or less Ω Provide a communication path via bus connection and be sure to provide a terminal resistor at the end. Connection Example Teaching pendant PC, etc. Use a commercial cross cable for connection with the PC. SIO converter (optional) (built-in terminal resistor) Model: RCB-TU-SIO-A (B) FG V V Input power.m.m.m An E-Con connector, a junction and a terminal resistor are supplied with one controller link cable. E-Con connector (AMP -76-) Junction: (AMP -77-) Terminal resistor R=Ω Controller power Controller link cable Model: CB-RCB-CTL The user must provide the wiring between junctions. RCP-C/CG Controller Controller Controller n External Dimensions of SIO Converter Vertical mounting specification Horizontal mounting specification using DI rail using DI rail Model: RCB-TU-SIO-A Model: RCB-TU-SIO-B Controller Link Cable (Supplied with E-Con connector, junction and terminal resistor) Model: CB-RCB-CTL.m () () E-Con connector Color Signal o. o. Signal Color Yellow Orange Blue SGA SGB GD SGA SGB + V Yellow Orange EMGA + V GD EMGB Blue The DI rail is not supplied.

25 RCP Gripper/Rotary Controller Options Teaching Pendant A product older than Ver..6 cannot be used with the RCP. (The customer's existing product can be sent to IAI for a version upgrade.) Model RCA-T (Standard) RCA-TD (With deadman switch) Features n A teaching device that provides all of the functions needed for test operation/adjustment, such as position-data input, test operation and monitoring of the current axis position and I/O signals. n The interactive-type panel ensures easy operation. All you need is to enter values in the required fields, so you won't need the operation manual for basic operations. n The internal help panel allows you to quickly check the desired operating procedure whenever necessary. Specifications Item m Specification Operating temperature/humidity Temperature: ~ C, Humidity: 8%RH or less Weight Cable length Display Approx. g (including cables) characters x 6 lines, LCD Simple Teaching Pendant Model RCA-E Features A product older than Ver..6 cannot be used with the RCP. (The customer's existing product can be sent to IAI for a version upgrade.) n A highly cost-effective teaching device that provides the same functions as the RCA-T at a significantly lower price. n The unit size has been reduced through the use of a two-line display. Specifications Item m Specification Operating temperature/humidity Temperature: ~ C, Humidity: 8%RH or less Weight Cable length Display Approx. g (including cables) 6 characters x lines, LCD Dimensions. 7. Dimensions (.) Help panel 8 ø () Data Setting Unit Model RCA-P Features Item A product older than Ver..6 cannot be used with the RCP. (The customer's existing product can be sent to IAI for a version upgrade.) An affordable data setting unit offering edit functions, except for operations involving axis movement. Edit functions m Specification Operating temperature/humidity Temperature: ~ C, Humidity: 8%RH or less Weight Cable length Display n Position data input n Confirmation of current axis position n I/O signal monitoring, etc. Specifications Operations involving axis movement cannot be performed Approx. 6 g (including cables) 6 characters x lines, LCD PC Software Model RCB--MW (DOS/V, Windows version) [Content ] Floppy disk, PC communication cable ( m) (ote ) Features n A support software for position data input and test operation. n This software significantly improves the equipment debugging operations by offering wide-ranging functions such as jogging, inching, step operation and continuous operation, and also by allowing easy operation via a large PC screen. (ote ) Refer to CB-RCA-SIO and RCB-CV-MW on page for the PC communication cables. Dimensions 86 ( ) If you are using RCA--MW, the software can be used with the RCP after a proper version upgrade. The shape of RCB--MW's RS8 conversion adapter has changed from that of the adapter used with RCA--MW, but functionality remains the same.