3. How to Read the Model No. 3.1 Slider Type RCP6 SA4C WA 35P P3 P B ** Standard spec. Built-in controller spec. <I/O type> SE : SIO type

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1 //CR/CR Type/ Type Radial Cylinder/ Type Wide Type/Wide Radial Cylinder First Step Guide Third Edition Thank you for purchasing our product. Make sure to read the Safety Guide and detailed Instruction Manual (DVD) included with the product in addition to this First Step Guide to ensure correct use. This Instruction Manual is original. Using or copying all or part of this Instruction Manual without permission is prohibited. The company names, names of products and trademarks of each company shown in the sentences are registered trademarks. Product Check This product is comprised following parts if it is of standard configuration. If you find any fault in the contained model or any missing parts, contact us or our distributor.. Parts (The option is excluded.) No. Part Name Model Quantity Remarks Main Body Refer to How to read the model No. Accessories 2 Encoder Cable 3 Home Position Marking Sticker 4 Nut Warning : Operation of this equipment requires detailed installation and operation instructions which are provided on the DVD Manual included in the box this device was packaged in. It should be retained with this device at all times. A hard copy of Manual can be requested by contacting your nearest IAI Sales Office listed at the back cover Instruction Manual or on the First Step Guide. 5 Square Nut set Packaged in slider type, table type and wide slider type. Packaged in rod type and Radial Cylinder. Refer to list below. Packaged in rod type. Refer to list below. 6 First Step Guide 7 Instruction Manual (DVD) 8 Safety Guide Note Please refer to the wiring layout for the enclosed motor encoder cables. (List of Included Nut Type) Nut (M0.25) Nut (M4.5) Nut (M20.5) RA4C, RA4R, RA6C, RA6R, RRA4C, RRA4R, RRA6C, RRA6R RA7C, RA7R, RRA7C, RRA7R RA8C, RA8R, RRA8C, RRA8R [Refer to instruction manual 6. External Dimensions for the dimensions of nuts.] The square nut will be enclosed for rod type. However, it will not be enclosed when the T-slot nut bar (model code: NTB) has been selected as an option. Square Nut (7 7 M4) Square Nut (0 0 M6) Square Nut (3 3 M8) RA4C, RA4R 4 RA6C, RA6R 4 RA7C, RA7R 8 RA8C, RA8R 8 2. How to Read the Model Plate Model Serial number MODEL -SA4C-WA-35P P3-P-B SERIAL No MADE IN JAPAN 3. How to Read the Model No. 3. Type SA4C WA 35P P3 P B ** Standard Specification CR CR straight type SA4C, SA6C, SA7C, SA8C reversing type SA4R, SA6R, SA7R, SA8R < type> 56SP : 56 size SA4C, SA4R SA6C, SA6R SA7C, SA7R SA8C, SA8R 5/0/20/ Type RA4C WA 35P P3 P B ** Externally Mounted Controller Built-in controller straight type RA4C, RA6C, RA7C, RA8C reversing type RA4R, RA6R, RA7R, RA8R < type> RA4C, RA4R RA6C, RA6R RA7C, RA7R RA8C, RA8R 5/0/20 [Refer to.2 Specifications Instruction Manual] 3.3 Radial Cylinder RRA4C WA 35P P3 P B ** straight type RRA4C, RRA6C, RRA7C, RRA8C reversing type RRA4R, RRA6R, RRA7R, RRA8R < type> RRA4C, RRA4R RRA6C, RRA6R RRA7C, RRA7R RRA8C, RRA8R 5/0/20 [Refer to.2 Specifications Instruction Manual] HPR : High-precision specification ML : left reversed (Standard) MR : right reversed CJO : Cable eject direction changed SS : spacer SR : part roller type W : Double slider type VR : Vacuum joint attachment in opposite [Refer to.2 Specifications Instruction Manual] FT : Foot bracket NTB : T-slot nut bar specification NFA : Tip adapter (Internal thread) ML : left reversed (Standard) MR : right reversed MT : top reversed FFA : Tip adapter (Flange) (Note3) NFA : Tip adapter (Internal Thread) KFA : Tip adapter (Keyway) (Note3) NJ : Knuckle Joint (Note2) QR : Clevis (Note2) ML : left reversed (Standard) MR : right reversed Note : : It may be displayed for IAI use. It is not a code to show the model type. Note 2: Knuckle joint and clevis can be selected only for the motor reversed type. Also, they come in a pair. They cannot be selected separately. Note 3: FFA: Tip Adapter (Flange) and KFA: Tip Adapter (Keyway) cannot be selected for RRA8C and RRA8R. 3.4 Type TA4C WA 35P P3 P B ** straight type TA4C, TA6C, TA7C reversing type TA4R, TA6R, TA7R < type> TA4C, TA4R TA4C, TA4R (Double-guided block) 2.5/5/0 TA6C, TA6R TA6C, TA6R (Double-guided block) 3/6/2 TA7C, TA7R TA7C, TA7R (Double-guided block) 4/8/6 [Refer to.2 Specifications Instruction Manual] 3.5 Wide Type WSA0C WA 35P P3 P B ** Standard Specification CR CR straight type WSA0C, WSA2C, WSA4C, WSA6C reversing type WSA0R, WSA2R, WSA4R, WSA6R < type> 56SP : 56 size WSA0C, WSA0R WSA2C, WSA2R WSA4C, WSA4R WSA6C, WSA6R 5/0/20 [Refer to.2 Specifications Instruction Manual] 3.6 Wide Radial Cylinder WRA0C WA 35P P3 P B ** straight type WRA0C, WRA2C, WRA4C, WRA6C reversing type WRA0R, WRA2R, WRA4R, WRA6R < type> WRA0C, WRA0R WRA2C, WRA2R WRA4C, WRA4R WRA6C, WRA6R 5/0/20 [Refer to.2 Specifications Instruction Manual] ML : left reversed (Standard) MR : right reversed DB : High-rigidity spec. (Double-guided block) HPR : High-precision specification ML : left reversed (Standard) MR : right reversed MT : top reversed SR VR : part roller type : Vacuum Joint attachment in opposite NTBL : T-slot nut bar specification (Left) NTBR: T-slot nut bar specification (Right) ML : left reversed (Standard) MR : right reversed Note : : It may be displayed for IAI use. It is not a code to show the model type.

2 ..5 Standard Specification -SA8C Precautions in Handling Cover. Handling Packed Product Take the greatest care in transporting the product, not to bump or drop it. An operator should never attempt to carry a heavy package on his own. When setting down the package temporarily, keep it horizontal. Do not step on the package. Do not place on the package a heavy object that may cause the box deformation or apply stress on it. 2. Handling Unpacked Product Do not transport the actuator by holding the cable or move it by pulling the cable. When the actuator is taken out from the package and handled, hold the base section. When the stainless sheet is attached, never hold the stainless sheet section. When transporting the actuator, be careful not to hit it against other objects. In particular, pay attention to the side cover. Do not give any unnatural force to any sections in the actuator. In particular, pay attention not to apply any force on the stainless steel sheet if the actuator is equipped with the stainless steel sheet. Environments for Installation, Storage and Preservation. Installation Environment Please attempt to avoid installing the product to such places as listed below. It is generally the environment where a worker can work without any protection gear. Also, make sure to keep enough space necessary for maintenance work. Place where exposed to radiant heat from a huge heat source such as heat treatment Place where the ambient temperature goes out applicable range from 0 to 40 C Place where condensation would occur due to sudden temperature change Place where the relative humidity exceeds 85% RH Dustproof/splash proof type RCP5W possesses the protection structure against dust and water equivalent to IP65. Place where exposed to the direct sunlight Place where corrosive gas or flammable gas exist Place where it contains a lot of dust, salt or iron (Outside of an ordinary assembly plant) Place where water, oil (includes oil mist and cutting fluid) or chemical is splashed Place where the product main body receives vibration or hit impact Place with an altitude of 2,000m or more Make sure to have a treatment for blocking when using in the following conditions: Place where noise is generated by such facts as static electricity Place where exposed to the influence of strong electric or magnetic field Place where exposed to the influence of ultraviolet or radiant rays Names Parts. Type Cover Steel..6 Built-in Controller Specification -SA8C Cover Steel..2 Built-in Controller Specification -SA4C Cover Cover Steel Cover 2. Type 2.. Standard Specification -RA4C Tip.2 Reversing Type.2. Standard Specification -SA4R Cover Cover 2..2 Built-in Controller Specification Tip -RA4C.2.2 Built-in Controller Specification -SA4R * The direction motor is Cover (Same on ) for Cover 2..3 Standard Specification -RA6C and RA7C Tip Steel Cover..3 Standard Specification -SA6C and SA7C Steel Cover 2..5 Standard Specification -RA8C Tip Cover 2..6 Built-in Controller Specification Tip -RA8C Cover Cover Steel Cover Cover Cover 2.2 Reversing Type 2.2. Standard Specification -RA4R Tip Cover Steel (Same on ) Cover Unit for Power for Power for Power.3. Standard Specification CR-SA4C, SA6C, SA7C and SA8C.3 Cleanroom Type hole for Tapped Ground Line (Same on ) Steel for Power Cover (Same on ) Steel for Power Cover for Power.2.5 Standard Specification -SA8R * The direction motor is Unit for Power (Same on ) 2..4 Built-in Controller Specification -RA6C and RA7C Tip Cover.2.4 Built-in Controller Specification -SA6R and SA7R Unit Cover Steel for Power * The direction motor is Unit Steel.2.6 Built-in Controller Specification -SA8R Cover (Same on ) Unit Steel for Power for Ground Line for Ground Line Cover Unit..4 Built-in Controller Specification -SA6C and SA7C Cover for Ground Line Steel Cover.2.3 Standard Specification -SA6R and SA7R The storage and preservation environment should comply with the same standards as those for the installation environment. In particular, when the machine is to be stored for a long time, pay close attention to environmental conditions so that no dew condensation forms. Unless specially specified, moisture absorbency protection is not included in the package when the machine is delivered. In the case that the machine is to be stored and preserved in an environment where dew condensation is anticipated, take the condensation preventive measures from outside entire package, or directly after opening the package. For storage and preservation temperature, the machine withstands temperatures up to 60 C for a short time, but in the case storage and preservation period of month or more, control the temperature to 50 C or less. The product should be settled in the horizontal orientation while in storage and reservation. In the case it is stored in the packaged condition, follow the posture instruction if any displayed on the package. 2. Storage and Preservation Environment.3.2 Built-in Controller Specification CR-SA4C, SA6C, SA7C and SA8C. Straight Type.. Standard Specification -SA4C Steel for Ground Line (Same on )

3 2.2.2 Built-in Controller Specification -RA4R Tip 3..4 Built-in Controller Specification -RRA6C and RRA7C Standard Specification -RA6R and RA7R Tip Cover Tip * The direction motor is for 4. Straight Type 4.. Standard Specification -TA4C, TA6C and TA7C Tip (Same on ) 3..6 Built-in Controller Specification Tip -RRA8C (Same on ) Tip 3.2 Reversing Type 3.2. Standard Specification -RRA4R for Power Tip Tip (Same on ) * The direction motor is for Built-in Controller Specification -RRA4R Tip for Built-in Controller Specification -TA4R, TA6R and TA7R * The direction motor is 3. Radial Cylinder 3. Straight Type 3.. Standard Specification -RRA4C Standard Specification -RRA6R and RRA7R Tip Steel Cover Oil Inlet 3..2 Built-in Controller Specification -RRA4C Built-in Controller Specification -RRA6R and RRA7R Tip * The direction motor is Tip 5..2 Built-in Controller Specification -WSA0C, WSA2C, WSA4C and WSA6C Cover Steel for Frame 5. Straight Type 5.. Standard Specification -WSA0C, WSA2C, WSA4C and WSA6C Tip (Same on ) 5. Wide Type Frame Built-in Controller Specification -RA8R Frame Unit (Controller Integrated Type) 4.2 Reversing Type 4.2. Standard Specification -TA4R, TA6R and TA7R Frame 4..2 Built-in Controller Specification -TA4C, TA6C and TA7C for Standard Specification -RA8R for Ground Line Unit Built-in Controller Specification -RA6R and RA7R 4. Type for Ground Line for Power Tip 3..5 Standard Specification -RRA8C (Same on ) Built-in Controller Specification -RRA8R for Tip Oil Inlet 3..3 Standard Specification -RRA6C and RRA7C Tip Standard Specification -RRA8R Tip 5.2 Reversing Type 5.2. Standard Specification -WSA0R, WSA2R, WSA4R and WSA6R Frame Cover * The direction motor is for Ground Line

4 5.2.2 Built-in Controller Specification -WSA0R, WSA2R, WSA4R and WSA6R No. 2 * The direction motor is Item Steel Strap (Piano Wire) Precautions The base has to have a structure with sufficient rigidity to prevent oscillation. The side and the bottom surfaces base actuator are the reference for the slider drive. If accuracy for its run is required, use these surfaces as a reference installation. Surface Tie them up softly. Do not pull the cable with a strong force. Do not let the cable receive a turning force at a single point. Do not pinch, drop a heavy object onto or cut the cable. When fixing the cable, provide a moderate slack and do not tension it too tight. 5.3 Cleanroom Type Reference Surfaces 5.3. Standard Specification CR-WSA0C, WSA2C, WSA4C and WSA6C Reference Surfaces Steel The actuator mounting surface and other surfaces that are used as a reference should be flat enough with an accuracy of machining or equivalent treatment, and the flatness mounting surface needs to be 0.05mm/m or less. Secure the space where maintenance work can be performed. Cover Inlet For the bolts to be used, a high-tensile bolt complying with ISO-0.9 or more is Bolt to be used recommended. If using the tapped holes, use screws with the thread length dimension being less than the effective depth holes. In case the tapped hole is a through hole, be careful so the screw tip does not exceed the surface tapped hole. For the actuator mounting, use a bolt with the dimension of its effective mating length to the tapped hole is as stated below. If tapped hole on steel thread length same as nominal diameter If tapped hole on aluminum thread length.8 times longer than nominal diameter However, there are some models specifying the effective length of thread engagement. Refer to the instruction manual (DVD) Built-in Controller Specification CR- WSA0C, WSA2C, WSA4C and WSA6C Steel Cover Inlet 6. Wide Radial Cylinder 6. Straight Type 6.. Standard Specification -WRA0C, WRA2C, WRA4C and WRA6C 4 Tightening Torque Please follow the specification values stated in the Instruction Manual (DVD) for the tightening torque. Failure to do so may cause an operation problem. 5 Load Moment and Overhung length Please follow the specification values stated in the Instruction Manual (DVD) for the load moment and the overhung length slider type, table type and wide slider type. Failure to do so may cause abnormal vibration or noise, and also may remarkably shorten the product life. 6 Tip Allowable Static Load, Load Offset Distance Follow the specific values described in the instruction manual (DVD) for the rod tip dynamic allowable load and the load offset distance for the rod type, radial cylinder and wide radial cylinder. Failure to do so may cause abnormal vibration or noise, and also may remarkably shorten the product life. 7 steel sheet Do not attempt to hold the stainless steel sheet directly with hand on slider type and wide slider type. Please, also, be careful not to make a dent on the stainless steel sheet. sheet is easy to get dented because it is thin. Using it with a dent on may cause a breakage. If there is dust or metal contamination attached on the stainless steel sheet, please wipe it off the sheet surface. Operation with the stainless sheet that has foreign matters on its surface may cause problems such as sheet damage, waviness, etc. inside the slider. Please do not operate the unit in the ambient with dust or metal contamination. Oil Inlet Tip Wiring 6..2 Built-in Controller Specification -WRA0C, WRA2C, WRA4C and WRA6C For the controller, only the dedicated controller manufactured by our company can be used. For the connection between the actuator of standard specification and controller, use the attached dedicated connection cable. Oil Inlet Do not use spiral tube in any position where cables are bent frequently. Separate the I/O line, communication line and power line from each other. Do not store in the same duct. Power Line Duct I/O Line (Flat Cable, etc.) Follow the instructions below when using a cable track. If there is an indication to the cable for the space factor in a cable track, refer to the wiring instruction given by the supplier when storing the cable in the cable track. Avoid the cables to get twined or twisted in the cable track, and also to have the cables move freely and do not tie them up. (Avoid tension being applied when the cables are bent.) Do not pile up cables. It may cause faster abrasion sheaths or cable breakage. Note: When the cable is connected or disconnected, make sure to turn off the power to the controller. When the cable is connected or disconnected with the controller power turned ON, it might cause a malfunction actuator and result in a serious injury or damage to the machinery. When the connector connection is not correct, it would be dangerous because of a malfunction actuator. Make sure to confirm that the connector is connected correctly. Tip (connects controller and ) -XX 6.2 Reversing Type 6.2. Standard Specification -WRA0R, WRA2R, WRA4R and WRA6R Built-in Controller Type Installation and Wiring Refer also to the first step guide for Gateway Unit if connection is to be established with the gateway. r Installation and Noise Elimination * The direction motor is. Noise Elimination Grounding (Frame Ground) PLC Connection Unit Built-in Controller Specification -WRA0R, WRA2R, WRA4R and WRA6R PCON-CB PCON-CFB MCON MSEL SA4, SA6, SA7, RA4, RA6, RA7, RRA4, RRA6, RRA7, TA4, TA6, TA7, WSA0, WSA2, WSA4, WRA0, WRA2 and WRA4 Copper wire: Connect a ground wire with a diameter of.6 mm (2mm2: AWG 4) or larger. * The direction motor is SA8, RA8,RRA8, WSA6 and WRA6 Refer to the Instruction Manual (DVD) for the attachments actuator and loads. [Precautions for s] No. Item Installation Ground Terminal Grounding resistance at 00Ω or less. Precautions Installing the slider type and wide slider type in the horizontally oriented wall mount or ceiling mount may cause the stainless steel sheet to be loosened or be off the right position. Continued use actuator with this condition may result in the breakage stainless steel sheet. Adjust the sheet tension accordingly in the regular inspection. (Refer to the maintenance section on the Instruction Manual for the procedure of stainless steel sheet tension adjustment.) Avoid using the actuator with no brake in the vertical orientation. [Prohibited Items in the Cable Processing] Do not pull or bend forcibly the cable so as not to give any extra load or tension to the cable. Do not process the cable for extension or shortening by means of cutting out, combination or connecting with another cable. Do not bend the cable in the area from the connector tip to 50mm on the both ends. Standard cable : CB-CAN-MPA, CB-CFA3-MPA Robot cable : CB-CAN-MPA -RB, CB-CFA3-MPA -RB 50mm Do not let the cable flex at a single point. 50mm Do not let the cable bend, kink or twist. PLC Unit PLC Unit Connect the ground line to the FG terminal on the PLC connection unit power supply connector connected to. Do not share the ground wire with or connect to other equipment. ground each unit. 2. Precautions regarding wiring method ) Wire is to be twisted for the 24V DC power supply. 2) Separate the signal and encoder lines from the power supply and power lines. 3. Noise Sources and Elimination Carry out noise elimination measures for electrical devices on the same power path and in the same equipment. The following are examples of measures to eliminate noise sources. ) AC solenoid valves, magnet switches and relays [Measure] Install a Surge absorber parallel with the coil. 2) DC solenoid valves, magnet switches and relays [Measure] Mount the windings and diodes in parallel. Select a diode built-in type for the DC relay. Surge absorber Rela y Relay coil

5 . When Controlled with Fieldbus PC Software Teaching Pendant Control/Drive Power (DC24V Please prepare Note : For RCM-P6GWG, insert the enclosed dummy plug (DP-5) to the SIO connector unless a teaching tool is connected to it. Wiring Diagram Fieldbus Connecting Dummy Plug DP-5 It is also available to connecting with miniusb. Axis Power Axis Control System I/O (Top) Host System (master unit Please prepare Emergency Stop Circuit Gateway Unit SIO Drive Cutoff Circuit Drive Cutoff Power Control Power CB- -RLY (Prepare 2. When Controlled with Serial Communication External Emergency Stop Switch PLC Unit Power S DC24V Power 24V 0V FG S2 MP 24V 0V EMG- BK Power Brake Release Power (Note) When a brake-equipped actuator is connected Axis Power Note: When supplying power by turning on/off 24V DC, keep 0V connected and have +24V supplied and shut (shut on one side). The rating for the emergency stop signal (EMG-) is 24V DC and 0mA or less. Have an interval of sec or more after shutting the power off before turning it back on. Do not attempt to supply only motor power while the control power is not supplied. CB- -PWBIO (Enclosed to actuator) (Max. 6 units) Unit (Max. 4 units) Power Control 2. When Controlled with Serial Communication Teaching Pendant Host System (master unit Please prepare PC Software PLC Connection Unit PLC Serial Communication CB--PWBIO (Enclosed to actuator) Axis Control/Drive Power (DC24V Please prepare Power Note: Turn off the power to the gateway unit and built-in controller before plugging in and out the connectors on the PC software or a teaching pendant to the gateway unit or built-in controller. Inserting or removing the connector while the power is turned ON causes a gateway unit failure. Emergency Stop Circuit It is an example for a wire layout in order to shut the motor power supply externally at the emergency stop input.. Noise Elimination Grounding (Frame Ground) Head Office: 577- Obane Shimizu-KU Shizuoka City Shizuoka , Japan TEL FAX website: Emargency Stop Reset Emergency Switch Stop Switch (Note 3) Gateway Unit System I/O Emergency Stop Switch on the Teaching Pendant SIO Axis Power Emergency Stop Detection Circuit Drive Cutoff/Emergency stop Input Axis Control Unit Unit 2 (Max. 6 units) Technical Support available in USA, Europe and China Head Office: 2690 W. 237th Street, Torrance, CA TEL (30) FAX (30) Chicago Office: 0 East State Parkway, Schaumburg, IL 6073 TEL(847) FAX (847) Atlanta Office: 220 Kennestone Circle, Suite 08, Marietta, GA TEL (678) FAX (678) website: Unit 3 Power Control Power Control Power (Note 4) Unit 4 Use a hub unit if necessary One hub unit is available for four units of actuator to be connected at the maximum. Connect actuator to the axes control connector (C) when a hub unit is not to be used. Ober der Röth 4, D Schwalbach am Taunus, Germany TEL FAX SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai , China TEL FAX website: Note RCM-P6GW: When there is nothing plugged in the SIO connector, S and S2 are short-circuited inside the controller. RCM-P6GWG: When there is nothing plugged in the SIO connector, S and S2 are not short-circuited. To make them short-circuited, have the enclosed dummy plug DP-5 plugged in the SIO connector. Note 2 When the motor power must be disconnected externally for safety category compliance, apply a safety rated relay between MPI-AXIS and MPO-AXIS. Note 3 The rating for the emergency stop signal (EMG-) to turn ON/OFF at contact CR is 24V DC and 0mA or less. Note 4 For CR, select the one with coil current 0.A or less. 825 PhairojKijja Tower 2th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 0260, Thailand TEL FAX Manual No.: ME3755-3A