5 Gripper and Rotary types - Intelligent Actuator

Gripper Type/Rotary Type
Gripper Type/Rotary Type
RCP2
RCS2
RCP2-GRSS
RCP2-GRLS
RCP2-GRS
RCP2-GRM
RCP2-GRST
RCP2-GR3LS
RCP2-GR3SS
RCS2-GR8
RCP2-
RTBS/RTBSL
RCP2-
RTB/RTBL
RCP2-
RTBB/RTBBL
RCP2-
RTCS/RTCSL
RCP2-
RTC/RTCL
RCP2-
RTCB/RTCBL
RCS2-RT6
RCS2-RT6R
RCS2-RT7R
331 Gripper
Type / Rotary Type

Gripper Type/Rotary Type
Slider
Type
RCP2
series
Pulse
Motor
Type
2-Finger Gripper Mini Slider Type 42mm Width RCP2-GRSS
Mini Lever Type 42mm Width RCP2-GRLS
Small Slider Type 69mm Width RCP2-GRS
Medium Slider Type 74mm Width RCP2-GRM
Long Stroke Slider Type
130mm Width
190mm
RCP2-GRST
3-Finger Gripper Lever Type 62mm Width RCP2-GR3LS
80mm Width RCP2-GR3LM
333
335
337
339
341
343
345
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
Slider Type 62mm Width RCP2-GR3SS
80mm Width RCP2-GR3SM
347
349
Table/Arm
/Flat Type
Mini
RCS2
series
200V Servo
Motor
Type
2 Finger Gripper Long Stroke Slider Type 104mm Width
284mm
RCS2-GR8
351
Standard
Gripper/
Rotary Type
Linear Servo
Type
RCP2
series
Pulse
Motor
Type
Rotary Small Vertical Type 45mm Width RCP2-RTBS / RTBSL
Small Flat Type 72mm Width RCP2-RTCS / RTCSL
Medium Vertical Type 50mm Width RCP2-RTB / RTBL
Medium Flat Type 88mm Width RCP2-RTC / RTCL
Large Vertical Type 76mm Width RCP2-RTBB / RTBBL
Large Flat Type 124mm Width RCP2-RTCB / RTCBL
353
355
357
359
361
363
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
RCS2
series
200V Servo
Motor
Type
Rotary Motor Straight Type 64mm Width RCS2-RT6
Side-Mounted Motor Type 64mm Width RCS2-RT6R
Side-Mounted Motor, Hollow Axis Type 68mm Width RCS2-RT7R
365
367
369
ROBO
NET
ERC2
PCON
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Gripper Type / Rotary Type 332

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
RCP2 ROBO Cylinder
RCP2-GRSS
ROBO Cylinder 2-Finger Gripper Mini Slider Type 42mm Width Pulse Motor
Configuration:
RCP2 GRSS I 20P 30 8
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option
I: Incremental
* The Simple
absolute encoder
is also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
20P : 20 size
Pulse motor
30 : 1/30
deceleration
ratio
8: 8mm
(4mm per side)
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
N : None
P : 1m
S : 3m
M : 5m
X : Custom
NM : Reversed-home
FB : Flange bracket
SB : Shaft bracket
Gripping Force Adjustment
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
Table/Arm
/Flat Type
* The gripping forces in the following diagrams
indicate the sums of gripping forces of both fingers.
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Technical
References
P. A-5
Gripping force (N)
16
14
12
10
8
6
4
2
0 0 10 20 30 40 50
Current Limit (% ratio)
60 70
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this
value.
(2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or
overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the
gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should
not exceed 1/10 to 1/20 of the gripping force.
(See page A-74 for details.)
(3) The rated acceleration while moving is 0.3G.
* Please note that, when gripping (pushing),
the speed is fixed at 5mm/s.
PSEP
/ASEP
ROBO
NET
ERC2
PCON
Actuator Specifications
Lead and Load Capacity
Model
RCP2-GRSS-I-20P-30-8- 1 - 2 - 3
Deceleration
Ratio
Max. Gripping
Force (N)
30 14
Stroke
(mm)
8
(4 per side)
Stroke and Maxi. Opening/Closing Speed
Stroke
Deceleration Ratio
30
8
(mm)
78
ACON
Legend: 1 Compatible controllers 2 Cable length 3 Options
(Unit: mm/s)
SCON
PSEL
ASEL
SSEL
XSEL
Stroke List
Stroke
(mm)
8
Standard Price
–
2 Cable List
Type
Standard Type
(Robot Cables)
Special Lengths
P (1m)
S (3m)
M (5m)
X06 (6m)
X11 (11m)
X16 (16m)
Cable Symbol
X10 (10m)
X15 (15m)
X20 (20m)
* The standard cable is the motor-encoder integrated robot cable.
* See page A-39 for cables for maintenance.
Standard Price
–
–
–
–
–
–
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
3 Option List Actuator Specifications
Name
Reversed-home
Flange bracket
Shaft bracket
333 RCP2-GRSS
Option Code
NM
FB
SB
See Page
A-33
A-26
A-36
Standard Price
–
–
–
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Worm gear + helical gear + helical rack
±0.01mm
0.2mm or less per side (constantly pressed out by a spring)
0.05mm or less per side
Linear guide
Ma: 0.5 N∙m Mb: 0.5 N∙m Mc: 1.5 N∙m
0.2kg
040°C, 85% RH or less (non-condensing)

)
Dimensions
RCP2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
* The opening side of the slider is the home position.
*1 The motor-encoder cable is connected here. See page A-39 for details on cables.
Standard
Controllers
Integrated
Rod
Type
+0. 03
2-ø30
depth 3
(same for opposite side)
Mini
Standard
17
17
8.5
Controllers
Integrated
43
4
8-M3 depth 5
(same for opposite side)
Cable joint
connector*1
Table/Arm
/Flat Type
+0. 05
2-30
depth 3
(same for opposite side)
Mini
Standard
24
2-M3 depth 4
0
-0.010
2-ø3h7(
2
1.5
71
+0. 03
2-ø30
depth 3
(same for opposite side)
Secure at least 100
9
+0. 03
ø30
depth 3
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
5
13.9
42
MAX 13.5
MIN 5.5
4.2
35
34
17
8.5
4
Splash-Proof
0
9-0.05
47
4
8-M3 depth 5
(same for opposite side)
4-M3 depth 5
Controllers
+0. 05
2-30
depth 3
(same for opposite side)
+0. 05
30
depth 3
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 0.2
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
PMEC-C-20PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
P481
See
– P477
ACON
SCON
PSEL
ASEL
Splash-Proof
Solenoid Valve Type
PSEP-C-20PI-NP-2-0
Operable with same signal as solenoid valve.
3 points
–
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
PSEP-CW-20PI-NP-2-0 –
P487
SSEL
XSEL
Positioner Type
PCON-C-20PI-NP-2-0
–
Safety-Compliant
Positioner Type
Positioning is possible for up to 512 points
512 points
PCON-CG-20PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial
Communication Type
PCON-PL-20PI-NP-2-0
PCON-PO-20PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
PCON-SE-20PI-N-0-0 Dedicated to communication 64 points –
Field Network Type RPCON-20P Dedicated to field network 768 points – P503
(−)
DC24V
2A max.
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control
Type
PSEL-C-1-20PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100 240V).
RCP2-GRSS 334
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
RCP2 ROBO Cylinder
RCP2-GRLS
I: Incremental 20P : 20 size
* The Simple
Pulse motor
absolute encoder
is also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
ROBO Cylinder 2-Finger Gripper Mini Lever Type 42mm Width Pulse Motor
Configuration:
RCP2 GRLS I 20P 30 180
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option
30 : 1/30
deceleration
180: 180
degrees
P1: PCON
RPCON
N : None
P : 1m
ratio (90 degrees per PSEL
S : 3m
M : 5m
side) P3: PMEC
X : Custom
PSEP
NM : Reversed-home
FB : Flange bracket
SB : Shaft bracket
Gripping Force Adjustment
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
Table/Arm
/Flat Type
* The gripping forces in the following diagrams
indicate the sums of gripping forces of both fingers.
Mini
7
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Technical
References
P. A-5
Gripping force (N)
6
5
4
3
2
1
0 0 10 20 30 40 50 60 70
Current Limit (% ratio)
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value.
(2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or
overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the
gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should
not exceed 1/10 to 1/20 of the gripping force.
(See page A-77 for details.)
(3) The rated acceleration while moving is 0.3G.
* Please note that, when gripping (pushing),
the speed is fixed at 5 degrees/s.
PSEP
/ASEP
ROBO
NET
ERC2
PCON
Actuator Specifications
Lead and Load Capacity
Model
RCP2-GRLS-I-20P-30-180- 1 - 2 - 3
Deceleration Ratio
Max. Gripping
Force (N)
30 6.4
Stroke
(deg)
180
(90 per side)
Stroke and Maxi. Opening/Closing Speed
Stroke
Deceleration
Ratio
30
180
(deg)
600
ACON
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: degrees/s)
SCON
PSEL
ASEL
SSEL
XSEL
Stroke List
Stroke
(deg)
180
Standard Price
–
2 Cable List
Type
Cable Symbol
Standard Price
P (1m)
–
Standard Type
S (3m)
–
(Robot Cables)
M (5m)
–
X06 (6m) X10 (10m) –
Special Lengths X11 (11m) X15 (15m) –
X16 (16m) X20 (20m) –
* The standard cable is the motor-encoder integrated robot cable.
* See page A-39 for cables for maintenance.
Pulse Motor
Servo Motor
(24V)
3 Option List
Actuator Specifications
Servo Motor
(200V)
Linear
Servo Motor
Name
Reversed-home
Flange bracket
Shaft bracket
335 RCP2-GRLS
Option Code
NM
FB
SB
See Page
A-33
A-26
A-36
Standard Price
–
–
–
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Worm gear + helical gear
±0.01mm
1 degree or less per side (constantly pressed out by a spring)
1 degree or less
−
−
0.2kg
040°C, 85% RH or less (non-condensing)

Dimensions
RCP2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
* The opening side of the slider is the home position.
*1 The motor-encoder cable is connected here. See page A-39 for details on cables.
Standard
Controllers
Integrated
+0. 03
2-ø30
depth 3
(same for opposite side)
Rod
Type
17
24
Mini
+0. 03
2-ø40
depth 2. 5
4-M4 through
45
4
17
8-M3 depth 5
(same for opposite side)
+0. 05
2-30
depth 3
(same for opposite side)
+0. 03
2-ø30
depth 3
(same for opposite side)
Cable joint
connector*1
Secure at least 100
9
ø3 +0. 03
0
depth 3
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
9
18
42
MAX 180
MIN 0
8.5
17
35
4
34
Linear Servo
Type
Cleanroom
Type
9
4
18
36
2-3+0. 05
0 depth 3
15.5
49 (same for opposite side)
8-M3 depth 5
(same for opposite side)
4-M3 depth 5
+0. 05
30
depth 3
Splash-Proof
73
Controllers
66.5
PMEC
/AMEC
PSEP
/ASEP
55
ROBO
NET
ERC2
Weight (kg) 0.2
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
PMEC-C-20PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
See P481 – P477
ACON
SCON
PSEL
ASEL
Splash-Proof
Solenoid Valve Type
PSEP-C-20PI-NP-2-0
Operable with same signal as solenoid valve.
3 points
–
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
PSEP-CW-20PI-NP-2-0 –
P487
SSEL
XSEL
Positioner Type
PCON-C-20PI-NP-2-0
–
Safety-Compliant
Positioner Type
Positioning is possible for up to 512 points
512 points
PCON-CG-20PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial
Communication Type
PCON-PL-20PI-NP-2-0
PCON-PO-20PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
PCON-SE-20PI-N-0-0 Dedicated to serial communication 64 points –
Field Network Type RPCON-20P Dedicated to field network 768 points – P503
(−)
DC24V
2A max.
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control
Type
PSEL-C-1-20PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-GRLS 336
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
RCP2 ROBO Cylinder
RCP2-GRS
ROBO Cylinder 2-Finger Gripper Mini Slider Type 69mm Width Pulse Motor
Configuration:
RCP2 GRS I 20P 1 10
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option
I: Incremental
* The Simple
absolute encoder
is also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
20P : 20 size
Pulse motor
1 : 1/1
deceleration ratio
10: 10mm
(5mm per side)
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
N : None
P : 1m
S : 3m
M : 5m
X : Custom
R : Robot cable
SB : Shaft bracket
FB : Flange bracket
Gripping Force Adjustment
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
Table/Arm
/Flat Type
* The gripping forces in the following diagrams
indicate the sums of gripping forces of both fingers.
Mini
35
Standard
Gripper/
Rotary Type
Gripping force (N)
30
25
20
15
10
Linear Servo
Type
5
0 0 10 20 30 40 50 60 70
Current Limit ( ratio)
Cleanroom
Type
Technical
References
P. A-5
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this
value.
(2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or
overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the
gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should
not exceed 1/10 to 1/20 of the gripping force.
(See page A-74 for details.)
(3) The rated acceleration while moving is 0.3G.
* Please note that, when gripping (pushing),
the speed is fixed at 5mm/s.
PSEP
/ASEP
ROBO
NET
ERC2
PCON
Actuator Specifications
Lead and Load Capacity
Model
RCP2-GRS-I-20P-1-10- 1 - 2 - 3
Deceleration
Ratio
Max. Gripping
Force (N)
1 21
Stroke
(mm)
10
(5 per side)
Stroke and Maxi. Opening/Closing Speed
Stroke
Deceleration Ratio
1
10
(mm)
33.3
ACON
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: mm/s)
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Stroke List
Stroke
(mm)
10
Standard Price
–
2 Cable List
Type
Standard Type
Special Lengths
Robot Cable
Cable Symbol
P (1m)
S (3m)
M (5m)
X06 (6m) X10 (10m)
X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
R01 (1m) R03 (3m)
R04 (4m) R05 (5m)
R06 (6m) R10 (10m)
R11 (11m) R15 (15m)
R16 (16m) R20 (20m)
* See page A-39 for cables for maintenance.
Standard Price
–
–
–
–
–
–
–
–
–
–
–
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
3 Option List Actuator Specifications
Name
Flange bracket
Shaft bracket
337 RCP2-GRS
Option Code
FB
SB
See Page
A-26
A-36
Standard Price
–
–
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Timing belt + trapezoidal screw (1.5 lead)
±0.01mm
0.15mm or less per side (constantly pressed out by a spring)
0.1mm or less per side
Cross roller guide
Ma: 6.3 N∙m Mb: 6.3 N∙m Mc: 7.0 N∙m
0.36kg
040°C, 85% RH or less (non-condensing)

Dimensions
RCP2 ROBO Cylinder
For Special Order P. A-9
Slider
Type
Mini
* The opening side of the slider is the home position.
*1 The motor-encoder cable is connected here. See page A-39 for details on cables.
Standard
Controllers
Integrated
Rod
Type
Mini
10 0
-0.05
2−M4 depth 8
30
1.5
24
29
+0.03
2−ø3 0 Depth 2.5
(same with opposite side)
4−M4 depth 7
(same with
opposite side)
Cable joint
connector*1
Secure at least 100
21
4−M4 depth 6
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
24
7 9
+0.03
0
4
MAX 11
MIN 1
21
24
36
69
ø3 +0.03
0 Depth 2.5
4
28
3 +0.05
0 Depth 2.5
Gripper/
Rotary Type
Linear Servo
Type
5
Cleanroom
Type
Note:
3
+0.05
2−3 0 Depth 2.5
(same with opposite side)
68
71
Splash-Proof
The holes in the slider shown above, other
than tapped holes, are used to install the
slider onto the actuator. They cannot be
used as finger positioning holes.
Use the key slots to position the fingers.
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 0.36
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
PMEC-C-20PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
See P481 – P477
ACON
SCON
PSEL
ASEL
Splash-Proof
Solenoid Valve Type
PSEP-C-20PI-NP-2-0
Operable with same signal as solenoid valve.
3 points
–
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
PSEP-CW-20PI-NP-2-0 –
P487
SSEL
XSEL
Positioner Type
PCON-C-20PI-NP-2-0
–
Safety-Compliant
Positioner Type
Positioning is possible for up to 512 points
512 points
PCON-CG-20PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial
Communication Type
PCON-PL-20PI-NP-2-0
PCON-PO-20PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
PCON-SE-20PI-N-0-0 Dedicated to serial communication 64 points –
Field Network Type RPCON-20P Dedicated to field network 768 points – P503
(−)
DC24V
2A max.
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control
Type
PSEL-C-1-20PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-GRS 338
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
RCP2 ROBO Cylinder
RCP2-GRM
ROBO Cylinder 2-Finger Gripper Medium Slider Type 74mm Width Pulse Motor
Configuration:
RCP2 GRM I 28P 1 14
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option
I: Incremental 28P: 28 size 1 : 1/1
* The Simple
Pulse motor deceleration
absolute encoder
ratio
is also considered
type "I".
* See page Pre-35 for explanation of each code that makes up the configuration name.
14: 14mm
(7mm per side)
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
N : None
SB : Shaft bracket
P : 1m
FB : Flage bracket
S : 3m
M : 5m
X : Custom
R : Robot cable
Gripping Force Adjustment
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
Table/Arm
/Flat Type
* The gripping forces in the following diagrams
indicate the sums of gripping forces of both fingers.
Mini
140
Standard
Gripper/
Rotary Type
Gripping force (N)
120
100
80
60
40
Linear Servo
Type
20
0 0 10 20 30 40 50 60 70
Current Limit ( ratio)
Cleanroom
Type
Technical
References
P. A-5
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
P O
I N T
Notes on
Selection
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this
value.
(2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or
overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the
gripper fingers and the work piece, as well as on the shape of the work pieces. As a rough guide, a work piece's weight
should not exceed 1/10 to 1/20 of the gripping force.
(See page A-74 for details.)
(3) The rated acceleration while moving is 0.3G.
Actuator Specifications
Lead and Load Capacity
Model
Deceleration
RCP2-GRM-I-28P-1-14- 1 - 2 - 3 1 80
14
Ratio
Max. Gripping
Force (N)
Stroke
(mm)
* Please note that, when gripping (pushing),
the speed is fixed at 5mm/s.
Stroke and Maxi. Opening/Closing Speed
Stroke
Deceleration Ratio
1
14
(mm)
36.7
ACON
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: mm/s)
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Stroke List
Stroke
(mm)
14
Standard Price
–
2 Cable List
Type
Standard Type
Special Lengths
Robot Cable
Cable Symbol
P (1m)
S (3m)
M (5m)
X06 (6m) X10 (10m)
X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
R01 (1m) R03 (3m)
R04 (4m) R05 (5m)
R06 (6m) R10 (10m)
R11 (11m) R15 (15m)
R16 (16m) R20 (20m)
* See page A-39 for cables for maintenance.
Standard Price
–
–
–
–
–
–
–
–
–
–
–
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
3 Option List Actuator Specifications
Name
Flange bracket
Shaft bracket
339 RCP2-GRM
Option Code
FB
SB
See Page
A-26
A-36
Standard Price
–
–
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Timing belt + trapezoidal screw (1.5 lead)
±0.01mm
0.15mm or less per side (constantly pressed out by a spring)
0.1mm or less per side
Cross roller guide
Ma: 6.3 N∙m Mb: 6.3 N∙m Mc: 8.3 N∙m
0.5kg
040°C, 85% RH or less (non-condensing)

Dimensions
RCP2 ROBO Cylinder
For Special Order P. A-9
Slider
Type
Mini
* The opening side of the slider is the home position.
*1 The motor-encoder cable is connected here. See page A-39 for details on cables.
Standard
Controllers
Integrated
Rod
Type
Mini
12 0
−0.05
2−M5 depth 8
36
1.5
25
4−M4 depth 8
(same with
opposite side)
35
+0.03
2−ø3 0 Depth 2.5
(same with opposite side)
Cable joint
connector*1
Secure at least 100
24
4−M4 depth 6
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
25
7 11.5
+0.03
0
5
MAX 15
MIN 1
22
24
36
74
ø3 +0.03
0 Depth 2.5
4
28
3 +0.05
0 Depth 2.5
Gripper/
Rotary Type
Linear Servo
Type
5
Cleanroom
Type
Note:
The holes in the slider shown above, other
than tapped holes, are used to install the
slider onto the actuator. They cannot be
used as finger positioning holes.
Use the key slots to position the fingers.
3
+0.05
2−3 0 Depth 2.5
(same with opposite side)
76
79
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 0.5
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
Splash–Proof
Solenoid Valve Type
PMEC–C–28PI–NP–2–1
Easy–to–use controller, even for beginners
AC100V
AC200V
See P481 – P477
PSEP–C–28PI–NP–2–0
Operable with same signal as solenoid valve.
Supports both single and double solenoid
3 points
–
types.
PSEP–CW–28PI–NP–2–0
No homing necessary with simple absolute
type.
–
P487
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Positioner Type
Safety–Compliant
Positioner Type
PCON–C–28PI–NP–2–0
–
Positioning is possible for up to 512 points
512 points
PCON–CG–28PI–NP–2–0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial
Communication Type
PCON–PL–28PI–NP–2–0
PCON–PO–28PI–NP–2–0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
PCON–SE–28PI–N–0–0 Dedicated to serial communication 64 points –
Field Network Type RPCON–28P Dedicated to field network 768 points – P503
(−)
DC24V
2A max.
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control
Type
PSEL–C–1–28PI–NP–2–0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-GRM 340
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
RCP2 ROBO Cylinder
RCP2-GRST
type "I".
* See page Pre-35 for an explanation of the naming convention.
ROBO Cylinder 2-Finger Gripper Long Stroke Slide Type 130190mm Width
Pulse Motor
Configuration:
RCP2 GRST I 20P
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option
I: Incremental
* The Simple
absolute encoder
is also considered
20P : 20 size
Pulse motor
1 : 1/1 deceleration
ratio
High-Speed Type
2 : 1/2 deceleration
ratio
Standard Type
40: 40mm
60: 60mm
80: 80mm
100: 100mm
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
N : None
P : 1m
S : 3m
M : 5m
X : Custom
See Options below
Be sure to specify the side
from which you want the
cable to exit (A0 or A1).
Gripping Force Adjustment
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Technical
References
P. A-5
Gripping force (N)
45
40
35
30
25
20
15
10
* The gripping forces in the following diagrams
indicate the sums of gripping forces of both fingers.
Standard
High-Speed Type
5
0 0 10 20 30 40 50 60 70 80
Current Limit (% ratio)
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is
twice this value.
(2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no
offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient
between the gripper fingers and the work piece, as well as on the shape of the work pieces. As a rough guide, a
work piece's weight should not exceed 1/10 to 1/20 of the gripping force.
(See page A-74 for details.)
(3) The rated acceleration while moving is 0.3G.
* Please note that, when gripping (pushing),
the speed is fixed at 5mm/s.
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
Actuator Specifications
Lead and Load Capacity
Model
RCP2-GRST-I-20P-1- 1 - 2 - 3 - 4
RCP2-GRST-I-20P-2- 1 - 2 - 3 - 4
Deceleration
Ratio
1
2
Max. Gripping
Force (N)
20
Stroke and Maxi. Opening/Closing Speed
Legend: 1 Stroke 2 Compatible controller 3 Cable length 4 Options (Unit: mm/s)
40
Stroke
(mm)
40100
(20mm
increments)
Stroke
Deceleration Ratio
1
2
40100
(mm)
75
34
SCON
PSEL
ASEL
SSEL
XSEL
1 Stroke List 3 Cable List
Stroke
(mm)
40
60
80
100
Standard Price
–
–
–
–
Type
Cable Symbol
P (1m)
Standard Type
S (3m)
(Robot Cables)
M (5m)
X06 (6m) X10 (10m)
Special Lengths X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
* The standard cable is the motor-encoder integrated robot cable.
* See page A-39 for cables for maintenance.
Standard Price
–
–
–
–
–
–
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
4 Option List Actuator Specifications
Name
Option Code See Page Standard Price
Reversed-home
Cable exiting from bottom
Cable exiting from the side
NM
A0
A1
A-33
A-25
A-25
–
–
–
*Be sure to specify the side from which you want the cable to exit (A0 or A1).
341 RCP2-GRST
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Timing belt + worm/rack gear
±0.01mm
0.2mm or less per side
–
Linear guide
Ma: 2.93 N∙m Mb: 2.93 N∙m Mc: 5.0 N∙m
0.51kg(40-stroke) 0.66kg (100-stroke)
040°C, 85% RH or less (non-condensing)

Dimensions
RCP2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
* The opening side of the slider is the home position.
*1 The motor-encoder cable is connected here. See page A-39 for details on cables.
Standard
Controllers
Integrated
3
12.5±0.05
4-M3 depth 5
19
2.5
12±0.05
Rod
Type
Mini
19
Standard
(0.5)
24.5
24
+0.03
ø3depth 0 3
M
2-C0.5
L
st 6
st
N
24
(0.5)
10.5
33
25 0
-0.05
2-C0.5
Controllers
Integrated
Table/Arm
/Flat Type
Unlocking screw
2-M4 depth 6
(same with opposite side)
+0.03
ø3 0 depth 3
(same with opposite side)
+0.03
ø3 depth 0 3
4-M4 depth 5
26
40
60
+0.05
ø3 depth 3
0
4
(same with
opposite side)
4
+0.05
ø3 0 depth 3
11
12.5
28 25.5
Cable exiting from side
(Model: A1)
Secure at least 100
Cable exit from bottom
(Model : A0)
32
21.5 28 4
(210)
53.5
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Splash-Proof
M
60
N
Cable joint connector*1
Controllers
Dimensions and Weight by Stroke
PMEC
/AMEC
Stroke
L
40
130
60
150
80
170
100
190
PSEP
/ASEP
M
N
Weight (kg)
71.5
57.5
0.51
81.5
67.5
0.56
91.5
77.5
0.61
101.5
87.5
0.66
ROBO
NET
ERC2
PCON
2 Compatible controller
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
Splash-Proof
Solenoid Valve Type
PMEC-C-20PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
See P481 – P477
PSEP-C-20PI-NP-2-0 Operable with same signal as solenoid valve.
3 points
–
Supports both single and double solenoid
types.
PSEP-CW-20PI-NP-2-0 No homing necessary with simple absolute type.
–
P487
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Positioner Type
Safety-Compliant
Positioner Type
PCON-C-20PI-NP-2-0
–
Positioning is possible for up to 512 points
512 points
PCON-CG-20PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial
Communication Type
PCON-PL-20PI-NP-2-0
PCON-PO-20PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
PCON-SE-20PI-N-0-0 Dedicated to serial communication 64 points –
Field Network Type RPCON-20P Dedicated to field network 768 points – P503
(−)
DC24V
2A max.
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control
Type
PSEL-C-1-20PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-GRST 342
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
RCP2 ROBO Cylinder
RCP2-GR3LS
ROBO Cylinder 3-Finger Gripper Lever Type 62mm Width Pulse Motor
Configuration:
RCP2 GR3LS I 28P 30 19
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option
I: Incremental
* The Simple
28P : 28 size
Pulse motor
30 : 1/30
deceleration
19: 19 degrees
absolute encoder
is also considered
ratio
type "I".
* See page Pre-35 for an explanation of the naming convention.
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
Gripping Force vs. Current Limit
L
Lever Type (GR3LS/GR3LM)
F
N : None
FB : Flange bracket
P : 1m
SB : Shaft bracket
S : 3m
M : 5m
X : Custom
R : Robot cable
* Please note that,
when gripping
(pushing), the
speed is fixed at
5 degrees/s.
Standard
Gripper/
Rotary Type
Linear Servo
Type
* The values in the graph below are gripping forces at 10mm gripping point.
The actual gripping force decreases inversely proportional to the distance
from the opening/closing point.
You can calculate the actual gripping force by the following equation.
Actual gripping force (type S)=P×24/(L+14)
Actual gripping force (type M)=P×28.5/(L+18.5)
P=Gripping force on graph
L=Distance from finger mounting surface to the gripping point.
35
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
Technical
References
P. A-5
(1) The maximum opening/closing speed indicates the operating speed on one side. The
relative operating speed is twice this value.
(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping
point distance of 10mm and no overhang distance. For the actual transportable work piece
weight, see explanation on the right, or page A-77.
(3) The rated acceleration while moving is 0.3G.
Gripping force (N)
30
25
20
15
10
5
0 0 10 20 30 40 50 60 70
Current Limit (% ratio)
PSEP
/ASEP
ROBO
NET
ERC2
PCON
Actuator Specifications
Lead and Load Capacity
Model
Deceleration
RCP2-GR3LS-I-28P-30-19- 1 - 2 - 3 30 18
19
Ratio
Max. Gripping
Force (N)
Stroke
(deg)
Stroke and Maxi. Opening/Closing Speed
Stroke
Deceleration Ratio
30
19
(deg)
200
ACON
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: degrees/s)
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Stroke List
Stroke
(deg)
10
Standard Price
–
2 Cable List
Type
Standard Type
Special Lengths
Robot Cable
Cable Symbol
P (1m)
S (3m)
M (5m)
X06 (6m) X10 (10m)
X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
R01 (1m) R03 (3m)
R04 (4m) R05 (5m)
R06 (6m) R10 (10m)
R11 (11m) R15 (15m)
R16 (16m) R20 (20m)
* See page A-39 for cables for maintenance.
Standard Price
–
–
–
–
–
–
–
–
–
–
–
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
3 Option List Actuator Specifications
Name
Flange bracket
Shaft bracket
Option Code
FB
SB
See Page
A-26
A-36
Standard Price
–
–
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Weight
Ambient Operating Temp./Humidity
Description
Worm gear + worm wheel gear
±0.01 degrees
1 degree or less per side (constantly pressed out by a spring)
0.15 degrees or less per side
0.6kg
040°C, 85% RH or less (non-condensing)
343 RCP2-GR3LS

Dimensions
RCP2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
* When homing, the actuator swings 1 degree past the home position before
returning. Therefore, please watch for any interference with the surrounding
objects.
*1 The motor-encoder cable is connected here. See page A-39 for details on
cables.
Standard
Controllers
Integrated
Rod
Type
Mini
ø3 +0.05
0
2-M3
10 +0.05 0
Standard
Controllers
Integrated
4-ø4.5
62
48
M8 (effective depth 4)
ø57
Home
8 -0.05
0
7.5
3.5 8
28
10
Mounting surface 3-M4 (effective depth 6)
Flange plug (set screw M4 x 5)
31.5
16
50.5
(19)
1.5
84
2-ø3 +0.03
0 depth 3
(same for back side)
4-M5 depth 8
(same for back side)
ø57
Mounting
surface
Cable joint
connector *1
Secure at least 100
2 0.5
Details of A
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
14°
6
24
36
120°
120°
Linear Servo
Type
62
48
ø18
9 6
ø59 0
-0.05
5°
12
ø45
Cleanroom
Type
ø76
Mounting surface
(same for opposite side)
17.5
4
2-3 0 +0.05 depth 3
(same for back side)
112
A
Splash-Proof
(129.5)
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 0.6
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
Splash-Proof
Solenoid Valve Type
PMEC-C-28PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
See P481 – P477
PSEP-C-28PI-NP-2-0
Operable with same signal as solenoid valve.
3 points
–
Supports both single and double solenoid types.
PSEP-CW-28PI-NP-2-0
No homing necessary with simple absolute type.
–
P487
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Positioner Type
Safety-Compliant
Positioner Type
PCON-C-28PI-NP-2-0
–
Positioning is possible for up to 512 points
512 points
PCON-CG-28PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial
Communication Type
PCON-PL-28PI-NP-2-0
PCON-PO-28PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
PCON-SE-28PI-N-0-0 Dedicated to serial communication 64 points –
Field Network Type RPCON-28P Dedicated to field network 768 points – P503
(−)
DC24V
2A max.
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control
Type
PSEL-C-1-28PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-GR3LS 344
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
RCP2 ROBO Cylinder
RCP2-GR3LM
ROBO Cylinder 3-Finger Gripper Lever Type 80mm Width Pulse Motor
Configuration:
RCP2 GR3LM I 42P 30 19
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option
42P : 42 size
19: 19 degrees
Pulse motor
I: Incremental
* The Simple
absolute encoder
is also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
30 : 1/30
deceleration
ratio
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
Gripping Force vs. Current Limit
L
Lever Type (GR3LS/GR3LM)
F
N : None
FB : Flange bracket
P : 1m
SB : Shaft bracket
S : 3m
M : 5m
X : Custom
R : Robot cable
* Please note that,
when gripping
(pushing), the
speed is fixed
at 5 degrees/s.
Standard
Gripper/
Rotary Type
Linear Servo
Type
70
* The values in the graph below are gripping forces at 10mm gripping point.
The actual gripping force decreases inversely proportional to the distance
from the opening/closing point.
You can calculate the actual gripping force by the following equation.
Actual gripping force (type S)=P×24/(L+14)
Actual gripping force (type M)=P×28.5/(L+18.5)
P=Gripping force on graph
L=Distance from finger mounting surface to the gripping point.
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
Technical
References
P. A-5
(1) The maximum opening/closing speed indicates the operating speed on one side. The
relative operating speed is twice this value.
(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping
point distance of 10mm and no overhang distance. For the actual transportable work piece
weight, see explanation on the right, or page A-77.
(3) The rated acceleration while moving is 0.3G.
Gripping force (N)
60
50
40
30
20
10
0 0 10 20 30 40 50 60 70
Current Limit (% ratio)
PSEP
/ASEP
ROBO
NET
ERC2
PCON
Actuator Specifications
Lead and Load Capacity
Model
Deceleration
RCP2-GR3LM-I-42P-30-19- 1 - 2 - 3 30 51
19
Ratio
Max. Gripping
Force (N)
Stroke
(deg)
Stroke and Maxi. Opening/Closing Speed
Stroke
Deceleration Ratio
30
19
(deg)
200
ACON
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: degrees/s)
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Stroke List
Stroke
(deg)
10
Standard Price
–
2 Cable List
Type
Standard Type
Special Lengths
Robot Cable
Cable Symbol
P (1m)
S (3m)
M (5m)
X06 (6m) X10 (10m)
X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
R01 (1m) R03 (3m)
R04 (4m) R05 (5m)
R06 (6m) R10 (10m)
R11 (11m) R15 (15m)
R16 (16m) R20 (20m)
* See page A-39 for cables for maintenance.
Standard Price
–
–
–
–
–
–
–
–
–
–
–
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
3 Option List
Name
Option Code See Page Standard Price
Actuator Specifications
Item
Description
Flange bracket
Shaft bracket
FB
SB
A-26
A-36
–
–
Drive System
Positioning Repeatability
Backlash
Lost Motion
Weight
Ambient Operating Temp./Humidity
Worm gear + worm wheel gear
±0.01 degrees
1 degree or less per side (constantly pressed out by a spring)
0.15 degrees or less per side
1.1kg
040°C, 85% RH or less (non-condensing)
345 RCP2-GR3LM

Dimensions
RCP2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
* When homing, the actuator swings 1 degree past the home position before
returning. Therefore, please watch for any interference with the surrounding
objects.
*1 The motor-encoder cable is connected here. See page A-39 for details on
cables.
Standard
Controllers
Integrated
Rod
Type
Mini
77 -0.05
0
ø75
ø3 +0.05
0
2-M4
10 -0.05
0
ø75
10 +0.05
0
Standard
Controllers
Integrated
Table/Arm
/Flat Type
9
4 10
Cable joint
connector*1
2 0.5
Details of A
Mini
Standard
4-ø5.5
80
62
M8 (effective depth 4)
Home
Mounting
surface
40.5
20
36
64
(23.5)
1.5
12
78
Secure at least 100
2-ø3 +0.03
0 depth 3
3-M5 (effective depth 7)
(same for back side)
Mounting
Flange plug (set screw M5 x 6)
4-M6 depth 12
surface
(same for back side)
Gripper/
Rotary Type
Linear Servo
Type
80
62
7
14.5
14°
5°
18
7
34
48
120°
ø62
Cleanroom
Type
Splash-Proof
120°
ø29
ø98
Mounting surface
(same for opposite side)
22
4
2-3 0 +0.05 depth 3
(same for back side)
114
(136)
A
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 1.1
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
Splash-Proof
Solenoid Valve Type
PMEC-C-42PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
See P481 – P477
PSEP-C-42PI-NP-2-0
Operable with same signal as solenoid valve.
3 points
–
Supports both single and double solenoid types.
PSEP-CW-42PI-NP-2-0
No homing necessary with simple absolute type.
–
P487
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Positioner Type
Safety-Compliant
Positioner Type
PCON-C-42PI-NP-2-0
–
Positioning is possible for up to 512 points
512 points
PCON-CG-42PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial
Communication Type
PCON-PL-42PI-NP-2-0
PCON-PO-42PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
PCON-SE-42PI-N-0-0 Dedicated to serial communication 64 points –
Field Network Type RPCON-42P Dedicated to field network 768 points – P503
(−)
DC24V
2A max.
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control
Type
PSEL-C-1-42PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-GR3LM 346
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
RCP2 ROBO Cylinder
RCP2-GR3SS
ROBO Cylinder 3-Finger Gripper Slider Type 62mm Width Pulse Motor
Configuration:
RCP2 GR3SS I 28P 30 10
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option
I: Incremental 28P : 28 size 30 : 1/30
10: 10mm
* The Simple
Pulse motor deceleration (5mm per side)
absolute encoder
is also considered
ratio
type "I".
* See page Pre-35 for an explanation of the naming convention.
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
N : None
FB : Flange bracket
P : 1m
SB : Shaft bracket
S : 3m
M : 5m
X : Custom
R : Robot cable
Gripping Force vs. Current Limit
Slider Type (GR3SS/GR3SM)
F
Mini
L
Standard
Gripper/
Rotary Type
Linear Servo
Type
35
* Please keep the distance L from the finger mounting surface to the
gripping point at less than the following dimensions.
GR3SS50mm or less
GR3SM80mm or less
* Please note that, when
gripping (pushing), the
speed is fixed at 5mm/s.
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
Technical
References
P. A-5
(1) The maximum opening/closing speed indicates the operating speed on one side. The
relative operating speed is twice this value.
(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping
point distance of 10mm and no overhang distance. For the actual transportable work piece
weight, see explanation on the right or page A-74.
(3) The rated acceleration while moving is 0.3G.
Gripping force (N)
30
25
20
15
10
5
0 0 10 20 30 40 50 60 70
Current Limit (% ratio)
PSEP
/ASEP
ROBO
NET
ERC2
PCON
Actuator Specifications
Lead and Load Capacity
Model
Deceleration
RCP2-GR3SS-I-28P-30-10- 1 - 2 - 3 30 22
10
Ratio
Max. Gripping
Force (N)
Stroke
(mm)
Stroke and Maxi. Opening/Closing Speed
Stroke
Deceleration Ratio
30
10
(mm)
40
ACON
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: mm/s)
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Stroke List
Stroke
(mm)
10
Standard Price
–
2 Cable List
Type
Standard Type
Special Lengths
Robot Cable
Cable Symbol
P (1m)
S (3m)
M (5m)
X06 (6m) X10 (10m)
X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
R01 (1m) R03 (3m)
R04 (4m) R05 (5m)
R06 (6m) R10 (10m)
R11 (11m) R15 (15m)
R16 (16m) R20 (20m)
* See page A-39 for cables for maintenance.
Standard Price
–
–
–
–
–
–
–
–
–
–
–
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
3 Option List
Name
Option Code See Page Standard Price
Actuator Specifications
Item
Description
Flange bracket
Shaft bracket
FB
SB
A-26
A-36
–
–
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Worm gear + worm wheel gear
±0.01mm
0.3mm or less per side (constantly pressed out by a spring)
0.1mm or less per side
Cross roller guide
Ma: 3.8 N∙m Mb: 3.8 N∙m Mc: 3.0 N∙m
0.6kg
040°C, 85% RH or less (non-condensing)
347 RCP2-GR3SS

Dimensions
RCP2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
* When homing, the actuator swings 0.5mm past the home position before
returning. Therefore, please watch for any interference with the surrounding
objects.
*1 The motor-encoder cable is connected here. See page A-39 for details on
cables.
Standard
Controllers
Integrated
ø57
6 -0.05
0
ø57
10 +0.05
0
Rod
Type
Mini
Cable joint
connector *1
2 0.5
Standard
4-ø4.5
62
48
3-M3 depth 5
ø9 counterbore, depth 1.5
M8 (effective depth 6)
1.5
B
3-ø2.5h7( -0.010 0 )
2
4
40
45
Mounting
surface 1.5
10
70
2-ø3 +0.03
0 depth 3
(same for back side)
4-M5 depth 8
(same for
back side)
Mounting
surface
Secure at least 100
Details of A
3-M4 (effective depth 6)
Flange plug (set screw M4 x 5)
Controllers
Integrated
Table/Arm
/Flat Type
Mini
62
48
3-M3 depth 5
ø9 counterbore, depth 1.5
M8 (effective depth 6)
5
1.5
5
15
18
24
36
120°
120°
Standard
62
48
ø76
3.5
1.5
49
ST5
ø59 -0.05
0
Mounting surface
(same for opposite side)
4
2-3 +0.05
0 depth 3
(same for back side)
104
110
A
ø45
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
15
18
Home
Details of section B
3.5
1.5
49
ST5
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 0.6
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
Splash-Proof
Solenoid Valve Type
PMEC-C-28PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
See P481 – P477
PSEP-C-28PI-NP-2-0
Operable with same signal as solenoid valve.
3 points
–
Supports both single and double solenoid types.
PSEP-CW-28PI-NP-2-0
No homing necessary with simple absolute type.
–
P487
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Positioner Type
Safety-Compliant
Positioner Type
PCON-C-28PI-NP-2-0
–
Positioning is possible for up to 512 points
512 points
PCON-CG-28PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial
Communication Type
PCON-PL-28PI-NP-2-0
PCON-PO-28PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
PCON-SE-28PI-N-0-0 Dedicated to serial communication 64 points –
Field Network Type RPCON-28P Dedicated to field network 768 points – P503
(−)
DC24V
2A max.
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control
Type
PSEL-C-1-28PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-GR3SS 348
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
RCP2 ROBO Cylinder
RCP2-GR3SM
ROBO Cylinder 3-Finger Gripper Slider Type 80mm Width Pulse Motor
Configuration:
RCP2 GR3SM I 42P 30 14
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length Option
I: Incremental
* The Simple
absolute encoder
is also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
42P : 42 size
Pulse motor
30 : 1/30
deceleration
ratio
14: 14mm
(7mm per side)
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
N : None
FB : Flange bracket
P : 1m
SB : Shaft bracket
S : 3m
M : 5m
X : Custom
R : Robot cable
Gripping Force vs. Current Limit
Slider Type (GR3SS/GR3SM)
F
Mini
L
Standard
Gripper/
Rotary Type
Linear Servo
Type
130
* Please keep the distance L from the finger mounting surface to the
gripping point at less than the following dimensions.
GR3SS50mm or less
GR3SM80mm or less
* Please note that, when
gripping (pushing), the
speed is fixed at 5mm/s.
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
Technical
References
P. A-5
(1) The maximum opening/closing speed indicates the operating speed on one side. The
relative operating speed is twice this value.
(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping
point distance of 10mm and no overhang distance. For the actual transportable work piece
weight, see explanation on the right or page A-74.
(3) The rated acceleration while moving is 0.3G.
Gripping force (N)
120
100
80
60
40
20
0 0 10 20 30 40 50 60 70
Current Limit (% ratio)
PSEP
/ASEP
ROBO
NET
ERC2
PCON
Actuator Specifications
Lead and Load Capacity
Model
Deceleration
RCP2-GR3SM-I-42P-30-14- 1 - 2 - 3 30 102
14
Ratio
Max. Gripping
Force (N)
Stroke
(mm)
Stroke and Maxi. Opening/Closing Speed
Stroke
Deceleration Ratio
30
14
(mm)
50
ACON
Legend: 1 Compatible controllers 2 Cable length 3 Options (Unit: mm/s)
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Stroke List
Stroke
(mm)
14
Standard Price
–
2 Cable List
Type
Standard Type
Special Lengths
Robot Cable
Cable Symbol
P (1m)
S (3m)
M (5m)
X06 (6m) X10 (10m)
X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
R01 (1m) R03 (3m)
R04 (4m) R05 (5m)
R06 (6m) R10 (10m)
R11 (11m) R15 (15m)
R16 (16m) R20 (20m)
* See page A-39 for cables for maintenance.
Standard Price
–
–
–
–
–
–
–
–
–
–
–
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
3 Option List
Name
Option Code See Page Standard Price
Actuator Specifications
Item
Description
Flange bracket
Shaft bracket
FB
SB
A-26
A-36
–
–
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Worm gear + worm wheel gear
±0.01mm
0.3mm or less per side (constantly pressed out by a spring)
0.1mm or less per side
Cross roller guide
Ma: 6.3 N∙m Mb: 6.3 N∙m Mc: 5.7 N∙m
1.2kg
040°C, 85% RH or less (non-condensing)
349 RCP2-GR3SM

Dimensions
RCP2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
* When homing, the actuator swings 0.5mm past the home
position before returning. Therefore, please watch for any
interference with the surrounding objects.
*1 The motor-encoder cable is connected here. See page A-39 for
details on cables.
Standard
Controllers
Integrated
Rod
Type
Mini
ø75
8 -0.05
0
ø75
10 +0.05
0
Standard
Controllers
Integrated
Cable joint
connector *1
2 0.5
Details of A
Table/Arm
/Flat Type
Mini
4-ø5.5
80
62
3-M4 depth 6
ø9 counterbore, depth 1.5
M8 (effective depth 6)
8
22 1.5
25
Home
3-ø2.5h7( -0.010 0 )
2
47
53
1.5
Mounting surface
12
2-ø3 +0.03
0 depth 3
(same for back side)
4-M6 depth 12
(same for back side)
34
48
78
Mounting
surface
Secure at least 100
120°
3-M5 (effective depth 7)
Flange plug (set screw M5 x 6)
120°
Standard
Gripper/
Rotary Type
Linear Servo
Type
80
62
4
7
1.5
411
ST7
77 -0.05
0
ø62
Cleanroom
Type
Splash-Proof
ø98
Mounting surface
(same for opposite side)
2-3 +0.05 0 depth 3
(same for back side)
118
A
Controllers
125
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 1.2
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
Splash-Proof
Solenoid Valve Type
PMEC-C-42PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
See P481 – P477
PSEP-C-42PI-NP-2-0
Operable with same signal as solenoid valve.
3 points
–
Supports both single and double solenoid types.
PSEP-CW-42PI-NP-2-0
No homing necessary with simple absolute type.
–
P487
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Positioner Type
Safety-Compliant
Positioner Type
PCON-C-42PI-NP-2-0
–
Positioning is possible for up to 512 points
512 points
PCON-CG-42PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial
Communication Type
PCON-PL-42PI-NP-2-0
PCON-PO-42PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
PCON-SE-42PI-N-0-0 Dedicated to serial communication 64 points –
Field Network Type RPCON-42P Dedicated to field network 768 points – P503
(−)
DC24V
2A max.
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control
Type
PSEL-C-1-42PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-GR3SM 350
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
RCS2 ROBO Cylinder
RCS2-GR8
ROBO Cylinder 2-Finger Gripper Long Stroke Slider Type 104 284mm Width
200V Servo Motor
Configuration:
RCS2 GR8 I 60 5
Series Type Encoder Motor Deceleration Ratio Stroke Compatible Controllers Cable Length
I : Incremental 60: 60W Servo
motor
5 : 1/5
20 : 20mm
40 : 40mm
T1 : XSEL-J/K
T2 : SCON
N : None
P : 1m
(60) : 60mm
S : 3m
(80) : 80mm
SSEL
M : 5m
100 : 100mm
XSEL-P/Q
X : Custom Length
* See page Pre-35 for explanation of each code that makes up the configuration name.
(120) : 120mm
(200) : 200mm
R : Robot Cable
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
* Please note that, when gripping (pressing),
the speed is fixed at 10mm/s.
Cleanroom
Type
Technical
References
P. A-5
Splash-Proof
Controllers
P O
I N T
Notes on
Selection
(1) Stroke values enclosed in "( )" are (60, 80, 120, 200) are semi-standard models.
(2) The maximum gripping force is the sum of both fingers.
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Actuator Specifications
Lead and Load Capacity
Model
Motor Output
(W)
Deceleration
Ratio
Max. Gripping
Force (N)
Stroke
(mm)
PCON
ACON
RCS2-GR8-I-60-5- 1 - 2 - 3 60 1/5 45.1 20, 40, (60), (80), 100, (120), (200)
Legend: 1 Stroke 2 Compatible controller 3 Cable length
SCON
PSEL
1 Stroke List
Stroke (mm)
Standard Price
3 Cable List
Type
2 Cable Symbol
Standard Price
ASEL
SSEL
XSEL
Pulse Motor
20
40
(60)
(80)
100
(120)
(200)
–
–
–
–
–
–
–
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m) X10 (10m)
Special Lengths X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
R01 (1m) R03 (3m)
R04 (4m) R05 (5m)
Robot Cable R06 (6m) R10 (10m)
R11 (11m) R15 (15m)
R16 (16m) R20 (20m)
* See page A-39 for cables for maintenance.
–
–
–
–
–
–
–
–
–
–
–
Servo Motor
(24V)
Actuator Specifications
Servo Motor
(200V)
Linear
Servo Motor
Item
Drive System
Positioning Repeatability
Lost Motion
Base
Allowable Static Load Moment
Ambient Operating Temp./Humidity
Description
Rack and pinion
±0.04mm
0.7mm or less
Material: Aluminum (white alumite treated)
Ma: 5.1 N∙m Mb: 5.1 N∙m Mc: 10.4 N∙m
0 40°C, 85% RH or less (non-condensing)
351 RCS2-GR8

Dimensions
RCS2 ROBO Cylinder
Slider
Type
For Special Orders P. A-9
Mini
* The opening side of the slider is the home position.
Standard
Controllers
Integrated
Rod
Type
(Note 1)
6-M4 effective
depth (per side)
75
70
15
15
6.0 3.0
2
Details of the T-slot
for mounting actuator
10
28.0
13.5
10.3
6.3
10.4
2
27
A
27
45
14.5 16
B B
2-M4
6 6
8
5 9
9
T-slot for mounting the actuator
225
61
(300)
Secure at least 100
52
56
Cable joint
connector*1
62
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
E
D
(C)
27
15 28
13.5
54
100
1
Splash-Proof
*1 The motor cable and encoder cable are connected here.
See page A-39 for details on cables.
(Note 1) The number of tapped holes on the finger mounting plate is for one side.
In addition, by default, each finger is secured using 2 tapped holes.
Dimensions and Weight by Stroke
Stroke 20 40 (60) (80) 100 (120) (200)
A
B
C
D
E
Weight (kg)
22
10
106.4
104
100
42
20
126.4
124
120
62
30
146.4
144
140
82
40
166.4
164
160
102
50
186.4
184
180
122
60
206.4
204
200
202
100
286.4
284
280
1.8 1.9 1.9 2.0 2.0 2.1 2.3
*1 The strokes enclosed in "( )" are semi-standard configurations, and will require longer delivery time.
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
2 Compatible controller
The RCS2 series actuators can operate with the controllers below. Select the controller according to your usage.
SCON
Name External View Model
Description Max. Positioning Points Input Voltage Power Supply Capacity
Standard Price
See Page
PSEL
Positioner Mode
Positioning is possible
for up to 512 points
512 points
ASEL
Solenoid Valve Mode
Operable with the same
controls as the solenoid
valve
7 points
SSEL
SCON-C-60-NP-2-1
–
P547
XSEL
Serial Communication
Type
Dedicated to serial
communication
64 points
Single-phase AC100V
360VA max.
Single-phase AC200V
Pulse Train Input
Control Type
Dedicated to pulse train
input
(−)
Three-phase AC200V
(XSEL-P/Q only)
* When operating a
150W single-axis
model
Pulse Motor
Program Control 1 - 2
Axes Type
Program Control 1-6
Axis Type
SSEL-C-1-60-NP-2-1
XSEL-2-1-60-N1-EEE-2-3
Programmed operation
is possible
Operation is possible on
up to 2 axes
Programmed operation
is possible
Operation is possible on
up to 6 axes
1500 points
20000 points
–
–
P577
P587
Servo Motor
(24V)
Servo Motor
(200V)
* For SSEL and XSEL, only applicable to the single-axis model.
* 1 is a placeholder for the power supply voltage (1: 100V, or 2: single-phase 200V).
* 2 is a placeholder for the type name of XSEL ("J", "K", "P", "Q"),
* 3 is a placeholder for the type of power supply voltage ( 1: 100V, 2: single-phase 200V, or 3: 3-phase 200V).
Linear
Servo Motor
RCS2-GR8 352

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
RCP2 ROBO Cylinder
RCP2-RTBS/RTBSL
ROBO Cylinder Rotary Small Vertical Type 45mm Width Pulse Motor
Configuration:
RCP2 I 20P
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option
RTBS : 330-degree
rotation
RTBSL: Multiple
rotation
I: Incremental
* The Simple
absolute encoder
is also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
20P : 20 size
Pulse motor
30 : 1/30
deceleration
ratio
45 : 1/45
deceleration
ratio
330: 330degrees
(RTBS only)
360: 360degrees
(RTBSL
only)
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
N : None
NM :Reversed-rotation
P : 1m
SA : Shaft adapter
S : 3m
TA : Table adapter
M : 5m
X : Custom
R : Robot cable
Standard
Controllers
Integrated
Speed vs. Load Capacity
Due to the characteristics of the Pulse Motor, the RCP2 series'
load capacity decreases at high speeds. In the table below, check
if your desired speed and load capacity are supported.
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Output torque (N∙m)
0.50
0.45
0.40
0.36
0.35
0.30
0.25
0.24
0.20
0.15
0.10
0.05
Deceleration ratio 1/45
Deceleration ratio 1/30
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
Technical
References
P. A-5
(1) The output torque decreases as the rotational speed increases.
Check the output torque graph on the right to see whether the speed required for your desired motion is
supported.
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired
motion is within the allowable range.
(3) The rated acceleration while moving is 0.2G.
Allowable moment of
inertia (×10 -3 kg•m 2 )
0.00 0 50 100 150 200 250 300 350 400 450
Rotational speed (deg/sec)
5
4.5
4
3.5
Deceleration ratio 1/45
3
2.5
2.3
Deceleration ratio 1/30
2
1.5
1
0.5
0
0 50 100 150 200 250 300 350 400 450
Rotational speed (deg/sec)
PSEP
/ASEP
ROBO
NET
ERC2
PCON
Actuator Specifications
Lead and Load Capacity
Model
RCP2-RTBS-I-20P-30-330- 1 - 2 - 3
RCP2-RTBS-I-20P-45-330- 1 - 2 - 3
Deceleration
Ratio
1/30
1/45
Max. Torque
(N∙m)
0.24
0.36
Allowable Moment of
Inertia (kg∙m 2 )
0.0023
0.0035
Oscillation
Angle (deg)
330
Deceleration Ratio and Max. Speed
Stroke
Deceleration Ratio
1/30
1/45
330/360
(deg)
400
266
ACON
SCON
RCP2-RTBSL-I-20P-30-360- 1 - 2 - 3
RCP2-RTBSL-I-20P-45-360- 1 - 2 - 3
1/30
1/45
0.24
0.36
0.0023
0.0035
360
(Unit: degrees/s)
Legend: 1 Compatible controller 2 Cable length 3 Options
PSEL
Stroke List
2 Cable List
ASEL
SSEL
XSEL
Type
RTBS
RTBSL
Oscillation Angle
(deg)
330
360
Standard Price
–
–
Type
Cable Symbol
P (1m)
Standard Type
S (3m)
(Robot Cables)
M (5m)
X06 (6m) X10 (10m)
Special Lengths X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
* The standard cable is the motor-encoder integrated robot cable.
* See page A-39 for cables for maintenance.
Standard Price
–
–
–
–
–
–
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
3 Option List Actuator Specifications
Name
Option Code See Page
Reversed-rotation (*)
NM
A-33
Shaft adapter
SA
A-35
Table adapter
TA
A-37
* Reversed-rotation option can be selected on the multi-rotational model only.
353 RCP2-RTBS/RTBSL
Standard Price
–
–
–
Item
Drive System
Positioning Repeatability
Homing Accuracy
Lost Motion
Allowable Thrust Load
Allowable Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Hypoid gear
±0.05 degrees
±0.05 degrees
±0.1 degrees
30N
3.6N∙m
0.52kg
0 40°C, 85% RH or less (non-condensing)

Dimensions
RCP2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
Standard
Controllers
Integrated
5.5
Rod
Type
ø13
45
36
+0.05
4 0 depth 4
Note:
* In the 2D drawing on the left,
the shaded area indicates the
rotating part.
Mini
Standard
4-M3 depth 3.5
4-M 3 depth 7
22
7.5
26
21.8
72
0
ø36 h7( -0.025 )
-0.007
ø20 g6( -0.020 )
+0.010
ø3 H7( 0 depth)4
+0.15
ø7 H7( 0 ) depth 7.5
+0.02
ø3depth 0 2.5
4-M 3 depth 5.5
*1 The motor-encoder cable is connected here.
See page A-39 for details on cables.
27
(11)
Cable joint
connector*1
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
70
68.5
(6)
67
11.6
17.5
45 48
+0.04
3 0 depth 2.5
4
4-M 3 depth 5.5
61
4
+0.04
3 0 depth 2.5
11 39
48 (20) Secure at least 100
Linear Servo
Type
Cleanroom
Type
Splash-Proof
6 33
12
+0.02
ø3 0 depth 2.5
12.5 12.5
(25) (35.5)
Note:
The position in the 2D drawing on the left is the
home position.
When homing, the actuator rotates to the left
past the home position by 1 degree. Therefore
please watch for any interference with the
surrounding objects.
The range of motion is 330 degrees clockwise,
as viewed from above.
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 0.52
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
Splash-Proof
Solenoid Valve Type
PMEC-C-20PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
See P481 – P477
PSEP-C-20PI-NP-2-0
Operable with same signal as solenoid valve.
3 points
–
Supports both single and double solenoid types.
PSEP-CW-20PI-NP-2-0
No homing necessary with simple absolute type.
–
P487
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Positioner Type
Safety-Compliant
Positioner Type
PCON-C-20PI-NP-2-0
–
Positioning is possible for up to 512 points
512 points
PCON-CG-20PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial
Communication Type
PCON-PL-20PI-NP-2-0
PCON-PO-20PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
PCON-SE-20PI-N-0-0 Dedicated to serial communication 64 points –
Field Network Type RPCON-20P Dedicated to field network 768 points – P503
(−)
DC24V
2A max.
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control
Type
PSEL-C-1-20PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-RTBS/RTBSL 354
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
RCP2 ROBO Cylinder
RCP2-RTCS/RTCSL
28P : 28 size 30 : 1/30
Pulse motor deceleration
ratio
45 : 1/45
deceleration
ratio
ROBO Cylinder Rotary Small Flat Type 72mm Width Pulse Motor
Configuration:
RCP2 I 20P
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option
RTCS : 330 degree
rotation
RTCSL : Multirotational
I: Incremental
* The Simple
absolute encoder is
also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
330: 330degrees
(RTCS only)
360: 360degrees
(RTCSL only)
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
N : None
NM :Reversed-rotation
P : 1m
SA : Shaft adapter
S : 3m
TA : Table adapter
M : 5m
X : Custom
R : Robot cable
Speed vs. Load Capacity
Due to the characteristics of the Pulse motor, the RCP2 series'
load capacity decreases at high speeds. In the table below, check
if your desired speed and load capacity are supported.
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Output torque (N∙m)
0.50
0.45
0.40
0.36
0.35
0.30
0.25
0.24
0.20
0.15
0.10
0.05
Deceleration ratio 1/45
Deceleration ratio 1/30
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
Technical
References
P. A-5
(1) The output torque decreases as the rotational speed increases.
Check the output torque graph on the right to see whether the speed required for your desired motion is
supported.
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired
motion is within the allowable range.
(3) The rated acceleration while moving is 0.2G.
Allowable moment of
inertia (×10 -3 kg•m 2 )
0.00 0 50 100 150 200 250 300 350 400 450
Rotational speed (deg/sec)
5
4.5
4
3.5
Deceleration ratio 1/45
3
2.5
2.3
Deceleration ratio 1/30
2
1.5
1
0.5
0
0 50 100 150 200 250 300 350 400 450
Rotational speed (deg/sec)
PSEP
/ASEP
ROBO
NET
ERC2
PCON
Actuator Specifications
Lead and Load Capacity
Model
RCP2-RTCS-I-20P-30-330- 1 - 2 - 3
RCP2-RTCS-I-20P-45-330- 1 - 2 - 3
Deceleration
Ratio
1/30
1/45
Max. Torque
(N∙m)
0.24
0.36
Allowable Moment of
Inertia (kg∙m 2 )
0.0023
0.0035
Oscillation
Angle (deg)
330
Deceleration Ratio and Max. Speed
Stroke
Deceleration Ratio
1/30
1/45
330/360
(deg)
400
266
ACON
SCON
RCP2-RTCSL-I-20P-30-360- 1 - 2 - 3
RCP2-RTCSL-I-20P-45-360- 1 - 2 - 3
1/30
1/45
0.24
0.36
0.0023
0.0035
360
(Unit: degrees/s)
Legend: 1 Compatible controller 2 Cable length 3 Options
PSEL
Stroke List
2 Cable List
ASEL
SSEL
XSEL
Type
RTCS
RTCSL
Oscillation Angle
(deg)
330
360
Standard Price
–
–
Type
Cable Symbol Standard Price
P (1m)
–
Standard Type
S (3m)
–
(Robot Cables)
M (5m)
–
Special Lengths
X06 (6m) X10 (10m)
X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
–
–
–
* The standard cable is the motor-encoder integrated robot cable.
* See page A-39 for cables for maintenance.
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
3 Option List Actuator Specifications
Name
Option Code See Page Standard Price
Item
Description
Reversed-rotation (*)
Shaft adapter
Table adapter
NM
SA
TA
A-33
A-35
A-37
–
–
–
Drive System
Positioning Repeatability
Homing Accuracy
Hypoid gear
±0.05 degrees
±0.05 degrees
* Reversed-rotation option can be selected on the multi-rotational model only.
Lost Motion
±0.1 degrees
Allowable Thrust Load
30N
Allowable Load Moment
3.6N∙m
Weight
0.52kg
Ambient Operating Temp./Humidity 0 40°C, 85% RH or less (non-condensing)
355 RCP2-RTCS/RTCSL

Dimensions
RCP2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Note:
* In the 2D drawing on the left,
the shaded area indicates the
rotating part.
*1 The motor-encoder cable is connected
here. See page A-39 for details on cables.
Mini
Standard
11.6
17.5
Secure at least 100
Controllers
Integrated
68
3 6
ø13
5.5
+0.05
4depth 0 4
+0.04
3 0 depth 2.5
4
29
Table/Arm
/Flat Type
Mini
Standard
22.5
4-M 3 depth 7
4-M3 depth 3.5
7.5
26
22 21.8
72
+0.010
ø3 H7 ( 0)depth 4
48
+0.02
3 0 depth 2.5
34
8
Cable joint
connector*1
4-M 3 depth 5.5
Gripper/
Rotary Type
Linear Servo
Type
0
ø36 h7( -0.025 )
-0.007
ø20 g6( -0.020 )
+0.015
ø7 H7( 0 ) depth 7.5
Cleanroom
Type
4
Splash-Proof
45
43.5
42
22 (7)
7
12
+0.02
3 0 depth 2.5
27
+0.04
3 0 depth 2.5
48
ø11 depth 0.9
36
4-M 3 depth 5.5
hollow hole ø6 through-hole
Note:
The position in the 2D drawing on the left is the
home position.
When homing, the actuator rotates to the left past
the home position by 1 degree. Therefore please
watch for any interference with the surrounding
objects.
The range of motion is 330 degrees clockwise, as
viewed from above.
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 0.48
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
Splash-Proof
Solenoid Valve Type
PMEC-C-20PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
See P481 – P477
PSEP-C-20PI-NP-2-0
Operable with same signal as solenoid valve.
3 points
–
Supports both single and double solenoid types.
PSEP-CW-20PI-NP-2-0
No homing necessary with simple absolute type.
–
P487
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Positioner Type
Safety-Compliant
Positioner Type
PCON-C-20PI-NP-2-0
–
Positioning is possible for up to 512 points
512 points
PCON-CG-20PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial
Communication Type
PCON-PL-20PI-NP-2-0
PCON-PO-20PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
PCON-SE-20PI-N-0-0 Dedicated to serial communication 64 points –
Field Network Type RPCON-20P Dedicated to field network 768 points – P503
(−)
DC24V
2A max.
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control
Type
PSEL-C-1-20PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-RTCS/RTCSL 356
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
RCP2 ROBO Cylinder
RCP2-RTB/RTBL
ROBO Cylinder Rotary Medium Vertical Type 50mm Width Pulse Motor
Configuration:
RCP2 I 28P
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option
RTB : 330-degree
rotation
RTBL : Multi-rotational
I: Incremental
* The Simple
type "I".
* See page Pre-35 for an explanation of the naming convention.
absolute encoder
is also considered
28P : 28 size
Pulse motor
20 : 1/20
deceleration
ratio
30 : 1/30
deceleration
ratio
330: 330degrees
(RTB only)
360: 360degrees
(RTBL only)
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
N : None
NM :Reversed-rotation
P : 1m
SA : Shaft adapter
S : 3m
M : 5m
TA : Table adapter
X : Custom
R : Robot cable
Speed vs. Load Capacity
Due to the characteristics of the Pulse motor, the RCP2 series'
load capacity decreases at high speeds. In the table below, check
if your desired speed and load capacity are supported.
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Output torque (N∙m)
3.5
3
2.5
2
1.7
1.5
1.1
1
0.5
Output torque
Deceleration ratio 1/30
0.85
0.55
Deceleration ratio 1/20
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
Technical
References
P. A-5
(1) The output torque decreases as the rotational speed increases.
Check the output torque graph on the right to see whether the speed required for your desired motion is supported.
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is
within the allowable range.
(3) The rated acceleration while moving is 0.3G.
Allowable moment of
inertia (×10 -3 kg•m 2 )
35
30
25
20
15
10
0 0 100 200 300 400 500 600 700
Rotational speed (deg/sec)
Allowable moment of inertia
Deceleration ratio 1/30
7.5
5
5
Deceleration ratio 1/20
0 0 100 200 300 400 500 600 700
Rotational speed (deg/sec)
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Actuator Specifications
Lead and Load Capacity
Model
RCP2-RTB-I-28P-20-330- 1 - 2 - 3
RCP2-RTB-I-28P-30-330- 1 - 2 - 3
RCP2-RTBL-I-28P-20-360- 1 - 2 - 3
RCP2-RTBL-I-28P-30-360- 1 - 2 - 3
Legend: 1 Compatible controller 2 Cable length 3 Options
Stroke List
Type
RTB
RTBL
Oscillation Angle
(deg)
330
360
Standard Price
Name
Option Code See Page
Reversed-rotation (*)
NM
A-33
Shaft adapter
SA
A-35
Table adapter
TA
A-37
* Reversed-rotation option can be selected on the multi-rotational model only.
–
–
Deceleration
Ratio
1/20
1/30
1/20
1/30
Max. Torque
(N∙m)
1.1
1.7
1.1
1.7
Standard Price
–
–
–
Allowable Moment of
Inertia (kg∙m 2 )
0.01
0.015
0.01
0.015
Oscillation
Angle (deg)
330
360
2 Cable List
Special Lengths
3 Option List Actuator Specifications
357 RCP2-RTB/RTBL
Type
Standard Type
Robot Cable
Item
Drive System
Positioning Repeatability
Homing Accuracy
Lost Motion
Allowable Thrust Load
Allowable Load Moment
Weight
Ambient Operating Temp./Humidity
Deceleration Ratio and Max. Speed
Stroke
Deceleration Ratio
1/20
1/30
Cable Symbol
P (1m)
S (3m)
M (5m)
X06 (6m) X10 (10m)
X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
R01 (1m) R03 (3m)
R04 (4m) R05 (5m)
R06 (6m) R10 (10m)
R11 (11m) R15 (15m)
R16 (16m) R20 (20m)
* See page A-39 for cables for maintenance.
330/360
(deg)
600
400
(Unit: degrees/s)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
Description
Hypoid gear
±0.01 degrees
±0.01 degrees
±0.1 degrees
50N
3.9 N∙m
0.86kg
0 40°C, 85% RH or less (non-condensing)

Dimensions
RCP2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
Standard
Controllers
Integrated
Note:
* In the drawing on the right, the
shaded area indicates the
rotating part.
42
5-M3 depth 6 ø3H7
37
depth 4
4-M4 depth 7
30 26.5
88
ø17
6
4 +0.05
0 depth 3
Note:
The position in the drawing on the left is the
home position.
When homing, the actuator rotates to the left
past the home position by 1 degree. Therefore
please watch for any interference with the
surrounding objects.
The range of motion is 330 degrees clockwise,
as viewed from above.
Cable joint
connector*1
Rod
Type
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
ø45h7
ø24h7
ø11H7 depth 10
ø4 +0.03
0 depth 2.5
4-M4 depth 8
34
Mini
Standard
(10)
Gripper/
Rotary Type
83.5
82
77
71
52
Linear Servo
Type
5
9
Cleanroom
Type
50
4-M4 depth 8
* The bend radius R of the cable is the same
as other models.
5.5 39
(5.5)
ø4 +0.03
0 depth 2.5
5
12
56
4 +0.05
0 depth 2.5
22
34
(34)
*1 The motor-encoder cable is connected here.
See page A-39 for details on cables.
56
4 +0.05
0
depth 2.5
(28)
Secure at least 100
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 0.86
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
Splash-Proof Solenoid
Valve Type
PMEC-C-28PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
See P481 – P477
PSEP-C-28PI-NP-2-0
3 points
–
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
PSEP-CW-28PI-NP-2-0 –
P487
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Positioner Type
Safety-Compliant
Positioner Type
PCON-C-28PI-NP-2-0
–
Positioning is possible for up to 512 points
512 points
PCON-CG-28PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial Communication
Type
PCON-PL-28PI-NP-2-0
PCON-PO-28PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
(−)
DC24V
2A max.
PCON-SE-28PI-N-0-0 Dedicated to serial communication 64 points –
Field Network Type RPCON-28P Dedicated to field network 768 points – P503
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control Type
PSEL-C-1-28PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-RTB/RTBL 358
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
RCP2 ROBO Cylinder
RCP2-RTC/RTCL
ROBO Cylinder Rotary Medium Flat Type 88mm Width Pulse Motor
Configuration:
RCP2 I 28P
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option
RTC: 330-degree
rotation
I: Incremental
* The Simple
RTCL: Multi-rotational
type "I".
* See page Pre-35 for an explanation of the naming convention.
absolute encoder
is also considered
28P : 28 size
Pulse
motor
20 : 1/20
deceleration
ratio
30 : 1/30
deceleration
ratio
330: 330degrees
(RTC only)
360: 360degrees
(RTCL only)
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
N : None
P : 1m
S : 3m
M : 5m
X : Custom
R : Robot cable
NM :Reversed-rotation
SA : Shaft adapter
TA : Table adapter
Standard
Controllers
Integrated
Speed vs. Load Capacity
Due to the characteristics of the Pulse motor, the RCP2 series'
load capacity decreases at high speeds. In the table below, check
if your desired speed and load capacity are supported.
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Output torque (N∙m)
3.5
3
2.5
2
1.7
1.5
1.1
1
0.5
Output torque
Deceleration ratio 1/30
0.85
0.55
Deceleration ratio 1/20
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
Technical
References
P. A-5
(1) The output torque decreases as the rotational speed increases.
Check the output torque graph on the right to see whether the speed required for your desired motion is
supported.
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired
motion is within the allowable range.
(3) The rated acceleration while moving is 0.3G.
Allowable moment of
inertia (×10 -3 kg•m 2 )
35
30
25
20
15
10
0 0 100 200 300 400 500 600 700
Rotational speed (deg/sec)
Allowable moment of inertia
Deceleration ratio 1/30
7.5
5
5
0 0 100
Deceleration ratio 1/20
200 300 400 500 600 700
Rotational speed (deg/sec)
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Actuator Specifications
Lead and Load Capacity
Model
RCP2-RTC-I-28P-20-330- 1 - 2 - 3
RCP2-RTC-I-28P-30-330- 1 - 2 - 3
RCP2-RTCL-I-28P-20-360- 1 - 2 - 3
RCP2-RTCL-I-28P-30-360- 1 - 2 - 3
Legend: 1 Compatible controller 2 Cable length 3 Options
Stroke List
Type
RTC
RTCL
Oscillation Angle
(deg)
330
360
Standard Price
Name
Option Code See Page
Reversed-rotation (*)
NM
A-33
Shaft adapter
SA
A-35
Table adapter
TA
A-37
* Reversed-rotation option can be selected on the multi-rotational model only.
–
–
Deceleration
Ratio
1/20
1/30
1/20
1/30
Max. Torque
(N∙m)
1.1
1.7
1.1
1.7
Standard Price
–
–
–
Allowable Moment of
Inertia (kg∙m 2 )
0.01
0.015
0.01
0.015
Oscillation
Angle (deg)
330
360
2 Cable List
Special Lengths
3 Option List Actuator Specifications
359 RCP2-RTC/RTCL
Type
Standard Type
Robot Cable
Item
Drive System
Positioning Repeatability
Homing Accuracy
Lost Motion
Allowable Thrust Load
Allowable Load Moment
Weight
Ambient Operating Temp./Humidity
Deceleration Ratio and Max. Speed
Stroke
Deceleration Ratio
1/20
1/30
Cable Symbol
P (1m)
S (3m)
M (5m)
X06 (6m) X10 (10m)
X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
R01 (1m) R03 (3m)
R04 (4m) R05 (5m)
R06 (6m) R10 (10m)
R11 (11m) R15 (15m)
R16 (16m) R20 (20m)
* See page A-39 for cables for maintenance.
330/360
(deg)
600
400
(Unit: degrees/s)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
Description
Hypoid gear
±0.01 degrees
±0.01 degrees
±0.1 degrees
50N
3.9 N∙m
0.92kg
0 40°C, 85% RH or less (non-condensing)

Dimensions
RCP2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
Standard
Controllers
Integrated
Note:
* In the drawing on the right, the
shaded area indicates the
rotating part.
*1 The motor-encoder cable is connected here.
See page A-39 for details on cables.
Secure at least 100
Rod
Type
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
81
25
42
ø17
6
4 +0.05 0 depth 3
5
4 +0.05
0
depth 2.5
35
Mini
Standard
Gripper/
Rotary Type
5-M3 depth 6
4-M4 depth 7
30
ø3H7
37
depth 4
26.5
88
ø45h7
ø24h7
ø11h7 depth 10
+0.05
4 0 depth 2.5
4-M4 depth 8
56
+0.03
ø4 0 depth 2.5
44
4-M4 depth 8
7.5
Cable joint
connector*1
Linear Servo
Type
Cleanroom
Type
55
53.5
52
34
6
+0.03
ø4 0 depth 2.5
* The bend radius R of the cable is the same as
other models.
5
34
46
56
hollow hole ø10 through-hole
ø15.4 depth 5.5
Note:
The position in the drawing on the left is the
home position.
When homing, the actuator rotates to the left
past the home position by 1 degree. Therefore
please watch for any interference with the
surrounding objects.
The range of motion is 330 degrees clockwise,
as viewed from above.
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 0.92
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
Splash-Proof Solenoid
Valve Type
PMEC-C-28PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
See P481 – P477
PSEP-C-28PI-NP-2-0
Operable with same signal as solenoid valve.
3 points
–
Supports both single and double solenoid types.
PSEP-CW-28PI-NP-2-0
No homing necessary with simple absolute type.
–
P487
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Positioner Type
Safety-Compliant
Positioner Type
PCON-C-28PI-NP-2-0
–
Positioning is possible for up to 512 points
512 points
PCON-CG-28PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial Communication
Type
PCON-PL-28PI-NP-2-0
PCON-PO-28PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
(−)
DC24V
2A max.
PCON-SE-28PI-N-0-0 Dedicated to serial communication 64 points –
Field Network Type RPCON-28P Dedicated to field network 768 points – P503
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control Type
PSEL-C-1-28PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-RTC/RTCL 360
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
RCP2 ROBO Cylinder
RCP2-RTBB/RTBBL
ROBO Cylinder Rotary Large Vertical Type 76mm Width
Pulse Motor
Configuration:
RCP2 I 35P
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option
RTBB : 330-degree
rotation
RTBBL : Multirotational
I: Incremental
* The Simple
absolute encoder
is also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
35P : 35 size
Pulse motor
20 : 1/20
deceleration
ratio
30 : 1/30
deceleration
ratio
330: 330degrees
(RTBB only)
360: 360degrees
(RTBBL only)
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
N : None
P : 1m
S : 3m
M : 5m
X : Custom
R : Robot cable
NM :Reversed-rotation
SA : Shaft adapter
TA : Table adapter
Standard
Controllers
Integrated
Speed vs. Load Capacity
Due to the characteristics of the Pulse Motor, the RCP2 series'
load capacity decreases at high speeds. In the table below, check
if your desired speed and load capacity are supported.
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Output torque (N∙m)
5.0
4.5
4.6
4.0
3.5
3.0
2.5
2.0
1.5
1.0
0.5
Deceleration ratio 1/30
1.73
1.13
Deceleration ratio 1/20
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
Technical
References
P. A-5
(1) The output torque decreases as the rotational speed increases.
Check the output torque graph on the right to see whether the speed required for your desired motion is
supported.
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired
motion is within the allowable range.
(3) The rated acceleration while moving is 0.3G.
Allowable moment of
inertia (×10 -3 kg•m 2 )
0 0 100 200 300 400 500 600 700
Rotational speed (deg/sec)
40
35
30
25
20
15
Deceleration ratio 1/30
10
11.3
7.5
5
Deceleration ratio 1/20
0 0 100 200 300 400 500 600 700
Rotational speed (deg/sec)
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Actuator Specifications
Lead and Load Capacity
Model
RCP2-RTBB-I-35P-20-330- 1 - 2 - 3
RCP2-RTBB-I-35P-30-330- 1 - 2 - 3
RCP2-RTBBL-I-35P-20-360- 1 - 2 - 3
RCP2-RTBBL-I-35P-30-360- 1 - 2 - 3
Legend: 1 Compatible controller 2 Cable length 3 Options
Stroke List
Type
RTBB
RTBBL
Oscillation Angle
(deg)
330
360
Standard Price
Name
Option Code See Page
Reversed-rotation (*)
NM
A-33
Shaft adapter
SA
A-35
Table adapter
TA
A-37
* Reversed-rotation option can be selected on the multi-rotational model only.
–
–
Deceleration
Ratio
1/20
1/30
1/20
1/30
Max. Torque
(N∙m)
3.0
4.6
3.0
4.6
Standard Price
–
–
–
Allowable Moment of
Inertia (kg∙m 2 )
0.02
0.03
0.02
0.03
Oscillation
Angle (deg)
330
360
2 Cable List
Special Lengths
3 Option List Actuator Specifications
361 RCP2-RTBB/RTBBL
Type
Standard Type
Robot Cable
Item
Drive System
Positioning Repeatability
Homing Accuracy
Lost Motion
Allowable Thrust Load
Allowable Load Moment
Weight
Ambient Operating Temp./Humidity
Deceleration Ratio and Max. Speed
Stroke
Deceleration Ratio
1/20
1/30
Cable Symbol
P (1m)
S (3m)
M (5m)
X06 (6m) X10 (10m)
X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
R01 (1m) R03 (3m)
R04 (4m) R05 (5m)
R06 (6m) R10 (10m)
R11 (11m) R15 (15m)
R16 (16m) R20 (20m)
* See page A-39 for cables for maintenance.
330/360
(deg)
600
400
(Unit: degrees/s)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
Description
Hypoid gear
±0.01 degrees
±0.01 degrees
±0.1 degrees
200N
17.7N∙m
2.3kg
0 40°C, 85% RH or less (non-condensing)

Dimensions
RCP2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
4-M5 depth 8.6 +0.012
ø4H7 ( 0 ) depth 5
ø30
7
+0.05
5 0 depth 5
Note:
* In the 2D drawing on the left,
the shaded area indicates the
rotating part.
*1 The motor-encoder cable is connected here.
See page A-39 for details on cables.
Mini
Standard
76
54
Controllers
Integrated
6-M4 depth 7
43
54
38.5
124
Cable joint
connector*1
Table/Arm
/Flat Type
0
ø65 h7( -0.030)
-0.009
-0.025
ø40 g6 ( )
+0.021
ø21 H7 0 depth 12.5
+0.05
ø5 0 depth 3.5
4-M5 depth 10
Mini
Standard
55
16
Gripper/
Rotary Type
76
107
105
(9.5)
103
ø14
14.5
+0.05
5 0 depth 3.5
6
78.5
4-M5
depth 10
95
78.5
6
+0.05
5 0 depth 3.5
(40.5)
16 63
Secure at least 100
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Note:
57
9.5
+0.05
ø5 0
34 34 depth 3.5
(68) (44.5)
The position in the 2D drawing on the left is the
home position.
When homing, the actuator rotates to the left
past the home position by 1 degree. Therefore
please watch for any interference with the
surrounding objects.
The range of motion is 330 degrees clockwise,
as viewed from above.
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 2.3
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
Splash-Proof Solenoid
Valve Type
PMEC-C-35PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
See P481 – P477
PSEP-C-35PI-NP-2-0
3 points
–
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
PSEP-CW-35PI-NP-2-0 –
P487
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Positioner Type
Safety-Compliant
Positioner Type
PCON-C-35PI-NP-2-0
–
Positioning is possible for up to 512 points
512 points
PCON-CG-35PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial Communication
Type
PCON-PL-35PI-NP-2-0
PCON-PO-35PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
(−)
DC24V
2A max.
PCON-SE-35PI-N-0-0 Dedicated to serial communication 64 points –
Field Network Type RPCON-35P Dedicated to field network 768 points – P503
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control Type
PSEL-C-1-35PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-RTBB/RTBBL 362
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
RCP2 ROBO Cylinder
RCP2-RTCB/RTCBL
ROBO Cylinder Rotary Large Flat Type 124mm Width Pulse Motor
Configuration:
RCP2 I 35P
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option
RTCB : 330-degree
rotation
I: Incremental
* The Simple
RTCBL : Multi-rotational
type "I".
* See page Pre-35 for an explanation of the naming convention.
absolute encoder
is also considered
35P : 35 size
Pulse motor
20 : 1/20 deceleration
ratio
30 : 1/30 deceleration
ratio
330: 330degrees
(RTB only)
360: 360degrees
(RTBL only)
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
N : None
P : 1m
S : 3m
M : 5m
X : Custom
R : Robot cable
NM :Reversed-rotation
SA : Shaft adapter
TA : Table adapter
Speed vs. Load Capacity
Due to the characteristics of the Pulse motor, the RCP2 series'
load capacity decreases at high speeds. In the table below, check
if your desired speed and load capacity are supported.
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
P O
I N T
Notes on
Selection
Technical
References
P. A-5
(1) The output torque decreases as the rotational speed increases.
Check the output torque graph on the right to see whether the speed required for your desired motion is supported.
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is
within the allowable range.
(3) The rated acceleration while moving is 0.3G.
Output torque (N∙m)
Allowable moment of
inertia (×10 -3 kg•m 2 )
5.0
4.5
4.6
4.0
3.5
3.0
2.5
2.0
1.5
1.0
0.5
Deceleration ratio 1/20
0 0 100 200 300 400 500 600 700
Rotational speed (deg/sec)
40
35
30
25
20
15
Deceleration ratio 1/30
1.73
Deceleration ratio 1/30
1.13
10
11.3
7.5
5
Deceleration ratio 1/20
0 0 100 200 300 400 500 600 700
Rotational speed (deg/sec)
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Actuator Specifications
Lead and Load Capacity
Model
RCP2-RTCB-I-35P-20-330- 1 - 2 - 3
RCP2-RTCB-I-35P-30-330- 1 - 2 - 3
RCP2-RTCBL-I-35P-20-360- 1 - 2 - 3
RCP2-RTCBL-I-35P-30-360- 1 - 2 - 3
Legend: 1 Compatible controller 2 Cable length 3 Options
Stroke List
Type
RTCB
RTCBL
Oscillation Angle
(deg)
330
360
Standard Price
Name
Option Code See Page
Reversed-rotation (*)
NM
A-33
Shaft adapter
SA
A-35
Table adapter
TA
A-37
* Reversed-rotation option can be selected on the multi-rotational model only.
–
–
Deceleration
Ratio
1/20
1/30
1/20
1/30
Max. Torque
(N∙m)
3.0
4.6
3.0
4.6
Standard Price
–
–
–
Allowable Moment of
Inertia (kg∙m 2 )
0.02
0.03
0.02
0.03
Oscillation
Angle (deg)
330
360
2 Cable List
Type
Standard Type
Special Lengths
Robot Cable
3 Option List Actuator Specifications
363 RCP2-RTCB/RTCBL
Item
Drive System
Positioning Repeatability
Homing Accuracy
Lost Motion
Allowable Thrust Load
Allowable Load Moment
Weight
Ambient Operating Temp./Humidity
Deceleration Ratio and Max. Speed
Stroke
Deceleration Ratio
1/20
1/30
Cable Symbol
P (1m)
S (3m)
M (5m)
X06 (6m) X10 (10m)
X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
R01 (1m) R03 (3m)
R04 (4m) R05 (5m)
R06 (6m) R10 (10m)
R11 (11m) R15 (15m)
R16 (16m) R20 (20m)
* See page A-39 for cables for maintenance.
330/360
(deg)
600
400
(Unit: degrees/s)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
Description
Hypoid gear
±0.01 degrees
±0.01 degrees
±0.1 degrees
200N
17.7N∙m
2.2kg
0 40°C, 85% RH or less (non-condensing)

Dimensions
RCP2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Note:
* In the 2D drawing on the left,
the shaded area indicates the
rotating part.
Mini
Standard
14.5
Secure at least 100
Controllers
Integrated
Table/Arm
/Flat Type
114
54
ø14
7
+0.05
5 0 depth 5
+0.05
5 0 depth 3.5
Mini
Standard
38
ø30
11 54
Gripper/
Rotary Type
4-M5 depth 8.6
6-M4 depth 7
43
6
54
38.5
124
0
ø65 h7( -0.030)
-0.009
ø40 g6( -0.025 )
+0.012
ø4 H7( 0 )
depth 5
+0.021
ø21 H7( 0 ) depth 12.5
+0.05
5 0 depth 3.5
78.5
+0.05
ø5depth 0 3.5
54
4-M 5 depth 10
Cable joint
connector*1
*1 The motor-encoder cable is connected here.
See page A-39 for details on cables.
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Note:
68
66
64
40
8
+0.05
ø5depth 0 3.5
68
78.5
4-M5
depth 10
56
Hollow bore ø20, through-hole
ø27 depth 3.5
The position in the 2D drawing on the left
is the home position.
When homing, the actuator rotates to the
left past the home position by 1 degree.
Therefore please watch for any
interference with the surrounding objects.
The range of motion is 330 degrees
clockwise, as viewed from above.
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 2.2
PCON
1 Compatible Controllers
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name External View Model Description Max. Positioning Points Input Voltage Power Supply Capacity Standard Price See Page
Solenoid Valve Type
Splash-Proof Solenoid
Valve Type
PMEC-C-35PI-NP-2-1
Easy-to-use controller, even for beginners
AC100V
AC200V
See P481 – P477
PSEP-C-35PI-NP-2-0
Operable with same signal as solenoid valve.
3 points
–
Supports both single and double solenoid types.
PSEP-CW-35PI-NP-2-0
No homing necessary with simple absolute type.
–
P487
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Positioner Type
Safety-Compliant
Positioner Type
PCON-C-35PI-NP-2-0
–
Positioning is possible for up to 512 points
512 points
PCON-CG-35PI-NP-2-0 –
Pulse Train Input Type
(Differential Line Driver)
Pulse Train Input Type
(Open Collector)
Serial Communication
Type
PCON-PL-35PI-NP-2-0
PCON-PO-35PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse train input type with
open collector support
(−)
DC24V
2A max.
PCON-SE-35PI-N-0-0 Dedicated to serial communication 64 points –
Field Network Type RPCON-35P Dedicated to field network 768 points – P503
–
–
P525
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Program Control Type
PSEL-C-1-35PI-NP-2-0
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points – P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100240V).
RCP2-RTCB/RTCBL 364
Linear
Servo Motor

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
RCS2 ROBO Cylinder
RCS2-RT6
SA4D : Aluminum
base
SS4D : Steel base
ROBO Cylinder Rotary Straight Motor Model 64mm Width 200V Servo Motor
Configuration:
RCS2 RT6 I 60 18 300 L
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option
* See page Pre-35 for an explanation of the naming convention.
I: Incremental 60 : 60W Servo
Motor
18: 1/18 300: 300degrees T1:XSEL-J/K
T2:SCON
SSEL
XSEL-P/Q
N : None
L : Limit switch
P : 1m
(equipped as standard)
S : 3m
M : 5m
X : Custom
R : Robot cable
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Technical
References
P. A-5
Splash-Proof
Controllers
P O
I N T
Notes on
Selection
(1) The thrust load is the mechanical strength of the output axis at rest.
When selecting, take into account the load moment and the load inertia.
(2) The rated acceleration while moving is 0.3G.
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
Actuator Specifications
Lead and Load Capacity
Model
Legend: 1 Compatible controller 2 Cable length
Motor
Output (W)
Deceleration Rated torque
Ratio (N∙m)
Allowable Moment of
Inertia (kg∙m 2 )
Oscillation
Angle (deg)
RCS2-RT6-I-60-18-300- 1 - 2 -L 60 1/18 2.4 2.5×10 -2 or less 300
Stroke and Maximum Speed
Oscillation Angle
Deceleration Ratio
1/18
300
(deg)
500
(Unit: degrees/s)
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Stroke List
Oscillation Angle
(deg)
300
Standard Price
–
2 Cable List
Type
Standard Type
Special Lengths
Robot Cable
Cable Symbol
P (1m)
S (3m)
M (5m)
X06 (6m) X10 (10m)
X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
R01 (1m) R03 (3m)
R04 (4m) R05 (5m)
R06 (6m) R10 (10m)
R11 (11m) R15 (15m)
R16 (16m) R20 (20m)
* See page A-39 for cables for maintenance.
Standard Price
–
–
–
–
–
–
–
–
–
–
–
Servo Motor
(24V)
Actuator Specifications
Servo Motor
(200V)
Linear
Servo Motor
365 RCS2-RT6
Item
Drive System
Positioning Repeatability
Lost Motion
Base
Allowable Load Moment
Thrust load
Ambient Operating Temp./Humidity
Description
Ball speed reducer
±0.02 degrees
0.1 degrees or less
Material: Aluminum (white alumite treated)
6.8N∙m or less
100N or less
0 40°C, 85% RH or less (non-condensing)

Dimensions
RCS2 ROBO Cylinder
Slider
Type
For Special Orders P. A-9
Mini
* For more information on homing, see page A-79.
Standard
Controllers
Integrated
(200)
Cable joint
connector*1
Rod
Type
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
4-M6 depth 12
(13.3)
Mini
ø12h7
Standard
50
64
ø40h7
Gripper/
Rotary Type
15
27
50
64
25 5 41.5
50
30 103.5
12
234.5
101
Secure at
least 40
Linear Servo
Type
Cleanroom
Type
*1 The motor cable, encoder cable, and limit
switch cable are connected here.
See page A-39 for details on cables.
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 1.9
PCON
ACON
1 Compatible Controllers
The RCS2 series actuators can operate with the controllers below. Select the controller according to your usage.
SCON
Name External View Model
Description Max. Positioning Points Input Voltage Power Supply Capacity
Standard Price
See Page
PSEL
Positioner Mode
Positioning is
possible for up to 512
points
512 points
ASEL
Solenoid Valve Mode
Operable with the
same controls as the
solenoid valve
7 points
SSEL
SCON-C-60-NP-2-1
–
P547
XSEL
Serial
Communication Type
Dedicated to serial
communication
64 points
Single-phase AC100V
360VA max.
Single-phase AC200V
Pulse Train Input
Control Type
Dedicated to pulse
train input
(−)
Three-phase AC200V
(XSEL-P/Q only)
* When operating a
150W single-axis
model
Pulse Motor
Program Control
1-2 Axes Type
SSEL-C-1-60-NP-2-1
Programmed
operation is possible
Operation is possible
on up to 2 axes
20000 points
–
P577
Servo Motor
(24V)
Program Control
1-6 Axes Type
XSEL-2-1-60-N1-EEE-2-3
Programmed
operation is possible
Operation is possible
on up to 6 axes
20000 points
–
P587
Servo Motor
(200V)
* For SSEL and XSEL, only applicable to the single-axis model.
* 1 is a placeholder for the power supply voltage (1: 100V, or 2: single-phase 200V).
* 2 is a placeholder for the type name of XSEL ("J", "K", "P", "Q"),
* 3 is a placeholder for the type of power supply voltage ( 1: 100V, 2: single-phase 200V, or 3: 3-phase 200V).
Linear
Servo Motor
RCS2-RT6 366

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
RCS2 ROBO Cylinder
RCS2-RT6R
SA4D : Aluminum
base
SS4D : Steel base
ROBO Cylinder Rotary Side-Mounted Motor 64mm Width 200V Servo Motor
Configuration:
RCS2 RT6R I 60 18 300 L
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option
* See page Pre-35 for an explanation of the naming convention.
I: Incremental 60 : 60W Servo
Motor
18: 1/18 300: 300degrees T1:XSEL-J/K
T2:SCON
SSEL
XSEL-P/Q
N : None L : Limit switch
P : 1m
(equipped as standard)
S : 3m
M : 5m
X : Custom
R : Robot cable
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Technical
References
P. A-5
Splash-Proof
Controllers
P O
I N T
Notes on
Selection
(1) The thrust load is the mechanical strength of the output axis at rest.
When selecting, take into account the load moment and the load inertia.
(2) The rated acceleration while moving is 0.3G.
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
Actuator Specifications
Lead and Load Capacity
Model
Legend: 1 Compatible controller 2 Cable length
Motor
Output (W)
Deceleration
Ratio
Rated Allowable Moment of Inertia
torque (N∙m)
(kg∙m 2 )
Oscillation
Angle (deg)
RCS2-RT6R-I-60-18-300- 1 - 2 -L 60 1/18 2.4 2.5×10 -2 or less 300
Stroke and Maximum Speed
Oscillation Angle
300 (deg)
Deceleration Ratio
1/18
500
(Unit: degrees/s)
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Stroke List
Oscillation
Angle (deg)
300
Standard Price
–
2 Cable List
Type
Standard Type
Special Lengths
Robot Cable
P (1m)
S (3m)
M (5m)
X06 (6m)
X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
R06 (6m)
R11 (11m)
R16 (16m)
Cable Symbol
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
* See page A-39 for cables for maintenance.
Standard Price
–
–
–
–
–
–
–
–
–
–
–
Servo Motor
(24V)
Actuator Specifications
Servo Motor
(200V)
Linear
Servo Motor
367 RCS2-RT6R
Item
Drive System
Positioning Repeatability
Lost Motion
Base
Allowable Load Moment
Thrust load
Ambient Operating Temp./Humidity
Description
Ball speed reducer + timing belt
±0.02 degrees
0.1 degrees or less
Material: Aluminum (white alumite treated)
6.8N∙m or less
100N or less
0 40°C, 85% RH or less (non-condensing)

Dimensions
RCS2 ROBO Cylinder
Slider
Type
For Special Orders P. A-9
Mini
* For more information on homing, see page A-79.
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
62 32
84
31.5
Secure at least 40
(13.3)
Table/Arm
/Flat Type
Mini
17.5
66
21
Standard
6
32
50
64
130
ø40h7
ø12h7
Cable joint
connector*1
Gripper/
Rotary Type
Linear Servo
Type
(200)
50
64
4-M6 depth 12
25 5 41.5
50
30 147.5
177.5
24.5
5
26.5
Cleanroom
Type
*1 The motor cable, encoder cable, and limit
switch cable are connected here.
See page A-39 for details on cables.
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 2.8
PCON
ACON
1 Compatible Controllers
The RCS2 series actuators can operate with the controllers below. Select the controller according to your usage.
SCON
Name External View Model
Description Max. Positioning Points Input Voltage Power Supply Capacity
Standard Price
See Page
PSEL
Positioner Mode
Positioning is
possible for up to 512
points
512 points
ASEL
Solenoid Valve Mode
Operable with the
same controls as the
solenoid valve
7 points
SSEL
SCON-C-60-NP-2-1
–
P547
XSEL
Serial
Communication Type
Dedicated to serial
communication
64 points
Single-phase AC100V
360VA max.
Single-phase AC200V
Pulse Train Input
Control Type
Dedicated to pulse
train input
(−)
Three-phase AC200V
(XSEL-P/Q only)
* When operating a
150W single-axis
model
Pulse Motor
Program Control
1-2 Axes Type
SSEL-C-1-60-NP-2-1
Programmed
operation is possible
Operation is possible
on up to 2 axes
20000 points
–
P577
Servo Motor
(24V)
Program Control
1-6 Axes Type
XSEL-2-1-60-N1-EEE-2-3
Programmed
operation is possible
Operation is possible
on up to 6 axes
20000 points
–
P587
Servo Motor
(200V)
* For SSEL and XSEL, only applicable to the single-axis model.
* 1 is a placeholder for the power supply voltage (1: 100V, or 2: single-phase 200V).
* 2 is a placeholder for the type name of XSEL ("J", "K", "P", "Q"),
* 3 is a placeholder for the type of power supply voltage ( 1: 100V, 2: single-phase 200V, or 3: 3-phase 200V).
Linear
Servo Motor
RCS2-RT6R 368

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
RCS2 ROBO Cylinder
RCS2-RT7R
SA4D : Aluminum
base
SS4D : Steel base
ROBO Cylinder Rotary Side-Mounted Motor (Hollow Motor Shaft) 68mm Width
200V Servo Motor
Configuration:
RCS2 RT7R I 60 4 300 L
Series Type Encoder Motor Deceleration Ratio Oscillation Angle Compatible Controllers Cable Length Option
* See page Pre-35 for an explanation of the naming convention.
I: Incremental 60 : 60W Servo
Motor
4: 1/4 300: 300degrees T1: XSEL-J/K
T2: SCON
SSEL
XSEL-P/Q
N : None L : Limit switch
P : 1m
(equipped as standard)
S : 3m
M : 5m
X : Custom
R : Robot cable
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Technical
References
P. A-5
Splash-Proof
Controllers
P O
I N T
Notes on
Selection
(1) The thrust load is the mechanical strength of the output axis at rest.
When selecting, take into account the load moment and the load inertia.
(2) The rated acceleration while moving is 0.3G.
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
Actuator Specifications
Lead and Load Capacity
Model
Legend: 1 Compatible controller 2 Cable length
Motor Output Deceleration
(W) Ratio
Rated Allowable Moment of Inertia
torque (N∙m)
(kg∙m 2 )
Oscillation
Angle (deg)
RCS2-RT7R-I-60-4-300- 1 - 2 -L 60 1/4 0.764 1.25×10 -3 or less 300
Stroke and Maximum Speed
Oscillation Angle
Deceleration Ratio
1/4
300
(deg)
500
(Unit: degrees/s)
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Stroke List
Oscillation Angle
(deg)
300
Standard Price
–
2 Cable List
Type
Standard Type
Special Lengths
Robot Cable
Cable Symbol
P (1m)
S (3m)
M (5m)
X06 (6m) X10 (10m)
X11 (11m) X15 (15m)
X16 (16m) X20 (20m)
R01 (1m) R03 (3m)
R04 (4m) R05 (5m)
R06 (6m) R10 (10m)
R11 (11m) R15 (15m)
R16 (16m) R20 (20m)
* See page A-39 for cables for maintenance.
Standard Price
–
–
–
–
–
–
–
–
–
–
–
Servo Motor
(24V)
Actuator Specifications
Servo Motor
(200V)
Linear
Servo Motor
369 RCS2-RT7R
Item
Drive System
Positioning Repeatability
Lost Motion
Base
Allowable Load Moment
Thrust load
Ambient Operating Temp./Humidity
Description
Timing Belt
±0.1 degrees
0.5 degrees or less
Material: Aluminum (white alumite treated)
8.9N∙m or less
100N or less
0 40°C, 85% RH or less (non-condensing)

Dimensions
RCS2 ROBO Cylinder
For Special Orders P. A-9
Slider
Type
Mini
* For more information on homing, see page A-79.
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Secure at least 40
Controllers
Integrated
62
2
84
(13.3)
Table/Arm
/Flat Type
17.5
66
21
Mini
Standard
ø9 through-hole
6
50
68
134
ø58h7
ø14h7
Cable joint
connector*1
Gripper/
Rotary Type
50
68
34
4-M6 depth 12
4.5
25.5
86 5 33.5
30 124.5
156
1.5
(200)
Linear Servo
Type
Cleanroom
Type
*1 The motor cable, encoder cable, and limit
switch cable are connected here.
See page A-39 for details on cables.
2-M8 depth 12
Splash-Proof
46
Controllers
30
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg) 2.6
PCON
1 Compatible Controllers
The RCS2 series actuators can operate with the controllers below. Select the controller according to your usage.
ACON
SCON
Name External View Model
Description Max. Positioning Points Input Voltage Power Supply Capacity
Positioner Mode
Positioning is
possible for up to 512
points
512 points
Standard Price
See Page
PSEL
ASEL
Solenoid Valve Mode
Operable with the
same controls as the
solenoid valve
7 points
SSEL
SCON-C-60-NP-2-1
–
P547
XSEL
Serial
Communication Type
Dedicated to serial
communication
64 points
Single-phase AC100V
360VA max.
Single-phase AC200V
Pulse Train Input
Control Type
Dedicated to pulse
train input
(−)
Three-phase AC200V
(XSEL-P/Q only)
* When operating a
150W single-axis
model
Pulse Motor
Program Control
1-2 Axes Type
Program Control
1-6 Axes Type
SSEL-C-1-60-NP-2-1
XSEL-2-1-60-N1-EEE-2-3
Programmed
operation is possible
Operation is possible
on up to 2 axes
Programmed
operation is possible
Operation is possible
on up to 6 axes
20000 points
20000 points
–
–
P577
P587
* For SSEL and XSEL, only applicable to the single-axis model.
* 1 is a placeholder for the power supply voltage (1: 100V, or 2: single-phase 200V).
* 2 is a placeholder for the type name of XSEL ("J", "K", "P", "Q"),
* 3 is a placeholder for the type of power supply voltage ( 1: 100V, 2: single-phase 200V, or 3: 3-phase 200V).
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
RCS2-RT7R 370