Page 16 - RoboCilindri, RCP4, robocilindri, sinta,

RCP6 RoboCylinderStandard RCP6(S)-SA6C ±10μm ±5μmSimple Dust- proofBattery- less AbsoluteMotor Unit CoupledBody Width24VPulse MotorHigh-precisionOptionalStraight Motor58 mm Model Speci cation ItemsSA6C WASeries Type Encoder Type42PMotor Type Lead42P: Pulse 20:20mm Motor 12:12mm 42Size 6: 6mmStroke50: 50mm800: 800mm (50mm increments)Applicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeCable LengthOptionsPlease refer to the options table below.RCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsoluteN : NoneP : 1mS : 3mM:5mX : Speci ed Length R : Robot Cable* RCP6 does not include a controller. RCP6S includes a built-in controller. ** Preview: Cleanroom type RCP6(S)CR-SA6C comes later.3: 3mm Correlation Diagrams of Speed and Payload High-output enabled (*) with PCON/MCON/MSEL connected. RCP6(S)-SA6C Horizontal mount4540 d3 35Horizontal Side*Depending on themodel, there may besome limitations to using 15 the vertical, side, and 10 ceiling mount positions.Please contact IAI formore informationregarding mountingpositions.LCeiling 302520500 200 400 600 800 1000 1200 1400 1600Speed (mm/s)28Lead 12RCP6(S)-SA6C Vertical mount 18161412 10 8 6 400 200 400 600 800 1000 1200 1400 1600Speed (mm/s)Selection Notes(1) The maximum acceleration/deceleration is 1G for horizontal, and 0.5G for vertical use.(2) The actuator speci cation displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP6 Tables of Payload by Speed/Acceleration) on P.115 for more details.(3) When performing push-motion operation, please con rm the push force of each model by checking the "Correlation diagram of push force and current limit" on P.113.(4) Depending on the ambient operational temperature, duty control is necessary for the RCP6S (built-in controller type) with lead 3/6. Please refer to P.130 for more information.L2 2Actuator Speci cations (*)Lead and PayloadLegend:  Stroke  Applicable controller/I/O type  Cable length  Options(*) For values of disabled high output controller setting refer to the RCP6 manual.Stroke and Max. Speed (Unit: mm/s)Values in brackets < > are for vertical use.Model NumberLead (mm)Connected ControllerMax. PayloadStroke (mm)Horizontal (kg)Vertical (kg)RCP6(S)-SA6C-WA-42P-20----20High-output Enabled15150~800 (The incrementof stroke is 50mm)RCP6(S)-SA6C-WA-42P-12----12High-output Enabled282.5RCP6(S)-SA6C-WA-42P-6----6High-output Enabled326RCP6(S)-SA6C-WA-42P-3----3High-output Enabled4016Lead (mm)Connected Controller50~400 (Every 50mm)450 (mm)500 (mm)550 (mm)600 (mm)650 (mm)700 (mm)750 (mm)800 (mm)20High-output Enabled1440 <1280>1335 <1280>113097084073565057512High-output Enabled9008857356205354604053553156High-output Enabled4504353653052652302001751553High-output Enabled2252151801501301151008575Cable Length Actuator Speci cationsItemDescriptionDrive systemBall screw ø10mm, rolled C10Positioning repeatability (*1)±0.01mm [±0.005mm]Lost motion0.1mm or lessBaseMaterial: Aluminum with white alumite treatmentStatic allowable momentMa: 48.5N•m, Mb: 69.3N•m, Mc: 103N•mDynamic allowable moment (*2)Ma: 11.6N•m, Mb: 16.6N•m, Mc: 24.6N•mAmbient operating temp. & humidity0~40°C, 85% RH or less (Non-condensing)Cable TypeCable CodeStandardP (1m)S (3m)M (5m)Speci ed LengthX06 (6m) ~ X10 (10m)X11 (11m) ~ X15 (15m)X16 (16m) ~ X20 (20m)Robot CableR01 (1m) ~ R03 (3m)R04 (4m) ~ R05 (5m)R06 (6m) ~ R10 (10m)R11 (11m) ~ R15 (15m)R16 (16m) ~ R20 (20m)* Refer to P.144 for more information regarding the maintenance cables.Options(*1) Values in [ ] are for high-precision (for lead 3/6/12) speci cation.(*2) Assumes a standard rated life of 5000km. The service life will vary depending on operationand installation conditions.• Reference for overhang load length: Ma: 220mm or less, Mb, Mc: 220mm or lessAllowable load moment directionsOverhang load lengthsNameOption CodeReference PageBrakeBSee P.105Cable exit direction (Top)CJTSee P.105Cable exit direction (Right)CJRSee P.105Cable exit direction (Left)CJLSee P.105Cable exit direction (Bottom)CJBSee P.105High-precision speci cation (*1)HPRSee P.108Non-motor end speci cationNMSee P.110Slider roller speci cationSRSee P.111Double slider (*2)WSee P.11215LMa Mb Mc Ma McLPlease refer to the RoboCylinder General Catalog for more information regarding the directions of the allowable moment and overhang load length.(*1) Positioning repeatability is ±5μm for high-precision speci cation (HPR). High-precision speci cation option cannot be selected for lead 20and cannot be selected together with the double slider option.(*2) This option is not available with some combination of the leads and mounting positions. Please refer to P.131 for more information.RCP6(S)-SA6CLeaead6Lead 20 assumes operation at 0.5G, the other leads assume operation at 0.3G.Lead201Lead 3Lead 20 assumes operation at 0.5G, the other leads assume operation at 0.3G.Lead6ead 12 0.Le 5ad 0.50Payload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~IONPT