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RCP6 RoboCylinderRCP6(S)-SA6R±10μ m StandardSimple Battery- Motor Dust- less Unit proof Absolute CoupledBody Width24VPulse MotorSide-mounted Motor58* mm Model Speci cation ItemsSeriesSA6R WAType 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 Type* Body width does not include the width of the side- mounted motor.N : NoneP : 1mS : 3mM:5mX : Speci ed Length when ordering the side- R : Robot Cable mounted motor type.Cable LengthOptionsRCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsolutePlease refer to the options table below.* RCP6 does not include a controller. RCP6S includes a built-in controller.3: 3mm* Please make sure to specifyeitherMLorMRHorizontal Side*Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions. Correlation Diagrams of Speed and Payload High-output enabled (*) with PCON/MCON/MSEL connected. RCP6(S)-SA6R Horizontal mount4540 d3 353025201510500 200 400 600 800 1000 1200 1400 1600Speed (mm/s)RCP6(S)-SA6R Vertical mount 18161412 10 8 6 4 200 200 400 600 800 1000 1200 1400 1600Speed (mm/s)LeaLead 20 assumes operation at 0.5G, the other leads assume operation at 0.3G.CeilingThe gure above is the motor side-mounted to the left (ML).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.eadLead 20 assumes operation at 0.5G, the other leads assume operation at 0.3G.Lead 3Lead L612 1.5Le 0.ad 2 50Actuator 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)-SA6R-WA-42P-20----20High-output Enabled15150~800 (The incrementof stroke is 50mm)RCP6(S)-SA6R-WA-42P-12----12High-output Enabled282.5RCP6(S)-SA6R-WA-42P-6----6High-output Enabled326RCP6(S)-SA6R-WA-42P-3----3High-output Enabled4014Lead (mm)Connected Controller50~400 (Every 50mm)450 (mm)500 (mm)550 (mm)600 (mm)650 (mm)700 (mm)750 (mm)800 (mm)20High-output Enabled1280 <1120>1130 970 <1120>84073565057512High-output Enabled900 <800>885 <800>7356205354604053553156High-output Enabled4504353653052652302001751553High-output Enabled2252151801501301151008575Cable Length* Refer to P.144 for more information regarding the maintenance cables.Options(*1) This option is not available with some combination of the leads and mounting positions. Please refer to P.131 for more information.Actuator Speci cationsItemDescriptionDrive systemBall screw ø10mm, rolled C10Positioning repeatability±0.01mmLost motion0.1mm or lessBaseMaterial: Aluminum with white alumite treatmentStatic allowable momentMa: 48.5N•m, Mb: 69.3N•m, Mc: 103N•mDynamic allowable moment (*1)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)(*1) Assumes a standard rated life of 5000km. The service life will vary depending on operation and installation conditions.• Reference for overhang load length: Ma: 220mm or less, Mb, Mc: 220mm or less Allowable load moment directions Overhang load lengthsMa Mb Mc Ma L McPlease refer to the RoboCylinder General Catalog for more information regarding the directions of the allowable moment and overhang load length.NameOption CodeReference PageBrakeBSee P.105Cable exit direction (Outside)CJOSee P.105Motor side-mounted to the leftMLSee P.109Motor side-mounted to the rightMRSee P.109Non-motor end speci cationNMSee P.110Slider roller speci cationSRSee P.111Double slider (*1)WSee P.112L23 RCP6(S)-SA6RLead612Lead 12Lead201Payload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~IONPT