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RCP6 RoboCylinderStandard RCP6(S)-WSA14C ±10μ m±5μ m High-precisionOptionalSimple Battery- Motor Dust- less Unit proof Absolute CoupledBody Width 24VMotorStraight Motor140 Pulsemm Model Speci cation ItemsWSA14C WASeries Type Encoder Type56PMotor Type56P: Pulse Motor56SizeLead24: 24mm 16: 16mm 8: 8mm 4: 4mmStroke50: 50mm800: 800mm(50mm increments)Applicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeCable LengthN : NoneP : 1mS : 3mM:5mX : Speci ed Length R : Robot CableOptionsPlease refer to the options table below.RCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less Absolute* RCP6 does not include a controller. RCP6S includes a built-in controller. ** Preview: Cleanroom type RCP6(S)CR-WSA14C comes later.Horizontal Side Correlation Diagrams of Speed and Payload High-output enabled (*) with PCON/MCON/MSEL connected. RCP6(S)-WSA14C Horizontal mount* 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.40 30 20 100 0100 200500 Speed (mm/s)600700 800Ceiling100 9080a 706050ad8Lead300 400Cable Length* Refer to P.144 for more information regarding the maintenance cables.OptionsActuator Speci cationsRCP6(S)-WSA14C Vertical mount 3025 20 15 10500 100 200 300 400 500 600 700 800 Speed (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 c h e c k i n g t h e " C o r r e l a t i o n d i a g r a m o f p u s h f o r c e a n d c u r r e n t l i m i t " o n P. 1 1 3 .(4) Depending on the ambient operational temperature, duty control is necessary for the RCP6S (built-in controller type) with lead 4/8/16. Please refer to P.130 for more information.aActuator 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)-WSA14C-WA-56P-24----24High-output Enabled25-50~800 (The incrementof stroke is 50mm)RCP6(S)-WSA14C-WA-56P-16----16High-output Enabled50-RCP6(S)-WSA14C-WA-56P-8----8High-output Enabled6514RCP6(S)-WSA14C-WA-56P-4----4High-output Enabled8026Lead (mm)Connected Controller50~500 (Every 50mm)550 (mm)600 (mm)650 (mm)700 (mm)750 (mm)800 (mm)24High-output Enabled70066516High-output Enabled5605504904408High-output Enabled420 <350>400 <350>3503052702402154High-output Enabled210 <175>200 <175>170150135120105ItemDescriptionDrive systemBall screw ø12mm, rolled C10Positioning repeatability (*1)±0.01mm [±0.005mm]Lost motion0.1mm or lessBaseMaterial: Aluminum with white alumite treatmentStatic allowable momentMa: 462N•m, Mb: 462N•m, Mc: 1170N•mDynamic allowable moment (*2)Ma: 122N•m, Mb: 122N•m, Mc: 308N•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) Values in [ ] are for high-precision (for lead 4/8) 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: 550mm or less, Mb, Mc: 550mm or lessAllowable load moment directionsOverhang load lengthsLMa 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 16 or 24.NameOption 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.11133 RCP6(S)-WSA14CLed 4 LeThis graph assumes operation at 0.3G.1516LLead246This graph assumes operation at 0.3G.Lead 4Led 81Payload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~IONPT