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RCP6 RoboCylinderStandard RCP6(S)-WSA10R ±10μ mSimple Battery- Motor Dust- less Unit proof Absolute CoupledBody Width24VPulse MotorSide-mounted Motor100* mm Model Speci cation ItemsSeriesWSA10R WAType Encoder Type35PMotor Type35P: Pulse Motor35SizeLead16: 16mm 10: 10mm 5: 5mm2.5: 2.5mmStroke50: 50mm500: 500mm (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. Please make sure to* RCP6 does not include a controller. RCP6S includes a built-in controller.specify either ML or MR Correlation Diagrams of Speed and Payload High-output enabled (*) with PCON/MCON/MSEL connected. RCP6(S)-WSA10R Horizontal mount45 40 35Horizontal Side* Depending on themodel, there may besome limitations to 15 using the vertical, side, 10 and ceiling mountpositions. Please 0 contact IAI for moreinformation regardingmounting positions.Ceiling 30252050 100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)RCP6(S)-WSA10R Vertical mount 12Lead5Lead 510 Le6Lead 16 1The gure above is the motor side-mounted to the left (ML). 10 8 6 4 2LLead 2.5This graph assumes operation at 0.3G.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.ead 510.500 100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)Actuator 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)-WSA10R-WA-35P-16----16High-output Enabled4-50~500 (The incrementof stroke is 50mm)RCP6(S)-WSA10R-WA-35P-10----10High-output Enabled15-RCP6(S)-WSA10R-WA-35P-5----5High-output Enabled283RCP6(S)-WSA10R-WA-35P-2.5----2.5High-output Enabled4010Lead (mm)Connected Controller50~300 (Every 50mm)350 (mm)400 (mm)450 (mm)500 (mm)16High-output Enabled84077566010High-output Enabled6105904904155High-output Enabled390 <305>355 <305>2902452052.5High-output Enabled195 <175>175145120100Cable Length* Refer to P.144 for more information regarding the maintenance cables.OptionsActuator Speci cationsItemDescriptionDrive systemBall screw ø8mm, rolled C10Positioning repeatability±0.01mmLost motion0.1mm or lessBaseMaterial: Aluminum with white alumite treatmentStatic allowable momentMa: 271N•m, Mb: 271N•m, Mc: 553N•mDynamic allowable moment (*1)Ma: 65.4N•m, Mb: 65.4N•m, Mc: 134N•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: 500mm or less, Mb, Mc: 500mm 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.11137 RCP6(S)-WSA10RLead 2.5This graph assumes operation at 0.3G.LPayload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~IONPT
