Page 12 - RoboCilindri, RCP4, robocilindri, sinta,

11RCP4-SA6CSA6C IType Encoder type I: IncrementalRoboCylinder, Slider Type, Motor Unit Coupled, Actuator Width 58 mm, 24-V Pulse MotorModelItems SeriesLead20 : 20mm 12 : 12mmStroke 50: 50mm800: 800mm (every 50mm)Cable lengthN: NoneP: 1 mS: 3 mM: 5 mXR: Robot cableOptionsRefer to the options table below.RCP442PMotor type 42P: Pulse motor,size 42P3Applicable controllerP3: PCON-CA MSEP-C Leads and Payloads Model numberRCP4-SA6C-I-42P-20- -P3- - RCP4-SA6C-I-42P-12- -P3- - RCP4-SA6C-I-42P-6- -P3- - RCP4-SA6C-I-42P-3- -P3- - Stroke and Maximum SpeedMSEP-CCode explanation Stroke Cable length Options (*) When operated at 0.2 G165 140140 120Description Ball screw 10mm, rolled C10±0.02mm [±0.03mm]0.1mm or lessMaterial: Aluminum with white alumite treatment Linear guide220mm or less in Ma, Mb and Mc directionsCable LengthType Standard typeSpecial lengthRobot cableOptionsName BrakeOptional cable exit direction (top) Optional cable exit direction (right) Optional cable exit direction (left) Optional cable exit direction (bottom) Non-motor end speci cationSlider roller speci cationCable symbolActuator Speci cationsItemDrive systemPositioning repeatability (*1)Lost motionBaseGuideDynamic allowable moment (*2) Allowable overhangAmbient operating temperature, humidityP (1m)S (3m)M (5m)X06 (6m)X11 (11m) ~X15 (15m) X16 (16m) ~X20 (20m)Option code BCJTCJRCJLCJBNMSRSee page P8P8P8P8P8P8P8Overhang load Allowable load moment directions L lengthsMa Mb Mc Ma McLLead Connected (mm) controller 20 PCON-CAMSEP-C 12 PCON-CAMSEP-C 6 PCON-CAMSEP-C 3 PCON-CAMaximum payloadStroke (mm)Lead Connected (mm) controller20 PCON-CA MSEP-C50~450 500 (every 50mm) (mm)1440 <1280>900 795 600 450 395 300 225 195 150550 600 (mm) (mm)1230 1045650 700 750 800 (mm) (mm) (mm) (mm)905 785 690 615 905 785 690 615 490 430 375 335~X10 (10m)R01 (1m)R04 (4m)R06 (6m)R11 (11m) ~R15 (15m) R16 (16m) ~R20 (20m)~R03 (3m) ~R05 (5m) ~R10 (10m)0 to 40 C, 85% RH or less (Non-condensing) (*1) The value at lead 20 is shown in [ ]. (*2) Based on 5000km of traveling lifeHorizontal (kg) 106158.525152519Vertical (kg) 10.5 (*)9606 : 3 :6mm 3mm Correlation Diagrams of Speed and Payload2.5 PCON-CA670 570570 490 430 375 3352 6 5 12 1050~800 (every 50mm)12 MSEP-C PCON-CA335 285285 245 215 185 165RCP4-SA6C Horizontal, PCON-CA connectedRCP4-SA6C Vertical, PCON-CA connectedPayload (kg) Payload (kg)Payload (kg) Payload (kg)(1) The maximum payload is the value when operated at 0.3G (0.2G with some models) acceleration. The upper limit of acceleration is 1 G (*). Note that raising the acceleration causes the payload to drop.actuator lead. For details, refer to “Selection References” on P. 37 to 40. (2) Take note that the maximum payload and maximum speed varydepending on the controller connected to the RCP4. (Refer to the actuator86 5 424.5Lead 6 2.530 25 20 15 105The values for leads 3/6/12 are based on operation at 0.3G.Horizontal14 12 108 6 4 2 0RCP4-SA6C Vertical, MSEP connectedLead 352.5 110 200 400 600 800 10001200 1400 1600 0 200 400 600 800 1000 1200 1400Lead 3Lead 61812 9Lead 12Lead 20 (when operated at 0.3G)6.5Lead 6Lead 12Lead 20 (when operated at 0.5 G)0.5 0.5 Speed (mm/s) Operated by the PCON-CA Speed (mm/s)0RCP4-SA6C Horizontal, MSEP connected20 18 16 14 12 108 6 4 219 158.5Lead 3 Lead 613 Lead 12This graph assumes that the actuator is operated at 0.3 G.HorizontalLead 201210 Lead 3This graph assumes that the actuator is operated at 0.2 G.VerticalLead 121 Lead 2000 200 400 600 800 1000 1200Speed (mm/s) Operated by the MSEP-C Speed (mm/s)6 MSEP-C 3 PCON-CA245 215 185 165 120 105 90 80MSEP-CThe values in < > apply when the actuator is used vertically.105 90 80 (unit: mm/s)0.500 200 400 600 800 1000 1200The values for leads 3/6/12 are based on operation at 0.3G.VerticalLead 20 (when operated at 0.5G)