Page 18 - RoboCilindri, RCP4, robocilindri, sinta,
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17RCP4-SA6R RoboCylinder, Slider Type, Side-mounted Motor Type, Actuator Width 58mm, 24-V Pulse MotorModelItems SeriesLead20 : 20mm 12 : 12mmStroke 50: 50mm800: 800mm (every 50mm)Cable lengthN: NoneP: 1mS: 3mM: 5mXR: Robot cableOptionsRefer to the options table below.* Be sure to specifyeither "ML" or "MR" as the motor side- mounted direction.RCP4SA6R IType Encoder typeI: Incremental42PMotor type42P: Pulse motor, size 42P3Applicable controllerP3: PCON-CA MSEP-C Leads and Payloads Model numberRCP4-SA6R-I-42P-20- -P3- - RCP4-SA6R-I-42P-12- -P3- - RCP4-SA6R-I-42P-6- -P3- - RCP4-SA6R-I-42P-3- -P3- - Stroke and Maximum SpeedCode explanationCable LengthType Standard typeSpecial lengthRobot cableOptionsName BrakeOptional cable exit direction (top) Optional cable exit direction (outside) Optional cable exit direction (bottom) Motor side-mounted to the left (standard) Motor side-mounted to the rightNon-mot ation Slider r ationMSEP-C Options (*) When operated at 0.2 G StrokeP (1m)S (3m)M (5m)X06 (6m)X11 (11m) ~X15 (15m) X16 (16m) ~X20 (20m) Cable lengthCable symbolThe values in < > apply when the actuator is used vertically.Option code BCJT CJOCJBMLMRNMSRSee page P8P8P8P8P8P8P8P8Overhang 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 payloadLead (mm)20Connected controllerPCON-CA MSEP-C50~450 500 550 (every 50mm) (mm) (mm)~X10 (10m)±0.02mm [±0.03mm]0.1mm or lessMaterial: Aluminum with white alumite treatment Linear guide220mm or less in Ma, Mb and Mc directionsR01 (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 (*) 2.526512 10Stroke (mm)600 650 700 (mm) (mm) (mm)1045 905 785 905 785 670 570 490 430 570 490 430 335 285 245 215 285 245 215 165 140 120 105 140 120 105750 800 (mm) (mm)690 615 690 615 375 335 375 335 185 165 185 165 90 80 90 80(unit: mm/s)50~800 (every 50mm)PCON-CA 900 795 12 MSEP-C 600 PCON-CA 450 395 6 MSEP-C 300 3 PCON-CA 225 195 MSEP-C 1506 : 3 :6mm 3mm Correlation Diagrams of Speed and PayloadRCP4-SA6R Horizontal, PCON-CA connected RCP4-SA6R Vertical, PCON-CA connected30 25 20 15 105Lead 3 18This graph assumes that the 14 actuator is operated at 0.3 G. 12Lead 3This graph assumes that the actuator is operated at 0.3 G.VerticalPayload (kg) Payload (kg)Payload (kg) Payload (kg)The “Motor side-mounted to the left (ML)” option is selected for the actuator shown above.(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 actuator1516 VerticalLead 20 (when operated at 0.5G)Lead 12Lead 20 (when operated at 0.5G)8.5Lead 6Lead 12Lead 612Horizontal 10 8Lead 12Lead 20 (when 6 operated at 0.3G) 46Lead 63RCP4-SA6R Horizontal, MSEP connectedRCP4-SA6R Vertical, MSEP connected12 This graph assumes that the 10 Lead 3 actuator is operated at 0.2 G.1920 This graph assumes that the18 Lead 3 actuator is operated at 0.3 G.14 12 108 6 4 2 013Lead 6Lead 12Horizontal 8 65 4Lead 20 21.5 0.5 0241 0.500 200 400 600 800 1000 1200 1400 00 200 400 600 800 1000 1200 Speed (mm/s) Operated by the PCON-CA Speed (mm/s)0 200 400 600 800 1000 1200 0 100 200 300 400 500 600 700 800 900 Speed (mm/s) Operated by the MSEP-C Speed (mm/s)Actuator SpeciItemcationsDrive systemPositioning repeatability (*1)Lost motionBaseGuideDynamic allowable moment (*2) Allowable overhangAmbient operating temperature, humidityDescription Ball screw 10mm, rolled C101280 <1120> 1230<1120> 960 <800>Lead 20
