Page 26 - RoboCilindri, RCP4, robocilindri, sinta,

25RCP4-RA5R RoboCylinder, Rod Type, Side-mounted Motor Type, Actuator Width 52mm, 24-V Pulse MotorModel ItemsRCP4 RA5RSeries TypeIEncoder type I: Incremental42PMotor type 42P: Pulse motor,size 42Lead20 : 20mm 12 : 12mmStroke 50: 50mm400: 400mm (every 50mm)P3Applicable controllerP3: PCON-CA MSEP-CCable lengthN: NoneP: 1 mS: 3 mM: 5 mX:R: Robot cableOptionsRefer to the options table below.* Be sure to specify either "ML" or "MR" as the motor side- mounted direction.Built-in guide mechanism Correlation Diagrams of Speed and Payload Leads and Payloads Model numberRCP4-RA5R-I-42P-20- -P3- - RCP4-RA5R-I-42P-12- -P3- - RCP4-RA5R-I-42P-6- -P3- - RCP4-RA5R-I-42P-3- -P3- - Lead Connected (mm) controller 20 PCON-CAMSEP-C 12 PCON-CAMaximum payloadMax. push force (N)56 93 185 370Stroke (mm)50~400 (every 50mm)Lead (mm) 201263Connected controllerCode explanationCable LengthType Standard typeSpecial lengthRobot cableOptionsName BrakeOptional cable exit direction (top) Optional cable exit direction (outside) Optional cable exit direction (bottom) Flange bracketMotor side-mounted to the left (standard) Motor side-mounted to the right Non-motor end speci cationScraper Options (*) When operated at 0.2 G Stroke Cable length Cable symbolP (1m)S (3m)M (5m)X06 (6m)X11 (11m) ~X15 (15m) X16 (16m) ~X20 (20m)(unit: mm/s)Option code BCJT CJO CJBFLMLMRNMSCSee page P8P8P8P8P8P8P8P8P8~X10 (10m)22mm stainless steel pipe ±0.1 degRefer to P. 26 and P. 36 100mm or lessR01 (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) O set distance at end of rod (100mm or less)MSEP-C PCON-CAHorizontal (kg) 662525 (*) 4040 (*) 6040 (*)Vertical (kg) 1.5 1.5 (*) 44 (*) 10 10 (*) 20 20 (*)PCON-CA MSEP-C PCON-CA MSEP-C PCON-CA MSEP-C PCON-CA MSEP-C800 640 700 500 450 250 225 1256 MSEP-C 3 PCON-CAMSEP-C6: 3 :6mm 3mmRCP4-RA5R Horizontal, PCON-CA connected 70This graph assumes that the actuator is operated at 0.3 G.assume that an external guide is used. RCP4-RA5R Vertical, PCON-CA connectedLead 330 252010 6 162520 Lead 315 105 4 1.5This graph assumes that the actuator is operated at 0.3 G.60 50 40HorizontalLead 68VerticalPayload (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 actuator(3) All horizontal payloads are values when an external guide is used.45 40 35 30 25 20 15 10Lead 3 Lead 6Lead 12The values for leads 3/6/12 are based on operation at 0.2 G. Assuming that the actuator is operated at 0.3 G for lead 20.Horizontal20 15 10actuator is operated at 0.2 G.VerticalRCP4-RA5R Horizontal, MSEP connectedRCP4-RA5R Vertical, MSEP connected25 This graph assumes that theActuator Speci cationsItemDrive systemPositioning repeatability (*1)Lost motionRodRod non-rotation precisionAllowable rod load massRod tip overhang distanceAmbient operating temperature, humidityDescription 10 mm, rolled C10(*1) The value at lead 20 is shown in [ ].Lead 12 Lead 20 6 4Lead 122 0010 100200300400500600700800900 0 100200300400500600700800900 Speed (mm/s) Operated by the PCON-CA Speed (mm/s)65 Lead 20 4 3 1.5 00100 200 300 400 500 600 700 0Speed (mm/s) Operated by the MSEP-C Stroke and Maximum Speed5 0Lead 12100 200 300 400 500 600 700Ball screw±0.02mm [±0.03mm] 0.1mm or lessLead 3Lead 6Lead 63Speed (mm/s)50~400 (every 50mm)Load at end of rod12 Lead 20Lead 20 0.5