Page 32 - RoboCilindri, RCP4, robocilindri, sinta,

31RCP4CR-SA6C Cleanroom RoboCylinder, Slider Type, Motor Unit Coupled, Actuator Width 58mm, 24-V Pulse MotorModelItems SeriesTypeLead20 : 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.Code explanationCable LengthType Standard typeSpecial lengthRobot cableOptionsName Brake Cable length Cable symbolItem Drive systemPositioning repeatability (*1) Lost motionBaseDynamic allowable moment (*2) Allowable overhangGreaseCleannessAmbient operating temperature, humidityDescription Ball screw 10 mm, rolled C10RCP4CR SA6CIEncoder type I: Incremental42PMotor type 42P: Pulse motor,size 42P3Applicable controllerP3: PCON-CA MSEP-C(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 actuator13Lead 12Horizontal 8 65 4Lead 6 2.5VerticalLead 20 Leads and Payloads Model numberRCP4CR-SA6C-I-42P-20- -P3- - RCP4CR-SA6C-I-42P-12- -P3- - RCP4CR-SA6C-I-42P-6- -P3- - RCP4CR-SA6C-I-42P-3- -P3- - Lead (mm)20 12 6 3Connected controller PCON-CA MSEP-C PCON-CAMaximum payloadStroke (mm)Lead (mm)Connected 50~450 500 550 600 controller (every 50mm) (mm) (mm) (mm)PCON-CA 1440<1280> 1230 1045 MSEP-C 960650 700 (mm) (mm)905 785750 800 (mm) (mm)Suction amount (Nl/min)Optional cable exit directionOptional cable exit directionOptional cable exit directionOptional cable exit directionNon-motor end speci cationVacuum joint on opposite side VR StrokeP (1m)S (3m)M (5m)X06 (6m)X11 (11m) ~X15 (15m) X16 (16m) ~X20 (20m)~X10 (10m)±0.02mm [±0.03mm]0.1mm or lessMaterial: Aluminum with white alumite treatmentMa N•m, b N•m, Mc N•m220 mm or less in Ma, Mb and Mc directionsLow dust generation grease (urea grease) is used for both ball screws and guides. ISO class 4 (US FED STD class 10)0 to 40 C, 85% RH or less (Non-condensing)R01 (1m)R04 (4m)R06 (6m)R11 (11m) ~R15 (15m) R16 (16m) ~R20 (20m)Option code B(top) CJT (right) CJR (left) CJL (bottom) CJBNMSee page P8P8P8P8P8P8P8~R03 (3m) ~R05 (5m) ~R10 (10m)(*1) The value at lead 20 is shown in [ ]. (*2) Based on 5000 km of traveling life.Overhang load Allowable load moment directions L lengthsMa Mb Mc Ma McLMSEP-C 8.5 PCON-CA 25 MSEP-C 15 PCON-CA 25 MSEP-C 19PCON-CA 900 795Horizontal (kg) 10615Vertical (kg) Options (*) When operated at 0.2 G3 PCON-CA 225 195 165 MSEP-C 150The values in < > apply when the actuator is used vertically.Actuator Speci cations6 5 12 10(every 50mm)6 PCON-CA 450 395 MSEP-C 3006 : 3 :6mm 3mm Correlation Diagrams of Speed and PayloadRCP4CR-SA6C Horizontal, PCON-CA connected RCP4CR-SA6C Vertical, PCON-CA connected3025 Lead 320 15 10 95The values for leads 3/6/12 are 14 based on operation at 0.3 G. 12Lead 32.5 1The values for leads 3/6/12 are based on operation at 0.3 G.Payload (kg) Payload (kg)Payload (kg) Payload (kg)18Lead 612Horizontal 10 8Lead 12 Lead 20 (when 6 operated at 0.3G) 4VerticalLead 12 Lead 20 (when operated at 0.5G)Lead 20 (when operated at 0.5G)0RCP4CR-SA6C Horizontal, MSEP connected0.5 0.520 18 16 14 12 10RCP4CR-SA6C Vertical, MSEP connected19 158.5This graph assumes that the8642 004.50800 1000 12001 20 0.5 (*)2.52 50~800 12 MSEP-C 600670335905 785 570 490 430 570 490 430 285 245 215 285 245 215 140 120 105 140 120 105690 615 80 690 615375 335375 335 50 185 165 30 185 16590 80 15 90 80(unit: mm/s)6.521 00 200 400 600 800 1000 1200 1400 1600 0 200 400 600 800 1000 1200 1400Speed (mm/s) Operated by the PCON-CA Speed (mm/s)12 actuator is operated at 0.3 G. 10 Lead 3This graph assumes that the actuator is operated at 0.2 G.Lead 3Lead 6200 400 600 800 1000 1200 0Speed (mm/s) Operated by the MSEP-C Stroke and Maximum SpeedLead 20 20.5Lead 12 1200400 600 Speed (mm/s)5Lead 6