Page 34 - RoboCilindri, RCP4, robocilindri, sinta,

33RCP4CR-SA7C Cleanroom RoboCylinder, Slider Type, Motor Unit Coupled, Actuator Width 73mm, 24-V Pulse MotorModelItems SeriesLead24 : 24mm 16 : 16mmStroke 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 BrakeOptional cable exit direction Optional cable exit direction Optional cable exit direction Optional cable exit direction Non-motor end speci cation Vacuum joint on opposite side Options (*) When operated at 0.2 G980<840> 865<840> 560490 430 280245<210> 215<210> 1401010 890 790 90 890<800> 790655 580 515515 70325 290 255 40 255160 145 125 30 125RCP4CRSA7C IType Encoder type I: Incremental56PMotor type 56P: Pulse motor,size 56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 actuator18Lead 8 Leads and Payloads Model numberRCP4CR-SA7C-I-56P-24- -P3- - RCP4CR-SA7C-I-56P-16- -P3- - RCP4CR-SA7C-I-56P-8- -P3- - RCP4CR-SA7C-I-56P-4- -P3- - Stroke and Maximum Speed Stroke(top) (right) (left) (bottom)Option code BCJTCJRCJLCJBNMVRSee page P8P8P8P8P8P8P8 Cable lengthCable symbolP (1m)S (3m)M (5m)X06 (6m)X11 (11m) ~X15 (15m) X16 (16m) ~X20 (20m)The values in < > apply when the actuator is used vertically.(unit: mm/s)Lead (mm)24 16 8 4Connected controller PCON-CA MSEP-C PCON-CA MSEP-C PCON-CA MSEP-C PCON-CA MSEP-CMaximum payload Stroke Horizontal (kg) Vertical (kg) (mm)20 318 2 (*)40 835 5 (*) 50~800 45 16 (every40 10 (*) 50mm)45 25 40 (*) 15 (*)Lead Connected (mm) controller24 PCON-CA MSEP-CPCON-CA 16 MSEP-C8 PCON-CA MSEP-C4 PCON-CA MSEP-C50~450 (every 50mm)500 550 600 (mm) (mm) (mm)1200 1000<800>650 (mm)1155 750 375 185Suction amount (Nl/min)~X10 (10m)±0.02mm [±0.03mm]0.1mm or lessMaterial: Aluminum with white alumite treatmentMa N•m, b N•m, Mc N•m230 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)~R03 (3m) ~R05 (5m) ~R10 (10m)(*1) The value at lead 24 is shown in [ ]. (*2) Based on 5000 km of traveling life.Overhang load Allowable load moment directions L lengthsMa Mb Mc Ma McL8 : 4 :8mm 4mm Correlation Diagrams of Speed and PayloadRCP4CR-SA7C Horizontal, PCON-CA connectedRCP4CR-SA7C Vertical, PCON-CA connected50 45 40 35 30 25 20 15 100 200 400 600 800 1000 1200 1400 0 200 400 600 800 1000 1200 1400 Speed (mm/s) Operated by the PCON-CA Speed (mm/s)Lead 4Lead 8The values below are based on operation at 0.3 G.HorizontalLead 2430 25 20 15 16 10 8The values below are based on operation at 0.3 G.VerticalLead 8Payload (kg) Payload (kg)Payload (kg) Payload (kg)Lead 167RCP4CR-SA7C Horizontal, MSEP connectedRCP4CR-SA7C Vertical, MSEP connected45 40 35 30 25 20 15 100Lead 4Assuming that the actuator is operated at 0.2 G for lead 4 and at 0.3 G for other leads.16 Lead 4 14 15This graph assumes that the actuator is operated at 0.2 G.VerticalLead 8Lead 16Horizontal12 10 8 64 55 5.5 3Lead 16Lead 248 040211Lead 240 200 400 600 800 1000 1200 0 100 200 300 400 500 600 700 800 900Actuator Speci cationsItem Drive systemPositioning repeatability (*1) Lost motionBaseDynamic allowable moment (*2) Allowable overhangGreaseCleannessAmbient operating temperature, humidityDescription Ball screw 12 mm, rolled C10721.5Speed (mm/s) Operated by the MSEP-CSpeed (mm/s)700 750 800 (mm) (mm) (mm)Lead 49Lead 16Lead 240 1.5 0.5 1