Page 36 - RoboCilindri, RCP4, robocilindri, sinta,

35Notes on Installing Rod Actuators(optional), make sure the actuator will not receive external forces. (External forces may cause malfunction or damaged parts.) If the actuator will receive external forces or when the actuator is combined with a Cartesian robot, etc., use the mounting holes on the actuator base to secure the actuator.Even when the actuator does not receive any external force, provide or through the bracket mounting holes of the side-mounted motorExternal forcePush force (N)Push force (N)Push force (N)50mmhExternal forceSelection Guideline (Correlation Diagram of Push Force and Current-limiting Value)In push-motion operation, the push force can be used by changing the current-limiting value of the controller over a range of 20% to 70%. The maximum push-force varies depending on the model, so check the required push force from the table below and select an appropriate type meeting the purpose of use.When performing push-motion operation using a slider actuator, limit the push current so that the reactive force moment generated by the push forceTo help with the moment calculations, the application position of the guideNote that if an excessive force exceeding the rated moment is applied, the guide may be damaged and the life may become shorter. Accordingly, include aCalculation example:If push-motion operation is performed with a RCP4-SA7C by applying 100 N at the position shown to the right, the moment received by the guide, or Ma, is calculated as ( ) (N•mm) (N•m) Since the rated moment Ma of the is (N•m),13.9 x 0.8 = 11.12 > 9.3, suggesting that this selection is acceptable.If a Mb moment generates due to push-motion operation, calculate thecalculated moment is within 80% of the rated moment.Correlation Diagrams of Push Force and Current-limiting valueSA5C: h=39mm SA6C: h=40mm SA7C: h=43mmSA5C/SA6C/RA5C type400 800 350 700 300 Lead 3 600 250 500 200 Lead 6 400 150 300 100 Lead 12 20050 Lead 20 100SA7C typeLead 4Lead 8 Lead 16Lead 241200 1000 800 600 400 200 00RA6C typeLead 4Lead 8Lead 16Lead 24 10 20 30 40 50 60 70 80Current-limiting value (%)0 10 20 30 40 50 60 70 80 Current-limiting value (%)0 1020Current-limiting value (%)70 80Notes on Use The relationship of push force and current-limiting value is only a reference, and the graphs may vary slightly from the actual values. If the current-limiting value is less than 20%, the push force may vary. Make sure the current-limiting value remains 20% or more. The graphs assume a traveling speed of 20 mm/s during push-motion operation.304050 60The table below is only a reference, and the graphs may vary slightly from the actual values.Support BaseSupport Base