Page 100 - RoboCilindri, RCP4, robocilindri, sinta,

RCP6 RoboCylinder RCP6(S)-TA4R24VPulse Motor* Body width does not include the width of the side- mounted motor.N : NoneP : 1mS : 3mM : 5mX : Speci ed Length when ordering the side- R : Robot Cable mounted motor type. Model Speci cation ItemsSeriesTA4R WAType Encoder Type35PMotor Type35P: Pulse Motor35 SizeLead16: 16mm 10: 10mm 5: 5mm 2.5: 2.5mmStroke25: 25mm 240: 240mmOptionsRCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsolutePlease refer to the options table below. * Please make sure to* RCP6 does not include a controller. RCP6S includes a built-in controller.specify either ML or MRHorizontalSideCeiling*Depending on the model, there may be some limitations to using the vertical, side, and ceiling mount positions. Please contact IAI for more information regarding mounting positions.Correlation Diagrams of Speed and PayloadHigh-output enabled (*) with PCON/MCON/MSEL connected. RCP6(S)-TA4R Horizontal mount, single guide RCP6(S)-TA4R Vertical mount, single guideTable TypeApplicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeMotor Unit CoupledCable LengthBody WidthDoubleGuide Single GuidePayload (kg) Payload (kg)Payload (kg) Payload (kg)Vertical~10 9 8 7654 3 2 1 0RCP6(S)-TA4R Horizontal mount, double guide RCP6(S)-TA4R Vertical mount, double guideLead 2.5Lead 5Lead 2.5 Lead 510 Lead 16 assumes 9operation at 1.0G,lead 10 assumes 8 operation at 0.7G, 7 the other leads assumeoperation at 0.3G. 65Lead 16/10 assumes operation at 0.5G,the other leads assume operation at 0.3G.Lead 10 4 3Lead 160 100 200 300 400 500 600 700 800 900 1000 0 100 200 300 400 500 600 700 800 900 1000Side-mounted Motor40* mmIONPTSelection Notes00100200300 400 500 600 700 800Speed (mm/s)00 100200 300The gure above is the motor side-mounted to the left (ML).(1) The maximum acceleration/deceleration is 1G for horizontal, and 0.5G for vertical use.(2) The actuator speci cation displays the payload's maximum value, but it will vary depending on the acceleration and speed. Please refer to the "Selection Guidelines" (RCP6 Tables of Payload by Speed/Acceleration) on P.115 for more details.(3) When performing push-motion operation, please con rm the push force of each modelbycheckingthe"Correlationdiagramofpushforceandcurrentlimit"onP.113.(4) High-rigidity (double-block guide) speci cation can be selected as an option.12 10Lead 5Lead 10 assumes 12 operation at 0.5G,the other leads assume 10 operation at 0.3G.Lead 2.5Lead 10 assumes operation at 0.5G,the other leads assume operation at 0.3G.Lead 5Lead 10 1.5400 500 600 700 800Actuator Speci cations (*)Lead and PayloadModel Number(*) For high output setting to OFF refer to the RCP6 manual.(*) For values of disabled high output controller setting refer to the RCP6 manual.RCP6(S)-TA4R-WA-35P-16---- 16 RCP6(S)-TA4R-WA-35P-10---- 10 RCP6(S)-TA4R-WA-35P-5---- 5 RCP6(S)-TA4R-WA-35P-2.5---- 2.5 RCP6(S)-TA4R-WA-35P-10---- 10 RCP6(S)-TA4R-WA-35P-5---- 5 RCP6(S)-TA4R-WA-35P-2.5---- 2.5High-output Enabled 3 High-output Enabled 4 High-output Enabled 5 High-output Enabled 5 High-output Enabled 8 High-output Enabled 10 High-output Enabled 10<525>390 340195 170> are for vertical use.Legend:  Stroke  Applicable controller/I/O type  Cable length  Options Cable LengthActuator Speci cationsCable Type StandardSpeci ed LengthCable Code P (1m)S (3m)M (5m)X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)Item Drive systemPositioning repeatability Lost motionBaseStatic allowable momentDynamic allowable moment (*)Single guide Double guide Single guide Double guideDescription Ball screw ø8mm, rolled C10±0.01mm0.1mm or lessMaterial: Aluminum with white alumite treatment Ma: 13N•m, Mb: 18.6N•m, Mc: 25.3N•mMa: 76.8N•m, Mb: 110N•m, Mc: 50.5N•mMa: 4.98N•m, Mb: 7.11N•m, Mc: 9.68N•mMa: 23.9N•m, Mb: 34.1N•m, Mc: 15.7N•m0~40°C, 85% RH or less (Non-condensing)Robot Cable* Refer to P.144 for more information regarding the maintenance cables.Ambient operating temperature & humidityOptionsName BrakeCable exit direction (Outside) Motor side-mounted to the left Motor side-mounted to the right High-rigidity (Double-block guide) Non-motor end speci cationOption CodeB CJO ML MR DB NMReference Page See P.105 See P.105 See P.109 See P.109 See P.105 See P.110(*) Assumes a standard rated life of 5000km. The service life will vary depending on operation and installation conditions.Allowable load moment directionsMa Mb McPlease refer to the RoboCylinder General Catalog for more information regarding the directions of the allowable moment and overhang load length.Please refer to the RCP6 manual regarding the displacement of the table.99 RCP6(S)-TA4RLead (mm)Connected ControllerMax. PayloadStroke (mm)25~150 (The incrementof stroke is 25mm)40/65/ 90~240 (The increment of stroke is 50mm)Lead ConnectedSingle Guide 25~150980 <700>785 <700>390195Values in brackets <Horizontal (kg)Vertical (kg)1 2.5 5 10 2.5 5 10(mm) 1610 5 2.5ControllerHigh-output EnabledHigh-output EnabledHigh-output EnabledHigh-output Enabled887 7 6 Lead 2.54 22Lead 10 3.5 42 1.5 1 01.5 Lead 16 Lead 102.5Speed (mm/s) Speed (mm/s)Stroke and Max. Speed(Unit: mm/s)Double Guide 40~190 240-700 6806Speed (mm/s)<525>