Page 102 - RoboCilindri, RCP4, robocilindri, sinta,

RCP6 RoboCylinder RCP6(S)-TA6R24VPulse 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 ItemsSeriesTA6R WAType Encoder Type42PMotor Type42P: Pulse Motor42 SizeLead20: 20mm 12: 12mm 6: 6mm 3: 3mmStroke25: 25mm 320: 320mmOptionsRCP6: 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.HorizontalSideCeiling*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.specify either ML or MRTable TypeApplicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeMotor Unit CoupledCable LengthBody WidthCorrelation Diagrams of Speed and Payload High-output enabled (*) with PCON/MCON/MSEL connected.RCP6(S)-TA6R Horizontal mount, single guideRCP6(S)-TA6R Vertical mount, single guide1412 Lead 3 1086414Lead 20 assumes operation at 0.5G,the other leads assume operation at 0.3G.Lead 6 9Lead 120 200 400 600 800 1000 1200 Speed (mm/s)RCP6(S)-TA6R Horizontal mount, double guide12 Lead 3 105 Lead 206 Lead 64 3.52 Lead 20 120 1.5 0Lead 12Lead 20 assumesoperation at 1.0G,lead 12 assumesoperation at 0.5G,the other leads assume operation at 0.3G. 8Side-mounted Motor58* mmDoubleGuide Single GuidePayload (kg) Payload (kg)Payload (kg) Payload (kg)Vertical~0 200400 600 8001000 1200IONPTSelection Notes(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 model 5 by checking the "Correlation diagram of push force and current limit" on P.113.(4) Depending on the ambient operational temperature, duty control is necessary for the 00 100 RCP6S(built-incontrollertype)withlead3/6.PleaserefertoP.130formoreinformation.(5) High-rigidity (double-block guide) speci cation can be selected as an option.Lead 12 4700 800 900 10007 Lead 65 Lead 12(1) The maximum acceleration/deceleration is 1G for horizontal, and 0.5G for vertical use.Lead 6 1615 Lead 3 10(2) The actuator speci cation displays the payload's maximum value, but it will varyActuator Speci cations (*)Lead and PayloadModel Number(*) For values of disabled high output controller setting refer to the RCP6 manual.RCP6(S)-TA6R-WA-42P-20---- 20 RCP6(S)-TA6R-WA-42P-12---- 12 RCP6(S)-TA6R-WA-42P-6---- 6 RCP6(S)-TA6R-WA-42P-3---- 3 RCP6(S)-TA6R-WA-42P-12---- 12 RCP6(S)-TA6R-WA-42P-6---- 6 RCP6(S)-TA6R-WA-42P-3---- 35120Controller 25~200 45~220 270 320High-output 1120 -Enabled <800>High-output 800 800 735 Enabled <680> <680> <680>High-output 400 400 365 285 EnabledHigh-output EnabledLegend:  Stroke  Applicable controller/I/O type  Cable length  Options Cable Length200 200 185 140 Values in brackets < > are for vertical use.Cable 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)Actuator Speci cationsItem Drive systemPositioning repeatability Lost motionBaseStatic allowable momentDynamic allowable moment (*)Description Ball screw ø10mm, rolled C10±0.01mm0.1mm or lessMaterial: Aluminum with white alumite treatment Ma: 32.3N•m, Mb: 46.2N•m, Mc: 68.3N•mMa: 169N•m, Mb: 242N•m, Mc: 137N•mMa: 11.6N•m, Mb: 16.6N•m, Mc: 24.6N•mMa: 49.5N•m, Mb: 70.7N•m, Mc: 40N•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.101 RCP6(S)-TA6RThe gure above is the motor side-mounted to the left (ML).25 20Speed (mm/s)RCP6(S)-TA6R Vertical mount, double guide15 Lead 3 depending on the acceleration and speed. Please refer to the "Selection Guidelines" 10Lead (mm)Connected ControllerHigh-output Enabled High-output Enabled High-output Enabled High-output Enabled High-output Enabled High-output Enabled High-output EnabledMax. Payload Horizontal (kg) Vertical (kg)Stroke (mm)Lead (mm)Connected Single GuideDouble Guide8 3 10 6 10 12 15 3 20 6 20 1225~200 (The incrementof stroke is 25mm)40/70/95/ 120~320 (The increment of stroke is 50mm)12 6 357520030040050060000 100 200 300 400 500 600 700 Speed (mm/s)800 900 100025 the other leads assume 20Lead 12 assumes operation at 0.5G,operation at 0.3G. 14This graph assumes operation at 0.3G.Speed (mm/s)(*) For high output setting to OFF refer to the RCP6 manual.Stroke and Max. Speed (Unit: mm/s)Single guide Double guide Single guide Double guide2 1.5