Page 104 - RoboCilindri, RCP4, robocilindri, sinta,

RCP6 RoboCylinder RCP6(S)-TA7R24VPulse 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 ItemsSeriesTA7R WAType Encoder Type56PMotor Type56P: Pulse MotorLead24: 24mm 16: 16mm 8: 8mm 4: 4mmStroke25: 25mm 390: 390mmOptionsRCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsolutePlease refer to the 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.Correlation Diagrams of Speed and PayloadHigh-output enabled (*) with PCON/MCON/MSEL connected. RCP6(S)-TA7R Horizontal mount, single guide RCP6(S)-TA7R Vertical mount, single guide56SizePlease make sure to specify either ML or MR25 20 15 1050 035 30 25 20 15 1050 025Lead 24 assumesoperation at 0.5G, lead 16assumes operation at 20 0.3G, the other leadsassume operation at 0.1G. 15Lead 16 10Lead 4 Lead 8Lead 24/16 assumes operation at 0.3G, the other leads assume operation at 0.1G.4Lead 24 5 4Lead 24Table TypeApplicable Controller / I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeMotor Unit CoupledCable LengthBody Width8 Lead 4Lead 162 3 1Lead 8 9201200 0 200 400 600 800Side-mounted Motor70* mmoptions table below.DoubleGuide Single GuidePayload (kg) Payload (kg)Payload (kg) Payload (kg)Vertical~IONPTSelection Notes(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 model 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 RCP6S (built-in controller type) with lead 4/8/16. Please refer to P.130 for more information.(5) High-rigidity (double-block guide) speci cation can be selected as an option.66 533 Lead 16 1400 500 600 700 800Actuator Speci cations (*)Lead and PayloadModel Number(*) For values of disabled high output controller setting refer to the RCP6 manual.Stroke and Max. Speed (Unit: mm/s)RCP6(S)-TA7R-WA-56P-24---- 24 RCP6(S)-TA7R-WA-56P-16---- 16 RCP6(S)-TA7R-WA-56P-8---- 8 RCP6(S)-TA7R-WA-56P-4---- 4 RCP6(S)-TA7R-WA-56P-16---- 16 RCP6(S)-TA7R-WA-56P-8---- 8 RCP6(S)-TA7R-WA-56P-4---- 41080 - <860>700 700 <560> <560>600 <560>Legend:  Stroke  Applicable controller/I/O type  Cable length  Options Cable LengthActuator Speci cationsItem Drive systemPositioning repeatability Lost motionBaseStatic allowable momentDynamic allowable moment (*)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)Single guide Double guide Single guide Double guideDescription Ball screw ø12mm, rolled C10±0.01mm0.1mm or lessMaterial: Aluminum with white alumite treatment Ma: 115N•m, Mb: 115N•m, Mc: 229N•mMa: 620N•m, Mb: 620N•m, Mc: 458N•mMa: 44.7N•m, Mb: 44.7N•m, Mc: 89.1N•mMa: 196N•m, Mb: 196N•m, Mc: 145N•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.103 RCP6(S)-TA7RThe gure above is the motor side-mounted to the left (ML).35Lead 16 assumesoperation at 0.3G, the 30 other leads assumeoperation at 0.1G. 2520Lead 16 15Lead 4 Lead 8 10 8Lead 16 assumes operation at 0.3G, the other leads assume operation at 0.1G.Lead 4 Lead 8Lead (mm)Connected ControllerHigh-output Enabled High-output Enabled High-output Enabled High-output Enabled High-output Enabled High-output Enabled High-output EnabledHorizontal (kg)10 12 15 15 25 30 30Vertical (kg)3 7 16 20 7 16 24Lead (mm)24 16 8 4Connected ControllerHigh-output EnabledHigh-output EnabledHigh-output EnabledHigh-output EnabledSingle Guide25~300 40~290 340 390Max. PayloadStroke (mm)25~200 (The incrementof stroke is 25mm)250/30040/65/ 90~390 (The increment of stroke is 50mm)Double Guide1000 1200 RCP6(S)-TA7R Horizontal mount, double guide RCP6(S)-TA7R Vertical mount, double guide100200300 400 500 600 700 800 Speed (mm/s)0 0200 400Speed (mm/s)600 800 1000 Speed (mm/s)100(*) For high output setting to OFF refer to the RCP6 manual.200 300Speed (mm/s)420 <350>210Values in brackets < > are for vertical use.420 365 300 <350> <350>210 180 150