Page 22 - RoboCilindri, RCP4, robocilindri, sinta,

RCP6 RoboCylinderRCP6(S)-SA4R±10μ m StandardSimple Battery- Motor Dust- less Unit proof Absolute CoupledBody Width24VPulse MotorSide-mounted Motor40* mm Model Speci cation ItemsSeriesSA4R WAType Encoder Type35PMotor Type Lead35P: Pulse 16:16mm Motor 10:10mm 35Size 5: 5mmStroke50: 50mm500: 500mm (50mm increments)Applicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO Type* 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.Cable LengthOptionsRCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsolutePlease refer to the options table below.* RCP6 does not include a controller. RCP6S includes a built-in controller.2.5:2.5mm*Please make sure to specify either ML or MRHorizontal Side Correlation Diagrams of Speed and Payload High-output enabled (*) with PCON/MCON/MSEL connected. RCP6(S)-SA4R Horizontal mountLead 2.5 Lead 5Lead 16 assumes operation at 0.5G, the other leads assume operation at 0.3G.Ceiling20 18 16 14 12 108 6 4 2 00*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.800 1000 1200 1400 Speed (mm/s)200 400 60041The gure above is the motor side-mounted to the left (ML).RCP6(S)-SA4R Vertical mount 1412 10 8 6 4 200 200 400 600 800 1000 1200 1400 Speed (mm/s)LLead 16 assumes operation at 0.5G, the other leads assume operation at 0.3G.ead2.5Selection 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.Lead 553.5Lead 101 Lead16Actuator Speci cations (*)Lead and PayloadLegend:  Stroke  Applicable controller/I/O type  Cable length  Options(*) For values of disabled high output controller setting refer to the RCP6 manual.Stroke and Max. Speed (Unit: mm/s)Values in brackets < > are for vertical use.Cable Length* Refer to P.144 for more information regarding the maintenance cables.Options(*1) This option is not available with some combination of the leads and mounting positions. Please refer to P.131 for more information.Actuator Speci cationsLead 10 Lea0.5d 16Model NumberLead (mm)Connected ControllerMax. PayloadStroke (mm)Horizontal (kg)Vertical (kg)RCP6(S)-SA4R-WA-35P-16----16High-output Enabled71.550~500 (The incrementof stroke is 50mm)RCP6(S)-SA4R-WA-35P-10----10High-output Enabled123RCP6(S)-SA4R-WA-35P-5----5High-output Enabled145.5RCP6(S)-SA4R-WA-35P-2.5----2.5High-output Enabled1812Lead (mm)Connected Controller50~400 (Every 50mm)450 (mm)500 (mm)16High-output Enabled1260 <1120>106087510High-output Enabled7856755555High-output Enabled3903302752.5High-output Enabled195165135ItemDescriptionDrive systemBall screw ø8mm, rolled C10Positioning repeatability±0.01mmLost motion0.1mm or lessBaseMaterial: Aluminum with white alumite treatmentStatic allowable momentMa: 13.0N•m, Mb: 18.6N•m, Mc: 25.3N•mDynamic allowable moment (*1)Ma: 5.0N•m, Mb: 7.1N•m, Mc: 9.7N•mAmbient operating temp. & humidity0~40°C, 85% RH or less (Non-condensing)Cable TypeCable CodeStandardP (1m)S (3m)M (5m)Speci ed LengthX06 (6m) ~ X10 (10m)X11 (11m) ~ X15 (15m)X16 (16m) ~ X20 (20m)Robot CableR01 (1m) ~ R03 (3m)R04 (4m) ~ R05 (5m)R06 (6m) ~ R10 (10m)R11 (11m) ~ R15 (15m)R16 (16m) ~ R20 (20m)(*1) Assumes a standard rated life of 5000km. The service life will vary depending on operation and installation conditions.• Reference for overhang load length: Ma: 150mm or less, Mb, Mc: 150mm or less Allowable load moment directions Overhang load lengthsMa Mb Mc Ma L McPlease refer to the RoboCylinder General Catalog for more information regarding the directions of the allowable moment and overhang load length.NameOption CodeReference PageBrakeBSee P.105Cable exit direction (Outside)CJOSee P.105Motor side-mounted to the leftMLSee P.109Motor side-mounted to the rightMRSee P.109Non-motor end speci cationNMSee P.110Slider roller speci cationSRSee P.111Double slider (*1)WSee P.112L21 RCP6(S)-SA4RPayload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~IONPT