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RCP6 RoboCylinderRCP6(S)-SA7R±10μ m StandardSimple Battery- Motor Dust- less Unit proof Absolute CoupledBody Width24VPulse MotorSide-mounted Motor70* mm Model Speci cation ItemsSeriesSA7R WAType Encoder Type56PMotor Type56P: Pulse Motor56SizeLead24: 24mm 16: 16mm 8: 8mm 4: 4mmStroke50: 50mm800: 800mm (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.* Please make sure to specifyeitherMLorMRHorizontal Side*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 Payload High-output enabled (*) with PCON/MCON/MSEL connected. RCP6(S)-SA7R Horizontal mountLead4Lead 4 assumes operation at 0.1G, the other leads assume operation at 0.3G.Lead 16Led 8Lead 24242Ceiling60 50 40 30 20 100 0a200 400 600800 1000 1200 1400 Speed (mm/s)The gure above is the motor side-mounted to the left (ML).RCP6(S)-SA7R Vertical mount 3025 20 15 10500 200 400 600 800 1000 1200 1400 Speed (mm/s)Selection 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.Actuator 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.Model NumberLead (mm)Connected ControllerMax. PayloadStroke (mm)Horizontal (kg)Vertical (kg)RCP6(S)-SA7R-WA-56P-24----24High-output Enabled37350~800 (The incrementof stroke is 50mm)RCP6(S)-SA7R-WA-56P-16----16High-output Enabled468RCP6(S)-SA7R-WA-56P-8----8High-output Enabled5116RCP6(S)-SA7R-WA-56P-4----4High-output Enabled5525Lead (mm)Connected Controller50~500 (Every 50mm)550 (mm)600 (mm)650 (mm)700 (mm)750 (mm)800 (mm)24High-output Enabled108096585076016High-output Enabled840 <700>830 <700>720 <700>6355605008High-output Enabled4204103553152752454High-output Enabled210205175155135120Cable Length* Refer to P.144 for more information regarding the maintenance cables.OptionsActuator Speci cationsItemDescriptionDrive systemBall screw ø12mm, rolled C10Positioning repeatability±0.01mmLost motion0.1mm or lessBaseMaterial: Aluminum with white alumite treatmentStatic allowable momentMa: 115N•m, Mb: 115N•m, Mc: 229N•mDynamic allowable moment (*1)Ma: 44.7N•m, Mb: 44.7N•m, Mc: 89.1N•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: 300mm or less, Mb, Mc: 300mm 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.(*1) Slider spacer option cannot be selected together with the double slider option.(*2) This option is not available with some combination of the leads and mounting positions. Please refer to P.131 for more information.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 spacer (*1)SSSee P.111Slider roller speci cationSRSee P.111Double slider (*2)WSee P.112L25 RCP6(S)-SA7Rad 4Lead 4/8 assumes operation at 0.1G, lead 24 assumes operation at 0.5G, the other leads assume operation at 0.3G.Lead 8 Le4Le 4ad 1 46Lead 2420.5Payload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~IONPT