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RCP6 RoboCylinderStandard RCP6(S)-WSA10C ±10μ m±5μ m High-precisionOptionalSimple Battery- Motor Dust- less Unit proof Absolute CoupledBody Width24VPulse MotorStraight Motor100 mm Model Speci cation ItemsWSA10C WASeries Type Encoder Type35PMotor Type35P: Pulse Motor35SizeLead16:16mm 10:10mm 5: 5mm 2.5: 2.5mmStroke50: 50mm500: 500mm(50mm increments)Applicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeCable LengthOptionsPlease refer to the options table below.RCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsoluteN : NoneP : 1mS : 3mM: 5mX : Speci ed Length R : Robot Cable* RCP6 does not include a controller. RCP6S includes a built-in controller. ** Preview: Cleanroom type RCP6(S)CR-WSA10C comes later.Horizontal 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)-WSA10C Horizontal mountLThis graph assumes operation at 0.3G.Ceiling45 40 35 30 25 20 15 1050 02100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)1ad 510 LeLead 16 1RCP6(S)-WSA10C Vertical mount 1210 8 6 4 200 100 200 300 400 500 600 700 800 900 1000 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.ead 2.5This graph assumes operation at 0.3G.LLead 531.5Actuator 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)-WSA10C-WA-35P-16----16High-output Enabled4-50~500 (The incrementof stroke is 50mm)RCP6(S)-WSA10C-WA-35P-10----10High-output Enabled15-RCP6(S)-WSA10C-WA-35P-5----5High-output Enabled283RCP6(S)-WSA10C-WA-35P-2.5----2.5High-output Enabled4010Lead (mm)Connected Controller50~300 (Every 50mm)350 (mm)400 (mm)450 (mm)500 (mm)16High-output Enabled84077566010High-output Enabled6105904904155High-output Enabled390 <350>355 <350>2902452052.5High-output Enabled195 <175>175145120100Cable Length* Refer to P.144 for more information regarding the maintenance cables.OptionsActuator Speci cationsItemDescriptionDrive systemBall screw ø8mm, rolled C10Positioning repeatability (*1)±0.01mm [±0.005mm]Lost motion0.1mm or lessBaseMaterial: Aluminum with white alumite treatmentStatic allowable momentMa: 271N•m, Mb: 271N•m, Mc: 553N•mDynamic allowable moment (*2)Ma: 65.4N•m, Mb: 65.4N•m, Mc: 134N•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) Values in [ ] are for high-precision (for lead 2.5/5/10) speci cation.(*2) Assumes a standard rated life of 5000km. The service life will vary depending on operationand installation conditions.• Reference for overhang load length: Ma: 500mm or less, Mb, Mc: 500mm or lessAllowable load moment directionsOverhang load lengthsLMa Mb Mc Ma McLPlease refer to the RoboCylinder General Catalog for more information regarding the directions of the allowable moment and overhang load length.(*1) This option is not available for the straight type RCP6S-WSA10C with built-in controller.(*2) Positioning repeatability is ±5μm for high-precision speci cation (HPR). High-precision speci cation option cannot be selected for lead 16.NameOption CodeReference PageBrakeBSee P.105Cable exit direction (Top)CJTSee P.105Cable exit direction (Right)CJRSee P.105Cable exit direction (Left) (*1)CJLSee P.105Cable exit direction (Bottom)CJBSee P.105High-precision speci cation (*2)HPRSee P.108Non-motor end speci cationNMSee P.110Slider roller speci cationSRSee P.11129 RCP6(S)-WSA10Cead 2.5Lead5LePayload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~IONPT
