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RCP6 ROBO Cylinder®Standard RCP6(S)-WSA12C ±10μ m±5μ m High-precisionOptionalSimple Battery- Motor Dust- less Unit proof Absolute CoupledBody Width 24VMotorStraight Motor120 Pulsemm Model Speci cation ItemsWSA12C WASeries Type Encoder Type42PMotor Type42P: Pulse Motor42SizeLead20: 20mm 12: 12mm 6: 6mm 3: 3mmStroke50: 50mm800: 800mm(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-WSA12C 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)-WSA12C Horizontal mountLead3This graph assumes operation at 0.3G.Ceiling60 50 40 30 20 100 0Lead6Le100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)ea8d 12 L16Lad20RCP6(S)-WSA12C Vertical mount 20181614 12 108642 300 100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)This graph assumes operation at 0.3G.Lead 3Lead 6Selection 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 3/6. 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)-WSA12C-WA-42P-20----20High-output Enabled12-50~800 (The incrementof stroke is 50mm)RCP6(S)-WSA12C-WA-42P-12----12High-output Enabled25-RCP6(S)-WSA12C-WA-42P-6----6High-output Enabled409RCP6(S)-WSA12C-WA-42P-3----3High-output Enabled6018Lead (mm)Connected Controller50~350 (Every 50mm)400 (mm)450 (mm)500 (mm)550 (mm)600 (mm)650 (mm)700 (mm)750 (mm)800 (mm)20High-output Enabled80074065058052012High-output Enabled6005354654053553152856High-output Enabled450 <400>435 <400>3653102652302001751551403High-output Enabled225215180150130115100857570Cable Length* Refer to P.144 for more information regarding the maintenance cables.OptionsActuator Speci cationsItemDescriptionDrive systemBall screw ø10mm, rolled C10Positioning repeatability (*1)±0.01mm [±0.005mm]Lost motion0.1mm or lessBaseMaterial: Aluminum with white alumite treatmentStatic allowable momentMa: 311N•m, Mb: 311N•m, Mc: 827N•mDynamic allowable moment (*2)Ma: 87.5N•m, Mb: 87.5N•m, Mc: 233N•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 3/6/12) 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: 450mm or less, Mb, Mc: 450mm 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) Positioning repeatability is ±5μm for high-precision speci cation (HPR). High-precision speci cation option cannot be selected for lead 20.NameOption CodeReference PageBrakeBSee P.105Cable exit direction (Top)CJTSee P.105Cable exit direction (Right)CJRSee P.105Cable exit direction (Left)CJLSee P.105Cable exit direction (Bottom)CJBSee P.105High-precision speci cation (*1)HPRSee P.108Non-motor end speci cationNMSee P.110Slider roller speci cationSRSee P.11131 RCP6(S)-WSA12CPayload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~IONPT