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RCP6 RoboCylinderStandard RCP6(S)-WSA16C ±10μ m±5μ m High-precisionOptionalSimple Battery- Motor Dust- less Unit proof Absolute CoupledBody Width 24VMotorStraight Motor160 Pulsemm Model Speci cation ItemsWSA16C WASeries Type Encoder Type56SPMotor Type Lead56SP: High-thrust 20:20mmStroke50: 50mm1100: 1100mm (50mm increments)Applicable Controller/I/O TypeCable LengthN : NoneP : 1mS : 3mM : 5mX : Speci ed Length R : Robot CableOptionsPlease refer to the options table below.RCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsolutePulse Motor 56Size10:10mm 5: 5mm[RCP6]P4: PCON-* RCP6 does not include a controller. RCP6S includes a built-in controller. ** Preview: Cleanroom type RCP6(S)CR-WSA16C comes later.CFB/CGFB [RCP6S]SE: SIO TypeHorizontalSideCeiling* 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 PCON connected.RCP6(S)-WSA16C Horizontal mount120 100 80 60 40 20 00Lead10L20100 200500 Speed (mm/s)600700 800300 400RCP6(S)-WSA16C Vertical mount 6050 40 30 20 1000 100 200 300 400 500 600 700 800 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 modelbycheckingthe"Correlationdiagramofpushforceandcurrentlimit" onP.113.(4) The service life of an actuator with lead 5 varies depending on the payload when using vertically. Please refer to P. 114 for more information.Actuator Speci cationsLead and Payload Stroke and Max. Speed (Unit: mm/s)Legend: Stroke Applicable controller/I/O type Cable length Options Values in brackets < > are for vertical use.Model NumberLead (mm)Max. PayloadStroke (mm)Horizontal (kg)Vertical (kg)RCP6(S)-WSA16C-WA-56SP-20----2050-50~1100 (The incrementof stroke is 50mm)RCP6(S)-WSA16C-WA-56SP-10----107015RCP6(S)-WSA16C-WA-56SP-5----510050Lead (mm)50~650 (Every 50mm)700 (mm)750 (mm)800 (mm)850 (mm)900 (mm)950 (mm)1000 (mm)1050 (mm)1100 (mm)2072071564559053549045041510450 <240>440 <240>395 <240>355 <240>320 <240>290 <240>265 <240>2402252055195 <170>175 <170>160145130120110100Cable Length* Refer to P.144 for more information regarding the maintenance cables.OptionsActuator Speci cationsItemDescriptionDrive systemBall screw ø16mm, rolled C10Positioning repeatability (*1)±0.01mm [±0.005mm]Lost motion0.1mm or lessBaseMaterial: Aluminum with white alumite treatmentStatic allowable momentMa: 642N•m, Mb: 642N•m, Mc: 1610N•mDynamic allowable moment (*2)Ma: 161N•m, Mb: 161N•m, Mc: 404N•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 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: 650mm or less, Mb, Mc: 650mm 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.11135 RCP6(S)-WSA16CLead 5This graph assumes operation at 0.1G.ead 522ead5018LThis graph assumes operation at 0.1G.Lead1042Payload (kg) Payload (kg)Vertical~IONPT
