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RCP6 RoboCylinderStandard RCP6(S)-WSA12R ±10μ mSimple Battery- Motor Dust- less Unit proof Absolute CoupledBody Width24VPulse MotorSide-mounted Motor120* mm Model Speci cation ItemsSeriesWSA12R WAType Encoder Type42PMotor Type42P: Pulse Motor42SizeLead20: 20mm 12: 12mm 6: 6mm 3: 3mmStroke50: 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. Please make sure to* RCP6 does not include a controller. RCP6S includes a built-in controller.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)-WSA12R Horizontal mountLead3This graph assumes operation at 0.3G.Ceiling60 50 40 30 20 10d6LeThe gure above is the motor side-mounted to the left (ML).00 100 200 300 400 500 600 700 800 900 1000Speed (mm/s)RCP6(S)-WSA12R Vertical mount 20181614 12 108 6 4 200 100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)This graph assumes operation at 0.3G.Lead35Lead 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)-WSA12R-WA-42P-20----20High-output Enabled12-50~800 (The incrementof stroke is 50mm)RCP6(S)-WSA12R-WA-42P-12----12High-output Enabled25-RCP6(S)-WSA12R-WA-42P-6----6High-output Enabled409RCP6(S)-WSA12R-WA-42P-3----3High-output Enabled6016Lead (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±0.01mmLost motion0.1mm or lessBaseMaterial: Aluminum with white alumite treatmentStatic allowable momentMa: 311N•m, Mb: 311N•m, Mc: 827N•mDynamic allowable moment (*1)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) Assumes a standard rated life of 5000km. The service life will vary depending on operation and installation conditions.• Reference for overhang load length: Ma: 450mm or less, Mb, Mc: 450mm 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.111L39 RCP6(S)-WSA12R16Leaead 12 L86Lad 720Payload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~IONPT
