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RCP6 RoboCylinderStandard RCP6(S)-WSA14R ±10μ mSimple Battery- Motor Dust- less Unit proof Absolute CoupledBody Width24VPulse MotorSide-mounted Motor140* mm Model Speci cation ItemsSeriesWSA14R WAType Encoder Type56PMotor Type56P:Pulse Motor56SizeLead24: 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. Please make sure to* RCP6 does not include a controller. RCP6S includes a built-in controller.specifyeitherMLorMRHorizontal Side Correlation Diagrams of Speed and Payload High-output enabled (*) with PCON/MCON/MSEL connected. RCP6(S)-WSA14R Horizontal mountLead 4Lead 4/8 assumes operation at 0.1G, the other leads assume operation at 0.3G.Lead 8Lead 16Lea2478* 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.200 300 400 Speed (mm/s)600d700 800Ceiling100 90 80 70 60 50 40 30 20 10 00 100500The gure above is the motor side-mounted to the left (ML).RCP6(S)-WSA14R Vertical mount 3025 20 15 10500 100 200 300 400 500 600 700 800 Speed (mm/s)This graph assumes operation at 0.1G.Lead 4Selection 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 c h e c k i n g t h e " C o r r e l a t i o n d i a g r a m o f p u s h f o r c e a n d c u r r e n t l i m i t " o n P. 1 1 3 .(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.aActuator 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)-WSA14R-WA-56P-24----24High-output Enabled25-50~800 (The incrementof stroke is 50mm)RCP6(S)-WSA14R-WA-56P-16----16High-output Enabled50-RCP6(S)-WSA14R-WA-56P-8----8High-output Enabled6514RCP6(S)-WSA14R-WA-56P-4----4High-output Enabled8026Lead (mm)Connected Controller50~500 (Every 50mm)550 (mm)600 (mm)650 (mm)700 (mm)750 (mm)800 (mm)24High-output Enabled70066516High-output Enabled5605504904408High-output Enabled420 <350>400 <350>3503052702402154High-output Enabled175170150135120105Cable 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: 462N•m, Mb: 462N•m, Mc: 1170N•mDynamic allowable moment (*1)Ma: 122N•m, Mb: 122N•m, Mc: 308N•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: 550mm or less, Mb, Mc: 550mm 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.111L41 RCP6(S)-WSA14RLed 841Payload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~IONPT
