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RCP6 RoboCylinderStandard RCP6(S)-WSA16R ±10μ mSimple Battery- Motor Dust- less Unit proof Absolute CoupledBody Width24VPulse MotorSide-mounted Motor160* mm Model Speci cation ItemsSeriesWSA16R WAType Encoder Type56SPMotor Type56SP: High-thrust Pulse Motor 56SizeLead20: 20mm 10: 10mm 5: 5mmStroke50: 50mm1100: 1100mm (50mm increments)Applicable Controller/I/O 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 Absolute[RCP6]P4: PCON-Please refer to the options table below. Please make sure to* RCP6 does not include a controller. RCP6S includes a built-in controller.CFB/CGFB [RCP6S]specify either ML or MRSE: 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)-WSA16R Horizontal mount120 100 80 60 40 20 00100 200500 Speed (mm/s)600700 800LeThis graph assumes operation at 0.1G.300 400Lead 5 assumes operation at 0.1G, lead 10 assumes operation at 0.3G.Lead5Lead1012The gure above is the motor side-mounted to the left (ML).RCP6(S)-WSA16R 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 model by checking the "Correlation diagram of push force and current limit" on P.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)-WSA16R-WA-56SP-20----2030-50~1100 (The incrementof stroke is 50mm)RCP6(S)-WSA16R-WA-56SP-10----107015RCP6(S)-WSA16R-WA-56SP-5----510045Lead (mm)50~650 (Every 50mm)700 (mm)750 (mm)800 (mm)850 (mm)900 (mm)950 (mm)1000 (mm)1050 (mm)1100 (mm)2060059053549045041510365 <210>355 <210>320 <210>290 <210>265 <210>240 <210>225 <210>2055170 <145>160 <145>145130120110100Cable Length* Refer to P.144 for more information regarding the maintenance cables.OptionsActuator Speci cationsItemDescriptionDrive systemBall screw ø16mm, rolled C10Positioning repeatability±0.01mmLost motion0.1mm or lessBaseMaterial: Aluminum with white alumite treatmentStatic allowable momentMa: 642N•m, Mb: 642N•m, Mc: 1610N•mDynamic allowable moment (*1)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) Assumes a standard rated life of 5000km. The service life will vary depending on operation and installation conditions.• Reference for overhang load length: Ma: 650mm or less, Mb, Mc: 650mm 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.111L43 RCP6(S)-WSA16Rad 5Lead 10Lead 208122Payload (kg) Payload (kg)Vertical~IONPT
