Page 56 - RoboCilindri, RCP4, robocilindri, sinta,

RCP6 RoboCylinderRCP6(S)-RA6RBattery- Motor less Unit Absolute CoupledBody Width24VPulse MotorSide-mounted Motor58* mm Model Speci cation ItemsSeriesRA6R WAType Encoder Type42PMotor Type42P: Pulse Motor42SizeLead20: 20mm 12: 12mm 6: 6mm 3: 3mmStroke50: 50mm300:300mm(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.X : Speci ed Length when ordering the side- R : Robot Cable mounted motor type.RCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsoluteCable Length OptionsN : None Please refer to theP : 1m options table below. RCP6 does not include a controller. RCP6S includes a built-in controller.S :3mM : 5m specify ML, MR or MTPlease make sure toHorizontalSideCeiling*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)-RA6R Horizontal mount80 70 60 50 40 30 20 100 06100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)Lead3LeadLead126 Lead2200 3168The gure above is the motor side-mounted to the left (ML).RCP6(S)-RA6R Vertical mount 25Lead3This graph assumes operation at 0.3G.Lead 6Le 2ad 212 2Lead 12 200Selection 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) The value of the horizontal payload assumes that there is an external guide. Please be aware that the anti-rotation stopper can be damaged when an external force is applied to the rod from any direction other than the moving direction.(4) When performing push-motion operation, please con rm the push force of each model by checking the "Correlation 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 .(5) 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.20 15 105e00 100 200 300 400 500 600 700 800 900 1000Speed (mm/s)Actuator Speci cations (*) (*) For values of disabled high output controller setting refer to the RCP6 manual. Lead and Payload Stroke and Max. Speed (Unit: mm/s)Legend:  Stroke  Applicable controller/I/O type  Cable length  OptionsModel NumberLead (mm)Connected ControllerMax. PayloadStroke (mm)Horizontal (kg)Vertical (kg)RCP6(S)-RA6R-WA-42P-20----20High-output Enabled61.550~300 (The incrementof stroke is 50mm)RCP6(S)-RA6R-WA-42P-12----12High-output Enabled254RCP6(S)-RA6R-WA-42P-6----6High-output Enabled4010RCP6(S)-RA6R-WA-42P-3----3High-output Enabled6020Lead (mm)Connected Controller50~300 (Every 50mm)20High-output Enabled80012High-output Enabled7006High-output Enabled4503High-output Enabled225Cable Length* Refer to P.144 for more information regarding the maintenance cables.OptionsActuator Speci cationsCable 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) This is the displacement angle of the rod tip (initial reference value) when the rod is fully retracted and the static allowable torque is applied at the rod tip.DescriptionNameOption CodeReference PageBrakeBSee P.105Cable exit direction (Outside)CJOSee P.105FlangeFLSee P.106Foot bracketFTSee P.107Motor side-mounted to the leftMLSee P.109Motor side-mounted to the rightMRSee P.109Motor side-mounted to the topMTSee P.109Tip adapter (Internal thread)NFASee P.109Non-motor end speci cationNMSee P.110T-slot nut barNTBSee P.11055 RCP6(S)-RA6RThis graph assumes operation at 0.3G.ItemDrive systemBall screw ø10mm, rolled C10Positioning repeatability±0.01mmLost motion0.1mm or lessRodø25mm Material: Aluminum with hard alumite treatmentStatic allowable torque on rod tipTo: 1.5N•mMax. angular displacement on rod tip (*1)Ambient operating temp. & humidityθ: ±1.0 deg.0~40°C, 85% RH or less (Non-condensing)Payload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~IONPT