Page 58 - RoboCilindri, RCP4, robocilindri, sinta,

RCP6 RoboCylinderRCP6(S)-RA7RBattery- Motor less Unit Absolute CoupledBody Width24VPulse MotorSide-mounted Motor70* mm Model Speci cation ItemsSeriesRA7R WAType Encoder Type56PMotor Type56P: Pulse Motor56SizeLead24: 24mm 16: 16mm 8: 8mm 4: 4mmStroke50: 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)-RA7R Horizontal mount100 90 8070a 6050 40 3020e 1000 100 200 300 400 500 600 700 800 900 1000Speed (mm/s)RCP6(S)-RA7R Vertical mount 3025 20 15 10500 100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)LeLead 8 assumes operation at 0.1G, lead 24 assumes operation at 0.5G, the other leads assume operation at 0.3G.Lead 16 L24 22The gure above is the motor side-mounted to the left (ML).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) 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 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)-RA7R-WA-56P-24----24High-output Enabled20350~300 (The incrementof stroke is 50mm)RCP6(S)-RA7R-WA-56P-16----16High-output Enabled508RCP6(S)-RA7R-WA-56P-8----8High-output Enabled6018RCP6(S)-RA7R-WA-56P-4----4High-output Enabled8028Lead (mm)Connected Controller50~300 (Every 50mm)24High-output Enabled800 <640>16High-output Enabled5608High-output Enabled420 <350>4High-output Enabled175Cable 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)ItemDescriptionDrive systemBall screw ø12mm, rolled C10Positioning repeatability±0.01mmLost motion0.1mm or lessRodø30mm Material: Aluminum with hard alumite treatmentStatic allowable torque on rod tipTo: 2.5N•mMax. angular displacement on rod tip (*1)θ: ±0.8 deg.Ambient operating temp. & humidity0~40°C, 85% RH or less (Non-condensing)(*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.NameOption 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.11057 RCP6(S)-RA7RLead 4 Led 85adLead 4 assumes operation at 0.1G, the other leads assume operation at 0.3G.Lead 4Led 84Lead 16Lea 1d 240.51Payload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~IONPT