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RCP6 RoboCylinder RCP6(S)-RRA4CBattery- Motor less Unit Absolute CoupledBody Width24VPulse Motor Model Speci cation ItemsRRA4C WASeries Type Encoder Type35PMotor Type35P: Pulse Motor35SizeLead16: 16mm 10: 10mm 5: 5mm 2.5: 2.5mmStroke60: 60mm410: 410mm (50mm increments)Applicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeCable LengthN : NoneP : 1mS:3mM:5mX : Speci ed Length R : Robot CableOptionsPayload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~Horizontal 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.Selection NotesLead 2.5Lead 16 assumes operation at 0.5G, the other leads assume operation at 0.3G.CeilingLead 5RCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsolutePlease refer to the options table below. RCP6 does not include a controller. RCP6S includes a built-in controller.Radial Load OK Correlation Diagrams of Speed and Payload High-output enabled (*) withStraight Motor40 mmPCON/MCON/MSEL connected. RCP6(S)-RRA4C Horizontal mount 5045403530252015105 00Lead 10 6Lead 16 11000 1200800 Speed (mm/s)IONPTActuator Speci cations (*)Lead and Payload Model Number(*) For values of disabled high output controller setting refer to the RCP6 manual.(1) The maximum acceleration/deceleration is 1G for horizontal, and 0.5G for vertical use.87(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 radial cylinder is equipped with a built-in guide. Please refer to the graphs shown in P.127 and after for the allowable load mass.(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 .6 4 200 200Lead 53 Lead 101.5 Lead 16 0.51000 1200RCP6(S)-RRA4C-WA-35P-16---- 16RCP6(S)-RRA4C-WA-35P-10---- 10RCP6(S)-RRA4C-WA-35P-5---- 5Horizontal (kg) (**)7 18 28 40Vertical (kg)1.5 3 6 10RCP6(S)-RRA4C-WA-35P-2.5---- 2.5Legend: Stroke Applicable controller/I/O type Cable length OptionsCable LengthCable Type StandardSpeci ed LengthCable Code P (1m)S (3m)M (5m)X06 (6m) ~ X10 (10m) X11 (11m) ~ X15 (15m) X16 (16m) ~ X20 (20m) R01 (1m) ~ R03 (3m) R04 (4m) ~ R05 (5m) R06 (6m) ~ R10 (10m) R11 (11m) ~ R15 (15m) R16 (16m) ~ R20 (20m)Actuator Speci cationsItem Drive systemPositioning repeatabilityLost motionRodRod non-rotation precision (*) Allowable load and torque on rod tip Rod tip o set/overhang distance Ambient operating temp. & humidityDescription Ball screw ø8mm, rolled C10Robot Cable* Refer to P.144 for more information regarding the maintenance cables.±0.01mm0.1mm or lessø20mm Aluminum0 deg.See P. 127dx/dz: 100mm or less0~40°C, 85% RH or less (Non-condensing)OptionsName BrakeCable exit direction (Top) Cable exit direction (Right) Cable exit direction (Left) Cable exit direction (Bottom) FlangeTip adapter (Flange)Tip adapter (Internal thread) Tip adapter (Keyway) Non-motor end speci cationOption CodeB CJT CJR CJL CJB FL F FA N FA K FA N MReference Page See P.105 See P.105 See P.105 See P.105 See P.105 See P.106 See P.105 See P.109 See P.108 See P.110O set distance at end of rod (dx: 100mm or less)Load at end of rodOverhang distance at end of rod (dz: 100mm or less)Load at end of rod61 RCP6(S)-RRA4C(**) The payload assumes that there is an external guide. Stroke and Max. Speed(Unit: mm/s)410 (mm)1080 685 340 170Lead (mm)Connected ControllerHigh-output EnabledHigh-output EnabledHigh-output EnabledMax. PayloadStroke (mm)60~410 (The incrementof stroke is 50mm)Lead Connected (mm) Controller16 High-output Enabled10 High-output EnabledHigh-output 5 Enabled2.5 High-output Enabled60~360 (Every 50mm)1120 700 350 175High-output Enabled(*) Rod's angular displacement in rotational direction with no load applied to the rod.200400 600RCP6(S)-RRA4C Vertical mount 1210 Lead 2.5Lead 16 assumes operation at 0.5G, the other leads assume operation at 0.3G.800 Speed (mm/s)400 600
