Page 64 - RoboCilindri, RCP4, robocilindri, sinta,

RCP6 RoboCylinder RCP6(S)-RRA6CBattery- Motor less Unit Absolute CoupledBody Width24VPulse Motor Model Speci cation ItemsRRA6C WASeries Type Encoder Type42PMotor Type42P: Pulse Motor42SizeLead20: 20mm 12: 12mm 6: 6mm 3: 3mmStroke65: 65mm415: 415mm (50mm increments)Applicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeCable LengthN : NoneP : 1mS:3mM:5mX : Speci ed Length R : Robot CableOptionsRCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsolutePlease refer to the options table below.Payload (kg) Payload (kg)(*) For high output setting to OFF refer to the RCP6 manual.Vertical~ RCP6 does not include a controller. RCP6S includes a built-in controller.Radial Load OKHorizontalSideCeiling*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 Notes Correlation Diagrams of Speed and Payload High-output enabled (*) with PCON/MCON/MSEL connected. RCP6(S)-RRA6C Horizontal mount80 70 60 50 40 30 20 10This graph assumes Lead 3 operation at 0.3G.Lead 6160 4Straight Motor58 mmLead 128 6 Lead 20IONPTCable 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 ø10mm, rolled C10(1) The maximum acceleration/deceleration is 1G for horizontal, and 0.5G for vertical use.20 15 10Lead 3Lead 6This graph assumes operation at 0.3G.(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)Whenperformingpush-motionoperation,pleasecon rmthepushforceofeachmodelbycheckingthe"Correlation diagram of push force and current limit" on P.113.(5) Depending on the ambient operational temperature, duty control is necessary for the RCP6S (built-in controller type) with lead3/6.PleaserefertoP.130formoreinformation.5 Lead 122 Lead 20 22 1Actuator Speci cations (*) (*) For values of disabled high output controller setting refer to the RCP6 manual.Lead and Payload (**) The payload assumes that there is an external guide. Stroke and Max. Speed(Unit: mm/s)415 (mm)220Model Number RCP6(S)-RRA6C-WA-42P-20---- 20RCP6(S)-RRA6C-WA-42P-12---- 12RCP6(S)-RRA6C-WA-42P-6---- 6RCP6(S)-RRA6C-WA-42P-3---- 3Legend:  Stroke  Applicable controller/I/O type  Cable length  Options800 700 450Robot Cable* Refer to P.144 for more information regarding the maintenance cables.±0.01mm0.1mm or lessø25mm 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 rod63 RCP6(S)-RRA6CLead (mm)Connected Max. Payload Controller Horizontal (kg) (**) Vertical (kg)High-output 6 1.5 EnabledStroke (mm)Lead Connected (mm) Controller20 High-output Enabled65~365 (Every 50mm)High-output 25 4 65~415 12 High-outputEnabledHigh-output Enabled40 10(The increment of stroke is 50mm)6EnabledHigh-output EnabledHigh-output 60 20 Enabled3 High-output 225 Enabled0 100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)RCP6(S)-RRA6C Vertical mount 2500 100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)(*) Rod's angular displacement in rotational direction with no load applied to the rod.