Page 70 - RoboCilindri, RCP4, robocilindri, sinta,

RCP6 RoboCylinder RCP6(S)-RRA4R24VPulse Motor* 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. Model Speci cation ItemsSeriesRRA4R WAType Encoder Type35PMotor Type35P: Pulse Motor35SizeLead16: 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 LengthRCP6: 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 OKPlease make sure to specify either ML or MRHorizontal 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 Notes50 45 40 35 30 25 20 15 105 00Lead 2.5This graph assumes operation at 0.3G.CeilingLead 516 Lead 10Lead 16Battery- Motor less Unit Absolute CoupledBody WidthSide-mounted Motor40* mmOptions Correlation Diagrams of Speed and Payload High-output enabled (*) with PCON/MCON/MSEL connected. RCP6(S)-RRA4R Horizontal mountIONPTActuator Speci cations (*)Lead and Payload Model Number(*) For values of disabled high output controller setting refer to the RCP6 manual.The gure above is the motor side-mounted to the left (ML).(1) The maximum acceleration/deceleration is 1G for horizontal, and 0.5G for vertical use. (2)Theactuatorspeci cationdisplaysthepayload'smaximumvalue,butitwillvarydependingontheaccelerationandspeed.RCP6(S)-RRA4R Vertical mount 12Please refer to the "Selection Guidelines" (RCP6 Tables of Payload by Speed/Acceleration) on P.115 for more details. 4(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 2 load mass.3 Lead 10Lead 16 0.5(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 .00200400 600 800 Speed (mm/s)1000RCP6(S)-RRA4R-WA-35P-16---- 16RCP6(S)-RRA4R-WA-35P-10---- 10RCP6(S)-RRA4R-WA-35P-5---- 5Horizontal (kg) (**)5 13 28 40Vertical (kg)1 2.5 5 10840 610RCP6(S)-RRA4R-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 (Outside) FlangeTip adapter (Flange)Tip adapter (Internal thread) Tip adapter (Keyway)Motor side-mounted to the left Motor side-mounted to the right Knuckle joint (*)Non-motor end speci cation Clevis bracket (*)69 RCP6(S)-RRA4ROption CodeB CJO F L F FA N FA K FA ML MR N J N M Q RReference Page See P.105 See P.105 See P.106 See P.105 See P.109 See P.108 See P.109 See P.109 See P.110 See P.110 See P.111O 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 rod(**) The payload assumes that there is an external guide. Stroke and Max. Speed(Unit: mm/s)410 (mm)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)350 175High-output Enabled1086Lead 2.5This graph assumes operation at 0.3G.(*) Rod's angular displacement in rotational direction with no load applied to the rod.(*) The clevis (QR) and knuckle joint (NJ) are sold as a set. The assembly is to be performed by the customer.200400 600 Speed (mm/s)3800 10007Lead 5