Page 72 - RoboCilindri, RCP4, robocilindri, sinta,

RCP6 RoboCylinder RCP6(S)-RRA6R24VPulse Motor* Body width does not include the width of the side- mounted motor.Please refer to theoptions table below.Please make sure to specify either ML or MR when ordering the side- mounted motor type. Model Speci cation ItemsSeriesRRA6R WAType 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 CableRCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsolutePayload (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)-RRA6R Horizontal mountThe 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) 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.RCP6(S)-RRA6R Vertical mount 25Actuator 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)-RRA6R-WA-42P-20---- 20RCP6(S)-RRA6R-WA-42P-12---- 12RCP6(S)-RRA6R-WA-42P-6---- 6Horizontal (kg) (**)6 25 40 60Vertical (kg)1.5 4 10 20800 700 450RCP6(S)-RRA6R-WA-42P-3---- 3 High-outputEnabled Legend:  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 ø10mm, rolled C10Robot 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 (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 (*)71 RCP6(S)-RRA6ROption 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 rodLead (mm)Connected ControllerHigh-output EnabledHigh-output EnabledHigh-output EnabledMax. PayloadStroke (mm)65~415 (The incrementof stroke is 50mm)Lead Connected (mm) Controller20 High-output Enabled12 High-output EnabledHigh-output 6 Enabled3 High-output Enabled65~365 (Every 50mm)225Battery- Motor less Unit Absolute CoupledBody Width80 70 60 50 40 30 20 100 0This graph assumes Lead 3 operation at 0.3G.20 15 10Lead 3Lead 6This 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.1686 Lead20 4Side-mounted Motor58* mmOptionsLead 6Lead 12100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)5 Lead 122 LLeeaad2200 22 100 100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)IONPT