Page 74 - RoboCilindri, RCP4, robocilindri, sinta,

RCP6 RoboCylinder RCP6(S)-RRA7R24VPulse 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 ItemsSeriesRRA7R WAType Encoder Type56PMotor Type56P: Pulse Motor56SizeLead24: 24mm 16: 16mm 8: 8mm 4: 4mmStroke70: 70mm520: 520mm (50mm increments)Applicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeCable LengthPayload (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 8 assumes operation at 0.1G, the other leads assumeCeilingLead 16Lead 2452 3100 200 300 400 500 600 700 800 900 1000Speed (mm/s)RCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsolutePlease refer to the options table below. *Please make sure to* RCP6 does not include a controller. RCP6S includes a built-in controller.Radial Load OKspecify either ML or MRThe 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 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 lead4/8/16.PleaserefertoP.130formoreinformation.RCP6(S)-RRA7R Vertical mount 30Actuator 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)Model Number RCP6(S)-RRA7R-WA-56P-24---- 24RCP6(S)-RRA7R-WA-56P-16---- 16RCP6(S)-RRA7R-WA-56P-8---- 8Horizontal (kg) (**) 2050 60 80Vertical (kg) 38 18 28RCP6(S)-RRA7R-WA-56P-4---- 4 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 ø12mm, rolled C10±0.01mm0.1mm or lessø30mm Aluminum0 deg.See P. 127dx/dz: 150mm or less0~40°C, 85% RH or less (Non-condensing)Robot Cable* Refer to P.144 for more information regarding the maintenance cables.(*) Rod's angular displacement in rotational direction with no load applied to the rod.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 (*)73 RCP6(S)-RRA7ROption 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: 150mm or less)Load at end of rodOverhang distance at end of rod (dz: 150mm or less)Load at end of rodLead (mm)Connected ControllerHigh-output EnabledHigh-output EnabledHigh-output EnabledMax. PayloadStroke (mm)70~520 (The incrementof stroke is 50mm)Lead Connected (mm) Controller24 High-output Enabled16 High-output EnabledHigh-output 8 Enabled4 High-output Enabled70~520 (Every 50mm)860 <640>560420 <350>175Values in brackets < > are for vertical use.(*) The clevis (QR) and knuckle joint (NJ) are sold as a set. The assembly is to be performed by the customer.Battery- Motor less Unit Absolute CoupledBody Width20 15Lead 4 other leads assume operation at 0.3G.Side-mounted Motor70* mmOptions Correlation Diagrams of Speed and Payload High-output enabled (*) with PCON/MCON/MSEL connected. RCP6(S)-RRA7R Horizontal mount100 90 80 70 60 50 40 30 20 1000Lead 4Lead 8 operation at 0.3G.Lead 4 assumes25 operation at 0.1G, theIOLead 8NPT10 Lead 165 Lead 243 3 1 1 1 1 3 300 100 200 300 400 500 600 700 800 900 1000Speed (mm/s)