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RCP6 RoboCylinder RCP6(S)-WRA10CBattery- Motor less Unit Absolute CoupledBody Width24VPulse Motor Model Speci cation ItemsWRA10C WASeries Type Encoder Type35PMotor Type35P: Pulse Motor35SizeLead16: 16mm 10: 10mm 5: 5mm 2.5: 2.5mmStroke50: 50mm500: 500mm (50mm increments)Applicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeCable LengthOptionsRCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsoluteN : NoneP : 1mS:3mM:5mX : Speci ed Length R : Robot CablePayload (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 (*) withPCON/MCON/MSEL connected. RCP6(S)-WRA10C Horizontal mount(1) The maximum acceleration/deceleration is 1G for horizontal, and 0.5G for vertical use.Lead 2.5(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 diagramofpushforceandcurrentlimit"onP.113.500600 700 800Actuator 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. SpeedModel Number RCP6(S)-WRA10C-WA-35P-16---- 16RCP6(S)-WRA10C-WA-35P-10---- 10RCP6(S)-WRA10C-WA-35P-5---- 5RCP6(S)-WRA10C-WA-35P-2.5---- 2.5Legend: Stroke Applicable controller/I/O type Cable length Options350 <260>Cable 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 C10±0.01mm0.1mm or lessø25mm Stainless steel0 deg.See P. 129dx/dz: 100mm 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 (Top) Cable exit direction (Right) Cable exit direction (Left) (*) Cable exit direction (Bottom) FlangeNon-motor end speci cation T-slot nut bar (Left)T-slot nut bar (Right)Option CodeB CJT CJR CJL CJB FL NM NTBLNTBRReference Page See P.105 See P.105 See P.105 See P.105 See P.105 See P.106 See P.110 See P.110 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 rod77 RCP6(S)-WRA10CLead (mm)Connected ControllerHigh-output EnabledHigh-output EnabledHigh-output EnabledLead Connected (mm) Controller16 High-output Enabled10 High-output EnabledHigh-output 5 Enabled2.5 High-output Enabled50~400 (Every 50mm)525High-output Enabled145 120Max. PayloadHorizontal(kg)(**) Vertical(kg) 4 -14.5 - 28 5 40 10Stroke (mm)50~500 (The incrementof stroke is 50mm)(Unit: mm/s)450 500 (mm) (mm)700490290<260> 240175Values in brackets < > are for vertical use.(*) This option is not available for the straight type RCP6S-WRA10C with built-in controller.45 40 35 30 25 20 15 1050 0Lead 2.5 Lead 16 assumes operation at 0.5G, the100 200400 Speed (mm/s)Lead 16 600 700 80033.5other leads assume operation at 0.3G.Lead 5Lead 109.5300500Straight Motor100 mmRCP6(S)-WRA10C Vertical mount 12This graph assumes 10 operation at 0.3G.864 Lead 52 2.5100 100 200 300 400 Speed (mm/s)Please refer to the options table below.7.50.5IONPT
