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RCP6 RoboCylinder RCP6(S)-WRA12CBattery- Motor less Unit Absolute CoupledBody Width24VPulse Motor Model Speci cation ItemsWRA12C WASeries Type Encoder Type42PMotor Type42P: Pulse Motor42SizeLead20: 20mm 12: 12mm 6: 6mm 3: 3mmStroke50: 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 OK Correlation Diagrams of Speed and Payload High-output enabled (*) with PCON/MCON/MSEL connected. RCP6(S)-WRA12C Horizontal mountHorizontal 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 Notes70 60 50 40 30 20 100 0Lead 3This graph assumes operation at 0.3G.CeilingLead 6Lead 12(1)Themaximumacceleration/decelerationis1Gforhorizontal,and0.5Gforverticaluse.18 1614 Lead 3 12Lead 6 assumes operation at 0.1G, the other leads assume 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) When performing push-motion operation, please con rm the push force of each model by checking the "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.10 8 6 4Lead 6Actuator 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)500 (mm)375 <340>Model Number RCP6(S)-WRA12C-WA-42P-20---- 20RCP6(S)-WRA12C-WA-42P-12---- 12RCP6(S)-WRA12C-WA-42P-6---- 6RCP6(S)-WRA12C-WA-42P-3---- 3Legend:  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. & humidityRobot 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 NTBL NTBRReference 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 rod79 RCP6(S)-WRA12CLead (mm)Lead Connected (mm) Controller20 High-output Enabled12 High-output EnabledHigh-output 6 Enabled3 High-output EnabledConnected Max. Payload Controller Horizontal(kg)(**) Vertical(kg)Stroke (mm)50~500 (The incrementof stroke is 50mm)50~400 450 (Every 50mm) (mm)800 560225 220 <200> <200>Description Ball screw ø10mm, rolled C10±0.01mm0.1mm or lessø30mm Stainless steel0 deg.See P. 129dx/dz: 100mm or less0~40°C, 85% RH or less (Non-condensing)High-output 7.5 EnabledHigh-output 30 EnabledHigh-output Enabled 55-- 7.5 17.5400 <340>High-output 70 Enabled185 Values in brackets < > are for vertical use.Straight Motor120 mm16 15 12.5Lead 20 0.5100 200 300 400 500 600 700 800 900 1000 Speed (mm/s)RCP6(S)-WRA12C Vertical mount 2020 1 0.50 100 200 300 400 500 600 700 800 900 1000Speed (mm/s)Please refer to the options table below.IONPT