Page 86 - RoboCilindri, RCP4, robocilindri, sinta,

RCP6 RoboCylinder RCP6(S)-WRA10R24VPulse Motor* Body width does not include the width of the side- mounted motor. Model Speci cation ItemsSeriesWRA10R WAType Encoder Type35PMotor Type35P: Pulse Motor35SizeLead16: 16mm 10: 10mm 5: 5mm 2.5: 2.5mmStroke50: 50mm500: 500mm (50mm increments)Applicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeSide-mounted MotorCable Length OptionsRCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsoluteN : NoneP : 1mS : 3mM : 5mX : Speci ed Length when ordering the side- R : Robot Cable mounted motor type.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 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 Notesspecify either ML or MR(1) (2)(3) (4)10 86 4 2This graph assumes operation at 0.3G.Lead 2.5Lead 5 1.5 1The gure above is the motor side-mounted to the left (ML).The maximum acceleration/deceleration is 1G for horizontal, and 0.5G for vertical use.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.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.When performing push-motion operation, please con rm the push force of each model by checking the "Correlation diagramofpushforceandcurrentlimit"onP.113.RCP6(S)-WRA10R Vertical mount 12Actuator 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)450 500 (mm) (mm)700490290<260> 240Model Number RCP6(S)-WRA10R-WA-35P-16---- 16RCP6(S)-WRA10R-WA-35P-10---- 10RCP6(S)-WRA10R-WA-35P-5---- 5RCP6(S)-WRA10R-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 (Outside) FlangeMotor side-mounted to the left Motor side-mounted to the right Non-motor end speci cation T-slot nut bar (Left) (*)T-slot nut bar (Right) (*)Option CodeB CJO F L ML MR NM NTBL N T B RReference Page See P.105 See P.105 See P.106 See P.109 See P.109 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 rod85 RCP6(S)-WRA10RLead (mm)Connected ControllerHigh-output EnabledHigh-output EnabledHigh-output EnabledMax. PayloadHorizontal(kg)(**) Vertical(kg) 4 -11.5 - 28 5 40 10Stroke (mm)50~500 (The incrementof stroke is 50mm)Lead Connected (mm) Controller16 High-output Enabled10 High-output EnabledHigh-output 5 Enabled2.5 High-output Enabled50~400 (Every 50mm)525High-output Enabled175 <150>(*) When selecting T-slot nut bar option with a side-mounted motor model, please choose NTBR when the motor is side-mounted to the left, and NTBL when the motor is side-mounted to the right.Battery- Motor less Unit Absolute CoupledBody Width Correlation Diagrams of Speed and Payload High-output enabled (*) withPCON/MCON/MSEL connected. RCP6(S)-WRA10R Horizontal mount45 40 35 30 25 20 15 1050 0Lead 2.5 33.5Lead 16 assumes operation at 0.5G, the other leads assume operation at 0.3G.100200400 Speed (mm/s)Lead 5 Lead 103009.56.5500 600 700 80000 100 200 300 400 500 600 700 800 Speed (mm/s)100* mmPlease refer to the options table below. *Please make sure toLead 16 0.5IONPT145 120 Values in brackets < > are for vertical use.