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RCP6 RoboCylinder RCP6(S)-WRA14R24VPulse Motor* Body width does not include the width of the side- mounted motor. Model Speci cation ItemsSeriesWRA14R WAType Encoder Type56PMotor Type56P: Pulse Motor56SizeLead24: 24mm 16: 16mm 8: 8mm 4: 4mmStroke50: 50mm600: 600mm (50mm increments)Applicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeSide-mounted MotorCable Length OptionsCeilingRCP6: 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 OKspecify either ML or MRHorizontal 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 Notes100 90 80 70 60 50 40 30 20 1000Lead 445200 300Lead 4/8 assumes operation at 0.1G, the other leads assume operation at 0.3G.Lead 8 35Lead 16 Lead242 8600 700 800Actuator Speci cations (*)Lead and PayloadModel Number(*) For values of disabled high output controller setting refer to the RCP6 manual.The 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) When performing push-motion operation, please con rm the push force of each model by checking the "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 lead 4/8/16. Please refer to P.130 for more information.RCP6(S)-WRA14R Vertical mount 30RCP6(S)-WRA14R-WA-56P-24---- 24RCP6(S)-WRA14R-WA-56P-16---- 16RCP6(S)-WRA14R-WA-56P-8---- 8RCP6(S)-WRA14R-WA-56P-4---- 4Legend:  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. & humidityValues in brackets < > are for vertical use.Description Ball screw ø12mm, rolled C10±0.01mm0.1mm or lessø40mm Stainless steel0 deg.See P. 129dx: 150mm or less / dz: 100mm or less 0~40°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: 150mm or less)Load at end of rodOverhang distance at end of rod (dz: 100mm or less)Load at end of rod89 RCP6(S)-WRA14R(**) The payload assumes that there is an external guide. Stroke and Max. Speed(Unit: mm/s)Lead (mm)Connected Max. PayloadStroke (mm)50~600 (The incrementof stroke is 50mm)Lead Connected (mm) Controller24 High-output Enabled16 High-output EnabledHigh-output 8 Enabled4 High-output Enabled50~600 (Every 50mm)630560350 <210>175 <130>Controller Horizontal(kg)(**) High-output 25EnabledHigh-output 50 EnabledHigh-output Enabled 65Vertical(kg) -- 15 25High-output 85 Enabled(*) 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 (*) with PCON/MCON/MSEL connected. RCP6(S)-WRA14R Horizontal mount25 20 15 1054100400 500 Speed (mm/s)This graph assumes operation at 0.3G.00 100 200 300 400 500 600 700 800Speed (mm/s)Lead 4 Lead 8140* mmPlease refer to the options table below. *Please make sure toIONPT