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RCP6 RoboCylinder RCP6(S)-TA6CTable TypeApplicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeMotor Unit CoupledCable LengthBody Width24VPulse Motor Model Speci cation ItemsTA6C WASeries Type Encoder Type42PMotor Type42P: Pulse Motor42SizeLead20: 20mm 12: 12mm 6: 6mm 3: 3mmStroke25: 25mm 320: 320mmOptionsPlease refer to the options table below.RCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less AbsoluteN : NoneP : 1mS:3mM:5mX : Speci ed Length R : Robot Cable* RCP6 does not include a controller. RCP6S includes a built-in controller.HorizontalSideCeiling* 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.Correlation Diagrams of Speed and Payload High-output enabled (*) with PCON/MCON/MSEL connected.RCP6(S)-TA6C Horizontal mount, single guide RCP6(S)-TA6C Vertical mount, single guide14 12 10864Lead 3Lead 6 9Lead 12Lead 20 assumes 14operation at 1.0G, 12lead 12 assumes Lead 3 operation at 0.5G, 10the other leads assumeoperation at 0.3G. 85 6 Lead 6Lead 20/12 assumes operation at 0.5G,the other leads assume operation at 0.3G.10.5Lead 204 Lead 12 2 Lead 203.520 1.5 00 200 400 600 800 1000 1200 0 200 Speed (mm/s)1000 1200 RCP6(S)-TA6C Horizontal mount, double guide RCP6(S)-TA6C Vertical mount, double guideStraight Motor58 mmDouble Guide Single GuidePayload (kg) Payload (kg)Payload (kg) Payload (kg)Vertical~IONPTSelection NotesLead 63.5 Lead 121.5200 300 400 500 600 700 800 900 1000 Speed (mm/s)(1) The maximum acceleration/deceleration is 1G for horizontal, and 0.5G for vertical use.15 16 Lead 3the other leads assume operation at 0.3G. 15(2) The actuator speci cation displays the payload's maximum value, but it will varydepending on the acceleration and speed. Please refer to the "Selection Guidelines" 10 (RCP6 Tables of Payload by Speed/Acceleration) on P.115 for more details.(3)Whenperformingpush-motionoperation,pleasecon rmthepushforceofeachmodel 5 by checking the "Correlation diagram of push force and current limit" on P.113.(4) Depending on the ambient operational temperature, duty control is necessary for the 00 100 RCP6S(built-incontrollertype)withlead3/6.PleaserefertoP.130formoreinformation.14Lead 3(5) High-rigidity (double-block guide) speci cation can be selected as an option.Speed (mm/s)Actuator Speci cations (*)Lead and PayloadModel Number(*) For high output setting to OFF refer to the RCP6 manual.(*) For values of disabled high output controller setting refer to the RCP6 manual.RCP6(S)-TA6C-WA-42P-20---- 20 RCP6(S)-TA6C-WA-42P-12---- 12 RCP6(S)-TA6C-WA-42P-6---- 6 RCP6(S)-TA6C-WA-42P-3---- 3 RCP6(S)-TA6C-WA-42P-12---- 12 RCP6(S)-TA6C-WA-42P-6---- 6 RCP6(S)-TA6C-WA-42P-3---- 3High-output Enabled 5 High-output Enabled 8 High-output Enabled 10 High-output Enabled 10 High-output Enabled 15 High-output Enabled 20 High-output Enabled 20Legend: Stroke Applicable controller/I/O type Cable length Options Cable LengthActuator Speci cationsValues in brackets < > are for vertical use.Description Ball screw ø10mm, rolled C10±0.01mm0.1mm or lessMaterial: Aluminum with white alumite treatment Ma: 32.3N•m, Mb: 46.2N•m, Mc: 68.3N•mMa: 169N•m, Mb: 242N•m, Mc: 137N•mMa: 11.6N•m, Mb: 16.6N•m, Mc: 24.6N•mMa: 49.5N•m, Mb: 70.7N•m, Mc: 40N•m0~40°C, 85% RH or less (Non-condensing)Cable 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)Item Drive systemPositioning repeatability Lost motionBaseStatic allowable momentDynamic allowable moment (*)Single guide Double guide Single guide Double guideRobot Cable* Refer to P.144 for more information regarding the maintenance cables.Ambient operating temperature & humidityOptionsName BrakeCable exit direction (Top)Cable exit direction (Right)Cable exit direction (Left)Cable exit direction (Bottom) High-rigidity (Double-block guide) Non-motor end speci cationOption CodeB CJT CJR CJL CJB DB NMReference Page See P.105 See P.105 See P.105 See P.105 See P.105 See P.105 See P.110(*) Assumes a standard rated life of 5000km. The service life will vary depending on operation and installation conditions.Allowable load moment directionsMa Mb McPlease refer to the RoboCylinder General Catalog for more information regarding the directions of the allowable moment and overhang load length.Please refer to the RCP6 manual regarding the displacement of the table.95 RCP6(S)-TA6CLead (mm)Connected ControllerMax. PayloadStroke (mm)25~200 (The incrementof stroke is 25mm)40/70/95/ 120~320 (The increment of stroke is 50mm)Lead (mm)20 12 6 3Connected Single GuideDouble Guide 45~220 270 320-800 735 575 <680> <680>400 365 285 200 185 140Horizontal (kg)Vertical (kg)1 3 6 12 3 6 12ControllerHigh-output EnabledHigh-output EnabledHigh-output EnabledHigh-output Enabled25~2001120 <800>80040020025 20Lead 12 assumes 25 Lead 6 operation at 0.5G, 20This graph assumes operation at 0.3G.200300400500600700800900 1000 00 100Lead 12 10 8 5Stroke and Max. Speed (Unit: mm/s)400600800Speed (mm/s)
