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RCP6 RoboCylinder RCP6(S)-TA7CTable TypeApplicable Controller/I/O Type[RCP6] P3: PCONMCONMSEL [RCP6S]SE: SIO TypeMotor Unit CoupledCable LengthN : NoneP : 1mS : 3mM: 5mX : Speci ed Length R : Robot CableBody Width24VPulse Motor Model Speci cation ItemsTA7C WASeries Type Encoder Type56PMotor Type56P: Pulse Motor56 SizeLead24: 24mm 16: 16mm 8: 8mm 4: 4mmStroke25: 25mm 390: 390mmOptionsPlease refer to the options table below.RCP6: Separate Controller RCP6S: Built-in ControllerWA: Battery-less Absolute* 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)-TA7C Horizontal mount, single guideRCP6(S)-TA7C Vertical mount, single guide25 20 15 1050 035 30 25 20 15 10500 100Max. PayloadLead 24 assumes operation at 0.5G,lead 16 assumes operation at 0.3G,the other leads assume operation at 0.1G.Lead 16 Lead 825 20 15 10Lead 4Lead 24/16 assumes operation at 0.3G,the other leads assume operation at 0.1G.Lead 48Lead 8Lead 16400 600 800 Speed (mm/s)3.5 1000 12000 200 400 600 8001000 1200200RCP6(S)-TA7C Horizontal mount, double guideSpeed (mm/s) RCP6(S)-TA7C Vertical mount, double guideLead 245 6 6 6 Lead24 0 3 1.5Straight Motor70 mmDoubleGuide Single GuidePayload (kg) Payload (kg)Payload (kg) Payload (kg)Vertical~IONPTSelection NotesLead 410 8 5Lead 16 1.5(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) 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.(4) Depending on the ambient operational temperature, duty control is necessary for the RCP6S(built-incontrollertype)withlead4/8/16.PleaserefertoP.130formoreinformation.(5) High-rigidity (double-block guide) speci cation can be selected as an option.Lead 4 Lead 84 4700 800 00(*) For high output setting to OFF refer to the RCP6 manual.Actuator Speci cations (*)Lead and PayloadModel Number(*) For values of disabled high output controller setting refer to the RCP6 manual.Stroke and Max. Speed (Unit: mm/s)RCP6(S)-TA7C-WA-56P-24---- 24 RCP6(S)-TA7C-WA-56P-16---- 16 RCP6(S)-TA7C-WA-56P-8---- 8 RCP6(S)-TA7C-WA-56P-4---- 4 RCP6(S)-TA7C-WA-56P-16---- 16 RCP6(S)-TA7C-WA-56P-8---- 8 RCP6(S)-TA7C-WA-56P-4---- 4High-output Enabled 10 High-output Enabled 12 High-output Enabled 15 High-output Enabled 15 High-output Enabled 25 High-output Enabled 30 High-output Enabled 301080 - <860>700 700 <560> <560>600 <560>Legend: Stroke Applicable controller/I/O type Cable length Options Cable LengthActuator Speci cationsCable 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 guideDescription Ball screw ø12mm, rolled C10±0.01mm0.1mm or lessMaterial: Aluminum with white alumite treatment Ma: 115N•m, Mb: 115N•m, Mc: 229N•mMa: 620N•m, Mb: 620N•m, Mc: 458N•mMa: 44.7N•m, Mb: 44.7N•m, Mc: 89.1N•mMa: 196N•m, Mb: 196N•m, Mc: 145N•m0~40°C, 85% RH or less (Non-condensing)Robot 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.97 RCP6(S)-TA7CLead (mm)Connected ControllerHorizontal (kg)Vertical (kg)3 7 16 20 7 16 24Lead (mm)24 16 8 4ControllerHigh-output EnabledHigh-output EnabledHigh-output EnabledHigh-output EnabledDouble Guide 25~300 40~290 340 390200500 600 Speed (mm/s)100 200400500600700 800300 400300Stroke (mm)25~200 (The incrementof stroke is 25mm)250/30040/65/ 90~390 (The increment of stroke is 50mm)Connected Single GuideLead 16 assumesoperation at 0.3G, 30 the other leads assume operation at 0.1G. 2520 Lead 16 15Lead 16 assumes operation at 0.3G,the other leads assume operation at 0.1G.Lead 8 7 835Speed (mm/s)420 <350>210Values in brackets < > are for vertical use.420 365 300 <350> <350>210 180 150
