RCP6W-WRA16C
RCP6SW-WRA16C

Product feature

Attachment orientation

Dimension drawing
Important notes on selection
Adaptive controller

Main specification

Specification 1

Heading			Contents
Lead		Ball screw lead (mm)	20	10	5
Horizontal	Load capacity (Note 1)	Maximum load capacity (kg)	30	60	100
	Speed/ Acceleration/Deceleration	Maximum speed (mm/s)	360	220	110
		Minimum speed (mm/s)	25	13	7
		Rated acceleration/deceleration (G)	0.2	0.2	0.1
		Maximum acceleration/deceleration (G)	0.2	0.2	0.1
Vertical	Load capacity	Maximum load capacity (kg)	－	30.5	59
	Speed/ Acceleration/Deceleration	Maximum speed (mm/s)	－	160	90
		Minimum speed (mm/s)	－	13	7
		Rated acceleration/deceleration (G)	－	0.2	0.1
		Maximum acceleration/deceleration (G)	－	0.2	0.1
Pressing motion		Max. pressing thrust (N)	500	1000	2000
Pressing motion		Max. pressing speed (mm/s)	10	10	10
Brake		Brake specification	－	Non-excitation electromagnetic brake
Brake		Brake retention force (kgf)	－	30.5	59
Stroke		Minimum stroke (mm)	50	50	50
		Maximum stroke (mm)	800	800	800
		Stroke pitch (mm)	50	50	50

(Note 1) Assuming the external guide is supporting the radial load.

Specification 2

Heading		Contents
Drive system		Ball screw φ16mm, rolled C10
Accuracy of Repeating Positioning.		±0.01mm
Lost motion		0.1mm or less
Rod guide		Infinite linear circulation type
Main material	Rod	φ45mm stainless steel with hard chrome plating
	Frame	White alumite treated aluminum
	Dust seal	Rubber (NBR)
	Actuator cable	Polyvinyl chloride (PVC)
Rod non-rotation accuracy (Note 2)		0 degrees
Ambient operating temperature and humidity		0 - 40℃, RH 85% and below (no condensation)
Protection grade		IP65（IEC60529/JIS0920）
Vibration resistant/Shock resistant		4.9m/s²
Compatible to overseas standards		CE mark, RoHS compliant
Motor type		Pulse motor
Encoder type		Battery-less absolute
Encoder pulse No.		8192 pulse/rev
Delivery		Written in [Reference for delivery] section of the homepage

(Note 2) This is the displacement angle in the rod rotation direction when there is no load.

Stroke and maximum speed

If the environmental temperature exceeds 5℃

(Measured in mm/s)

Lead (mm)	50	100 - 450 (Every 50mm)	500	550	600	650	700	750	800
20	280	360		340	295	260	225	200	180
10	220＜160＞		195＜160＞	165＜160＞	145	125	110	100	90
5	110＜90＞		95＜90＞	80	70	60	55	50	45

(Note) < > is applicable when operated vertically.

If the environmental temperature is 5℃ or less

(Measured in mm/s)

Lead (mm)	50	600	650	700	750	800
20	240			225	200	180
10	120			110	100	90
5	80	70	60	55	50	45

Correlation diagram of pressing force and current limiting value

Adaptive controller

The actuators introduced in this page are controllable using the controllers shown below. Please select their type based on intended usage.

Name	Max. connectable axis No.	Power source voltage	Control method															Maximum positioning points
			Positioner	Pulse train	Program	Network *Select
			Positioner	Pulse train	Program	DV	CC	CIE	PR	CN	ML	ML3	EC	EP	PRT	SSN	ECM
MSEL-PCF/PGF	4	Single phase AC 100 - 230V	－	－	●	●	●	－	●	－	－	－	●	●	●	－	－	30000
PCON-CFB/CGFB	1	DC24V	● *Selectable	● *Selectable	－	●	●	●	●	●	●	●	●	●	●	－	－	512 (768 for network specification)
RCON	16 (ML3,SSN,ECM is 8)		－	－	－	●	●	●	●	－	－	●	●	●	●	●	●	128 (Position data unavailable for ML3, SSN and ECM)
RSEL	8		－	－	●	●	●	●	●	－	－	－	●	●	●	－	－	36000

(Note) Refer to page 8-17 for network abbreviations such as DV and CC.

(Note) See page 8-139 for built-in controllers for RCP6S series.

(Note) 3th and 4th MSEL-PCF/PGF can't be connected.

Oversea specification

Important notes on selection

(1) The payload indicated in the "Main Specification" is the maximum value. Please refer to "Load capacity by speed and acceleration table" for further information.
(2) Radial cylinder has a built-in guide. Please refer to "Allowable load at the tip of the rod" for the allowable load mass. Refer to page 1-299 for further details.
(3) Please refer to "Correlation diagram of pressing force and power supply limit value" if you may need it to perform pressing operation. Pressing force shown are their standard value. Refer page 1-269 for notes to be considered.
(4) Please operate RCP6SW (with built-in controller) with a duty of 70% or less.
(5) Usage of lead 5 in vertical manner may cause life span to be affected by the load capacity. Refer "Vertical load capacity and lifetime travelling distance" for further information.
(6) The cable joint connector is not drip-proof. Please install it in a place where it will not be exposed to water.
(7) The RCP6SW with built-in controller does not have a port for connecting the teaching tool. Connect the teaching tool to the gateway unit to set the parameter data, etc..
(8) Safety measures may be required depending on the attachment orientation. Refer to page 1-261 for further details.

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Dimension drawing

RCP6W-WRA16C

ST: Stroke

M.E.: Mechanical end

S.E.: Stroke end

*1 Select the total length of the actuator cable and actuator/controller connection cable so that the total length is 20m or less.

*2 The cable relay part (cable joint connector) inside the broken line is not drip-proof.

(Note) The rod moves to the M.E. upon returning to origin, so please take precaution that it may not interfere with anything while the returning process is running.

(Note) If the overhang of the transported object is large or if strict angle adjustment is required, install the transported object without using the reamer hole.

(Note) Please refer to pages 1-344 for the material of each part.

Dimension by stroke length

Stroke			50	100	150	200	250	300	350	400	450	500	550	600	650	700	750	800
L	RCP6W	Without brake	469.8	519.8	569.8	619.8	669.8	719.8	769.8	819.8	869.8	919.8	969.8	1019.8	1069.8	1119.8	1169.8	1219.8
	RCP6W	With brake	499.8	549.8	599.8	649.8	699.8	749.8	799.8	849.8	899.8	949.8	999.8	1049.8	1099.8	1149.8	1199.8	1249.8
	RCP6SW	Without brake	499.8	549.8	599.8	649.8	699.8	749.8	799.8	849.8	899.8	949.8	999.8	1049.8	1099.8	1149.8	1199.8	1249.8
	RCP6SW	With brake	529.8	579.8	629.8	679.8	729.8	779.8	829.8	879.8	929.8	979.8	1029.8	1079.8	1129.8	1179.8	1229.8	1279.8
A			298.8	348.8	398.8	448.8	498.8	548.8	598.8	648.8	698.8	748.8	798.8	848.8	898.8	948.8	998.8	1048.8
B			215	265	315	365	415	465	515	565	615	665	715	765	815	865	915	965
F			125	75	125	75	125	75	125	75	125	75	125	75	125	75	125	75
G			0	1	1	1	1	2	2	3	3	4	4	5	5	6	6	7
H			4	6	6	8	8	10	10	12	12	14	14	16	16	18	18	20
J			－	－	175	225	275	325	375	425	475	525	575	625	675	725	775	825
M			1	1	1	2	2	2	2	2	2	2	2	2	2	2	2	2
Allowable static load at the rod tip (N)			588	588	588	511	451	402	362	329	300	275	254	235	217	202	188	176
Allowable static torque at the rod tip (Nm)			40	40	40	40	40	40	40	40	40	40	40	40	40	40	40	40
3000km	Allowable dynamic load on the rod tip(N)	Off-set 0mm	255	220	191	168	149	134	120	109	99	90	81	74	67	61	55	50
	Allowable dynamic load on the rod tip(N)	Off-set 150mm	133	133	133	133	133	122	111	101	92	84	77	70	64	58	53	48
	Allowable dynamic torque at the rod tip (N･m)		20.0	20.0	20.0	20.0	20.0	18.3	16.7	15.2	13.8	12.6	11.5	10.5	9.6	8.7	7.9	7.1
5000km	Allowable dynamic load on the rod tip(N)	Off-set 0mm	214	184	160	140	124	111	99	89	80	72	65	59	53	47	42	37
	Allowable dynamic load on the rod tip(N)	Off-set 150mm	133	133	133	124	112	101	91	83	75	68	62	56	50	45	40	36
	Allowable dynamic torque at the rod tip (N･m)		20.0	20.0	20.0	18.6	16.8	15.2	13.7	12.4	11.3	10.2	9.2	8.4	7.5	6.8	6.0	5.3

Mass by stroke length

Stroke			50	100	150	200	250	300	350	400	450	500	550	600	650	700	750	800
Mass (kg)	RCP6W	Without brake	12.4	13.6	14.8	15.9	17.0	18.2	19.3	20.5	21.6	22.8	23.9	25.1	26.2	27.4	28.5	29.7
	RCP6W	With brake	12.9	14.1	15.3	16.4	17.5	18.7	19.8	21.0	22.1	23.3	24.4	25.6	26.7	27.9	29.0	30.2
	RCP6SW	Without brake	12.5	13.7	14.9	16.0	17.1	18.3	19.4	20.6	21.7	22.9	24.0	25.2	26.3	27.5	28.6	29.8
	RCP6SW	With brake	13.0	14.2	15.4	16.5	17.6	18.8	19.9	21.1	22.2	23.4	24.5	25.7	26.8	28.0	29.1	30.3

RCP6SW-WRA16C

ST: Stroke

M.E.: Mechanical end

S.E.: Stroke end

*1 Select the total length of the actuator cable and power supply or I/O cable so that the total length is 20m or less.

*2 The cable relay part (cable joint connector) inside the broken line is not drip-proof.

(Note) The rod moves to the M.E. upon returning to origin, so please take precaution that it may not interfere with anything while the returning process is running.

(Note) If the overhang of the transported object is large or if strict angle adjustment is required, install the transported object without using the reamer hole.

(Note) Please refer to pages 1-344 for the material of each part.

(Note) Please refer to the previous page for the dimensions and mass of RCP6SW by stroke.

Flexible volume (reference value)

Vertical load capacity and lifetime travelling distance

Allowable load at the tip of the rod

Horizontal

Condition required upon calculating allowable load mass

A load mass with a guide running life of 5000 km, taking into account the moment of acceleration and deceleration.

(Acceleration of 0.2G, and speed of 450mm/s)

Vertical

Condition required upon calculating allowable load mass

A load mass with a guide running life of 5000 km, taking into account the moment of acceleration and deceleration.

(Acceleration of 0.2G, and speed of 200mm/s)

Feature

Loadable mass table by speed/acceleration * Refer to page 1-25 for details on high output settings.

High output setting enabled If the environmental temperature exceeds 5℃ Maximum speed varies depending on the transport mass. The base unit for load capacity is kilogram (kg). Empty column refers to inoperable motion.

Lead 20

Orientation	Horizontal
Speed	Acceleration (G)
(mm/s)	0.2
0	30
240	30
300	30
360	12

Lead 10

Orientation	Horizontal	Vertical
Speed	Acceleration (G)
(mm/s)	0.2
0	60	30.5
88	60	30.5
100	60	20.5
110	60	15.5
120	60	12.5
130	60	10.5
140	60	7.5
150	60	3.5
160	23	1.5
200	23
220	2

Lead 5

Orientation	Horizontal	Vertical
Speed	Acceleration (G)
(mm/s)	0.1
0	100	59
48	100	59
60	100	29
70	100	24
80	100	14
90	100	5
100	100
110	45

Portable mass table by speed/acceleration (high output setting enabled (5℃ or less))

High output setting enabled If the environmental temperature is 5℃ or less Maximum speed varies depending on the transport mass. The base unit for load capacity is kilogram (kg).

Lead 20

Orientation	Horizontal
Speed	Acceleration (G)
(mm/s)	0.2
0	30
240	30

Lead 10

Orientation	Horizontal	Vertical
Speed	Acceleration (G)
(mm/s)	0.2
0	60	30.5
88	60	30.5
100	60	20.5
110	60	15.5
120	60	12.5

Lead 5

Orientation	Horizontal	Vertical
Speed	Acceleration (G)
(mm/s)	0.1
0	100	59
48	100	59
60	100	29
70	100	24
80	100	14

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RCP6W-WRA16CRCP6SW-WRA16C

Product feature

Attachment orientation

Main specification

Specification 1

Specification 2

Stroke and maximum speed

If the environmental temperature exceeds 5℃

If the environmental temperature is 5℃ or less

Correlation diagram of pressing force and current limiting value

Adaptive controller

Oversea specification

Important notes on selection

Dimension drawing

RCP6W-WRA16C

Dimension by stroke length

Mass by stroke length

RCP6SW-WRA16C

Flexible volume (reference value)

Vertical load capacity and lifetime travelling distance

Allowable load at the tip of the rod

Horizontal

Vertical

Feature

Loadable mass table by speed/acceleration * Refer to page 1-25 for details on high output settings.

High output setting enabled If the environmental temperature exceeds 5℃ Maximum speed varies depending on the transport mass. The base unit for load capacity is kilogram (kg). Empty column refers to inoperable motion.

Lead 20

Lead 10

Lead 5

Portable mass table by speed/acceleration (high output setting enabled (5℃ or less))

High output setting enabled If the environmental temperature is 5℃ or less Maximum speed varies depending on the transport mass. The base unit for load capacity is kilogram (kg).

Lead 20

Lead 10

Lead 5

RCP6W-WRA16C
RCP6SW-WRA16C