8 rcp4cr-sa6c, External dimensions 81 – IAI America RCP4CR-SA7C User Manual
Page 87
5. External Dimensions
81
5.8 RCP4CR-SA6C
3
18
3
Ø 40
98(138)
K
L
22.5
28
18.5
115
33
32
ME
ME
SE
SE
(28)
(13)
21 19.5
19.5
32
±0.02
50
20
(300)
25
20
75
A
31
G
106(146)
7
47
5.5
5.5
40
56
58
43
53
59.5
23
8
8
39
18.9
5
4.5
5
4
0
+
0.012
5
2-
φ5 H7 depth 6
φ8
φ4.5
2-
φ 4H7 depth 5.5
4-M4
depth 9
(Same on opposite side)
Grounding Tap, M3, depth 6
31
Affixing Cable
Fitting Location : Opposite Side
* Tube outer diameters : φ6
Fitting Location : Standard
Allowable Bending = R50
φ8 Counterbore, depth 4.5 (from other side)
F-φ4.5, Through
B×100P
C×100P
(from bottom of base)
(from bottom of base)
H-Oblong Hole, depth 5.5
D-M5 depth 9
J (Reamed hole and slotted hole)
Datum Point for
Ma and Mc Moments Offset
Detail: X
(Attachment hole and datum surface)
Datum Surface
Stroke
Detail Diagram Y
Scale 2 : 1
(Reamer pitch
±0.02)
Y
X
Range of joint rotation
L
Mass [kg]
Stroke
w/o
Brake
With
Brake
A
B
C
D
E
F
G
H
J
K
w/o
Brake
With
Brake
50
299.5
339.5
0
0
1
4
2
4
186.5
0
0
201.5
2.0
2.2
100
349.5
389.5
100
0
1
6
3
4
236.5
1
85
251.5
2.1
2.3
150
399.5
439.5
100
0
2
6
3
6
286.5
1
85
301.5
2.3
2.5
200
449.5
489.5
200
1
2
8
3
6
336.5
1
185
351.5
2.4
2.6
250
499.5
539.5
200
1
3
8
3
8
386.5
1
185
401.5
2.6
2.8
300
549.5
589.5
300
2
3
10
3
8
436.5
1
285
451.5
2.7
3.0
350
599.5
639.5
300
2
4
10
3
10
486.5
1
285
501.5
2.9
3.1
400
649.5
689.5
400
3
4
12
3
10
536.5
1
385
551.5
3.0
3.3
450
699.5
739.5
400
3
5
12
3
12
586.5
1
385
601.5
3.2
3.4
500
749.5
789.5
500
4
5
14
3
12
636.5
1
485
651.5
3.4
3.6
550
799.5
839.5
500
4
6
14
3
14
686.5
1
485
701.5
3.5
3.7
600
849.5
889.5
600
5
6
16
3
14
736.5
1
585
751.5
3.7
3.9
650
899.5
939.5
600
5
7
16
3
16
786.5
1
585
801.5
3.8
4.1
700
949.5
989.5
700
6
7
18
3
16
836.5
1
685
851.5
4.0
4.2
750
999.5 1039.5
700
6
8
18
3
18
886.5
1
685
901.5
4.1
4.4
800
1049.5 1089.5
800
7
8
20
3
18
936.5
1
785
951.5
4.3
4.5