9 rcp4cr-sa7c, External dimensions 82 – IAI America RCP4CR-SA7C User Manual
Page 88
5. External Dimensions
82
5.9 RCP4CR-SA7C
3
3
20.5
32
21
133(183)
K
L
21
128
40.5
40
ME
ME
SE
SE
(13)
(28)
20 20 20
32
±0.02
50
20
(300)
25.5
30
G
80
A
10
143.5 (193.5)
40
61
6
6
43
71
73
48
50
64
76
8
32
8
(25.5)
4
0
+0.012
5
5.5
5.5
6
2-
φ5 H7 depth 10
φ6
φ 46
φ9.5
E-
φ 4H7 depth 6
4-M5
depth 10
(Same on opposite side)
Grounding Tap, M3, depth 6
39
Affixing Cable
Fitting Location : Opposite Side
* Tube outer diameters : φ8
Fitting Location : Standard
Allowable Bending = R50
φ9.5 Counterbore, depth 5.5 (from other side)
F-φ6, 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)
Range of joint rotation
Y
X
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
352.5
402.5
0
0
1
4
2
4
199
0
0
219.5
3.4
3.9
100
402.5
452.5
100
0
1
6
3
4
249
1
85
269.5
3.6
4.1
150
452.5
502.5
100
0
2
6
3
6
299
1
85
319.5
3.8
4.3
200
502.5
552.5
200
1
2
8
3
6
349
1
185
369.5
4.1
4.6
250
552.5
602.5
200
1
3
8
3
8
399
1
185
419.5
4.3
4.8
300
602.5
652.5
300
2
3
10
3
8
449
1
285
469.5
4.6
5.1
350
652.5
702.5
300
2
4
10
3
10
499
1
285
519.5
4.8
5.3
400
702.5
752.5
400
3
4
12
3
10
549
1
385
569.5
5.1
5.6
450
752.5
802.5
400
3
5
12
3
12
599
1
385
619.5
5.3
5.8
500
802.5
852.5
500
4
5
14
3
12
649
1
485
669.5
5.6
6.1
550
852.5
902.5
500
4
6
14
3
14
699
1
485
719.5
5.8
6.3
600
902.5
952.5
600
5
6
16
3
14
749
1
585
769.5
6.0
6.5
650
952.5 1002.5
600
5
7
16
3
16
799
1
585
819.5
6.3
6.8
700
1002.5 1052.5
700
6
7
18
3
16
849
1
685
869.5
6.5
7.0
750
1052.5 1102.5
700
6
8
18
3
18
899
1
685
919.5
6.8
7.3
800
1102.5 1152.5
800
7
8
20
3
18
949
1
785
969.5
7.0
7.5