Přehled rotačních pohonů a uchopovačů

Přehled rotačních pohonů a uchopovačů
Gripper Type/Rotary Type
Gripper Type/Rotary Type
RCP2
RCS2
RCP2-GRSS
RCP2-GRLS
RCP2-GR3LS
RCP2-GR3SS
RCP2RTBS/RTBSL
RCS2-RT6
331
RCP2RTB/RTBL
RCS2-RT6R
Gripper Type / Rotary Type
RCP2-GRS
RCP2-GRM
RCP2-GRST
RCS2-GR8
RCP2RTBB/RTBBL
RCS2-RT7R
RCP2RTCS/RTCSL
RCP2RTC/RTCL
RCP2RTCB/RTCBL
Gripper Type/Rotary Type
Slider
Type
Mini
2-Finger Gripper
RCP2
series
Pulse
Motor
Type
3-Finger Gripper
Mini Slider Type
42mm Width
RCP2-GRSS
Mini Lever Type
42mm Width
RCP2-GRLS
Small Slider Type
69mm Width
RCP2-GRS
Medium Slider Type
74mm Width
RCP2-GRM
Long Stroke Slider Type
130mm Width
Lever Type
Slider Type
RCS2
2 Finger Gripper
Long Stroke Slider Type
series
333
335
337
339
RCP2-GRST
62mm Width
RCP2-GR3LS
80mm Width
RCP2-GR3LM
62mm Width
RCP2-GR3SS
80mm Width
RCP2-GR3SM
341
343
345
347
349
Rod
Type
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
104mm Width
351
RCS2-GR8
200V Servo
Motor
Type
RCP2
Controllers
Integrated
Mini
190mm
284mm
Standard
Gripper/
Rotary Type
Linear Servo
Type
Rotary
series
Pulse
Motor
Type
Small Vertical Type
45mm Width
RCP2-RTBS / RTBSL 353
Small Flat Type
72mm Width
RCP2-RTCS / RTCSL 355
Medium Vertical Type
50mm Width
Medium Flat Type
88mm Width
Large Vertical Type
76mm Width
Large Flat Type
124mm Width
357
359
RCP2-RTC / RTCL
RCP2-RTBB / RTBBL 361
RCP2-RTCB / RTCBL 363
Cleanroom
Type
Splash-Proof
RCP2-RTB / RTBL
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
RCS2
series
200V Servo
Motor
Type
Rotary
Motor Straight Type
64mm Width
RCS2-RT6
Side-Mounted Motor Type
64mm Width
RCS2-RT6R
Side-Mounted Motor, Hollow Axis Type 68mm Width
RCS2-RT7R
365
367
369
ERC2
PCON
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Gripper Type / Rotary Type
332
Slider
Type
RCP2
ROBO Cylinder
RCP2-GRSS
Mini
ROBO Cylinder 2-Finger Gripper Mini Slider Type 42mm Width Pulse Motor
Standard
RCP2
■ Configuration:
Controllers
Integrated
GRSS
Series
I
Type
20P
Encoder
Motor
30
8
Deceleration Ratio
Compatible Controllers
Stroke
20P : 20 † size
30: 1/30
8: 8mm
I: Incremental
* The Simple
deceleration (4mm per side)
Pulse motor
absolute encoder
ratio
is also considered
type "I".
Rod
Type
Mini
RPCON
PSEL
P3: PMEC
PSEP
* See page Pre-35 for an explanation of the naming convention.
Standard
■
Cable Length
N : None
P : 1m
S : 3m
M : 5m
X □□ : Custom
P1: PCON
Option
NM: Reversed-home
FB : Flange bracket
SB : Shaft bracket
Gripping Force Adjustment
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
Controllers
Integrated
Table/Arm
/Flat Type
* The gripping forces in the following diagrams
indicate the sums of gripping forces of both fingers.
16
Mini
14
Gripping force (N)
Standard
Gripper/
Rotary Type
Linear Servo
Type
Technical
References
(1)
Splash-Proof
P
O
INT
(2)
Notes on
Selection
(3)
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
8
6
4
2
0
Cleanroom
Type
Controllers
12
10
■
0
10
30
40
50
Current Limit (% ratio)
60
70
P. A-5
The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this
value.
The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or
overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the
gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should
not exceed 1/10 to 1/20 of the gripping force.
(See page A-74 for details.)
The rated acceleration while moving is 0.3G.
* Please note that, when gripping (pushing),
the speed is fixed at 5mm/s.
Actuator Specifications
Lead and Load Capacity
■
Model
20
Deceleration
Ratio
Max. Gripping
Force (N)
Stroke
30
14
8
(4 per side)
Stroke and Maxi. Opening/Closing Speed
Stroke
(mm)
8
(mm)
Deceleration Ratio
ERC2
PCON
ACON
RCP2-GRSS-I-20P-30-8- 1 - 2 - 3
Legend:
1 Compatible controllers
2 Cable length
30
78
(Unit: mm/s)
3 Options
SCON
Stroke List
PSEL
ASEL
2 Cable List
Stroke
(mm)
8
Type
Standard Price
–
Cable Symbol
P (1m)
Standard Type
S (3m)
(Robot Cables)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
SSEL
XSEL
Standard Price
∼ X10 (10m)
∼ X15 (15m)
∼ X20 (20m)
–
–
–
–
–
–
* The standard cable is the motor-encoder integrated robot cable.
* See page A-39 for cables for maintenance.
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Actuator Specifications
3 Option List
Name
Reversed-home
Flange bracket
Shaft bracket
Option Code
NM
FB
SB
Linear
Servo Motor
333
RCP2-GRSS
See Page
Standard Price
→ A-33
–
–
–
→ A-26
→ A-36
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Worm gear + helical gear + helical rack
±0.01mm
0.2mm or less per side (constantly pressed out by a spring)
0.05mm or less per side
Linear guide
Ma: 0.5 N∙m Mb: 0.5 N∙m Mc: 1.5 N∙m
0.2kg
0∼40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
*
*1
Mini
Standard
The opening side of the slider is the home position.
The motor-encoder cable is connected here. See page A-39 for details on cables.
Controllers
Integrated
Rod
Type
Mini
+0. 03
2-ø3 0
depth 3
(same for opposite side)
Standard
Controllers
Integrated
8-M3 depth 5
4
17
17
8.5
43
(same for opposite side)
+0. 05
2-3 0
Table/Arm
/Flat Type
Cable joint
connector*1
Mini
depth 3
(same for opposite side)
24
71
+0. 03
2-ø3 0
depth 3
0
2-ø3h7( -0.010
)
(same for opposite side)
1.5
+0. 03
ø3 0
depth 3
Linear Servo
Type
Cleanroom
Type
34
35
MAX 13.5
MIN 5.5
17
Splash-Proof
4
8.5
8-M3 depth 5
(same for opposite side)
4
13.9
Gripper/
Rotary Type
9
2
4.2
5
42
2-M3 depth 4
Secure at least 100
Standard
0
47
9 -0.05
+0. 05
2-3 0
Controllers
4-M3 depth 5
+0. 05
3 0 depth
depth 3
3
PMEC
/AMEC
(same for opposite side)
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg)
0.2
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
PMEC-C-20PI-NP-2-1
Easy-to-use controller, even for beginners
Max. Positioning Points
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
P481
See
–
→ P477
PSEL
ASEL
Solenoid Valve Type
PSEP-C-20PI-NP-2-0
Splash-Proof
Solenoid Valve Type
PSEP-CW-20PI-NP-2-0
Positioner Type
PCON-C-20PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
3 points
–
→ P487
SSEL
–
XSEL
–
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-20PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-20PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-20PI-NP-2-0
Pulse train input type with
open collector support
Serial
Communication Type
PCON-SE-20PI-N-0-0
512 points
–
DC24V
2A max.
→ P525
–
Pulse Motor
(−)
Field Network Type
Program Control
Type
RPCON-20P
PSEL-C-1-20PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100 ∼ 240V).
RCP2-GRSS
334
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-GRLS
Mini
ROBO Cylinder 2-Finger Gripper Mini Lever Type 42mm Width Pulse Motor
Standard
RCP2
■ Configuration:
Controllers
Integrated
GRLS
Series
I
Type
20P
Encoder
Motor
30
180
Compatible Controllers
Stroke
Deceleration Ratio
180: 180
20P : 20 † size
30: 1/30
I: Incremental
* The Simple
deceleration
degrees
Pulse motor
absolute encoder
ratio
(90 degrees per
is also considered
side)
type "I".
* See page Pre-35 for an explanation of the naming convention.
Rod
Type
Mini
Cable Length
N : None
P : 1m
S : 3m
M : 5m
X□□ : Custom
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
Option
NM: Reversed-home
FB : Flange bracket
SB : Shaft bracket
■ Gripping Force Adjustment
Standard
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
Controllers
Integrated
Table/Arm
/Flat Type
* The gripping forces in the following diagrams
indicate the sums of gripping forces of both fingers.
7
Mini
6
Gripping force (N)
Standard
Gripper/
Rotary Type
Linear Servo
Type
4
3
2
1
0
Cleanroom
Type
Technical
References
Splash-Proof
P
O
Controllers
5
INT
10
20
30
40
50
Current Limit (% ratio)
60
70
P. A-5
(1)
The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value.
(2)
The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or
overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the
gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should
not exceed 1/10 to 1/20 of the gripping force.
(3)
The rated acceleration while moving is 0.3G.
Notes on
Selection
0
* Please note that, when gripping (pushing),
the speed is fixed at 5 degrees/s.
(See page A-77 for details.)
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
Actuator Specifications
■ Lead and Load Capacity
■ Stroke and Maxi. Opening/Closing Speed
Model
Deceleration Ratio
Max. Gripping
Force (N)
Stroke
30
6.4
180
(90 per side)
Deceleration
Ratio
(deg)
Stroke
180
(deg)
ERC2
PCON
ACON
RCP2-GRLS-I-20P-30-180- 1 - 2 - 3
Legend:
1 Compatible controllers
2 Cable length
30
600
(Unit: degrees/s)
3 Options
SCON
Stroke List
PSEL
ASEL
2 Cable List
Stroke
(deg)
180
Type
Standard Price
–
Cable Symbol
P (1m)
Standard Type
S (3m)
(Robot Cables)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
SSEL
XSEL
∼ X10 (10m)
∼ X15 (15m)
∼ X20 (20m)
Standard Price
–
–
–
–
–
–
* The standard cable is the motor-encoder integrated robot cable.
* See page A-39 for cables for maintenance.
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Actuator Specifications
3 Option List
Name
Reversed-home
Flange bracket
Shaft bracket
Option Code
NM
FB
SB
Linear
Servo Motor
335
RCP2-GRLS
See Page
Standard Price
→ A-33
→ A-26
→ A-36
–
–
–
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Worm gear + helical gear
±0.01mm
1 degree or less per side (constantly pressed out by a spring)
1 degree or less
−
−
0.2kg
0∼40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
*
*1
Mini
Standard
The opening side of the slider is the home position.
The motor-encoder cable is connected here. See page A-39 for details on cables.
Controllers
Integrated
+0. 03
2-ø3 0
depth 3
Rod
Type
(same for opposite side)
17
24
Mini
Standard
4
8-M3 depth 5
17
+0. 05
2-3 0
45
Cable joint
connector*1
(same for opposite side)
Controllers
Integrated
depth 3
+0. 03
depth 2. 5
2-ø4 0
+0. 03
2-ø3 0
depth 3
Secure at least 100
(same for opposite side)
(same for opposite side)
4-M4 through
Table/Arm
/Flat Type
Mini
9
Standard
+0. 03 depth 3
ø3 0
34
35
Linear Servo
Type
17
8.5
Cleanroom
Type
4
18
9
42
MAX 180゚
MIN 0゚
Gripper/
Rotary Type
4
9
18
15.5
4-M3 depth 5
8-M3 depth 5
+0. 05 depth 3
2-3 0
36
(same for opposite side)
49 (same for opposite side)
+0. 05
3 0
Splash-Proof
depth 3
73
Controllers
66.5
PMEC
/AMEC
PSEP
/ASEP
55
ROBO
NET
ERC2
Weight (kg)
0.2
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
PMEC-C-20PI-NP-2-1
Description
Max. Positioning Points
Easy-to-use controller, even for beginners
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
ASEL
Solenoid Valve Type
PSEP-C-20PI-NP-2-0
Splash-Proof
Solenoid Valve Type
PSEP-CW-20PI-NP-2-0
Positioner Type
PCON-C-20PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
PSEL
3 points
–
→ P487
SSEL
–
XSEL
–
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-20PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-20PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-20PI-NP-2-0
Pulse train input type with
open collector support
Serial
Communication Type
PCON-SE-20PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control
Type
RPCON-20P
PSEL-C-1-20PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-GRLS
336
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-GRS
Mini
ROBO Cylinder 2-Finger Gripper Mini Slider Type 69mm Width Pulse Motor
Standard
RCP2
■ Configuration:
Controllers
Integrated
GRS
Series
I
Type
Encoder
20P
Motor
1
10
20P : 20 † size
1: 1/1
I: Incremental
* The Simple
Pulse motor deceleration ratio
absolute encoder
is also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
Rod
Type
Mini
Compatible Controllers
Stroke
Deceleration Ratio
10: 10mm
(5mm per side)
Cable Length
N : None
P : 1m
S : 3m
M : 5m
X □□ : Custom
R □□ : Robot cable
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
Option
SB : Shaft bracket
FB : Flange bracket
■ Gripping Force Adjustment
Standard
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
Controllers
Integrated
Table/Arm
/Flat Type
* The gripping forces in the following diagrams
indicate the sums of gripping forces of both fingers.
35
Mini
30
Gripping force (N)
Standard
Gripper/
Rotary Type
Technical
References
(1)
Splash-Proof
P
O
INT
(2)
Notes on
Selection
(3)
PMEC
/AMEC
ROBO
NET
15
10
0
0
Cleanroom
Type
PSEP
/ASEP
20
5
Linear Servo
Type
Controllers
25
10
20
30
40
50
Current Limit (% ratio)
60
70
P. A-5
The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this
value.
The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or
overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the
gripper fingers and the work piece, as well as on the shape of the work piece. As a rough guide, a work piece's weight should
not exceed 1/10 to 1/20 of the gripping force.
(See page A-74 for details.)
The rated acceleration while moving is 0.3G.
* Please note that, when gripping (pushing),
the speed is fixed at 5mm/s.
Actuator Specifications
■ Lead and Load Capacity
■ Stroke and Maxi. Opening/Closing Speed
Model
Deceleration
Ratio
Max. Gripping
Force (N)
Stroke
1
21
10
(5 per side)
Stroke
(mm)
10
(mm)
Deceleration Ratio
ERC2
PCON
ACON
RCP2-GRS-I-20P-1-10- 1 - 2 - 3
Legend:
1 Compatible controllers
2 Cable length
1
33.3
(Unit: mm/s)
3 Options
SCON
Stroke List
PSEL
ASEL
2 Cable List
Stroke
(mm)
10
Type
Standard Price
–
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
∼
∼
∼
∼
∼
∼
∼
∼
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Actuator Specifications
3 Option List
Name
Flange bracket
Shaft bracket
Option Code
FB
SB
Linear
Servo Motor
337
RCP2-GRS
See Page
Standard Price
→ A-26
→ A-36
–
–
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Timing belt + trapezoidal screw (1.5 lead)
±0.01mm
0.15mm or less per side (constantly pressed out by a spring)
0.1mm or less per side
Cross roller guide
Ma: 6.3 N∙m Mb: 6.3 N∙m Mc: 7.0 N∙m
0.36kg
0∼40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Order
*
*1
Mini
Standard
The opening side of the slider is the home position.
The motor-encoder cable is connected here. See page A-39 for details on cables.
Controllers
Integrated
Rod
Type
Mini
29
30
Standard
Cable joint
connector*1
Controllers
Integrated
+0.03
2−ø3 0
2−M4 depth 8
4−M4 depth 7
(same with
opposite side)
24
21
ø3
+0.03
0
Mini
21
Depth 2.5
69
36
4
24
Standard
4−M4 depth 6
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
5
7
MAX 11
MIN 1
4
24
9
+0.03
0
1.5
Table/Arm
/Flat Type
28
3 +0.05
0 Depth 2.5
0
10 -0.05
Secure at least 100
Depth 2.5
(same with opposite side)
+0.05
3
Note:
2−3 0 Depth 2.5
(same with opposite side)
68
71
Splash-Proof
The holes in the slider shown above, other
than tapped holes, are used to install the
Controllers
slider onto the actuator. They cannot be
used as finger positioning holes.
PMEC
/AMEC
Use the key slots to position the fingers.
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg)
0.36
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
PMEC-C-20PI-NP-2-1
Description
Max. Positioning Points
Easy-to-use controller, even for beginners
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
ASEL
Solenoid Valve Type
PSEP-C-20PI-NP-2-0
Splash-Proof
Solenoid Valve Type
PSEP-CW-20PI-NP-2-0
Positioner Type
PCON-C-20PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
PSEL
3 points
–
→ P487
SSEL
–
XSEL
–
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-20PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-20PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-20PI-NP-2-0
Pulse train input type with
open collector support
Serial
Communication Type
PCON-SE-20PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control
Type
RPCON-20P
PSEL-C-1-20PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-GRS
338
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-GRM
Mini
ROBO Cylinder 2-Finger Gripper Medium Slider Type 74mm Width Pulse Motor
Standard
■ Configuration:
Controllers
Integrated
RCP2
GRM
I
28P
1
Series
Type
Encoder
Motor
Deceleration Ratio
14
I: Incremental
28P: 28 □ size
1 : 1/1
* The Simple
Pulse motor deceleration
absolute encoder
ratio
is also considered
type "I".
* See page Pre-35 for explanation of each code that makes up the configuration name.
Rod
Type
Mini
Compatible Controllers
Stroke
14: 14mm
(7mm per side)
Cable Length
Option
N : None
SB : Shaft bracket
P : 1m
FB : Flage bracket
S : 3m
M : 5m
X □□ : Custom
R □□ : Robot cable
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
■ Gripping Force Adjustment
Standard
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
Controllers
Integrated
Table/Arm
/Flat Type
* The gripping forces in the following diagrams
indicate the sums of gripping forces of both fingers.
140
Mini
120
Gripping force (N)
Standard
Gripper/
Rotary Type
Technical
References
(1)
Splash-Proof
P
O
INT
(2)
Notes on
Selection
(3)
PMEC
/AMEC
ROBO
NET
60
40
0
0
Cleanroom
Type
PSEP
/ASEP
80
20
Linear Servo
Type
Controllers
100
10
20
30
40
50
Current Limit (% ratio)
60
70
P. A-5
The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this
value.
The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no offset or
overhang distance. The work piece weight that can be actually moved depends on the friction coefficient between the
gripper fingers and the work piece, as well as on the shape of the work pieces. As a rough guide, a work piece's weight
should not exceed 1/10 to 1/20 of the gripping force.
(See page A-74 for details.)
The rated acceleration while moving is 0.3G.
* Please note that, when gripping (pushing),
the speed is fixed at 5mm/s.
Actuator Specifications
■ Lead and Load Capacity
■ Stroke and Maxi. Opening/Closing Speed
Model
Deceleration
Ratio
Max. Gripping
Force (N)
Stroke
1
80
14
Stroke
(mm)
14
(mm)
Deceleration Ratio
ERC2
PCON
ACON
RCP2-GRM-I-28P-1-14- 1 - 2 - 3
Legend:
1 Compatible controllers
2 Cable length
1
36.7
(Unit: mm/s)
3 Options
SCON
Stroke List
PSEL
ASEL
2 Cable List
Stroke
(mm)
14
Type
Standard Price
–
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
∼
∼
∼
∼
∼
∼
∼
∼
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Actuator Specifications
3 Option List
Name
Flange bracket
Shaft bracket
Option Code
FB
SB
Linear
Servo Motor
339
RCP2-GRM
See Page
Standard Price
→ A-26
→ A-36
–
–
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Timing belt + trapezoidal screw (1.5 lead)
±0.01mm
0.15mm or less per side (constantly pressed out by a spring)
0.1mm or less per side
Cross roller guide
Ma: 6.3 N∙m Mb: 6.3 N∙m Mc: 8.3 N∙m
0.5kg
0∼40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Order
*
*1
Mini
Standard
The opening side of the slider is the home position.
The motor-encoder cable is connected here. See page A-39 for details on cables.
Controllers
Integrated
Rod
Type
Standard
35
36
Mini
Cable joint
connector*1
Controllers
Integrated
+0.03
2−M5 depth 8
4−M4 depth 8
(same with
opposite side)
25
Mini
24
22
5
2.5
Gripper/
Rotary Type
Linear Servo
Type
74
24
MAX 15
MIN 1
4
36
25
7 11.5
ø3
+0.03
0 Depth
Standard
4−M4 depth 6
+0.03
0
1.5
Table/Arm
/Flat Type
28
+0.05
3 0 Depth 2.5
0
12 −0.05
Secure at least 100
2−ø3 0 Depth 2.5
(same with opposite side)
5
Cleanroom
Type
3
Note:
The holes in the slider shown above, other
than tapped holes, are used to install the
2−3 +0.05
0 Depth 2.5
(same with opposite side)
76
79
Splash-Proof
Controllers
slider onto the actuator. They cannot be
used as finger positioning holes.
PMEC
/AMEC
Use the key slots to position the fingers.
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg)
0.5
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
PMEC–C–28PI–NP–2–1
Easy–to–use controller, even for beginners
Max. Positioning Points
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
ASEL
Solenoid Valve Type
PSEP–C–28PI–NP–2–0
Splash–Proof
Solenoid Valve Type
PSEP–CW–28PI–NP–2–0
Positioner Type
PCON–C–28PI–NP–2–0
Operable with same signal as solenoid valve.
Supports both single and double solenoid
types.
No homing necessary with simple absolute
type.
PSEL
–
3 points
→ P487
–
SSEL
XSEL
–
Positioning is possible for up to 512 points
Safety–Compliant
Positioner Type
PCON–CG–28PI–NP–2–0
Pulse Train Input Type
(Differential Line Driver)
PCON–PL–28PI–NP–2–0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON–PO–28PI–NP–2–0
Pulse train input type with
open collector support
Serial
Communication Type
PCON–SE–28PI–N–0–0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control
Type
RPCON–28P
PSEL–C–1–28PI–NP–2–0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-GRM
340
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-GRST
Mini
ROBO Cylinder
Pulse Motor
2-Finger Gripper
Long Stroke Slide Type
130∼190mm Width
Standard
■ Configuration:
Controllers
Integrated
RCP2
GRST
Series
I
Type
Encoder
20P
Motor
Deceleration Ratio
Mini
Compatible Controllers
Stroke
20P : 20 † size
I: Incremental
1: 1/1 deceleration
* The Simple
ratio
Pulse motor
absolute encoder
High-Speed Type
is also considered
2: 1/2 deceleration
type "I".
ratio
Rod
Type
40:
60:
80:
100:
40mm
60mm
80mm
100mm
RPCON
PSEL
P3: PMEC
PSEP
Standard Type
* See page Pre-35 for an explanation of the naming convention.
Table/Arm
/Flat Type
Gripping force (N)
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Technical
References
Splash-Proof
P
O
PCON
ACON
cable to exit (A0 or A1).
Notes on
Selection
45
40
35
30
25
20
15
10
5
0
0
10
20
30
40
50
Current Limit (% ratio)
60
70
80
■ Stroke and Maxi. Opening/Closing Speed
Model
RCP2-GRST-I-20P-1- 1 - 2 - 3 - 4
RCP2-GRST-I-20P-2- 1 - 2 - 3 - 4
1 Stroke
High-Speed Type
* Please note that, when gripping (pushing),
the speed is fixed at 5mm/s.
Actuator Specifications
■ Lead and Load Capacity
Legend:
Standard
P. A-5
(1) The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is
twice this value.
(2) The maximum gripping force is the sum of the gripping forces of both fingers, at a gripping point where there is no
offset or overhang distance. The work piece weight that can be actually moved depends on the friction coefficient
between the gripper fingers and the work piece, as well as on the shape of the work pieces. As a rough guide, a
work piece's weight should not exceed 1/10 to 1/20 of the gripping force.
(See page A-74 for details.)
(3) The rated acceleration while moving is 0.3G.
INT
PMEC
/AMEC
ERC2
Be sure to specify the side
from which you want the
* The gripping forces in the following diagrams
indicate the sums of gripping forces of both fingers.
Mini
ROBO
NET
*
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
Controllers
Integrated
PSEP
/ASEP
Option
See Options below
■ Gripping Force Adjustment
Standard
Controllers
Cable Length
N : None
P : 1m
S : 3m
M : 5m
X□□ : Custom
P1: PCON
2 Compatible controller
3 Cable length
Deceleration
Ratio
Max. Gripping
Force (N)
1
20
2
40
Stroke
Stroke
(mm)
40∼100
(mm)
Deceleration Ratio
40∼100
(20mm
increments)
1
75
2
34
(Unit: mm/s)
4 Options
SCON
1 Stroke List
PSEL
ASEL
SSEL
3 Cable List
Stroke
(mm)
40
60
80
100
Type
Standard Price
–
–
–
–
Cable Symbol
Standard Price
P (1m)
Standard Type
S (3m)
(Robot Cables)
M (5m)
X06 (6m) ∼ X10 (10m)
Special Lengths X11 (11m) ∼ X15 (15m)
X16 (16m) ∼ X20 (20m)
XSEL
–
–
–
–
–
–
* The standard cable is the motor-encoder integrated robot cable.
* See page A-39 for cables for maintenance.
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Actuator Specifications
4 Option List
Name
Reversed-home
Cable exiting from bottom
Cable exiting from the side
Option Code
NM
A0
A1
See Page
Standard Price
→ A-33
→ A-25
→ A-25
–
–
–
*Be sure to specify the side from which you want the cable to exit (A0 or A1).
341
RCP2-GRST
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Timing belt + worm/rack gear
±0.01mm
0.2mm or less per side
–
Linear guide
Ma: 2.93 N∙m Mb: 2.93 N∙m Mc: 5.0 N∙m
0.51kg(40-stroke) ∼ 0.66kg (100-stroke)
0∼40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
*
*1
Mini
P. A-9
For Special Orders
Standard
The opening side of the slider is the home position.
The motor-encoder cable is connected here. See page A-39 for details on cables.
12.5±0.05
4-M3 depth 5
19
Rod
Type
2.5
12±0.05
Mini
19
3
Controllers
Integrated
Standard
Controllers
Integrated
+0.03
ø3 0 depth 3
L
(0.5)
M
(0.5)
N
5
.
C0
24
6
st
2-
st
33
10.5
24
.5
Table/Arm
/Flat Type
C0
2-
0
25 - 0.05
4
24.5
Mini
4
28
25.5
Unlocking screw
12.5
40
60
+0.03
ø3 0
depth 3
Linear Servo
Type
11
+0.05
(same with opposite side)
Gripper/
Rotary Type
32
Secure at least 100
ø3 0 depth 3
(same with
opposite side)
2-M4 depth 6
(same with opposite side)
Standard
21.5
28
53.5
Cable exiting from side
(Model: A1)
+0.03
ø3 depth
3
0
Cleanroom
Type
+0.05
4-M4 depth 5
ø3 0 depth 3
26
4
(210)
Cable exit from bottom
(Model : A0)
M
N
Splash-Proof
Cable joint connector*1
60
Controllers
Dimensions and Weight by Stroke
40
60
80
100
L
130
150
170
190
M
71.5
81.5
91.5
101.5
N
57.5
67.5
77.5
87.5
Weight (kg)
0.51
0.56
0.61
0.66
Stroke
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
2 Compatible controller
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
PMEC-C-20PI-NP-2-1
Easy-to-use controller, even for beginners
Max. Positioning Points
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
PSEL
ASEL
Solenoid Valve Type
PSEP-C-20PI-NP-2-0
Splash-Proof
Solenoid Valve Type
PSEP-CW-20PI-NP-2-0
Positioner Type
PCON-C-20PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid
types.
No homing necessary with simple absolute type.
–
3 points
→ P487
SSEL
–
XSEL
–
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-20PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-20PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-20PI-NP-2-0
Pulse train input type with
open collector support
Serial
Communication Type
PCON-SE-20PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control
Type
RPCON-20P
PSEL-C-1-20PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-GRST
342
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-GR3LS
Mini
ROBO Cylinder 3-Finger Gripper Lever Type 62mm Width Pulse Motor
Standard
■ Configuration:
Controllers
Integrated
RCP2
GR3LS
Series
I
Type
Encoder
28P
Motor
30
19
Deceleration Ratio
Compatible Controllers
Stroke
30: 1/30
I: Incremental
28P : 28 † size
19: 19 degrees
* The Simple
deceleration
Pulse motor
absolute encoder
ratio
is also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
Rod
Type
Mini
Cable Length
■ Gripping Force vs. Current Limit
Standard
Lever Type (GR3LS/GR3LM)
Controllers
Integrated
* Please note that,
when gripping
(pushing), the
speed is fixed at
5 degrees/s.
F
L
Table/Arm
/Flat Type
Mini
Standard
* The values in the graph below are gripping forces at 10mm gripping point.
The actual gripping force decreases inversely proportional to the distance
from the opening/closing point.
You can calculate the actual gripping force by the following equation.
Gripper/
Rotary Type
Actual gripping force (type S)=P×24/(L+14)
Actual gripping force (type M)=P×28.5/(L+18.5)
P=Gripping force on graph
L=Distance from finger mounting surface to the gripping point.
Linear Servo
Type
35
Technical
References
Splash-Proof
P
O
ROBO
NET
P. A-5
(1) The maximum opening/closing speed indicates the operating speed on one side. The
relative operating speed is twice this value.
INT
(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping
point distance of 10mm and no overhang distance. For the actual transportable work piece
weight, see explanation on the right, or page A-77.
Notes on
Selection
25
20
15
10
5
0
0
(3) The rated acceleration while moving is 0.3G.
PMEC
/AMEC
PSEP
/ASEP
Gripping force (N)
30
Cleanroom
Type
Controllers
Option
N : None
FB : Flange bracket
P : 1m
SB : Shaft bracket
S : 3m
M : 5m
X□□ : Custom
R □□ : Robot cable
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
10
Actuator Specifications
■ Lead and Load Capacity
20
30
40
50
Current Limit (% ratio)
60
70
■ Stroke and Maxi. Opening/Closing Speed
Model
Deceleration
Ratio
Max. Gripping
Force (N)
Stroke
30
18
19
Stroke
(deg)
19
(deg)
Deceleration Ratio
ERC2
PCON
ACON
RCP2-GR3LS-I-28P-30-19- 1 - 2 - 3
Legend:
1 Compatible controllers
2 Cable length
30
200
(Unit: degrees/s)
3 Options
SCON
Stroke List
PSEL
ASEL
2 Cable List
Stroke
(deg)
10
Type
Standard Price
–
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
∼
∼
∼
∼
∼
∼
∼
∼
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Actuator Specifications
3 Option List
Name
Flange bracket
Shaft bracket
Option Code
FB
SB
Linear
Servo Motor
343
RCP2-GR3LS
See Page
Standard Price
→ A-26
→ A-36
–
–
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Weight
Ambient Operating Temp./Humidity
Description
Worm gear + worm wheel gear
±0.01 degrees
1 degree or less per side (constantly pressed out by a spring)
0.15 degrees or less per side
0.6kg
0∼40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
Mini
Standard
*
When homing, the actuator swings 1 degree past the home position before
returning. Therefore, please watch for any interference with the surrounding
objects.
*1 The motor-encoder cable is connected here. See page A-39 for details on
cables.
Controllers
Integrated
Rod
Type
Mini
+0.05
ø3 0
Standard
Controllers
Integrated
0
8 -0.05
ø57
ø57
10 0
+0.05
2-M3
3.5
Table/Arm
/Flat Type
Cable joint
connector *1
7.5
2
8
0.5
Mini
Details of A
28
10
Mounting surface
3
(same for back side)
Mounting
surface
6
Gripper/
Rotary Type
0°
4-M5 depth 8
(same for back side)
Linear Servo
Type
12
ø45
Cleanroom
Type
0
5°
9 6
ø59 -0.05
48
1.5
0°
ø18
(19)
12
14°
48
31.5
16
24
Home
Standard
3-M4 (effective depth 6)
Flange plug (set screw M4 x 5)
12
50.5
62
4-ø4.5
Mounting surface
(same for opposite side)
4
62
+0.03
2-ø3 0 depth
36
M8 (effective depth 4)
Secure at least 100
84
A
Splash-Proof
+0.05
ø76
17.5
2-3 0 depth 3
(same for back side)
112
(129.5)
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg)
0.6
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
PMEC-C-28PI-NP-2-1
Easy-to-use controller, even for beginners
Max. Positioning Points
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
PSEL
ASEL
Solenoid Valve Type
PSEP-C-28PI-NP-2-0
Splash-Proof
Solenoid Valve Type
PSEP-CW-28PI-NP-2-0
Positioner Type
PCON-C-28PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
–
3 points
→ P487
SSEL
–
XSEL
–
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-28PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-28PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-28PI-NP-2-0
Pulse train input type with
open collector support
Serial
Communication Type
PCON-SE-28PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control
Type
RPCON-28P
PSEL-C-1-28PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-GR3LS
344
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-GR3LM
Mini
ROBO Cylinder 3-Finger Gripper Lever Type 80mm Width Pulse Motor
Standard
■ Configuration:
Controllers
Integrated
RCP2 GR3LM
Series
I
Type
Encoder
42P
Motor
30
19
Compatible Controllers
Stroke
Deceleration Ratio
30: 1/30
19: 19 degrees
I: Incremental
42P : 42 † size
* The Simple
deceleration
Pulse motor
absolute encoder
ratio
is also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
Rod
Type
Mini
Cable Length
■ Gripping Force vs. Current Limit
Standard
Lever Type (GR3LS/GR3LM)
Controllers
Integrated
* Please note that,
when gripping
(pushing), the
speed is fixed
at 5 degrees/s.
F
L
Table/Arm
/Flat Type
Mini
Standard
* The values in the graph below are gripping forces at 10mm gripping point.
The actual gripping force decreases inversely proportional to the distance
from the opening/closing point.
You can calculate the actual gripping force by the following equation.
Gripper/
Rotary Type
Actual gripping force (type S)=P×24/(L+14)
Actual gripping force (type M)=P×28.5/(L+18.5)
P=Gripping force on graph
L=Distance from finger mounting surface to the gripping point.
Linear Servo
Type
Technical
References
Splash-Proof
P
O
ROBO
NET
P. A-5
(1) The maximum opening/closing speed indicates the operating speed on one side. The
relative operating speed is twice this value.
INT
(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping
point distance of 10mm and no overhang distance. For the actual transportable work piece
weight, see explanation on the right, or page A-77.
Notes on
Selection
60
50
40
30
20
10
0
0
(3) The rated acceleration while moving is 0.3G.
PMEC
/AMEC
PSEP
/ASEP
Gripping force (N)
70
Cleanroom
Type
Controllers
Option
N : None
FB : Flange bracket
P : 1m
SB : Shaft bracket
S : 3m
M : 5m
X□□ : Custom
R □□ : Robot cable
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
10
Actuator Specifications
■ Lead and Load Capacity
20
30
40
50
Current Limit (% ratio)
60
70
■ Stroke and Maxi. Opening/Closing Speed
Model
Deceleration
Ratio
Max. Gripping
Force (N)
Stroke
30
51
19
Stroke
(deg)
19
(deg)
Deceleration Ratio
ERC2
PCON
ACON
RCP2-GR3LM-I-42P-30-19- 1 - 2 - 3
Legend:
1 Compatible controllers
2 Cable length
30
200
(Unit: degrees/s)
3 Options
SCON
Stroke List
PSEL
ASEL
2 Cable List
Stroke
(deg)
10
Type
Standard Price
–
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
∼
∼
∼
∼
∼
∼
∼
∼
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Actuator Specifications
3 Option List
Name
Flange bracket
Shaft bracket
Option Code
FB
SB
Linear
Servo Motor
345
RCP2-GR3LM
See Page
Standard Price
→ A-26
→ A-36
–
–
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Weight
Ambient Operating Temp./Humidity
Description
Worm gear + worm wheel gear
±0.01 degrees
1 degree or less per side (constantly pressed out by a spring)
0.15 degrees or less per side
1.1kg
0∼40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
Mini
Standard
*
When homing, the actuator swings 1 degree past the home position before
returning. Therefore, please watch for any interference with the surrounding
objects.
*1 The motor-encoder cable is connected here. See page A-39 for details on
cables.
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
10 +0.05
0
ø75
ø75
0
77 -0.05
0
10 -0.05
ø3 +0.05
0
2-M4
Cable joint
connector*1
9
4 10
2
Table/Arm
/Flat Type
0.5
Mini
Details of A
36
80
78
12
+0.03
2-ø3 0 depth 3
(same for back side)
64
40.5
20
Mounting
surface
4-M6 depth 12
(same for back side)
12
Cleanroom
Type
18
5°
14.5
ø62
9
Splash-Proof
4
Mounting surface
(same for opposite side)
ø2
80
7
7
Linear Servo
Type
0°
62
Gripper/
Rotary Type
12
14°
(23.5)
1.5
34
48
Home
62
3-M5 (effective depth 7)
Flange plug (set screw M5 x 6)
0°
Mounting
surface
M8 (effective depth 4)
4-ø5.5
Secure at least 100
Standard
Controllers
A
ø9
+0.05
2-3 0
depth 3
(same for back side)
8
22
114
PMEC
/AMEC
(136)
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg)
1.1
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
PMEC-C-42PI-NP-2-1
Easy-to-use controller, even for beginners
Max. Positioning Points
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
PSEL
ASEL
Solenoid Valve Type
PSEP-C-42PI-NP-2-0
Splash-Proof
Solenoid Valve Type
PSEP-CW-42PI-NP-2-0
Positioner Type
PCON-C-42PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
–
3 points
→ P487
SSEL
–
XSEL
–
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-42PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-42PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-42PI-NP-2-0
Pulse train input type with
open collector support
Serial
Communication Type
PCON-SE-42PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control
Type
RPCON-42P
PSEL-C-1-42PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-GR3LM
346
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-GR3SS
Mini
ROBO Cylinder 3-Finger Gripper Slider Type 62mm Width Pulse Motor
Standard
■ Configuration:
Controllers
Integrated
RCP2
GR3SS
Series
I
Type
Encoder
28P
Motor
30
10
Compatible Controllers
Stroke
Deceleration Ratio
28P : 28 † size
I: Incremental
10: 10mm
30: 1/30
* The Simple
Pulse motor
deceleration (5mm per side)
absolute encoder
ratio
is also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
Rod
Type
Mini
Cable Length
Option
N : None
FB : Flange bracket
P : 1m
SB : Shaft bracket
S : 3m
M : 5m
X□□ : Custom
R □□ : Robot cable
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
■ Gripping Force vs. Current Limit
Standard
Slider Type (GR3SS/GR3SM)
Controllers
Integrated
Table/Arm
/Flat Type
L
F
Mini
Standard
*
Please keep the distance L from the finger mounting surface to the
gripping point at less than the following dimensions.
Gripper/
Rotary Type
GR3SS→50mm or less
GR3SM→80mm or less
Linear Servo
Type
Technical
References
Splash-Proof
P
O
ROBO
NET
P. A-5
(1) The maximum opening/closing speed indicates the operating speed on one side. The
relative operating speed is twice this value.
INT
(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping
point distance of 10mm and no overhang distance. For the actual transportable work piece
weight, see explanation on the right or page A-74.
Notes on
Selection
30
25
20
15
10
5
0
0
(3) The rated acceleration while moving is 0.3G.
PMEC
/AMEC
PSEP
/ASEP
Gripping force (N)
35
Cleanroom
Type
Controllers
* Please note that, when
gripping (pushing), the
speed is fixed at 5mm/s.
10
Actuator Specifications
■ Lead and Load Capacity
20
30
40
50
Current Limit (% ratio)
60
70
■ Stroke and Maxi. Opening/Closing Speed
Model
Deceleration
Ratio
Max. Gripping
Force (N)
Stroke
30
22
10
Stroke
(mm)
10
(mm)
Deceleration Ratio
ERC2
PCON
ACON
RCP2-GR3SS-I-28P-30-10- 1 - 2 - 3
Legend:
1 Compatible controllers
2 Cable length
30
40
(Unit: mm/s)
3 Options
SCON
Stroke List
PSEL
ASEL
2 Cable List
Stroke
(mm)
10
Type
Standard Price
–
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
∼
∼
∼
∼
∼
∼
∼
∼
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Actuator Specifications
3 Option List
Name
Flange bracket
Shaft bracket
Option Code
FB
SB
Linear
Servo Motor
347
RCP2-GR3SS
See Page
Standard Price
→ A-26
→ A-36
–
–
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Worm gear + worm wheel gear
±0.01mm
0.3mm or less per side (constantly pressed out by a spring)
0.1mm or less per side
Cross roller guide
Ma: 3.8 N∙m Mb: 3.8 N∙m Mc: 3.0 N∙m
0.6kg
0∼40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
Standard
*
When homing, the actuator swings 0.5mm past the home position before
returning. Therefore, please watch for any interference with the surrounding
objects.
*1 The motor-encoder cable is connected here. See page A-39 for details on
cables.
40
Secure at least 100
0°
Standard
ø45
0
Gripper/
Rotary Type
4
Mounting surface
(same for opposite side)
Table/Arm
/Flat Type
Mini
12
0
24
Mounting
surface
3-M4 (effective depth 6)
Flange plug (set screw M4 x 5)
ø59 -0.05
ST5
18
4∼9
5
15
3.5
62
+0.03
2-ø3 0 depth 3
(same for back side)
4-M5 depth 8
(same for
back side)
0°
48
2
Controllers
Integrated
12
1.5
1.5
48
10
45
Mounting
surface 1.5
36
3-ø2.5h7( -0.010 )
4-ø4.5
Standard
0.5
70
3-M3 depth 5
ø9 counterbore, depth 1.5
M8 (effective depth 6)
2
Mini
Details of A
4
62
Rod
Type
10+0.05
0
ø57
ø57
0
6 -0.05
Controllers
Integrated
Cable joint
connector *1
B
Mini
A
Linear Servo
Type
ø76
2-3 +0.05
0 depth 3
(same for back side)
104
Cleanroom
Type
110
3-M3 depth 5
62
ø9 counterbore, depth 1.5
M8 (effective depth 6)
Splash-Proof
1.5
48
PMEC
/AMEC
ST5
18
4∼9
5
3.5
1.5
15
Controllers
Home
PSEP
/ASEP
Details of section B
ROBO
NET
ERC2
Weight (kg)
0.6
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
Max. Positioning Points
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
PSEL
PMEC-C-28PI-NP-2-1
Easy-to-use controller, even for beginners
ASEL
Solenoid Valve Type
PSEP-C-28PI-NP-2-0
Splash-Proof
Solenoid Valve Type
PSEP-CW-28PI-NP-2-0
Positioner Type
PCON-C-28PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
–
3 points
→ P487
SSEL
–
XSEL
–
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-28PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-28PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-28PI-NP-2-0
Pulse train input type with
open collector support
Serial
Communication Type
PCON-SE-28PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control
Type
RPCON-28P
PSEL-C-1-28PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-GR3SS
348
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-GR3SM
Mini
ROBO Cylinder 3-Finger Gripper Slider Type 80mm Width Pulse Motor
Standard
■ Configuration:
Controllers
Integrated
RCP2 GR3SM
Series
I
Type
Encoder
42P
Motor
30
14
Deceleration Ratio
Stroke
Compatible Controllers
30: 1/30
14: 14mm
I: Incremental
42P : 42 † size
* The Simple
deceleration (7mm per side)
Pulse motor
absolute encoder
ratio
is also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
Rod
Type
Mini
Cable Length
Option
N : None
FB : Flange bracket
P : 1m
SB : Shaft bracket
S : 3m
M : 5m
X□□ : Custom
R □□ : Robot cable
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
■ Gripping Force vs. Current Limit
Standard
Slider Type (GR3SS/GR3SM)
Controllers
Integrated
Table/Arm
/Flat Type
L
F
Mini
Standard
*
Please keep the distance L from the finger mounting surface to the
gripping point at less than the following dimensions.
Gripper/
Rotary Type
GR3SS→50mm or less
GR3SM→80mm or less
Linear Servo
Type
Technical
References
Splash-Proof
P
O
ROBO
NET
P. A-5
(1) The maximum opening/closing speed indicates the operating speed on one side. The
relative operating speed is twice this value.
INT
(2) The maximum gripping force is the sum of the gripping forces of all fingers with gripping
point distance of 10mm and no overhang distance. For the actual transportable work piece
weight, see explanation on the right or page A-74.
Notes on
Selection
120
100
80
60
40
20
0
0
(3) The rated acceleration while moving is 0.3G.
PMEC
/AMEC
PSEP
/ASEP
Gripping force (N)
130
Cleanroom
Type
Controllers
* Please note that, when
gripping (pushing), the
speed is fixed at 5mm/s.
10
Actuator Specifications
■ Lead and Load Capacity
20
30
40
50
Current Limit (% ratio)
60
70
■ Stroke and Maxi. Opening/Closing Speed
Model
Deceleration
Ratio
Max. Gripping
Force (N)
Stroke
30
102
14
Stroke
(mm)
14
(mm)
Deceleration Ratio
ERC2
PCON
ACON
RCP2-GR3SM-I-42P-30-14- 1 - 2 - 3
Legend:
1 Compatible controllers
2 Cable length
30
50
(Unit: mm/s)
3 Options
SCON
Stroke List
PSEL
ASEL
2 Cable List
Stroke
(mm)
14
Type
Standard Price
–
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
∼
∼
∼
∼
∼
∼
∼
∼
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Actuator Specifications
3 Option List
Name
Flange bracket
Shaft bracket
Option Code
FB
SB
Linear
Servo Motor
349
RCP2-GR3SM
See Page
Standard Price
→ A-26
→ A-36
–
–
Item
Drive System
Positioning Repeatability
Backlash
Lost Motion
Guide
Allowable Static Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Worm gear + worm wheel gear
±0.01mm
0.3mm or less per side (constantly pressed out by a spring)
0.1mm or less per side
Cross roller guide
Ma: 6.3 N∙m Mb: 6.3 N∙m Mc: 5.7 N∙m
1.2kg
0∼40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
*
*1
Mini
Standard
When homing, the actuator swings 0.5mm past the home
position before returning. Therefore, please watch for any
interference with the surrounding objects.
The motor-encoder cable is connected here. See page A-39 for
details on cables.
Controllers
Integrated
Rod
Type
Mini
Controllers
Integrated
ø75
ø75
0
8 -0.05
10+0.05
0
Standard
2
Cable joint
connector *1
Table/Arm
/Flat Type
0.5
Details of A
Mini
47
2
1.5
Mounting surface
4-M6 depth 12
3-M5 (effective depth 7)
Flange plug (set screw M5 x 6)
0°
12
48
34
(same for back side)
Home
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
ø62
0
77 -0.05
ST7
1.5
4∼11
62
Splash-Proof
4
80
7
25
Mounting
surface
0°
8
+0.03
2-ø3 0 depth 3
(same for back side)
53
Standard
12
22
1.5
62
78
12
0
80
3-ø2.5h7( -0.010 )
ø9 counterbore, depth 1.5
M8 (effective depth 6)
4-ø5.5
Secure at least 100
3-M4 depth 6
A
2-3 +0.05
0 depth 3
8
ø9
Mounting surface
(same for opposite side)
Controllers
(same for back side)
118
125
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg)
1.2
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
PMEC-C-42PI-NP-2-1
Easy-to-use controller, even for beginners
Max. Positioning Points
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
ASEL
Solenoid Valve Type
PSEP-C-42PI-NP-2-0
Splash-Proof
Solenoid Valve Type
PSEP-CW-42PI-NP-2-0
Positioner Type
PCON-C-42PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
PSEL
–
3 points
→ P487
–
SSEL
XSEL
–
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-42PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-42PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-42PI-NP-2-0
Pulse train input type with
open collector support
Serial
Communication Type
PCON-SE-42PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control
Type
RPCON-42P
PSEL-C-1-42PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-GR3SM
350
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
Mini
RCS2
ROBO Cylinder
RCS2-GR8
ROBO Cylinder 2-Finger Gripper
200V Servo Motor
Long Stroke Slider Type
104 ∼ 284mm Width
Standard
Controllers
Integrated
■ Configuration:
RCS2
GR8
I
60
5
Series
Type
Encoder
Motor
Deceleration Ratio
I : Incremental
Rod
Type
Mini
60: 60W Servo
motor
5 : 1/5
* See page Pre-35 for explanation of each code that makes up the configuration name.
Compatible Controllers
Stroke
T1 : XSEL-J/K
T2 : SCON
SSEL
XSEL-P/Q
20 : 20mm
40 : 40mm
(60) : 60mm
(80) : 80mm
100 : 100mm
(120) : 120mm
(200) : 200mm
Cable Length
N : None
P : 1m
S : 3m
M : 5m
X □□: Custom Length
R □□: Robot Cable
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
* Please note that, when gripping (pressing),
the speed is fixed at 10mm/s.
Linear Servo
Type
Technical
References
Cleanroom
Type
Splash-Proof
P
O
P. A-5
INT
Notes on
Selection
(1) Stroke values enclosed in "( )" are (60, 80, 120, 200) are semi-standard models.
(2) The maximum gripping force is the sum of both fingers.
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
Actuator Specifications
■ Lead and Load Capacity
Motor Output Deceleration Max. Gripping
(W)
Force (N)
Ratio
Model
Stroke
(mm)
ERC2
PCON
ACON
RCS2-GR8-I-60-5- 1 - 2 - 3
Legend:
1 Stroke
60
2 Compatible controller
1/5
45.1
20, 40, (60), (80), 100, (120), (200)
3 Cable length
SCON
1 Stroke List
PSEL
ASEL
SSEL
XSEL
3 Cable List
Stroke (mm)
Standard Price
–
–
–
–
–
–
–
20
40
(60)
(80)
100
(120)
(200)
Pulse Motor
Type
2 Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
∼
∼
∼
∼
∼
∼
∼
∼
Standard Price
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Servo Motor
(24V)
Actuator Specifications
Item
Drive System
Positioning Repeatability
Lost Motion
Base
Allowable Static Load Moment
Ambient Operating Temp./Humidity
Servo Motor
(200V)
Linear
Servo Motor
351
RCS2-GR8
Description
Rack and pinion
±0.04mm
0.7mm or less
Material: Aluminum (white alumite treated)
Ma: 5.1 N∙m Mb: 5.1 N∙m Mc: 10.4 N∙m
0 ∼ 40°C, 85% RH or less (non-condensing)
RCS2
ROBO Cylinder
Slider
Type
Dimensions
Mini
P. A-9
For Special Orders
Standard
* The opening side of the slider is the home position.
Controllers
Integrated
Rod
Type
T-slot for mounting the actuator
Mini
(300)
Cable joint
connector*1
28.0
Controllers
Integrated
61
B B
6 6
27
A
Standard
2
27
2
6.0
3.0
13.5
10.3
6.3
Table/Arm
/Flat Type
Details of the T-slot
for mounting actuator
Mini
Secure at least 100
(Note 1)
5 9
62
9
Linear Servo
Type
56
Gripper/
Rotary Type
52
2-M4
14.5
15
75
70
Standard
225
10.4
15
depth (per side)
10
45
16
8
6-M4 effective
Cleanroom
Type
13.5
E
D
(C)
*1
27
The motor cable and encoder cable are connected here.
See page A-39 for details on cables.
15
28
54
1
100
Splash-Proof
Controllers
(Note 1) The number of tapped holes on the finger mounting plate is for one side.
In addition, by default, each finger is secured using 2 tapped holes.
PMEC
/AMEC
■ Dimensions and Weight by Stroke
Stroke
A
B
C
D
E
20
22
10
106.4
104
100
40
42
20
126.4
124
120
(60)
62
30
146.4
144
140
(80)
82
40
166.4
164
160
100
102
50
186.4
184
180
(120)
122
60
206.4
204
200
(200)
202
100
286.4
284
280
Weight (kg)
1.8
1.9
1.9
2.0
2.0
2.1
2.3
*1 The strokes enclosed in "( )" are semi-standard configurations, and will require longer delivery time.
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
2 Compatible controller
SCON
The RCS2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
Max. Positioning Points
Positioner Mode
Positioning is possible
for up to 512 points
512 points
Solenoid Valve Mode
Operable with the same
controls as the solenoid
valve
7 points
Input Voltage
Power Supply Capacity
64 points
PSEL
SSEL
–
Dedicated to serial
communication
See Page
ASEL
SCON-C-60-NP-2-1
Serial Communication
Type
Standard Price
Single-phase AC100V
→ P547
XSEL
360VA max.
Single-phase AC200V
Three-phase AC200V
(XSEL-P/Q only)
* When operating a
150W single-axis
model
Pulse Train Input
Control Type
Dedicated to pulse train
input
(−)
Program Control 1 - 2
Axes Type
SSEL-C-1-60-NP-2-1
Programmed operation
is possible
Operation is possible on
up to 2 axes
1500 points
–
→ P577
XSEL-2-1-60-N1-EEE-2-3
Programmed operation
is possible
Operation is possible on
up to 6 axes
20000 points
–
→ P587
Program Control 1-6
Axis Type
Pulse Motor
* For SSEL and XSEL, only applicable to the single-axis model.
* 1 is a placeholder for the power supply voltage (1: 100V, or 2: single-phase 200V).
* 2 is a placeholder for the type name of XSEL ("J", "K", "P", "Q"),
* 3 is a placeholder for the type of power supply voltage ( 1: 100V, 2: single-phase 200V, or 3: 3-phase 200V).
RCS2-GR8
352
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-RTBS/RTBSL
Mini
ROBO Cylinder Rotary Small Vertical Type 45mm Width Pulse Motor
Standard
RCP2
■ Configuration:
Controllers
Integrated
Series
Type
I
20P
Encoder
Motor
Deceleration Ratio
RTBS : 330-degree
rotation
RTBSL: Multiple
rotation
I: Incremental
20P : 20 † size 30:
* The Simple
Pulse motor
absolute encoder
45:
is also considered
type "I".
* See page Pre-35 for an explanation of the naming convention.
Rod
Type
Mini
Compatible Controllers
Oscillation Angle
1/30
deceleration
ratio
1/45
deceleration
ratio
330: 330degrees
(RTBS only)
360: 360degrees
(RTBSL
only)
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
Due to the characteristics of the Pulse Motor, the RCP2 series'
load capacity decreases at high speeds. In the table below, check
if your desired speed and load capacity are supported.
Controllers
Integrated
Output torque (N∙m)
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Cleanroom
Type
Technical
References
Splash-Proof
P
O
INT
Notes on
Selection
ERC2
(1) The output torque decreases as the rotational speed increases.
Check the output torque graph on the right to see whether the speed required for your desired motion is
supported.
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired
motion is within the allowable range.
(3) The rated acceleration while moving is 0.2G.
PMEC
/AMEC
ROBO
NET
P. A-5
Actuator Specifications
■ Lead and Load Capacity
RCP2-RTBS-I-20P-30-330- 1 - 2 - 3
1/30
0.24
Allowable Moment of
Inertia (kg∙m )
2
0.36
0.0035
ACON
RCP2-RTBSL-I-20P-30-360- 1 - 2 - 3
1/30
0.24
0.0023
Stroke
330/360
(deg)
Deceleration Ratio
1/30
400
1/45
266
(Unit: degrees/s)
360
RCP2-RTBSL-I-20P-45-360- 1 - 2 - 3
Legend:
SSEL
1 Compatible controller
2 Cable length
1/45
0.36
Stroke List
Type
RTBS
RTBSL
0.0035
3 Options
2 Cable List
Oscillation Angle
(deg)
330
360
Standard Price
Type
–
–
Cable Symbol
Standard Price
P (1m)
Standard Type
S (3m)
(Robot Cables)
M (5m)
X06 (6m) ∼ X10 (10m)
Special Lengths X11 (11m) ∼ X15 (15m)
X16 (16m) ∼ X20 (20m)
XSEL
–
–
–
–
–
–
* The standard cable is the motor-encoder integrated robot cable.
* See page A-39 for cables for maintenance.
Pulse Motor
Servo Motor
(24V)
Actuator Specifications
3 Option List
Servo Motor
(200V)
Linear
Servo Motor
450
330
1/45
ASEL
Oscillation
Angle (deg)
0.0023
RCP2-RTBS-I-20P-45-330- 1 - 2 - 3
PSEL
450
■ Deceleration Ratio and Max. Speed
Deceleration Max. Torque
(N∙m)
Ratio
Model
PCON
SCON
0.50
0.45
0.40 0.36 Deceleration ratio 1/45
0.35
0.30
Deceleration ratio 1/30
0.25 0.24
0.20
0.15
0.10
0.05
0.00
0
50 100 150 200 250 300 350 400
Rotational speed (deg/sec)
5
4.5
4
Deceleration ratio 1/45
3.5
3
Deceleration ratio 1/30
2.5 2.3
2
1.5
1
0.5
0
0
50 100 150 200 250 300 350 400
Rotational speed (deg/sec)
Allowable moment of
inertia (×10-3 kg•m2)
Linear Servo
Type
PSEP
/ASEP
Option
■ Speed vs. Load Capacity
Standard
Controllers
Cable Length
NM :Reversed-rotation
N : None
P : 1m
SA : Shaft adapter
S : 3m
TA : Table adapter
M : 5m
X□□ : Custom
R □□ : Robot cable
Name
Reversed-rotation (*)
Shaft adapter
Table adapter
Option Code
NM
SA
TA
See Page
Standard Price
→ A-33
→ A-35
→ A-37
–
–
–
* Reversed-rotation option can be selected on the multi-rotational model only.
353
RCP2-RTBS/RTBSL
Item
Drive System
Positioning Repeatability
Homing Accuracy
Lost Motion
Allowable Thrust Load
Allowable Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Hypoid gear
±0.05 degrees
±0.05 degrees
±0.1 degrees
30N
3.6N∙m
0.52kg
0 ∼ 40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
Mini
Standard
Controllers
Integrated
Rod
Type
4 0 depth 4
ø13
5.5
Note:
+0.05
36
45
Mini
* In the 2D drawing on the left,
the shaded area indicates the
rotating part.
Standard
Controllers
Integrated
4-M3 depth 3.5
*1
7.5
4-M 3 depth 7
+0.010
depth )4
ø3 H7( 0 26
22
The motor-encoder cable is connected here.
See page A-39 for details on cables.
Table/Arm
/Flat Type
21.8
72
0
Mini
+0.02
ø36 h7( -0.025
)
ø3 0 depth 2.5
-0.007
ø20 g6( -0.020
)
4-M 3 depth 5.5
Cable joint
connector*1
(11)
ø7 H7(+0.15
0 ) depth 7.5
11.6
Gripper/
Rotary Type
Linear Servo
Type
39
61
67
68.5
70
27
Standard
45
48
+0.04
4
3 0 depth 2.5
(6)
11
4
17.5
Cleanroom
Type
+0.04
3 0 depth 2.5
4-M 3 depth 5.5
48
(20)
Splash-Proof
Secure at least 100
12
12.5 12.5
6
33
Note:
+0.02
ø3 0
depth 2.5
(25)
Controllers
The position in the 2D drawing on the left is the
home position.
When homing, the actuator rotates to the left
past the home position by 1 degree. Therefore
please watch for any interference with the
surrounding objects.
The range of motion is 330 degrees clockwise,
as viewed from above.
(35.5)
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg)
0.52
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
PMEC-C-20PI-NP-2-1
Easy-to-use controller, even for beginners
Max. Positioning Points
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
ASEL
Solenoid Valve Type
PSEP-C-20PI-NP-2-0
Splash-Proof
Solenoid Valve Type
PSEP-CW-20PI-NP-2-0
Positioner Type
PCON-C-20PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
PSEL
–
3 points
→ P487
–
SSEL
XSEL
–
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-20PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-20PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-20PI-NP-2-0
Pulse train input type with
open collector support
Serial
Communication Type
PCON-SE-20PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control
Type
RPCON-20P
PSEL-C-1-20PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-RTBS/RTBSL
354
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-RTCS/RTCSL
Mini
ROBO Cylinder Rotary Small Flat Type 72mm Width Pulse Motor
Standard
RCP2
■ Configuration:
Controllers
Integrated
Series
Type
I
20P
Encoder
Motor
Deceleration Ratio
RTCS : 330 degree I: Incremental
28P : 28 † size 30: 1/30
* The Simple
rotation
Pulse motor deceleration
ratio
absolute encoder is
RTCSL : Multi45: 1/45
also considered
rotational
deceleration
type "I".
ratio
* See page Pre-35 for an explanation of the naming convention.
Rod
Type
Mini
Oscillation Angle
Compatible Controllers
330: 330degrees
(RTCS only)
360: 360degrees
(RTCSL only)
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
Due to the characteristics of the Pulse motor, the RCP2 series'
load capacity decreases at high speeds. In the table below, check
if your desired speed and load capacity are supported.
Controllers
Integrated
Output torque (N∙m)
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Cleanroom
Type
Technical
References
Splash-Proof
P
INT
O
Notes on
Selection
ERC2
(1) The output torque decreases as the rotational speed increases.
Check the output torque graph on the right to see whether the speed required for your desired motion is
supported.
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired
motion is within the allowable range.
(3) The rated acceleration while moving is 0.2G.
PMEC
/AMEC
ROBO
NET
P. A-5
Actuator Specifications
■ Lead and Load Capacity
RCP2-RTCS-I-20P-30-330- 1 - 2 - 3
1/30
0.24
Allowable Moment of
Inertia (kg∙m )
2
0.36
0.0035
ACON
RCP2-RTCSL-I-20P-30-360- 1 - 2 - 3
1/30
0.24
0.0023
RCP2-RTCSL-I-20P-45-360- 1 - 2 - 3
1 Compatible controller
2 Cable length
Stroke
400
450
330/360
(deg)
Deceleration Ratio
1/30
400
1/45
266
(Unit: degrees/s)
1/45
0.36
2 Cable List
Stroke List
Type
RTCS
RTCSL
0.0035
Oscillation Angle
(deg)
330
360
Type
Standard Price
Cable Symbol
Standard Price
P (1m)
Standard Type
S (3m)
(Robot Cables)
M (5m)
X06 (6m) ∼ X10 (10m)
Special Lengths X11 (11m) ∼ X15 (15m)
X16 (16m) ∼ X20 (20m)
–
–
–
–
–
–
–
–
* The standard cable is the motor-encoder integrated robot cable.
* See page A-39 for cables for maintenance.
Pulse Motor
Servo Motor
(24V)
Actuator Specifications
3 Option List
Linear
Servo Motor
1/30
3 Options
XSEL
Servo Motor
(200V)
450
360
Legend:
SSEL
400
330
1/45
ASEL
Oscillation
Angle (deg)
0.0023
RCP2-RTCS-I-20P-45-330- 1 - 2 - 3
PSEL
1/30
■ Deceleration Ratio and Max. Speed
Deceleration Max. Torque
(N∙m)
Ratio
Model
PCON
SCON
0.50
0.45
0.40 0.36
Deceleration ratio 1/45
0.35
0.30
Deceleration ratio
0.25 0.24
0.20
0.15
0.10
0.05
0.00
0
50 100 150 200 250 300 350
Rotational speed (deg/sec)
5
4.5
4
Deceleration ratio 1/45
3.5
3
Deceleration ratio
2.5 2.3
2
1.5
1
0.5
0
0
50 100 150 200 250 300 350
Rotational speed (deg/sec)
Allowable moment of
inertia (×10-3 kg•m2)
Linear Servo
Type
PSEP
/ASEP
Option
■ Speed vs. Load Capacity
Standard
Controllers
Cable Length
NM :Reversed-rotation
N : None
P : 1m
SA : Shaft adapter
S : 3m
TA : Table adapter
M : 5m
X□□ : Custom
R □□ : Robot cable
Name
Reversed-rotation (*)
Shaft adapter
Table adapter
Option Code
NM
SA
TA
See Page
Standard Price
→ A-33
→ A-35
→ A-37
–
–
–
* Reversed-rotation option can be selected on the multi-rotational model only.
355
RCP2-RTCS/RTCSL
Item
Drive System
Positioning Repeatability
Homing Accuracy
Lost Motion
Allowable Thrust Load
Allowable Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Hypoid gear
±0.05 degrees
±0.05 degrees
±0.1 degrees
30N
3.6N∙m
0.52kg
0 ∼ 40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
Mini
Standard
Controllers
Integrated
Rod
Type
*1 The motor-encoder cable is connected
here. See page A-39 for details on cables.
Note:
* In the 2D drawing on the left,
the shaded area indicates the
rotating part.
Standard
Controllers
Integrated
Secure at least 100
17.5
ø13
Table/Arm
/Flat Type
+0.04
4 depth
4
0
+0.05
Mini
Standard
22.5
29
36
68
5.5
3 0 depth 2.5
4
11.6
Mini
Gripper/
Rotary Type
8
7.5
48
26
4-M 3 depth 7
+0.010
22
4-M3 depth 3.5
34
ø3 H7 ( 0 )depth 4
21.8
+0.02
3 0 depth
72
2.5
Cable joint
connector*1
Linear Servo
Type
4-M 3 depth 5.5
0
ø36 h7( -0.025
)
Cleanroom
Type
-0.007
ø20 g6( -0.020
)
ø7 H7( +0.015
0 ) depth 7.5
36
12
42
22
Note:
The position in the 2D drawing on the left is the
home position.
When homing, the actuator rotates to the left past
the home position by 1 degree. Therefore please
watch for any interference with the surrounding
objects.
The range of motion is 330 degrees clockwise, as
viewed from above.
7
45
43.5
(7)
4
Splash-Proof
+0.04
3 0 depth 2.5
4-M 3 depth 5.5
48
+0.02
3 0 depth 2.5
hollow hole ø6 through-hole
ø11 depth 0.9
27
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg)
0.48
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
PMEC-C-20PI-NP-2-1
Easy-to-use controller, even for beginners
Max. Positioning Points
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
ASEL
Solenoid Valve Type
PSEP-C-20PI-NP-2-0
Splash-Proof
Solenoid Valve Type
PSEP-CW-20PI-NP-2-0
Positioner Type
PCON-C-20PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
PSEL
–
3 points
→ P487
–
SSEL
XSEL
–
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-20PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-20PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-20PI-NP-2-0
Pulse train input type with
open collector support
Serial
Communication Type
PCON-SE-20PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control
Type
RPCON-20P
PSEL-C-1-20PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-RTCS/RTCSL
356
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-RTB/RTBL
Mini
ROBO Cylinder Rotary Medium Vertical Type 50mm Width Pulse Motor
Standard
RCP2
■ Configuration:
Controllers
Integrated
Series
Type
I
28P
Encoder
Motor
Deceleration Ratio
Compatible Controllers
Oscillation Angle
RTB : 330-degree I: Incremental
28P : 28 † size
20: 1/20
330: 330degrees
deceleration
* The Simple
rotation
Pulse motor
(RTB only)
ratio
absolute encoder
RTBL : Multi-rotational
360: 360degrees
30: 1/30
is also considered
(RTBL only)
deceleration
type "I".
ratio
* See page Pre-35 for an explanation of the naming convention.
Rod
Type
Mini
Due to the characteristics of the Pulse motor, the RCP2 series'
load capacity decreases at high speeds. In the table below, check
if your desired speed and load capacity are supported.
Controllers
Integrated
Table/Arm
/Flat Type
Output torque (N∙m)
3.5
Mini
Standard
Gripper/
Rotary Type
Output torque
3
2.5
2
1.5
1
1.7 Deceleration ratio 1/30
1.1
0.85
0.55
0.5
0
0
Linear Servo
Type
Deceleration ratio 1/20
100
200
300
400
500
Rotational speed (deg/sec)
P
O
INT
Notes on
Selection
P. A-5
(1)
The output torque decreases as the rotational speed increases.
Check the output torque graph on the right to see whether the speed required for your desired motion is supported.
(2)
The allowable moment of inertia of the rotated work piece varies with the rotational speed.
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is
within the allowable range.
(3)
Allowable moment of
inertia (×10-3 kg•m2)
Technical
References
Splash-Proof
ERC2
25
20
15
Deceleration ratio 1/30
10
7.5
5
0
0
The rated acceleration while moving is 0.3G.
Actuator Specifications
■ Lead and Load Capacity
5
Deceleration ratio 1/20
100
200
300
400
500
Rotational speed (deg/sec)
RCP2-RTB-I-28P-20-330- 1 - 2 - 3
1/20
1.1
Allowable Moment of
Inertia (kg∙m )
2
1.7
0.015
ACON
RCP2-RTBL-I-28P-20-360- 1 - 2 - 3
1/20
1.1
0.01
RCP2-RTBL-I-28P-30-360- 1 - 2 - 3
1 Compatible controller
2 Cable length
1/30
1.7
Stroke List
(deg)
1/20
600
1/30
400
(Unit: degrees/s)
Type
RTB
RTBL
0.015
2 Cable List
Oscillation Angle
(deg)
330
360
Standard Price
Type
–
–
Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
Pulse Motor
∼
∼
∼
∼
∼
∼
∼
∼
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Servo Motor
(24V)
Actuator Specifications
3 Option List
Linear
Servo Motor
330/360
3 Options
XSEL
Servo Motor
(200V)
Stroke
Deceleration Ratio
360
Legend:
SSEL
700
330
1/30
ASEL
Oscillation
Angle (deg)
0.01
RCP2-RTB-I-28P-30-330- 1 - 2 - 3
PSEL
600
■ Deceleration Ratio and Max. Speed
Deceleration Max. Torque
(N∙m)
Ratio
Model
PCON
SCON
700
Allowable moment of inertia
30
PMEC
/AMEC
ROBO
NET
600
35
Cleanroom
Type
PSEP
/ASEP
Option
■ Speed vs. Load Capacity
Standard
Controllers
Cable Length
NM :Reversed-rotation
N : None
P : 1m
SA : Shaft adapter
S : 3m
TA : Table adapter
M : 5m
X□□ : Custom
R □□ : Robot cable
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
Name
Reversed-rotation (*)
Shaft adapter
Table adapter
Option Code
NM
SA
TA
See Page
Standard Price
→ A-33
→ A-35
→ A-37
–
–
–
* Reversed-rotation option can be selected on the multi-rotational model only.
357
RCP2-RTB/RTBL
Item
Drive System
Positioning Repeatability
Homing Accuracy
Lost Motion
Allowable Thrust Load
Allowable Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Hypoid gear
±0.01 degrees
±0.01 degrees
±0.1 degrees
50N
3.9 N∙m
0.86kg
0 ∼ 40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
Mini
Standard
Controllers
Integrated
Note:
Rod
Type
Note:
42
ø1
7
6
The position in the drawing on the left is the
home position.
When homing, the actuator rotates to the left
past the home position by 1 degree. Therefore
please watch for any interference with the
surrounding objects.
The range of motion is 330 degrees clockwise,
as viewed from above.
4+0.05
0
depth 3
* In the drawing on the right, the
shaded area indicates the
rotating part.
5-M3 depth 6
ø3H7
depth 4
37
4-M4 depth 7
30
Standard
Controllers
Integrated
Cable joint
connector*1
26.5
88
ø45h7
ø24h7
Mini
+0.03
ø4 0 depth 2.5
Table/Arm
/Flat Type
Mini
34
ø11H7 depth 10
(10)
Linear Servo
Type
5
Gripper/
Rotary Type
52
Standard
71
83.5
82
77
4-M4 depth 8
9
Cleanroom
Type
56
2.5
50
56
4+0.05
0
depth 2.5
(28)
Secure at least 100
Splash-Proof
5
(5.5)
+0.05
4 0 depth
4-M4 depth 8
39
Controllers
* The bend radius R of the cable is the same
as other models.
5.5
*1
12
+0.03
ø4 0 depth 2.5
PMEC
/AMEC
The motor-encoder cable is connected here.
See page A-39 for details on cables.
PSEP
/ASEP
22
34
(34)
ROBO
NET
ERC2
Weight (kg)
0.86
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
Max. Positioning Points
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
PSEL
PMEC-C-28PI-NP-2-1
Easy-to-use controller, even for beginners
ASEL
Solenoid Valve Type
PSEP-C-28PI-NP-2-0
Splash-Proof Solenoid
Valve Type
Positioner Type
PSEP-CW-28PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
–
3 points
→ P487
SSEL
–
XSEL
–
PCON-C-28PI-NP-2-0
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-28PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-28PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-28PI-NP-2-0
Pulse train input type with
open collector support
Serial Communication
Type
PCON-SE-28PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control Type
RPCON-28P
PSEL-C-1-28PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-RTB/RTBL
358
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-RTC/RTCL
Mini
ROBO Cylinder Rotary Medium Flat Type 88mm Width Pulse Motor
Standard
RCP2
■ Configuration:
Controllers
Integrated
Series
Type
I
28P
Encoder
Motor
Deceleration Ratio
RTC: 330-degree
I: Incremental
28P : 28 † size 20: 1/20
deceleration
* The Simple
rotation
Pulse
ratio
absolute
encoder
motor
RTCL: Multi-rotational
30: 1/30
is also considered
deceleration
type "I".
ratio
* See page Pre-35 for an explanation of the naming convention.
Rod
Type
Mini
Oscillation Angle
330: 330degrees
(RTC only)
360: 360degrees
(RTCL only)
Compatible Controllers
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
Due to the characteristics of the Pulse motor, the RCP2 series'
load capacity decreases at high speeds. In the table below, check
if your desired speed and load capacity are supported.
Controllers
Integrated
3.5
Output torque (N∙m)
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
P
O
INT
Notes on
Selection
P. A-5
(1) The output torque decreases as the rotational speed increases.
Check the output torque graph on the right to see whether the speed required for your desired motion is
supported.
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired
motion is within the allowable range.
RCP2-RTC-I-28P-20-330- 1 - 2 - 3
1/20
1.1
Allowable Moment of
Inertia (kg∙m )
2
0.015
ACON
RCP2-RTCL-I-28P-20-360- 1 - 2 - 3
1/20
1.1
0.01
100
200
300
400
500
Rotational speed (deg/sec)
600
700
Allowable moment of inertia
30
25
20
15
Deceleration ratio 1/30
10
7.5
5
0
0
5
Deceleration ratio
ratio 1/20
1/20
Deceleration
100
200
300
400
500
Rotational speed (deg/sec)
600
700
Oscillation
Angle (deg)
Stroke
330/360
(deg)
Deceleration Ratio
1/20
600
1/30
400
(Unit: degrees/s)
360
RCP2-RTCL-I-28P-30-360- 1 - 2 - 3
Legend:
1 Compatible controller
2 Cable length
1/30
1.7
Stroke List
Type
RTC
RTCL
0.015
3 Options
2 Cable List
Oscillation Angle
(deg)
330
360
Standard Price
Type
–
–
Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
XSEL
Pulse Motor
∼
∼
∼
∼
∼
∼
∼
∼
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Servo Motor
(24V)
Actuator Specifications
3 Option List
Linear
Servo Motor
0.55
Deceleration
Deceleration ratio
ratio 1/20
1/20
330
1.7
Servo Motor
(200V)
0.85
0.01
1/30
SSEL
1.1
■ Deceleration Ratio and Max. Speed
Deceleration Max. Torque
(N∙m)
Ratio
Model
RCP2-RTC-I-28P-30-330- 1 - 2 - 3
ASEL
1.7 Deceleration ratio 1/30
0.5
Actuator Specifications
■ Lead and Load Capacity
PCON
PSEL
1
(3) The rated acceleration while moving is 0.3G.
PMEC
/AMEC
SCON
Allowable moment of
inertia (×10-3 kg•m2)
Technical
References
Splash-Proof
ERC2
2
1.5
35
Cleanroom
Type
ROBO
NET
Output torque
3
2.5
0
0
Linear Servo
Type
PSEP
/ASEP
Option
NM :Reversed-rotation
SA : Shaft adapter
TA : Table adapter
■ Speed vs. Load Capacity
Standard
Controllers
Cable Length
N : None
P : 1m
S : 3m
M : 5m
X□□ : Custom
R □□ : Robot cable
Name
Reversed-rotation (*)
Shaft adapter
Table adapter
Option Code
NM
SA
TA
See Page
Standard Price
→ A-33
→ A-35
→ A-37
–
–
–
* Reversed-rotation option can be selected on the multi-rotational model only.
359
RCP2-RTC/RTCL
Item
Drive System
Positioning Repeatability
Homing Accuracy
Lost Motion
Allowable Thrust Load
Allowable Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Hypoid gear
±0.01 degrees
±0.01 degrees
±0.1 degrees
50N
3.9 N∙m
0.92kg
0 ∼ 40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
Mini
Standard
Controllers
Integrated
Rod
Type
Note:
* In the drawing on the right, the
shaded area indicates the
rotating part.
*1
Mini
The motor-encoder cable is connected here.
See page A-39 for details on cables.
Standard
Secure at least 100
Controllers
Integrated
Table/Arm
/Flat Type
5
Mini
Standard
ø1
35
7
42
6
depth 2.5
4+0.05
0 depth 3
81
+0.05
4 0
25
Gripper/
Rotary Type
ø3H7
depth 4
56
44
26.5
88
30
+0.03
ø4 0 depth 2.5
ø45h7
ø24h7
Linear Servo
Type
7.5
37
5-M3 depth 6
4-M4 depth 7
4-M4 depth 8
Cable joint
connector*1
ø11h7 depth 10
4+0.05
0 depth 2.5
4-M4 depth 8
Cleanroom
Type
5
Splash-Proof
6
46
55
53.5
52
34
Note:
The position in the drawing on the left is the
home position.
When homing, the actuator rotates to the left
past the home position by 1 degree. Therefore
please watch for any interference with the
surrounding objects.
The range of motion is 330 degrees clockwise,
as viewed from above.
56
hollow hole ø10 through-hole
ø15.4 depth 5.5
+0.03
ø4 0 depth 2.5
Controllers
PMEC
/AMEC
PSEP
/ASEP
34
ROBO
NET
* The bend radius R of the cable is the same as
other models.
ERC2
Weight (kg)
0.92
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
PMEC-C-28PI-NP-2-1
Description
Max. Positioning Points
Easy-to-use controller, even for beginners
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
ASEL
Solenoid Valve Type
PSEP-C-28PI-NP-2-0
Splash-Proof Solenoid
Valve Type
Positioner Type
PSEP-CW-28PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
PSEL
–
3 points
→ P487
–
SSEL
XSEL
–
PCON-C-28PI-NP-2-0
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-28PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-28PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-28PI-NP-2-0
Pulse train input type with
open collector support
Serial Communication
Type
PCON-SE-28PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control Type
RPCON-28P
PSEL-C-1-28PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-RTC/RTCL
360
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-RTBB/RTBBL
Mini
ROBO Cylinder Rotary Large Vertical Type 76mm Width
Pulse Motor
Standard
RCP2
■ Configuration:
Controllers
Integrated
I
Series
Type
35P
Encoder
Motor
Deceleration Ratio
Oscillation Angle
35P : 35 † size
RTBB : 330-degree I: Incremental
20: 1/20
* The Simple
deceleration
rotation
Pulse motor
absolute
encoder
ratio
RTBBL : Multiis also considered
30: 1/30
rotational
type "I".
deceleration
ratio
* See page Pre-35 for an explanation of the naming convention.
Rod
Type
Mini
Compatible Controllers
Output torque (N∙m)
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
5.0
4.5 4.6
4.0
3.5
3.0
2.5
2.0
1.5
1.0
0.5
0
0
Linear Servo
Type
INT
P
O
Notes on
Selection
PMEC
/AMEC
P. A-5
(1) The output torque decreases as the rotational speed increases.
Check the output torque graph on the right to see whether the speed required for your desired motion is
supported.
(2) The allowable moment of inertia of the rotated work piece varies with the rotational speed.
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired
motion is within the allowable range.
(3) The rated acceleration while moving is 0.3G.
RCP2-RTBB-I-35P-20-330- 1 - 2 - 3
1/20
3.0
Allowable Moment of
Inertia (kg∙m )
2
0.03
ACON
RCP2-RTBBL-I-35P-20-360- 1 - 2 - 3
1/20
3.0
0.02
RCP2-RTBBL-I-35P-30-360- 1 - 2 - 3
1 Compatible controller
2 Cable length
700
Deceleration ratio 1/30
30
25
20
15
10
11.3
5
0
0
7.5
Deceleration ratio 1/20
100
200
300
400
500
Rotational speed (deg/sec)
600
700
Oscillation
Angle (deg)
Stroke
330/360
(deg)
Deceleration Ratio
1/20
600
1/30
400
(Unit: degrees/s)
1/30
4.6
Stroke List
Type
RTBB
RTBBL
0.03
3 Options
2 Cable List
Oscillation Angle
(deg)
330
360
Standard Price
Type
–
–
Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
XSEL
Pulse Motor
∼
∼
∼
∼
∼
∼
∼
∼
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Servo Motor
(24V)
Actuator Specifications
3 Option List
Linear
Servo Motor
600
360
Legend:
Servo Motor
(200V)
200
300
400
500
Rotational speed (deg/sec)
330
4.6
SSEL
100
0.02
1/30
ASEL
1.13
■ Deceleration Ratio and Max. Speed
Deceleration Max. Torque
(N∙m)
Ratio
Model
RCP2-RTBB-I-35P-30-330- 1 - 2 - 3
PSEL
1.73
Deceleration ratio 1/20
35
Actuator Specifications
■ Lead and Load Capacity
PCON
SCON
Allowable moment of
inertia (×10-3 kg•m2)
Technical
References
Splash-Proof
ERC2
Deceleration ratio 1/30
40
Cleanroom
Type
ROBO
NET
R □□ : Robot cable
Due to the characteristics of the Pulse Motor, the RCP2 series'
load capacity decreases at high speeds. In the table below, check
if your desired speed and load capacity are supported.
Controllers
Integrated
PSEP
/ASEP
Option
NM :Reversed-rotation
SA : Shaft adapter
TA : Table adapter
N : None
P : 1m
S : 3m
M : 5m
X□□ : Custom
■ Speed vs. Load Capacity
Standard
Controllers
Cable Length
330: 330degrees
P1: PCON
(RTBB only)
RPCON
PSEL
360: 360degrees
(RTBBL only) P3: PMEC
PSEP
Name
Reversed-rotation (*)
Shaft adapter
Table adapter
Option Code
NM
SA
TA
See Page
Standard Price
→ A-33
→ A-35
→ A-37
–
–
–
* Reversed-rotation option can be selected on the multi-rotational model only.
361
RCP2-RTBB/RTBBL
Item
Drive System
Positioning Repeatability
Homing Accuracy
Lost Motion
Allowable Thrust Load
Allowable Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Hypoid gear
±0.01 degrees
±0.01 degrees
±0.1 degrees
200N
17.7N∙m
2.3kg
0 ∼ 40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
Mini
Standard
Controllers
Integrated
Rod
Type
ø4H7 ( +0.012
) depth 5
0
+0.05
0 depth
Mini
* In the 2D drawing on the left,
the shaded area indicates the
rotating part.
*1
The motor-encoder cable is connected here.
See page A-39 for details on cables.
Standard
54
5
7
76
Note:
5
ø30
4-M5 depth 8.6
Controllers
Integrated
54
38.5
43
0
ø65 h7( -0.030
)
ø5
-0.009
ø40 g6 ( -0.025 )
ø21
H7 +0.021
depth
0
+0.05
0 depth
Mini
3.5
4-M5 depth 10
12.5
Standard
Gripper/
Rotary Type
63
ø14
95
103
107
55
105
Table/Arm
/Flat Type
Cable joint
connector*1
124
16
6-M4 depth 7
Linear Servo
Type
Cleanroom
Type
+0.05
0 depth
3.5
6
(9.5)
5
5
+0.05
0 depth
78.5
78.5
4-M5
depth 10
6
16
14.5
76
3.5
(40.5)
Secure at least 100
Splash-Proof
Note:
9.5
57
The position in the 2D drawing on the left is the
home position.
When homing, the actuator rotates to the left
past the home position by 1 degree. Therefore
please watch for any interference with the
surrounding objects.
The range of motion is 330 degrees clockwise,
as viewed from above.
+0.05
34
34
(68)
ø5 0
depth 3.5
(44.5)
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg)
2.3
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
PMEC-C-35PI-NP-2-1
Description
Max. Positioning Points
Easy-to-use controller, even for beginners
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
ASEL
Solenoid Valve Type
PSEP-C-35PI-NP-2-0
Splash-Proof Solenoid
Valve Type
Positioner Type
PSEP-CW-35PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
PSEL
–
3 points
→ P487
–
SSEL
XSEL
–
PCON-C-35PI-NP-2-0
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-35PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-35PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-35PI-NP-2-0
Pulse train input type with
open collector support
Serial Communication
Type
PCON-SE-35PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control Type
RPCON-35P
PSEL-C-1-35PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-RTBB/RTBBL
362
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
RCP2
ROBO Cylinder
RCP2-RTCB/RTCBL
Mini
ROBO Cylinder Rotary Large Flat Type 124mm Width Pulse Motor
Standard
RCP2
■ Configuration:
Controllers
Integrated
I
Series
Type
35P
Encoder
Motor
Deceleration Ratio
Oscillation Angle
RTCB : 330-degree
35P : 35 † size
I: Incremental
20: 1/20 deceleration 330: 330degrees
ratio
* The Simple
rotation
Pulse motor
(RTB only)
30: 1/30 deceleration
absolute
encoder
360: 360degrees
RTCBL : Multi-rotational
ratio
is also considered
(RTBL only)
type "I".
Rod
Type
Mini
* See page Pre-35 for an explanation of the naming convention.
Compatible Controllers
Option
N : None
P : 1m
S : 3m
M : 5m
X□□ : Custom
R □□ : Robot cable
NM :Reversed-rotation
SA : Shaft adapter
TA : Table adapter
■ Speed vs. Load Capacity
Standard
Due to the characteristics of the Pulse motor, the RCP2 series'
load capacity decreases at high speeds. In the table below, check
if your desired speed and load capacity are supported.
Controllers
Integrated
Output torque (N∙m)
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
5.0
4.5 4.6
4.0
3.5
3.0
2.5
2.0
1.5
1.0
0.5
0
0
Linear Servo
Type
Deceleration ratio 1/30
1.73
Splash-Proof
P
INT
O
Notes on
Selection
P. A-5
(1)
The output torque decreases as the rotational speed increases.
Check the output torque graph on the right to see whether the speed required for your desired motion is supported.
(2)
The allowable moment of inertia of the rotated work piece varies with the rotational speed.
Check the Allowable Moment of Inertia graph on the right to see if the moment of inertia required for your desired motion is
within the allowable range.
(3)
Allowable moment of
inertia (×10-3 kg•m2)
Technical
References
1.13
Deceleration ratio 1/20
100
200
300
400
500
Rotational speed (deg/sec)
40
Cleanroom
Type
Controllers
Cable Length
P1: PCON
RPCON
PSEL
P3: PMEC
PSEP
600
700
35
Deceleration ratio 1/30
30
25
20
15
10
11.3
5
0
0
7.5
Deceleration ratio 1/20
100
200
300
400
500
Rotational speed (deg/sec)
The rated acceleration while moving is 0.3G.
600
700
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Actuator Specifications
■ Lead and Load Capacity
■ Deceleration Ratio and Max. Speed
Deceleration Max. Torque
(N∙m)
Ratio
Model
RCP2-RTCB-I-35P-20-330- 1 - 2 - 3
1/20
3.0
Allowable Moment of
Inertia (kg∙m )
2
1/30
4.6
0.03
ACON
RCP2-RTCBL-I-35P-20-360- 1 - 2 - 3
1/20
3.0
0.02
SSEL
RCP2-RTCBL-I-35P-30-360- 1 - 2 - 3
1 Compatible controller
2 Cable length
1/30
4.6
Stroke List
1/30
400
(Unit: degrees/s)
Type
RTCB
RTCBL
0.03
2 Cable List
Oscillation Angle
(deg)
330
360
Standard Price
Type
–
–
Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
Pulse Motor
∼
∼
∼
∼
∼
∼
∼
∼
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Servo Motor
(24V)
Actuator Specifications
3 Option List
Linear
Servo Motor
600
3 Options
XSEL
Servo Motor
(200V)
(deg)
1/20
360
Legend:
ASEL
330/360
330
RCP2-RTCB-I-35P-30-330- 1 - 2 - 3
PSEL
Stroke
Deceleration Ratio
0.02
PCON
SCON
Oscillation
Angle (deg)
Name
Reversed-rotation (*)
Shaft adapter
Table adapter
Option Code
NM
SA
TA
See Page
Standard Price
→ A-33
→ A-35
→ A-37
–
–
–
* Reversed-rotation option can be selected on the multi-rotational model only.
363
RCP2-RTCB/RTCBL
Item
Drive System
Positioning Repeatability
Homing Accuracy
Lost Motion
Allowable Thrust Load
Allowable Load Moment
Weight
Ambient Operating Temp./Humidity
Description
Hypoid gear
±0.01 degrees
±0.01 degrees
±0.1 degrees
200N
17.7N∙m
2.2kg
0 ∼ 40°C, 85% RH or less (non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
Mini
Standard
Controllers
Integrated
Rod
Type
Note:
*
Mini
In the 2D drawing on the left,
the shaded area indicates the
rotating part.
Standard
Controllers
Integrated
Secure at least 100
14.5
+0.05
Mini
Standard
38
54
ø3
0
54
7
+0.05
5 0 depth 3.5
5 0 depth 5
114
ø14
Table/Arm
/Flat Type
11
Gripper/
Rotary Type
+0.012
54
4-M5 depth 8.6
43
ø4 H7( 0 )
depth 5
38.5
6-M4 depth 7
78.5
54
124
+0.05
ø5 0 depth
3.5
Linear Servo
Type
4-M 5 depth 10
Cable joint
connector*1
0
ø65 h7( -0.030 )
Cleanroom
Type
-0.009
ø40 g6( -0.025 )
+0.021
ø21 H7( 0
) depth 12.5
*1
+0.05
5 0 depth 3.5
The motor-encoder cable is connected here.
See page A-39 for details on cables.
6
Splash-Proof
56
64
40
8
68
66
Note:
78.5
+0.05
ø5 0 depth 3.5
4-M5
depth 10
Hollow bore ø20, through-hole
ø27 depth 3.5
68
The position in the 2D drawing on the left
is the home position.
When homing, the actuator rotates to the
left past the home position by 1 degree.
Therefore please watch for any
interference with the surrounding objects.
The range of motion is 330 degrees
clockwise, as viewed from above.
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg)
2.2
PCON
ACON
1 Compatible Controllers
SCON
The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
PMEC-C-35PI-NP-2-1
Easy-to-use controller, even for beginners
Max. Positioning Points
Input Voltage
Power Supply Capacity
Standard Price
See Page
AC100V
AC200V
See P481
–
→ P477
PSEL
ASEL
Solenoid Valve Type
PSEP-C-35PI-NP-2-0
Splash-Proof Solenoid
Valve Type
Positioner Type
PSEP-CW-35PI-NP-2-0
Operable with same signal as solenoid valve.
Supports both single and double solenoid types.
No homing necessary with simple absolute type.
–
3 points
→ P487
SSEL
–
XSEL
–
PCON-C-35PI-NP-2-0
Positioning is possible for up to 512 points
Safety-Compliant
Positioner Type
PCON-CG-35PI-NP-2-0
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-35PI-NP-2-0
Pulse train input type with
differential line driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-35PI-NP-2-0
Pulse train input type with
open collector support
Serial Communication
Type
PCON-SE-35PI-N-0-0
512 points
–
DC24V
2A max.
–
→ P525
Pulse Motor
(−)
Field Network Type
Program Control Type
RPCON-35P
PSEL-C-1-35PI-NP-2-0
–
Servo Motor
(24V)
Dedicated to serial communication
64 points
–
Dedicated to field network
768 points
–
→ P503
Programmed operation is possible
Operation is possible on up to 2 axes
1500 points
–
→ P557
* This is for the single-axis PSEL.
* 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V).
RCP2-RTCB/RTCBL
364
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
Mini
RCS2
ROBO Cylinder
RCS2-RT6
ROBO Cylinder Rotary Straight Motor Model 64mm Width 200V Servo Motor
Standard
Controllers
Integrated
■ Configuration:
I
RT6
Series
Type
Encoder
I: Incremental
SA4D : Aluminum
Rod
Type
Mini
RCS2
base
60
18
Motor
300
Oscillation Angle
Deceleration Ratio
60 : 60W Servo
Motor
18: 1/18
300: 300degrees
SS4D : Steel base
L
Compatible Controllers
T1:XSEL-J/K
T2:SCON
SSEL
XSEL-P/Q
Cable Length
N : None
P : 1m
S : 3m
M : 5m
X□□ : Custom
Option
L : Limit switch
(equipped as standard)
R □□ : Robot cable
* See page Pre-35 for an explanation of the naming convention.
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Technical
References
Cleanroom
Type
Splash-Proof
P
O
Controllers
INT
Notes on
Selection
P. A-5
(1) The thrust load is the mechanical strength of the output axis at rest.
When selecting, take into account the load moment and the load inertia.
(2) The rated acceleration while moving is 0.3G.
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
Actuator Specifications
■ Lead and Load Capacity
■ Stroke and Maximum Speed
Motor
Deceleration Rated torque
Output (W)
Ratio
(N∙m)
Model
Allowable Moment of
Inertia (kg∙m2)
Oscillation
Angle (deg)
-2
300
Oscillation Angle
300
(deg)
Deceleration Ratio
ERC2
PCON
ACON
RCS2-RT6-I-60-18-300- 1 - 2 -L
Legend:
1 Compatible controller
60
1/18
2.4
2.5×10 or less
1/18
500
(Unit: degrees/s)
2 Cable length
SCON
Stroke List
PSEL
ASEL
2 Cable List
Oscillation Angle
(deg)
300
Standard Price
–
SSEL
XSEL
Pulse Motor
Type
Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
∼
∼
∼
∼
∼
∼
∼
∼
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Servo Motor
(24V)
Actuator Specifications
Item
Drive System
Positioning Repeatability
Lost Motion
Base
Allowable Load Moment
Thrust load
Ambient Operating Temp./Humidity
Servo Motor
(200V)
Linear
Servo Motor
365
RCS2-RT6
Description
Ball speed reducer
±0.02 degrees
0.1 degrees or less
Material: Aluminum (white alumite treated)
6.8N∙m or less
100N or less
0 ∼ 40°C, 85% RH or less (non-condensing)
RCS2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
Mini
Standard
* For more information on homing, see page A-79.
Controllers
Integrated
Rod
Type
(200)
Cable joint
connector*1
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
4-M6 depth 12
Mini
ø12h7
(13.3)
Gripper/
Rotary Type
15
27
50
64
ø40h7
Standard
25
30
50
64
5
41.5
50
103.5
Linear Servo
Type
12
101
234.5
Cleanroom
Type
Secure at
least 40
*1
The motor cable, encoder cable, and limit
switch cable are connected here.
See page A-39 for details on cables.
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg)
1.9
PCON
ACON
1 Compatible Controllers
SCON
The RCS2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
Max. Positioning Points
Positioner Mode
Positioning is
possible for up to 512
points
512 points
Solenoid Valve Mode
Operable with the
same controls as the
solenoid valve
7 points
Input Voltage
Power Supply Capacity
64 points
PSEL
SSEL
–
Dedicated to serial
communication
See Page
ASEL
SCON-C-60-NP-2-1
Serial
Communication Type
Standard Price
Single-phase AC100V
→ P547
XSEL
360VA max.
Single-phase AC200V
Pulse Train Input
Control Type
Dedicated to pulse
train input
(−)
Three-phase AC200V
(XSEL-P/Q only)
* When operating a
150W single-axis
model
Pulse Motor
Program Control
1-2 Axes Type
SSEL-C-1-60-NP-2-1
Programmed
operation is possible
Operation is possible
on up to 2 axes
20000 points
–
→ P577
Program Control
1-6 Axes Type
XSEL-2-1-60-N1-EEE-2-3
Programmed
operation is possible
Operation is possible
on up to 6 axes
20000 points
–
→ P587
* For SSEL and XSEL, only applicable to the single-axis model.
* 1 is a placeholder for the power supply voltage (1: 100V, or 2: single-phase 200V).
* 2 is a placeholder for the type name of XSEL ("J", "K", "P", "Q"),
* 3 is a placeholder for the type of power supply voltage ( 1: 100V, 2: single-phase 200V, or 3: 3-phase 200V).
RCS2-RT6
366
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
Mini
RCS2
ROBO Cylinder
RCS2-RT6R
ROBO Cylinder Rotary Side-Mounted Motor 64mm Width 200V Servo Motor
Standard
Controllers
Integrated
■ Configuration:
I
RT6R
Series
Rod
Type
Mini
RCS2
60
Type
Encoder
Motor
SA4D : Aluminum
I: Incremental
60 : 60W Servo
Motor
base
18
300
Deceleration Ratio
Oscillation Angle
18: 1/18
L
Compatible Controllers
300: 300degrees
T1:XSEL-J/K
T2:SCON
SSEL
XSEL-P/Q
SS4D : Steel base
* See page Pre-35 for an explanation of the naming convention.
Cable Length
Option
L : Limit switch
N : None
P : 1m
(equipped as standard)
S : 3m
M : 5m
X□□ : Custom
R □□ : Robot cable
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Technical
References
Cleanroom
Type
Splash-Proof
P
O
Controllers
INT
Notes on
Selection
P. A-5
(1) The thrust load is the mechanical strength of the output axis at rest.
When selecting, take into account the load moment and the load inertia.
(2) The rated acceleration while moving is 0.3G.
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
Actuator Specifications
■ Lead and Load Capacity
■ Stroke and Maximum Speed
Motor
Output (W)
Model
Deceleration
Rated
Allowable Moment of Inertia
Ratio
torque (N∙m)
(kg∙m2)
Oscillation Angle
Oscillation
Angle (deg)
300
Deceleration Ratio
(deg)
ERC2
PCON
ACON
RCS2-RT6R-I-60-18-300- 1 - 2 -L
Legend:
1 Compatible controller
60
1/18
2.4
-2
2.5×10 or less
300
1/18
500
(Unit: degrees/s)
2 Cable length
SCON
Stroke List
PSEL
ASEL
2 Cable List
Oscillation
Angle (deg)
300
Standard Price
–
SSEL
XSEL
Pulse Motor
Type
Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
∼
∼
∼
∼
∼
∼
∼
∼
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Servo Motor
(24V)
Actuator Specifications
Item
Drive System
Positioning Repeatability
Lost Motion
Base
Allowable Load Moment
Thrust load
Ambient Operating Temp./Humidity
Servo Motor
(200V)
Linear
Servo Motor
367
RCS2-RT6R
Description
Ball speed reducer + timing belt
±0.02 degrees
0.1 degrees or less
Material: Aluminum (white alumite treated)
6.8N∙m or less
100N or less
0 ∼ 40°C, 85% RH or less (non-condensing)
RCS2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
Mini
Standard
* For more information on homing, see page A-79.
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
Secure at least 40
31.5
84
32
62
Table/Arm
/Flat Type
(13.3)
Mini
17.5
66
21
Gripper/
Rotary Type
ø40h7
Cable joint
connector*1
Linear Servo
Type
32
50
64
6
130
ø12h7
Standard
(200)
50
64
*1
4-M6 depth 12
25
30
5
41.5
50
147.5
177.5
24.5
5
Cleanroom
Type
26.5
Splash-Proof
The motor cable, encoder cable, and limit
switch cable are connected here.
See page A-39 for details on cables.
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg)
2.8
PCON
ACON
1 Compatible Controllers
SCON
The RCS2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
Max. Positioning Points
Positioner Mode
Positioning is
possible for up to 512
points
512 points
Solenoid Valve Mode
Operable with the
same controls as the
solenoid valve
7 points
Input Voltage
Power Supply Capacity
64 points
PSEL
SSEL
–
Dedicated to serial
communication
See Page
ASEL
SCON-C-60-NP-2-1
Serial
Communication Type
Standard Price
Single-phase AC100V
→ P547
XSEL
360VA max.
Single-phase AC200V
Pulse Train Input
Control Type
Dedicated to pulse
train input
(−)
Three-phase AC200V
(XSEL-P/Q only)
* When operating a
150W single-axis
model
Pulse Motor
Program Control
1-2 Axes Type
SSEL-C-1-60-NP-2-1
Programmed
operation is possible
Operation is possible
on up to 2 axes
20000 points
–
→ P577
Program Control
1-6 Axes Type
XSEL-2-1-60-N1-EEE-2-3
Programmed
operation is possible
Operation is possible
on up to 6 axes
20000 points
–
→ P587
* For SSEL and XSEL, only applicable to the single-axis model.
* 1 is a placeholder for the power supply voltage (1: 100V, or 2: single-phase 200V).
* 2 is a placeholder for the type name of XSEL ("J", "K", "P", "Q"),
* 3 is a placeholder for the type of power supply voltage ( 1: 100V, 2: single-phase 200V, or 3: 3-phase 200V).
RCS2-RT6R
368
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
Mini
RCS2
ROBO Cylinder
RCS2-RT7R
ROBO Cylinder Rotary Side-Mounted Motor (Hollow Motor Shaft) 68mm Width
200V Servo Motor
Standard
Controllers
Integrated
■ Configuration:
I
RT7R
Series
Rod
Type
Mini
RCS2
60
Type
Encoder
Motor
SA4D : Aluminum
I: Incremental
60 : 60W Servo
Motor
base
4
300
Deceleration Ratio
Oscillation Angle
L
4: 1/4
300: 300degrees
Compatible Controllers
SS4D : Steel base
T1: XSEL-J/K
T2: SCON
SSEL
XSEL-P/Q
* See page Pre-35 for an explanation of the naming convention.
Cable Length
Option
L : Limit switch
N : None
P : 1m
(equipped as standard)
S : 3m
M : 5m
X□□ : Custom
R □□ : Robot cable
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Technical
References
Cleanroom
Type
Splash-Proof
P
O
Controllers
INT
Notes on
Selection
P. A-5
(1) The thrust load is the mechanical strength of the output axis at rest.
When selecting, take into account the load moment and the load inertia.
(2) The rated acceleration while moving is 0.3G.
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
Actuator Specifications
■ Lead and Load Capacity
■ Stroke and Maximum Speed
Oscillation Angle
Motor Output Deceleration
Rated
Allowable Moment of Inertia Oscillation
(W)
Ratio
torque (N∙m)
(kg∙m2)
Angle (deg)
Model
300
(deg)
Deceleration Ratio
ERC2
PCON
ACON
RCS2-RT7R-I-60-4-300- 1 - 2 -L
Legend:
1 Compatible controller
60
1/4
0.764
-3
1.25×10 or less
300
1/4
500
(Unit: degrees/s)
2 Cable length
SCON
Stroke List
PSEL
ASEL
2 Cable List
Oscillation Angle
(deg)
300
Standard Price
–
SSEL
XSEL
Pulse Motor
Type
Cable Symbol
P (1m)
Standard Type S (3m)
M (5m)
X06 (6m)
Special Lengths X11 (11m)
X16 (16m)
R01 (1m)
R04 (4m)
Robot Cable
R06 (6m)
R11 (11m)
R16 (16m)
∼
∼
∼
∼
∼
∼
∼
∼
X10 (10m)
X15 (15m)
X20 (20m)
R03 (3m)
R05 (5m)
R10 (10m)
R15 (15m)
R20 (20m)
Standard Price
–
–
–
–
–
–
–
–
–
–
–
* See page A-39 for cables for maintenance.
Servo Motor
(24V)
Actuator Specifications
Item
Drive System
Positioning Repeatability
Lost Motion
Base
Allowable Load Moment
Thrust load
Ambient Operating Temp./Humidity
Servo Motor
(200V)
Linear
Servo Motor
369
RCS2-RT7R
Description
Timing Belt
±0.1 degrees
0.5 degrees or less
Material: Aluminum (white alumite treated)
8.9N∙m or less
100N or less
0 ∼ 40°C, 85% RH or less (non-condensing)
RCS2
ROBO Cylinder
Slider
Type
Dimensions
P. A-9
For Special Orders
Mini
Standard
* For more information on homing, see page A-79.
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
Secure at least 40
62
2
(13.3)
84
Table/Arm
/Flat Type
17.5
66
Standard
Gripper/
Rotary Type
Cable joint
connector*1
34
50
68
ø58h7
ø14h7
134
6
le
h-ho
roug
ø9 th
Mini
21
50
68
4-M6 depth 12
86
5
33.5
Linear Servo
Type
(200)
1.5
124.5
156
The motor cable, encoder cable, and limit
switch cable are connected here.
See page A-39 for details on cables.
Cleanroom
Type
2-M8 depth 12
Splash-Proof
Controllers
46
*1
4.5
25.5
30
PMEC
/AMEC
30
PSEP
/ASEP
ROBO
NET
ERC2
Weight (kg)
2.6
PCON
ACON
1 Compatible Controllers
SCON
The RCS2 series actuators can operate with the controllers below. Select the controller according to your usage.
Name
External View
Model
Description
Max. Positioning Points
Positioner Mode
Positioning is
possible for up to 512
points
512 points
Solenoid Valve Mode
Operable with the
same controls as the
solenoid valve
7 points
Input Voltage
Power Supply Capacity
64 points
PSEL
SSEL
–
Dedicated to serial
communication
See Page
ASEL
SCON-C-60-NP-2-1
Serial
Communication Type
Standard Price
Single-phase AC100V
→ P547
XSEL
360VA max.
Single-phase AC200V
Pulse Train Input
Control Type
Dedicated to pulse
train input
(−)
Three-phase AC200V
(XSEL-P/Q only)
* When operating a
150W single-axis
model
Pulse Motor
Program Control
1-2 Axes Type
SSEL-C-1-60-NP-2-1
Programmed
operation is possible
Operation is possible
on up to 2 axes
20000 points
–
→ P577
Program Control
1-6 Axes Type
XSEL-2-1-60-N1-EEE-2-3
Programmed
operation is possible
Operation is possible
on up to 6 axes
20000 points
–
→ P587
* For SSEL and XSEL, only applicable to the single-axis model.
* 1 is a placeholder for the power supply voltage (1: 100V, or 2: single-phase 200V).
* 2 is a placeholder for the type name of XSEL ("J", "K", "P", "Q"),
* 3 is a placeholder for the type of power supply voltage ( 1: 100V, 2: single-phase 200V, or 3: 3-phase 200V).
RCS2-RT7R
370
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
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