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
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