RCP2-GR3LM pdf

RCP2-GR3LM pdf
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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