User manual | RCP2

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GRS
Model
Specification
Items
RCP2
Series
GRS
ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 69mm, Pulse Motor
I
Type
Encoder type
20P
Motor type
1
10
Deceleration Ratio
Stroke
I: Incremental
20P: Pulse motor, 1: 1/1
10: 10mm
deceleration (5mm per side)
* T he Simple absolute 20  size
ratio
encoder is also
considered type "I".
* See page Pre-47 for details on the model descriptions.
Applicable controller
Cable length
P1: PCON-PL/PO/SE
PSEL
P3:PCON-CA
PMEC/PSEP
MSEP
N:None
Options
SB: Shaft bracket
FB: Flange bracket
P: 1m
S: 3m
M: 5m
X:Custom Length
R: Robot cable
„„Gripping Force vs. Current Limit
The gripping (pushing) force can be adjusted freely
Mini
within the range of current limits of 20% to 70%.
Standard
L1
Controllers
Integrated
Table/
Arm/
Flat Type
* Operate with the L1 distance up to 50mm. L2
* The gripping force value in the graph below is when both
L1 and L2 are at 0 mm. (For gripping force reference per
L1 distance, see page A-87.)
The gripping force value is the sum of gripping forces of
both fingers.
Mini
35
Standard
Gripper/
Rotary
Type
Appendix
P.5
Linear
Servo
Type
25
20
15
10
5
0
0
(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. (See page A-86 for details.)
(3) The rated acceleration while moving is 0.3G.
Cleanroom
Type
SplashProof
Type
Gripping force (N)
30
10
20
30
40
50
Current Limit (% ratio)
70
* The gripping force graph above shows reference numbers.
Please allow margins up to ± 15%.
* Please note that, when gripping (pushing), the speed is fixed at
5mm/s.
Actuator Specifications
„„Lead and Payload
„„ Stroke and Max. Opening/Closing Speed
Model number
Deceleration Ratio
Maximum Gripping
Force (N)
Stroke
(mm)
1
21
(10.5 per side)
10
(5 per side)
RCP2-GRS-I-20P-1-10- ➀ - ➁ - ➂
Stroke
Deceleration ratio
1
10
(mm)
33.3
(per side)
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
Stroke
(Unit: mm/s)
Cable Length
Stroke
(mm)
Standard price
10
—
Type
Standard
Pulse
Motor
Special length
Robot Cable
Servo
Motor
(24V)
Cable symbol
P (1m)
S (3m)
M (5m)
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
R01 (1m) ~ R03 (3m)
R04 (4m) ~ R05 (5m)
R06 (6m) ~ R10 (10m)
R11 (11m) ~ R15 (15m)
R16 (16m) ~ R20 (20m)
Standard Price
—
—
—
—
—
—
—
—
—
—
—
* See page A-59 for cables for maintenance.
Actuator Specifications
 Options
Servo
Motor
(200V)
60
Name
Option code
FB
SB
Flange bracket
Shaft bracket
Linear
Servo
Motor
377
RCP2-GRS
See page
➝ A-43
➝ A-55
Standard price
—
—
Item
Description
Drive System
Positioning repeatability
Backlash
Lost motion
Guide
Allowable static load moment
Weight
Ambient operating temperature, humidity
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 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder
Dimensional Drawings
www.intelligentactuator.com
CAD drawings can be downloaded
from the website.
2D
CAD
Appendix
P.15
*The opening side of the slider is the home position.
(*1) Connect the motor and encoder cables here. See page A-59 for details on cables.
Slider
Type
Mini
Standard
Controllers
Integrated
30
29
Cable joint
connector*1
Rod
Type
2-ø3 +0.03
0
depth 2.5
Mini
21
24
Table/
Arm/
Flat Type
69
4
MAX 11
MIN 1
Controllers
Integrated
4-M4 depth 6
ø3 +0.03
depth 2.5
0
21
4 +0.03
0
7
24
9
4-M4 depth 7
(same for
opposite side)
1.5
Standard
28
3 +0.05
depth 2.5
0
24
2-M4 depth 8
36
0
10 - 0.05
Secure at least 100
(same for opposite side)
5
Mini
Standard
2-3 +0.05
depth 2.5
0
(same for opposite side)
3
Gripper/
Rotary
Type
68
71
Linear
Servo
Type
Note:
The holes in the slider shown above, other than tapped holes,
are used to install the slider onto the actuator. They cannot be
used as finger positioning holes. Use the key slots to position
the fingers.
Cleanroom
Type
Weight (kg)
0.36
SplashProof
Type
Applicable Controllers
RCP2 series actuators can be operated with the controllers indicated below. Select the type according to your intended application.
Name
External
view
Model number
Features
Maximum number of
positioning points
AC100V
AC200V
PMEC-C-20PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-20PI- -2-0
Simple controller operable with the same
signal as a solenoid valve
Solenoid valve multi-axis type
PIO specification
MSEP-C- -~- -2-0
Positioner type based on PIO control,
allowing up to 8 axes to be connected
Solenoid valve multi-axis type
Network specification
MSEP-C- -~- -0-0
Field network-ready positioner type,
allowing up to 8 axes to be connected
256 points
Positioner type
High-output specification
PCON-CA-20PI- -2-0
Equipped with a high-output driver
Positioner type based on PIO control
512 points
Pulse-train type
High-output specification
PCON-CA-20PI-PL-2-0
Equipped with a high-output driver
Pulse-train input type
(—)
Field network type
High-output specification
PCON-CA-20PI- -0-0
Equipped with a high-output driver
Supporting 7 major field networks
768 points
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-20PI- -2-0
Pulse train input type with differential line
driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-20PI- -2-0
Pulse train input type with open collector
support
Serial Communication Type
PCON-SE-20PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-20PI- -2-0
Programmed operation is possible.
Can operate up to 2 axes
Solenoid Valve Type
Program
Control Type
* This is for the single-axis PSEL.
*
* indicates number of axes (1 to 8). *
Input
power
3 points
Power-supply Standard Reference
capacity
price
page
Refer to
P541
—
➝ P537
Refer to
P555
—
➝ P547
Refer to
P572
—
➝ P563
—
DC24V
Refer to
P618
—
Pulse
Motor
➝ P607
—
Servo
Motor
(24V)
—
(—)
Refer to
P628
64 points
1,500 points
—
➝ P623
—
Refer to
P671
—
➝ P665
Linear
Servo
Motor
indicates I/O type (NP/PN).
* indicates power supply voltage (1: 100V / 2: 100~240V).
indicates field network specification symbol. *  indicates N (NPN specification) or P (PNP specification) symbol.
RCP2-GRS
Servo
Motor
(200V)
378

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