User manual | RCP2

Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GR3LS
RCP2 GR3LS
Model
Specification
Items
Series
I
Type
Encoder type
ROBO Cylinder, 3-Finger Gripper, Lever Type, Actuator Width 62mm, Pulse Motor
28P
Motor type
30
19
Deceleration Ratio
Stroke
30: 1/30
I: Incremental
28P: Pulse motor, 19: 19 degrees
* The Simple absolute 28  size
deceleration
encoder is also
ratio
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
Options
N:None
FB: Flange bracket
SB: Shaft 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%.
L
Standard
* Please note that, when
gripping (pushing), the
speed is fixed at 5 deg/s.
F
Controllers
Integrated
* 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/
F
F
closing point.
You can calculate theF actual gripping force by the following
equation.
Actual gripping force (GR3LS) = P × 24 / (L + 14)
P =Gripping force on graph
L =Distance from finger mounting surface to the gripping
point.
(Operate with the L1 distance under 50mm.)
Table/
Arm/
Flat Type
Mini
Standard
35
Gripper/
Rotary
Type
Appendix
P.5
Linear
Servo
Type
(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 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-86.
(3) The rated acceleration while moving is 0.3G.
Cleanroom
Type
SplashProof
Type
Gripping force P (N)
30
25
20
15
10
5
0
0
10
20
30
40
50
Current Limit (% ratio)
70
* The gripping force graph above shows reference numbers.
Please allow margins up to ± 15%.
Actuator Specifications
„„Lead and Payload
„„ Stroke and Max. Opening/Closing Speed
Model number
Deceleration Ratio
Maximum Gripping
Force (N)
RCP2-GR3LS-I-28P-30-19- ➀ - ➁ - ➂
30
18
(6 per side)
Stroke
(deg)
19
Stroke
Deceleration ratio
30
19
(deg)
200
(Unit: degrees/s)
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
Stroke
Cable Length
Stroke
(deg)
Standard price
19
—
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
387
RCP2-GR3LS
See page
➝ A-43
➝ A-55
Standard price
—
—
Item
Description
Drive System
Positioning repeatability
Backlash
Lost motion
Weight
Ambient operating temperature, humidity
Worm gear + worm wheel gear
±0.01 degrees
1degree or less per side (constantly pressed out by a spring)
0.15 degrees or less per side
0.6kg
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
* When homing, the actuator swings 1 degree past the home position before returning.
Therefore, please watch for any interference with the surrounding objects.
(*1) Connect the motor and encoder cables here. See page A-59 for details on cables.
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
ø3 +0.05
0
10 +0.05
0
ø 57
0
- 0.05
ø 57
2-M3
8
7.5
3.5
Mini
Standard
Cable joint
connector *1
2
8
0.5
Controllers
Integrated
Details of A
Mounting surface
M8 (effective depth 4)
10
50.5
62
31.5
16
Home
4- ø 4.5
84
48
2-ø3 +0.03
depth 3
0
(same for back side)
(19)
1.5
Mounting
surface
4-M5 depth 8
Secure at least 100
28
3-M4 (effective depth 6)
Flange plug (set screw M4 x 5)
Mini
(same for back side)
Standard
120
24
36
6
ø 45
12
Gripper/
Rotary
Type
4
0
5°
9 6
ø59 - 0.05
48
62
°
14°
°
120
ø 18
Mounting surface
A
(same for opposite side)
Table/
Arm/
Flat Type
ø7
depth 3
2-3 +0.05
0
6
(same for back side)
17.5
112
Linear
Servo
Type
(129.5)
Cleanroom
Type
Weight (kg)
0.6
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-28PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-28PI- -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-28PI- -2-0
Equipped with a high-output driver
Positioner type based on PIO control
512 points
Pulse-train type
High-output specification
PCON-CA-28PI-PL-2-0
Equipped with a high-output driver
Pulse-train input type
(—)
Field network type
High-output specification
PCON-CA-28PI- -0-0
Equipped with a high-output driver
Supporting 7 major field networks
768 points
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-28PI- -2-0
Pulse train input type with differential line
driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-28PI- -2-0
Pulse train input type with open collector
support
Serial Communication Type
PCON-SE-28PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-28PI- -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-GR3LS
Servo
Motor
(200V)
388

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