RCP2

RCP2
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GRST
Model
Specification
Items
RCP2
Series
GRST
ROBO Cylinder, 2-Finger Gripper, Long Stroke Slide Type, Actuator Width 130~190mm,
Pulse Motor
I
Type
Encoder type
20P
Motor type
Deceleration Ratio
Stroke
I: Incremental
20P: Pulse motor, 1: 1/1 deceleration
ratio
* T he Simple absolute 20  size
High-Speed Type
encoder is also
2: 1/2 deceleration
considered type "I".
ratio
Standard Type
* See page Pre-47 for details on the model descriptions.
40: 40mm
60: 60mm
80: 80mm
100 : 100mm
Applicable controller
Cable length
P1: PCON-PL/PO/SE
PSEL
P3:PCON-CA
PMEC/PSEP
MSEP
Options
N:None
See Options below.
P: 1m
*Be sure to specify the
S: 3m
side from which you
M: 5m
X:Custom want the cable to exit
Length (A0 or A1).
„„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
L2
* Operate with the L1 distance up to 60mm.
* 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
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 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)
Standard
45
40
35
30
25
20
15
10
5
0
0
Standard
High-Speed Type
10
20
30
40
50
60
70
80
Current Limit (% ratio)
* 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
„„Leads and Payload
„„ Stroke and Max. Opening/Closing Speed
Model number
Deceleration Ratio
RCP2-GRST-I-20P-1- ➀ - ➁ - ➂ - ➃
1
RCP2-GRST-I-20P-2- ➀ - ➁ - ➂ - ➃
2
Maximum Gripping
Force (N)
20
(10 per side)
40
(20 per side)
Stroke
Stroke
(mm)
Deceleration ratio
40~100
(every 20mm )
40~100
(mm)
1
75
2
34
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Stroke
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
(Unit: mm/s)
Cable Length
Stroke
(mm)
40
60
80
100
Type
Standard price
Standard
(Robot Cables)
—
—
—
—
Special length
Cable symbol
P (1m)
S (3m)
M (5m)
X06 (6m) ~ X10 (10m)
X11 (11m) ~ X15 (15m)
X16 (16m) ~ X20 (20m)
Standard price
—
—
—
—
—
—
* The standard cable is the motor-encoder integrated robot cable.
* See page A-59 for cables for maintenance.
Actuator Specifications
 Options
Name
Non-motor end specification
Cable exiting from bottom
Cable exiting from side
Option code
NM
A0
A1
See page
➝ A-52
➝ A-41
➝ A-41
Standard price
—
—
—
*Be sure to specify the side from which you want the cable to exit (A0 or A1).
Linear
Servo
Motor
381
RCP2-GRST
Item
Drive System
Positioning repeatability
Backlash
Lost motion
Guide
Allowable static load moment
Weight
Ambient operating temperature, 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 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder
Dimensional Drawings
CAD drawings can be downloaded
from the website.
Appendix
P.15
4-M3 depth 5
19
Mini
Standard
Controllers
Integrated
2.5
12±0.05
Rod
Type
19
3
*The opening side of the slider is the home position.
(*1)Connect the motor-encoder integrated cable here. See page A-59 for details on cables.
12.5±0.05
2D
CAD
www.intelligentactuator.com
Slider
Type
ø3 +0.03
depth 3
0
Mini
L
(0.5)
M
(0.5)
N
.5
C0
24
st
2−
6
st
33
10.5
24
.5
C0
2−
0
25 − 0.05
4
24.5
28
Cable exiting from side
(Model: A1
12.5
21.5
28
4
40
60
(same for opposite side)
ø3
depth 3
32
11
Standard
ø3 +0.05
depth 3
0
4-M3 depth 5
Cable exit from bottom
(Model: A0)
26
4
* The current position of the slider
is the home position.
M
Table/
Arm/
Flat Type
Mini
N
Gripper/
Rotary
Type
(210)
+0.03
0
Secure at least 100
ø3 +0.05
depth 3
0
ø3 +0.03
depth 3
0
(same fo opposite side)
2-M4 depth 6
(same for opposite side)
Controllers
Integrated
53.5
25.5
Unlocking screw
Standard
Linear
Servo
Type
Cable joint connector*1
60
„„Dimensions and Weight by Stroke
Stroke
L
M
N
Weight (kg)
40
130
71.5
57.5
0.51
60
80 100
150 170 190
81.5 91.5 101.5
67.5 77.5 87.5
0.56 0.61 0.66
Cleanroom
Type
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-GRST
Servo
Motor
(200V)
382
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement