RCP2_Gripper
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GRSS
Model
Speciication
Items
ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 42mm, Pulse Motor
RCP2
GRSS
I
Series
Type
Encoder type
20P
Motor type
30
8
Deceleration Ratio
Stroke
I: Incremental
20P: Pulse motor, 30 :1/30
8: 8mm
deceleration (4mm per side)
* The 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
Options
N: None
NM: Non-motor end
P: 1m
FB: Flange bracket
S: 3m
SB: Shaft bracket
M: 5m
X: Custom Length
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
„ Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely
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 40mm.
* 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
Standard
16
Gripping force (N)
14
Gripper/
Rotary
Type
Appendix
P.5
Linear
Servo
Type
SplashProof
Type
8
6
4
2
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
12
10
0
10
20
30
40
50
Current Limit (% ratio)
* Please note that, when gripping (pushing), the speed is fixed at
5mm/s.
Actuator Speciications
„ Stroke and Max. Opening/Closing Speed
Deceleration Ratio
RCP2-GRSS-I-20P-30-8- ➀ - ➁ - ➂
30
Maximum Gripping
Force (N)
Stroke
(mm)
14
(7 per side)
8
(4 per side)
Stroke
8
(mm)
Deceleration ratio
78
(per side)
30
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
(Unit: mm/s)
Cable Length
Stroke
Stroke
(mm)
Standard price
8
—
Type
Standard
(Robot Cables)
Special length
Servo
Motor
(24V)
Servo
Motor
(200V)
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.
 Options
Actuator Specifications
Name
Non-motor end specification
Flange bracket
Shaft bracket
Linear
Servo
Motor
373
70
* The gripping force graph above shows reference numbers.
Please allow margins up to ± 15%.
„ Lead and Payload
Model number
Pulse
Motor
60
RCP2-GRSS
Option code
NM
FB
SB
See page
➝ A-52
➝ 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
Worm gear + helical gear + helical rack
±0.01mm
0.2mm or less per side (constantly pressed out by a spring)
0.05mm or less per side
Linear guide
Ma: 0.5 N·m, Mb: 0.5 N·m, Mc: 1.5 N·m
0.2kg
0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensional Drawings
CAD drawings can be downloaded
from the website.
2D
CAD
Appendix
www.intelligentactuator.com
P.15
*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.
Mini
Standard
Controllers
Integrated
2-ø3 +0.03
depth 3
0
Rod
Type
17
8.5
Mini
4
17
(same for opposite side)
43
8-M3 dapth 5
(same for opposite side)
Cable joint
connector*1
Standard
2-3 +0.05
depth 3
0
Controllers
Integrated
24
2-ø3h7 ( - 0.010 )
71
(same for opposite side)
0
1.5
Table/
Arm/
Flat Type
9
ø3 +0.03
depth 3
0
Standard
34
35
Gripper/
Rotary
Type
17
MAX 13.5
MIN 5.5
4
8.5
4
13.9
Mini
2
4.2
5
42
2-M3 depth 4
2-ø3 +0.03
depth 3
0
Secure at least 100
(same for opposite side)
0
8-M3 depth 5
47
9 - 0.05
4-M3 depth 5
(same for opposite side)
2-3
+0.05
0
Linear
Servo
Type
3 +0.05
depth 3
0
depth 3
(same for opposite side)
Cleanroom
Type
Weight (kg)
0.2
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
—
➝ P607
—
Servo
Motor
(24V)
—
(—)
Refer to
P628
64 points
1,500 points
—
➝ P623
—
Refer to
P671
—
Servo
Motor
(200V)
➝ 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-GRSS
Pulse
Motor
374
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GRLS
Model
Speciication
Items
ROBO Cylinder, 2-Finger Gripper, Mini Lever Type, Actuator Width 42mm, Pulse Motor
RCP2
GRLS
I
Series
Type
Encoder type
20P
Motor type
30
180
Deceleration Ratio
Stroke
I: Incremental
20P: Pulse motor, 30: 1/30
deceleration
* The Simple absolute
20  size
ratio
encoder is also
considered type "I".
180: 180
degrees
(90 degrees
per side)
* See page Pre-47 for details on the model descriptions.
Applicable controller
Cable length
Options
N: None
NM: Non-motor end
P: 1m
FB: Flange bracket
S: 3m
SB: Shaft bracket
M: 5m
X: Custom Length
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
„ Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
* The gripping force of the graph
below is measured on the top
face of the lever. The actual
gripping force drops in inverse
proportion to the distance from
the opening/closing fulcrum.
Calculate the effective gripping
force using the formula below.
* Operate with the L distance
up to 40mm.
Effective gripping force (GRLS ) = F x 15.5/ (L + 15.5)
Standard
L
Controllers
Integrated
Table/
Arm/
Flat Type
Mini
* In the graph below, the gripping force value is the sum of
gripping forces of both fingers.
Standard
7
Gripper/
Rotary
Type
Gripping force (N)
6
Appendix
P.5
5
4
3
2
1
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
0
0
10
20
30
40
50
Current Limit (% ratio)
* Please note that, when gripping (pushing), the speed is fixed at
5 degrees/s.
Actuator Speciications
„ Stroke and Max. Opening/Closing Speed
Deceleration Ratio
RCP2-GRLS-I-20P-30-180- ➀ - ➁ - ➂
30
Maximum Gripping
Force (N)
Stroke
(deg)
6.4
(3.2 per side)
180
(90 per side)
Stroke
180
(deg)
Deceleration ratio
600
(per side)
30
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
(Unit: degree/s)
Cable Length
Stroke
Stroke
(deg)
Standard price
180
—
Type
Standard
(Robot Cables)
Special length
Servo
Motor
(24V)
Servo
Motor
(200V)
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.
 Options
Actuator Specifications
Name
Non-motor end specification
Flange bracket
Shaft bracket
Linear
Servo
Motor
375
70
* The gripping force graph above shows reference numbers.
Please allow margins up to ± 15%.
„ Lead and Payload
Model number
Pulse
Motor
60
RCP2-GRLS
Option code
NM
FB
SB
See page
➝ A-52
➝ 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
Worm gear + helical gear
±0.01deg.
1 degree or less per side (constantly pressed out by a spring)
1 degree or less
—
—
0.2kg
0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensional Drawings
CAD drawings can be downloaded
from the website.
2D
CAD
Appendix
www.intelligentactuator.com
P.15
*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.
2-ø3 +0.03
depth 3
0
Mini
Standard
(same for opposite side)
17
24
Controllers
Integrated
4
8-M3 depth 5
17
(same for opposite side)
Rod
Type
Cable joint
connector*1
2-3 +0.05
depth 3
0
45
(same for opposite side)
2-ø3 +0.03
depth 3
0
(same for opposite side)
4-M4 through
Standard
Secure at least 100
2-ø4 +0.03
depth 2.5
0
Mini
9
Controllers
Integrated
ø3 +0.03
depth 3
0
35
MAX 180º
MIN 0º
Mini
34
17
8.5
Standard
4
18
9
42
Table/
Arm/
Flat Type
4
9
18
15.5
4-M3 depth 5
8-M3 depth 5
2-3 +0.05
depth 3
0
36
(same for opposite side)
Gripper/
Rotary
Type
3 +0.05
depth 3
0
49 (same for opposite side)
73
66.5
Linear
Servo
Type
55
Cleanroom
Type
Weight (kg)
0.2
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
—
➝ P607
—
Servo
Motor
(24V)
—
(—)
Refer to
P628
64 points
1,500 points
—
➝ P623
—
Refer to
P671
—
Servo
Motor
(200V)
➝ 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-GRLS
Pulse
Motor
376
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GRS
Model
Speciication
Items
ROBO Cylinder, 2-Finger Gripper, Mini Slider Type, Actuator Width 69mm, Pulse Motor
RCP2
GRS
I
Series
Type
Encoder type
20P
Motor type
1
10
Deceleration Ratio
Stroke
I: Incremental
10: 10mm
20P: Pulse motor, 1 : 1/1
deceleration (5mm per side)
* The 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
Options
N: None
SB: Shaft bracket
P: 1m
FB: Flange bracket
S: 3m
M: 5m
X: Custom Length
R: Robot cable
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
„ Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely
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
Gripping force (N)
30
Appendix
P.5
Linear
Servo
Type
SplashProof
Type
10
5
10
20
30
40
50
Current Limit (% ratio)
60
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 Speciications
„ Stroke and Max. Opening/Closing Speed
Deceleration Ratio
RCP2-GRS-I-20P-1-10- ➀ - ➁ - ➂
1
Maximum Gripping
Force (N)
Stroke
(mm)
21
(10.5 per side)
10
(5 per side)
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
Stroke
Deceleration ratio
1
10
(mm)
33.3
(per side)
(Unit: mm/s)
Cable Length
Stroke
Stroke
(mm)
Standard price
10
—
Type
Standard
Pulse
Motor
Servo
Motor
(200V)
15
„ Lead and Payload
Model number
Servo
Motor
(24V)
20
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
25
Special length
Robot Cable
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.
 Options
Actuator Specifications
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
Slider
Type
Dimensional Drawings
CAD drawings can be downloaded
from the website.
2D
CAD
Appendix
www.intelligentactuator.com
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.
Mini
Standard
Controllers
Integrated
30
29
Cable joint
connector*1
Rod
Type
2-ø3 +0.03
0
depth 2.5
Mini
21
MAX 11
MIN 1
Table/
Arm/
Flat Type
69
4
24
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
—
➝ P607
—
Servo
Motor
(24V)
—
(—)
Refer to
P628
64 points
1,500 points
—
➝ P623
—
Refer to
P671
—
Servo
Motor
(200V)
➝ 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
Pulse
Motor
378
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GRM
Model
Speciication
Items
ROBO Cylinder, 2-Finger Gripper, Medium Slider Type, Actuator Width 74mm, Pulse Motor
RCP2
GRM
I
Series
Type
Encoder type
28P
Motor type
1
14
Deceleration Ratio
Stroke
I: Incremental
14: 14mm
28P: Pulse motor, 1 : 1/1
deceleration (7mm per side)
* The Simple absolute
28  size
ratio
encoder is also
considered type "I".
* See page Pre-47 for details on the model descriptions.
Applicable controller
Cable length
Options
N: None
SB: Shaft bracket
P: 1m
FB: Flange bracket
S: 3m
M: 5m
X: Custom Length
R: Robot cable
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
„ Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely
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 80mm. 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
Standard
140
Gripping force (N)
120
Gripper/
Rotary
Type
Appendix
P.5
100
80
60
40
20
Linear
Servo
Type
Cleanroom
Type
SplashProof
Type
20
30
40
50
Current Limit (% ratio)
70
„ Stroke and Max. Opening/Closing Speed
Deceleration Ratio
1
Maximum Gripping
Force (N)
Stroke
(mm)
80
(40 per side)
14
(7 per side)
Code explanation ➀ Applicable Controller ➁ Cable length ➃ Options
Stroke
Deceleration ratio
1
14
(mm)
36.7
(per side)
(Unit: mm/s)
Cable Length
Stroke
Stroke
(mm)
14
60
* Please note that, when gripping (pushing), the speed is fixed at
5mm/s.
Actuator Speciications
RCP2-GRM-I-28P-1-14- ➀ - ➁ - ➂
Type
Standard price
Standard
—
Pulse
Motor
Servo
Motor
(200V)
10
* The gripping force graph above shows reference numbers.
Please allow margins up to ± 15%.
„ Lead and Payload
Model number
Servo
Motor
(24V)
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.
Special length
Robot Cable
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.
 Options
Actuator Specifications
Name
Option code
FB
SB
Flange bracket
Shaft bracket
Linear
Servo
Motor
379
RCP2-GRM
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: 8.3 N·m
0.5kg
0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensional Drawings
CAD drawings can be downloaded
from the website.
2D
CAD
Appendix
www.intelligentactuator.com
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.
Mini
Standard
35
36
Controllers
Integrated
Rod
Type
Cable joint
connector*1
Mini
2-ø3 +0.03
depth 2.5
0
25
4-M4 depth 8
(same for
opposite side)
Controllers
Integrated
24
22
4-M4 depth 6
ø3 +0.03
depth 2.5
0
24
Table/
Arm/
Flat Type
Mini
74
4
MAX 15
MIN 1
25
7 11.5
5 +0.03
0
1.5
Standard
28
3 +0.05
depth 2.5
0
2-M5 depth 8
36
0
12 - 0.05
Secure at least 100
(same for opposite side)
5
Standard
Gripper/
Rotary
Type
2-3 +0.05
depth 2.5
0
(same for opposite side)
3
76
79
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)
0.5
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
—
➝ P607
—
Servo
Motor
(24V)
—
(—)
Refer to
P628
64 points
1,500 points
—
➝ P623
—
Refer to
P671
—
Servo
Motor
(200V)
➝ 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-GRM
Pulse
Motor
380
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GRST
Model
Speciication
Items
ROBO Cylinder, 2-Finger Gripper, Long Stroke Slide Type, Actuator Width 130~190mm,
Pulse Motor
RCP2
GRST
I
Series
Type
Encoder type
20P
Motor type
Deceleration Ratio
Stroke
I: Incremental
20P: Pulse motor, 1: 1/1 deceleration
ratio
* The 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
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
(A0 or A1).
Length
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
„ Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely
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
Gripping force (N)
Standard
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
45
40
35
30
25
20
15
10
5
0
0
Standard
High-Speed Type
10
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 Speciications
„ 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 )
Code explanation ➀ Stroke ➁ Applicable Controller ➂ Cable length ➃ Options
Stroke
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
20
40~100
(mm)
1
75
2
34
(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.
 Options
Actuator Specifications
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
Slider
Type
Dimensional Drawings
CAD drawings can be downloaded
from the website.
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
Appendix
www.intelligentactuator.com
ø3 +0.03
depth 3
0
Mini
L
(0.5)
M
(0.5)
N
.5
C0
24
st
2−
6
.5
33
10.5
24
st
C0
2−
0
25 − 0.05
Standard
4
24.5
Controllers
Integrated
4
28
25.5
Unlocking screw
12.5
21.5
28
53.5
Cable exiting from side
(Model: A1
40
60
(same for opposite side)
depth 3
32
Mini
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
N
Gripper/
Rotary
Type
(210)
ø3
+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)
Table/
Arm/
Flat Type
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
—
➝ P607
—
Servo
Motor
(24V)
—
(—)
Refer to
P628
64 points
1,500 points
—
➝ P623
—
Refer to
P671
—
Servo
Motor
(200V)
➝ 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
Pulse
Motor
382
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GRHM
Model
Speciication
Items
RCP2
GRHM
I
Series
Type
Encoder type
ROBO Cylinder, 2-Finger Gripper, Medium High-force Type, Actuator Width 116mm,
24V Pulse Motor
35P
Motor type
2
32
Deceleration Ratio
Stroke
Applicable controller
Cable length
P1: PCON-PL/PO/SE
32: 32mm
35P: Pulse motor, 2: Feed screw
lead 2
PSEL
(16mm per side)
35 size
P3: PCON-CA
PMEC/PSEP
MSEP
I: Incremental
* See page Pre-47 for details on the model descriptions.
Options
N: None
See Options below.
P: 1m
S: 3m
M: 5m
X: Custom Length
„ Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely
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 90mm.
* 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
140
Standard
Gripper/
Rotary
Type
Gripping Force (N)
120
Appendix
P.5
100
80
60
40
20
Linear
Servo
Type
Cleanroom
Type
SplashProof
Type
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.
10
20
30
40
50
Current limit (% ratio)
* Please note that, when gripping (pushing), the speed is fixed at
5mm/s.
Actuator Speciications
„ Lead and Payload
„ Stroke and Max. Opening/Closing Speed
Model number
Deceleration Ratio
RCP2-GRHM-I-35P-2-32- ➀ - ➁ - ➂
2
Maximum Gripping
Force (N)
Stroke
(mm)
125
(62.5 per side)
32
(16 per side)
Stroke
32
(mm)
Deceleration ratio
100
(per side)
2
(Unit: mm/s)
➁Cable Length
Stroke
Stroke
(mm)
Standard price
32
—
Type
Standard
(Robot Cables)
Pulse
Motor
Servo
Motor
(200V)
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.
➂ Options
Actuator Specifications
Name
Cable exit direction (top)
Cable exit direction (right)
Cable exit direction (left)
Cable exit direction (bottom)
Flange Bracket
Shaft bracket
Linear
Servo
Motor
383
70
* The gripping force graph above shows reference numbers.
Please allow margins up to ± 15%.
Code explanation ➀ Applicable Controller ➁ Cable length ➃ Options
Servo
Motor
(24V)
60
RCP2-GRHM
Option code
CJT
CJR
CJL
CJB
FB
SB
See page
➝ A-42
➝ A-42
➝ A-42
➝ A-42
➝ 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
(*) Based on a 5,000km service life.
Timing belt + trapezoidal screw (2 lead)
±0.01mm
0.2mm or less per side (constantly pressed out by a spring)
0.15mm or less per side
Linear guide
Ma: 11.7 N·m, Mb: 16.7 N·m, Mc: 46.5 N·m
1.14kg
0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensional Drawings
CAD drawings can be downloaded
from the website.
2D
CAD
Appendix
www.intelligentactuator.com
P.15
* Connect the motor-encoder integrated cable here.
(See page A-59 for details on cables.)
Mini
Standard
Controllers
Integrated
43
Cable Exit Direction (Optional)
Table/
Arm/
Flat Type
0.5(ME)
10
5
34.5
0.5 (ME)
Controllers
Integrated
depth 5
ø4 +0.012
0
Home
oblong hole, depth (same on opposite side)
3
102
105
61.9
Mini
Left
43.1
56.5
27.6
Motor & Encoder Connection*
*ME: Mechanical End
102
105
Bottom
32
Standard
Top
Right
14.8
16.5
32
6
4
3
+0.012
0
25
6
Home
At least 100 or more
Mini
Standard
5
25
ST=16
25
50
116
10
58
28
6
40
60
ST=16
4-M5 depth 8
34
oblong hole, depth 5
4 +0.012
0
44
ø4 +0.012
depth 5 (same on opposite side)
0
2-M5 depth 10 (same on opposite side)
49.5
Home
18
34.5
36.5
30
18
34.5
0.5 (ME)
4-M4, depth 6
2-ø4 +0.012
depth 5
0
Rod
Type
Gripper/
Rotary
Type
At least 100 or more
Linear
Servo
Type
Cleanroom
Type
Weight (kg)
1.14
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-35PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-35PI- -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-35PI- -2-0
Equipped with a high-output driver
Positioner type based on PIO control
512 points
Pulse-train type
High-output specification
PCON-CA-35PI-PL-2-0
Equipped with a high-output driver
Pulse-train input type
(—)
Field network type
High-output specification
PCON-CA-35PI- -0-0
Equipped with a high-output driver
Supporting 7 major field networks
768 points
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-35PI- -2-0
Pulse train input type with differential line
driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-35PI- -2-0
Pulse train input type with open collector
support
Serial Communication Type
PCON-SE-35PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-35PI- -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
—
➝ P607
—
Servo
Motor
(24V)
—
(—)
Refer to
P628
64 points
1,500 points
—
➝ P623
—
Refer to
P671
—
Servo
Motor
(200V)
➝ 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-GRHM
Pulse
Motor
384
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GRHB
Model
Speciication
Items
RCP2
GRHB
I
Series
Type
Encoder type
ROBO Cylinder, 2-Finger Gripper, Large High-force Type, Actuator Width 131mm,
24V Pulse Motor
42P
Motor type
2
40
Deceleration Ratio
Stroke
Applicable controller
Cable length
P1: PCON-PL/PO/SE
40:40mm
42P: Pulse motor, 2: Feed screw
lead 2
PSEL
(20mm per side)
42 size
P3: PCON-CA
PMEC/PSEP
MSEP
I: Incremental
* See page Pre-47 for details on the model descriptions.
Options
N: None
See Options below.
P: 1m
S: 3m
M: 5m
X: Custom Length
„ Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely
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 90mm. 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
250
Gripper/
Rotary
Type
Appendix
P.5
Linear
Servo
Type
200
150
100
50
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)
Standard
10
20
30
Current
40
50
60
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 Speciications
„ Lead and Payload
„ Stroke and Max. Opening/Closing Speed
Model number
Deceleration Ratio
RCP2-GRHB-I-42P-2-40- ➀ - ➁ - ➂
2
Maximum Gripping
Force (N)
Stroke
(mm)
200
(100 per side)
40
(20 per side)
Stroke
40
(mm)
Deceleration ratio
100
(per side)
2
Code explanation ➀ Applicable Controller ➁ Cable length ➃ Options
Stroke
(mm)
Standard price
40
—
Type
Standard
(Robot Cables)
Pulse
Motor
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.
Servo
Motor
(24V)
Actuator Specifications
➂ Options
Linear
Servo
Motor
(Unit: mm/s)
➁Cable Length
Stroke
Servo
Motor
(200V)
70
Name
Cable exit direction top)
Cable exit direction (right)
Cable exit direction (left)
Cable exit direction (bottom)
Flange Bracket
Shaft bracket
385
RCP2-GRHB
Option code
CJT
CJR
CJL
CJB
FB
SB
See page
➝ A-42
➝ A-42
➝ A-42
➝ A-42
➝ 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
(*) Based on a 5,000km service life.
Timing belt + trapezoidal screw (2 lead)
±0.01mm
0.2mm or less per side (constantly pressed out by a spring)
0.15mm or less per side
Linear guide
Ma: 15.7 N·m, Mb: 26.4 N·m, Mc: 59.8 N·m
1.5kg
0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensional Drawings
CAD drawings can be downloaded
from the website.
2D
CAD
Appendix
www.intelligentactuator.com
P.15
* Connect the motor-encoder integrated cable here.
(See page A-59 for details on cables.)
Mini
Standard
Controllers
Integrated
Mini
ø5 H7 +0.012
depth 6 (same on opposite side)
0
50
5 +0.012
oblong hole, dept 6
0
25
65.5
50
Table/
Arm/
Flat Type
6
25
131
50
70
Controllers
Integrated
Cable Exit Direction (Optional)
ø5 H7
+0.012
0
Mini
0.5 (ME)
10
6
0.5 (ME)
40
ST=20
depth 6
Standard
63.4
oblong hole, depth 6 (same on opposite side)
5 +0.012
0
25
115
118
3
4
Home
4
At least 100 or more
4-M6 depth 10
30.5
10
0.5 (ME)
ST=20
Home
Standard
38
2-M6 depth 12 (same on opposite side)
4
Home
24
3
54.6
115
118
69.5
32
27.6
*ME: Mechanical End
Gripper/
Rotary
Type
16.5
Left
Motor & Encoder Connection*
Bottom
32
40
42
30
18
40
4-M4, depth 6
2-ø4 +0.012
depth 5
0
49
50
Rod
Type
Right
14.8
Top
Linear
Servo
Type
At least 100 or more
Cleanroom
Type
Weight (kg)
1.5
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-42PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-42PI- -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-42PI- -2-0
Equipped with a high-output driver
Positioner type based on PIO control
512 points
Pulse-train type
High-output specification
PCON-CA-42PI-PL-2-0
Equipped with a high-output driver
Pulse-train input type
(—)
Field network type
High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver
Supporting 7 major field networks
768 points
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-42PI- -2-0
Pulse train input type with differential line
driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-42PI- -2-0
Pulse train input type with open collector
support
Serial Communication Type
PCON-SE-42PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-42PI- -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
—
➝ P607
—
Servo
Motor
(24V)
—
(—)
Refer to
P628
64 points
1,500 points
—
➝ P623
—
Refer to
P671
—
Servo
Motor
(200V)
➝ 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-GRHB
Pulse
Motor
386
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GR3LS
RCP2 GR3LS
Model
Speciication
Items
Series
I
Type
ROBO Cylinder, 3-Finger Gripper, Lever Type, Actuator Width 62mm, Pulse Motor
28P
Encoder type
Motor type
30
19
Deceleration Ratio
Stroke
I: Incremental
19: 19 degrees
28P: Pulse motor, 30 : 1/30
* The Simple absolute
deceleration
28  size
encoder is also
ratio
considered type "I".
* See page Pre-47 for details on the model descriptions.
Applicable controller
Cable length
Options
N: None
FB: Flange bracket
P: 1m
SB: Shaft bracket
S: 3m
M: 5m
X: Custom length
R: Robot cable
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
„ Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely
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/
closing point.
You can calculate the 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
Gripping force P (N)
30
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
25
20
15
10
5
0
0
10
20
30
40
50
Current Limit (% ratio)
Actuator Speciications
„ Lead and Payload
„ Stroke and Max. Opening/Closing Speed
Model number
Deceleration Ratio
RCP2-GR3LS-I-28P-30-19- ➀ - ➁ - ➂
30
Maximum Gripping
Force (N)
Stroke
(deg)
18
(6 per side)
19
Stroke
Deceleration ratio
30
19
(deg)
200
(Unit: degrees/s)
Cable Length
Stroke
Stroke
(deg)
Standard price
19
—
Type
Standard
Pulse
Motor
Servo
Motor
(200V)
70
* The gripping force graph above shows reference numbers.
Please allow margins up to ± 15%.
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
Servo
Motor
(24V)
60
Special length
Robot Cable
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.
 Options
Actuator Specifications
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
Slider
Type
Dimensional Drawings
CAD drawings can be downloaded
from the website.
2D
CAD
Appendix
www.intelligentactuator.com
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.
Mini
Standard
Controllers
Integrated
Rod
Type
ø3 +0.05
0
8
10 +0.05
0
ø 57
0
- 0.05
ø 57
2-M3
Standard
Cable joint
connector *1
7.5
3.5
Mini
2
8
0.5
Controllers
Integrated
Details of A
84
Mounting surface
M8 (effective depth 4)
10
2-ø3 +0.03
depth 3
0
50.5
62
31.5
16
Home
4- ø 4.5
48
(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)
(same for back side)
Mini
120
24
36
6
ø 45
12
Gripper/
Rotary
Type
4
0
Standard
5°
9 6
ø59 - 0.05
48
62
°
14°
°
120
ø 18
Table/
Arm/
Flat Type
Mounting surface
A
(same for opposite side)
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
—
➝ P607
—
Servo
Motor
(24V)
—
(—)
Refer to
P628
64 points
1,500 points
—
➝ P623
—
Refer to
P671
—
Servo
Motor
(200V)
➝ 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
Pulse
Motor
388
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GR3LM
RCP2 GR3LM
Model
Speciication
Items
Series
I
Type
ROBO Cylinder, 3-Finger Gripper, Lever Type, Actuator Width 80mm, Pulse Motor
42P
Encoder type
Motor type
30
19
Deceleration Ratio
Stroke
I: Incremental
19: 19 degrees
42P: Pulse motor, 30 : 1/30
* The Simple absolute
deceleration
42 size
encoder is also
ratio
considered type "I".
* See page Pre-47 for details on the model descriptions.
Applicable controller
Cable length
Options
N: None
FB: Flange bracket
P: 1m
SB: Shaft bracket
S: 3m
M: 5m
X: Custom length
R: Robot cable
P1: PCON-PL/PO/SE
PSEL
P3: PCON-CA
PMEC/PSEP
MSEP
„ Gripping Force Adjustment
Mini
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
Standard
* Please note that, when
gripping (pushing), the
speed is fixed at 5 deg/s.
L
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/
closing point.
You can calculate the actual gripping force by the following
equation.
Actual gripping force (GR3LM) = P × 28.5 / (L + 18.5)
P = Gripping force on graph
L = Distance from finger mounting surface to the gripping
point.
(Operate with the L distance up to 80mm.)
Table/
Arm/
Flat Type
Mini
Standard
70
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)
60
50
40
30
20
10
0
0
30
40
50
60
70
Current Limit (% ratio)
* The gripping force graph above shows reference numbers.
Please allow margins up to ± 15%.
Actuator Speciications
„ Lead and Payload
10
20
„ Stroke and Max. Opening/Closing Speed
Deceleration Ratio
Model number
RCP2-GR3LM-I-42P-30-19- ➀ - ➁ - ➂
Maximum Gripping
Force (N)
Stroke
(deg)
51
(17 per side)
19
30
Stroke
Deceleration ratio
30
19
(deg)
200
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
Cable Length
Stroke
Stroke
(deg)
Standard price
19
—
Type
Standard
Pulse
Motor
Servo
Motor
(24V)
Servo
Motor
(200V)
(Unit: degrees/s)
Special length
Robot Cable
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.
 Options
Actuator Specifications
Name
Flange bracket
Shaft bracket
Option code
FB
SB
Linear
Servo
Motor
389
RCP2-GR3LM
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
1 degree or less per side (constantly pressed out by a spring)
0.15 degrees or less per side
1.1kg
0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensional Drawings
CAD drawings can be downloaded
from the website.
2D
CAD
Appendix
www.intelligentactuator.com
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.
Mini
Standard
Controllers
Integrated
Rod
Type
10 +0.05
0
ø 75
ø 75
0
77 - 0.05
0
10 - 0.05
ø3 +0.05
0
2-M4
Mini
Standard
Cable joint
connector *1
9
4 10
2
0.5
Controllers
Integrated
4- ø 5.5
36
M8 (effective depth 4)
78
Mounting surface
80
12
2-ø3 +0.03
depth 3
0
64
40.5
20
Home
62
(same for back side)
(23.5)
1.5
4-M6 depth 12
Mounting
surface
Secure at least 100
Details of A
3-M5 (effective depth 7)
Flange plug (set screw M5 x 6)
Mini
(same for back side)
34
48
Standard
5°
18
14.5
62
ø 62
9
Gripper/
Rotary
Type
ø2
Mounting surface
4
80
7
7
°
120
°
120
14°
Table/
Arm/
Flat Type
(same for opposite side)
depth 3
2-3 +0.05
0
A
Linear
Servo
Type
8
ø9
(same for back side)
22
114
(136)
Cleanroom
Type
Weight (kg)
1.1
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-42PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-42PI- -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-42PI- -2-0
Equipped with a high-output driver
Positioner type based on PIO control
512 points
Pulse-train type
High-output specification
PCON-CA-42PI-PL-2-0
Equipped with a high-output driver
Pulse-train input type
(—)
Field network type
High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver
Supporting 7 major field networks
768 points
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-42PI- -2-0
Pulse train input type with differential line
driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-42PI- -2-0
Pulse train input type with open collector
support
Serial Communication Type
PCON-SE-42PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-42PI- -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
—
➝ P607
—
Servo
Motor
(24V)
—
(—)
Refer to
P628
64 points
1,500 points
—
➝ P623
—
Refer to
P671
—
Servo
Motor
(200V)
➝ 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-GR3LM
Pulse
Motor
390
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GR3SS
Model
Speciication
Items
RCP2
GR3SS
I
Series
Type
Encoder type
ROBO Cylinder, 3-Finger Gripper, Slider Type, Actuator Width 62mm, Pulse Motor
28P
Motor type
30
10
Deceleration Ratio
Stroke
Applicable controller
Cable length
I: Incremental
10: 10mm
28P: Pulse motor, 30 : 1/30
P1: PCON-PL/PO/SE
* The Simple absolute
deceleration (5mm per side)
28  size
PSEL
encoder is also
ratio
P3: PCON-CA
considered type "I".
PMEC/PSEP
MSEP
* See page Pre-47 for details on the model descriptions.
Options
N: None
FB: Flange bracket
P: 1m
SB: Shaft bracket
S: 3m
M: 5m
X: Custom length
R: Robot cable
„ Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
Standard
Controllers
Integrated
* Please note that, when
gripping (pushing), the
speed is fixed at 5mm/s.
L
F
Table/
Arm/
Flat Type
* Operate with the L distance up to 50mm.
* The gripping force value in the graph below is when L is
at 0 mm. (For gripping force reference per L distance,
see page A-87.)
The gripping force value is the sum of gripping forces of
both fingers.
Mini
Standard
35
Gripper/
Rotary
Type
Appendix
P.5
(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.
Linear
Servo
Type
Cleanroom
Type
Gripping force P (N)
30
25
20
15
10
5
0
0
20
30
40
50
Current Limit (% ratio)
„ Lead and Payload
Deceleration Ratio
Model number
Maximum Gripping
Force (N)
Stroke
(mm)
22
(7.3 per side)
10
30
Stroke
Deceleration ratio
10
(mm)
30
40
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
(Unit: mm/s)
Cable Length
Stroke
Stroke
(mm)
Standard price
10
—
Type
Standard
Pulse
Motor
Servo
Motor
(200V)
70
„ Stroke and Max. Opening/Closing Speed
RCP2-GR3SS-I-28P-30-10- ➀ - ➁ - ➂
Servo
Motor
(24V)
60
* The gripping force graph above shows reference numbers.
Please allow margins up to ± 15%.
Actuator Speciications
SplashProof
Type
10
Special length
Robot Cable
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.
 Options
Actuator Specifications
Name
Option code
FB
SB
Flange bracket
Shaft bracket
Linear
Servo
Motor
391
RCP2-GR3SS
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
Worm gear + worm wheel gear
±0.01mm
0.3mm or less per side (constantly pressed out by a spring)
0.1mm or less per side
Cross roller guide
Ma: 3.8 N·m, Mb: 3.8 N·m, Mc: 3.0 N·m
0.6kg
0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensional Drawings
CAD drawings can be downloaded
from the website.
2D
CAD
Appendix
www.intelligentactuator.com
P.15
* When homing, the actuator swings 0.5mm 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.
Mini
Standard
10 +0.05
0
ø 57
ø 57
0
6 - 0.05
Controllers
Integrated
Cable joint
connector *1
10
0
(same for back side)
4-M5 depth 8
(same for back side)
ø 45
0
Mini
4
ST5
ø59 - 0.05
5
15
18
3.5
1.5
4~9
48
°
Mounting surface
(same for opposite side)
Controllers
Integrated
Table/
Arm/
Flat Type
120
62
Mounting
surface
3-M4 (effective depth 6)
Flange plug (set screw M4 x 5)
°
1.5
Standard
120
2
2-ø3 +0.03
0 depth 3
24
1.5
48
45
Mounting
surface
36
3- ø2.5h7 ( - 0.010 )
ø9 counterbore, depth 1.5
M8 (effective depth 6)
62
4- ø 4.5
Mini
70
Secure at least 100
40
B
0.5
Details of A
4
3-M3 depth 5
2
Rod
Type
A
Standard
ø7
depth 3
2-3 +0.05
0
6
(same for back side)
104
62
Gripper/
Rotary
Type
110
3-M3 depth 5
ø9 counterbore, depth 1.5
M8 (effective depth 6)
Linear
Servo
Type
18
Home
Cleanroom
Type
ST5
4~9
5
3.5
1.5
15
1.5
48
Weight (kg)
Details of B
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
—
➝ P607
—
Servo
Motor
(24V)
—
(—)
Refer to
P628
64 points
1,500 points
—
➝ P623
—
Refer to
P671
—
Servo
Motor
(200V)
➝ 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-GR3SS
Pulse
Motor
392
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GR3SM
Model
Speciication
Items
RCP2
GR3SM
I
Series
Type
Encoder type
* See page Pre-47 for details on the model descriptions.
ROBO Cylinder, 3-Finger Gripper, Slider Type, Actuator Width 80mm, Pulse Motor
42P
Motor type
30
14
Deceleration Ratio
Stroke
Applicable controller
Cable length
I: Incremental
14: 14mm
42P: Pulse motor, 30 : 1/30
P1: PCON-PL/PO/SE
* The Simple absolute
deceleration (7mm per side)
42 size
PSEL
encoder is also
ratio
P3: PCON-CA
considered type "I".
PMEC/PSEP
MSEP
Options
N: None
FB: Flange bracket
P: 1m
SB: Shaft bracket
S: 3m
M: 5m
X: Custom length
R: Robot cable
„ Gripping Force vs. Current Limit
Mini
The gripping (pushing) force can be adjusted freely
within the range of current limits of 20% to 70%.
Standard
* Please note that, when
gripping (pushing), the
speed is fixed at 5mm/s.
F
L
Controllers
Integrated
Table/
Arm/
Flat Type
* Operate with the L distance up to 80mm.
* The gripping force value in the graph below is when L is
at 0 mm. (For gripping force reference per L distance,
see page A-87.)
The gripping force value is the sum of gripping forces of
both fingers.
Mini
Standard
130
Gripper/
Rotary
Type
Appendix
P.5
(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.
Linear
Servo
Type
Cleanroom
Type
Gripping force P (N)
120
100
80
60
40
20
0
0
20
30
40
50
Current Limit (% ratio)
„ Lead and Payload
Deceleration Ratio
Model number
Maximum Gripping
Force (N)
Stroke
(mm)
102
(34 per side)
14
30
Stroke
Deceleration ratio
14
(mm)
30
50
Code explanation ➀ Applicable Controller ➁ Cable length ➂ Options
(Unit: mm/s)
Cable Length
Stroke
Stroke
(mm)
Standard price
14
—
Type
Standard
Pulse
Motor
Servo
Motor
(200V)
70
„ Stroke and Max. Opening/Closing Speed
RCP2-GR3SM-I-42P-30-14- ➀ - ➁ - ➂
Servo
Motor
(24V)
60
* The gripping force graph above shows reference numbers.
Please allow margins up to ± 15%.
Actuator Speciications
SplashProof
Type
10
Special length
Robot Cable
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.
 Options
Actuator Specifications
Name
Flange bracket
Shaft bracket
Option code
FB
SB
Linear
Servo
Motor
393
RCP2-GR3SM
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
Worm gear + worm wheel gear
±0.01mm
0.3mm 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: 5.7 N·m
1.2kg
0 to 40oC, 85% RH or less (Non-condensing)
RCP2
ROBO Cylinder
Slider
Type
Dimensional Drawings
CAD drawings can be downloaded
from the website.
2D
CAD
Appendix
www.intelligentactuator.com
P.15
* When homing, the actuator swings 0.5mm 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.
Mini
Standard
Controllers
Integrated
Mini
ø 75
ø 75
0
8 - 0.05
10 +0.05
0
Rod
Type
Standard
2
Cable joint
connector *1
0.5
Controllers
Integrated
Details of A
47
0
3- ø2.5h7 ( - 0.010 )
ø9 counterbore, depth 1.5
M8 (effective depth 6)
4- ø 5.5
80
2
(same for back side)
4-M6 depth 12
Mounting
surface
3-M5 (effective depth 7)
Flange plug (set screw M5 x 6)
Mini
120
120
34
48
8
Standard
ø 62
Gripper/
Rotary
Type
4
0
77 - 0.05
1.5
4 ~ 11
ST7
62
80
7
Home
°
22
25
Table/
Arm/
Flat Type
(same for back side)
°
1.5
62
78
2-ø3 +0.03
depth 3
0
12
53
Mounting 1.5
surface
Secure at least 100
3-M3 depth 6
8
ø9
Mounting surface
(same for opposite side)
Linear
Servo
Type
A
depth 3
2-3 +0.05
0
(same for back side)
118
125
Cleanroom
Type
Weight (kg)
1.2
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-42PI- -2-
Easy-to-use controller, even for beginners
PSEP-C-42PI- -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-42PI- -2-0
Equipped with a high-output driver
Positioner type based on PIO control
512 points
Pulse-train type
High-output specification
PCON-CA-42PI-PL-2-0
Equipped with a high-output driver
Pulse-train input type
(—)
Field network type
High-output specification
PCON-CA-42PI- -0-0
Equipped with a high-output driver
Supporting 7 major field networks
768 points
Pulse Train Input Type
(Differential Line Driver)
PCON-PL-42PI- -2-0
Pulse train input type with differential line
driver support
Pulse Train Input Type
(Open Collector)
PCON-PO-42PI- -2-0
Pulse train input type with open collector
support
Serial Communication Type
PCON-SE-42PI-N-0-0
Dedicated Serial Communication
PSEL-CS-1-42PI- -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
—
➝ P607
—
Servo
Motor
(24V)
—
(—)
Refer to
P628
64 points
1,500 points
—
➝ P623
—
Refer to
P671
—
Servo
Motor
(200V)
➝ 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-GR3SM
Pulse
Motor
394
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