Slider Type RCP2 ROBO Cylinder RCP2-GRS Mini ROBO Cylinder 2-Finger Gripper Mini Slider Type 69mm Width Pulse Motor Standard RCP2 ■ Configuration: Controllers Integrated GRS Series I Type Encoder 20P Motor 1 10 20P : 20 size 1: 1/1 I: Incremental * The Simple Pulse motor deceleration ratio absolute encoder is also considered type "I". * See page Pre-35 for an explanation of the naming convention. Rod Type Mini Compatible Controllers Stroke Deceleration Ratio 10: 10mm (5mm per side) Cable Length N : None P : 1m S : 3m M : 5m X □□ : Custom R □□ : Robot cable P1: PCON RPCON PSEL P3: PMEC PSEP Option SB : Shaft bracket FB : Flange bracket ■ Gripping Force Adjustment Standard The gripping (pushing) force can be adjusted freely within the range of current limits of 20% to 70%. Controllers Integrated Table/Arm /Flat Type * The gripping forces in the following diagrams indicate the sums of gripping forces of both fingers. 35 Mini 30 Gripping force (N) Standard Gripper/ Rotary Type Technical References (1) Splash-Proof P O INT (2) Notes on Selection (3) PMEC /AMEC ROBO NET 15 10 0 0 Cleanroom Type PSEP /ASEP 20 5 Linear Servo Type Controllers 25 10 20 30 40 50 Current Limit (％ ratio) 60 70 P. A-5 The maximum opening/closing speed indicates the operating speed on one side. The relative operating speed is twice this value. 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-74 for details.) The rated acceleration while moving is 0.3G. * Please note that, when gripping (pushing), the speed is fixed at 5mm/s. Actuator Specifications ■ Lead and Load Capacity ■ Stroke and Maxi. Opening/Closing Speed Model Deceleration Ratio Max. Gripping Force (N) Stroke 1 21 10 (5 per side) Stroke (mm) 10 (mm) Deceleration Ratio ERC2 PCON ACON RCP2-GRS-I-20P-1-10- 1 - 2 - 3 Legend: 1 Compatible controllers 2 Cable length 1 33.3 (Unit: mm/s) 3 Options SCON Stroke List PSEL ASEL 2 Cable List Stroke (mm) 10 Type Standard Price – SSEL XSEL Pulse Motor Servo Motor (24V) Servo Motor (200V) Cable Symbol P (1m) Standard Type S (3m) M (5m) X06 (6m) Special Lengths X11 (11m) X16 (16m) R01 (1m) R04 (4m) Robot Cable R06 (6m) R11 (11m) R16 (16m) ∼ ∼ ∼ ∼ ∼ ∼ ∼ ∼ X10 (10m) X15 (15m) X20 (20m) R03 (3m) R05 (5m) R10 (10m) R15 (15m) R20 (20m) Standard Price – – – – – – – – – – – * See page A-39 for cables for maintenance. Actuator Specifications 3 Option List Name Flange bracket Shaft bracket Option Code FB SB Linear Servo Motor 337 RCP2-GRS See Page Standard Price → A-26 → A-36 – – Item Drive System Positioning Repeatability Backlash Lost Motion Guide Allowable Static Load Moment Weight Ambient Operating Temp./Humidity Description 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∼40°C, 85% RH or less (non-condensing) RCP2 ROBO Cylinder Slider Type Dimensions P. A-9 For Special Order * *1 Mini Standard The opening side of the slider is the home position. The motor-encoder cable is connected here. See page A-39 for details on cables. Controllers Integrated Rod Type Mini 29 30 Standard Cable joint connector*1 Controllers Integrated +0.03 2−ø3 0 2−M4 depth 8 4−M4 depth 7 (same with opposite side) 24 21 ø3 +0.03 0 Mini 21 Depth 2.5 69 36 4 24 Standard 4−M4 depth 6 Gripper/ Rotary Type Linear Servo Type Cleanroom Type 5 7 MAX 11 MIN 1 4 24 9 +0.03 0 1.5 Table/Arm /Flat Type 28 3 +0.05 0 Depth 2.5 0 10 -0.05 Secure at least 100 Depth 2.5 (same with opposite side) +0.05 3 Note: 2−3 0 Depth 2.5 (same with opposite side) 68 71 Splash-Proof The holes in the slider shown above, other than tapped holes, are used to install the Controllers slider onto the actuator. They cannot be used as finger positioning holes. PMEC /AMEC Use the key slots to position the fingers. PSEP /ASEP ROBO NET ERC2 Weight (kg) 0.36 PCON ACON 1 Compatible Controllers SCON The RCP2 series actuators can operate with the controllers below. Select the controller according to your usage. Name External View Model PMEC-C-20PI-NP-2-1 Description Max. Positioning Points Easy-to-use controller, even for beginners Input Voltage Power Supply Capacity Standard Price See Page AC100V AC200V See P481 – → P477 ASEL Solenoid Valve Type PSEP-C-20PI-NP-2-0 Splash-Proof Solenoid Valve Type PSEP-CW-20PI-NP-2-0 Positioner Type PCON-C-20PI-NP-2-0 Operable with same signal as solenoid valve. Supports both single and double solenoid types. No homing necessary with simple absolute type. PSEL 3 points – → P487 SSEL – XSEL – Positioning is possible for up to 512 points Safety-Compliant Positioner Type PCON-CG-20PI-NP-2-0 Pulse Train Input Type (Differential Line Driver) PCON-PL-20PI-NP-2-0 Pulse train input type with differential line driver support Pulse Train Input Type (Open Collector) PCON-PO-20PI-NP-2-0 Pulse train input type with open collector support Serial Communication Type PCON-SE-20PI-N-0-0 512 points – DC24V 2A max. – → P525 Pulse Motor (−) Field Network Type Program Control Type RPCON-20P PSEL-C-1-20PI-NP-2-0 – Servo Motor (24V) Dedicated to serial communication 64 points – Dedicated to field network 768 points – → P503 Programmed operation is possible Operation is possible on up to 2 axes 1500 points – → P557 * This is for the single-axis PSEL. * 1 is a placeholder for the power supply voltage (1: 100V, 2: 100∼240V). RCP2-GRS 338 Servo Motor (200V) Linear Servo Motor
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