RCP2-GRS pdf

RCP2-GRS pdf
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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