Specs
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
RCP2
ROBO Cylinder
RCP2-GRLS
RCP2
Model
Specification
Items
Series
GRLS
ROBO Cylinder, 2-Finger Gripper, Mini Lever Type, Actuator Width 42mm, Pulse Motor
I
Type
Encoder type
20P
Motor type
30
180
Deceleration Ratio
Stroke
I: Incremental
20P: Pulse motor, 30: 1/30
deceleration
* T he 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
P1: PCON-PL/PO/SE
PSEL
P3:PCON-CA
PMEC/PSEP
MSEP
N:None
Options
NM: Non-motor end
FB: Flange bracket
SB: Shaft bracket
P: 1m
S: 3m
M: 5m
X:Custom Length
„„Gripping Force vs. Current Limit
The gripping (pushing) force can be adjusted freely
Mini
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
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
5
4
3
2
1
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 Specifications
„„Lead and Payload
„„ Stroke and Max. Opening/Closing Speed
Model number
Deceleration Ratio
Maximum Gripping
Force (N)
RCP2-GRLS-I-20P-30-180- ➀ - ➁ - ➂
30
6.4
(3.2 per side)
Stroke
Stroke
(deg)
180
(90 per side)
Stroke
180
(deg)
Deceleration ratio
600
(per side)
30
(Unit: degree/s)
Cable Length
Stroke
(deg)
Standard price
180
—
Type
Standard
(Robot Cables)
Special length
Servo
Motor
(24V)
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
Pulse
Motor
60
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
Flange bracket
Shaft bracket
Linear
Servo
Motor
375
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
Dimensional Drawings
CAD drawings can be downloaded
from the website.
2D
CAD
www.intelligentactuator.com
Appendix
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
Slider
Type
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
2-3 +0.05
depth 3
0
36
15.5
4-M3 depth 5
8-M3 depth 5
(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
—
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-GRLS
Servo
Motor
(200V)
376
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